ge fanuc automation · s–1 safety precautions fanuc servo motor series fanuc servo motor...

GE Fanuc Automation

Computer Numerical Control Products

ββββ Series Servo MotorI/O Link Option

Maintenance Manual

GFZ-65245EN/02 October 1999

GFL-001

Warnings, Cautions, and Notesas Used in this Publication

WarningWarning notices are used in this publication to emphasize that hazardous voltages, currents,temperatures, or other conditions that could cause personal injury exist in this equipment or maybe associated with its use.

In situations where inattention could cause either personal injury or damage to equipment, aWarning notice is used.

CautionCaution notices are used where equipment might be damaged if care is not taken.

NoteNotes merely call attention to information that is especially significant to understanding andoperating the equipment.

This document is based on information available at the time of its publication. While effortshave been made to be accurate, the information contained herein does not purport to cover alldetails or variations in hardware or software, nor to provide for every possible contingency inconnection with installation, operation, or maintenance. Features may be described herein whichare not present in all hardware and software systems. GE Fanuc Automation assumes noobligation of notice to holders of this document with respect to changes subsequently made.

GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutorywith respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, orusefulness of the information contained herein. No warranties of merchantability or fitness forpurpose shall apply.

©Copyright 1999 GE Fanuc Automation North America, Inc.

All Rights Reserved.

s–1

SAFETY PRECAUTIONS

FANUC SERVO MOTOR seriesFANUC SERVO MOTOR AMPLIFIER series

This ”Safety Precautions” section describes the precautions which must be observed to ensure safety when usingFANUC servo motors (including spindle motors) and servo amplifiers (including spindle amplifiers). Users ofany servo motor or amplifier model are requested to read the ”Safety Precautions” carefully before using the servomotor or amplifier.The users are also requested to read an applicable specification manual carefully and understand each functionof the motor or amplifier for correct use.The users are basically forbidden to do any behavior or action not mentioned in the ”Safety Precautions.” Theyare invited to ask FANUC previously about what behavior or action is prohibited.

SAFETY PRECAUTIONS

Contents

DEFINITION OF WARNING, CAUTION, AND NOTE s–3. . . . . . . . . . . . . . . . . . . . . . . . . .

I. FANUC SERVO MOTOR series s–5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1. WARNING s–7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. CAUTION s–10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. NOTE s–11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

II. FANUC SERVO MOTOR AMPLIFIER series s–15. . . . . . . . . . . . . . . . . . . . . . . . . . .

1. WARNINGS AND CAUTIONS RELATING TO MOUNTING s–17. . . . . . . . . . . . . . . .

2. WARNINGS AND CAUTIONS RELATING TO A PILOT RUN s–22. . . . . . . . . . . . . . .

3. WARNINGS AND CAUTIONS RELATING TO MAINTENANCE s–24. . . . . . . . . . . . .

B–65245EN/02 DEFINITION OF WARNING, CAUTION, AND NOTE

s–3

DEFINITION OF WARNING, CAUTION, AND NOTE

This manual includes safety precautions for protecting the user and preventing damage to themachine. Precautions are classified into Warning and Caution according to their bearing on safety.Also, supplementary information is described as a Note. Read the Warning, Caution, and Notethoroughly before attempting to use the machine.

WARNING

Applied when there is a danger of the user being injured or when there is a damage of both the userbeing injured and the equipment being damaged if the approved procedure is not observed.

CAUTION

Applied when there is a danger of the equipment being damaged, if the approved procedure is notobserved.

NOTE

The Note is used to indicate supplementary information other than Warning and Caution.

Read this manual carefully, and store it in a safe place.

s–5

I. FANUC SERVO MOTOR series

B–65245EN/02 SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series)

s–7

1 WARNING

WARNING

Be safely dressed when handling a motor.

Wear safety shoes or gloves when handling a motor as you may get hurt on any edge or protrusionon it or electric shocks.

Use a crane or lift to move a motor from one place to another.

Motors are heavy. When moving them, use a crane or lift as required. (For the weight of motors,refer to their respective specification manuals.)When moving a motor using a crane or lift, use a hanging bolt if the motor has a correspondingtapped hole, or textile rope if it has no tapped hole. If a motor is attached with a machine or anyother heavy stuff, do not use a hanging bolt to move the motor as the hanging bolt and/or motormay get broken. When moving a motor, be careful not to apply excessive force to its windingsas the windings may break and/or their insulation may deteriorate.

Do not touch a motor with a wet hand.

A failure to observe this caution is vary dangerous because you may get electric shocks.

Before starting to connect a motor to electric wires, make sure they areisolated from an electric power source.

A failure to observe this caution is vary dangerous because you may get electric shocks.

Do not bring any dangerous stuff near a motor.

Motors are connected to a power line, and may get hot. If a flammable is placed near a motor,it may be ignited, catch fire, or explode.

Be sure to ground a motor frame.

To avoid electric shocks, be sure to connect the grounding terminal in the terminal box to thegrounding terminal of the machine.

Do not ground a motor power wire terminal or short–circuit it to anotherpower wire terminal.

A failure to observe this caution may cause electric shocks or a burned wiring.

Some motors require a special connection such as a winding changeover. Refer to theirrespective motor specification manuals for details.

B–65245EN/02SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series)

s–8

WARNING

Connect power wires securely so that they will not get loose.

A failure to observe this caution may cause a wire to be disconnected, resulting in a ground fault,short circuit, or electric shock.

Do not supply the power to the motor while any terminal is exposed.

A failure to observe this caution is very dangerous because you may get electric shocks if yourbody or any conductive stuff touches an exposed terminal.

Do not get close to a rotary section of a motor when it is rotating.

A rotating part may catch your cloths or fingers. Before starting a motor, ensure that there is nostuff that can fly away (such as a key) on the motor.

Before touching a motor, shut off the power to it.

Even if a motor is not rotating, there may be a voltage across the terminals of the motor. Especially before touching a power supply connection, take sufficient precautions. Otherwiseyou may get electric shocks.

Do not touch any terminal of a motor for a while (at least 5 minutes) afterthe power to the motor is shut off.

High voltage remains across power line terminals of a motor for a while after the power to themotor is shut off. So, do not touch any terminal or connect it to any other equipment. Otherwise,you may get electric shocks or the motor and/or equipment may get damaged.

To drive a motor, use a specified amplifier and parameters.

An incorrect combination of a motor, amplifier, and parameters may cause the motor to behaveunexpectedly. This is dangerous, and the motor may get damaged.

Do not touch a motor when it is running or immediately after it stops.

A motor may get hot when it is running. Do not touch the motor before it gets cool enough.Otherwise, you may get burned.

Be careful not get your hair or cloths caught in a fan.

Be careful especially for a fan used to generate an inward air flow.Be careful also for a fan even when the motor is stopped, because it continues to rotate while theamplifier is turned on.

Ensure that motors and related components are mounted securely.

If a motor or its component slips out of place or comes off when the motor is running, it is verydangerous.


s–9

WARNING

Do not touch the regenerative discharge unit for a while (30 minutes ormore) after power–off.

The regenerative discharge unit may be heated due to heat dissipation during operation.Touching the regenerative discharge unit before it is sufficiently cooled can cause a burn.


s–10

2 CAUTION

CAUTION

FANUC motors are designed for use with machines. Do not use them forany other purpose.

If a FANUC motor is used for an unintended purpose, it may cause an unexpected symptom ortrouble. If you want to use a motor for an unintended purpose, previously consult with FANUC.

Ensure that a base or frame on which a motor is mounted is strongenough.

Motors are heavy. If a base or frame on which a motor is mounted is not strong enough, it isimpossible to achieve the required precision.

Be sure to connect motor cables correctly.

An incorrect connection of a cable cause abnormal heat generation, equipment malfunction, orfailure. Always use a cable with an appropriate current carrying capacity (or thickness). For howto connect cables to motors, refer to their respective specification manuals.

Ensure that motors are cooled if they are those that require forciblecooling.

If a motor that requires forcible cooling is not cooled normally, it may cause a failure or trouble.For a fan–cooled motor, ensure that it is not clogged or blocked with dust and dirt. For aliquid–cooled motor, ensure that the amount of the liquid is appropriate and that the liquid pipingis not clogged. For both types, perform regular cleaning and inspection.

When attaching a component having inertia, such as a pulley, to a motor,ensure that any imbalance between the motor and component isminimized.

If there is a large imbalance, the motor may vibrates abnormally, resulting in the motor beingbroken.

Be sure to attach a key to a motor with a keyed shaft.

If a motor with a keyed shaft runs with no key attached, it may impair torque transmission orcause imbalance, resulting in the motor being broken.


s–11

3 NOTE

NOTE

Do not step or sit on a motor.

If you step or sit on a motor, it may get deformed or broken. Do not put a motor on another unlessthey are in packages.

When storing a motor, put it in a dry (non–condensing) place at roomtemperature (0 to 40 °C).

If a motor is stored in a humid or hot place, its components may get damaged or deteriorated.In addition, keep a motor in such a position that its shaft is held horizontal and its terminal boxis at the top.

Do not remove a nameplate from a motor.

If a nameplate comes off, be careful not to lose it. If the nameplate is lost, the motor becomesunidentifiable, resulting in maintenance becoming impossible. For a nameplate for a built–inspindle motor, keep the nameplate with the spindle.

Do not apply shocks to a motor or cause scratches to it.

If a motor is subjected to shocks or is scratched, its components may be adversely affected,resulting in normal operation being impaired. Be very careful when handling plastic portions,sensors, and windings, because they are very liable to break. Especially, avoid lifting a motorby pulling its plastic portion, winding, or power cable.

Do not conduct dielectric strength or insulation test for a detector.

Such a test can damage elements in the detector.

When testing the winding or insulation resistance of a motor, satisfy theconditions stipulated in IEC34.

Testing a motor under a condition severer than those specified in IEC34 may damage the motor.

Do not disassemble a motor.

Disassembling a motor may cause a failure or trouble in it. If disassembly is in need because of maintenance or repair, please contact a service representativeof FANUC.

Do not modify a motor.

Do not modify a motor unless directed by FANUC. Modifying a motor may cause a failure ortrouble in it.


s–12

NOTE

Use a motor under an appropriate environmental condition.

Using a motor in an adverse environment may cause a failure or trouble in it. Refer to theirrespective specification manuals for details of the operating and environmental conditions formotors.

Do not apply a commercial power source voltage directly to a motor.

Applying a commercial power source voltage directly to a motor may result in its windings beingburned. Be sure to use a specified amplifier for supplying voltage to the motor.

For a motor with a terminal box, make a conduit hole for the terminal boxin a specified position.

When making a conduit hole, be careful not to break or damage unspecified portions. Refer toan applicable specification manual.

Before using a motor, measure its winding and insulation resistances, andmake sure they are normal.

Especially for a motor that has been stored for a prolonged period of time, conduct these checks.A motor may deteriorate depending on the condition under which it is stored or the time duringwhich it is stored. For the winding resistances of motors, refer to their respective specificationmanuals, or ask FANUC. For insulation resistances, see the following table.

To use a motor as long as possible, perform periodic maintenance andinspection for it, and check its winding and insulation resistances.

Note that extremely severe inspections (such as dielectric strength tests) of a motor may damageits windings. For the winding resistances of motors, refer to their respective specificationmanuals, or ask FANUC. For insulation resistances, see the following table.


s–13

MOTOR INSULATION RESISTANCE MEASUREMENT

Measure an insulation resistance between each winding and motor frame using an insulationresistance meter (500 VDC). Judge the measurements according to the following table.

Insulation resistance Judgment

100 MΩ or higher Acceptable

10 to 100 MΩ The winding has begun deteriorating. There is noproblem with the performance at present. Be sure toperform periodic inspection.

1 to 10 MΩ The winding has considerably deteriorated. Specialcare is in need. Be sure to perform periodicinspection.

Lower than 1 MΩ Unacceptable. Replace the motor.

s–15

II. FANUC SERVO MOTOR AMPLIFIER series

SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series)B–65245EN/02

s–17

1 WARNINGS AND CAUTIONS RELATING TO MOUNTING

WARNING

Check the specification code of the amplifier.

Check that the delivered amplifier is as originally ordered.

Mount a ground fault interrupter.

To guard against fire and electric shock, fit the factory power supply or machine with a groundfault interrupter (designed for use with an inverter).

Securely ground the amplifier.

Securely connect the ground terminal and metal frame of the amplifier and motor to a commonground plate of the power magnetics cabinet.

Be aware of the weight of the amplifier and other components.

Control motor amplifiers and AC reactors are heavy. When transporting them or mounting themin the cabinet, therefore, be careful not to injured yourself or damage the equipment. Beparticularly carefull not to jam your fingers between the cabinet and amplifier.

Never ground or short–circuit either the power supply lines or power lines.

Protect the lines from any stress such as bending. Handle the ends appropriately.

Ensure that the power supply lines, power lines, and signal lines aresecurely connected.

A loose screw, loose connection, or the like will cause a motor malfunction or overheating, ora ground fault.

Insulate all exposed parts that are charged.

Never touch the regenerative discharge unit or radiator directly.

The surface of the radiator and regenerative discharge unit become extremely hot. Never touchthem directly. An appropriate structure should also be considered.

Close the amplifier cover after completing the wiring.

Leaving the cover open presents a danger of electric shock.

SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series) B–65245EN/02

s–18

WARNING

Do not disassemble the amplifier.

Ensure that the cables used for the power supply lines and power lines areof the appropriate diameter and temperature ratings.

Do not apply an excessively large force to plastic parts.

If a plastic section breaks, it may cause internal damage, thus interfering with normal operation.The edge of a broken section is likely to be sharp and, therefore, presents a risk of injury.


s–19

CAUTION

Do not step or sit on the amplifier.

Also, do not stack unpacked amplifiers on top of each other.

Use the amplifier in an appropriate environment.

See the allowable ambient temperatures and other requirements, given in the correspondingdescriptions.

Protect the amplifier from corrosive or conductive mist or drops of water.

Use a filter if necessary.

Protect the amplifier from impact.

Do not place anything on the amplifier.

Do not block the air inlet to the radiator.

A deposit of coolant, oil mist, or chips on the air inlet will result in a reduction in the coolingefficiency. In some cases, the required efficiency cannot be achieved. The deposit may also leadto a reduction in the useful life of the semiconductors. Especially, when outside air is drawn in,mount filters on both the air inlet and outlet. These filters must be replaced regularly. So, aneasy–to–replace type of filter should be used.

Before connecting the power supply wiring, check the supply voltage.

Check that the supply voltage is within the range specified in this manual, then connect the powersupply lines.

Ensure that the combination of motor and amplifier is appropriate.

Ensure that valid parameters are specified.

Specifying an invalid parameter for the combination of motor and amplifier may not onlyprevent normal operation of the motor but also result in damage to the amplifier.

Ensure that the amplifier and peripheral equipment are securelyconnected.

Check that the magnetic contactor, circuit breaker, and other devices mounted outside theamplifier are securely connected to each other and that those devices are securely connected tothe amplifier.

Check that the amplifier is securely mounted in the power magneticscabinet.

If any clearance is left between the power magnetics cabinet and the surface on which theamplifier is mounted, dust entering the gap may build up and prevent the normal operation ofthe amplifier.


s–20

CAUTION

Apply appropriate countermeasures against noise.

Adequate countermeasures against noise are required to maintain normal operation of theamplifier. For example, signal lines must be routed away from power supply lines and powerlines.


s–21

NOTE

Keep the nameplate clearly visible.

Keep the legend on the nameplate clearly visible.

After unpacking the amplifier, carefully check for any damage.

Mount the amplifier in a location where it can be easily accessed to allowperiodic inspection and daily maintenance.

Leave sufficient space around the machine to enable maintenance to beperformed easily.

Do not place any heavy objects such that they would interfere with the opening of the doors.

Keep the parameter table and spare parts at hand.

Also, keep the specifications at hand. These items must be stored in a location where they canbe retrieved immediately.

Provide adequate shielding.

A cable to be shielded must be securely connected to the ground plate, using a cable clamp orthe like.


s–22

2 WARNINGS AND CAUTIONS RELATING TO A PILOT RUN

WARNING

Before turning on the power, check that the cables connected to the powermagnetics cabinet and amplifier, as well as the power lines and powersupply lines, are securely connected. Also, check that no lines are slack.

Before turning on the power, ensure that the power magnetics cabinet issecurely grounded.

Before turning on the power, check that the door of the power magneticscabinet and all other doors are closed.

Ensure that the door of the power magnetics cabinet containing the amplifier, and all other doors,are securely closed. During operation, all doors must be closed and locked.

Apply extreme caution if the door of the power magnetics cabinet oranother door must be opened.

Only a person trained in the maintenance of the corresponding machine or equipment shouldopen the door, and only after shutting off the power supply to the power magnetics cabinet (byopening both the input circuit breaker of the power magnetics cabinet and the factory switch usedto supply power to the cabinet). If the machine must be operated with the door open to enableadjustment or for some other purpose, the operator must keep his or her hands and tools wellaway from any dangerous voltages. Such work must be done only by a person trained in themaintenance of the machine or equipment.

When operating the machine for the first time, check that the machineoperates as instructed.

To check whether the machine operates as instructed, first specify a small value for the motor,then increase the value gradually. If the motor operates abnormally, perform an emergency stopimmediately.

After turning on the power, check the operation of the emergency stopcircuit.

Press the emergency stop button to check that the motor stops immediately, and that the powerbeing supplied to the amplifier is shut off by the magnetic contactor.

Before opening a door or protective cover of a machine to enableadjustment of the machine, first place the machine in the emergency stopstate and check that the motor has stopped.


s–23

CAUTION

Note whether an alarm status relative to the amplifier is displayed atpower–up or during operation.

If an alarm is displayed, take appropriate action as explained in the maintenance manual. If thework to be done requires that the door of the power magnetics cabinet be left open, the work mustbe carried out by a person trained in the maintenance of the machine or equipment. Note thatif some alarms are forcibly reset to enable operation to continue, the amplifier may be damaged.Take appropriate action according to the contents of the alarm.

Before operating the motor for the first time, mount and adjust the positionand speed detectors.

Following the instructions given in the maintenance manual, adjust the position and speeddetectors for the spindle so that an appropriate waveform is obtained. If the detectors are notproperly adjusted, the motor may not rotate normally or the spindle may fail to stop as desired.

If the motor makes any abnormal noise or vibration while operating, stopit immediately.

Note that if operation is continued in spite of there being some abnormal noise or vibration, theamplifier may be damaged. Take appropriate corrective action, then resume operation.

Observe the ambient temperature and output rating requirements.

The continuous output rating or continuous operation period of some amplifiers may fall as theambient temperature increases. If the amplifier is used continuously with an excessive loadapplied, the amplifier may be damaged.


s–24

3 WARNINGS AND CAUTIONS RELATING TO MAINTENANCE

WARNING

Read the maintenance manual carefully and ensure that you are totallyfamiliar with its contents.The maintenance manual describes daily maintenance and the procedures to be followed in theevent of an alarm being issued. The operator must be familiar with these descriptions.

Notes on replacing a fuse or PC board

1) Before starting the replacement work, ensure that the circuit breaker protecting the powermagnetics cabinet is open.

2) Check that the red LED that indicates that charging is in progress is not lit. The positionof the charging LED on each model of amplifier is given in this manual. While the LEDis lit, hazardous voltages are present inside the unit, and thus there is a danger of electricshock.

3) Some PC board components become extremely hot. Be careful not to touch thesecomponents.

4) Ensure that a fuse having an appropriate rating is used.

5) Check the specification code of a PC board to be replaced. If a modification drawing numberis indicated, contact FANUC before replacing the PC board. Also, before and after replacinga PC board, check its pin settings.

6) After replacing the fuse, ensure that the screws are firmly tightened. For a socket–type fuse,ensure that the fuse is inserted correctly.

7) After replacing the PC board, ensure that it is securely connected.

8) Ensure that all power lines, power supply lines, and connectors are securely connected.

Take care not to lose any screws.When removing the case or PC board, take care not to lose any screws. If a screw is lost insidethe nit and the power is turned on, the machine may be damaged.

Notes on replacing the battery of the absolute pulse coderReplace the battery only while the power is on. If the battery is replaced while the power is turnedoff, the stored absolute positioning data will be lost. Some series servo amplifier modules havebatteries in their servo amplifiers. To replace the battery of any of those models, observe thefollowing procedure: Open the door of the power magnetics cabinet; Leave the control powerof the power supply module on; Place the machine in the emergency stop state so that the powerbeing input to the amplifier is shut off; Then, replace the battery. Replacement work should bedone only by a person who is trained in the related maintenance and safety requirements. Thepower magnetics cabinet in which the servo amplifier is mounted has a high–voltage section.This section presents a severe risk of electric shock.


s–25

WARNING

Check the number of any alarm.

If the machine stops upon an alarm being issued, check the alarm number. Some alarms indicatethat a component must be replaced. If the power is reconnected without first replacing the failedcomponent, another component may be damaged, making it difficult to locate the original causeof the alarm.

Before resetting an alarm, ensure that the original cause of the alarm hasbeen removed.

Contact FANUC whenever a question relating to maintenance arises.

Notes on removing the amplifier

Before removing the amplifier, first ensure that the power is shut off. Be careful not to jam yourfingers between the power magnetics cabinet and amplifier.


s–26

CAUTION

Ensure that all required components are mounted.

When replacing a component or PC board, check that all components, including the snubbercapacitor, are correctly mounted. If the snubber capacitor is not mounted, for example, the IPMwill be damaged.

Tighten all screws firmly.

Check the specification code of the fuse, PC board, and othercomponents.

When replacing a fuse or PC board, first check the specification code of the fuse or PC board,then mount it in the correct position. The machine will not operate normally if a fuse or PC boardhaving other than the correct specification code is mounted, or if a fuse or PC board is mountedin the wrong position.

Mount the correct cover.

The cover on the front of the amplifier carries a label indicating a specification code. Whenmounting a previously removed front cover, take care to mount it on the unit from which it wasremoved.

Notes on cleaning the heat sink and fan

1) A dirty heat sink or fan results in reduced semiconductor cooling efficiency, which degradesreliability. Periodic cleaning is necessary.

2) Using compressed air for cleaning scatters the dust. A deposit of conductive dust on theamplifier or peripheral equipment will result in a failure.

3) To clean the heat sink, do so only after turning the power off and ensuring that the heat sinkhas cooled to room temperature. The heat sink becomes extremely hot, such that touchingit during operation or immediately after power–off is likely to cause a burn. Be extremelycareful when touching the heat sink.


s–27

NOTE

Ensure that the battery connector is correctly inserted.

If the power is shut off while the battery connector is not connected correctly, the absoluteposition data for the machine will be lost.

Store the manuals in a safe place.

The manuals should be stored in a location where they can be accessed immediately it so requiredduring maintenance work.

Notes on contacting FANUC

Inform FANUC of the details of an alarm and the specification code of the amplifier so that anycomponents required for maintenance can be quickly secured, and any other necessary actioncan be taken without delay.

B–65245EN/02 PREFACE

p–1

PREFACE

The FANUC servo motor amplifier β series is available in two types: aPWM interface version and an I/O link interface version. This manualcovers those points related to the maintenance of the FANUC servo motoramplifier β series (I/O link option) (hereinafter referred to as the servoamplifier unit).

For an explanation of the maintenance of the PWM interface type, referto the ”FANUC SERVO MOTOR β series MAINTENANCE MANUAL(B–65235EN).”

Only one type of servo amplifier unit is used:

Ordering code Remarks

A06B–6093–H*** Conforming to VDE0160, UL, and CSA

Part I describes the start–up procedure. Part II describes specificationfrom the host controller. Part III describes the troubleshooting procedure.

This manual may use the following abbreviation:

Abbreviation Model name

A06B–6093–H*** SVU

In addition, the following manuals are available for the FANUC servomotor amplifier β series (servo amplifier unit):

(1) FANUC SERVO MOTOR β series DESCRIPTIONS (B–65232EN)

(2) FANUC AC SERVO MOTOR α series DESCRIPTIONS (B–65142E)

(3) FANUC SERVO MOTOR β series MAINTENANCE MANUAL(B–65235EN)

WARNINGBefore starting servo amplifier unit maintenance andinspection, turn off the power, and check that the LED (red)on the front of the servo amplifier unit, which indicatescharging in progress, is off. (See Appendix A.)

Table of ContentsB–65245EN/02

c–1

SAFETY PRECAUTIONS s–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PREFACE p–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I. START–UP PROCEDURE

1. OVERVIEW 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. CONFIGURATION 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 BASIC CONFIGURATION 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 MAJOR COMPONENTS 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. START–UP PROCEDURE 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 START–UP PROCEDURE (SUMMARY) 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 POWER SUPPLY CONNECTION 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 Checking the Power Supply Voltage and Capacity 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Leakage Current and Ground Fault Interrupter 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 CONNECTION OF THE SEPARATE REGENERATIVE DISCHARGE UNIT 11. . . . . . . . . . . . . . . .

3.3.1 SVU–12/20 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.2 SVU–40/80 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 PARAMETER INITIALIZATION 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. OPERATION CHECK METHOD 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 CHECK PROCEDURE 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

II. HANDLING

1. OVERVIEW 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 SERVO AMPLIFIER UNIT INTERFACE 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 FANUC I/O Link INTERFACE AREA 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 INTERFACE 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Peripheral Equipment Control Interface 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Direct Command Interface 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.3 Interface Switching 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 CAUTIONS ON USING THE POWER MATE CNC 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. SIGNAL DESCRIPTIONS 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 DO/DO SIGNALS 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.1 Peripheral Equipment Control Interface 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.2 Direct Command Interface 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2 SIGNALS (LISTED IN GROUPS) 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 SIGNAL DETAILS 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TABLE OF CONTENTS B–65245EN/02

c–2

2.3.1 Preparation Completion 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.2 Reset and Emergency Stop 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.3 Alarm 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.4 Mode Selection 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.5 Jog Feed 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.6 Status Signals 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.7 Feedrate 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.8 Interlock 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.9 Reference Position Return 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.10 Automatic Operation 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.11 Clamp and Unclamp (for the Peripheral Equipment Control Interface Only) 52. . . . . . . . . . . . . .

2.3.12 Servo–off 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.13 Peripheral Equipment Control Function Code and Related Information 54. . . . . . . . . . . . . . . . . .

2.3.14 Direct Command Function Code and Related Information 57. . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3.15 Direct Input Signals 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3. PERIPHERAL EQUIPMENT CONTROL 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 COMMAND FORMAT FOR PERIPHERAL EQUIPMENT CONTROL 66. . . . . . . . . . . . . . . . . . . . .

3.2 PERIPHERAL EQUIPMENT CONTROL PROCEDURE 67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 Specifying Operation Using a Function Code 67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Receiving Response Data 67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 FUNCTION CODES 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1 Function Codes 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 DETAILS OF FUNCTION CODES 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.1 ATC/Turret Control 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.2 Point Positioning Control 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.3 Reference Position Return 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.4 Reference Position Setting (when the Reference Position External Setting Function is Used) 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.5 Positioning Control (Absolute/Incremental Specification) 78. . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.6 Speed Control 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.6.1 Overview 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.6.2 System configuration 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.6.3 Peripheral equipment control command format 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.6.4 Command timing chart 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.6.5 Parameter 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.6.6 Signal 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.6.7 Alarm 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.6.8 Others 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.7 Coordinate System Setting 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.8 Rewriting of Parameters 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.8.1 Overview 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.8.2 System configuration 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.8.3 Peripheral equipment control command format 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.8.4 Command timing chart 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.8.5 Alarm 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.8.6 Parameter 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TABLE OF CONTENTSB–65245EN/02

c–3

3.4.9 Control of the Point Data External Setting Function 91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4.10 Teaching–based Data Setting Control 92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5 REFERENCE POSITION RETURN FUNCTION WITH DOGS 93. . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1 Explanation of Function 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1.1 Reference position return operation (grid method) 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1.2 Deceleration limit switch installation condition 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.1.3 Tip 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.5.2 Parameter 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6 UPGRADING OF THE ROTATION AXIS CONTROL FUNCTION 97. . . . . . . . . . . . . . . . . . . . . . . .

3.6.1 Function for Specifying the Direction of Rotation Axis High–Speed Reference Position Return 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.1.1 Explanation of function 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.1.2 Parameter 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.2 Rotation Axis Rotation Direction Sign Specification Function 98. . . . . . . . . . . . . . . . . . . . . . . . .


3.6.2.2 Example of program 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.6.2.3 Parameter 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7 UPGRADING OF THE CLAMP/UNCLAMP CONTROL FUNCTION 99. . . . . . . . . . . . . . . . . . . . . .

3.7.1 Start of the Timer Counting Until Servo–off in Clamp Processing 99. . . . . . . . . . . . . . . . . . . . . .


3.7.1.2 Parameter 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.7.2 Disabling of Clamp Processing When Jog Operation is Stopped 99. . . . . . . . . . . . . . . . . . . . . . .


3.7.2.2 Parameter 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8 UPGRADING OF THE RESPONSE DATA READ FUNCTION 100. . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.1 Overview 100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.2 Details of Function 100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.3 DI/DO Signals 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.3.1 Response data write completion signal ABSWT 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.3.2 Response data read completion signal ABSRD 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.3.3 Response data check signals DSP1, DSP2 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.4 Parameter 102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.8.5 Notes 103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4. DIRECT COMMANDS 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 DIRECT COMMAND FORMAT 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 DIRECT COMMAND CONTROL PROCEDURE 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.1 Direct Command Control Procedure 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Instruction Command Control (EBUF, EBSY, and ECNT) 107. . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.3 Response Command Control (EOREND, EOSTB, EOPC, USR1, and ECONT) 108. . . . . . . . . .

4.2.4 Command Completion Notification (ECF) 108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.5 Alarm (DAL) 109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.6 Direct Command Execution Result 109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 DIRECT COMMANDS 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 DETAILS OF DIRECT COMMAND FUNCTIONS 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 Signal Operation Commands 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 Parameters 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TABLE OF CONTENTS B–65245EN/02

c–4

4.4.3 Status Read 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.4.4 Axis Movement Commands 125. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.5 THIRTY–TWO–BLOCK BUFFERING OPERATION 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.1 Outline 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.2 Memory Registration Procedure 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4.5.3 Operation Procedure 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. EXTERNAL PULSE INPUT FUNCTION 132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 OUTLINE 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2 DETAILED DESCRIPTION 134. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

III. TROUBLESHOOTING AND COUNTERMEASURES

1. OVERVIEW 137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2. ALARM DISPLAY AND CORRESPONDING COUNTERMEASURES 138. . . . . . . . . . . . .

3. ACTION AGAINST NOISE 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

IV. MAINTENANCE OF SERVO AMPLIFIER UNIT

1. REPLACING BATTERY OF THE ABSOLUTE PULSE CODER 153. . . . . . . . . . . . . . . . . .

2. REPLACING FAN MOTOR 158. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 FOR SERVO AMPLIFIER UNITS OF THE 12A AND 20A TYPES 159. . . . . . . . . . . . . . . . . . . . . . . 2.2 FOR SERVO AMPLIFIER UNITS OF THE 40A AND 80A TYPES 160. . . . . . . . . . . . . . . . . . . . . . .

3. REPLACING FUSE 161. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 REPLACING THE FUSE IN THE SERVO AMPLIFIER UNITS OF THE 12A AND 20A TYPES 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 REPLACING THE FUSE IN THE SERVO AMPLIFIER UNITS OF THE 40A AND 80A TYPES 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 SPECIFICATIONS OF THE FUSES FOR SERVO AMPLIFIER UNITS 164. . . . . . . . . . . . . . . . . . . .

V. MAINTENANCE OF SERVO MOTOR

1. MAINTENANCE OF SERVO MOTOR 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 ACCEPTANCE INSPECTION AND SERVO MOTOR STORAGE 168. . . . . . . . . . . . . . . . . . . . . . . . 1.2 ROUTINE CHECK OF SERVO MOTOR 169. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.3 PERIODIC CHECK OF SERVO MOTOR 171. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1.4 ORDER CODES OF REPLACEMENT COMPONENTS 173. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

APPENDIXES

A. SERVO AMPLIFIER UNIT FRONT VIEW 177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B. PARAMETERS 179. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.1 CONTROLLED–AXIS PARAMETERS 181. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

TABLE OF CONTENTSB–65245EN/02

c–5

B.2 COORDINATE SYSTEM AND STROKE LIMIT PARAMETERS 182. . . . . . . . . . . . . . . . . . . . . . . .

B.3 FEEDRATE PARAMETERS 185. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.4 ACCELERATION/DECELERATION CONTROL PARAMETERS 187. . . . . . . . . . . . . . . . . . . . . . . .

B.5 INPUT/OUTPUT SIGNALS PARAMETERS 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.6 SERVO PARAMETERS 195. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B.7 DIGITAL SERVO STANDARD PARAMETER TABLE 210. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C. DIAGNOSIS LISTS 213. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1 SIGNALS SENT FROM CNC (HOST) TO SERVO AMPLIFIER UNIT 214. . . . . . . . . . . . . . . . . . . .

C.1.1 Peripheral Equipment Control Interface (DRC = 0) 214. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.1.2 Direct Command Interface (DRC = 1) 215. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.2 SIGNALS SENT FROM SERVO AMPLIFIER UNIT TO CNC (HOST) 216. . . . . . . . . . . . . . . . . . . .

C.2.1 Peripheral Equipment Control Interface (DRC = 0) 216. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.2.2 Direct Command Interface (DRC = 1) 217. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C.3 SERVO POSITIONAL DEVIATION AMOUNT (SERVO AMPLIFIER UNIT) 218. . . . . . . . . . . . . . .

C.4 ACCELERATION/DECELERATION DELAY AMOUNT (SERVO AMPLIFIER UNIT) 218. . . . . . .

D. POWER MATE CNC MANAGER FUNCTIONS 219. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.1 OVERVIEW 220. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.2 I/O LINK CONNECTION 221. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.3 FUNCTION SELECTION AND TERMINATION 222. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.3.1 Selection 222. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.3.2 Function Selection Soft Key 222. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.3.3 Termination 222. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.3.4 Disabling the Power Mate CNC Manager Functions 223. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.3.5 Parameter Setting 223. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.3.6 Restriction 223. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.4 FUNCTION OVERVIEW 224. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.4.1 Soft Key Status Transition Diagram 224. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.4.2 Screen Configuration 225. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.4.3 Operations of an Active Slave 227. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.5 FUNCTION DETAILS 228. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.5.1 System Configuration 228. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.5.2 Parameters 229. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.5.3 Diagnosis 231. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.5.4 Absolute Coordinate 231. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.5.5 Machine Coordinates 232. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.5.6 Alarms 232. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D.6 ALARM DISPLAY ON THE POWER MATE CNC MANAGER 233. . . . . . . . . . . . . . . . . . . . . . . . . .

E. SERVO CHECK BOARD 234. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

I. START–UP PROCEDURE

B–65245EN/02 1. OVERVIEWSTART–UP PROCEDURE

3

1 OVERVIEW

This section describes the following topics, related to componentconfirmation and servo amplifier unit start–up:

Configuration Start–up procedure Operation check method

2. CONFIGURATION B–65245EN/02START–UP PROCEDURE

4

2 CONFIGURATION

B–65245EN/02 2. CONFIGURATIONSTART–UP PROCEDURE

5

The basic configuration is shown below. For details, refer to the ”FANUCServo Motor β Series Servo Descriptions (B–65232EN).”

Example of two servo amplifier units for two axes

Host controllerCNC or PLC

I/O link

Control power 24 VDC +10%

Servo amplifierunit β seriesSVU (I/O link option)

Servo amplifierunit β seriesSVU (I/O link option)

Circuit breaker

AClinefilter

Magneticcontactor

(NOTE 1) (NOTE 2) (NOTE 3)Servomotor

Servomotor

Basic

Option

Equipment to be prepared by the machine tool builder

3φ AC200 to 240V

1φ AC220 to 240V

NOTE1 The circuit breaker is used to protect the power cable, servo amplifier units, and so forth.2 An AC line filter must be used to reduce the influence of harmonic noise on the power supply.

When a power transformer (insulation type) is used because the input power supply voltageis outside the specified range, no AC line filter is required. If harmonic noise cannot besuppressed sufficiently to satisfy EMC requirements, use a commercially available noise filter.

3 Be sure to install an electromagnetic contactor.4 At the power inlet of the power magnetics cabinet, install a surge absorber between lines and

between each line and ground to protect the equipment from surge voltages caused bylightning.

