FANUC Series 16i/160i/160is-MODEL B, Series 18i/180i/180is-MODEL B, Series 21i/210i/210is-MODEL B. MAINTENANCE MANAUL

8. EMBEDDED ETHERNET FUNCTION

B-63525EN/02

8.8.4

This subsection describes how to check the state of communication

between the CNC and personal computer.

Checking

Communication

Checking the connection status and settings

If communication with the CNC is not satisfactory or fails from time to

time, check the communication link by using the method described

below. The ping command is used to check communication.

Checking from the

See Item 6 of Section 3.2, ”EMBEDDED ETHERNET MAINTENANCE

embedded Ethernet side

SCREEN”.

If no response is received from the remote device, the cause is considered

to be a hardware connection error and/or software setting error. Check the

hardware connection and software settings.

Checking from the

An example where a personal computer (OS: Windows NT 4.0) is used

personal computer side

is described below.

Method of checking:

Open the command prompt, then enter ”ping NC-IP-address”. A normal

connection has been established if a response is received.

The example below supposes that the IP address of the CNC is

192.168.1.1.

1) When a response is received (normal)

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8. EMBEDDED ETHERNET FUNCTION

2) When no response is received (error)

If no response is received from the CNC, the cause is considered to be

a hardware connection error and/or software setting error. Check the

hardware connection and software settings.

Checking the influence of noise

The method of checking communication errors caused by noise is

described below.

The ping command is used for this checking as well.

The -t option of the ping command is used. Until the ”Ctrl + C” keys are

pressed simultaneously, ping packets are transmitted.

1. Influence of noise from peripheral equipment (device)

1) Turn on the power to the machine with the embedded Ethernet

function for which a noise influence check is to be made, and ensure

that communication is enabled.

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8. EMBEDDED ETHERNET FUNCTION

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2) Press the emergency stop button of the machine to turn off

servo/spindle amplifier activation, then issue a ping command

from the personal computer.

3) Count the number of lost packets (to which no response is

returned).

If lost packets occur in this state, there is probably an influence of

noise from peripheral equipment.

Action: Locate the noise source and recheck the

cabling to eliminate the influence of noise.

Influence of noise from the installed machine

1) Next, release the emergency stop state of the machine to turn on

servo/spindle amplifier activation, then issue another ping

command from the personal computer.

2) Count the number of lost packets.

If this number is greater than the number of Item 1 above, the cause

is considered to be noise generated by the machine itself. In

general, the grounding of the machine or the grounding of the

communication destination is defective.

Action: Check the grounding of the machine and the

communication destination, and insulate the machine

from the communication backbone.

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8. EMBEDDED ETHERNET FUNCTION

If an error occurs with the embedded Ethernet function, the log screen of

8.9

the embedded Ethernet function displays an error message.

ERROR MESSAGES

This section describes error messages displayed on the log screen.

The major error messages are described below.

If an error occurs, display the log screen and check the error message to

identify the cause of the error.

Multiple error messages may be displayed for an error. So, check the

display times of error messages.

8.9.1

OWN IP ADDRESS IS NOTHING

The IP address of the local node is not set. Set an IP address correctly.

EMB_ETH MASTER

OWN IP ADDRESS(???) IS INVALID

CTRL LOG Screen

The setting (???) of the IP address of the local node is incorrect. Correct

the IP address.

SUBNET MASK IS NOTHING

The subnet mask of the local node is not set. Set a correct subnet mask.

SUBNET MASK(???) IS INVALID

The setting (???) of the subnet mask of the local node is incorrect. Correct

the subnet mask.

ROUTER IP ADDRESS(???) IS INVALID

The setting (???) of the IP address of the router is incorrect. Correct the

IP address of the router.

TCP PORT NUMBER(???) IS INVALID

The setting (???) of the TCP port number is incorrect. Correct the TCP

port number.

UDP PORT NUMBER(???) IS INVALID

The setting (???) of the UDP port number is incorrect. Correct the UDP

port number.

UDP INTERVAL TIME(???) IS INVALID

The setting (???) of the time interval for UDP transmission is incorrect.

Correct the time interval.