2.1BASICCONFIGURATION

2. CONFIGURATION B–65245EN/02START–UP PROCEDURE

6

SVU

Power PC Control PC board drawing number

Name Orderingcode

boarddrawingnumber

A20B–2100–0180

A20B–2100–0182

A20B–2100–0184

A20B–2100–0130

SVU–12A06B–6093–

H151 A20B–2100–0132

A20B–2100–0131

SVU–20A06B–6093–

H152 A20B–2100–0133

SVU–40A06B–6093–

H153A16B–3200–

0290

SVU–80A06B–6093–

H154A16B–3200–

0291

2.2MAJORCOMPONENTS

B–65245EN/02 3. START–UP PROCEDURESTART–UP PROCEDURE

7

3 START–UP PROCEDURE

3. START–UP PROCEDURE B–65245EN/02START–UP PROCEDURE

8

Start–up procedure

1. Check the specifications of the host controller (CNC or PLC), servo motor,detector, servo amplifier unit, and so forth.

↓

2. Check for external damage and flaws.

↓

3. Check the power supply voltage and rating. See Section 3.2.

↓

4. Connect the ground wire, power supply cable, and power line. See Section 3.2.

↓

5. Start the servo amplifier unit.

↓

6. Start the host controller.

↓

7. Set the parameters.

3.1START–UPPROCEDURE(SUMMARY)


9

(1) Power supply voltageBefore connecting anything to the power supply, check the powersupply voltage.

Item Specifications

Input for motor

Three–phaseinput

200 to 240 VAC. Allowable voltage fluctua-tion: +10%, –15% (NOTE)

Frequency; 50 Hz, 60 Hz. Allowable fre-quency fluctuation: 2 Hz

Voltage fluctuation at acceleration/decelera-tion must not exceed 7%.Input for motor

power supply Single–phase input

220 to 240 VAC. Allowable voltage fluctua-tion: +10%, –15% (NOTE)

Frequency; 50 Hz, 60 Hz. Allowable fre-quency fluctuation: 2 Hz

Voltage fluctuation at acceleration/decelera-tion must not exceed 7%.

Input for control power supply Regulated power supply: 24 VDC 10% (in-cluding momentary fluctuations and ripples)

NOTEThe allowable voltage fluctuations are not continuousfluctuations, but have a maximum duration of severalminutes.

(2) Power supply rating The control power supply rating is 0.9 A. The motor power supply rating is the sum of the ratings of the

individual servo motors. Upon abrupt servo motor acceleration/deceleration, a capacity

about two times greater than the continuous rating may be requiredmomentarily. So, check the input voltage applied when severalservo motors are accelerated or decelerated at the same time. Then,ensure that the voltage is 170 VAC or more for three–phase input,or 187 VAC or more for single–phase input.

For details, refer to Chapter 5 of Part III in the ”FANUC ServoMotor β Series Descriptions (B–65232EN).”

3.2POWER SUPPLYCONNECTION

3.2.1Checking the PowerSupply Voltage andCapacity


10

The driving circuit of the servo amplifier unit employs an IGBT–basedpulse width modulation control method. So, a high–frequency leakagecurrent flows to ground through the stray capacitance against the groundof the motor windings, power line, and servo amplifier unit. This leakagecurrent may cause the leakage current protection relay or ground faultinterrupter, installed on the power supply line, to malfunction. So, use aninverter–type ground fault interrupter designed to protect against such amalfunction.

(1) Motor leakage currentUse the following data for reference:

Motor model Commercial frequency component

β1 to β6, α0.5 (β0.5) to α2

αC3 to αC6α3, α6, αM2, αM2.5, αM6, αM9,

αL6, αL9

1.8mA

αC12, α12, αC22, α22 2.0mA

α30 2.5mA

3.2.2Leakage Current andGround FaultInterrupter


11

CAUTIONEven when a separate regenerative discharge unit is notused, it needs to be connected. Read this section.

(1) Type

Type ofservo

amplifierunit

Separateregenerative

dischargeunit

Regenerativedischargeresistance

value[Ω]

Regenerativedischargecapacity

[W]

Condition

SVU–12

A06B–6093–H401

20When naturallycooled

SVU–12SVU–20 A06B–6093–

H402

30


(2) Connection(a) A06–6093–H401

Fin attachment type

Resistor

Battery

Thermostat

3.3CONNECTION OFTHE SEPARATEREGENERATIVEDISCHARGE UNIT

3.3.1SVU–12/20


12

(b) A06B–6093–H402

ThermostatResistor

Battery

(3) Details of connection(a) When the regenerative discharge unit is used

β series amplifier

CX11–2 (DCP) B1

CX11–2 (DCC) A1

DCP

DCC

Housing175362–1Contact1–175218–2Manufacturer: AMP Japan

Regenerative discharge unit

Resistor

β series amplifier

CX11–2 (DCP) B1

CX11–2 (DCC) A1


Thermostat

(b) When the regenerative discharge unit is not usedWhen the regenerative discharge unit is not used, CX11–6 needsto be connected.


13

When the connector kit (A06B–6093–K301) is purchased, adummy connector connecting CX11–6 is supplied as a standardaccessory.

β series amplifier

CX11–6 (TH1) B1

CX11–6 (TH2) A1


(1) Type

Type ofservo

amplifierunit

Separateregenerative

dischargeunit

Regenerativedischargeresistance

value[Ω]

Regenerativedischargecapacity

[W]

Condition


A06B–6089–H500

400Wind velocity:2 m/s

SVU–40SVU–80 16 600

Wind velocity:4 m/s

A06B–6089–H713

800 With a built–in

A06B–6089–H714

1200

fan motor forforced cooling

With SVU–40/80, the switches on the front of the servo amplifier unitneed to be set according to the type of regenerative discharge unitconnected.

Switches 1, 2, 3, and 4 are arranged in this order from top to bottom. Aswitch is set to ON when the lever is moved to the left, and a switch is setto OFF when the lever is moved to the right.

3.3.2SVU–40/80

Switch setting


14

ON

12

34

(a) Setting of switches 1 and 2The setting of switches 1 and 2 depends on the regenerativedischarge resistor used.If these switches are not set correctly, the regenerative overheatalarm is not detected correctly.

Switch 1 Switch 2 Regenerative discharge resistor

ON ON Built–in type

ON OFF Separate type: A06B–6089–H500

OFF OFF Separate type: A06B–6089–H713, A06B–6089–H714

(b) Setting of switches 3 and 4Switches 3 and 4 are not used. Set these switches to OFF.


15

(2) Connection(a) When the separate regenerative discharge unit is used

Thermostat

Separate regenerative discharge unit


16

(b) When the separate regenerative discharge unit is not used (whenthe built–in regenerative discharge unit is used)

Dummy connector


17

(3) Details of connection(a) When the separate regenerative discharge unit is used

β series amplifier

CX23–B1 (RC)

CX23–B2 (RE)

T3 (1)

T3 (2)

Resistor

CX20–1 (TH1)

CX20–3 (TH2)

T3 (3)

T3 (4)

Thermostat

Separate regenerative discharge unit

Cable specification: Vinyl heavy–duty power cordJIS C 3312 Two–conductorConductor 3.5 mm2

Housing2–917807–2Contact316041–2Applicable wire range3.5 mm2 to 5.5 mm2

Manufacturer: AMP Japan

Crimp terminal5.5–4

Cable specification: Vinyl heavy–duty power cord JIS C 3312 Two–conductorConductor 0.75 mm2

Housing2–178288–3Contact1–175218–5Applicable wire range0.5 mm2 to 1.25 mm2


Crimp terminal1.25–4


18

(b) When the separate regenerative discharge unit is not used (whenthe built–in regenerative discharge unit is used)Connect the connector CX23 with a dummy housing.

β series amplifier

CX23–A1 (RC)

CX23–A2 (RI)


Housing2–917807–2Contact316041–2Applicable wire range3.5 mm2 to 5.5 mm2


Connect the connector CX20 with a dummy housing.

β series amplifier

CX20–1 (TH1)

CX20–3 (TH2)


Housing2–178288–3Contact1–175218–5Applicable wire range0.5 mm2 to 1.25 mm2



19

(1) Preparation prior to servo parameter initializationBefore servo parameter initialization, check the following:1. Servo motor model (Example: β 6/2000)2. Amount of travel per motor rotation (Example: 10 mm/motor

revolution)3. Number of pulses per motor rotation (Example: 10000

pulses/motor revolution)A detection unit is determined from 2 and 3.Detection unit = (Amount of travel per motor rotation)/

(number of pulses per motor rotation)

(2) Procedure for servo parameter initialization1. Turn on the power to the servo amplifier unit.

2. Turn on the power to the host controller in the emergency stopstate.

3. Perform parameter initialization from the host controller. Setvalues for the parameters listed below. (See 5 to 10.)

Default Parameter number

Motor number None No.30

CMR 2 No.32

Numerator for the number ofpulses per revolution

10000 No.105

Denominator for the number ofpulses per revolution

1 No.106

Direction of travel 111 No.31

Reference counter capacity 10000 No.180

4. Set initialization bit DGPR to 0.

#7 #6 #5 #4 #3 #2 #1 #0

12 DGPR

When this bit is set to 0, a power disconnection request alarm(alarm No. 0) is issued. However, 5 through 10 below can be set.

Start initialization (The power to the CNC is not turned on until 11.)

←DGPR is automatically set to 1 when thepower is turned off then back on.

DGPR (b1) =0

3.4PARAMETERINITIALIZATION


20

5. Set a motor type number.In parameter No. 30, set the motor type number of the servo motorto be used.

SVU–12

Motor model β 0.5/3000 β 1/3000 β 2/3000 α 1/3000

Motor specification 0113 0031 0032 0371

Motor type number 13 35 36 61

Motor model α 2/2000 α 2/3000 — —

Motor specification 0372 0373 — —

Motor type number 46 62 — —

SVU–20

Motor model β 3/3000 β 6/2000 α M2/3000 α M2.5/3000



Motor model α C3/2000 α C6/2000 α C12/2000 —

Motor specification 0121 0126 0141 —

Motor type number 7 8 9 —

SVU–40

Motor model α 3/3000 α 6/2000 α 12/2000 α 22/1500



Motor model α C22/1500 — — —

Motor specification 0145 — — —

Motor type number 10 — — —

SVU–80

Motor model α 6/3000 α 12/3000 α 22/2000 α 30/1200



Motor model α M6/3000 α M9/3000 α L6/3000 α L9/3000



6. Set CMR.In parameter No. 32, set a factor by which the amount of travelspecified in the CNC is multiplied for the servo system.

CMR = Command unit/detection unit

When CMR is 1 to 48 Setting = CMR x 2

When CMR is 1/2 to 1/27 Setting = 1/CMR + 100

Usually, CMR = 1. So, set 2.

7. Set the number of pulses per rotation.By allowing the number of position feedback pulses from a pulsecoder to be varied, a detection unit can easily be set with respectto the deceleration ratios and leads of the ball screws.


21

α and β pulse coder setting

Numerator for the number of pulsesper rotation (32767) (Parameter No. 105)

Denominator for the number ofpulses per rotation (32767)

(Parameter No. 106)=

Example of setting: 10µ m detection in a semi–closed loop

Ball screw lead Number of positionpulses required

Number of pulses per rotationNumerator/denominator

10 (mm/rev) 1000 (pulses/rev) 1000/1

20 2000 2000/1

30 3000 3000/1

Example of setting : 1/100 degree detection with a decelerationratio of 10:1 for a rotation axis

Every time the motor makes one rotation, the table rotates through 360/10degrees. For each degree of table rotation, 100 position pulses are required. Thenumber of pulses per motor rotation is 360/10 x 100 = 3600 pulses, so set thefollowing:Numerator = 3600, Denominator = 1

8. Set the direction of motor travel in parameter No. 31.

111 Clockwise as viewed from the pulse coder

–111 Counterclockwise as viewed from the pulse coder

9. Set the reference counter capacity. (Parameter No. 180)Set the reference counter capacity when performing a referenceposition return operation based on the grid method. Set thenumber of position pulses per motor rotation, or set that numberdivided by an integer.

Example of setting: α and β pulse coders, semi–closed loop (1 µmdetection)

Ball screw lead(mm/revolution)

Number of positionpulses required

(pulses/revolution)

Referencecounter

Grid width(mm)

10 10000 10000 10

20 20000 20000 20

30 30000 30000 30

10. Turn the power to the CNC off, then back on again.This completes servo parameter initialization.

11. When using an α or β pulse coder as an absolute pulse coder, usethe procedure described below.1) Set the following parameter, then turn off the power to the

CNC.

#7 #6 #5 #4 #3 #2 #1 #0

11 APCX

APCX (b7) An absolute position detector is:0 : Not used1 : Used


22

2) Check the connection of the pulse coder battery, then turn onthe power to the CNC.

3) Absolute position communication is performed, then areference position return request is indicated.

4) Rotate the servo motor through one or more rotations byjogging.

5) Turn the power to the host CNC and servo amplifier unit off,then back on again.

6) Absolute position communication is performed, then areference position return request is indicated.

7) Perform reference position return.

B–65245EN/02 4. OPERATION CHECK METHODSTART–UP PROCEDURE

23

4 OPERATION CHECK METHOD

4. OPERATION CHECK METHOD B–65245EN/02START–UP PROCEDURE

24

1. Turn on the power.

2. The LED indicates – (minus).

Refer to the explanation of troubleshooting in Part III.

When the LED indicates data other than – or 0

3. The emergency stop state is released.

4. The LED indicates 0 (zero).

Check the *ESP signal applied to the servo amplifier unit.Check the *ESP signal applied through the I/O link.

The LED does not indicate 0.

5. Issue a command from the host controller.

6. Check the operation of the servo motor.

Refer to the explanation of trouble-shooting in Part III.

An alarm is issued.

Check the command.Check the parameter settings.Check *RILK applied to the servo amplifier unit.

The motor does not rotate.

The motor malfunctions.

Refer to Chapter 3 “α Series Parameter Adjustment” in the ”FANUCAC Servo Motor α Series Parameter Manual (B–65150E).”

4.1CHECK PROCEDURE

B–65245EN/02 4. OPERATION CHECK METHODSTART–UP PROCEDURE

25

4.1 LED Indications and Meanings

LED indication State Description

Servo amplifier unit not ready

This indicates that control power (+24VDC) is supplied. No alarm is issued, butthe motor is not activated.

Servo amplifier unit ready

This indicates that the motor is activated,and that commands can now be accepted.

Blinking

Command beingexecuted

This indicates that an accepted commandis now being executed.

Blinking

Parameters beingloaded

This indicates that parameters are beingloaded in a batch from the power mateCNC manager.

Indicationother than the

above

Alarm An alarm is issued. For information aboutalarms, see the explanation of trouble-shooting in Part III.

II. HANDLING

B–65245EN/02 1. OVERVIEWHANDLING

29

1 OVERVIEW

1. OVERVIEW B–65245EN/02HANDLING

30

The servo amplifier unit is connected to a host unit such as a CNC via 128DI and 128 DO points of the FANUC I/O Link. The ladder program onthe host unit sends move commands to the servo amplifier unit andmonitors its status, via this interface.

Host unit

Servo amplifier unit

Yy+0

Yy+1

Yy+7

Yy+15

Xx+0

Xx+1

Xx+7

Xx+15

Command data

I/O Link

Response data

PMC I/O interfacearea in the CNC

1.1SERVO AMPLIFIERUNIT INTERFACE


31

The interface area used to transfer data via the FANUC I/O Link is dividedinto two sections: A signal area for handling reset and alarm signals, anda command code area for handling move commands and status monitorcommand code.

The host unit can directly read– and write–access the signal area. So it canbe used to select the interface mode, start/stop operations, and monitor foralarm conditions.

The command code area can be used to issue commands to servo amplifierunits by combining function code and command data. For example, it ispossible to send absolute/incremental move command and referenceposition return move command blocks, and receive the current positiondata.

1.2FANUC I/O LinkINTERFACE AREA

1. OVERVIEW B–65245EN/02HANDLING

32

Interfaces are used to transfer data to and from the servo amplifier unit.Essentially, there are two operation modes: Peripheral equipment controlinterface and direct command interface. The mode to be used is selectedby the DRC signal in the signal area.

This interface offers a high degree of compatibility with the peripheralequipment control functions of the Power Mate–E. It is provided withcommands that can be used to control the peripheral equipment ofmachine tools. It enables the implementation of a series of positioningoperations, such as axis clamp/unclamp, with a single command. Thisinterface is useful if a ladder program, created based on this interface, isalready available.

This interface is used to implement a positioning operation with a singlecommand, unlike peripheral equipment control, in which a singlecommand can perform multiple operations. Besides a positioningcommand, this interface offers commands such as wait, parameterread/write, and diagnosis data read commands, enabling a wide range ofoperations can be implemented.

The two interface modes can be switched during operation. Interfaceswitching causes the meaning of signals to be changed, requiringcomplicated ladder program logic. So, it is recommended that theinterface mode not be changed during a servo amplifier unit controlsequence.

Either peripheral equipment control or direct command interface mode isavailable depending on the situation. Usually, interface switching is notperformed while the power is on. When necessary, however, the host canswitch the interface by issuing a DRC signal.

When the DRC signal is 0, the peripheral equipment control interface isselected. When it is 1, the direct command interface is selected.

When the DRCO signal is 0, response data received from the servoamplifier unit indicates the peripheral equipment control interface. Whenit is 1, the response data indicates the direct command interface.

DRC signal switching must be performed during a reset state. Signalswitching causes the meaning of a signal in use to be changed. Be carefulwhen a command is being issued or axis movement is occurring, as signalswitching may result in unexpected behavior.

Once the DRC signal is switched, defer issuing a command until one scanafter the DRCO signal is switched. If the DRC signal is inverted againbefore the DRCO signal is switched, it may become impossible toexchange data with the servo amplifier unit normally. Before inverting theDRC signal again, wait for at least one scan after the DRCO signal isswitched.

1.3INTERFACE

1.3.1Peripheral EquipmentControl Interface

1.3.2Direct CommandInterface

1.3.3Interface Switching


33

If the power mate CNC function is used simultaneously when the directcommand interface is selected, they share the response data area.Response data area sharing requires the identification of the interface typethat corresponds to the response data received from the servo amplifierunit, to accept only the response data related to the PMC of the host. Theresponse data can be identified according to its USR1.

If USR1 is 0, the response data is related to the PMC of the host and isaccepted. If it is 1, the response data is for the power mate CNC, and isignored by the PMC.

1.4CAUTIONS ONUSING THE POWERMATE CNC

2. SIGNAL DESCRIPTIONS B–65245EN/02HANDLING

34

2 SIGNAL DESCRIPTIONS

B–65245EN/02 2. SIGNAL DESCRIPTIONSHANDLING

35

A host unit such as a CNC is connected to the servo amplifier unit via 128DI and 128 DO points of the FANUC I/O Link.

CAUTIONI/O link interface signal assignment differs between theperipheral equipment control and direct commandinterfaces.

Locations Yy+0, Yy+1, and Yy+7 are allocated as the DO signal area,while locations Xx+0, Xx+1, Xx+2, and Xx+7 are allocated as the DIsignal area. To control the servo amplifier unit, it is necessary to turn onor off directly those signals that are assigned to these areas of read them.

For the command code area, the function code and command data 1 areassigned to location Yy+2, and command data 2 is assigned to locationsYy+3 to Yy+6. Command issue to the servo amplifier unit must be doneusing these locations. Response data is assigned to locations Xx+3 toXx+6. So, response data sent in response to commands can be receivedat these locations.

CNC (host) → Servo amplifier unit (DRC=0)

#7 #6 #5 #4 #3 #2 #1 #0

Yy+0 ST UCPS2 –X +X DSAL MD4 MD2 MD1

Yy+1 IGNVRY DRC ABSRD *ILK SVFX *ESP ERS

Yy+2 Function code Command data 1

Yy+3 Command data 2

Yy+4 Command data 2

Yy+5 Command data 2

Yy+6 Command data 2

Yy+7 RT DRN ROV2 ROV1 *OV8 *OV4 *OV2 *OV1

Yy+8 (Unused)

Yy+9 (Unused)

Yy+10 (Unused)

Yy+11 (Unused)

Yy+12 (Unused)

Yy+13 (Unused)

Yy+14 (Unused)

Yy+15 (Unused)

2.1DO/DO SIGNALS

2.1.1Peripheral EquipmentControl Interface


36

Servo amplifier unit → CNC (host) (DRC=0)#7 #6 #5 #4 #3 #2 #1 #0

Xx+0 OPC4 OPC3 OPC2 OPC1 INPX SUPX IPLX DEN2

Xx+1 OP SA STL UCPC2 DRCO ABSWT

Xx+2 MA AL DSP2 DSP1 DSALO TRQM RST ZPX

Xx+3 Response data

Xx+4 Response data

Xx+5 Response data

Xx+6 Response data

Xx+7 SVERX PSG2 PSG1 MVX APBAL MVDX

Xx+8 Unusable (Power mate CNC manager response area)








See Section 2.3 for details of the signals. Section 3.3 explains the functioncode, command data, and response data.


37

Locations Yy+0 to Yy+3 are allocated as the DO signal area, whilelocations Xx+0 to Xx+3 are allocated as the DI signal area. To control theservo amplifier unit, turn on or off directly those signals that are assignedto these areas or read them.

For the command code area, command data for direct commands isassigned to locations Yy+4 to Yy+15. Command issue to the servoamplifier unit must be done using these locations. Response data fordirect commands is assigned to locations Xx+4 to Xx+15. So, theresponse data sent in response to the direct command interface can bereceived at these locations.

CNC (host) → Servo amplifier unit (DRC=1)#7 #6 #5 #4 #3 #2 #1 #0

Yy+0 ST –X +X MD4 MD2 MD1

Yy+1 IGNVRY DRC WFN *ILK SVFX *ESP ERS

Yy+2 RT DRN ROV2 ROV1 *OV8 *OV4 *OV2 *OV1

Yy+3 INPF

Yy+4 EBUF EOREND ECNT

Yy+5 Direct command (function code)

Yy+6 Direct command (command data 1)










2.1.2Direct CommandInterface


38

Servo amplifier unit → CNC (host) (DRC=1)#7 #6 #5 #4 #3 #2 #1 #0

Xx+0 INPX SUPX IPLX DEN2

Xx+1 OP SA STL DRCO WAT

Xx+2 MA AL RST ZPX

Xx+3 INPFO SVERX PSG2 PSG1 MVX APBAL MVDX

Xx+4 EBSY EOSTB ECF USR1 EOPC DAL ECONT

Xx+5 Direct command (function code)

Xx+6 Reserved Execution result

Xx+7 Direct command (response data 1)









See Section 2.3 for details of the signals. Section 4.4 explains the functionnumber, command data, and response data.


39

The following lists not only signals transferred via the I/O link interfacebut also direct input/output signals such as *ESP, *–OT, *+OT, and*RILK.

Each listed address is based on the I/O link assignment address of eachslave of the host.

AddressGroup Signal name Symbol Peripheral

equipmentDirect

commandReference

Preparation completion signal MA Xx+2#7 2.3.11

Servo preparation completion signal SA Xx+1#6 2.3.1

Emergency stop signal *ESP Yy+1#1 2.3.2

2 External reset signal ERS Yy+1#0 2.3.2

Reset in–progress signal RST Xx+2#1 2.3.2

Alarm signal AL Xx+2#6 2.3.33

Absolute pulse coder battery alarm signal APBAL Xx+7#1 Xx+3#1 2.3.3

4 Mode selection signal MD4,MD2,MD1 Yy+0#0 to Yy+0#2 2.3.4

5 Feed axis and direction selection signal +X, –X Yy+0#4, Yy+0#5 2.3.5

Remaining travel in–range signal DEN2 Xx+0#0 2.3.6

Distribution pulse signal IPLX Xx+0#1 2.3.6

Acceleration/deceleration pulse signal SUPX Xx+0#2 2.3.6

In–position signal INPX Xx+0#3 2.3.6

6Servo positional deviation monitor signal SVERX Xx+7#6 Xx+3#6 2.3.6

6Axis movement in–progress signal MVX Xx+7#2 Xx+3#2 2.3.6

Movement direction signal MVDX Xx+7#0 Xx+3#0 2.3.6

Area signal PSG1, PSG2Xx+7#3,Xx+7#4

Xx+3#3,Xx+3#4

2.3.6

Speed control in–progress signal TRQM Xx+2#2 –– 2.3.6

Feedrate override signal *OV1 to *OV8Yy+7#0 to

Yy+7#3

Yy+2#0 to

Yy+2#32.3.7

7 Manual rapid traverse selection signal RT Yy+7#7 Yy+2#7 2.3.7

Rapid traverse override signal ROV1, ROV2Yy+7#4,Yy+7#5

Yy+2#4,Yy+2#5

2.3.7

8 Interlock signal *ILK Yy+1#3 2.3.8

9 Reference position return completion signal ZPX Xx+2#0 2.3.9

Automatic operation start signal ST Yy+0#7 2.3.10

10

Automatic operation start in–progress signal

STL Xx+1#5 2.3.1010

Automatic operation signal OP Xx+1#7 2.3.10

Dry run signal DRN Yy+7#6 Yy+2#6 2.3.10

Unclamp command signal UCPC2 Xx+1#4 –– 2.3.1111

Clamp/unclamp state output signal UCPS2 Yy+0#6 –– 2.3.11

Servo–off signal SVFX Yy+1#2 2.3.1212

V READY OFF alarm ignore signal IGNVRY Yy+1#6 2.3.12

2.2SIGNALS (LISTED INGROUPS)


40

Group ReferenceAddress

SymbolSignal nameGroup ReferenceDirect command

Peripheralequipment

SymbolSignal name

Operation completion signalOPC1,OPC2,OPC3,OPC4

Xx+0#4 toXx+0#7

–– 2.3.13

Function code CMD CODEPYy+2#4 to

Yy+2#7–– 2.3.13

Command data 1 CMD DATA1Yy+2#0 to

Yy+2#3–– 2.3.13

Command data 2 CMD DATA2 Yy+3 to Yy+6 –– 2.3.1313 Response data ANS DATAP Xx+3 to Xx+6 –– 2.3.13

Response data check signal DSP1,DSP2Xx+2#4,Xx+2#5

–– 2.3.13

Response data write completion signal ABSWT Xx+1#0 –– 2.3.13

Response data read completion signal ABSRD Yy+1#4 –– 2.3.13

Alarm output command signal DSAL Yy+0#3 –– 2.3.13

Alarm output state check signal DSALO Xx+2#3 –– 2.3.13

Function code command strobe signal EBUF –– Yy+4#7 2.3.14

Function code command read completion signal

EBSY –– Xx+4#7 2.3.14

Function code CMD CODE –– Yy+5 2.3.14

Command data CMD DATA –– Yy+6 to Yy+15 2.3.14

Response data ANS DATA –– Xx+7 to Xx+15 2.3.14

Continuously output data signal EOPC –– Xx+4#2 2.3.14

Response data readable signal EOSTB –– Xx+4#6 2.3.14

Response data read completion signal EOREND –– Yy+4#6 2.3.14

Command continuation notification signal ECNT –– Yy+4#0 2.3.14

14PMM data signal USR1 –– Xx+4#3 2.3.14

14Response data continuation notification signal

ECONT –– Xx+4#0 2.3.14

Function code command completion notification signal

ECF –– Xx+4#5 2.3.14

Alarm signal DAL –– Xx+4#1 2.3.14

Wait signal WAT –– Xx+1#0 2.3.14

Wait completion signal WFN –– Yy+1#4 2.3.14

Memory registration signal INPF –– Yy+3#7 2.3.14

Memory registration in–progress signal INPFO –– Xx+3#7 2.3.14

Interface switch signal DRC –– Yy+1#5 2.3.14

Interface status notification signal DRCO –– Xx1#1 2.3.14

Emergency stop signal *ESP Direct input 2.3.15

Overtravel signal *–OT, *+OT Direct input 2.3.15

15 High–speed interlock signal *RILK Direct input 2.3.15

Deceleration signal for reference positionreturn

*DEC Direct input 2.3.15


41

(1) Preparation completion signal MA[Classification]Input signal <Xx+2#7> (common to both the peripheral equipmentcontrol and direct command interfaces)[Function]This signal indicates that the servo amplifier unit is ready to operate.[Input condition]The signal becomes 1 when:1. Self–diagnosis in the servo amplifier unit completes normally

when the power is switched on.The signal becomes 0 when:1. The power to the servo amplifier unit is switched off.2. A control unit error such as a CPU or memory failure is detected.

(2) Servo preparation completion signal SA[Classification]Input signal <Xx+1#6> (common to both the peripheral equipmentcontrol and direct command interfaces)[Function]This signal indicates that the servo amplifier unit is ready to operate.Conversely, if this signal is not issued, the servo amplifier unit is notoperating.[Input condition]The signal becomes 1 when:1. Self–diagnosis in the servo system completes normally when the

power to the control unit is switched on.2. A servo alarm (if any has occurred) is reset.3. An emergency stop condition (if any has occurred) is reset.The signal becomes 0 when:1. The power to the control unit is switched off.2. A servo alarm condition is detected.3. An emergency stop is effected.4. The V READY OFF alarm ignore signal (IGNVRY) is set to 1,

bit 0 (SAK) of parameter No. 004 is set to 0, and the ready signalof the servo amplifier unit is turned off.

NOTEIn the servo–off state, the SA signal remains at 1 unless acondition which resets it to 0 occurs.

2.3SIGNAL DETAILS

2.3.1PreparationCompletion


42

(1) Emergency stop signal *ESP[Classification]Output signal <Yy+1#1> (common to both the peripheral equipmentcontrol and direct command interfaces)[Function]This signal brings the control unit to an emergency stop.[Operation]When the signal becomes 0, the control unit operates as follows:1. The control unit stops immediately during axis movement.2. A reset is applied after the stop.3. When the emergency stop signal is 0, the servo preparation

completion signal SA is also 0, because the servo system is notoperating. If axis movement occurs while the servo system is notoperating, the amount of movement is reflected in the currentposition coordinates held in the control unit (follow–up).

4. While the emergency stop signal is 0, jog and function codecommands cannot be issued.

(2) External reset signal ERS[Classification]Output signal <Yy+1#0> (common to both the peripheral equipmentcontrol and direct command interfaces)[Function]This signal resets the servo amplifier unit.[Operation]When the signal becomes 1, the servo amplifier unit operates asfollows:1. The servo amplifier unit immediately decelerates axis movement

to a stop.2. After a stop, the servo amplifier unit is reset, then the following

are canceled: Function code commands being executed, buffered, and sent as

an input signal. Alarm conditions (if any).

3. While the external reset signal is 1, jog and function codecommands cannot be issued.

(3) Reset in–progress signal RST[Classification]Input signal <Xx+2#1> (common to both the peripheral equipmentcontrol and direct command interfaces)[Function]This signal indicates that the control unit is being reset.[Input condition]The signal becomes 0 when:1. A reset is completed.The signal becomes 1 when:1. A reset is in progress.

That is, the external reset signal ERS ((2) in Section 2.3.2) is 1,or the emergency stop signal *ESP ((1) in Section 2.3.2) is 0.

2.3.2Reset and EmergencyStop


43

(1) Alarm signal AL[Classification]Input signal <Xx+2#6> (common to both the peripheral equipmentcontrol and direct command interfaces)[Function]This signal indicates that the servo amplifier unit is in an alarm state.[Input condition]The signal becomes 1 when:1. The servo amplifier unit enters an alarm state.

The following alarms can occur in the servo amplifier unit.1) P/S alarm2) Pulse coder alarm3) Servo alarm4) Overtravel alarm

The signal becomes 0 when:1. The servo amplifier unit is released from an alarm state by a reset.

Some alarms occur again after they are reset, unless their causeis removed. So, the AL signal is issued again immediately. In thiscase, the AL signal may become 0 for a moment.

(2) Absolute pulse coder battery alarm signal APBAL[Classification]Input signal <Xx+7#1> (peripheral equipment control interface)

<Xx+3#1> (direct command interface)[Function]This signal indicates that the batteries of the absolute pulse coderrequire replacement.[Input condition]The signal becomes 1 when:1. The absolute pulse coder battery voltage is low.The signal becomes 0 when:1. The batteries are replaced, and the battery voltage becomes

higher than or equal to the rating.This alarm will occur again after it is reset, unless the batteries arereplaced. So, the APBAL signal is immediately issued again. Inthis case, the APBAL signal may become 0 for a moment.

CAUTIONUse this signal to display this battery alarm on the machineoperator ’s panel. On the host controller, this battery alarmis not displayed if the Power Mate CNC manager screen isnot displayed.

2.3.3Alarm


44

(1) Mode selection signal MD1, MD2, and MD4[Classification]Output signal <Yy+0#0 to #2> (common to both the peripheralequipment control and direct command interfaces)[Function]This signal selects an operation mode.[Operation]The signal is a code signal consisting of three bits: MD1, MD2, andMD4. The code signal selects one of three modes: automaticoperation (AUTO), handle feed (HANDLE), or jog (JOG), accordingto the combination of these bits.

MD1 MD2 MD4 Description

1 0 0 Automatic operation (AUTO)

0 0 1 Handle feed (HANDLE)

1 0 1 Jog feed by +X and –X (JOG)

CAUTIONDo not switch the operation mode during automaticoperation. Stop automatic operation before switching theoperation mode.

NOTESee Chapter 5 for details of handle feed.

(1) Feed axis and direction selection signals +X and –X[Classification]Output signal <Yy+0#4, #5> (common to both the peripheralequipment control and direct command interfaces)[Function]These signals select the direction in which jog feed movement(rotation) is to be performed, and cause it to be performed in theselected direction.[Operation]The signals are valid when jog feed (JOG) mode is selected. Theyindicate the direction of feed. After JOG mode is selected, changing +Xor –X, whichever is desired, from 0 to 1 causes and keeps movement inthe corresponding direction at a feedrate specified by the override signals*OV1 to *OV8 ((1) of Section 2.3.7) or the manual rapid traverseselection signal RT ((2) of Section 2.3.7), provided the signal is 1.

CAUTION1 Simultaneously setting +X and –X to 1 results in neither

direction being selected (equivalent to when both are 0).2 If a feed axis selection signal becomes 1 before the jog feed

signal (JOG) is selected, these signals are ignored. If theJOG signal is selected, it must be reset to 0 before the feedaxis selection signal is set. The servo amplifier unit beginsfeeding when the JOG signal rises.

2.3.4Mode Selection

2.3.5Jog Feed


45

(1) Remaining travel in–range signal DEN2

[Classification]Input signal <Xx+0#0> (common to both the peripheral equipmentcontrol and direct command interfaces)

[Function]

This signal indicates that, in the servo amplifier unit, the number ofaxis move command distribution pulses that have not been used foraxis movement (residual movement amount) is smaller than aparameter–specified value.

[Input condition]The signal becomes 1 when:

1. The number of axis move command distribution pulses that havenot been used for axis movement (residual movement amount) issmaller than a parameter–specified value.

The signal becomes 0 when:

1. The number of axis move command distribution pulses that havenot been used for axis movement (residual movement amount) islarger than a parameter–specified value.

2. When the value of a parameter for the remaining travel in–rangesignal is 0.

NOTE1 The DEN2 signal remains 0 during jog feed (JOG).2 The DEN2 signal maintains its current state until another

move command is issued.

(2) Distribution pulse signal IPLX


[Function]This signal indicates that the servo amplifier unit has axis movecommand distribution pulses that have not been used for axismovement (residual movement amount).

[Input condition]The signal is 1 when:

1. There are axis move command distribution pulses that have notbeen used for axis movement (residual movement amount).

The signal is 0 when:

1. There is no axis move command distribution pulse that has notbeen used for axis movement (residual movement amount).

NOTEThe IPLX signal is valid while jog feed (JOG) mode is set.

2.3.6Status Signals


46

(3) Acceleration/deceleration pulse signal SUPX


[Function]This signal indicates that the servo amplifier unit has accumulatedpulses in the acceleration/deceleration control section.


1. Axis movement distribution pulses are accumulated in theacceleration/deceleration control section.


1. No axis movement distribution pulses are accumulated in theacceleration/deceleration control section.

(4) In–position signal INPX


[Function]This signal indicates that the controlled axis is in position (hasreached the specified value).


1. There is no acceleration/deceleration delay (accumulated pulses)for the controlled axis, and the servo positional deviation iswithin a parameter–specified range.


1. There is an acceleration/deceleration delay (accumulated pulses)for the controlled axis, or

2. The servo positional deviation falls outside aparameter–specified range.

(5) Servo positional deviation monitor signal SVERX

[Classification]Input signal <Xx+7#6> (peripheral equipment control interface)

Input signal <Xx+3#6> (direct command interface)

[Function]This signal indicates that, in the servo amplifier unit, the amount ofservo positional deviation has exceeded a parameter–specified value.


1. The servo positional deviation amount is larger than aparameter–specified value.


1. A parameter–specified value for the servo positional deviationamount is 0, or

2. The servo positional deviation amount is within aparameter–specified range.


47

(6) Axis movement in–progress signal MVX[Classification]Input signal <Xx+7#2> (peripheral equipment control interface)Input signal <Xx+3#2> (direct command interface)[Function]The signal indicates that movement along the controlled axis is beingperformed.[Input condition]The signal becomes 1 when:1. Controlled axis movement begins.2. Bit 7 (SVFP) of parameter No. 010 is set to 1 to perform

follow–up in clamp processing or servo–off state, and the servoposition deviation amount (DGN No. 032) is not zero.

The signal becomes 0 when:1. Controlled axis movement ends, and the controlled axis enters

the in–position state.2. Bit 7 (SVFP) of parameter No. 010 is set to 1 to perform

follow–up in clamp processing or servo–off state, and the servoposition deviation amount (DGN No. 032) is zero.

NOTEThe MVX signal is valid while jog feed (JOG) mode is set.

(7) Movement direction signal MVDX[Classification]Input signal <Xx+7#0> (peripheral equipment control interface)Input signal <Xx+3#0> (direct command interface)[Function]The servo amplifier unit indicates the movement direction of itscontrolled axis.[Input condition]The signal becomes 1 when:1. Controlled axis movement in the negative direction begins.The signal is 0 when:1. Controlled axis movement in the positive direction begins.

NOTE1 The MVDX signal is valid while jog feed (JOG) mode is set.2 The MVDX signal maintains its current state during a stop.

It does not become 0 even upon a stop after movement inthe negative direction.

3 The servo amplifier unit outputs the MVDX signal evenduring follow–up, provided the necessary condition issatisfied.

(8) Area signals PSG1 and PSG2[Classification]Input signals PSG1<Xx+7#3> and PSG2<Xx+7#4>

(peripheral equipment control interface)PSG1<Xx+3#3> and PSG2<Xx+3#4>

(direct command interface)


48

[Function]The servo amplifier unit indicates that the current machinecoordinates are within a parameter–specified range, using two codesignal outputs.[Input condition]If a parameter is set up as shown below, PSG1 and PSG2 are outputin the respective sections, as shown below.

Machine coordinates

(1) to (3) are parameter–set values.

(–) (+)

ABSMT < 1) ABSMT < 2) ABSMT < 3) ABSMT

PSG1

PSG2

“1”“0” “1”“0”“0”“0” “1”“1”

to Section 1 Section 2 Section 3 Section 4 to

NOTEThe servo amplifier unit outputs the PSG1 and PSG2signals even during follow–up, provided the necessarycondition is satisfied.

(9) Speed control mode signal TRQM[Classification]Input signals <Xx+2#2> (peripheral equipment control only)[Function]The servo amplifier unit notifies that the speed control mode is set.[Input condition]This signal is set to 1 in the following case:1. When speed control is activated, and the speed control mode is

setThis signal is set to 0 in one of the following cases:1. When the speed control stop command is executed2. Servo alarm, overtravel alarm, reset, emergency stop, servo–off

(1) Override signals *OV1 to *OV8[Classification]Output signal <Yy+7#0 to #3> (peripheral equipment controlinterface)<Yy+2#0 to #3> (direct command interface)[Function]The host applies override to jog feed and cutting feedrates.[Operation]Four binary code signals are provided. They correspond to theoverride values listed below.

2.3.7Feedrate


49

*OV8 *OV4 *OV2 *OV1 Override value (%)

1 1 1 1 0

1 1 1 0 10

1 1 0 1 20

1 1 0 0 30

1 0 1 1 40

1 0 1 0 50

1 0 0 1 60

1 0 0 0 70

0 1 1 1 80

0 1 1 0 90

0 1 0 1 100

0 1 0 0 110

0 0 1 1 120

0 0 1 0 130

0 0 0 1 140

0 0 0 0 150

Actual jog feed and automatic cutting feedrates are obtained bymultiplying the respective specified values by the override values.

(2) Manual rapid traverse selection signal RT[Classification]Output signal <Yy+7#7> (peripheral equipment control interface)

<Yy+2#7> (direct command interface)[Function]The host selects rapid traverse for jog feed.[Operation]The RT signal is valid when jog feed mode (JOG) is selected. Whenthe signal is 1, jog feed is performed at a rapid traverse rate. Underthis condition, setting a feed axis and direction selection signal (+Xor –X) to 1 starts rapid traverse in the specified direction. If jog feedis selected, a feed axis and direction selection signal (+X or –X) is 1,and an override signal is valid, setting the RT signal to 1 starts rapidtraverse. Resetting the RT signal to 0 resumes normal feed.

(3) Rapid traverse override signals ROV1 and ROV2[Classification]Output signal <Yy+7#4 and #5> (peripheral equipment control

interface)<Yy+2#4 and #5> (direct command interface)

[Function]The host specifies override for rapid traverse.[Operation]The following table lists the override amounts.

ROV2 ROV1 Override amount

0 0 100%

0 1 50%

1 0 25%

1 1 F0

NOTEF0 is a value specified in parameter No. 061.


50

(1) Interlock signal *ILK[Classification]Input signal <Yy+1#3> (common to both the peripheral equipmentcontrol and direct command interfaces)[Function]The host stops sending all movement commands.[Input condition]When the *ILK signal is 0, the host resets all movement commandsignals to 0 to decelerate and stop controlled axis feed. Movementcommands remain valid when the *ILK signal is 0. When it becomes1, movement is resumed immediately. No command other than amove command is affected.

NOTEThe interlock signal is valid in jog feed mode (JOG).

(1) Reference position return completion signal ZPX[Classification]Input signal <Xx+2#0> (common to both the peripheral equipmentcontrol and direct command interfaces)[Function]The servo amplifier unit indicates that it is at the reference position.[Input condition]The signal becomes 1 when:1. Manual reference position return is completed, and the servo

amplifier unit enters the in–position state.2. Function code command–based reference position return is

completed, and the servo amplifier unit enters the in–positionstate.

The signal becomes 0 when:1. The servo amplifier unit moves out of the reference position.

(1) Automatic operation start signal ST[Classification]Input signal <Yy+0#7> (common to both the peripheral equipmentcontrol and direct command interfaces)[Function]The host starts function code commands, such as part of peripheralequipment control ATC operations and point positioning.Specifically, the host issues a direct command to start 32–blockbuffering.[Operation]When the ST signal is set to 1 then reset to 0 again, the servo amplifierunit begins operating. Section 3.3.1 explains the function codes forwhich the ST signal is valid in peripheral equipment control.

2.3.8Interlock

2.3.9Reference PositionReturn

2.3.10Automatic Operation


51

NOTEIt is also possible to start operation at the rising edge (fromoff to on) of the ST signal as specified by the STONparameter (bit 7 of parameter No. 003).

(2) Automatic operation start in–progress signal STL[Classification]Input signal <Xx+1#5> (common to both the peripheral equipmentcontrol and direct command interfaces)[Function]This signal indicates that automatic operation has been started.[Input condition]The signal becomes 1 when a command to start automatic operationis issued. It becomes 0 when automatic operation stops.

(3) Automatic operation signal OP[Classification]Input signal <Xx+1#7> (common to both the peripheral equipmentcontrol and direct command interfaces)[Function]This signal indicates that a series of automatic operations is inprogress.[Input condition]The signal becomes 1 when a command to start automatic operationis issued. The signal remains set to 1 even after automatic operationstops. It becomes 0 upon the occurrence of a reset.

(4) Dry run signal DRN[Classification]Output signal <Yy+7#6> (peripheral equipment control interface)<Yy+2#6> (direct command interface)[Function]Dry run is valid during automatic operation (AUTO mode). Duringdry run, a feedrate command issued during automatic operation isignored, and a manual–feed feedrate determined by override signals*OV1 to *OV8 ((1) of Section 2.3.7) is used. Dry run is also valid forrapid traverse. When the RT signal ((2) of Section 2.3.7) is set to 1during dry run, the ”rapid traverse rate” and the ”maximummanual–feed feedrate” are used for the rapid traverse and cutting feedblocks, respectively. When the RT signal is reset to 0, the ”same rateas the manual–feed feedrate” is resumed.[Operation]Setting the DRN signal to 1 causes the system to enter the dry runstate. Resetting it to 0 resumes the feed rate specified duringautomatic operation.


52

NOTEWhen the signal described below is used, the external pulseinput function cannot be used.

(1) Unclamp command signal UCPC2[Classification]Input signal <Xx+1#4>[Function]The host is responsible for clamping and unclamping the machine.The servo amplifier unit issues this signal to request the host toclamp/unclamp the machine when a peripheral equipment controlfunction code command is executed.[Input condition]The signal is set to 1 when a request is issued to the host to unclampthe machine. It is reset to 0 when a request is issued to the host toclamp the machine. The servo amplifier unit sets the UCPC2 signalto 1 when it starts executing commands with function codes 0 and 2to 6. When the move command is terminated, the UCPC2 signal isreset to 0. See the timing chart for the function codes for peripheralequipment control.

NOTEThe UCPC2 signal is valid when the NCLP parameter (bit1 of parameter No. 003) is 0.

(2) Clamp/unclamp state output signal UCPS2[Classification]Output <Yy+0#6>[Function]When the servo amplifier unit requests clamping/unclamping of themachine, using the UCPC2 signal, the host actually clamps/unclampsthe machine. Upon the completion of clamping/unclamping, itreports it to the servo amplifier unit, which then proceeds to the nextprocessing.[Operation]The signal is set to 1 when the machine is unclamped. When it isclamped, the signal is reset to 0. See the timing chart for the functioncodes for peripheral equipment control.

NOTEThe UCPS2 signal is valid when the NCLP parameter (bit 1of parameter No. 003) is 0.

2.3.11Clamp and Unclamp(for the PeripheralEquipment ControlInterface Only)


53

(1) Servo–off command signal SVFX[Classification]Output signal <Yy+1#2> (common to both the peripheral equipmentcontrol and direct command interfaces)[Function]The host turns off the servo circuit for a controlled axis, that is, shutsoff the current to the servo motor of the controlled axis. This disablespositioning control. Position detection continues, however. So, thecurrent position will not be lost.[Operation]The servo motor remains off while the signal is 1. If the machine ismoved by the application of external force, its coordinates are shifted,because positioning control does not work during the servo–off state.How the shifted machine coordinates are handled can be selected bya parameter, as follows:1. The machine coordinate shift is recorded in an error counter.

When the servo–off signal becomes 0, the machine moves tocancel out the error recorded in the error counter.

2. Follow–up is performed.The machine coordinate shift is regarded as being the result of acommand, and the control unit adjusts its current position data sothat the error counter becomes 0. With this method, the machineremains in a shifted position even after the servo–off signalbecomes 0. However, the machine moves to the correct positionthe next time an absolute command is issued, because the controlunit has information about the correct position.

[Use]Generally, method (1) above is used to prevent excessive currentflowing through the servo motor when it is clamped mechanicallywith a force stronger than the servo motor can generate. Usually, thehost keeps the interlock signal at 0 while the servo–off signal is 1.Generally, method (2) is used to operate the machine by rotating themotor with a handle feed mechanism.

(2) V READY OFF alarm ignore signal IGNVRY[Classification]Output signal <Yy+1#6> (common to both the peripheral equipmentcontrol and direct command interfaces)[Function]This signal is used to disable the detection of ”Servo alarm (No.0401): V ready off” for the controlled axis.[Operation]When the signal becomes 1, the control unit behaves as follows: Even when the servo amplifier unit preparation completion signal is

off, ”servo alarm (No. 401): V ready off” is not detected. The servopreparation completion signal SA becomes 0, however. (This signalcan be held at 1 using the SAK parameter (bit 0 of parameter No. 004).

2.3.12Servo–off


54

(1) Operation completion signals OPC1, OPC2, OPC3, and OPC4[Classification]Input signal <Xx+0#4 to #7>[Function]The servo amplifier unit indicates information about the completionof each function code. The host executes its sequence according tothis signal.[Input condition]See the timing chart of each function code for the corresponding inputtiming.OPC1 indicates, to the host, that the servo amplifier unit has receiveda command. The servo amplifier unit issues an unclamp commandsignal (UCPC2 = 1) to request the host to unclamp the machine.OPC2 indicates, to the host, that the servo amplifier unit has receivedan unclamp completed command signal (UCPS2 = 1). The servoamplifier unit starts axis operation.OPC3 is output simultaneously with the clamp command signal(UCPC2 = 0) when axis operation is completed.OPC4 indicates, to the host, that the servo amplifier unit has receivedthe clamp completion signal (UCPS2 = 0) and finished executing allcommands.The timing at which the signal is input is set in parameter No. 166.

CAUTIONOPC4 is output to the host also when a specified commandis stopped by an external reset, emergency stop, alarm, andso forth.

NOTEWhen the unclamp command signal (UCPC2) andclamp/unclamp state output signal (UCPS2) are not used(when bit 1 (NCLP) of parameter No. 003 = 1), OPC2 andOPC3 are not output to the host.

(2) Function code[Classification]Output signal <Yy+2#4 to #7>[Function]The host sets the peripheral equipment control function code.[Output condition]See the timing chart of each function code for the correspondingoutput timing. See Sections 3.3 and 3.4 for details.

(3) Command data 1[Classification]Output signal <Yy+2#0 to #3>[Function]The host sets command data 1 to specify the feed rate for peripheralequipment control.[Output condition]See the timing chart of each function code for the correspondingoutput timing. See Sections 3.3 and 3.4 for details.

2.3.13Peripheral EquipmentControl Function Codeand RelatedInformation


55

(4) Command data 2[Classification]Output signal <Yy+3 to Yy+6>[Function]The host sets command data 2 to specify the amount of movement forperipheral equipment control.[Output condition]See the timing chart of each function code for the correspondingoutput timing. See Sections 3.3 and 3.4 for details.

(5) Response data[Classification]Input signal <Xx+3 to Xx+6>[Function]A) The servo amplifier unit outputs the current position number

(point, turret, or magazine number) for point or ATC control. Thisresponse data is set up upon the completion of positioning. Theservo amplifier unit continues to output the previous numberuntil the new response data is set up.

B) Machine coordinates, workpiece coordinates, or motor currentvalue can be output in real time according to the setting ofparameter No. 020.

C) When the DSAL signal [Subsection 2.3.13.(9)] is 1, the servoamplifier unit outputs the number of alarms and the first alarmnumber.

[Input condition]See the function code command list.


56

CAUTION1 The purpose of this data, when used by the host, is limited

to display on the host. This data consists of 32 bits of DIsignals; the bits are not updated at a time, but are updatedon a bit–by–bit basis. So, if this data is being updated whencoordinates are read during movement on axes, the correctposition may not be read normally. This data is prepared forposition display on the host, so that this data cannot be usedto make a machine area check. However, correctcoordinates can be read even during movement on axes byestablishing synchronization between the host and servoamplifier unit. For details, see Section 3.8.

2 The current position number (point turret cartridge number)is output upon completion of positioning in referenceposition return operation, point positioning, or ATCoperation of peripheral equipment control. If a movecommand such as for jog feed is then executed, thematching between the current position number and currentposition on the axes is lost. So, after a move command suchas for jog feed is executed upon completion of referenceposition return operation, point positioning, or ATCoperation, the current position on the axes cannot becontrolled by viewing the output of the current positionnumber on the host. Moreover, the matching between thecurrent position number and current position on the axes islost if a command executed for ATC operation indexing isstopped for a cause such as a reset or alarm.

(6) Response data check signals DSP1 and DSP2[Classification]Input signal <Xx+2#4 to #5>[Function]The servo amplifier unit indicates the contents of the response data.[Input condition]The servo amplifier unit specifies the response data using acombination of signals, as listed below.

DSP2 DSP1 Response data

1 1 Coordinate or motor current value

1 0 Current position number (ATC, point number)

NOTEThe setting of parameter No. 20 is used for distinctionbetween a coordinate and motor current value.

(7) Response data write completion signal ABSWT[Classification]Input signal <Xx+1#0>[Function]After writing response data (Xx+3 to Xx+6), the servo amplifier unitinverts this signal for notification to the host.


57

[Operation]The servo amplifier unit exclusive–ORs ABSWT with ABSRD.When the result of exclusive–OR is 0, response data (Xx+3 to Xx+6)is written, and this signal is inverted.

(8) Response data read completion signal ABSRD[Classification]Output signal <Yy+1#4>[Function]After reading response data (Xx+3 to Xx+6), the host inverts thissignal for notification to the servo amplifier unit.[Operation]The host exclusive–ORs ABSWT with ABSRD. When the result ofexclusive–OR is 1, response data (Xx+3 to Xx+6) is read, and thissignal is inverted.

(9) Alarm output command signal DSAL[Classification]Output signal <Yy+0#3>[Function]The host specifies that alarm information be output as response data.When DSAL is 1, the following information is output as responsedata.

Xx+4, Xx+5

Xx+3 Number of alarms (byte type)

Alarm number (word type)

[Operation]When the signal is 0, a turret, magazine, point number, coordinates,or motor current value are output as response data. When the signalis 1, the number of alarms and the first alarm number are output asresponse data.

(10)Alarm output state check signal DSALO[Classification]Input signal <Xx+2#3>[Function]The servo amplifier unit indicates the contents of the response data.[Input condition]When the signal is 0, a turret, magazine, point number, coordinates, ormotor current value are being output as response data. When the signalis 1, the number of alarms and the first alarm number are being outputas response data.

(1) Function code command strobe signal EBUF[Classification]Output signal <Yy+4#7>[Function]After setting the function code (Yy+5) and command data (Yy+6 toYy+15), the host inverts the logical state of this signal to indicate tothe servo amplifier unit that the function code is ready for transfer.

2.3.14Direct CommandFunction Code andRelated Information


58

[Operation]The servo amplifier unit exclusive–ORs EBUF with EBSY. If theresult of exclusive ORing is 1, the servo amplifier unit behaves asfollows:A) When the function code command is of a type to be buffered

before execution.1. If the function code command buffer of the servo amplifier

unit is available, the servo amplifier unit receives thefunction code command at the function code commandbuffer.

2. If the function code command buffer of the servo amplifierunit is unavailable, the servo amplifier unit waits until itbecomes available, that is, rejects reception of the currentfunction code command.

B) If the function code command is of a type to be executedimmediately without being buffered1. The servo amplifier unit receives the function code command

at its execution buffer immediately and starts processingaccording to the function code command.

(2) Function code command read completion signal EBSY[Classification]Input signal <Xx+4#7>[Function]The servo amplifier unit indicates that it has accepted a function codecommand. Because the result of exclusive–ORing EBUF and EBSYbecomes 0, it becomes possible to issue another function code.[Input condition]The state of the signal is inverted when a function code command isreceived by the servo amplifier unit.

(3) Function code[Classification]Output signal <Yy+5>[Function]The host specifies the function code command to be executed.[Operation]The servo amplifier unit behaves as directed by the function codecommand when receiving it.See ”Direct command function details” for details.

(4) Command data[Classification]Output signal <Yy+6 to Yy+15>[Function]The host provides data for a function code command.[Operation]The servo amplifier unit behaves as directed by the function codecommand when receiving it.See ”Direct command function details” for details.

(5) Response data[Classification]Input signal <Xx+7 to Xx+15>[Function]A) The servo amplifier unit returns the result of function code

command execution.


59

B) The servo amplifier unit returns the data requested by the functioncode.

C) The servo amplifier unit outputs continuous–output data, such asthe current position, requested by the continuous read command.

[Input condition]A) The servo amplifier unit returns the result of function code

command execution. It is possible to defer the return of the resultof each function code command and return their results at thesame time, if they are of a type that can be buffered.

B) The servo amplifier unit outputs data, such as alarm information,requested by the function code.

C) If the host is to receive data, such as the current position, that isbeing monitored continuously, the servo amplifier unit continuesto output the requested data in response to a single request.After setting the above data or result, the servo amplifier unitinverts the state of EOSTB. They can be read when the result ofexclusive–ORing EOREND with EOSTB is 1. EOPC indicatesthat the current data is of continuous output type. When EOPCis 0, it indicates data covered in A) or B. When it is 1, it indicatesdata covered in C).

(6) Continuously output data signal EOPC[Classification]Input signal <Xx+4#2>[Function]The servo amplifier unit indicates that continuously output datarequested using a function code command is being output as responsedata.[Input condition]The signal is 1 when:1. Continuously output data requested by a function code command

is being output as response data.The signal is 0 when:1. Data other than continuously output data requested by a function

code command is being output as response data.

(7) Response data readable signal EOSTB[Classification]Input signal <Xx+4#6>[Function]The servo amplifier unit indicates that data requested using a functioncode command has been output as response data and is now readable.[Input condition]The state of the signal is inverted when:1. The response data becomes readable.

(8) Response data read completion signal EOREND[Classification]Output signal <Yy+4#6>[Function]The host notifies the servo amplifier unit that it has read responsedata.[Operation]When the state of the signal is inverted, the servo amplifier unitbehaves as follows:1. The result of function code command execution is output as

response data.


60

2. If a function code command is a data output command, thecommand is executed, and the result is output as response data.

NOTEIf the result of exclusive–ORing EOSTB with EOREND is 1,it becomes impossible to output further command data.Before inverting the state of EOREND, apply appropriatecountermeasures.

(9) Command continuation notification signal ECNT[Classification]Output signal <Yy+4#0>[Function]When the host has too much command data to be sent at one time, itsets the ECNT signal to 1 to inform the slave that remaining dataexists.[Operation]When the ECNT signal becomes 1, the servo amplifier unit behavesas follows:1. After receiving command data from the buffer, the servo

amplifier unit inverts the state of the EBSY signal so that itmatches the state of the EBUF, thereby prompting the transfer ofthe next data.

The signal is reset to 0 at the last data of a series of commands.

(10)PMM data signal USR1[Classification]Input signal <Xx+4#3>[Function]Direct commands transfer data using the same area as the power mateCNC manager function. If USR1 is 0, it is necessary to performspecial processing to read the data, because it is a response from theladder program of the host. If USR1 is 1, the ladder program ignoresresponse data, because it is for the power mate CNC manager.[Input condition]The signal is 1 when:1. The response data is power mate CNC data.The signal is 0 when:1. The response data is data from a ladder program.

(11)Response data continuation notification signal ECONT[Classification]Input signal <Xx+4#0>[Function]If there is too much response data to be sent at one time, the ECONTsignal is set to 1. In this case, after reading the current data, the hostwaits for the next data. The host must continue to read data for as longas the ECONT signal is 1.[Input condition]The signal is 0 when:1. Remaining response data exists.The signal is 0 when:1. All response data has been read.


61

(12)Function code command completion notification signal ECF[Classification]Input signal <Xx+4#5>[Function]If function code command execution completion notification modeis entered with NMOD set to 1, the servo amplifier unit sets ECF to1 to indicate that positioning directed by this command has beencompleted, and waits for the next command to be executed until thehost responds. The host issues the SET FIN command to causeprocessing to move to the next command.[Input condition]The signal becomes 1 when:1. The system enters function code command execution completion

notification mode with NMOD set to 1, and positioning directedby the function code is completed.

The signal becomes 0 when:1. The SET FIN command is executed.

(13)Alarm signal DAL[Classification]Input signal <Xx+4#1>[Function]If an alarm condition occurs in the servo amplifier unit, the servoamplifier unit sets the DAL signal to 1. The host issues a READALARM STATUS command to read details of the alarm condition,as required.[Input condition]The signal becomes 1:1. When an alarm condition occurs in the slave.The signal is 0:1. When there is no alarm condition in the slave.

(14)Wait signal WAT[Classification]Input signal <Xx+1#0>[Function]The servo amplifier unit indicates, to the host, that it is in the waitstate. After performing the necessary processing, the host returns await completion signal (WFN) to cause the servo amplifier unit tocontinue operating. This method is used by the servo amplifier unitto request the host to perform processing, when the servo amplifierunit is running continuously in memory operation mode.[Input condition]The signal becomes 1 when:1. The servo amplifier unit executes a wait command during

memory operation.The signal becomes 0 when:1. The host sets the wait completion signal WFN to 1.

(15)Wait completion signal WFN[Classification]Output signal <Yy+1#4>[Function]If the servo amplifier unit issues wait signal WAT to cause it to enterthe wait state, the host releases the servo amplifier unit from the waitstate. Upon receiving the wait completion signal, the servo amplifierunit executes the next command.


62

[Operation]When the servo amplifier unit is in the wait state, it sets the wait signalWAT to 1. If the WFN signal is set to 1 under this condition, the servoamplifier unit and host behave as follows:1. The servo amplifier unit resets the wait signal WAT to 0. Upon

detecting that the WAT becomes 0, the host resets the WFN to 0.The servo amplifier unit exits from the wait state and executes thenext command.

(16)Memory registration signal INPF[Classification]Output signal <Yy+3#7>[Function]The host can store function code commands into the memory of theservo amplifier unit and control memory operation according to thedata in the memory. If buffering type function code, such as a positioncommand, is issued with INPF set to 1, it is registered into memoryinstead of being executed. Up to 32 blocks can be registered. Once aseries of registration operations has been completed, the INPF is resetto 0. This command is erased when the power is switched off. It isnecessary to register it in memory before memory operation is used.If the INPF is set to 1 when function code is already registered inmemory, the function code is cleared from memory, allowing newfunction code to be registered.[Operation]If buffering type function code is issued with INPF set to 1, it is storedinto memory instead of being executed.

(17)Memory registration in–progress signal INPFO[Classification]Input signal <Xx+3#7>[Function]The servo amplifier unit indicates, to the host, that it is in memoryregistration mode. When the INPFO signal is 1, a buffering typefunction code command, such as a positioning command, is storedinto memory instead of being executed.[Input condition]The signal becomes 1 when:1. The host sets the INPF signal to 1 to specify memory registration

mode, and the servo amplifier unit enters memory registrationmode.

The signal becomes 0 when:1. The host resets the INPF signal to 0 to release memory

registration mode, and the servo amplifier unit exits frommemory registration mode.

(18)Interface switch signal DRC[Classification]Output signal <Yy+1#5>[Function]The host informs the servo amplifier unit of the interface type(peripheral equipment control interface or direct command interface)to be used.[Operation]When the DRC signal is 0, the slave runs using the peripheralequipment control interface. When it is 1, the slave runs using thedirect command interface. The servo amplifier unit also sends theinterface status notification signal DRCO ((19) of Section 2.3.14) to


63

the host. After detecting the DRCO signal, the host issues commands.After changing the DRC signal, the host should not issue a commandwithin one scan after the DRCO signal changes. Once the state of theDRC signal is inverted, do not invert it again before the state of theDRCO signal changes accordingly, as data communication with theservo amplifier unit is hindered. Before inverting the state of the DRCsignal again, wait for at least one scan after the state of the DRCOsignal changes.

NOTEUsually, the DRC signal should not be switched while thepower is switched on. If necessary, it should be switchedduring a reset state, that is, while neither automatic nor JOGoperation is in progress. Moreover, it should not be switchedwhen the motor is not in the in–position state.

(19)Interface status notification signal DRCO[Classification]Input signal <Xx+1#1>[Function]The servo amplifier unit informs the host of the current interfacemode (peripheral equipment control or direct command interface).After detecting the DRCO signal, the host issues commands.[Input condition]The signal is 1 when:1. The slave is in direct command interface mode.The signal is 0 when:1. The slave is in peripheral equipment control interface mode.

NOTEThe following signals are not host–to–servo amplifier unitFANUC I/O Link interface signals.

(1) Emergency stop signal *ESP[Classification]Servo amplifier unit direct input signal[Function]The host stops the servo amplifier unit immediately.[Operation]When the signal becomes 0, the servo amplifier unit behaves asfollows:1. Hosts stops servo amplifier unit immediately.2. A reset is performed after a stop.3. The servo system cannot operate for as long as the emergency

stop signal is 0. So, the servo preparation completion signal SAis held at 0. If the machine is shifted while the SA is 0, the shiftis reflected in the current coordinates in the servo amplifier unit;the current position will not be lost (follow–up).

4. Neither jog feed nor a function code command can be issuedwhile the emergency stop signal is 0.

2.3.15Direct Input Signals


64

(2) Overtravel signals *–OT and *+OT[Classification]Servo amplifier unit direct input signal[Function]The host indicates that the controlled axis has reached the stroke limitdescribed below.*–OT: The stroke limit in the negative direction has been reached.*+OT: The stroke limit in the positive direction has been reached.[Operation]When the signal becomes 0, the servo amplifier unit behaves asfollows:1. The controlled axis is stopped immediately by zero–speed–based

deceleration, and an OT alarm for the input direction is output.A movement in the opposite direction can be made by jog feedor handle feed. The execution of function code commands andthe reading of commands are stopped.

2. The direction in which the signal becomes 0 is memorized. Evenafter the signal is returned to 1, the controlled axis is preventedfrom operating in that direction until the OT alarm is reset.

(3) High–speed interlock signal *RILK[Classification]Servo amplifier unit direct input signal[Function]The host stops all movement command–specified feed.[Operation]While the signal is 0, the servo amplifier unit resets the all movementcommand–specified feed to 0 to stop controlled axis feed. Axismovement is decelerated to a stop.A move command remains valid even when the signal is 0.Movement can be resumed immediately when the signal is set to 1again. This does not affect non–move commands.

(4) Deceleration signal for reference position return *DEC[Classification]Servo amplifier unit direct input signal[Function]The host decelerates feed operation based on a reference positionreturn command.[Operation]The servo amplifier unit decelerates feed for reference position returnwhen this signal switches from 1 to 0. After deceleration, the FLfeedrate (set in parameter No. 054) is used for movement. If thissignal switches from 0 to 1 during movement at the FL feedrate, themovement being made along an axis stops at the first encounteredgrid, and that position becomes a reference position. At this time, thereference position return completion signal (ZPX) is set to 1. Fordetails, see Section 3.5.

NOTEWhen the signal described above is used, the high–speedinterlock signal (*RILK) cannot be used.

B–65245EN/02 3. PERIPHERAL EQUIPMENT CONTROLHANDLING

65

3 PERIPHERAL EQUIPMENT CONTROL

3. PERIPHERAL EQUIPMENT CONTROL B–65245EN/02HANDLING

66

The servo amplifier unit receives a command, issued in the specifiedformat, from the host, then executes a sequence of operations forperforming peripheral equipment control. When a command for readingthe current position is specified, the servo amplifier unit returns the resultof command execution to the host. The command and result areexchanged, in an interface area, in the formats shown below.

#7 #6 #5 #4 #3 #2 #1 #0


Yy+3

Yy+4 Command data 2

Yy+5

Yy+6

#7 #6 #5 #4 #3 #2 #1 #0

Xx+3

Xx+4 Response data

Xx+5

Xx+6

#7 #6 #5 #4 #3 #2 #1 #0Byte type

(BYTE):

#7 #6 #5 #4 #3 #2 #1 #0

Lower byteWord type(WORD):

Higher byte

Data = (higher byte)*256 + (lower byte)

#7 #6 #5 #4 #3 #2 #1 #0

Lowest byteDouble precision type(DWORD):

Second lowest byte

Second highest byte

Highest byte

Data = (highest byte)*16777216

+ (second highest byte)* 65536

+ (second lowest byte)*256

+ (lowest byte)

3.1COMMAND FORMATFOR PERIPHERALEQUIPMENTCONTROL

General format ofinstruction commands(host → servo amplifierunit)

General format ofresponse commands(servo amplifier unit →host)

Data types


67

In peripheral equipment control, the host sets a function code, commanddata 1, and command data 2, then turns the automatic operation startsignal (ST) in the interface area on then off to start the instructioncommand.

The servo amplifier unit returns a operation completion signal (OPC1,OPC2, OPC3, OPC4) according to the status of command execution; thehost performs the corresponding processing.

OPC1:This signal notifies the host that a function code has been received.At the same time, the unclamp command is output.

OPC2:This signal notifies the host that the unclamp state output signalhas been received.

OPC3:This signal notifies the host that a movement has been completed.At the same time, the clamp command is output.

OPC4:This signal notifies the host that the clamp state output signal hasbeen received, and that a function code has been executed.Response data, if any, is set at the same time.

Until OPC4 is received, the next instruction command must not be set.

NOTEWhen the clamp/unclamp function is not used, OPC2 andOPC3 are not output from the servo amplifier unit.

From the response data, the host can read the current position of the axiscontrolled by a servo amplifier unit as well as any alarm information.

To read alarm information, the host sets the alarm output command signal(DSAL) to 1. When the alarm output state check signal (DSALO) is 1, thenumber of alarms and alarm numbers are returned as response data.

When the alarm output command signal (DSAL) is set to 0, positioninformation is set as response data. Position data can be selected usingparameter No. 20 (PHOUT). The type of data can be checked using aresponse data check signal (DSP1, DSP2).

3.2PERIPHERALEQUIPMENTCONTROLPROCEDURE

3.2.1Specifying OperationUsing a Function Code

3.2.2Receiving ResponseData


68

Function code Command data 14 bits

Command data 24 bytes Mode Start

signal Remarks

0 : Jog operation

JOG +X/–X

2 : ATC operation/turret control

1 : Automatic operation (shortcut rotation)

2 : Automatic operation (positive direction)

3 : Automatic operation (negative direction)

Turret/magazinenumber

AUTO ST

Set an amount of travelper ATC rotation andthe number of turrets/magazines in theparameters.

(Note 2, Note 9)

4 : 1–pitch rotation

5 : Continuous indexing (Note 1)JOG +X/–X

3 : Point positioning

Feedrate code 1 to 7

15: Rapid traverse

Point number

1 to 12 AUTO ST

(Note 3)

(Note 4)

(Note 5)

4 : Referencepositionreturn

Reference position number

1 : First reference position

2 : Second reference position

3 : Third reference position

ST

15: Reference position setting

(Note 6)

JOG

+X/–X

15: Reference position external setting

(Note 8)ST

5 : Positioning(absolutespecification)


15: Rapid traverse

Workpiece coordinates AUTO ST

(Note 4)

6 : Positioning(incrementalspecification)


15: Rapid traverse

Travel distanceAUTO ST

(Note 4)

7 : Speed control

0 : Start–up or change–gear command

1 : Stop command

Speed commandvalue ST

10: Coordinatesystem setting

1 : Coordinate system setting

2 : Magazine number setting

3 : Point number setting

Coordinates

Magazine number

Point numberAUTO ST

The coordinates corre-sponding to a numberrepresent the currentposition.

12: Parameterrewriting

Parameter type

1 : Byte

2 : Word

3 : Two–word (1st)

4 : Two–word (2nd)

Parameter number and parameter value

AUTO ST

14: Point data external setting

Point number 1 to 12 Point dataJOG ST

Data is entered into theparameter correspond-ing to a point number.

15: Data settingby teaching

Point number

1 to 12 JOG ST

A coordinate is enteredinto the parameter cor-responding to a pointnumber.

3.3FUNCTION CODES

3.3.1Function Codes


69

NOTE1 If the remaining distance to the next point is shorter than

the required deceleration distance for stopping at thatpoint when the feed axis and direction selection switch(+X, –X) is released, movement is made to the pointimmediately after the next point.

2 Set bit 1 (ROTX) of parameter No. 000 (for rotation axissetting) to 1, and set bit 7 (ROAX) of parameter No. 000 to1 (for rollover).

3 As the position corresponding to each point number,workpiece coordinates are set in parameter Nos. 154 to165.

4 The feedrates of feedrate codes 1 to 7 are set in parameterNos. 044 to 050, and a rapid traverse rate is set inparameter No. 040.

5 In rollover setting, shortcut control is possible. In rolloversetting, set a value within +1 rotation for the absolutepositioning command.

6 When a reference position is set after the power is turnedon, turret/magazine number 1 is output. Before referenceposition setting, perform movement by jog operation for aminimum given distance at a minimum given feedrate(distance and feedrate for accumulating a servo positiondeviation of 128 pulses or more). Then, set function code4, and command data 1 = 15, and turn on +X/–X to performreference position return. If bit 1 (SZRN) of parameter No.011 is set, the reference position can be shifted one grideach time +X/–X is turned on.