Embedded LANC SelfTest Error [???]

An error was detected when the LAN controller of the embedded Ethernet

was initialized.

The error code is [???]. Hardware replacement is needed.

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8. EMBEDDED ETHERNET FUNCTION

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8.9.2

TCP PORT NUMBER(???) IS INVALID

The setting (???) of the TCP port number is incorrect. Correct the TCP

EMB_ETH

port number.

FOCAS1/ETHER LOG

Illegal Broadcast IP ADDRESS

Screen

The broadcast address for UDP transmission is incorrect. Correct the

subnet mask and IP address of the local node.

Illegal Power-on Date or Time

The current time setting of the CNC is incorrect. Correct the clock of the

CNC.

ALL TASKS(C1) ARE BUSY

The FOCAS1/Ethernet function or DNC1/Ethernet function is already

engaged in communication with five applications.

Terminate

unnecessary communication applications on the personal computer.

If the cable is disconnected before communication is completed, the

embedded Ethernet may need to be reset and initialized.

Err accept() [???]

An error occurred when a connection request from the personal computer

is being awaited. The error code is [???]. This error message is output,

for example, when the embedded Ethernet is reset.

Err recv() [???]

An error occurred during data reception. The error code is [???].

This error message is output, for example, when the embedded Ethernet

is reset before communication is closed.

8.9.3

The setting of the user name or password is incorrect. Check the user

EMB_ETH FTP

name and password.

TRANSFER LOG

Parameters are invalid

Screen

The port number and IP address of the host computer set on the parameter

setting screen are incorrect. Check the settings of the port number and IP

address.

(???) is not found

The host computer with which an attempt is made to perform FTP

communication cannot be found on the network. The IP address of the

host computer to be connected with is indicated by (???). Check if the

power to the host computer is turned on and if the host computer is

connected to the network correctly.

8.9.4

FACTOLINK#1 IP ADDRESS(???) IS INVALID

The setting of the IP address (???) of the FACTOLINK server is incorrect.

EMB_ETH FACTOLINK

Check the setting of the IP address.

LOG Screen

FACTOLINK#1 PORT NUMBER(???) IS INVALID

The port number (???) of the FACTOLINK server is incorrect. Check the

setting of the program number.

Err ALREADY CONNECTED

An additional request is made for connection with a port already

connected.

The embedded Ethernet needs to be reset.

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8. EMBEDDED ETHERNET FUNCTION

This section briefly describes Ethernet-related terms.

8.10

The descriptions below provide minimum information only. For further

GLOSSARY FOR

information, refer to relevant publications available on the market.

ETHERNET

TCP/IP

For Ethernet-based communication, the TCP/IP (Transmission Control

Protocol/Internet Protocol) protocol is generally used. A protocol is a set

of rules used to ensure smooth communication between communication

devices connected via a transmission line. The TCP/IP protocol is a part

of the hierarchical structure consisting of the protocols and services

indicated below.

Hierarchy

Protocol/network service

Application layer

User services such as FTP

Transport layer

Protocols such as TCP and UDP

Network layer

Protocols such as IP and ICMP

Data link layer

Protocols such as ARP and RARP

MAC layer

Physical layer

Hardware such as cables and devices

In general, the TCP/IP protocol is a generic term that represents the

protocols installed in the transport layer and network layer.

IP address (INET

With TCP/IP, an address referred to as an IP address (INET address) is

address)

used to identify a specified communication device among the

communication devices connected via Ethernet. So, for communication

using TCP/IP, each communication device connected to Ethernet must

have a unique IP address assigned.

An IP address is four octets (bytes) long. Usually, an IP address is

represented by four 8-bit (octet or byte) fields separated by a period from

each other. Each octet can have a value from 0 to 255.

An IP address consists of the address of the network to which the

communication device is connected, and the host address of the

communication device. Networks are classified into three classes by

group size: class A, class B, and class C.

First octet value

Network ad-

Host address

dress section

section

Class A

0 to 127

Âxxx.xxx.xxx.xxx

xxx.xxx.xxx.xxx

ÂÂÂ

ÂÂÂÂ

Class B

128 to 191

x.xxx.xxx.xxx

xxx.xxx.xxx.xxx

ÂÂÂ

Class C

192 to 223

xxx.xxx.xxx.xxx

(A hatched portion indicates the section of each address.)

If a network supports no more than 255 communication devices, class C

is generally used.

The IP addresses of all communication devices on one network have the

same network address, and only the host address of each communication

device is unique on the network.

An IP address with its network address and host address all set to 0 or 255

is unusable.

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8. EMBEDDED ETHERNET FUNCTION

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IP addresses are internationally managed systematically. This means that

before an IP address can be used, the IP address must be obtained formally

from the international organization.

If the network used by a user is a local network closed within the user’s

environment (not connected to an outside network), unique IP addresses

may be set freely under the control and responsibility of the user. For a

local network, the following network addresses can be used without

formal registration: 1 address (10) for class A, 16 addresses (172.16 to

172.31) for class B, and 256 addresses (192.168.0 to 192.168.255) for

class C. So, it is recommended that IP addresses with these network

addresses be used for a local network.

Subnet mask (mask

Mask address for indicating the network address section of an IP address.

address)

For a network of class A, specify 255.0.0.0.

For a network of class B, specify 255.255.0.0.

For a network of class C, specify 255.255.255.0.

MAC address (Ethernet

A MAC address is assigned to the Ethernet control board of each

address)

communication device, and is used to identify each communication

device on the MAC layer (lower part of the data link layer). A unique

address obtained from an international organization is used so that no

address duplication occurs among Ethernet control board suppliers.

Port number

The port number is a 16-bit integer used to associate the transport layer

(TCP or UDP) of TCP/IP and a process of the application layer. Port

numbers from 0 to about 8000 are called well-known port numbers and

assigned to standard applications

(such as Telnet and FTP). The

assignment of port numbers is described in Assigned Numbers

[RFC1340].

When using the FOCAS1/Ethernet function and DNC1/Ethernet

function, assign port numbers other than the well-known port numbers.

Broadcast

Transmitting a message to all nodes in the same segment

Client

Device or application that requests a service

Server

Device or application that provides a service

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9. DIGITAL SERVO

B-63525EN/02

This section describes how to set initial servo parameters, which is used

9.1

for field adjustment of machine tool.

INITIAL SETTING

1. Turn on power at the emergency stop condition.

SERVO PARAMETERS

2. Set the parameter to display the servo tuning screen.

3111

SVS

#0 (SVS)

0 : Servo tuning screen is not displayed.

1 : Servo tuning screen is displayed.

3. Turn off the power once then turn it on again.

4. Display the servo parameter setting screen by the following

operation:

SYSTEM

key

[SV.PARA].

5. Input data required for initial setting using the cursor and page key.

SERVO SETTING

X-AXIS

Y-AXIS

(1)INITIAL SET BIT

00000000

PRM

2000

(2)MOTOR ID NO.

PRM

2020

(3)amr

00000000

PRM

2001

(4)cmr

PRM

1820

(5)FEED GEAR N

PRM

2084

(6)

(N/M) M

125

PRM

2085

(7)DIRECTION SET

111

PRM

2022

(8)VELOCITY PULSE NO.

8192

PRM

2023

(9)POSITION PULSE NO.

12500

PRM

2024

(10)REF.COUNTER

8000

PRM

1821

(1) Initial set bit

2000

PRMCAL

DGPRM

PLC01

#3 (PRMCAL)

1 : Turns to 1 when the initial setting is done.

The following parameters are set automatically in

accordance with the no. of pulses of pulse coder:

PRM 2043(PK1V), PRM 2044(PK2V), PRM 2047(POA1),

PRM 2053(PPMAX),PRM 2054(PDDP),

PRM 2056(EMFCMP),

PRM 2057(PVPA), PRM 2059(EMFBAS),

PRM 2074(AALPH),PRM 2076(WKAC)

#1 (DGPRM)l

0 : Initial setting of digital servo parameter is done.

1 : Initial setting of digital servo parameter is not done.

#0 (PLC01)

0 : Values of parameter 2023 and 2024 are used as they are:

1 : Values of parameter 2023 and 2024 are multiplied by 10.