7 Normal jog feed operation can be used only when functioncode 0, 1, 10, or 15 is specified.

8 When an absolute pulse coder is used, the current positioncan be used as a reference position. After positioning to areference position, set function code 4, command data 1= 15, jog mode, and emergency stop release state, thenturn on the ST signal.

9 In ATC automatic operation mode, the rapid traverse rate(parameter No. 040) is used unconditionally. In jogoperation mode, the rapid traverse rate (parameter No.040) is used when the RT signal is turned on. The jogfeedrate (parameter No. 041) is used when the RT signalis turned off.

10 Never change the current mode during operation. Themode can be changed only after operation has beenstopped.


70

Command data 1 (feed type code)

Move command execution, automatic operation start state

Operation completion signal OPC 1: Unclamp command signal (UCPC2)

Servo amplifier unit operation state

Jog or Auto mode

Start enabled state

Host NC

CNC PMC

(1) O 0001

Function code = 2

Unclamp completion

(UCPS2=1) Operation completion signal OPC 2

Operation completion signal OPC 3: Clamp command signal (UCPC2)

ST signal, or +X/–X signal

Clamp completion

Command data 2 (turret/magazine number)

(UCPS2=0)

Operation completion signal OPC 4

Processing by PMC

Processingby PMC

Processingby PMC

When execution hasterminated abnormally Start enabled state

Alarm state occurrenceAL signal and the number of alarms/alarm numbers

Response data (turret/magazine number or coordinates)

Alarm indication

FIN

T xx

(2)

(3)

(4)

(5)

(6)

3.4DETAILS OFFUNCTION CODES

3.4.1ATC/Turret Control


71

(1) When the host NC program executes a T code command, the PMCon the host NC sets the function code, command data 1, and commanddata 2, then sends the ST signal or +X/–X signal to the servo amplifierunit. Upon receipt of the data, the servo amplifier unit returns theoperation completion signal OPC 1 to the host NC, and also outputsthe unclamp command signal.

(2) When unclamp completion notification is sent from the host NC, theservo amplifier unit returns the operation completion signal OPC 2to the host NC, then starts movement to the position correspondingto a specified turret/magazine number.

(3) Upon completion of the movement, the servo amplifier unit returnsthe operation completion signal OPC 3 to the host NC, and alsooutputs the clamp command signal.

(4) When clamp completion notification is sent from the host NC, theservo amplifier unit returns response data (turret/magazine number orcoordinates) and the operation completion signal OPC 4, and isplaced in the start enabled state.

(5) Upon receipt of the operation completion signal OPC 4, the PMC onthe host NC returns the FIN signal.

(6) If an alarm is issued while the servo amplifier unit is executing aninstruction, the AL signal is output. So, the PMC on the host NC isto perform processing such as alarm indication. In this case, thenumber of alarms and alarm numbers can be included in the responsedata by setting the DSAL signal [Subsection 2.3.13.(9)] to 1.

Supplementary information

1) The unclamp/clamp command signal and state signal are used forcommunication with the host.

2) Whether the unclamp/clamp state signal is to be checked is specifiedby setting bit 2 (IGCP) of parameter No. 003. When IGCP is set suchthat no check is to be made, the operation completion signal OPC 2and operation completion signal OPC 3 are not output.

3) Use parameter No. 167 to set the period between the servo amplifierunit being turned on and the output of the unclamp command signal.Use parameter No. 168 to set the period between the clamp commandsignal being output and the servo amplifier unit being turned off.

4) The ST signal can be accepted in the start enabled state only.5) The start enabled state is that state in which the STL signal is off.


72

Servo amplifier unit operation stateHost NC

Auto mode

Start enabled state

Processingby PMC

Processingby PMC



(UCPS2=0)

Start enabled stateAlarm state occurrence

Alarm indication


When execution hasterminated abnormally

(UCPS2=1)

Unclamp completion

ST signal

Function code = 3

Command data 2 (point number)

Command data 1 (feed type code)

AL signal and the number of alarms/alarm numbers


Clamp completion

Response data (point number or coordinates)


CNC PMC

(2)

(3)

(4)

(5)

(1)

3.4.2Point PositioningControl


73

(1) The PMC on the host NC sets the function code, command data 1, andcommand data 2, then sends the ST signal to the servo amplifier unit.Upon receipt of the data, the servo amplifier unit returns the operationcompletion signal OPC 1 to the host NC, and also outputs theunclamp command signal to the host NC.

(2) When unclamp completion notification is sent from the host NC, theservo amplifier unit returns the operation completion signal OPC 2to the host NC, and starts movement to the position corresponding toa specified point number.

(3) Upon completion of the movement, the servo amplifier unit returnsthe operation completion signal OPC 3 to the host NC, and alsooutputs the clamp command signal to the host NC.

(4) When clamp completion notification is sent from the host NC, theservo amplifier unit returns response data (point number orcoordinates) and the operation completion signal OPC 4, and isplaced in the start enabled state.



1) The unclamp/clamp command signal and state signal are used forcommunication with the host NC.

2) Whether the unclamp/clamp state signal is to be checked is specifiedby setting bit 2 (IGCP) of parameter No. 003. When IGCP is set suchthat no check is performed, the operation completion signal OPC 2and operation completion signal OPC 3 are not output.

3) Use parameter No. 167 to set the period between the servo amplifierunit being turned on and the unclamp command signal being output.Use parameter No. 168 to set the period between the clamp commandsignal being output and the servo amplifier unit being turned off.



74

Command data 1 (reference position number/reference position setting)/

Start enabled state

Processingby PMC


Alarm indication


Alarm state occurrence


Clamp completion


Movement to each reference position



Unclamp completion

ST signal, +X/–X signal

Function code = 4

Jog mode

Start enabled state

Host NC Servo amplifier unit operation state

Processingby PMC

Reference position return completion signal

CNC PMC

(2)

(3)

(4)

(5)

(1)

3.4.3Reference PositionReturn


75

(1) The PMC on the host NC sets the function code and command data1, then sends the ST signal or +X/–X signal to the servo amplifierunit. Upon receipt of the data, the servo amplifier unit returns theoperation completion signal OPC 1 to the host NC, and also outputsthe unclamp command signal.

(2) When unclamp completion notification is sent from the host NC, theservo amplifier unit returns the operation completion signal OPC 2to the host NC, and starts movement to a specified reference position.

(3) Upon completion of the movement, the servo amplifier unit returnsthe reference position return completion signal and operationcompletion signal OPC 3 to the host NC, and also outputs the clampcommand signal.

(4) When clamp completion notification is sent from the host NC, theservo amplifier unit returns the operation completion signal OPC 4to the host NC, enters the start enabled state, then ends the cycle.

(5) If an alarm is issued while the servo amplifier unit is executing areference position return operation, the AL signal is output. So, the PMCon the host NC is to perform processing such as alarm indication. In thiscase, the number of alarms and alarm numbers can be included in theresponse data by setting the DSAL signal [Subsection 2.3.13.(9)] to 1.


1) The unclamp/clamp command signal and state signal are used forcommunication with the host NC.

2) Whether the unclamp/clamp state signal is to be checked specified bysetting bit 2 (IGCP) of parameter No. 003. When IGCP is set such thatno check is performed, the operation completion signal OPC 2 andoperation completion signal OPC 3 are not output.


4) The ST signal can be accepted only in the start enabled state.5) The start enabled state is that state in which the STL signal is off.


76

Alarm state occurrence

AL signal and number of alarms/alarm numbers

Processingby PMC

ST signal

Command data 1 (reference position setting)

Function code = 4 (reference position return)

The current position is used as the reference position.

The reference position establishment flag is set to on.

Alarm 000 (power–off request)

End of data setting

Alarm indication

Processingby PMC


Jog mode

Emergency stop release state

Servo amplifier unit operation stateHost NC

Start of the reference position external setting function

Positioning to a reference position

Operation completion signal OPC 1 End of ST signal acceptance


(2)

(3)

(4)

(1)

CNC PMC

3.4.4Reference PositionSetting (when theReference PositionExternal SettingFunction is Used)


77

(1) When the reference position external setting function is used, thePMC on the host NC sets the function code and command data 1, thensends the ST signal to the servo amplifier unit after positioning to thereference position.

(2) Upon receipt of the data, the servo amplifier unit returns the operationcompletion signal OPC 1 to the host NC.

(3) The servo amplifier unit uses the current position as the referenceposition, sets the reference position establishment flag (bit 0 (ABSX)of parameter No. 011), outputs alarm 000 (power–off request),returns the operation completion signal OPC 4, then terminates.

(4) If an alarm is issued while the servo amplifier unit is executingreference position setting, the AL signal is output. So, the PMC onthe host NC is to perform processing such as alarm indication. In thiscase, the number of alarms and alarm numbers can be included in theresponse data by setting the DSAL signal [Subsection 2.3.13.(9)] to1.


1) This function is enabled only when an absolute pulse coder is used.2) The start enabled state is that state where the STL signal is off.


78

Processingby PMC

ST signal

Command data 2 (amount of travel or specified coordinates)

Command data 1 (feedrate code)


Auto mode

Start enabled state


(1) O 0001

Host NC

Function code = 5, 6

Alarm indication




(UCPS2=0) Response data (coordinates)

Processingby PMC

Processing by PMC

Clamp completion


Start enabled stateAlarm state occurrence

When execution has terminated abnormally

Unclamp completion


CNC PMC

FIN

T xx

(2)

(3)

(4)

(5)

3.4.5Positioning Control(Absolute/IncrementalSpecification)


79

(1) The PMC on the host NC sets a function code, command data 1, andcommand data 2, then sends the ST signal to the servo amplifier unit.Upon receipt of the data, the servo amplifier unit returns the operationcompletion signal OPC 1 to the host NC, and also outputs theunclamp command signal to the host NC.

(2) When unclamp completion notification is sent from the host NC, theservo amplifier unit returns the operation completion signal OPC 2to the host NC, then starts movement.

(3) Upon completion of the movement, the servo amplifier unit returnsthe operation completion signal OPC 3 to the host NC, and alsooutputs the clamp command signal to the host NC.

(4) When clamp completion notification is sent from the host NC, theservo amplifier unit returns response data (coordinates) and theoperation completion signal OPC 4, and is placed in the start enabledstate.



1) The unclamp/clamp command signal and state signal are used forcommunication with the host.

2) Whether the unclamp/clamp state signal is to be checked is specifiedby setting bit 2 (IGCP) of parameter No. 003. When IGCP is set suchthat no check is performed, the operation completion signal OPC 2and operation completion signal OPC 3 are not output.




80

The speed control function executes speed control by specifying a speedvalue as command data. Moreover, acceleration/deceleration is appliedusing a time constant (parameter No. 135) dedicated to speed control.Note, however, that acceleration/deceleration based on a time constant isnot applied in an emergency stop operation. During speed control,follow–up is performed, thus updating the position. In addition, a changein speed can be specified during speed control. If control is switchablebetween speed control and position control, an override can be applied toa velocity loop gain for position control when speed control is selected(parameter No. 116).Speed control is executed in the AUTO mode. A speed command value can be specified in steps of 1 rpm of the motor,so that the speed control function is useful in controlling the continuousfeed of a tool such as a rotation tool.If a speed deviation check finds that a parameter–set value is exceeded inthe speed control mode, an alarm can be issued.

The system configuration is shown below.

Ladder

Host (NC)

FANUC I/O Link


Peripheral equipmentcontrol

In the configuration above, the host issues a ladder–based command toperipheral equipment control via the FANUC I/O Link to control theservo amplifier unit. With the speed control function, the servo amplifierunit receives a speed command value, then activates operation with theST signal (automatic operation start signal).

3.4.6Speed Control

3.4.6.1 Overview

3.4.6.2 System configuration


81

A speed command value is specified using the following command:

Command (host servo amplifier unit)

#7 #6 #5 #4 #3 #2 #1 #0


Yy+3

Yy+4 Command data 2

Yy+5

Yy+6

Function code : 7Command data 1 : Specifies speed control activation, a speed change,

or stop.0 : Specifies activation or a speed change.1 : Specifies a stop.

Command data 2 : Specifies a speed command value of word type inYy+3 and Yy+4.Unit : [rpm]Valid data range : 0 to 4000 or 0 to 3000(*)Set Yy+5 and Yy+6 to 0 at all times.

NOTEThe valid data range depends on the motor used.

Data type (word type)

#7 #6 #5 #4 #3 #2 #1 #0

Yy+3 Lower byte

Yy+4 Higher byte

Data = higher byte x 256 + lower byte

Example: Command value: 4000 [rpm]4000 = 0FA0 (hexadecimal]Lower byte (Yy+3) = A0Higher byte (Yy+4) = 0F

3.4.6.3 Peripheral equipmentcontrol command format


82

(1) Start of speed controlSpeed control is activated according to the timing chart shown belowafter the setting of function code = 7, command data 1 = 0, commanddata 2 = speed command value.

Driving of the motor (Start)

ST

OPC1

OPC4

TRQM

(2) Speed change with speed controlA speed change based on speed control is activated according to thetiming chart shown below after the setting of function code = 7,command data 1 = 0, command data 2 = new speed command value.

Driving of the motor (Speedchange)

ST

OPC1

OPC4

3.4.6.4 Command timing chart


83

(3) Termination of speed controlSpeed control is terminated according to the timing chart shownbelow after the setting of function code = 7 and command data 1 = 1.

Driving of the motor (Termination)

ST

OPC1

OPC4

TRQM

#7 #6 #5 #4 #3 #2 #1 #0

000 ROAX ROTX

Size : 1 byte/bit typeStandard value : 0ROTX Specifies a rotation axis. When exercising speed control,

set this bit to 1.0 : Linear axis1 : Rotation axis

ROAX Specifies the rotation axis roll–over function. Whenexercising speed control, set this bit to 1.0 : Disables the function.1 : Enables the function.

#7 #6 #5 #4 #3 #2 #1 #0

080 Current limit value (TQLIM)

Size : 2 bytesValid data range : 0 to 7282When exercising speed control, set the maximum value 7282 beforehand.

#7 #6 #5 #4 #3 #2 #1 #0

100 Load inertia ratio (LDINT)

Size : 2 bytesValid data range : 0 to 1024Set the ratio of the machine load inertia to the motor inertia, using a valueobtained from the formula below as a guideline.

Load inertia ratio = (machine load inertia/motor inertia) 256

If a value obtained by calculation exceeds 500, however, set 500. Whena value is set in this parameter, the velocity loop gain is set to PK1V, andPK2V is increased by a factor of (1 + LDINT)/256.

3.4.6.5 Parameter


84

As a larger value is set in this parameter, the response to a velocitycommand improves, and servo rigidity increases. If an excessively largevalue is set, however, the servo system vibrates, and an unusual sound isgenerated during machine movement. Usually, set a value not exceeding500. If the machine vibrates at a high frequency, the use of the torquecommand filter of parameter No. 102 is effective.

#7 #6 #5 #4 #3 #2 #1 #0

116 Velocity loop gain override during speed control (%)

Size : 2 bytesStandard value : 0 (Override processing is not performed.)

Set this parameter when switching between position control and speedcontrol. When the speed control mode is set, an override specified hereis applied to the velocity loop gain and integration gain used for positioncontrol.

The relationships among a velocity loop proportional gain, integrationgain, load inertia ratio, and velocity loop gain override in speed controlare explained below using an example. Assume the following:Integration gain = 100Proportional gain = –500Load inertia ratio = 128Velocity loop gain override in speed control = 200%

[Gain in position control]Integration gain = 100 (1 + 128/256) = 150Proportional gain = –500 (1 + 128/256) = –750

[Gain in speed control]Integration gain = 100 (1 + 128/256) 200/100 = 300Proportional gain = –500 (1 + 128/256) 200/100 = –1500

Thus, when speed control is exercised, a gain override is applied to a gainthat takes a load inertia ratio into consideration.

#7 #6 #5 #4 #3 #2 #1 #0

135 Linear acceleration/deceleration time constant for speed control

Size : 2 bytesUnit of data : msValid data range : 8 to 4000

Specify a time required until 4000 rpm is reached.

Example: When a speed command value of 2000 rpm is specified, andthe time required until 2000 rpm is reached needs to be 1000ms, the value to be set in this parameter is calculated asfollows:Setting = (4000/2000) 1000 = 2000

#7 #6 #5 #4 #3 #2 #1 #0

136 Speed deviation check limit value in speed control

Size : 2 bytesUnit of data : rpmValid data range : 0 to 4000Standard setting : 0 (No speed deviation check is made.)


85

Set a speed deviation check limit value in the speed control mode. If thedifference between a command speed and actual speed exceeds the valueset in this parameter in the speed control mode, alarm 447 is issued.

#7 #6 #5 #4 #3 #2 #1 #0

Xx+2 TRQM

TRQM <Input signal> Speed control mode signal0 : The speed control stop command sets this signal to 0

to terminate the speed control mode. This signal isalso set to 0 by a servo alarm or emergency stop toterminate the speed control mode.

1 : The speed control mode is currently set.

No. LED indication Description Action

254Function code is invalid. Check the value specified as the function

code of a function code command.

255Activation is impossible because the activa-tion mode is different or a block is beingexecuted.

Check the mode. Check if a block is beingexecuted.

447Excessive speed deviation (speed control) Check the actual speed. Check the setting of

parameter No. 136.

(1) To exercise speed control, the parameters below usually need to bemodified.Do not modify parameters other than the parameters below.Bit 1 of No. 000: Set this bit to 1 (rotation axis specification).Bit 7 of No. 000: Set this bit to 1 (to enable rotation axis roll–over).No. 080: Set a current limit value of 7282.No. 100: Load inertia ration. Set an adjusted value.The parameters below are dedicated to speed control. So, once theseparameters are set, they need not be modified each time control isswitched to speed control.No. 116: Velocity loop gain override in speed control. (Set this

parameter when switching between position control andspeed control.)

No. 135: Linear acceleration/deceleration time constant for speedcontrol

No. 136: Speed deviation check limit value in speed control

(2) In the speed control mode, the processing described below isperformed based on output signals.

3.4.6.6 Signal

3.4.6.7 Alarm

3.4.6.8 Others


86

When the overtravel alarm is issued, a gradual stop occurs, and thespeed control mode is terminated. When the external reset signalERS (Yy+1#0) is set to 1, a gradual stop occurs, and the speed controlmode is terminated. When the interlock signal *ILK (Yy+1#3) is setto 0, a gradual stop occurs. When the interlock signal is set to 1 again,acceleration is performed to restart a movement.When the servo–off command signal SVFX (Yy+1#2) is set to 1, agradual stop occurs, and the speed control mode is terminated.

(3) The states of input signals in the speed control mode are describedbelow.Follow–up is performed for position updating, so that the axismovement in–progress signal MVX (Xx+7#2) and the distributionpulse signal IPLX (Xx+0#1) are set to 1.During movement in one direction, the movement direction signalMVDX (Xx+7#0) is set to 1.The automatic operation signal OP (Xx+1#7) and the automaticoperation start in–progress signal STL (Xx+1#5) are set to 1.Clamp/unclamp control is disabled in the speed control mode, so thatthe unclamp command signal UCPC2 (Xx+1#4) is not set to 1.


87

Host NC

CNC PMC

(2)


Auto mode

Start enabled state(1)Start of coordinatesystem setting

Processingby PMC

Function code = 10

Command data 1 (coordinate system setting, magazine numbersetting, point number setting)

Command data 2 (absolute coordinates, magazine number, point number)

ST signal


A workpiece coordinate system is establishedwhich uses the current position as specifiedabsolute coordinates.


End of coordinatesystem setting

End of ST signal acceptance

Start enabled state

(1) In coordinate system setting, the PMC on the host NC sets thefunction code, command data 1, and command data 2, then sends theST signal to the servo amplifier unit. Upon receipt of the data, theservo amplifier unit returns the operation completion signal OPC 1to the host NC.

(2) Upon completion of coordinate system setting, the servo amplifierunit returns the operation completion signal OPC 4, and is placed inthe start enabled state.


1) The start enabled state is that state in which the STL signal is off.

3.4.7Coordinate SystemSetting


88

When using the peripheral equipment control parameter rewrite function,specify 12 as function code, a data size as command data 1, a parameternumber and parameter value as command data 2, and start operation withthe ST signal. For a double–word parameter, specify a parameter valuetwice. Parameter rewrite operation is performed in the emergency stopstate. However, if operation is not being performed, the followingparameter can be rewritten in a state other than the emergency stop state: Parameter No. 20

CAUTIONThe number of times the memory (EEPROM) for holdingparameters can be rewritten to is limited (to several tenthousands times), so the memory does not allow frequentrewriting. For an application that rewrites parametersfrequently, bit 3 (NEPRM) of parameter No. 4 needs to beset to 1 to modify RAM data only without writing to theEEPROM.

The system configuration is shown below.

Ladder

Host (NC)

FANUC I/O Link


Peripheral equipmentcontrol

In the configuration above, the host issues a ladder–based command toperipheral equipment control via the FANUC I/O Link to control theservo amplifier unit. With the parameter rewrite function, the servoamplifier unit receives command data for parameter rewrite operation,then executes parameter rewrite operation with the ST signal (automaticoperation start signal).

3.4.8Rewriting ofParameters

3.4.8.1 Overview

3.4.8.2 System configuration


89

A parameter to be rewritten is specified using the following command:

Command (host servo amplifier unit)

#7 #6 #5 #4 #3 #2 #1 #0


Yy+3

Yy+4 Command data 2

Yy+5

Yy+6

Function code : 12Command data 1 : 1 : Rewrites a byte parameter.

2 : Rewrites a word parameter.3 : Rewrites a double–word parameter (first time).B : Rewrites a double–word parameter (second

time).Command data 2 : Sets the number of a parameter to be rewritten in

Yy+3 and Yy+4.Sets the value of a parameter to be rewritten inYy+5 and Yy+6.

Data type

1) Byte type

#7 #6 #5 #4 #3 #2 #1 #0

Yy+5

Example: Number 22, data 5Yy+3 = 16 (hexadecimal], Yy+4 = 00Yy+5 = 05 [hexadecimal], Yy+6 = 00

2) Word type

#7 #6 #5 #4 #3 #2 #1 #0

Yy+5 Lower byte

Yy+6 Higher byte

Data = higher byte 256 + lower byte

When rewriting a double–word parameter, divide the value of theparameter into two for two specifications.

Example: Number 140, data 500000500000 = 0007A120 [hexadecimal]

First time:Yy+3 = 8C [hexadecimal], Yy+4 = 00Yy+5 = 20 [hexadecimal], Yy+6 = A1 [hexadecimal]

Second time:Yy+3 = 8C [hexadecimal], Yy+4 = 00Yy+5 = 07 [hexadecimal], Yy+6 = 00

3.4.8.3 Peripheral equipmentcontrol command format


90

Rewriting beingperformed

ST

OPC1

OPC4

No. LED indication Description Action

250Input data 1 is invalid. Check the specified value of input data 1 of a

function code command.

251Input data 2 is invalid. Check the specified value of input data 2 of a

function code command.

254Function code is invalid. Check the specified value of function code of

a function code command.

#7 #6 #5 #4 #3 #2 #1 #0

004 NEPRM

Size : 1 byte/bit typeStandard value : 0NEPRM When the peripheral equipment control parameter rewrite

function is executed, writing to the EEPROM (memoryfor holding parameters) is:0 : Performed.1 : Not performed.

CAUTION1 For an application that rewrites parameters frequently with

the peripheral equipment control parameter rewritefunction, set this parameter to 1.

2 The setting of this parameter is applicable to the rewritingof parameters using a direct command.

3.4.8.4 Command timing chart

3.4.8.5 Alarm

3.4.8.6 Parameter


91

Host NC

CNC PMC

(2)

(1)


Jog mode

Start enabled state

Function code = 14 (point data setting)

Start of data setting

Processing byPMC

Command data 2 (position data)


The position data (absolute coordinate)specified in command data 2 is set inthe parameter for the point number specified in command data 1.

ST signal



End of data setting


Start enabled state

(3)

(1) In data setting, the PMC on the host NC sets the function code,command data 1, and command data 2, then sends the ST signal tothe servo amplifier unit.

(2) When the function code, command data 1, and command data 2 arereceived, the servo amplifier unit returns the operation completionsignal OPC 1 to the host NC.

(3) Upon the completion of setting data in the parameter, the servoamplifier unit returns the operation completion signal OPC 4.


1) The start enabled state is that state in which the STL signal is off.

3.4.9Control of the PointData External SettingFunction


92

Host NC

CNC PMC

(2)

(1)


+X

–X

A position to be set is indexed.

Jog mode

Start enabled stateFunction code = 15

Start of data settingProcessingby PMC


The current value (absolute coordinate) is set in the parameter for the point number specified incommand data 2.

ST signal



End of data setting

(3)


Start enabled state

(1) After function code setting, the host NC indexes a position accordingto the +X/–X signal.

(2) In data setting, the PMC on the host NC sets the function code andcommand data 2, then sends the ST signal to the servo amplifier unit.Upon receipt of command data 2, the servo amplifier unit returns theoperation completion signal OPC 1 to the host NC.

(3) Upon the completion of setting the current value in a parameter, theservo amplifier unit returns the operation completion signal OPC 4,and is placed in the start enabled state.

Supplementary information1) The coordinate for a point number is set in the parameter area.2) Perform teaching–based data setting while no movement is being

performed along the axes.3) The start enabled state is that state in which the STL signal is off.

3.4.10Teaching–based DataSetting Control


93

This function moves the machine movable part automatically or manuallyin a specified direction to return to a reference position. This method ofreference position return is referred to as the grid method. With thismethod, a reference position is determined by an electronic grid positiondetermined by the one–rotation signal of a position detector.

The deceleration signal for reference position return (*DEC) is placed inthe same position as the high–speed interlock signal (*RILK) on thebuilt–in DI. So, when the reference position return function with dogs isused, the high–speed interlock signal (*RILK) cannot be used.

The machine movable part moves by rapid traverse when the jog feedmode is set, 4 is set as function code, 15 is set as command data 1, andfeed toward a reference position is specified using the feed axis anddirection select signal (+X or –X).

If the deceleration signal for reference position return (*DEC) is set to 0because a deceleration limit switch is pressed, the feedrate is reduced,then movement continues at a low constant feedrate.

When an electronic grid position is reached after the deceleration limitswitch is released and the deceleration signal for reference position returnis set to 1 again, feed operation stops. At this time, the reference positionreturn completion signal (ZPX) is set to 1.

A reference position return direction can be set in a parameter.

The operation described above is shown in the timing chart below.

Grid (one–rotation signal)

Each rotation of the detector

Rapid traverse rate

Jog feed mode

Function code = 4

Command data 1 = 15+X/–X

V

*DEC

ZPX

3.5REFERENCEPOSITION RETURNFUNCTION WITHDOGS

3.5.1Explanation ofFunction

3.5.1.1 Reference positionreturn operation (gridmethod)


94

A gradual stop occurs if a mode other than the jog feed mode is selectedor the feed axis direction command signal (+X or –X) is turned off duringreference position return. Reference position return must start at a pointsufficiently away from a deceleration area and must be performed in thedirection toward the reference position. The deceleration area is as shownbelow.

Point where *DECis released

Reference position

Deceleration area

A low constant feedrate after deceleration is set using parameter No. 054.

NOTE1 If the direct command interface is used, select the AUTO

mode and input 60H as function code, then invert the EBUFsignal. Then, the machine movable part moves by rapidtraverse for reference position return operation.

2 If a reference position is already established, the machineis always positioned by rapid traverse at the referenceposition.

When a deceleration limit switch for reference position return is installed,the condition shown below must be satisfied.

Feedrate

Return direction

Reference position

Decelerationlimit opera-tion point

Decelerationlimit releasepoint

VL

LDALDW

VR

3.5.1.2 Deceleration limit switchinstallation condition


95

(i) LDW: Deceleration dog width (user unit)LDW > (VR((TR/2) + 11 + TS) + 4VL TS)/60000VR: Rapid traverse rate (user unit/min)TR: Rapid traverse time constant (msec)TS: Servo time constant (msec)VL: Feedrate after deceleration (user unit/min)

(ii) LDA: Distance between the deceleration limit switch release pointand reference position

LDA = Travel distance equivalent to a half rotation of the motorThe condition above does not include limit switch operationvariation. Consider such variation into consideration wheninstalling a limit switch.

To perform reference position return according to the sequence mentionedhere, the machine must be fed once in the reference position returndirection at such a feedrate that the servo position deviation exceeds 128,before the first reference position return operation. A servo positiondeviation (E) is determined from a feedrate (F) and servo loop gain (G).

E = (F/G) (1/U)E: Servo position deviation (user unit)F: Feedrate (user unit/sec)U: Detection unit (user unit)G: Servo loop gain

In general, the detector unit is one user unit.

When the machine is fed at a rapid traverse rate of 6000000 userunits/min, the servo position deviation in the steady state is as follows ifthe position loop gain is 30:

E = ((6000000/60)/30) (1/1) = 3333On the contrary, such a feedrate that the servo position deviation is 128is as follows if the detection unit is one user unit, and the servo loop gainis 30:

F = 128 30 60 = 230,400 (user unit/min)This means that when the servo loop gain is 30, and the detection unit isone user unit, the machine needs to be fed in the reference position returndirection at a feedrate of 230400 user units/min or more before referenceposition return. A servo position deviation present when the machine isactually fed can be checked using DGN No. 032.

NOTEWhen this function is used, the high–speed interlock signalis disabled.

3.5.1.3 Tip


96

#7 #6 #5 #4 #3 #2 #1 #0

011 DZRN

Size : 1 byte/bit typeStandard value : 0DZRN The reference position return function with dogs is:

0 : Disabled. (The reference position return functionwithout dogs is selected.)

1 : Enabled.

NOTEWhen DZRN = 1, the high–speed interlock signal (*RILK) isdisabled.

3.5.2Parameter


97

The direction of high–speed reference position return of a rotation axisafter reference position establishment is set using bit 5 (ZMIX) ofparameter No. 10.

#7 #6 #5 #4 #3 #2 #1 #0

005 REFDRC

Size : 1 byte/bit typeStandard value : 0REFDRC The direction of high–speed reference position return of

a rotation axis is determined by:0 : Sign of the result of subtracting the current position

from the reference position1 : Setting of bit 5 (ZMIX) of parameter No. 10

#7 #6 #5 #4 #3 #2 #1 #0

010 ZMIX

Size : 1 byte/bit typeStandard value : 0ZMIX When bit 2 (REFDRC) of parameter No. 5 is set to 1, the

direction of high–speed reference position return of arotation axis is:0 : Plus direction1 : Minus direction

NOTE1 This function is enabled only when a rotation axis is set

(when bit 1 (ROTX) of parameter No. 0 = 1).2 When shortcut rotation is enabled (when both bit 6 (RABX)

and bit 7 (ROAX) of parameter No. 0 are set to 1), thisfunction is disabled.

3.6UPGRADING OF THEROTATION AXISCONTROL FUNCTION

3.6.1Function for Specifyingthe Direction ofRotation AxisHigh–Speed ReferencePosition Return

3.6.1.1 Explanation of function

3.6.1.2 Parameter


98

With an absolute command for a rotation axis, a rotation direction can bespecified using a sign.

When parameter No. 141 for specifying the travel distance of one rotationof a rotation axis is set to 360000, and the current position is 100000,specify 300000 with an absolute command to move by rotation in the plusdirection to the position of 300000. At this time, the travel distance is asfollows:

Travel distance: 300000 – 100000 = +200000To move by rotation in the minus direction to the position of 300000,specify –300000 with an absolute command. At this time, the traveldistance is as follows:

Travel distance = (300000 – 100000) – 360000 = –160000

#7 #6 #5 #4 #3 #2 #1 #0

000 RAB2X

Size : 1 byte/bit typeStandard value : 0RAB2X The specification of the rotation direction sign of a

rotation axis with an absolute command is:0 : Disabled.1 : Enabled.

NOTE1 This function is enabled only when roll–over is set (when

both bit 1 (ROTX) and bit 7 (ROAX) of parameter No. 0 areset to 1).

2 When shortcut rotation is enabled (when both bit 6 (RABX)and bit 7 (ROAX) of parameter No. 0 are set to 1), thisfunction is disabled.

3 When this function is used to specify an absolute value of0 based on rotation in the minus direction, specify a traveldistance of one rotation. For example, when the traveldistance of one rotation is 360000, and an absolute valueof 0 is to be specified based on rotation in the minusdirection, specify –360000.

3.6.2Rotation Axis RotationDirection SignSpecification Function


3.6.2.2 Example of program

3.6.2.3 Parameter


99

In clamp processing, the timer (parameter No. 168) counting untilservo–off can be started when the clamp/unclamp state output signal isturned off.

#7 #6 #5 #4 #3 #2 #1 #0

005 CLPSVF

Size : 1 byte/bit typeStandard value : 0CLPSVF As a period of time from the start of clamp processing to

servo–off (parameter No. 168):0 : Time after the unclamp command signal (UCPC2) is

turned off is set.1 : Time after the clamp/unclamp state output signal

(UCPS2) is set.

When jog operation is stopped, clamp processing is not performed, butthe unclamp state can be held.

#7 #6 #5 #4 #3 #2 #1 #0

005 JNCL

Size : 1 byte/bit typeStandard value : 0JNCL When jog operation is stopped, clamp processing is:

0 : Performed.1 : Not performed. (The unclamp state is held.)

3.7UPGRADING OF THECLAMP/UNCLAMPCONTROL FUNCTION

3.7.1Start of the TimerCounting UntilServo–off in ClampProcessing


3.7.1.2 Parameter

3.7.2Disabling of ClampProcessing When JogOperation is Stopped


3.7.2.2 Parameter


100

At present, response data cannot be read for a purpose other than displayduring operation such as movement on axes.

This function allows the host to read correct response data from a servoamplifier unit even during movement on axes by establishingsynchronization between the host and servo amplifier unit with theresponse data read function of the host. Data that can be read includesATC data, point numbers, and motor current values as well as coordinates.

For synchronization establishment, the following two bits are added ontothe I/O Link:ABSWT (Xx+1#0): Response data write completion signalABSRD (Yy+1#4): Response data read completion signal

[Details of processing]When the logic levels of ABSWT and ABSRD are equal (ABSWT =ABSRD = 0 or ABSWT = ABSRD = 1), the servo amplifier unit writesresponse data to Xx+3 to Xx+6, and inverts the logic level of ABSWT.

When the logic levels of ABSWT and ABSRD are not equal (ABSWT =0 and ABSRD = 1, or ABSWT = 1 and ABSRD = 0), the host takes inresponse data from Xx+3 to Xx+6, and inverts the logic level of ABSRD.

[Timing chart]H: Processing by the hostβ: Processing by the servo amplifier unit

β: Response datacheck signal(Xx+2#4 to #5)

β: Responsedata write(Xx+3 to Xx+6)

H: Responsedata read(Xx+3 to Xx+6)

ABSRD 1(Yy+1#4 ) 0

ABSWT 1(Xx+1#0 ) 0

3.8UPGRADING OF THERESPONSE DATAREAD FUNCTION

3.8.1Overview

3.8.2Details of Function


101

The DI/DO signals are signals on the FANUC I/O Link.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+1 ABSRD

#7 #6 #5 #4 #3 #2 #1 #0

Xx+1 ABSWT

#7 #6 #5 #4 #3 #2 #1 #0

Xx+2 DSP2 DSP1

[Classification]Input signal <Xx+1#0> (peripheral equipment control only)[Function]After writing response data (Xx+3 to Xx+6), the servo amplifier unitinverts this signal for notification to the host.[Operation]The servo amplifier unit exclusive–ORs ABSWT with ABSRD. Ifthe result of exclusive–OR is 0, the servo amplifier unit writesresponse data (Xx+3 to Xx+6), and inverts this signal.

[Classification]Output signal <Xx+1#4> (peripheral equipment control only)[Function]After reading response data (Xx+3 to Xx+6), the host inverts thissignal for notification to the servo amplifier unit.[Operation]The host exclusive–ORs ABSWT with ABSRD. If the result ofexclusive–OR is 1, the host reads response data (Xx+3 to Xx+6), andinverts this signal.

[Classification]Input signal <Xx+2#4 to #5> (peripheral equipment control only)[Function]The servo amplifier unit indicates the contents of response data.[Input condition]The servo amplifier unit sets the contents of data being output in theresponse data by using a combination of signals as indicated in thetable below.

DSP2 DSP1 Response data

1 1 Coordinate or motor current value

1 0 Current position number (ATC, point number)

NOTEThe setting of parameter No. 20 is used for distinctionbetween a coordinate and motor current value.

3.8.3DI/DO Signals

3.8.3.1 Response data writecompletion signalABSWT

3.8.3.2 Response data readcompletion signalABSRD

3.8.3.3 Response data checksignals DSP1, DSP2


102

#7 #6 #5 #4 #3 #2 #1 #0

005 ABSPS LDM

Size : 1 byte/bit typeStandard value : 0ABSPS With the response data read function, the host and servo

amplifier unit are:0 : Not synchronized.1 : Synchronized. (Even during movement on axes, the

host can read correct position data.)LDM Motor current value output in response data (Xx+3 to

Xx+6) is:0 : Disabled.1 : Enabled.

020 Specification of the contents of response data (PHOUT)

Size : 1 byteStandard value : 3PHOUT As response data (Xx+3 to Xx+6):

0 : No data is output.1 : ATC or point number data is output. In the case of

ATC cycle or point positioning:2 : Machine coordinates are output.3 : Workpiece coordinates are output.4 : A motor current value is output. The motor current

value 6554 represents the maximum current value ofthe servo amplifier unit.

NOTEFor output of a motor current value as response data, set bit6 (LDM) of parameter No. 005 to 1, and set parameter No.020 to 4.

3.8.4Parameter


103

1 This function is enabled only when bit 7 (ABSPS) of parameter No.5 is set to 1.

2 This function can be used only with the peripheral equipment controlinterface. When this function is used, the direct command interfacecannot be used.

3 When synchronous processing is being performed with this function,the setting of bit 7 (ABSPS) of parameter No. 5 cannot be modified.

4 When this function is used, and the alarm output command signalDSAL (Yy+0#3) needs to be turned on, the signal must be turned on2 msec or more before the response data read completion signal(ABSRD) is inverted. See the timing chart below.

(Timing chart)

ABSRD 1(Yy+1#4 ) 0

ABSWT 1(Xx+1#0 ) 0

DSAL 1(Yy+0#3) 0

DSALO 1(Xx+2#3) 0

POS2 ALM POS3

POS2 ALM POS3POS1

2msec

Data

Read by thehost

5 The number of times the EEPROM (memory for holding parameters)can be rewritten to is limited (to several ten thousands times). So, donot rewrite parameters frequently. If parameters need to be rewrittenfrequently, set bit 3 (NEPRM) of parameter No. 004. In this case,however, rewritten parameters are lost when the power is turned off.

3.8.5Notes

4. DIRECT COMMANDS B–65245EN/02HANDLING

104

4 DIRECT COMMANDS

B–65245EN/02 4. DIRECT COMMANDSHANDLING

105

The servo amplifier unit receives a command issued in the specifiedformat from the host, then executes the command. After commandexecution, the servo amplifier unit returns the result of commandexecution to the host. Such commands are called direct commands. Thesecommands are set in an interface area in the formats shown below.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 Function code

Yy+6 Command data 1

Yy+7 Command data 2

Yy+8 Command data 3

Yy+15 Command data 10

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 Function code (same as that in the insurrection command)


Xx+7 Response data 1




4.1DIRECT COMMANDFORMAT

General format ofinstruction commands(host → servo amplifierunit)

General format ofresponse commands(servo amplifier unit →host)


106

#7 #6 #5 #4 #3 #2 #1 #0Byte type

(BYTE):

#7 #6 #5 #4 #3 #2 #1 #0

Lower byteWord type(WORD):

Higher byte

Data = (higher byte)*256 + (lower byte)

#7 #6 #5 #4 #3 #2 #1 #0

Lowest byteDouble precision type(DWORD):

Second lowest byte

Second highest byte

Highest byte

Data = (highest byte)*16777216

+ (second highest byte)* 65536

+ (second lowest byte)*256

+ (lowest byte)

Data types


107

Direct commands are classified into two types: instruction commandswhich are sent from the host to a servo amplifier unit, and responsecommands which are returned from a servo amplifier unit to the host.Such command transfer is controlled using two flags, control flag 1 andcontrol flag 2. Control flag 1 is sent from the host to a servo amplifier unit.Control flag 2 is returned from a servo amplifier unit to the host.

#7 #6 #5 #4 #3 #2 #1 #0

EBUF EOREND ECNTControl flag 1

EBSY EOSTB ECF USR1 EOPC AL ECONTControl flag 2

CAUTIONWhen the power mate CNC manager function is used,control flag 2 transfers data using the same area as thatused by the power mate CNC manager function,simultaneously as the function. If the USR1 signal is 0,control flag 2 is for the ladder. If the USR1 signal is 1, controlflag 2 is for the power mate CNC manager and, therefore,must be ignored.

Instruction commands sent from the host to a servo amplifier unit arecontrolled with EBUF and EBSY.

When the EBUF and EBSY states (values) match, the host can write acommand into the interface area. After writing the command, the hostinverts EBUF.If the EBUF and EBSY states differ, the servo amplifier unit assumes thata new command has been specified.Therefore, control flag 1 must be written last after a function numberand command data are written. After the servo amplifier unit reads thecommand, it inverts the EBSY state.

EBUF is initially set to 0.Since the instruction command data area is limited, instruction commanddata sometimes cannot be sent if the amount of data is excessive. In sucha case, more than one instruction command must be issued to send all thedata. If there is an additional instruction command to be sent, ECNT isset to 1 to indicate that another command follows.

NOTEWhen the power mate CNC manager function is used, theinverted EBSY state is posted to the host for 40 ms. Thisduration can be changed by parameter setting (parameterNo. 022).

4.2DIRECT COMMANDCONTROLPROCEDURE

4.2.1Direct CommandControl Procedure

4.2.2Instruction CommandControl (EBUF, EBSY,and ECNT)


108

Response commands returned from the servo amplifier unit are controlledwith EOREND, EOSTB, and EOPC. EOPC indicates that the responsecommand is in continuous read mode.

The host reads response data according to the following controlprocedure:

When the EOREND state and EOSTB state do not match, the host canread response data. After reading the data, the host inverts EOREND suchthat the EOREND state matches the EOSTB state. As EOREND isinverted, the servo amplifier unit regards the data read operation as havingbeen completed.

When the amount of data in a response command is too great to enablethe sending of all the data at one time, ECONT indicates 1. In this case,after reading the current data, the host inverts EOREND such that itmatches the EOSTB state, then waits for the next data. The host must readthe data repeatedly until ECONT becomes 0.

NOTEWhen the power mate CNC manager function is used, thearea used by the power mate CNC manager function is alsoused simultaneously by the direct commands of the PMCladder program to exchange the data. USR1 being set to 0indicates that the data in the area is a response to the ladderprogram, so read processing must be performed. USR1being set to 1 indicates that data in the area is a responseto the power mate CNC manager and is to be ignored.

When NMOD is set to 1 for an instruction command, the command isexecuted in completion notification mode. This means that the servoamplifier unit notifies the host that execution of the instruction commandhas been completed, and the servo amplifier unit does not execute the nextcommand until the servo amplifier unit receives a response from the host.

(1) Upon the completion of command execution, the servo amplifier unitsets ECF to 1.

(2) The host issues the FIN instruction command to notify the servoamplifier unit that the host has received completion notification.

NOTEWhen the power mate CNC manager function is used, ECFbeing set to 1 is posted to the host for 40 ms. This durationcan be changed by parameter setting (parameter No. 022).

4.2.3Response CommandControl (EOREND,EOSTB, EOPC, USR1,and ECONT)

4.2.4Command CompletionNotification (ECF)


109

If an alarm is issued in the servo amplifier unit, DAL is set to 1. Whendetailed information about the alarm is required, the host specifies theREAD ALARM STATUS command.

The servo amplifier unit returns the result of execution using thefollowing code. Upon the reception of an execution result, the hostperforms appropriate processing such as error display and retry operation.

Completioncode Meaning Description (action)

0 Normal termination

1

Execution error Execution was attempted withno program.

Start of execution wasattempted during execution.

2Data length error Direct command has an illegal

command format.

3Incorrect number of data items Direct command has an illegal

command format.

4Data attribute error Direct command has an illegal

command format.

7 Write protect error

8 Memory overflow

9 Parameter error An illegal parameter is set.

10 Buffer control error

12 Mode select error

14 Reset or halted

15 Execution in progress

4.2.5Alarm (DAL)

4.2.6Direct CommandExecution Result


110

Function Function code

Subsection to be referenced

1. Signal operation commands

(1) Setting and releasing the torque limitenable signal

(2) Specifying the torque limit value

0x0C

0x91

4.4.1 (1)

4.4.1 (2)

2. Parameters

(1) Reading parameters

(2) Writing parameters

0x20

0x21

4.4.2 (1)

4.4.2 (2)

3. Status read

(1) Reading the absolute position

(2) Reading the machine position

(3) Reading the servo delay

(4) Reading the servo acceleration/de-celeration delay

(5) Reading the actual feedrate

(6) Reading the status

(7) Reading alarm information

(8) Reading the series and edition of sys-tem software

(9) Reading data continuously

0x30

0x31

0x33

0x34

0x36

0x37

0x38

0x3F

0x41

4.4.3 (1)

4.4.3 (2)

4.4.3 (3)

4.4.3 (4)

4.4.3 (5)

4.4.3 (6)

4.4.3 (7)

4.4.3 (8)

4.4.3 (9)

4. Axis movement commands

(1) Reference position return

(2) Absolute positioning

(3) Incremental positioning

(4) Dwell

(5) Coordinate system setting

(6) Acquiring the FIN state

(7) FIN command

(8) Wait command

0x60

0x61

0x62

0x63

0x64

0x66

0x67

0x90

4.4.4 (1)

4.4.4 (2)

4.4.4 (3)

4.4.4 (4)

4.4.4 (5)

4.4.4 (6)

4.4.4 (7)

4.4.4 (8)

4.3DIRECT COMMANDS


111

(1) Setting and releasing the torque limit enable signalThe host specifies the setting and release of the torque limit enablesignal.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 0 0 0 1 1 0 0 (0x0C)

Yy+6 0 0 0 1 0 0 0 SET

SET 0: Releases the torque limit enable signal.1: Sets the torque limit enable signal.

This command has no response data.

(2) Specifying the torque limit valueThe host specifies the torque limit value when the torque limit isenabled.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 1 0 0 1 0 0 0 1 (0x91)

Yy+6 0 0 0 1 0 0 0 0

Yy+7 TRQ LIMIT

Yy+8 TRQ LIMIT

TRQ LIMIT : 0 to 7282 (torque limit value)


4.4DETAILS OF DIRECTCOMMANDFUNCTIONS

4.4.1Signal OperationCommands

Instruction commandformat

Response commandformat




112

(1) Reading parametersThe host can read parameters for the servo amplifier unit.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 0 1 0 0 0 0 0 (0x20)

Yy+6 Parameter No. (word type)


Byte type

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 0 0 1 0 0 0 0 0 (0x20)


Xx+7 Data length (byte type) = 1

Xx+8 Parameter (byte type)

Word type#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 0 0 1 0 0 0 0 0 (0x20)


Xx+7 Data length (byte type) = 2

Xx+8 Parameter (word type)

Xx+9 Parameter (word type)

4.4.2Parameters




113

DWORD type#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 0 0 1 0 0 0 0 0 (0x20)


Xx+7 Data length (byte type ) = 4

Xx+8 Parameter (DWORD type)




(2) Writing parametersThe host can write parameters for the servo amplifier unit.

CAUTION1 Writing parameters from the host is prohibited while the

servo amplifier unit is operating.2 There is a limit to the number of writes to the memory

(EEPROM) in the β amplifier that is used to store parametersettings (tens of thousands of writes).For this reason, the direct command, parameter rewriteinstruction, cannot be used for applications that frequentlychange parameters. It is, however, possible to frequentlychange parameters if the parameter setting is such that onlythe data on the RAM is changed without writes to theEEPROM (NEPRM (bit 3 of parameter No. 004) = 1). If the number of parameter rewrites exceed the limit, anysubsequent writes to the memory are prohibited, possiblycausing an alarm (LED display: “8”).

Byte type

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 0 1 0 0 0 0 1 (0x21)



Yy+8 0 0 0 0 0 0 0 1

Yy+9 Data length (byte type) = 1

Yy+10 Parameter (byte type)



114

Word type#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 0 1 0 0 0 0 1 (0x21)



Yy+8 0 0 0 0 0 0 0 1


Yy+10 Parameter (word type)

DWORD type#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 0 1 0 0 0 0 1 (0x21)



Yy+8 0 0 0 0 0 0 0 1


Yy+10 Parameter (DWORD type)




#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 2

Yy+5 0 0 1 0 0 0 0 1 (0x21)

Yy+6 Reserved Execution result



115

(1) Reading the absolute positionThe host can read the absolute position of the servo amplifier unit.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 0 1 1 0 0 0 0 (0x30)

Yy+6 0 0 0 0 0 0 0 1

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 0 0 1 1 0 0 0 0 (0x30)


Xx+7 Axis data (DWORD type)




(2) Reading the machine positionThe host can read the machine position of the servo amplifier unit.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 0 1 1 0 0 0 1 (0x31)

Yy+6 0 0 0 0 0 0 0 1

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 0 0 1 1 0 0 0 1 (0x31)






4.4.3Status Read






116

(3) Reading the servo delayThe host can read the servo delay in the servo amplifier unit.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 0 1 1 0 0 1 1 (0x33)

Yy+6 0 0 0 0 0 0 0 1

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 0 0 1 1 0 0 1 1 (0x33)






(4) Reading the servo acceleration/deceleration delayThe host can read the servo acceleration/deceleration delay in theservo amplifier unit.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 0 1 1 0 1 0 0 (0x34)

Yy+6 0 0 0 0 0 0 0 1

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 0 0 1 1 0 1 0 0 (0x34)











117

(5) Reading the actual feedrateThe host can read the actual feedrate of the servo amplifier unit.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 0 1 1 0 1 1 0 (0x36)

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 0 0 1 1 0 1 1 0 (0x36)


Xx+7 Feedrate (DWORD type)




(6) Reading the statusThe host can read the execution status of the servo amplifier unit (suchas the mode being selected and the alarm state).

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 0 1 1 0 1 1 1 (0x37)

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 0 0 1 1 0 1 1 1 (0x37)


Xx+7 Run Auto

Xx+8 Motion

Xx+9 Alarm Emergency

Auto : 1 AUTO 4 HANDLE 5 JOG

Run : 0 (reset) 1 STOP 3 START





MAXSIZEmust not beexceeded.


118

Motion : 0 *** 2 DWL 1 MTN

Emergency : 0 **** 2 RSET 1 EMG

Alarm : 0 **** 2 BAT 1 ALM

(7) Reading alarm informationWhen an alarm is issued in the servo amplifier unit, the host can readthe alarm number of the alarm.Among issued alarm numbers, up to three alarm numbers can be readin ascending order.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 0 1 1 1 0 0 0 (0x38)

Yy+6 MAX SIZE

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 0 0 1 1 1 0 0 0 (0x38)


Xx+7 0 0 0 0 0 0 0 0

Xx+8 Alarm No. 1 (word type)


Xx+10 0 0 0 0 0 0 0 0



1 1 1 1 1 1 1 1

MAX SIZE : Maximum size (9 or less)




119

(8) Reading the series and edition of system softwareThe host can read the series and edition of system software.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 0 1 1 1 1 1 1 (0x3F)

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 0 0 1 1 1 1 1 1 (0x3F)


Xx+7

Xx+8

Xx+9

Xx+10

Xx+11 Series

Xx+12 Series

Xx+13 Series

Xx+14 Series

Xx+15 Edition

Xx+16 Edition

Xx+17 Edition

Xx+18 Edition

Xx+19

Xx+20

The edition is output as ASCII codes. The high–order two bytes of theedition is always “0” (ASCII code 0x30). The low–order two bytes is theedition information. For example, if the edition is 08, the following isoutput:

#7 #6 #5 #4 #3 #2 #1 #0

Xx+15 0 0 1 1 0 0 0 0 (0x30)

Xx+16 0 0 1 1 0 0 0 0 (0x30)

Xx+17 0 0 1 1 0 0 0 0 (0x30)

Xx+18 0 0 1 1 1 0 0 0 (0x30)




120

Two separate response commands are output. The output data of the firstresponse command and that of the second are as follows:

<First response command>

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 0 0 1 1 1 1 1 1 (0x3F)


Xx+7

Xx+8

Xx+9

Xx+10

Xx+11 Series

Xx+12 Series

Xx+13 Series

Xx+14 Series

Xx+15 Edition

<Second response command>

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 Edition

Xx+6 Edition

Xx+7 Edition

Xx+8

Xx+9

Thus, the edition is output by a combination of Xx+15 of the first responsecommand and Xx+5 to Xx+7 of the second response command.


121

(9) Reading data continuouslyThe host can read servo amplifier unit status data such as the absoluteposition, machine position, and servo delay, continuously.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 1 0 0 0 0 0 1 (0x41)

Yy+6 Number of data items to be read (NOTE)

Read data specification 1

Read data specification n

NOTEUp to four data items can be specified for reading. Whencontinuous read operation is canceled, the host sets 0 asthe number of data items.

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 0 1 0 0 0 0 0 1 (0x41)


Read data specification 1

Read data specification n

NOTEThe data length varies according to the specified data.

The types of data to be read continuously are specified using thefollowing codes. The read data format for each code is also shownbelow.

(a) Reading the absolute coordinates 0x01(b) Reading the machine coordinates 0x02(c) Reading the servo position deviation 0x03(d) Reading the accumulated pulses in

acceleration/deceleration 0x04(e) Reading the actual feedrate 0x05(f) Reading the slave status 0x06




122

(a) Reading the absolute coordinates 0x01

#7 #6 #5 #4 #3 #2 #1 #0

0 0 0 0 0 0 0 0 1 (0x01)

1 0 0 0 0 0 0 0 1

#7 #6 #5 #4 #3 #2 #1 #0

0 0 0 0 0 0 0 0 1 (0x01)

1 Reserved Execution result

2 Axis data (DWORD type)




(b) Reading the machine coordinates 0x02

#7 #6 #5 #4 #3 #2 #1 #0

0 0 0 0 0 0 0 1 0 (0x02)

1 0 0 0 0 0 0 0 1

#7 #6 #5 #4 #3 #2 #1 #0

0 0 0 0 0 0 0 1 0 (0x02)






Data specification codefor continuous read

Continuous read dataformat




123

(c) Reading the servo position deviation 0x03

#7 #6 #5 #4 #3 #2 #1 #0

0 0 0 0 0 0 0 1 1 (0x03)

1 0 0 0 0 0 0 0 1

#7 #6 #5 #4 #3 #2 #1 #0

0 0 0 0 0 0 0 1 1 (0x03)






(d) Reading the accumulated pulses in acceleration/deceleration 0x04

#7 #6 #5 #4 #3 #2 #1 #0

0 0 0 0 0 0 1 0 0 (0x04)

1 0 0 0 0 0 0 0 1

#7 #6 #5 #4 #3 #2 #1 #0

0 0 0 0 0 0 1 0 0 (0x04)











124

(e) Reading the actual feedrate 0x05

#7 #6 #5 #4 #3 #2 #1 #0

0 0 0 0 0 0 1 0 1 (0x05)

#7 #6 #5 #4 #3 #2 #1 #0

0 0 0 0 0 0 1 0 1 (0x05)


2 Feedrate (DWORD type)




(f) Reading the slave status 0x06

#7 #6 #5 #4 #3 #2 #1 #0

0 0 0 0 0 0 1 1 0 (0x06)

#7 #6 #5 #4 #3 #2 #1 #0

0 0 0 0 0 0 1 1 0 (0x06)


2 Run Auto

3 Motion

4 Alarm Emergency

Auto : 1 AUTO 4 HANDLE 5 JOG

Run : 0 (reset) 1 STOP 3 START

Motion : 0 *** 2 DWL 1 MTN

Emergency : 0 *** 1 ––EMerGency–– 2 ––RESET––

Alarm : 0 *** 1 ALarM 2 BATery low






125

Axis movement commands are executed in AUTO mode.

CAUTIONDo not change the mode during operation. Change themode only after operation stops.

(1) Reference position returnThis command instructs the servo amplifier unit to perform referenceposition return. When the reference position has not yet beenestablished, movement is performed in the reference position returndirection (bit 5 (ZMIX) of parameter No. 010) at low speed (set inparameter No. 054), then stops at the first grid point. This position isset as the reference position.When the reference position has already been established, return tothe reference position is performed at high speed (rapid traverse rate).

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 1 1 0 0 0 0 0 (0x60)

Yy+6 0 0 0 0 NMOD 0 0 0

Yy+7 0 0 0 0 0 0 0 1

NMOD = 1: Execution completion notification mode(For details, see Section 4.2.)


4.4.4Axis MovementCommands




126

(2) Absolute positioningThis command instructs the servo amplifier unit to perform absolutepositioning. The motor moves through an amount equal to thedifference between a specified absolute position and the currentposition.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 1 1 0 0 0 0 1 (0x61)

Yy+6 0 0 0 0 NMOD 0 0 1

Yy+7 0 RPD 0 0 0 0 0 1

Yy+8 FEED RATE

Yy+9 FEED RATE

Yy+10 DISTANCE

Yy+11 DISTANCE

Yy+12 DISTANCE

Yy+13 DISTANCE

FEED RATE : 1 to 65535 (user–specified unit*10**N/min.)N is set with parameter No. 21.

DISTANCE (absolute position):–99999999 to 99999999 (user–specified unit)

NMOD =1 : Execution completion notification mode(For details, see Section 4.2.)

RPD =1 : Rapid traverse





127

(3) Incremental positioningThis command instructs the servo amplifier unit to performincremental positioning. The motor moves through a specifiedamount of travel.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 1 1 0 0 0 1 0 (0x62)

Yy+6 0 0 0 0 NMOD 0 0 1

Yy+7 0 RPD 0 0 0 0 0 1

Yy+8 FEED RATE

Yy+9 FEED RATE

Yy+10 DISTANCE

Yy+11 DISTANCE

Yy+12 DISTANCE

Yy+13 DISTANCE

FEED RATE : 1 to 65535 (user–specified unit*10**N/min.)N is set with parameter No. 21.

DISTANCE (incremental position);–99999999 to 99999999 (user–specified unit)


RPD =1 : Rapid traverse





128

(4) DwellThis command instructs the servo amplifier unit to perform dwell.The execution of the next block can be delayed by a specified amountof time.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 1 1 0 0 0 1 1 (0x63)

Yy+6 0 0 0 0 NMOD 0 0 1

Yy+7 0 0 0 0 0 0 0 1

Yy+8 DWELL TIME

Yy+9 DWELL TIME

Yy+10 DWELL TIME

Yy+11 DWELL TIME

DWELL TIME : 1 to 99999999 (msec)NMOD =1 : Execution completion notification mode

(For details, see Section 4.2.)


(5) Setting a coordinate systemThe absolute position of the servo amplifier unit is preset at aspecified coordinate value.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 1 1 0 0 1 0 0 (0x64)

Yy+6 0 0 0 0 NMOD 0 0 1

Yy+7 0 0 0 0 0 0 0 1

Yy+8 COORDINATE VALUE




COORDINATE VALUE:–99999999 to 99999999 (user–specified unit)








129

(6) Acquiring the FIN stateThe host issues this command to check whether the servo amplifierunit is waiting for FIN in command completion notification mode.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 1 1 0 0 1 1 0 (0x66)

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 0 1 1 0 0 1 1 0 (0x66)


Xx+7 ECF0

ECF0 =1 : Command completed (waiting for the FIN command)

NOTEThis command is valid when command completionnotification mode is set (NMOD = 1).

(7) FIN commandIf the servo amplifier unit is waiting for FIN in command completionnotification mode, the host issues this command to release the FINwait state.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 0 1 1 0 0 1 1 1 (0x67)

Yy+6 ECFIN0

ECFIN0 : FIN specificationIf the servo amplifier unit is waiting for FIN (ECF0 =1) in command completion notification mode, the hostresponds with this command.

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 0 1 1 0 0 1 1 1 (0x67)







130

(8) Wait commandThis command instructs the servo amplifier unit to wait. When thiscommand is executed, the servo amplifier unit outputs wait signalWAT [2.3.14 (14)] to the host, then enters the wait state. To releasethe wait state, the host sets wait completion signal WFN [2.3.14 (15)]to 1. Then, the servo amplifier unit sets the WAT signal to 0. As thehost confirms that the WAT signal has been set to 0, the host sets theWFN signal to 0. Then, the wait state is released, and the servoamplifier unit executes the next block.

#7 #6 #5 #4 #3 #2 #1 #0

Yy+4 Control flag 1

Yy+5 1 0 0 1 0 0 0 0 (0x90)

Yy+6 0 0 0 0 0 0 0 0

Yy+7 ID code (1 to 255)

#7 #6 #5 #4 #3 #2 #1 #0

Xx+4 Control flag 2

Xx+5 1 0 0 1 0 0 0 0 (0x90)


Xx+7 EMNT10

Xx+8 EMNT20

Xx+9 ID code (same as the ID code set in the instruction command)

EMNT10 and EMNT20 indicate the β amplifier execution bufferstatus when the instruction command is read.

EMNT20 EMNT10 Status

0 0 All buffers are empty.

0 1 Buffer 1 is being used, and buffer 2 is empty.

1 0 Buffer 1 is empty, and buffer 2 is being used.

1 1 All buffers are being used.

CAUTION1 The ID code in the instruction command is valid when bit 5

(WAT2) of parameter No. 003 is set to 1.2 The response command is output when bit 5 (WAT2) of

parameter No. 003 is set to 1. When the response commandis output, the host reads the ID code, and answers byinverting response data read completion signal EOREND[2.3.14 (18)]. After answering, the host confirms the WATsignal, and changes the WFN signal state from 0 to 1 to 0.




131

The host can register and execute up to 32 blocks of direct commands inthe internal memory of the servo amplifier unit.

NOTEOne block consists of one instruction command which is adirect command.

The host registers up to 32 blocks of direct commands in the internalmemory of the servo amplifier unit by means of the procedure explainedbelow.

(1) The host sets memory registration signal INPF [2.3.14 (16)] to 1.(2) After confirming that memory registration in–progress signal INPFO

[2.3.14 (17)] has been set to 1, the host registers direct commands inthe servo amplifier unit through EBUF/EBSY control.

(3) Upon the completion of registration, the host sets memoryregistration signal INPF to 0.

CAUTIONThe registered blocks are all erased when the INPF signalstate is changed from 0 to 1. Also, the registered blocks areall erased when the power is disconnected.

NOTEAn attempt to register more than 32 blocks results in theissue of alarm 70. (” ” appears on the LED indicator.)

The host operates and executes registered direct commands by means ofthe procedure explained below.

(1) Select AUTO mode. (MD1 = 1, MD2 = 0, MD4 = 0 [2.3.4 (1)])(2) Change the status of automatic operation start signal ST [2.3.10 (1)]

from 1 to 0. When the level of the ST signal falls, buffering operationstarts. (It is also possible to start operation when the ST signal levelrises by parameter setting (bit 7 (STON) of parameter No. 3)).

NOTE1 After the last block has been executed, operation is halted.

To perform operation again from the first block, cause areset to locate the first block, then start operation by usingthe ST signal. A reset causes the top of the registeredblocks to be located.

2 During buffering, switching the ST signal state from 0 to 1causes a single–block stop. To restart operation, changethe ST signal state from 1 to 0.

4.5THIRTY–TWO–BLOCK BUFFERINGOPERATION

4.5.1Outline

4.5.2Memory RegistrationProcedure

4.5.3Operation Procedure

5. EXTERNAL PULSE INPUT FUNCTION B–65245EN/02HANDLING

132

5 EXTERNAL PULSE INPUT FUNCTION

B–65245EN/02 5. EXTERNAL PULSE INPUT FUNCTIONHANDLING

133

This function enables movement in sync with external pulses generatedfrom the machine.

Apply external pulses via the external pulse input interface.

5.1OUTLINE

5. EXTERNAL PULSE INPUT FUNCTION B–65245EN/02HANDLING

134

MachineExternal pulseinput interface

x ratio x CMRServoamplifierunit

Pulse input

(1) External pulses are applied via the external pulse input interface. TheA–phase (PA, *PA) and B–phase (PB, *PB) signals are used for aninput waveform as well as for a position coder output waveform. TheC–phase signal is not required.

(2) The ratio of the amount of travel along an axis to an external pulse canbe set with parameters. The ratio is expressed as M/N (where, M =parameter magnification 1 (parameter No. 62), N = parametermagnification 2 (parameter No. 63)).

(3) When the A–phase signal is 90° ahead of the B–phase signal,movement is performed in the positive direction.When the A–phase signal lags 90° behind the B–phase signal,movement is performed in the negative direction.

(4) Parameter setting (bit 6 (EXPLS) of parameter No. 3) determineswhether to enable axis movement by external pulses.

(5) For axis movement by external pulses, interlock and overtraveldetection are valid.

(6) The acceleration/deceleration type used for axis movement byexternal pulses is the same as that for jog feed. (Set bit 1 (JOGE) ofparameter No. 2.)

(7) Select external pulse input mode. This mode is selected when signaloutput is performed from the host to a servo amplifier unit (MD1 =0, MD2 = 0, MD4 = 1 [2.3.4 (1)].

(8) If the feedrate for axis movement by external pulses exceeds the upperlimit for a specified feedrate, as set in parameter No. 43, a choice ofthe following responses can be made by parameter setting (bit 6(EPEXA) and bit 7 (EPEXB) of parameter No. 1):a) The feedrate is clamped to the upper limit, and the excess pulses

are accumulated. If the number of accumulated pulses exceeds99999999, the excess pulses are discarded.

b) The feedrate is clamped to the upper limit, and the excess pulsesare discarded.

c) Alarm 291 is issued, and movement is decelerated and stopped.

CAUTIONWhen this function is used, clamping/unclamping using theunclamp instruction signal (UCPC2) and theclamp/unclamp status output signal (UCPS2) (NCLP (bit 1of parameter No. 003) is “0”) cannot be used.Clamping/unclamping must be used with the servo off signal(SVFX).

5.2DETAILEDDESCRIPTION

III. TROUBLESHOOTING ANDCOUNTERMEASURES

B–65245EN/02 1. OVERVIEWTROUBLESHOOTING AND

COUNTERMEASURES

137

1 OVERVIEW

This part describes troubleshooting procedures to be applied in the eventof a failure. If a failure occurs, determine the cause and apply anappropriate countermeasure while referring to the correspondingdescription in this manual.

First, check the LED display on the servo amplifier unit or the alarmnumber displayed on the host controller. Determine the cause and applyan appropriate countermeasure.

2 ALARM DISPLAY AND CORRESPONDINGCOUNTERMEASURES B–65245EN/02

TROUBLESHOOTING AND COUNTERMEASURES

138

2ALARM DISPLAY AND CORRESPONDINGCOUNTERMEASURES

Number Alarm type

000 to 299 Program or setting alarm

300 to 399, 401 Pulse coder alarm

400 to 499 (except 401) Servo alarm

500 to 599 Overtravel alarm

– System alarm or I/O Link alarm

Program or setting alarms (PS alarms)

No. LED display Description Countermeasure

000A parameter that requires power–down hasbeen specified.

Turn the power off, then back on.

011The specified feedrate is zero. Check the feedrate parameter specified with a

function code.

013The specified feedrate (maximum feedrate) iszero.

Check the value of parameter No.043, whichindicates the maximum feedrate that can bespecified.

070More than 32 blocks have been registered for abuffering operation.

Reduce the number of registered blocks to 32.

085Input from the reader/punch interface or the likecaused an overrun, parity, or framing error.

Correct the baud rate of the input/output unit(always 4800) or other settings.

086Input from the reader/punch interface or the likeincludes an input/output unit operation readysignal (DR) that is set to off.

Turn the reader/punch on. Check the cable con-nection.

087After input from the reader/punch interface orthe like stops, character input does not stopeven though ten characters have been input.

Check the cable connection.

090

Reference position setting cannot be executednormally.

Move the tool in the direction of reference posi-tion return in jog mode at a speed that causesthe servo position error to exceed 128. Then,specify another reference position setting.

093A first to third reference position return cannotbe executed because the reference positionhas not yet been established.

Set the reference position.

224The reference position has not yet been estab-lished. This occurs only when the ZRTN bit ofparameter No.001 is set to 0.

Set the reference position.

250Input data 1 is invalid. Check input data 1, specified with a function

code.

251Input data 2 is invalid. Check input data 2, specified with a function

code.

254A function code or mode is invalid. Check the command code, specified with a

function code. Check the mode.

255Operation cannot be activated because aninvalid mode is specified or because blockexecution is in progress.

Check the mode. Check whether a block isbeing executed.

B–65245EN/02

2. ALARM DISPLAY AND CORRESPONDING

COUNTERMEASURESTROUBLESHOOTING AND

COUNTERMEASURES

139

No. CountermeasureDescriptionLED display

290The interface switch signal (DRC) was switchedduring block execution.

Switch the signal after block execution stops.

291

The speed of an axial movement specified by anexternal pulse has exceeded the upper limit.This occurs only when the EPEXA bit of param-eter No.001 is set to 1.

Check the speed specified by the externalpulse. Check the magnification of the externalpulse (parameters No.062 and 063).

292A checksum error for the battery–poweredmemory was detected.

Parameters are cleared. Set the parametersagain. If this alarm subsequently recurs, replacethe unit.

Pulse coder alarms


300

A communication error (DTER) for the serialpulse coder was detected.

Check the continuity of the signal cable. If thecable is normal, the pulse coder may be defec-tive. Turn the power off. If the alarm recurs whenthe power is reapplied, replace the serial pulsecoder, together with the motor.

301

A communication error (CRCER) for the serialpulse coder was detected.

Check the continuity of the signal cable. If thecable is normal, the pulse coder or servo amplifi-er unit may be defective. This error can also becaused by external noise. See the chapter onnoise reduction in “Descriptions.”

302

A communication error (STBER) for the serialpulse coder was detected.

Check the continuity of the signal cable. If thecable is normal, the pulse coder or servo amplifi-er unit may be defective. This error can also becaused by external noise. See the chapter onnoise reduction in “Descriptions.”

303An LED disconnection (LDAL) was detected inthe serial pulse coder.

Turn the power off. If this alarm recurs when thepower is reapplied, replace the motor.

304A mispulse alarm (PMAL) for the serial pulsecoder was detected.

Turn the power off. If this alarm recurs when thepower is reapplied, replace the motor.

305

A miscount alarm (CMAL) for the serial pulsecoder was detected.

Turn the power off. If the alarm recurs when thepower is re–applied, replace the motor.

If the alarm does not recur, restart the operationfrom reference position return.

306

The motor has overheated (OHAL). This alarm is issued when the motor has over-heated, causing the thermostat to trip.

Possible causes include an excessively highambient temperature and excessively strictoperating conditions. Check the actual cause.

If it occurs again when the motor is cooled, themotor or servo amplifier may have failed. Re-place the faulty motor or servo amplifier.

308A soft phase alarm (SPHAL) was detected. Turn the power off. This alarm may be caused

by noise.

319When the absolute pulse coder is used, themotor has not yet rotated through more than oneturn after the first power–up.

Cause the motor to rotate through more thanone turn in jog feed mode, then turn the poweroff then back on.

350The battery voltage of the absolute pulse coderis low.

Replace the battery.

Restart the operation from reference positionreturn.



140


351The battery voltage of the absolute pulse coderis low. (warning)

Replace the battery.

401

A communication error was detected in the seri-al pulse coder.

Check the continuity of the pulse coder signalcable. If the cable is normal, the pulse coder orservo amplifier unit may be defective. This errorcan also be caused by external noise. See thechapter on noise reduction in “Descriptions.”

Servo alarms


400 The servo motor has overheated (estimatedvalue).

The motor operation condition may be too se-vere. Check the operation condition.

SVU–12 The cooling fins have overheated.SVU–20 (hardware detection)

The load on the motor may be too high. Re–ex-amine the load conditions.

403SVU–40 This alarm will not be issued.SVU–80The regenerative discharge unit has over-heated.

This alarm is issued when the average regen-erative discharge energy is too high (when theacceleration/deceleration frequency is too high,for example).

404

(1) When the separate regenerative discharge resistor is not used: For the SVU–12 and theSVU–20, check whether the CX11–6 connector is short–circuited with a dummy connector; forthe SVU–40 and the SVU–80, check whether the CX20 and CX23 connectors are short–cir-cuited with a dummy connector.

(2) The average regenerative discharge energy may be too high. Decrease the acceleration/de-celeration frequency.