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9. DIGITAL SERVO

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(2) Motor ID No.

Select the motor ID No. of the servo motor to be used, according to the

motor model and drawing number

(the middle four digits of

A06B-XXXX-BXXX) listed in the tables on subsequent pages.

NOTE

Servo axes are controlled in groups of two axes. So, for

successive servo control numbers (odd number and even

number), motor type number unified for servo HRV1 or for

servo HRV2 or HRV3 must be specified.

(a) αi series servo motor

In the following tables for αi series servo motor, The motor type

numbers not enclosed in parentheses are for servo HRV1, and the

motor type numbers enclosed in parentheses are for servo HRV2

and HRV3.

- αi series servo motor

Motor model

α1/5000i

α2/5000i

α4/3000i

α8/3000i

Motor specification

0202

0205

0223

0227

Motor type No.

152(252)

155(255)

173(273)

177(377)

Motor model

α12/3000i

α22/3000i

α30/3000i

α40/3000i

Motor specification

0243

0247

0253

0257

Motor type No.

193(293)

197(297)

203(303)

207(307)

- αCi series servo motor

Motor model

αC4/3000i

αC8/2000i

αC12/2000i

αC22/2000i

Motor specification

0221

0226

0241

0246

Motor type No.

171(271)

176(276)

191(291)

196(296)

Motor model

αC30/1500i

Motor specification

0251

Motor type No.

201(301)

- αMi series servo motor

Motor model

αM2/5000i

αM3/5000i

αM8/4000i

αM12/4000i

Motor specification

0212

0215

0235

0238

Motor type No.

162(262)

165(265)

185(285)

188(288)

Motor model

αM22/4000i

αM30/4000i

αM40/4000i

Motor specification

0265

0268

0272

Motor type No.

215(315)

218(318)

222(322)

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9. DIGITAL SERVO

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- Linear motor

Motor model

1500A/4

3000B/2

6000B/2

9000B/2

Motor specification

0410

0411

0412

0413

Motor type No.

Motor model

15000C/2

3000B/4

6000B/4

9000B/4

Motor specification

0414

0411-B811

0412-B811

0413-B811

Motor type No.

120

121

122

Motor model

15000C/3

300D/4

600D/4

900D/4

Motor specification

0414-B811

0421

0422

0423

Motor type No.

123

124

125

126

The motor type numbers are for servo HRV1.

These motor type Nos. may not be supported depending on the servo

software being used.

The following lists the motor type Nos. together with the applicable servo

software series and editions (A or later).

- αi series servo motor

Servo software series

9060

90B0

Motor

model and

motor type number

α1/5000i

152(252)

α2/5000i

155(255)

α4/4000i

173(273)

α8/3000i

177(277)

α12/3000i

193(293)

α22/3000i

197(297)

α30/3000i

203(303)

α40/3000i

207(307)

- αCi series servo motor

Servo software series

9060

90B0

Motor

model and

motor type number

αC4/3000i

171(271)

αC8/2000i

176(276)

αC12/2000i

191(291)

αC22/2000i

196(296)

αC30/1500i

201(301)

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9. DIGITAL SERVO

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- αMi series servo motor

Servo software series

9060

90B0

Motor

model and

motor type number

αM2/5000i

162(262)

αM3/5000i

165(265)

αM8/4000i

185(285)

αM12/4000i

188(288)

αM22/4000i

215(315)

αM30/4000i

218(318)

αM40/4000i

222(322)

- Linear motor

Servo software series

9060

90B0

Motor

model and

motor type number

1500A/4

3000B/2

6000B/2

9000B/2

15000C/2

3000B/4

120

6000B/4

121

9000B/4

122

15000C/3

123

300D/4

124

600D/4

125

900D/4

126

The motor type numbers are for servo HRV1.

(b) For a series servo motor

Model name

a 0.5

a 1/3000

a 2/2000

a 2.5/3000

a 3/3000

Drawing number

0113

0371

0372

0374

0123

Format number

Model name

a 6/2000

a 6/3000

a 12/2000

a 12/3000

a 22/1500

Drawing number

0127

0128

0142

0143

0146

Format number

Model name

a 22/2000

a 22/3000

a 30/1200

a 30/2000

a 30/3000

Drawing number

0147

0148

0151

0152

0153

Format number

Model name

a 40/FAN

a 40/2000

a 65

a 100

a 150

Drawing number

0158

0157

0331

0332

0333

Format number

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9. DIGITAL SERVO

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For aL series servo motor

Model name

a L3/3000

a L6/2000

a L9/3000

a L25/3000

a L50/2000

Drawing number

0561

0562

0564

0571

0572

Format number

56 or 68

57 or 69

58 or 70

For aC series servo motor

Model name

a C3/2000

a C6/2000

a C12/2000

a C22/1500

Drawing number

0121

0126

0141

0145

Format number

For aHV series servo motor

Model name

a 12HV

a 22HV

a 30HV

Drawing number

0176

0177

0178

Format number

For aE and b series servo motor

Model name

a 0.5

b 1/3000

b 2/3000

b 3/3000

b 6/2000

a E1/3000

a E2/3000

a E3/3000

a E6/2000

Drawing number

0113

0101

0102

0105

0106

Format number

For aM series servo motor

Model name

a M2/3000

a M2.5/3000

a M3/3000

a M6/3000

a M9/3000

Drawing number

0376

0377

0161

0162

0163

Format number

Model name

a M22/3000

a M30/3000

a M50/3000

Drawing number

0165

0166

0169

Format number

100

101

108

Model name

a M6HV

a M9HV

a M22HV

a M30HV

Drawing number

0182

0183

0185

0186

Format number

104

105

106

107

For linear motor

Model name

1500A

3000B

6000B

9000B

Drawing number

0410

0411

0412

0413

Format number

(3) Arbitrary AMR function

PRM

2001

AMR7

AMR6

AMR5

AMR4

AMR3

AMR2

AMR1

For each axis

NOTE

Set “00000000”.

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9. DIGITAL SERVO

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(4) CMR

PRM

1820

Command multiply ratio

1) When CMR is 1/2 to 1/27

Set value=

+100

CMR

2) When CMR is 0.5 to 48

Set value=2×CMR

(5) Turn off the power then back on.

(6) N/M of feed gear (F⋅FG)

PRM

2084

n for flexible feed gear

PRM

2085

m for flexible feed gear

Setting for the α pulse coder in the semi-closed mode

(Note 1)

Necessary position feedback pulses

F⋅FG numerator (v 32767)

per motor revolution

(as irreducible fraction)

F⋅FG

denominator (v 32767)

1,000,000

(Note 2)

NOTE

For both F⋅FG number and denominator, the maximum

setting value (after reduced) is 32767.

αi pulse coders assume one million pulses per motor

revolution, irrespective of resolution, for the flexible feed

gear setting.

If the calculation of the number of pulses required per motor

revolution involves π, such as when a rack and pinion are

used, assume π to be approximately 355/113.

[Example]

For detection in 1 µm units, specify as follows:

Ball screw lead

Number of necessary

F⋅FG

(mm/rev)

position pulses

(pulses/rev)

10000

1/100

20000

2/100 or 1/50

30000

3/100

[Example]

If the machine is set to detection in 1,000 degree units with a gear

reduction ratio of 10:1 for the rotation axis, the table rotates by 360/10

degrees each time the motor makes one turn.

1000 position pulses are necessary for the table to rotate through one

degree.

The number of position pulses necessary for the motor to make one turn

is:

360/10

1000 = 36000 with reference counter = 36000

F⋅FG numerator

36000

F⋅FG denominator

⁼ 1,000,000

1000

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9. DIGITAL SERVO

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Setting for use of a separate detector (full-closed)

Number of position pulses corresponding

F⋅FG

numerator (v 32767)

to a predetermined amount of travel

(as irreducible fraction)

F⋅FG denominator (v 32767)

Number of position pulses corresponding

to a predetermined amount of travel from

a separate detector

[Example]

To detect a distance of 1-µm using a 0.5-µm scale, set the following:

Numerator of F⋅FG

L/1

Denominator of F⋅FG

⁼ L/0.5

<<Examples of calculation>>

1/1000 mm

1/10000 mm

One revolution 8mm

n=1/m=125

n=2/m=25

of motor

10mm

n=1/m=100

n=1/m=10

12mm

n=3/m=250

n=3/m=25

(7) Direction of travel

PRM

2022

Rotational direction of motor

111 : Normal (clockwise)

-111 : Reverse (counterclockwise)

(8) Number of velocity pulses and position pulses

1) For serial αi pulse coder, or serial a pulse coder

Increment system : 1/1000mm

Increment system : 1/10000mm

Paramter No.

Closed loop

Semi-closed loop

Closed loop

Semi-closed loop

High resolution setting

2000

xxxx xxx 0

xxxx xxx 1

Separate detector

1815

0010 0010

0010 0000

0010 0010

0010 0000

No. of velocity feedback pulses

2023

8192

819

No. of position feedback pulses

2024

12500

NS/10

1250

NOTE

NS is the number of position feedback pulses per one

revolution of the motor (multiplied by four)

Even if the system employs a closed loop, bit 3 of parameter

2002 is 1 and bit 4 is 0.

(9) Reference counter

PRM

1821

Reference counter capacity for each axis (0 - 99999999)

6. Turn off the power then back on.

(10) FSSB display and setting screen

Connecting the CNC control unit to servo amplifiers via

high-speed serial bus (FANUC Serial Servo Bus, or FSSB), which

uses only one fiber optics cable, can significantly reduce the amount

of cabling in machine tool electrical sections.

Axis settings are calculated automatically according to the

interrelationships between axes and amplifiers entered on the FSSB

setting screen. Parameter Nos. 1023, 1905, 1910 to 1919, 1936, and

1937 are specified automatically according to the results of the

calculation.

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9. DIGITAL SERVO

B-63525EN/02

D Display

The FSSB setting screen displays FSSB-based amplifier and axis

information. This information can also be specified by the operator.

1. Press function key

SYSTEM

2. To display [FSSB], press continuous menu key

several times.

3. Pressing soft key

[FSSB] causes the AMP SET screen (or the

previously selected FSSB setting screen) to appear, with the following

soft keys displayed.

AMP

AXIS

MAINTE

(OPRT)

The FSSB setting screens include: AMP SET, AXIS SET, and AMP

MAINTENANCE.

Pressing soft key [AMP] causes the AMP SET screen to appear.

Pressing soft key [AXIS] causes the AXIS SET screen to appear.

Pressing soft key [MAINTE] causes the AMP MAINTENANCE

screen to appear.

1) Amplifier setting screen

The amplifier setting screen consists of two sections: the first section

displays information about the slave, while the second section

displays information about the pulse modules.

AMPLIFIER SETTING

O1000 N00001

NO. AMP

SERIES UNIT

CUR. AXIS NAME

A1-L

SVM-HV

40AL

A1-M

SVM

12A

A2-L

SVM

40A

A3-L

SVM

20A

A3-M

SVM

40A

A4-L

SVU

240A

NO. EXTRA

TYPE PCB ID

0000 DETECTOR(8AXES)

12AB

MDI **** *** ***

13:11:56

[ AMP

][ AXIS

][ MAINTE ][

][(OPRT)]

The amplifier setting screen consists of the following items:

D NO. (slave number)

The numbers of up to ten slaves (up to eight amplifiers and up to two

pulse modules) connected via the FSSB are displayed sequentially,

with the one nearest to the CNC being number 1.

D AMP (amplifier type)

The amplifier type display consists of the letter A, which stands for

“amplifier,” a number that indicates the placing of the amplifier, as

counted from that nearest to the CNC, and a letter such as L (first axis)

or M (second axis) indicating the placing of the axis in the amplifier.

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9. DIGITAL SERVO

B-63525EN/02

AXIS NO. (controlled axis number)

The axis number of each controlled axis specified in parameters (Nos.

1920 to 1929) is displayed. If a number specified in these parameters

falls outside the range of between 1 and the maximum number of

controlled axes, 0 is displayed.