(3) The separate regenerative discharge unit may not be connected properly. Check the connec-tion.

(4) The thermostat of the separate regenerative discharge unit may be defective. Disconnect theseparate regenerative discharge unit, then check the thermostat. If the thermostat is open eventhrough the separate regenerative discharge unit is cool, replace the separate regenerativedischarge unit.

(5) The resistor of the separate regenerative discharge unit may be defective. Disconnect the sep-arate regenerative discharge unit, then check the resistance. If it does not fall in the range ofthe predetermined resistance 20%, replace the separate regenerative discharge unit.

(6) If (1) to (5) are not the cause of the alarm, replace the servo amplifier unit.

Reference position return could not beexecuted correctly.

Re–execute reference position return.

405405If a value in the range of 4 to 96 is set for parameter No. 032 (CMR), an alarm may be issued. Inthis case, prevent an alarm from being issued by setting N405 (bit 4 of parameter No. 001) to “1”.

410The servo position error in the stop state islarger than the value specified in parameterNo.110.

Determine the mechanical cause of the largeposition error. If no mechanical cause is found,specify a larger value for the parameter.

411

The servo position error during movement islarger than the value specified in parameterNo.182.

Determine the mechanical cause of the largeposition error. If no mechanical cause is found,apply any of the following countermeasures: Specify a larger value for the parameter. Specify a lower feedrate. Increase the time constants.

B–65245EN/02



COUNTERMEASURES

141


[SVU–12, SVU–20]An overcurrent alarm is issued.

This alarm is issued when an excessively largecurrent flows in the main circuit.

(1) Check whether a valid motor number is specified in parameter No.30.(2) Check whether the standard values (see Appendix B) are specified in the current control

parameters for servo control.Correct current control is possible only when the standard values are specified for the followingparameters:No.70, 71, 72, 78, 79, 84, 85, 86, 87, 88, 89, 90

(3) Disconnect the power line from the servo amplifier unit connector. Then, release the emer-gency stop state.– If the overcurrent alarm continues to be issued, replace the servo amplifier unit.– If no overcurrent alarm is issued, go to (4).

(4) Check the insulation between the ground and each of U, V, and W. If the insulation is satisfac-tory, go to (5). If a short–circuit is detected, disconnect the power line from the motor connector. Then,

check the insulation between the ground and each of U, V, and W of the motor. If a short–circuit is found between the ground and U, V, or W of the motor, replace the motor. If the insulation is satisfactory, replace the power line.

(5) Connect the power line. Observe the waveform of the motor current (IR, IS) while the motor isaccelerating or decelerating. See the description of the checking of the motor current in Appen-dix E, ”Servo Check Board”. If the motor current (IR, IS) does not exhibit a normal sine wave,replace the servo amplifier unit.

(6) Check if the motor current (IR, IS) waveforms include noise. When noise is included, take an action such as making a connection to shield ground. When noise is not included, replace the servo amplifier unit.

(7) If (1) to (4) above are not the cause of the alarm, the pulse coder, command cable, or internalhardware of the CNC may be defective.

412

[SVU–40, SVU–80]An overcurrent alarm or IPM alarm is issued.

This alarm is issued in the following cases: This alarm is issued when an excessively

large current flows in the main circuit. This alarm is issued when an error (overcur-

rent, overheat, low IPM control power supplyvoltage) is detected in the IPM (semiconduc-tor driving the motor).

(1) Check whether a valid motor number is specified in parameter No.30.(2) Check whether the standard values (see Appendix B) are specified in the current control

parameters for servo control.Correct current control is possible only when the standard values are specified for the followingparameters:No.70, 71, 72, 78, 79, 84, 85, 86, 87, 88, 89, 90

(3) Turn off the servo amplifier unit for about ten minutes, then release the emergency stop state.If no overcurrent alarm is issued, The IPM protection function (against overheat) may be oper-ating. Possible causes of overheat include a high ambient temperature and a too severe motoroperating condition. Check the cause. If an overcurrent alarm is issued, go to (4).

(4) Disconnect the power line from the servo amplifier unit connector. Then, release the emer-gency stop state. If an overcurrent alarm is issued, the IPM protection function (against overcurrent, low con-

trol power supply voltage, overheat) may be operating or defective. Replace the IPM or ser-vo amplifier unit.

If no overcurrent alarm is issued, go to (5).(5) Disconnect the power line from the amplifier connector. Check the insulation between the

ground and each of U, V, and W. If a short–circuit is found between the ground and U, V, or W of the motor, replace the motor. If the insulation is satisfactory, replace the power line.

(6) Connect the power line. Observe the waveform of the motor current (IR, IS) while the motor isaccelerating or decelerating. See Items (8) and (9) in Appendix E, “Servo Check Board”. If themotor current (IR, IS) does not exhibit a normal sine wave, replace the servo amplifier unit.

(7) Check whether the waveform of the motor current (IR, IS) contains noise. If it contains noise, take appropriate measures against noise, such as grounding the shield. If it does not contain noise, replace the servo amplifier unit.

(8) If (1) to (7) above are not the cause of the alarm, the pulse coder, command cable, or internalhardware of the CNC may be defective.



142


A DC link overvoltage alarm is issued. This alarm is issued when the DC voltage of themain circuit power is too high.

413

(1) When SVU–12 or SVU–20 is used, and a separate regenerative discharge unit is not used,check the specification to see if regenerative energy per one time does not exceed the allow-able regenerative energy of the servo amplifier unit.

(2) For the SVU–40 and the SVU–80, when the separate regenerative discharge resistor is notused, check whether the CX23 connector is short–circuited with a dummy connector.

(3) The supply voltage for dynamic power may exceed the rated value. Check the voltage. If thevoltage is too high, reduce the voltage to an appropriate level.

(4) The regenerative discharge unit may not be properly connected. Check the connection.(5) The resistance of the separate regenerative discharge unit may be abnormal. Disconnect the

separate regenerative discharge unit, then check the resistance. If the resistance is not within+20% of the predetermined resistance, replace the separate regenerative discharge unit.

(6) If (1) to (5) are not the cause of the alarm, replace the servo amplifier unit.

A DC link low voltage alarm is issued. This alarm is issued when the DC voltage of themain circuit power is too low.

414

(1) 190 ms or longer may pass from the time when both the *ESP of the built–in DI and the *ESPof the I/O link interface signal are canceled until the external magnetic contactor inserted intothe input for motive power turns on(including the operating time of the magnetic contactor). Themagnetic contactor must turn on within 100 ms.

(2) The external circuit breaker may be turned off. Check the circuit breaker.(3) The supply voltage for dynamic power is lower than the rated value. Check the voltage. If the

voltage is too low, increase it to an appropriate level.(4) The external magnetic contactor may not be connected properly. Check the connection.If (1) to (4) are not the cause of the alarm, replace the servo amplifier unit.

417

A parameter has been specified incorrectly. Check the following parameters:No.30: Is the specified motor type correct?No.31: Is the specified direction of rotation of themotor correct?No.106: Is the denominator of the number ofpulses per single revolution of the motor 0?No.180: Is the specified reference countercapacity 0 or a negative value?

418 A DO alarm is issued. Replace the servo amplifier unit.

423 The specified speed exceeds 32767000 detec-tion units per second.

Re–examine the CMR and speed settings.

425

The cooling fan has stopped. This alarm is issued when the fan motor built intothe servo amplifier unit has failed.The fan motor is consumable. For an explana-tion of the replacement procedure, see Part 4,“Maintenance of Servo Amplifier Unit.”

(1) Check that the fan is not clogged with foreign matter.(2) Check that the power connector of the fan is connected properly.(3) Replace the fan or servo amplifier unit.

446 The external pulse input line is disconnected. Connect the external pulse input signal correct-ly.

447 The velocity deviation is too high (velocity con-trol)

Check the actual velocity.See the settings of parameter No. 136.

Overtravel alarms


500 The positive stroke limit has been exceeded. Check whether *+OT and *–OT are connectedcorrectly. Check whether a correct move com-

501 The negative stroke limit has been exceeded. mand is specified. Move the tool in the oppositedirection in jog mode, then perform a reset.

B–65245EN/02



COUNTERMEASURES

143


510The positive soft stroke limit has beenexceeded.

Check whether appropriate values have beenspecified for parameters No.142 and 143.

511The negative soft stroke limit has beenexceeded.

Check whether a valid move command is speci-fied. Move the tool in the opposite direction in jogmode, then perform a reset.

System alarms


–An error was detected in the RAM write/read testat power–up.

Replace the servo amplifier unit.

–An error was detected in the data collationcheck for the battery–powered memory.

Turn the power off then back on. Then, re–enterthe parameters. If this alarm recurs, replace theservo amplifier unit.

–A data transfer alarm for the battery–poweredmemory has been issued.


–A watchdog alarm was issued. Turn the power off then back on. If this alarm

recurs, replace the servo amplifier unit.

–A checksum alarm for the control software ROMis issued.


–A checksum alarm for the ROM that is built intothe CPU is issued.


– An error was detected in the control circuit. Replace the servo amplifier unit.

I/O link alarm


–A FANUC I/O Link error occurred. A servo ampli-fier unit connected to the line was turned off.

Turn off the power to all units connected to theline. Then, turn on the slave devices, followedby the master device.

No LED display


– No indicators lit

The control circuit is not operating normally. (1) Check the 24–VDC control supply voltage.If the voltage is low, increase the voltage toan appropriate level.

(2) Check whether a fuse in the servo amplifierunit has blown. If a blown fuse is found,replace it, following the procedure describedin Part 4 “Maintenance of Servo AmplifierUnit.”

If (1) and (2) are not the cause, replace the servoamplifier.

3. ACTION AGAINST NOISE B–65245EN/02TROUBLESHOOTING AND

COUNTERMEASURES

144

3 ACTION AGAINST NOISE

The servo amplifier unit has been steadily reduced in size usingsurface–mount and custom LSI technologies for electronic components.The servo amplifier unit also is designed to be protected from externalnoise. However, it is difficult to measure the level and frequency of noisequantitatively, and noise has many uncertain factors. It is important toprevent both noise from being generated and generated noise from beingintroduced into the servo amplifier unit. This precaution improves thestability of the servo amplifier unit machine tool system.The servo amplifier unit component units are often installed close to theparts generating noise in the power magnetics cabinet. Possible noisesources into the servo amplifier unit are capacitive coupling,electromagnetic induction, and ground loops.When designing the power magnetics cabinet, guard against noise in themachine as described in the following section.

B–65245EN/02 3. ACTION AGAINST NOISETROUBLESHOOTING AND

COUNTERMEASURES

145

The cables used for the machine are classified as listed in the following table:Process the cables in each group as described in the action column.

Group Signal line Action

Primary AC power line Bind the cables in group A separately

Secondary AC power line(Note 1) from groups B and C, orcover group A with an electromag-

AAC/DC power lines (containing thepower lines for the servo motors)

cover group A with an electromag-netic shield (Note 2).

Connect spark killers or diodes with

AC/DC solenoid the solenoid and relay.

AC/DC relay

DC solenoid (24VDC) Connect diodes with DC solenoidand relay.

Bind the cables in group B separately

BDC relay (24VDC)

Bind the cables in group B separatelyfrom group A, or cover group B withan electromagnetic shield.

Separate group B as far from Group

DC power line C as possible.

It is more desirable to cover group Bwith the shield.

Cable between the host and servoamplifier unit

Bind the cables in group C sepa-rately from group A, or cover group C

CCable for position and velocity feed-back

with an electromagnetic shield.

Separate group C as far from GroupC

External pulse inputB as possible.

Be sure to perform shield proces-Other cables to be covered with theshield

Be sure to perform shield proces-sing.

NOTE1 The groups must be 100mm or more apart from one another

when binding the cables in each group.2 The electromagnetic shield refers to shielding between

groups with grounded steel plates.

Cable of group B, C

Cable of group A

Cabinet

Servo amplifierunit

Servo amplifierunit

hostNC

DuctTo operator’s panel, motor, etc.

Section

Group A Group B, C

Cover

Separating signal lines


COUNTERMEASURES

146

The following ground systems are provided for the CNC machine tool:

The signal ground supplies the reference voltage (0V) of the electricalsignal system.

The frame ground system is used for safety, and suppressing externaland internal noises. In the frame ground system, the frames, cases ofthe units, panels, and shields for the interface cables between the unitsare connected.

The protective earth (PE) is designed so that the protective groundsprovided between the units are connected to ground at one point froma system point of view.

The grounding resistance of the protective earth shall be 100 ohms orless (class D grounding).

The protective earth (PE) cable must have enough cross–sectional areato safety carry the accidental current flow into the protective earth (PE)when an accident such as a short circuit occurs.(Generally, it must have the cross–sectional area of the AC power cableor more.)

Use the cable containing the AC power wire and the protective earth(PE) wire so that power is supplied with the ground wire connected.

Ground


COUNTERMEASURES

147

Connect the 0 V line of the electronic circuit in the servo amplifier unitwith the ground plate of the cabinet via the frame ground (FG) terminal.The SG terminal is located on the printed circuit board at the rear of thecontrol unit.

Servo amplifier unit (front view) Servo amplifier unit (side view) Air outflow

FG terminal (frame ground terminal)

Air inflow

See Warning below.

To another grounding terminal board

Distribution panelwithin the cabinet

Grounding terminal board

Connected to the cabinet frame

External distribution panel

Grounding in class 3 or higher

Grounding terminal board

CAUTIONUse the Faston terminals (A02B–0166–K330) for connection using the frame ground. Alsoconnect to the grounding terminal board using 100 to 300 mm stranded wire with across–section of 2 mm2 or more. Otherwise, the servo amplifier unit will be susceptible to noise.

Connecting the FrameGround of the ServoAmplifier Unit


COUNTERMEASURES

148

The AC/DC solenoid and relay are used in the power magnetics cabinet.A high pulse voltage is caused by coil inductance when these devices areturned on or off.This pulse voltage induced through the cable causes the electronic circuitsto be disturbed.

Use a spark killer consisting of a resistor and capacitor in series. Thistype of spark killer is called a CR spark killer.(Use it under AC)(A varistor is useful in clamping the peak voltage of the pulse voltage,but cannot suppress the sudden rise of the pulse voltage. FANUCtherefore recommends a CR spark killer.)

The reference capacitance and resistance of the spark killer shallconform to the following based on the current (I (A)) and DCresistance of the stationary coil:

1) Resistance (R) : Equivalent DC resistance of the coil

2) Capacitance (C) :20

I2(µF)to

I2

10

I : Current at stationary state of the coil

Equivalent circuit of the spark killerR C

Spark killer

Spark killer

Motor

ACrelay

Mount the noise eliminator near a motor or a relay coil.

NOTEUse a CR–type noise eliminator. Varistor–type noiseeliminators clamp the peak pulse voltage but cannotsuppress a sharp rising edge.

Diode is used for direct–current circuits

Use a diode which can withstand avoltage up to two times the appliedvoltage and a current up to two timesthe applied current.

Diode

DC relay

– +

Noise Suppressor


COUNTERMEASURES

149

The servo amplifier unit cables that require shielding should be clampedby the method shown below. This cable clamp treatment is for both cablesupport and proper grounding of the shield. To insure stable CNC systemoperation, follow this cable clamp method.Partially peel out the sheath and expose the shield. Push and clamp bythe plate metal fittings for clamp at the part. The ground plate must bemade by the machine tool builder, and set as follows :

Cable

Metal fittings for clamp

Ground plate

40m

m to

80m

m

Cable Clamp and ShieldProcessing

IV. MAINTENANCE OF SERVO AMPLIFIER UNIT

B–65245EN/021. REPLACING BATTERY OF

THE ABSOLUTE PULSE CODERMAINTENANCE OF

SERVO AMPLIFIER UNIT

153

1 REPLACING BATTERY OF THE ABSOLUTE PULSE CODER

When an absolute pulse coder is used, a battery is provided for theabsolute pulse coder. When the voltage of this battery falls, alarm 350 or351 is issued. If alarm 351 is issued, replace the battery immediately. Ifthe battery voltage falls further, the absolute position of the pulse codercannot be stored. If the servo amplifier unit is turned on in this state, alarm350 is issued. If this alarm is issued, replace the battery, then performreference position return.

(1) Connection to the battery (SVU–12, SVU–20)The battery is connected in either of the two ways shown below:

Up to four units

1. REPLACING BATTERY OF THE ABSOLUTE PULSE CODER B–65245EN/02

MAINTENANCE OFSERVO AMPLIFIER UNIT

154

(2) Connection to the battery (SVU–40, SVU–80)

The battery is connected in either of the two ways shown below:

(a) 6–V lithium battery

1. Have a new 6–V lithium battery (order code: A06B–6093–K001)on hand.

2. Turn the servo amplifier unit (machine) on. (The battery must notbe replaced while the power to the servo amplifier unit is off.) Toprevent inadvertent operation of the machine while the battery isbeing replaced, take appropriate precautions. For example, placethe unit in the emergency stop state.

3. For the SVU–12 and the SVU–20, grasp the right and left sidesof the battery cover located at the bottom of the servo amplifierunit, and pull it out.For the SVU–40 and the SVU–80, grasp the top and bottom ofthe battery cover located on the right side of the servo amplifierunit, and pull it out.

4. Remove the connector from the battery.5. Replace the battery, then re–attach the connector.6. Mount the battery cover.7. Turn the servo amplifier unit (machine) off.




155

6–V lithium battery for absolute pulse coder

Battery cover

Fig. For SVU–12 and SVU–20

1. REPLACING BATTERY OF THE ABSOLUTE PULSE CODER B–65245EN/02

MAINTENANCE OFSERVO AMPLIFIER UNIT

156

To mount the battery cover, first hook these two claws to theunit, then press the cover until it snaps in position.

Run the battery cable through thisgroove.

To remove the battery cover, pull it out to the right while press-ing these two claws at both top and bottom.

Fig. For SVU–40 and SVU–80

WARNINGEnsure that the replacement battery is of the correct type.Otherwise, explosion or ignition will occur. Always use thespecified battery (code: A98L–0031–0011#L).

CAUTION1 Replace the battery only while the power to the servo

amplifier unit is on. If the battery is replaced while the poweris off, the absolute position of pulse coder will be lost.

2 The battery has a life of about one year.

(b) Alkaline battery (D–size)1. Have four D–size alkaline batteries on hand.2. Turn the servo amplifier unit (machine) on. Replace the battery

while the power to the servo amplifier unit is on. To prevent inadvertent operation of the machine while the battery is beingreplaced, take appropriate precautions. For example, place theunit in the emergency stop state.




157

3. Loosen the screws on the battery case. Remove the cover.4. Replace the dry cells in the case.

Orient the batteries as shown below. Pay careful attention to thepolarity of the dry cells.

Ç

Ç

Screw

Cover

5. Attach the cover.6. Turn the servo amplifier unit (machine) off.

CAUTION1 Replace the batteries only while the power to the servo unit

is on. If the batteries are replaced while the power is off, allthe absolute position settings will be lost.

2 The batteries have a life of about one year.

2. REPLACING FAN MOTOR B–65245EN/02MAINTENANCE OF


158

2 REPLACING FAN MOTOR

WARNINGBefore replacing the fan motor, turn off the 200 VAC powersupply for motive power and the 24 VDC power supply forcontrol, then check, on the front of the servo amplifier unit,that the red LED indicating charging in progress (seeAppendix A) is not lit. Then, replace the fan motor.

NOTEThe fan motor is consumable.

B–65245EN/02 2. REPLACING FAN MOTORMAINTENANCE OF


159

CAUTIONWhen the servo amplifier unit is used in an absolute system,check the reference position return procedure beforereplacing the fan. During fan replacement, the referenceposition is lost by removing the CX5X battery connector andthe JF1 connector.If the battery is shared, the reference position returnprocedure must be checked on all the units sharing it.

1. Have a replacement fun on hand.

2. Remove all the connectors connected to the servo amplifier unit.Check that the connectors have marks such as connector numbers onthem, so that the connectors can be re–connected correctly.

3. If the battery cover is located at the bottom of the servo amplifier unit,grasp the right and left sides of the battery cover, and pull it out.

4. Release the latches located at the top and bottom of the plastic coverof the servo amplifier unit, and remove the plastic cover toward you.

5. Remove the fan cable from the CNFN1 connector. Then, remove thetwo screws securing the fan to remove the fan.

6. Secure the new fan with the screws and connect the cable to theCNFN1 connector.

7. Put back the plastic cover.

8. With the battery installed, mount the battery cover to the servoamplifier unit.

9. Put back the other cables correctly.

10.Turn the power on and establish the reference position. This completesthe replacement of the fan.

Use Specifications Quantity

Replacement fan A06B–6093–K101 1

2.1FOR SERVOAMPLIFIER UNITS OFTHE 12A AND 20ATYPES

2. REPLACING FAN MOTOR B–65245EN/02MAINTENANCE OF


160

1. Have a replacement fun unit on hand.

2. On the fan unit located at the top the servo amplifier unit, release thefront and rear latches to remove the fan unit.

3. Remove the fan cables from the CX18X and CX18Y connectors.

4. Connect the cables of the new fan unit to the CX18X and CX18Yconnectors. There is no need to worry about which cables should beconnected to which connector.

5. Mount the fan unit at the top of the servo amplifier unit. Thiscompletes the replacement of the fan.

CAUTIONWhen connecting the fan cables to the CX18X and CX18Yconnectors, the cables must have a slack. If the cables aretaut, this may result in contact failure.

Use Specifications Quantity

Fan unit A06B–6093–K102 1

2.2FOR SERVOAMPLIFIER UNITS OFTHE 40A AND 80ATYPES

B–65245EN/02 3. REPLACING FUSEMAINTENANCE OF


161

3 REPLACING FUSE

WARNINGBefore replacing the fuse, remove the cause of the fuseblowout.Consequently, only those personnel who have receivedapproved safety and maintenance training may perform thisreplacement.Before replacing the fuse, turn off the 200 VAC powersupply for motive power and the 24 VDC power supply forcontrol, then check, on the front of the servo amplifier unit,that the red LED indicating charging in progress (seeAppendix A) is not lit. Then, replace the fuse.

3. REPLACING FUSE B–65245EN/02MAINTENANCE OF


162

CAUTIONWhen the servo amplifier unit is used in an absolute system,check the reference position return procedure beforereplacing the fuse. During fuse replacement, the referenceposition is lost by removing the CX5X battery connector andthe JF1 connector.If the battery is shared, the reference position returnprocedure must be checked on all the units sharing it.

1. Have a replacement fuse (A06B–6073–K250) on hand.

2. Remove all the connectors connected to the servo amplifier unit.Check that the connectors have marks such as connector numbers onthem, so that the connectors can be re–connected correctly.

3. If the battery cover is located at the bottom of the servo amplifier unit,grasp the right and left sides of the battery cover, and pull it out.

4. Release the latches located at the top and bottom of the plastic coverof the servo amplifier unit, and remove the plastic cover toward you.

5. Replace the fuse, referring to Fig. 1 in Appendix A.

6. Put back the plastic cover.

7. With the battery installed, mount the battery cover to the servoamplifier unit.

8. Put back the other cables correctly.

9. Turn the power on and establish the reference position. This completesthe replacement of the fuse.

3.1REPLACING THEFUSE IN THE SERVOAMPLIFIER UNITS OFTHE 12A AND 20ATYPES

B–65245EN/02 3. REPLACING FUSEMAINTENANCE OF


163

1. Have a replacement fuse (A06B–6073–K250) on hand.

2. Replace the fuse from the front of the servo amplifier unit, referringto Fig. 2 in Appendix A.

3.2REPLACING THEFUSE IN THE SERVOAMPLIFIER UNITS OFTHE 40A AND 80ATYPES

3. REPLACING FUSE B–65245EN/02MAINTENANCE OF


164

Use Specifications

Fuse for controlpower supply

FANUC specifications: A06B–6073–K250Manufacturer specifications: LM32C, 48 VDC, F3.2ADaito Tsushinki Co., Ltd.

3.3SPECIFICATIONS OFTHE FUSES FORSERVO AMPLIFIERUNITS

V. MAINTENANCE OF SERVO MOTOR

B–65245EN/02 1. MAINTENANCE OF SERVO MOTORMAINTENANCE OF

SERVO MOTOR

167

1 MAINTENANCE OF SERVO MOTOR

The β–series servo motors generally do not require periodic maintenancebecause the motors have no wearing components, such as the brushes ofa DC motor. However, incorrect operation or damage duringtransportation or installation may result in a failure or problem. To preventsuch a failure or problem, and to ensure that the servo motor remains inpeak condition for as long as possible, periodic checks are necessary.

1. MAINTENANCE OF SERVO MOTOR B–65245EN/02MAINTENANCE OF

SERVO MOTOR

168

Upon taking delivery of a servo motor, check the following points:

Is the motor of the correct specification? (model, shaft, detector, etc.)

Has the motor been damaged in transit? Can the shaft be rotated normally by hand? Does the brake operate normally? As all the screws securely tightened?

Usually, store the motor indoors, in a location where the temperature fallswithin the range of –20°C to +60°C.

Avoid storing the motor in the following locations:

Location where the temperature is very high or where condensationis likely

Location where the temperature varies widely Location subjected to constant vibration

(Vibration may damage the bearings.) Location subject to much dust

FANUC servo motors are rigorously tested before delivery and do notnormally require an acceptance inspection.

1.1ACCEPTANCEINSPECTION ANDSERVO MOTORSTORAGE


SERVO MOTOR

169

Make the following checks before starting operation, or once a week ormonth.

(1) Vibration or abnormal noiseCheck the servo motor for abnormal vibration or noise in thefollowing statuses: While stopped During low–speed operation During acceleration or decelerationIf any abnormal vibration or sound is detected, contact a FANUCservice station.

(2) External damageCheck the motor cover (red plastic cover) for cracks and the motorsurface (black–coated) for any abnormalities.If any cracks are found, perform repair immediately. Alternatively,replace the motor. If you have any questions about the replacement,contact a FANUC service station.

(3) DirtCheck the motor surface, screw indentations, and other places for oilor coolant build–up.Oil or coolant fouling on the surface causes a chemical reaction thataffects the coating, ultimately resulting in failure. Wipe away the oiland coolant regularly.If extensive fouling is noted, determine how the oil or coolant isreaching the motor. Take appropriate action to protect the motor fromthe oil or coolant. For example, fit a cover.

1.2ROUTINE CHECK OFSERVO MOTOR


SERVO MOTOR

170

(4) Insulation resistance checkMeasure the insulation resistance between the motor winding andmotor frame, using a megohmmeter (500 VDC). Determine whetherthe insulation resistance is satisfactory according to the standardslisted below:

Insulation resistance Judgment

100MΩ or higher The insulation is satisfactory.

10 to 100MΩ The insulation has started to degrade. The degrada-tion has not yet adversely affected the performance.Before starting operation, however, always check theinsulation for further degradation. Alternatively,replace the motor.

1 to 10MΩ The insulation has degraded substantially. Extremecare is necessary. Before starting the operation,always check the insulation for further degradation.Alternatively, replace the motor.

Up to 1 MΩ The insulation is unacceptable. Replace the motor.

(5) Observation of torque command (TCMD) waveform and velocitycommand (VCMD) waveformUsing an oscilloscope, display a normal voltage waveform. Comparethe normal waveform with that observed at the periodic check.The waveform varies with the load, feedrate, and other conditions.Compare the waveforms observed under identical conditions (rapidtraverse at a reference position return, low–speed feed, for example).For details of the observation, see Appendix E, ”Servo Check Board.”

(6) Heat checkCheck whether the motor has overheated during operation. Check thetemperature of the motor surface by using a thermolabel or some othermeans.

WARNINGThe motor surface may reach temperatures as high as 80°Cunder some operating conditions. Do not touch the motor.


SERVO MOTOR

171

Make the following checks about once a year.

(1) Observation of torque command (TCMD) waveform and velocitycommand (VCMD) waveformUsing an oscilloscope, display a normal voltage waveform. Comparethe normal waveform with that observed at a periodic check.The waveform varies with the load, feedrate, and other conditions.Compare the waveforms observed under identical conditions (rapidtraverse at reference position return, low–speed feed, for example).For details of the observation, see Appendix E, ”Servo Check Board.”

(2) Waveform diagnosisCheck the observed waveform for the following points:1. Check whether the peak current at rapid traverse

acceleration/deceleration exceeds the rating of the amplifier.If the peak current exceeds the normal value, the load conditionsof the machine may have been changed, or the motor may bedefective.

Rating of the amplifier

Observed waveform

A change in the load conditions of the mechanical system may becaused by the following: The internal friction of the machine has changed over time. The machine efficiency has been degraded, requiring more

power.

Increased friction

Degraded efficiency

The amplifier ratings are as follows:

β 0.5/3000, β 1/3000, β 2/3000, α 1/3000, α 2/2000, α 2/3000 12Apeak

β 3/3000, β 6/2000, α M2/3000, α M2.5/3000, α C3/2000, α C6/2000, α C12/2000

20Apeak

α 3/3000, α 6/2000, α 12/2000, α 22/1500, α C22/1500 40Apeak

α 6/3000, α 12/3000, α 22/2000, α 30/1200, α M6/3000, α M9/3000, α L6/3000, α L9/3000

80Apeak

1.3PERIODIC CHECK OFSERVO MOTOR


SERVO MOTOR

172

2. Check whether the waveform is distorted during constant–speedfeed.

Distortion

Observed waveform

3. Check whether the current waveform is distorted in the stop state.

Distortion

Observed waveform

If any abnormality is found when 1, 2, or 3 is checked, contact aFANUC service station.


SERVO MOTOR

173

The order codes for maintenance parts are listed below:

(1) Oil seal (NOK Corporation)

Motor model Oil seal code (manufacturer code)

β 0.5A98L–0001–0135/E0526A9

(AE0514A9 SC type)*1

α 1, α 2, β 1, β 2A98L–0001–0135/E0616E0

(AE0616E2 SC type)*1

α 3, α 6α C3, α C6α M6, α M9α L6, α L9β 3, β 6

A98L–0004–0249/UES2001

*2

α 12, α 22, α 30α C12, α C22

A98L–0004–0249/TCY0035*3

*1: Standard product of NOK Co., Ltd.

*2: Special oil seal for FANUC only (made by Musashi Oil Seal Kogyo)

*3: Special oil seal for FANUC only (made by NOK)

1.4ORDER CODES OFREPLACEMENTCOMPONENTS

APPENDIXES

B–65245EN/02 A. SERVO AMPLIFIER UNIT FRONT VIEWAPPENDIXES

177

A ! "

Charging indicator LED

FUSE

Fig. A (a) SVU–12, SVU–20

A. SERVO AMPLIFIER UNIT FRONT VIEW B–65245EN/02APPENDIXES

178

Charging indicator LED

FUSE

Fig. A (b) SVU–40, SVU–80

B–65245EN/02 B. PARAMETERSAPPENDIXES

179

B

Table B (a) Parameter list (in order of classification)

Classification Parameter number Ref. item

Controlled–axis parameter 000 B.1

Coordinate system andstroke limit parameters

001, 068, 140 to 145, 147, 154to 165, 170

B.2

Feedrate parameters021, 040, 041, 043 to 050, 054,061

B.3

Acceleration/deceleration parameters

002, 055 to 060 B.4

Input/output signal parameters

003 to 005, 020, 022, 023, 029,062, 063, 148 to 152, 166 to169

B.5

Servo parameters

010 to 014, 016, 030 to 032,070 to 075, 078 to 092, 100 to 111, 116, 135, 136, 180to 182

B.6

Table B (a) Parameter list (in order of parameter number)

Parameter number Ref. item

000 B.1

001 B.2

002 B.4

003 to 005 B.5

010 to 014, 016 B.6

020 B.5

021 B.3

022, 023, 029 B.5

030 to 032 B.6

040, 041, 043 to 050, 054 B.3

055 to 060 B.4

061 B.3

062, 063 B.5

068 B.2

B. PARAMETERS B–65245EN/02APPENDIXES

180

Table B (a) Parameter list (in order of parameter number)

Parameter number Ref. item

070to 075, 078 to 092, 100 to 111, 116, 135, 136 B.6

140 to 145, 147 B.2

148 to 152 B.5

154 to 165 B.2

166 to 169 B.5

170 B.2

180 to 182 B.6

CAUTIONDo not change any parameters during operation.

NOTE1 In this servo amplifier unit, what is equivalent to the

increment system in the existing CNC is called the user unit.In the existing CNC, when a movement amount is specified,for example, the weight of the specified value “1” isdetermined by parameter switching. In increment system B,the weight of the specified value “1” is 1 µ. In this servoamplifier unit, no parameter switching is performed; theweight of the specified value “1” is determined by the user.

2 The parameters not given in the parameter list may be usedas internal variables; do not change their values.For example, parameter No. 029 is used as an internalvariable. Even if a non–zero value is set, do not change itbut ignore it.


181

#7 #6 #5 #4 #3 #2 #1 #0

000 ROAX RABX RAB2X ROTX

Size : 1 byte (bit type)Standard value : 0ROTX Specifies whether the controlled axis is a linear or rotation

axis, as follows:0 : Linear axis1 : Rotation axis

RAB2X Specifies whether the specification of the sign of theabsolute command–based rotation direction of therotation axis is valid, as follows:1 : Invalid0 : Valid

NOTEFor details, see Section 3.6.2, “Rotation axis rotationdirection sign specification function.”

RABX Specifies the absolute command–based rotation directionof the rotation axis for movement within one revolution,as follows:1 : Direction of the smallest distance to a desired point0 : Direction determined according to a command–

specified sign

NOTEThis parameter is valid only when ROAX = 1.

ROAX Specifies whether the roll–over function of the rotationaxis is valid, as follows:0 : Invalid1 : Valid

B.1CONTROLLED–AXISPARAMETERS


182

#7 #6 #5 #4 #3 #2 #1 #0

001 EPEXB EPEXA N405 SSL1 HOT ZRTN

Size : 1 byte (bit type)Standard value : 0

ZRTN Specifies whether an alarm is to be issued if a referenceposition is not set up, as follows:0 : An alarm is issued.1 : An alarm is not issued.

HOT Specifies whether the overtravel direct input signals(*+OT and *–OT) are valid, as follows:0 : Invalid1 : Valid

SSL1 Specifies whether stored stroke limit 1 is valid, asfollows:0 : Invalid1 : Valid

NOTEThis parameter is invalid until reference position return iscompleted.

N405 Specifies whether a servo alarm is to be issued if referenceposition cannot be executed correctly, as follows:0 : A servo alarm is issued. (No. 405)1 : A servo alarm is not issued.

NOTEIf a value in the range of 4 to 96 is set for parameter No. 032(CMR), servo alarm No. 405 may be issued during referenceposition return. In this case, prevent the alarm from beingissued by setting N405 to “1”.

EPEXA, EPEXB Specify the operation that is to occur if the axis movementrate determined according to external pulses exceeds thefeedrate upper limit specified in parameter No. 43.

EPEXB EPEXA Description

0 0 The feedrate is clamped to the parameter–specifiedvalue, and the excessive pulses are treated as accumu-lated pulses.

If the number of accumulated pulses exceeds 99999999,the excessive pulses are discarded.

0 1 Alarm 291 is detected, leading to deceleration and stop.

1 0 The feedrate is clamped to the parameter–specifiedvalue, and the excessive pulses are discarded.

1 1 Alarm 291 is detected, leading to deceleration and stop.

B.2COORDINATESYSTEM ANDSTROKE LIMITPARAMETERS


183

068 Number of magazines/turrets

Size : 2–byteRange : 1 to 9999Standard value : 0Description : Sets up the number of magazines/turrets.

140 Machine coordinate of the reference position

Size : 4 bytesUnit : User–specified unitRange : 0 to 99999999Standard value : 0Description : Sets up the machine coordinate for the reference

position. When setting of the reference position,either without dogs or externally, is completed, themachine coordinate is preset to the value specified inthe parameter.

141 Amount of movement per rotation axis revolution

Size : 4 bytesUnit : User–specified unitRange : 0 to 99999999Standard value : 0Description : Specifies an amount of movement per revolution for

the rotation axis. If 0 is specified, the amount ofmovement is assumed to be 36000.

CAUTIONThe amount of motor revolution corresponding to theamount of movement per rotation axis revolution must be2500 revolutions or less. If the amount of motor revolutioncorresponding to the amount of movement per rotation axisrevolution exceeds 2500 revolutions, reduce the amount ofmotor revolution to 2500 or below, by reducing the gearreduction ratio or by other means.