NAME (controlled axis name)

The axis name assigned to a parameter (No. 1020) corresponding to

a particular controlled axis number is displayed. If the controlled axis

number is 0, - is displayed.

The following items are displayed as amplifier information:

⋅ UNIT (servo amplifier unit type)

⋅ SERIES (servo amplifier name)

⋅ CURRENT (maximum rating)

The following items are displayed as pulse module information:

⋅ SEPARATE

This display consists of the letter M, which stands for “pulse

module” and a number indicating the placing of the pulse module,

as counted from that nearest to the CNC.

⋅ TYPE

This display is a letter indicating the type of the pulse module.

⋅ PCB ID

This display consists of four digits indicating the pulse module ID

(hexadecimal). The pulse module ID is followed by DETECTOR

(8-AXES) for the eight-axis separate detector module or

DETECTOR (4-AXES) for the four-axis separate detector module.

Axis setting screen

The axis setting screen displays the information shown below:

AXIS SETTING

O1000 N00001

AXIS NAME AMP

M1 M2

1-DSF Cs

TNDM

X A1-L

Y A1-M

Z A2-L

A A3-L

B A3-M

C A4-L

MDI **** *** ***

13:11:56

[ AMP

][ AXIS

][ MAINTE ][

][(OPRT)]

This axis setting screen displays the following items:

D AXIS (controlled axis number)

This item is the placing of the NC controlled axis.

D NAME (controlled axis name)

D AMP (type of the amplifier connected to each axis)

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9. DIGITAL SERVO

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M1 (connector number for pulse module 1)

This item is the number of the connector for pulse module 1, specified

in parameter No. 1931.

M2 (connector number for pulse module 2)

This item is the number of the connector for pulse module 2, specified

in parameter No. 1932.

1-DSF

This item is the value specified in bit 0 (parameter 1 DSP) of parameter

No. 1904. It is 1 for an axis (such as a learning control axis, high-speed

current loop axis, or high-speed interface axis) that exclusively uses

a DSP, which is usually shared by two-axes.

Cs: Cs contour controlled axis

This item is the value specified in parameter No. 1933. It is 1 for the

Cs contour controlled axis.

TNDM (M series only)

This item is the number specified in parameter No. 1934. Consecutive

odd and even numbers are displayed for the master and slave axes for

tandem control.

Amplifier maintenance screen

The amplifier maintenance screen displays maintenance information

for servo amplifiers. This screen consists of the following two pages,

either of which can be selected by pressing the

key.

AMPLIFIER MAINTENANCE

O1000 N00001

AXIS NAME AMP

SERIES

UNIT AXES CUR.

X A1-L

α SVM-HV

40AL

Y A1-M

SVM

12A

Z A2-L

SVM

40A

A A3-L

SVM

20A

B A3-M

SVM

40A

C A4-L

SVU

240A

MDI **** *** ***

13:11:56

[ AMP

][ AXIS

][ MAINTE ][

][

]

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9. DIGITAL SERVO

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AMPLIFIER MAINTENANCE

O1000 N00001

AXIS

NAME EDITION

TEST

MAINTE-NO.

01A

010123

01A

010123

01A

010123

02B

010123

02B

010123

02B

010123

MDI **** *** ***

13:11:56

[ AMP

][ AXIS

][ MAINTE ][

][

]

The amplifier maintenance screen displays the following items:

D AXIS (controlled axis number)

D NAME (controlled axis name)

D AMP (type of amplifier connected to each axis)

D SERIES (servo amplifier series of an amplifier connected to each axis)

D UNIT (unit type of a servo amplifier connected to each axis)

D AXES (maximum number of axes controlled by an amplifier

connected to each axis)

D CUR. (maximum rating for amplifiers connected to each axis)

D EDITION (unit version number of an amplifier connected to each axis)

D TEST (date of test performed on an amplifier connected to each axis)

Example) 010123 = January 23, 2001

D MAINTE-NO.