142 Positive machine coordinate for stored stroke limit 1

143 Negative machine coordinate for stored stroke limit 1

Size : 4 bytesUnit : User–specified unitRange : 0 to 99999999Standard value : 99999999 (positive machine coordinate) and

–99999999 (negative machine coordinate)Description : Sets up the positive and negative machine

coordinates for stored stroke limit 1. Areas outsidethe specified ranges are forbidden areas.


184

144 Machine coordinate for the second reference position

145 Machine coordinate for the third reference position

Size : 4 bytesUnit : User–specified unitRange : 0 to 99999999Standard value : 0Description : Sets up the machine coordinates for the second and

third reference positions.

147 Workpiece coordinate for the reference position

Size : 4 bytesUnit : User–specified unitRange : 0 to 99999999Standard value : 0Description : Sets up the workpiece coordinate for the reference

position. When setting the reference position, eitherwithout dogs or externally, is completed, theworkpiece coordinate of the reference position ispreset to the value specified in the parameter. Thisparameter is fixed to 0 for the rotation axis.

154 Position for point number 1

165 Position for point number 12

Size : 4 bytesUnit : User–specified unitRange : 0 to 99999999Standard value : 0Description : Specify positions for point numbers 1 to 12 for point

positioning.

170 Index point tolerance

Size : 4 bytesUnit : User–specified unitRange : 0 to 99999999Standard value : 0Description : When the 1–pitch rotation of ATC/turret control is

specified, the index point is preserved if the machinedeviates from the index point during clamping/unclamping, as long as the absolute value for themovement amount is equal to or less than this value.For example, when the machine is to move fromindex point 1 to 2, it can move to the position of point2 even if it has deviated from the position of point 1in the direction opposite from the direction ofmovement, as long as the movement amount is withinthe value specified in this parameter.


185

021 Feedrate command weight N

Size : 1 byteUnit :Range : 0 to 8Standard value : 3Description : Sets up a weight for feedrate parameter Nos. 40, 41,

43 to 50, 54, 59 to 61. Supposing 3 is specified, thefeedrate is assumed to be a parameter–specifiedfeedrate multiplied by 103 (= 1000).

040 Rapid traverse rate

Size : 2 bytesUnit : 10N user–specified unit/MINRange : 1 to 65535 (7500 user–specified units/MIN or

greater)Standard value : 4000Description : Specifies a rapid traverse rate. (N is specified in

parameter No. 21.)

041 Jog feedrate

Size : 2 bytesUnit : 10N user–specified units/MINRange : 1 to 65535 (4 user–specified units/MIN or greater)Standard value : 2000Description : Specifies the feedrate for job feed when the feedrate

override value is 100%. (N is specified in parameterNo. 21.)

043 Feedrate upper limit

Size : 2 bytesUnit : 10N user–specified units/MINRange : 1 to 65535Standard value : 4000Description : Specifies the upper limit for the feedrate to be

specified. If an attempt is made to specify a valuelarger than the upper limit, the actual feedrate isclamped to the upper limit. (N is specified inparameter No. 21.)

B.3FEEDRATEPARAMETERS


186

044 Feedrate specified for feedrate code 1







Size : 2 bytesUnit : 10N user–specified units/MINRange : 1 to 65535 (4 user–specified units/MIN or greater)Standard value : 2000Description : Specify the feedrates corresponding to feedrate codes

1 to 7 for command data 1 for a function codecommand. (N is specified in parameter No. 21.)

054 FL rate for a reference position return

Size : 2 bytesUnit : 10N user–specified units/MINRange : 1 to 65535 (7500 user–specified units/MIN or

greater)Standard value : 100Description : Specifies a rate of movement to the next grid point

during setting of the reference position. (N isspecified in parameter No. 21.)

061 F0 rate for rapid traverse override


greater)Standard value : 10Description : Specifies the F0 rate for rapid traverse override. (N is

specified in parameter No. 21.)


187

#7 #6 #5 #4 #3 #2 #1 #0

002 JOGE RPDE

Size : 1 byte (bit type)Standard value : 0RPDE Specifies the acceleration/deceleration type for rapid

traverse, as follows:0 : Linear or bell–shaped acceleration/decelerationNOTE)Bell–shaped acceleration/deceleration is selected

if rapid traverse bell–shaped acceleration/ deceleration time constant T2 is specified.

1 : Exponential acceleration/decelerationJOGE Specifies the acceleration/deceleration type for jog or

cutting feed, as follows:0 : Linear or bell–shaped acceleration/decelerationNOTE)Bell–shaped acceleration/deceleration is selected

if jog or cutting feed rapid traverse bell–shaped acceleration/deceleration time constant T2 is specified.

1 : Exponential acceleration/deceleration

055 Rapid traverse linear acceleration/deceleration time constant or rapid traverse bell–shaped acceleration/deceleration time constant T1

Rapid traverse exponential acceleration/deceleration time constant

Size : 2 bytesUnit : msRange : 0 to 4000Standard value : 100Description : Specifies a rapid traverse acceleration/deceleration

time constant. The acceleration/deceleration timeconstant to be used is determined depending onwhether bit 0 of parameter No. 002 (RPDE) and rapidtraverse bell–shaped acceleration/deceleration timeconstant T2 are set.

056 Rapid traverse bell–shaped acceleration/deceleration time constant T2

Size : 2 bytesUnit : msRange : 0 to 512Standard value : 100Description : Specifies rapid traverse bell–shaped acceleration/

deceleration time constant T2.

B.4ACCELERATION/DECELERATIONCONTROLPARAMETERS


188

057 Linear acceleration/deceleration time constant or bell–shaped acceleration/deceleration time constant T1 for jog feed or feed based on feedrate codes 1 to 7

Exponential acceleration/deceleration time constant for jog feed or feed based on feedrate codes 1 to 7

Size : 2 bytesUnit : msRange : 0 to 4000Standard value : 100Description : Specifies an acceleration/deceleration time constant

for jog feed or feed based on feedrate codes 1 to 7. Theacceleration/deceleration time constant to be used isdetermined depending on whether bit 1 of parameterNo. 002 (JOGE) and bell–shapedacceleration/deceleration time constant T2 for jogfeed or feed based on feedrate codes 1 to 7 are set.

058 Bell–shaped acceleration/deceleration time constant T2 for jog feed or feed based on feedrate codes 1 to 7

Size : 2 bytesUnit : msRange : 0 to 512Standard value : 100Description : Specifies bell–shaped acceleration/deceleration time

constant T2 for jog feed or feed based on feedratecodes 1 to 7.

059 Exponential acceleration/deceleration FL rate for jog feed or feed based on feedrate codes 1 to 7


greater)Standard value : 10Description : Specifies the exponential acceleration/deceleration

time constant FL rate for jog feed or feed based onfeedrate codes 1 to 7. (N is specified in parameter No.21.)

060 FL rate for rapid traverse exponential acceleration/deceleration


greater)Standard value : 10Description : Specifies the FL rate for rapid traverse exponential

acceleration/deceleration. (N is specified inparameter No. 21.)


189

#7 #6 #5 #4 #3 #2 #1 #0

003 STON EXPLS WAT2 IGCP NCLP

Size : 1 byte (bit type)Standard value : 1 only for NCLP

NCLP Specifies whether to use clamping/unclamping, asfollows:0 : Clamping/unclamping is used.1 : Clamping/unclamping is not used.

IGCP Specifies whether to check a clamp/unclamp state(UCPS2) before proceeding to the next sequence, asfollows:0 : A clamp/unclamp state is checked.1 : A clamp/unclamp state is not checked.

WAT2 Indicates whether an ID code can be specified for a waitfunction, as follows:0 : An ID code cannot be specified.1 : An ID code can be specified.

EXPLS Indicates whether an axis movement function based onexternal pulses (pulses from a manual pulse generator) isvalid, as follows:0 : Invalid.1 : Valid.

STON Specifies whether an automatic operation is started at therising (off to on) or falling (on to off) edge of theautomatic operation start (ST) signal, as follows:0 : Falling edge (on to off)1 : Rising edge (off to on)

#7 #6 #5 #4 #3 #2 #1 #0

004 NEPRM IVO SAK

Size : 1 byte (bit type)Standard value : 0

SAK When the VRDY OFF alarm ignore signal (IGNVRY) is1 :0 : Servo ready signal (SA) is set to 0.1 : Servo ready signal (SA) remains set to 0.

IVO When an attempt is made to release an emergency stopwhile the VRDY OFF alarm ignore signal (IGNVRY) is1 :0 : The emergency stop is not released.1 : The emergency stop is released.

CAUTIONWhen the VRDY OFF alarm ignore signal (IGNVRY) is 1,and the motor is deenergized, a reset state will be exitedeven if a reset signal is input.

B.5INPUT/OUTPUTSIGNALSPARAMETERS


190

NEPRM Specifies whether to perform writing to the EEPROM(memory for storing parameter settings) when rewritingparameters using peripheral device control or a directcommand, as follows:0 : Writing is performed.1 : Writing is not performed.

CAUTION1 There is a limit to the number of writes to the EEPROM

(memory for storing parameter settings) (tens of thousandsof writes). For this reason, set NEPR to 1 if parameters areto be rewritten frequently using peripheral device control ora direct command.

2 Those parameters that were rewritten to values differentfrom their initial values when NEPRM was “1” must not berewritten when NEPRM is “0.” Otherwise, an EEPROMparity mismatch occurs, with the result that a parity erroroccurs and standard settings are loaded when the power isturned OFF and then ON again.If parameters are rewritten from the MDI using the powermate CNC manager (PMM), writing to the EEPROM isperformed regardless of the value of NEPRM.Consequently, a parity error also occurs if those parametersthat were rewritten using the ladder when NEPRM was “1”are rewritten from the MDI.(Example) A parity error occurs and standard settings are

loaded if the following is performed:

“3” is set for parameter No. 020 at power on.

a) Set “1” for parameter No. 020 using the ladder whenNEPRM is “1.”

b) Set “2” for parameter No. 020 using the ladder whenNEPRM is “0.”

Alternatively,

c) Set “2” for parameter No. 020 from the MDI using thePMM.

Turn the power OFF and then ON again.

Standard settings are loaded.

* If b) or c) is not performed, a parity error is not issued.


191

#7 #6 #5 #4 #3 #2 #1 #0

005 ABSPS LDM REFDRC CLPSVF JNCL

Size : 1 byte (bit type)Standard value : 0JNCL Specifies whether to use clamping when JOG operation

stops, as follows:0 : Clamping is performed.1 : Clamping is not performed. (The unclamp state is

preserved.)CLPSVF The time from clamping to servo off (parameter No. 168)

is:0 : Time from the point the unclamping instruction signal

(UCPC2) turns off1 : Time from the point the clamping/unclamp state

output signal (UCPS2) turns off.REFDRC The direction of the high–speed origin return of the

rotation axis depends on:0 : Sign of the result of subtracting the current position

from the reference position.1 : Setting of ZMIX (bit 5 of parameter No. 010).

LDM Specifies whether the output of the motor current value isvalid to the response data (Xx+3 to Xx+6), as follows:0 : Invalid.1 : Valid.

ABSPS Specifies whether the host and a servo amplifier unit areto be synchronized with each other in the response dataread function, as follows:0 : Not synchronized.1 : Synchronized. (This makes it possible for the host to

read the correct position even during axis movement.)

NOTEFor details, see Part 2, Section 3.8, “Upgrading theResponse Data Read Function.”


192

020 Response data specification (PHOUT)

Size : 1 byteStandard value : 3PHOUT Specifies whether or what to output as response data

(Xx+3 to Xx+6), as follows:0 : Nothing is output.1 : An ATC and point No. are output if an ATC cycle and

point positioning are involved.2 : The machine coordinate is output in real time.3 : The workpiece coordinate is output in real time.4 : The motor current value is output. The motor current

value means the maximum current value of theamplifier in 6554.

NOTEIf the motor current value is output as response data, setLDM (bit 6 of parameter No. 005) to “1” and set “4” forparameter No. 020.

022 ECF and EBSY signal minimum output time

Size : 1 byteUnit : 8 msRange : 0 to 127Standard value : 5Description : Specifies the minimum output time for the ECF and

EBSY signals (direct command interface control flag2). This is valid when the power mate CNC manageris used.

023 PMM allocation rate assumed when reading continuous data with a direct command

Size : 1 byteRange : 0 to 100Standard value : 50Do not change the parameter from its standard value.

029 Internal variable

Size : 1 byteDo not change the value of the parameter.

062 External pulse input–based axis movement amount ratio setting 1 (M)

063 External pulse input–based axis movement amount ratio setting 2 (N)

Size : 2 bytesUnit : 8 msRange : 1 to 32767Standard value : 1Description : Specify a ratio M/N for an axis movement amount

based on an external pulse input.


193

148 Servo positional deviation monitor amount

Size : 4 bytesUnit : Detection unitRange : 0 to 99999999Standard value : 99999999Description : Specifies the servo positional deviation monitor

amount. The SVERX signal becomes 1 when theservo positional deviation amount becomes largerthan the value specified in this parameter.

149 Remaining travel limit for outputting the remaining travel in–range signal (DEN2)

Size : 4 bytesUnit : User–specified unitRange : 0 to 99999999Standard value : 0Description : Specifies the absolute value of a remaining travel

value used as a limit to output the remaining travelin–range signal (DEN2).

150 Coordinates (minimum) for point 1 in the operation range of the area signals

151 Coordinates for point 2 in the operation range of the area signals

152 Coordinates for point 3 in the operation range of the area signals

Size : 4 bytesUnit : User–specified unitRange : 0 to 99999999Standard value : 0Description : Specify the points for the output range of the area

signals using machine coordinates. Area signalsPSG1 and PSG2 are output according to the result ofcomparison between the machine coordinate and aparameter–specified value. The output conditions arelisted below. ABSMT represents the current machinecoordinate.

Condition PSG2 PSG1

ABSMT < point 1 0 0

Point 1 ABSMT < point 2 0 1

Point 2 ABSMT < point 3 1 0

Point 3 ABSMT 1 1

166 Operation completion signal output time

Size : 4 bytesUnit : 8 msRange : 0 to 99999999Standard value : 5Description : Specifies the output time for operation completion

signals OPC1 to OPC4.


194

NOTEIf 0 is set, no operation completion signal is not output.

167 Time between servo–on and unclamping

Size : 4 bytesUnit : 8 msRange : 0 to 99999999Standard value : 0Description : Specifies a time interval from the time the servo

system is switched on until the machine is unclampedif clamping/unclamping is used.

168 Time between clamping and servo–off

Size : 4 bytesUnit : 8 msRange : 0 to 99999999Standard value : 0Description : Specifies a time interval from the time the machine is

clamped until the servo system is switched off ifclamping/unclamping is used.

169 Time allowed before the next sequence is executed without clamping/unclamping

Size : 4 bytesUnit : 8 msRange : 0 to 99999999Standard value : 0Description : Specifies a time interval from the time the

clamp/unclamp command (UCPC2) is issued untilthe next sequence is started, if the clamp/unclampstate signal (UCPS2) is not to be checked. Whetherto check the clamp/unclamp state signal (UCPS2) isspecified using bit 2 of parameter No. 003 (IGCP).


195

#7 #6 #5 #4 #3 #2 #1 #0

010 SVFP ZMIX IEBL IALM IINP

Size : 1 byte (bit type)SVFP Specifies whether to perform follow–up, as follows:

0 : Follow–up is not performed.1 : Follow–up is performed.

ZMIX Specifies the initial direction of backlash and gridmovement in a reference position return without dogs, asfollows:0 : Positive direction1 : Negative direction

IEBL Specifies whether to enable the torque limit function, asfollows:0 : Disable1 : Enable

IALM Specifies whether to check for a stop– andmovement–time excessive error when the torque islimited, as follows:0 : An error check is not made.1 : An error check is made.

NOTEThis parameter is valid, when parameter No.108 is not 0 andIEBL = 1.

IINP Specifies whether to make a position check when thetorque is limited, as follows:0 : A position check is not made.1 : A position check is made.

NOTEThis parameter is valid, when parameter No.108 is not 0 andIEBL = 1.

B.6SERVOPARAMETERS


196

#7 #6 #5 #4 #3 #2 #1 #0

011 APCX DZRN SZRN ABSX

Size : 1 byte (bit type)APCX Indicates whether a detector for an absolute pulse coder

is available.0 : Unavailable1 : Available

DZRN Specifies whether the reference position return functionwith dogs is valid, as follows:0 : Invalid. (The reference position return function

without dogs is selected.)1 : Valid

NOTEWhen DZRN = 1, the high–speed interlock signal (*RILK) isinvalid.

SZRN Specifies the type of positioning to a grid to be performedfor a manual reference position return if the feed axis anddirection selection signal (+X, –X, or I/O link signal fromthe host) is 1 for reference position return without dogs,as follows:0 : Positioning to a grid is performed only once.1 : Positioning to a grid is performed each time the feed

axis and direction selection signal becomes 1.ABSX Indicates whether the absolute position detector has been

associated with the machine position, as follows:0 : Has not been associated1 : Has been associated

#7 #6 #5 #4 #3 #2 #1 #0

012 DGPR

Size : 1 byte (bit type)DGPR Specifies whether to set motor–specific servo parameters

when the power is switched on.0 : Set.1 : Do not set.After a motor type (parameter No. 30) is specified,resetting this bit to 0 automatically sets up the standardvalues for the motor when the power is turned on. At thesame time, the bit is set to 1 again.

#7 #6 #5 #4 #3 #2 #1 #0

013 TSA2 TSA1 VCM2 VCM1

Size : 1 byte (bit type)When bit 0 of parameter No. 14 is 0, the following signals are output tothe servo check board.

Channel 1: VCMD (velocity command)

Channel 2: TCMD (torque command)

Channel 5: TSA (actual speed)


197

These parameters determine the scale of data on channels 1 and 5, as listedbelow:

VCM2 VCM1 CH1

0 0 VCMD is shifted 3 bits to the right before being output(5 V corresponds to 3750 rpm).

0 1 VCMD is shifted 1 bit to the left before being output (5 V corresponds to 234 rpm).

1 0 VCMD is shifted 5 bits to the left before being output (5 V corresponds to 14.6 rpm).

1 1 VCMD is shifted 9 bits to the left before being output (5 V corresponds to 0.92 rpm).

TSA2 TSA1 CH5

0 0 TSA is shifted 3 bits to the right before being output (5V corresponds to 3750 rpm).

0 1 TSA is shifted 1 bit to the left before being output (5 Vcorresponds to 234 rpm).

1 0 TSA is shifted 5 bits to the left before being output (5 Vcorresponds to 14.6 rpm).

1 1 TSA is shifted 9 bits to the left before being output (5 Vcorresponds to 0.92 rpm).

#7 #6 #5 #4 #3 #2 #1 #0

014 IRS

Size : 1 byte (bit type)IRS Setting this bit to 1 causes the following current to flow

in check board channels 1 and 2.Channel 1: R–phase actual current (4 V corresponds the maximum current.)Channel 2: S–phase actual current (4 V corresponds the maximum current.)

#7 #6 #5 #4 #3 #2 #1 #0

016 FFAL FFVL LVMD PIIP

Size : 1 byte (bit type)PIIP 0 : Specifies that the velocity loop be subject to PI control.

1 : Specifies that the velocity loop be subject to IPcontrol.

LVMD 0 : Disables the low–velocity integration function.1 : Enables the low–velocity integration function.

FFVL, FFAL Specify whether to enable the feed–forward function.

FFVL FFAL Description

0 X The feed–forward function is disabled regardless ofwhether FFAL is 1.

1 1 The feed–forward function is always enabled.

1 0 The feed–forward function may be enabled as directedby the NC.


198

030 Motor type

Size : 1 byteValid data range : 1 to 99

This parameter enables the host to specify the type number of a motor tobe used.

The following table lists the types and numbers of motors that can be usedwith the β series amplifiers, the related ordering code, and amplifier types.

Model Ordering code Motor number Amplifier

β 0.5 0113 13 12A

β 1 0031 35 12A

β 2 0032 36 12A

β 3 0033 33 20A

β 6 0034 34 20A

α 1/3 0310 61 12A

α 2/2 0312 46 12A

α 2/3 0309 62 12A

α 3/3000 0123 15 40A

α 6/2000 0127 16 40A

α 6/3000 0128 17 80A

α 12/2000 0142 18 40A

α 12/3000 0143 19 80A

α 22/1500 0146 27 40A

α 22/2000 0147 20 80A

α 30/1200 0151 28 80A

α C3 0121 7 20A

α C6 0126 8 20A

α C12 0141 9 20A

α C22/1500 0145 10 40A

α M2/3000 0376 98 20A

α M2.5/3000 0377 99 20A

α M6/3000 0162 25 80A

α M9/3000 0163 26 80A

α L6/3000 0562 57 80A

α L9/3000 0564 58 80A

031 Direction of motor rotation (DIRCTL)

Size : 1 byteStandard setting : 111The direction of motor rotation is specified, as follows:

111: Normal connection (clockwise rotation as viewed from the detector side)

–111: Reverse connection (counterclockwise rotation as viewed from the detector side)


199

032 Command multiplier (CMR)

Size : 1 byteValid data range : 2 to 96 and 102 to 127

NOTEOnly even numbers in the range of 2 to 96 can be set.

Standard setting : 2This parameter is used to set up a ratio of the command increment to thedetection increment.

Let K be the command increment divided by the detection increment, thenenter:

CMR = 2 K if K 1

CMR = 1/K + 100 if K < 1

where K is a value from 1 to 48 or from 1/2 to 1/27.

Example 1) If the least command increment is 10 µm, and the detectionincrement is 5 µm:

CMR = 10/5 2 = 4

Example 2) If the least command increment is 10 µm, and the detectionincrement is 20 µm:

CMR = 1/(1/2) + 100 = 102because K = 10/20 < 1


200

CAUTIONOn an axis where the absolute–position detector is used,the reference position is stored using the coordinates of theabsolute–position detector. On a rotation axis, to preservethe positional relationship between the coordinates of theabsolute–position detector and the reference position, thecoordinates of the absolute–position detector thatcorrespond to the reference position must be shifted eachtime movement is performed by the amount of movementper rotation axis revolution specified for position parameterNo. 141. (See the figure below.)

Because the reference position is stored using thecoordinates of the absolute–position detector, the referenceposition is shifted in the absolute–position detector pulseunits corresponding to one revolution.The formula for converting the amount of movement perrotation axis revolution into the movement amount of theabsolute–position detector (Lp) is as follows:

Lp = Amount of movement per rotation axis revolution(parameter No. 141)KDenominator for the number of pulses per motorrevolution (parameter No. 106)216 Numerator for the number of pulses per motorrevolution (parameter No. 105)

Currently, if either of the following two conditions is satisfiedduring the above conversion, Lp contains a fractional part.Because the servo amplifier unit rounds off Lp to the nearestinteger value, fractional parts are accumulated if revolutionin one direction continues, possibly causing a positionalerror the next time the power is turned on.(Condition 1) If K is less than 1, the “amount of movement

per rotation axis revolution (parameter No.141) x K” contains a fractional part.

(Condition 2) Lp contains a fractional part.

Coordinates of the absolute–coordinate detector

Amount of movement per rotation axis revolution

Old reference position New reference position

Shift


201

NOTEIf K is equal to or greater than 2, servo alarm No. 405 maybe issued during reference position return. In this case, setN405 (bit 4 of parameter No. 001) to “1” to prevent the alarmfrom being issued.

070 Current loop gain (PK1)

Size : 2 bytesValid data range : 1 to 32767Do not change the standard setting.


Size : 2 bytesValid data range : –1 to –32768

Do not change the standard setting.




073 Speed loop gain (PK1V)

Size : 2 bytesValid data range : 1 to 32767




Valid data range : –1 to –32768


078 Current compensation 1 (PVPA)



079 Current compensation 2 (PALPH)




202

080 Current limit value (TQLIM)


081 Overload protection coefficient (POVC1)

Size : 2 bytesValid data range : 0 to 32767This is a coefficient for an alarm used to protect the motor and servoamplifier from overload.


082 Overload protection coefficient (POVC2)



083 Overload protection coefficient (POVCLM)



084 Current compensation 3 (AALPH)


085 Actual current limit (DBLIM)


086 Current compensation 4 (MGSTCM)



203

087 Current compensation 5 (DETQLM)


088 Current compensation 6 (NINTCT)


089 Current compensation 7 (MFWKCE)


090 Current compensation 8 (MFWKBL)


091 VCMD polyline speed (P_VCLN)

Size : 2 bytesUnit : 0.01 rpmValid data range : 0 to 32767Setting the parameter to a positive value enables the VCMD polylinefunction. If the actual speed of the motor is lower than the speed specifiedin this parameter, the position loop gain is doubled, thus acceleratingpositioning.

092 Low–speed integration threshold speed (P_LVIN)

Size : 2 bytesUnit : 0.01 rpmValid data range : 0 to 32767When the low–speed integration function is enabled, if the actual motorspeed becomes higher than the speed specified in this parameter, the speedloop integration item becomes 0.

100 Load inertia ratio (LDINT)

Size : 2 bytesValid data range : 0 to 1024This parameter specifies the ratio of the machine load inertia to the motorinertia using a value calculated with the following formula as a guideline:

Load inertia ratio = 256Machine load inertia

Motor inertia


204

If the value obtained using this formula is greater than 500, the parametershould be set to 500. Setting this value causes speed loop gains PK1V andPK2V to be multiplied by: 1+ LDINT/256

Setting the parameter to a larger value makes response to speedcommands quicker and servo rigidity higher. If the parameter is set to anexcessively large value, the servo system may vibrate, and noise mayarise, during machine movement. Usually, the parameter should not be setto more than 500.

If the machine vibrates at a high frequency, the torque command filterparameter (No.102) can be used to solve this.

101 Acceleration feedback (PK2VAUX)

Size : 2 bytes

This parameter can be used to suppress vibration. If used, it should be setto a value from –10 to –20.

102 Torque command filter (FILTER)

Size : 2 bytesValid data range : 0 to 2500Standard setting : 0

This parameter can be used to remove the high–frequency noise inducedby a torque command. If the machine vibrates at a high frequency, the useof this parameter may suppress the vibration. The following table lists therelationships between the values specified for the parameter and thecorresponding cut–off frequencies.

Cut–off frequency (Hz) Parameter value

200 1166

150 1596

100 2185

80 2478

The lower the cut–off frequency (the larger the parameter–specifiedvalue), the stronger the filter effect. Specifying a filter with an excessivelystrong effect leads to unstable position control.

First, try a 150 Hz filter (set the parameter to 1596). If this does notsuppress high–frequency vibration effectively, increase the parametervalue by about 200 and note the effect. Repeat this until the desired effectis obtained, but do not exceed 2500.

103 Feed–forward coefficient (FALPH)

Size : 2 bytesUnit : %Valid data range : 0 to 100Standard setting : 0

This is a feed–forward coefficient parameter. 100 specified in theparameter corresponds to a coefficient of 1 (100%).


205

104 Velocity feed–forward coefficient (VFFLT)

Size : 2 bytesUnit : %Valid data range : 0 to 1000Standard setting : 0

This is a velocity feed–forward coefficient parameter. For a motor withno load, 100 specified in the parameter corresponds a coefficient of 1(100%). If a load inertia is added, set the parameter to a proportionallylarger coefficient.

Example) If the load inertia is doubled:

To set velocity feed–forward to 100%: 100 (1 + 2) = 300

To set velocity feed–forward to 50%: 50 (1 + 2) = 150

105 Numerator for the number of pulses per motor revolution (SDMR1)


This parameter specifies the number of pulses per motor revolution for adetection increment, together with parameter No. 106. To be specific, thisparameter is used as a numerator. If 0 is specified for this parameter, 65536is assumed.

106 Denominator for the number of pulses per motor revolution (SDMR2)


This parameter is used as a denominator for the number of pulses permotor revolution detection increment. The number of pulses (after CMR)per motor revolution is represented as:

(No.105)

(No.106)

If the number of pulses per motor revolution is an integer, set parameterNo. 106 to 1.

Example 1) If a detection increment is set to 1µ in a 10 mm/revolutionball screw machine:Set parameter No. 105 to 10000, and parameter No. 106 to1, because the number of pulses per motor revolution is 10 mm/1µ = 10000.

Example 2) If the detection increment is 0.1° for a motor coupled directlyto the rotation axis:Set parameter No. 105 to 3600, and parameter No. 106 to 1,because the number of pulses per motor revolution is 360° /0.1° = 3600.


206

NOTEIf the number of pulses per motor revolution (parametersNos. 105 and 106) is very small, a position gain overflowmay occur, causing an excessively large error duringstopping or movement. Check that the number of pulsesper motor revolution is greater than the applicable lower limitgiven in the table below.

Value set for the Lower limit on the position gain number of pulses per

(No.107) motor revolution

20 4130 6240 82

Formula) (Position gain)/(Number of pulses per motorrevolution) < 0.488

If the number of pulses per motor revolution is below theapplicable lower limit, increase the number of pulses permotor revolution to the lower limit or above, using theprocedure below. In this case, the user unit is equal to 1/Eand, therefore, the other parameters set with the user unitmust be multiplied by E.(Procedure) Multiply CMR and the number of pulses per

revolution by integer value E, so that thenumber of pulses per revolution is greaterthan the lower limit.

No. 32*ENo. 105*# Lower limit

(Setting example)

If the position gain (parameter No. 107) is 30, CMR (parameter No.32) is 2, and the number of pulses per motor revolution (Nos. 105 and106) is 50/1, the lower limit is 62, causing an overflow to occur.Multiply CMR and the denominator for the number of pulses permotor revolution (No. 105) by two to change parameter 32 to 4 andparameter 105 to 100. (The user unit becomes 1/2.)

107 Position loop gain (LPGINX)

Size : 2 bytesValid data range : 1 to 32767Standard setting : 30This parameter is related to a position loop time constant. The larger thevalue set for this parameter, the more quickly the NC responds tocommands, and the less time is required for positioning. If the parameteris set to an excessively large value, however, hunting (at 5 to 15 Hz) mayoccur during movement, or overshoot may occur at a stop. Settingparameter No. 100 (load inertia ratio) to a larger value increases the rangeof the position loop gain values that can be set up.


207

108 Servo motor torque limit

Size : 2 bytesValid data range : 0 to 7282Standard setting : 0Applying a torque limit to the servo motor enables positioning inreference to a mechanical stopper. Setting bit 2 of parameter No. 10(IEBL) validates a torque limit based on this parameter. If 0 is specifiedfor this parameter, 100% (7282) is assumed. Calculate the necessarysetting, using:

Value in parameter No. 108 = torque limit value [%]7282

100

109 Backlash amount (BKLCMP)

Size : 2 bytesUnit : User unitValid data range : 0 to 32767 (detection increment)Standard setting : 0The parameter sets up a backlash amount (User unit). The range will bein the detection increment resulting from multiplying the user unit by thecommand multiplier (parameter No. 032).

110 Positional deviation limit value at a stop

Size : 2 bytesValid data range : 0 to 32767Standard setting : 500This parameter sets a positional deviation limit value used when the motoris at a stop (detection increment). Alarm 410 is raised if the positionaldeviation limit is exceeded when the motor is at a stop.

111 In–position width

Size : 2 bytesValid data range : 0 to 32767Standard setting : 10If the positional deviation becomes lower than the value specified in thisparameter after the related block ends, an in–position signal is returnedto the host.

116 Velocity loop gain override during velocity control (%)

Size : 2 bytesStandard setting : 0 (overriding not performed)Set this parameter if the system is switched between position control andvelocity control.When the system enters velocity control mode, the velocity loopproportional gain and the integral gain that are used in position control aremultiplied by the above override.The relationships among the velocity loop proportional gain, integralgain, load inertia ratio, and the velocity loop gain override during velocitycontrol are explained using the following example:


208

Assume the following:Integral gain = 100Proportional gain = –500Load inertia ratio = 128Velocity loop gain override during velocity control = 200%[Gain during position control]Integral gain = 100(1+128/256) = 150Proportional gain = –500(1+128/256) = –750[Gain during velocity control]Integral gain = 100(1+128/256)200/100 = 300Proportional gain = –500(1+128/256)200/100 = –1500

Thus, the gain with the load inertia ratio taken into consideration ismultiplied by the gain override during velocity control.

135 Linear acceleration/deceleration time constant for velocity control

Size : 2 bytesUnit : msValid data range : 8 to 4000Specify the time required to reach 4000 rpm.Example) If the value specified for velocity is 2000 rpm, and the time

required to reach 2000 rpm is to be 1000 msec, the value tobe set is calculated as follows:Value to be set = (4000/2000)1000 = 2000

136 Velocity deviation check limit during velocity control

Size : 2 bytesUnit : rpmValid data range : 0 to 4000Standard setting : 0 (velocity deviation check not performed)Set the limit on the velocity deviation check to be performed in velocitycontrol mode.In velocity control mode, alarm 447 is issued if the deviation of the actualvelocity from the specified velocity exceeds the value set for thisparameter.

180 Reference counter capacity

Size : 4 bytesValid data range : 0 to 99999999Standard setting : 10000This parameter specifies a reference counter capacity.

Reference counter capacity = number of pulses per motor revolution(detection increment)


209

181 Grid shift amount

Size : 4 bytesValid data range : 0 to 99999999Standard setting : 0A grid position can be shifted by the amount specified in this parameterso that the reference position can be shifted. The unit of shift is a detectionincrement. The maximum grid shift amount that can be specified is halfor less than the reference counter capacity.

182 Positional deviation limit value during movement

Size : 4 bytesValid data range : 0 to 99999999Standard setting : 3333This parameter specifies a positional deviation limit value used when themotor is rotating. Alarm 411 is raised, if this value is exceeded, leadingto deceleration and stop.


210

Motor model α C3/2000 α C6/2000 α C12/2000 α C22/1500 β 0.5/3000 α 3/3000 α 6/2000 α 6/3000Motor order-

ing code 0121 0126 0141 0145 0113 0123 0127 0128

Motor type 7 8 9 10 13 15 16 17Symbol Parameter

No.

PK1 70 1600 1800 3000 2330 220 1183 2054 754PK2 71 –5059 –6105 –9750 –6831 –540 –2941 –4194 –2363PK3 72 –2608 –2641 –2687 –2694 –2556 –3052 –3052 –2633PK1V 73 52 62 122 132 4 42 48 44PK2V 74 –932 –1113 –2192 –2369 –77 –762 –866 –798PK4V 75 –8235 –8235 –8235 –8235 –8235 –8235 –8235 –8235PPMAX 76 21 21 21 21 21 21 21 21PDDP 77 1849 1849 1849 1849 1849 1849 1849 1849PVPA 78 –6405 –3858 –3094 –3872 2000 –7690 –6415 –3845PALPH 79 –250 –2500 –4000 –2800 77 –800 –1600 –650TQLIM 80 7282 7282 7282 7282 7282 7282 7282 7282POVC1 81 32686 32637 32412 32370 32585 32713 32689 32698POVC2 82 1030 1636 4446 4981 2288 690 991 877POVCLMT 83 3056 4858 13245 14847 6797 2045 2940 2601AALPH 84 16288 11192 8192 8192 17384 3000 8192 0DBLIM 85 15000 0 0 0 15000 15000 15000 15000MGSTCM 86 16 24 16 24 0 32 32 32DETQLM 87 0 5220 0 2660 7790 6214 3960 5170NINTCT 88 2729 3326 4520 3298 400 2047 2729 1706MFWKCE 89 4000 6500 6000 7000 0 1500 5000 1000MFWKBL 90 1048 1047 785 1042 0 1812 1556 2076TRQCST 112 205 326 395 684 29 251 419 454MDLCST 115 677 567 288 267 8162 828 729 791

B.7DIGITAL SERVOSTANDARDPARAMETER TABLE


211

Motor model α 12/2000 α 12/3000 α 22/2000 α M2 α M2.5 α M6/3000 α M9/3000 α 22/1500Motor order-

ing code0142 0143 0147 0376 0377 0162 0163 0146


No.

PK1 70 3121 1324 1975 600 400 950 748 2330PK2 71 –4953 –3671 –4041 –1957 –1154 –2582 –2402 –6381PK3 72 –3052 –3052 –3052 –2476 –2547 –3052 –2632 –2694PK1V 73 91 80 99 15 27 18 29 132PK2V 74 –1643 –1439 –1778 –267 –488 –320 –537 –2369PK4V 75 –8235 –8235 –8235 –8235 –8235 –8235 –8235 –8235PPMAX 76 21 21 21 21 21 21 21 21PDDP 77 1849 1849 1849 1849 1849 1849 1849 1849PVPA 78 –5135 –7683 –3590 –9230 –8722 –3590 –6407 –3872PALPH 79 –1500 –540 –2000 –1400 –1800 –1440 –1600 –2800TQLIM 80 7282 7282 7282 7282 7282 7282 7282 7282POVC1 81 32568 32614 32543 32685 32645 32727 32692 32370POVC2 82 2505 1922 2811 1041 1535 516 955 4981POVCLMT 83 7445 5709 8358 3089 4556 1529 2832 14847AALPH 84 10192 18384 18384 20480 8192 31672 12288 12288DBLIM 85 0 15000 15000 15000 15000 15000 0 0MGSTCM 86 0 24 0 2600 2584 24 32 24DETQLM 87 5220 0 3468 6440 7780 5220 5220 2660NINTCT 88 4037 2615 2956 1322 625 2729 853 3298MFWKCE 89 5000 2500 6000 2000 2500 2500 2000 7000MFWKBL 90 1045 1552 1300 2578 3847 1298 2570 1042TRQCST 112 527 601 911 139 143 581 653 684MDLCST 115 384 439 355 0 0 1971 1176 267

Motor model α 30/1200 β 3/3000 β 6/2000 β 1/3000 β 2/3000 α 2/2000 α L6/3000 α L9/3000Motor order-

ing code0151 0033 0034 0031 0032 0372 0562 0564


No.

PK1 70 5060 629 990 359 704 1170 1360 850PK2 71 –9923 –2093 –3544 –1129 –2401 –2289 –4000 –2300PK3 72 –2705 –2622 –2632 –2564 –2596 –2485 –2647 –2652PK1V 73 71 140 140 99 60 44 8 16PK2V 74 –1282 –2526 –2526 –894 –1084 –792 –152 –301PK4V 75 –8235 –8235 –8235 –8235 –8235 –8235 –8235 –8235PPMAX 76 21 21 21 21 21 21 21 21PDDP 77 1849 1849 1849 1849 1849 1849 1849 1849PVPA 78 –2078 –8208 –5136 2100 –9229 –7690 2330 2330PALPH 79 –1800 –2080 –1600 71 –1820 –1000 57 57TQLIM 80 7282 7282 7282 7282 7282 7282 5462 7282POVC1 81 32665 32456 32456 32617 32540 32627 32698 32614POVC2 82 1283 3897 3897 1884 2850 1766 877 1928POVCLMT 83 3809 11600 11600 5594 8474 5245 2602 5727AALPH 84 12288 0 0 0 0 0 3000 4000DBLIM 85 0 15000 12000 0 12000 15000 0 0MGSTCM 86 28 0 3382 0 3867 0 0 0DETQLM 87 0 7799 3120 7784 7868 6194 0 0NINTCT 88 7846 0 0 0 0 4800 0 0MFWKCE 89 9500 0 0 0 0 2500 0 0MFWKBL 90 788 0 0 0 0 1806 0 0TRQCST 112 1842 107 215 51 83 104 445 451MDLCST 115 493 252 236 499 491 797 4140 2095


212

Motor model α 1/3000 α 2/3000Motor order-

ing code0371 0373

Motor type 61 62Symbol Parameter

No.

PK1 70 390 530PK2 71 –1053 –1653PK3 72 –2480 –2490PK1V 73 54 62PK2V 74 –973 –1119PK4V 75 –8235 –8235PPMAX 76 21 21PDDP 77 1849 1849PVPA 78 2330 –6156PALPH 79 57 –1200TQLIM 80 7282 7282POVC1 81 32623 32519POVC2 82 1811 3112POVCLMT 83 5377 9256AALPH 84 1680 8194DBLIM 85 15000 15000MGSTCM 86 0 0DETQLM 87 7715 7780NINTCT 88 785 2300MFWKCE 89 0 3000MFWKBL 90 0 3088TRQCST 112 51 74MDLCST 115 649 564

B–65245EN/02 C. DIAGNOSIS LISTSAPPENDIXES

213

C #$

Diagnosis is carried out using the diagnosis screen of the power mateCNC manager on the host.

C. DIAGNOSIS LISTS B–65245EN/02APPENDIXES

214

#7 #6 #5 #4 #3 #2 #1 #0

000 ST UCPS2 –X +X DSAL MD4 MD2 MD1

001 IGNVRY DRC ABSRD *ILK SVFX *ESP ERS

002 Function code Command data 1

003 Command data 2

004 Command data 2

005 Command data 2

006 Command data 2

007 RT DRN ROV2 ROV1 *OV8 *OV4 *OV2 *OV1

C.1SIGNALS SENTFROM CNC (HOST)TO SERVOAMPLIFIER UNIT

C.1.1Peripheral EquipmentControl Interface (DRC = 0)


215

#7 #6 #5 #4 #3 #2 #1 #0

000 ST –X +X MD4 MD2 MD1

001 IGNVRY DRC WFN *ILK SVFX *ESP ERS

002 RT DRN ROV2 ROV1 *OV8 *OV4 *OV2 *OV1

003 INPF

004 EBUF EOREND ECNT

005 Direct command (function code)

006 Direct command (command data 1)










NOTE1 DGN numbers 000 to 015 correspond to signal addresses

Yy+ 0 to Yy+15, respectively.2 DGN numbers 008 to 015 (signal addresses Yy+8 to Yy+15)

are not used for the peripheral equipment control interface.3 See Section 2.2 of Part II for details of the signals.

C.1.2Direct CommandInterface (DRC = 1)


216

#7 #6 #5 #4 #3 #2 #1 #0

016 OPC4 OPC3 OPC2 OPC1 INPX SUPX IPLX DEN2

017 OP SA STL UCPC2 DRCO ABSWT

018 MA AL DSP2 DSP1 DSALO TRQM RST ZPX

019 Response data

020 Response data

021 Response data

022 Response data

023 SVERX PSG2 PSG1 MVX APBAL MVDX

C.2SIGNALS SENTFROM SERVOAMPLIFIER UNIT TOCNC (HOST)

C.2.1Peripheral EquipmentControl Interface (DRC = 0)


217

#7 #6 #5 #4 #3 #2 #1 #0

016 INPX SUPX IPLX DEN2

017 OP SA STL DRCO WAT

018 MA AL RST ZPX

019 INPFO SVERX PSG2 PSG1 MVX APBAL MVDX

020 EBSY EOSTB ECF USR1 EOPC DAL ECONT

021 Direct command (function code)


023 Direct command (response data 1)









NOTE1 DGN numbers 016 to 031 correspond to signal addresses

Xx+0 to Xx+15, respectively.2 DGN numbers 024 to 031 (signal addresses Xx+8 to Xx+15)

in the peripheral equipment control interface are used asresponse area for the power mate CNC manager.

3 See Section 2.2 of Part II for details of the signals.

C.2.2Direct CommandInterface (DRC = 1)


218

032 Servo positional deviation amount (servo amplifier unit)

033 Acceleration/deceleration delay amount (servo amplifier unit)

C.3SERVO POSITIONALDEVIATION AMOUNT(SERVO AMPLIFIERUNIT)

C.4ACCELERATION/DECELERATIONDELAY AMOUNT (SERVO AMPLIFIERUNIT)

B–65245EN/02D. POWER MATE CNC MANAGER FUNCTIONSAPPENDIXES

219

D " %% $ !%

D. POWER MATE CNC MANAGER FUNCTIONS B–65245EN/02APPENDIXES

220

This chapter explains the power mate CNC manager functions used by theCNC to set up and display the types of data for servo amplifier unit.

The functions provided are:

(1) Current position display (absolute/machine coordinate)

(2) Parameter display and setting

(3) Diagnosis

(4) System configuration screen

(5) Alarm

NOTEThese functions may not be available depending on theCNC model or option with which they are used.

D.1OVERVIEW


221

The CNC assigns I/O addresses for it. Because the CNC exchanges datawith an servo amplifier unit in 16–byte units, it is necessary to set thenumber of input/output points to 128. Up to eight servo amplifier unit canbe connected.

The names of modules used for I/O link connection are OC02I (16–byteinput) and OC02O (16–byte output). The BASE and SLOT are always 0and 1, respectively.

D.2I/O LINKCONNECTION


222

Each power motion manager function can be selected by first pressing thenext–menu key (rightmost soft key) on the CNC system screen severaltimes until [PMM] is displayed, then pressing this soft key. The initialscreen, that is, the system configuration screen, for the power motionmanager appears. On this screen, the desired function can be selected bypressing the corresponding soft key.

After a power motion manager function has been selected, if a functionkey on the MDI is pressed to select another function, then the SYSTEMfunction key is pressed, the previous screen of the function appears again.In this case, however, data being input has been canceled.

When a power motion manager function is selected, its initial screen, thatis, system configuration screen appears, and the following soft key menuis displayed (for a 9–inch CRT).

[ POS ][ ][ ][ SYSTEM ][ MSG ]

1 2 3 4 5

The soft key for the currently selected screen is displayed in reverse video.The soft keys of this menu are used to select the following functions.

POS : Current position display

SYSTEM: System information

MSG : Alarm list

After one of the above functions is selected, another function can beselected by pressing the previous–menu key (leftmost soft key) severaltimes until this soft key menu appears, then pressing the soft key for thedesired function in the menu.

When the leftmost soft key is pressed to display the function selectionkeys described in Section D.3.2, then the previous–menu key is pressed,the soft key menu for the CNC system appears, and the power motionmanager function is terminated. At this point, the system configurationscreen for the power motion manager functions is displayed as the endscreen.

After a power motion manager function is selected, another function canbe selected by pressing the corresponding function key (POS, PROG,MESSAGE, etc.) on the MDI.

D.3FUNCTIONSELECTION ANDTERMINATION

D.3.1Selection

D.3.2Function Selection SoftKey

D.3.3Termination


223

Once the data necessary for a connected servo amplifier unit has been setup or confirmed, it is possible to discontinue communication with thepower mate CNC manager (PMM) to give priority to those commandssent from the ladder program of the CNC to slaves. This is done by settingbit 3 of parameter P960 to 1. Communication between the CNC and aservo amplifier unit via an FANUC I/O Link is surrendered to the ladderprogram.

When this parameter is 1, only communication–independent items, suchas a title and function name, are displayed on the screen. The followingmessage appears to indicate that communication has been discontinued.

COMMUNICATION PROHIBITED BY P960#3

So that the power motion manager functions can run properly, it isnecessary to set the following data on the CNC parameter screen.

Parameter P960

(1) Bit 0 (SLV) (screen display)0 : One slave per screen1 : Four slaves per screen

(2) Bits 1 and 2 (MD1 and MD2) (data input/output destinations)Bit2 Bit1MD2 MD1

0 0 CNC memory (NOTE)0 0 Memory card

(3) Bit 3 (PMM) (whether to disable the PMM)0 : Enable1 : Disable

NOTEA data file is saved as a program to a memory area. TheCNC program list screen can be used to check whichmemory area is used for a particular data file.

When a power motion manager function is used, it is impossible to usean FANUC I/O Link–based data input/output function.

D.3.4Disabling the PowerMate CNC ManagerFunctions

D.3.5Parameter Setting

D.3.6Restriction


224

This manual focuses on the soft keys designed for use on the 9–inch CRT.For operation with the 14–inch CRT, follow the descriptions for the9–inch CRT while referring to the status transition diagram for the14–inch CRT, provided in item (2).

(1) Status transition diagram for the soft keys designed for use on the9–inch CRT

ZOOM1

POS SYSTEM MSG

WORK MACHIN

NO.SRC

2 3

3

NO.SRC INPUT

1

4

PARAM DGNOS SYSTEM (OPRT)1 4

PARAM6

DGNOS5

7

CNC SYSTEM 2

READ PUNCH

Transition occurs tostatus 2 when thecorresponding softkey is pressed.

PARAM64

8

CANCEL EXEC

3

3

6

6

D.5.1D.5.3D.5.2

D.5.4 D.5.5

D.5.6

D.5.1

6

1

2

3

4

5

6

7

8

See Section D.5.1.

If PARAM is selected,pressing the corre-sponding soft keycauses transition tostatus 6.

Return to the previousstatus.

↓ NEXT ↑ BACK

D.4FUNCTIONOVERVIEW

D.4.1Soft Key StatusTransition Diagram


225

(2) Status transition diagram for the soft keys designed for use on the14–inch CRT

POS SYSTEM MSG

↓ NEXT ↑ BACK ZOOM

WORK MACHIN

4 1

PARAM DGNOS SYSTEM (OPRT)

2 3

NO.SRC

3 1

D.5.2

D.5.4

CANCEL EXEC

2

1

1

4

5 3

6

NO.SRC INPUT READ PUNCH

8

PARAM6

DGNOS5

4

CNC SYSTEM

4

6 3

7 (N/A)

8 6

D.5.6

D.5.5

D.5.1D.5.3

Return to the previous status.

(3) Display screenIf a soft key from 2 to 4 is pressed, the corresponding screen appears.Pressing the previous–menu key resumes the function selection softkey menu. Pressing the previous–menu key again switches thedisplay screen and soft keys to the CNC system screen and terminatesthe power motion manager function.

(1) Selecting an active slaveThe term ”active slave” refers to the servo amplifier unit that is atarget of the zoom and parameter write functions explained in (2). Thetitle of an active slave is displayed in a different color from other servoamplifier unit. An active slave can be selected using the [↓ NEXT]and [↑ BACK] soft keys displayed by pressing the next–menu keyseveral times.[↓ NEXT]: Displays the screen for a servo amplifier unit connected

ahead of the current servo amplifier unit. Equipmentother than servo amplifier unit is ignored.

[↑ BACK]: Displays the screen for a sevo amplifier unit connectedbehind the current servo amplifier unit.

(2) Single–slave display and four–slave displayA parameter can select whether to display data about a single slaveon one screen or data about four slaves on one screen at a time. SeeSection D.3.5 for details of how to set data.

D.4.2Screen Configuration


226

If a four–slave display is on the screen, pressing the [ZOOM] soft key,which is displayed by pressing the next–menu key several times,causes switching to single–slave display for the active slave. If asingle–slave display is on the screen, pressing [ZOOM] will causeswitching to a four–slave display that contains data about the activeslave.If there are more than four slaves, those slaves that are not includedin the current four–slave display page are displayed on the subsequentpages. Data about a desired slave may be viewed using the [↓ NEXT]soft key to switch the active slave.

This example shows a four–slave display on the 14–inch CRT. Afour–slave display can also be presented on the 9–inch CRT.

This example shows a single–slave display on the 9–inch CRT. Asingle–slave display can also be presented on the 14–inch CRT.


227

(3) Guidance messagesThe following table lists the guidance messages that appear on themessage line when soft keys are displayed. See Section D.4.1 fordetails of soft keys 1 to 8.If, however, an alarm occurs in the power mate CNC manager, itsnumber and message are displayed. See Section D.6 for details.

Soft key Message

1 to 3 SELECT ACTIVE SLAVE []

4 SELECT ACTIVE SLAVE [↓] [↑]

5 to 8

No message is displayed, because these soft keys havethe same functions as in the existing CNC software. Themessage line is used as a key–in line to display theentered data.

(4) Key–in lineAfter the [(OPRT)] soft key is pressed, the message line becomes thekey–in line, as required. The key–in line displays numeric data keyedin, from the MDI keypad, at the prompt >.On the parameter and diagnosis screens, the key–in line appears whennumeric data is keyed in, even if the [(OPRT)] soft key has not beenpressed.

(5) Data input/outputOnce input/output units have been set up, data input/output is startedby first pressing the [READ] or [PUNCH] soft key on the parameterscreen, then [EXEC]. Keep in mind that it is impossible to switch toanother screen during an input/output operation. The input/outputoperation is discontinued if an alarm condition is detected duringcommunication.

(1) Operations1. Pressing the [(OPRT)] soft key prepares the required processes,

such as data rewrite and data search, for execution.2. The cursor and page keys on the MDI keypad can be used to move

the cursor or display another page for the active slave.3. To reselect the active slave, use the [↑ BACK] and [↓ NEXT] soft

keys. These soft keys are displayed by pressing theprevious–menu key to return to the soft key menu that wasdisplayed before [(OPRT)] was pressed, then the next–menu keyseveral times.

(2) Alarms1. CNC

In an alarm condition occurs in the CNC, the CNC alarm screenappears automatically. Check the alarm message, then press theSYSTEM function key to switch back to the previous functionscreen, as required.

2. SlaveUsually, a guidance message is displayed on the message line. Ifan alarm condition occurs in the servo amplifier unit, the groupnumber for the servo amplifier unit is displayed at the right endof the line. See the alarm screen for details of the alarm.

(3) Data protection keyIf the CNC data protection key is set to the on position, it is impossibleto write parameters into the CNC memory.

D.4.3Operations of anActive Slave


228

The system configuration screen displays system software informationabout the servo amplifier units. This screen is the first screen that appearswhen a power mate CNC manager function is selected. The systemconfiguration screen also appears when the power motion managerfunction is terminated.

(1) Display operationsPressing the [SYSTEM] function selection soft key displays thefollowing soft key menu and the screen that was displayed whenSYSTEM was previously selected. The soft key for the currentlydisplayed function is displayed in reverse video.

[ PARAM ] [ DGNOS ] [ ] [SYSTEM] [(OPRT)]

Pressing the [SYSTEM] soft key again selects and displays thesystem configuration screen. While this screen is displayed, the[SYSTEM] soft key is displayed in reverse video.

(2) Displays

Display example: Servo amplifier unit system software series andedition

D.5FUNCTION DETAILS

D.5.1System Configuration


229

The parameters required for each function of the servo amplifier unit mustbe set up in advance.

(1) Display operationsPressing the [SYSTEM] function selection soft key displays thefollowing soft key menu:


Pressing the [PARAM] soft key displays the parameter screen.

(2) Displays

This screen displays bit–type and decimal data only.

(3) Saving parametersParameters can be saved as program data files to the CNC memoryor to a memory card.To save parameters, first set the first registration program number inparameter P8760. Programs are created using a number assigned toeach servo amplifier unit. This number is treated as a program numberwhen the parameters are saved to the CNC memory. When they aresaved to a memory card, however, a file is created using the programnumber and PMM as its file name and file extension, respectively.

Example: If 8000 is set in parameter P8760A program number for a program in group n is: 8000 + n*10The group number is a number in ”group n” displayed in the titleof a servo amplifier unit. If the program number is already in thememory, the setting of bit 2 of CNC parameter P3201 (REP) isfollowed.Bit 2 of P3201 (REP)0: If the same number is found during program registration, an

alarm is issued.1: If the same number is found during program registration, the

existing program is overwritten with the new data.Parameter P960 is used to select a device to save parameters.See D.3.5 for details.Before proceeding to the following steps, connect a memory cardor ensure that the CNC memory is available.

D.5.2Parameters


230

1. Select an active slave.2. Press the [(OPRT)] soft key to display:

[NO.SRC] [ ] [ ] [ ] [INPUT]

Press the next–menu key.

[ ] [ READ ] [PUNCH] [ ] [ ]

3. Press the [READ] soft key to display:

[ ] [ ] [ ] [CANCEL] [ EXEC ]

Press the [EXEC] soft key.While the parameters are being saved, the message ”INPUT”blinks on the message line.

(4) Writing parametersParameter data files saved as programs to the CNC memory ormemory CAD can be restored and written to the servo amplifier unitdetermined from a program number. The program number and deviceare determined using the same method as in item (3).1. Select an active slave.2. Press the [(OPRT)] soft key to display:

[NO.SRC] [ ] [ ] [ ] [INPUT]

Press the next–menu key.

[ ] [ READ ] [PUNCH] [ ] [ ]

3. Press the [PUNCH] soft key to display:

[ ] [ ] [ ] [CANCEL] [ EXEC ]

Press the [EXEC] soft key.While the parameters are being written, the message ”OUTPUT”blinks on the message line.

(5) Searching for parametersA parameter can be searched for and displayed by means of thefollowing procedure.1. Select an active slave.2. Press the [(OPRT)] soft key to display:

[NO.SRC] [ ] [ ] [ ] [INPUT]

3. Key in a desired number on the key–in line using the MDIkeypad, then press the [NO.SRC] soft key to start the search.


231

(6) Setting parametersParameters for servo amplifier units can be set directly from the CNCby means of the following procedure.1. Select an active slave.2. Press the [(OPRT)] soft key to display:

[NO.SRC] [ ] [ ] [ ] [INPUT]

3. Position the cursor to the desired parameter.4. Key in the desired data on the key–in line using the MDI keypad,

then press the [INPUT] soft key or the INPUT key on the MDIkeypad.

The status of the current processing for a servo amplifier unit can bereferenced using the diagnosis screen.

(1) Display operationsPressing the [SYSTEM] function selection soft key displays thefollowing soft key menu:


Pressing the [DGNOS] soft key displays the diagnosis screen.

(2) DisplaysBasically, the same screen as that used for parameter handling is used.See Appendix C “DIAGNOSIS LISTS” for contents.

The current position can be displayed using a workpiece coordinatesystem. The absolute coordinate screen appears when the POS soft keyis pressed for the first time after the power is switched on.

(1) Display operationsPressing the [POS] function selection soft key displays the followingsoft key menu:

[ WORK ] [ ] [MACHIN] [ ] [ ]

Pressing the [WORK] soft key displays the absolute coordinate screen.

(2) Displays

1 : Coordinate F: Actual speed

D.5.3Diagnosis

D.5.4Absolute Coordinate


232

The current position can be displayed using a machine coordinate system.

(1) Display operationsPressing the [POS] function selection soft key displays the followingsoft key menu:

[ WORK ] [ ] [MACHIN] [ ] [ ]

Pressing the [MACHIN] soft key displays the machine coordinatescreen.

(2) DisplaysBasically, the same screen as that used for the absolute coordinatesis used for the machine coordinates.

If an alarm condition occurs in processing for a servo amplifier unit, thegroup number for the amplifier is displayed at the right end of the messageline on each screen. The alarm can be checked on the corresponding alarmscreen. Example: ”13” (indicating that an alarm condition has occurred inservo amplifier units in groups 1 and 3).

(1) Display operationsPressing the [MSG] function selection soft key displays only an errorcode on the screen.

(2) Displays

Up to 40 items can be displayed.

D.5.5Machine Coordinates

D.5.6Alarms


233

If an alarm occurs in the power mate CNC manager, the alarm number andmessage are displayed on the message line.

Number Message Contents

003 PROGRAM NOT REGISTERED An attempt was made to punch a program not found in the pro-gram area using “PUNCH” (programservo amplifier unit).

004 PROGRAM PROTECTED An attempt was made to execute “READ” (servo amplifierunitprogram) on the program area when the memory protectionkey (KEY) was off.

009 CNC DATA NOT CORRECT An attempt was made to execute “READ” (servo amplifierunitprogram) when the program area already contained a pro-gram with the same name as that to be created by executing“READ” (servo amplifier unitprogram).An attempt was made to execute “READ” (servo amplifierunitprogram) when the same program number as that of theprogram to be created by executing “READ” (servo amplifierunitprogram) was selected.

018 MEMORY OVER FLOW An attempt was made to execute “READ” (servo amplifierunitprogram) when the program area did not have enough freespace.

054 GROUP NOT CONNECTED The servo amplifier unit is not connected.

056 FORMAT ERROR Data other than digits, signs, CAN, and INPUT was entered as aparameter setting.

057 TOO MANY DIGITS Data of 9 or more digits was entered for a bit–type parameter.

058 DATA IS OUT OF RANGE The setting exceeds the valid data range.

064 FILE NOT REGISTERED An attempt was made to execute “PUNCH” (memory cardservoamplifier unit) when the memory card did not contain a program toperform “PUNCH” (memory cardservo amplifier unit).

079 UNEXPECTED ALARM An attempt was made to execute “READ” (servo amplifierunitmemory card) when the memory card was protected.

081 THIS PARAMETER IS UNAVAILABLE An attempt was made to set a value for a parameter not availableto the servo amplifier unit.

D.6ALARM DISPLAY ONTHE POWER MATECNC MANAGER

E. SERVO CHECK BOARD B–65245EN/02APPENDIXES

234

E %&%' (#

(1) OverviewThe servo check board converts digital values, used in digital servocontrol, to an analog voltage so that they can be observed on anoscilloscope.

(2) Servo check board ordering information

Ordering code Name

A06B–6057–H602 Servo check board (with a reverse–instruction prevention cable)

A06B–6093–K021 Check board adapter (with a cable, dedicated to servo amplifier unit)

(3) Servo check board connectionBefore attempting to connect the servo check board, switch off theNC power. The clock pin (S1) of the check board must always bestrapped to the 5 MHz position.

CN2TEST

JD1A

servo amplifierunit

Cable suppliedwith the adapter Servo check

boardadapter

Cable suppliedwith the checkboard Servo check

board

I/O linkTo the slave unit

ConnectorJD1A

(4) Signal output locationsWhen bit 0 of parameter No. 14 = 0:

Check pin CH1 CH2 CH5

Signal name VCMD TCMD TSA

To observe signals on channels 1, 2, and 5, set the rotary switch onthe check board to position 0.

When bit 0 of parameter No. 14 = 1:

Check pin CH1 CH2 CH5

Signal name R–phase actual current

S–phase actual current

TSA

To observe signals on channels 1, 2, and 5, set the rotary switch onthe check board to position 0.

B–65245EN/02 E. SERVO CHECK BOARDAPPENDIXES

235

(5) VCMD signal

The VCMD signal is used to output a velocity command. This signalcan also be used to measure the minute vibrations of the motor andany uneven feed.Before observing this signal, check that bit 0 of parameter No. 14 is 0.

The amplitude of the VCMD signal can be switched using bits 0 and1 of parameter No. 13.

The VCMD signal switches between +5 V and –5 V. Switch theamplitude using this parameter if it is difficult to observe thewaveform.

#7 #6 #5 #4 #3 #2 #1 #0

13 VCM2 VCM1

VCM2 VCM1 Number of specified revolutions/5 V

1 1 0.9155 rpm

1 0 14 rpm

0 1 234 rpm

0 0 3750 rpm

First, observe the entire waveform of the signal using the DC modeof the oscilloscope, then switch to AC mode and enlarge the range.Minute vibration and uneven positional shifts can be checked.

VCMDGND

GND

E

1/f

DC mode AC mode

Enlarged

Letting W (rpm/5 V) be the signal conversion ratio of the VCMDwaveform, the voltage per positional deviation amount pulse is:

Voltage (V) per positional deviation amount pulse

300 x position gain (s–1)

Number of position feedback pulses/motorrevolution x W

=

(Example)

Supposing position gain = 30 (s–1), number of position feedbackpulses/motor revolution = 10,000, E = 300 mV, 1/f = 20 ms, VCM1= 0, and VCM2 = 1, the voltage per positional deviation pulse is: 64mV/pulse

Thus:

Table vibration = 300 1/64 = 4.6 µm

Vibration cycle = 50 Hz

E. SERVO CHECK BOARD B–65245EN/02APPENDIXES

236

(6) TCMD signalThe TCMD signal is used to output a motor torque command. Whenthe motor is rotating at high speed, the current indicated by this signalmay differ from the actual motor current (IR or IS) because of the backelectromotive force in the motor.Before observing this signal, check that bit 0 of parameter No. 14 is 0.

Maxi-mum

current

Maximum–current signal output Ap/V Applicable servo motor

12Ap 4.44V 2.7 β 0.5/3000, β 1/3000

β 2/300, α 1/3000

α 2/2000, α 2/3000

20Ap 4.44V 4.5 β 3/3000, β 6/2000

α M2/3000, α M2.5/3000

α C3/2000, α C6/2000

α C12/2000

40Ap 4.44V 9.0 α 3/3000, α 6/2000

α 12/2000, α 22/1500

α C22/1500

80Ap 4.44V 18.0 α 6/3000, α 12/3000

α 22/2000, α 30/1200

α M6/3000, α M9/3000

α L6/3000, α L9/3000

Effective (RMS) value = TCMD signal output (Ap) x 0.71

(7) TSA signalThe TSA signal is used to output the rotational speed of the motor.The amplitude of the signal can be switched using bits 4 and 5 ofparameter No. 13.The TSA signal switches between +5 V and –5 V. Switch theamplitude using this parameter if it is difficult to observe thewaveform.

#7 #6 #5 #4 #3 #2 #1 #0

13 TSA2 TSA1

TSA1 TSA2 Number of specified revolutions/5 V

1 1 0.9155 rpm

1 0 14 rpm

0 1 234 rpm

0 0 3750 rpm

B–65245EN/02 E. SERVO CHECK BOARDAPPENDIXES

237

(8) IR signalThe IR signal is used to output the R–phase actual current of themotor. Before observing the signal, check that bit 0 of parameter No.14 is 1.

Maximum current

Maximum–current signal output Applicable servo motor

12Ap 4V β 0.5/3000, β 1/3000

β 2/300, α 1/3000

α 2/2000, α 2/3000

20Ap 4V β 3/3000, β 6/2000

α M2/3000, α M2.5/3000

α C3/2000, α C6/2000

α C12/2000

40Ap 4V α 3/3000, α 6/2000

α 12/2000, α 22/1500

α C22/1500

80Ap 4V α 6/3000, α 12/3000

α 22/2000, α 30/1200

α M6/3000, α M9/3000

α L6/3000, α L9/3000

(9) IS signalThe IS signal is used to output the S–phase actual current of the motor.Before observing the signal, check that bit 0 of parameter No. 14 is 1.

Maximum current

Maximum–current signal output Applicable servo motor

12Ap 4V β 0.5/3000, β 1/3000

β 2/300, α 1/3000

α 2/2000, α 2/3000

20Ap 4V β 3/3000, β 6/2000

α M2/3000, α M2.5/3000

α C3/2000, α C6/2000

α C12/2000

40Ap 4V α 3/3000, α 6/2000

α 12/2000, α 22/1500

α C22/1500

80Ap 4V α 6/3000, α 12/3000

α 22/2000, α 30/1200

α M6/3000, α M9/3000

α L6/3000, α L9/3000

IndexB–65245EN/02

i–1

A

Absolute Coordinate, 231

Acceleration/Deceleration Control Parameters, 187

Acceleration/Deceleration Delay Amount (Servo AmplifierUnit), 218

Acceptance Inspection and Servo Motor Storage, 168

Action Against Noise, 144

Alarm, 43, 85, 90

Alarm (DAL), 109

Alarm Display and Corresponding Countermeasures, 138

Alarm Display on the Power Mate CNC Manager, 233

Alarms, 232

ATC/Turret Control, 70

Automatic Operation, 50

Axis Movement Commands, 125

B

Basic Configuration, 5

C

Cautions on Using the Power Mate CNC, 33

Check Procedure, 24

Checking the Power Supply Voltage and Capacity, 9

Clamp and Unclamp (for the Peripheral Equipment ControlInterface Only), 52

Command Completion Notification (ECF), 108

Command Format for Peripheral Equipment Control, 66

Command Timing Chart, 82, 90

Configuration, 4

Connection of the Separate Regenerative Discharge Unit, 11

Control of the Point Data External Setting Function, 91

Controlled–Axis Parameters, 181

Coordinate System and Stroke Limit Parameters, 182

Coordinate System Setting, 87

D

Deceleration Limit Switch Installation Condition, 94

Detailed Description, 134

Details of Direct Command Functions, 111

Details of Function, 100

Details of Function Codes, 70

DI/DO Signals, 101

Diagnosis, 231

Diagnosis Lists, 213

Digital Servo Standard Parameter Table, 210

Direct Command Control Procedure, 107

Direct Command Execution Result, 109

Direct Command Format, 105

Direct Command Function Code and Related Information, 57

Direct Command Interface, 32, 37

Direct Command Interface (DRC = 1), 215, 217

Direct Commands, 104, 110

Direct Input Signals, 63

Disabling of Clamp Processing When Jog Operation is Stopped,99

Disabling the Power Mate CNC Manager Functions, 223

DO/DO Signals, 35

EExample of Program, 98

Explanation of Function, 93, 97, 98, 99

External Pulse Input Function, 132

FFANUC I/O Link Interface Area, 31

Feedrate, 48

Feedrate Parameters, 185

For Servo Amplifier Units of the 12A and 20A Types, 159

For Servo Amplifier Units of the 40A and 80A Types, 160

Function Codes, 68

Function Details, 228

Function for Specifying the Direction of Rotation AxisHigh–Speed Reference Position Return, 97

Function Overview, 224

Function Selection and Termination, 222

Function Selection Soft Key, 222

II/O Link Connection, 221

Input/Output Signals Parameters, 189

Instruction Command Control (EBUF, EBSY, and ECNT), 107

Interface, 32

Interface Switching, 32

Interlock, 50

JJog Feed, 44

LLeakage Current and Ground Fault Interrupter, 10

M

Machine Coordinates, 232

INDEX B–65245E/02

i–2

Maintenance of Servo Motor, 167

Memory Registration Procedure, 131

Mode Selection, 44

N

Notes, 103

O

Operation Check Method, 23

Operation Procedure, 131

Operations of an Active Slave, 227

Order Codes of Replacement Components, 173

Others, 85

PParameter, 83, 90, 96, 97, 98, 99, 102

Parameter Initialization, 19

Parameter Setting, 223

Parameters, 112, 179, 229

Periodic Check of Servo Motor, 171

Peripheral Equipment Control, 65

Peripheral equipment control command format, 81, 89

Peripheral Equipment Control Function Code and RelatedInformation, 54

Peripheral Equipment Control Interface, 32, 35

Peripheral Equipment Control Interface (DRC = 0), 214, 216

Peripheral Equipment Control Procedure, 67

Point Positioning Control, 72

Positioning Control (Absolute/Incremental Specification), 78

Power Mate CNC Manager Functions, 219

Power Supply Connection, 9

Preparation Completion, 41

R

Receiving Response Data, 67

Reference Position Return, 50, 74

Reference Position Return Function with Dogs, 93

Reference position return operation (Grid Method), 93

Reference Position Setting (when the Reference PositionExternal Setting Function is Used), 76

Replacing Battery of the Absolute Pulse Coder, 153

Replacing Fan Motor, 158

Replacing Fuse, 161

Replacing the Fuse in the Servo Amplifier Units of the 12A and20A Types, 162

Replacing the Fuse in the Servo Amplifier Units of the 40A and80A Types, 163

Reset and Emergency Stop, 42

Response Command Control (EOREND, EOSTB, EOPC,USR1, and ECONT), 108

Response Data Check Signals DSP1, DSP2, 101

Response Data Read Completion Signal ABSRD, 101

Response Data Write Completion Signal ABSWT, 101

Restriction, 223

Rewriting of Parameters, 88

Rotation Axis Rotation Direction Sign Specification Function,98

Routine Check of Servo Motor, 169

SScreen Configuration, 225

Selection, 222

Servo Amplifier Unit Front View, 177

Servo Amplifier Unit Interface, 30

Servo Check Board, 234

Servo Parameters, 195

Servo Positional Deviation Amount (Servo Amplifier Unit), 218

Servo–off, 53

Signal, 85

Signal Descriptions, 34

Signal Details, 41

Signal Operation Commands, 111

Signals (Listed in Groups), 39

Signals Sent from CNC (Host) to Servo Amplifier Unit, 214

Signals Sent from Servo Amplifier Unit to CNC (Host), 216

Soft Key Status Transition Diagram, 224

Specifications of the Fuses for Servo Amplifier Units, 164

Specifying Operation Using a Function Code, 67

Speed Control, 80

Start of the Timer Counting Until Servo–off in ClampProcessing, 99

Start–up Procedure, 7

Start–up Procedure (Summary), 8

Status Read, 115

Status Signals, 45

SVU–12/20, 11

SVU–40/80, 13

System Configuration, 80, 228

System configuration, 88

TTeaching–based Data Setting Control, 92

Termination, 222

Thirty–Two–Block Buffering Operation, 131

Tip, 95

U

Upgrading of the Clamp/Unclamp Control Function, 99

INDEXB–65245EN/02

i–3

Upgrading of the Response Data Read Function, 100

Upgrading of the Rotation Axis Control Function, 97

Rev

isio

n R

eco

rd

FAN

UC)

β*%

MA

NU

AL

(B

–652

45E

N)

02O

ct.,

’99

Add

ition

of d

escr

iptio

ns o

f typ

es 4

0A a

nd 8

0A

01S

ep.,

’97

Edi

tion

Dat

eC

onte

nts

Edi

tion

Dat

eC

onte

nts

· No part of this manual may bereproduced in any form.

· All specifications and designsare subject to change withoutnotice.

ge fanuc automation · s–1 safety precautions fanuc servo motor series fanuc servo motor...

Documents