(engineering change number for an amplifier

connected to each axis)

D Setting

On an FSSB setting screen (other than the amplifier maintenance screen),

pressing soft key [(OPRT)] displays the following soft keys:

SET

READ

INPUT

To enter data, place the machine in MDI mode or the emergency stop state,

position the cursor to the point where a desired item is to be input, then

enter the desired data and press soft key [INPUT] (or the

INPUT

key on the

MDI panel).

When soft key [SET] is pressed after data has been entered, a warning

message is displayed if the entered data contains an error. When the data

is satisfactory, the corresponding parameter is set up.

To restore the previous value of a parameter if, for example, an entered

value is incorrect, press soft key [READ].

When the power is turned on, values are read from the parameters and

displayed on the screen.

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CAUTION

For the parameters to be specified on the FSSB setting

screen, do not attempt to enter values on the parameter

screen using the MDI or a G10 command. Use only the

FSSB screen to enter values for these parameters.

If pressing soft key [SET] results in a warning message

being displayed, retry data entry, or press soft key [READ]

to clear the warning message. Note that pressing the reset

key does not clear the warning message.

1) Amplifier setting screen

AMPLIFIER SETTING

O1000 N00001

NO. AMP

SERIES UNIT

CUR. AXIS NAME

A1-L

SVM-HV

40AL

A1-M

SVM

12A

A2-L

SVM

40A

A3-L

SVM

20A

A3-M

SVM

40A

A4-L

SVU

240A

NO. EXTRA

TYPE PCB ID

0000 DETECTOR(8AXES)

12AB

MDI **** *** ***

13:11:56

[SETTING][

][ READ ][

][ INPUT ]

The amplifier setting screen displays the following items:

D NO. (controlled axis number)

For this item, enter a value of between 1 and the maximum number of

controlled axes. If a number that falls outside this range is entered, the

warning message “INVALID FORMAT” appears. If the entered

controlled axis number is duplicate or

0, the warning message

“SPECIFIED DATA IS OUT OF RANGE” appears when soft key

[SET] is pressed to assert the entered value. In this case, no value can

be entered for the parameter.

NOTE

When the servo of another system is controlled, FSSB

cannot be set automatically.

Be careful when controlling two or three systems.

To control the servo of another system, make manual

settings as described in Appendix G.

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2) Axis setting screen

AXIS SETTING

O1000 N00001

AXIS NAME AMP

M1 M2

1-DSF Cs

TNDM

X A1-L

Y A1-M

Z A2-L

A A3-L

B A3-M

C A4-L

MDI **** *** ***

13:11:56

[SETTING][

][ READ ][

][ INPUT ]

On the axis setting screen, the following items can be specified:

M1 (connector number for pulse module 1)

For an axis that uses pulse module 1, enter a connector number using

a number in the range of between 1 and the maximum number of axes

for pulse module 1. When pulse module 1 need not be used, enter 0.

If a number that falls outside the valid range is entered, the warning

message “INVALID FORMAT” is displayed.

M2 (connector number for pulse module 2)

For an axis that uses pulse module 2, enter a connector number using

a number in the range of between 1 and the maximum number of axes

for pulse module 2. When pulse module 2 need not be used, enter 0.

If a number that falls outside the valid range is entered, the warning

message “INVALID FORMAT” is displayed.

1-DSF

Enter 1 for the following axes, each of which exclusively uses a DSP,

which is usually shared by two-axes. If a number other than 0 or 1 is

entered, the warning message “INVALID FORMAT” is displayed.

⋅ Learning control axis

⋅ High-speed current loop axis

⋅ High-speed interface axis

Cs (Cs contour controlled axis)

Enter 1 for the Cs contour controlled axis. If a number other than 0

or 1 is entered, the warning message “INVALID FORMAT” is

displayed.

TNDM

Enter odd and even numbers for the master and slave axes for tandem

control. These numbers must be consecutive and in the range of

between 1 and 8. If a number that falls outside the valid range is

entered, the warning message “INVALID FORMAT” is displayed.

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9. DIGITAL SERVO

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When soft key [SET] is pressed on the axis setting screen after data entry,

the warning message “SPECIFIED DATA IS OUT OF RANGE” is

displayed if any of the following conditions is satisfied.

D Both M1 and M2 are nonzero for an axis.

D Any two of TWO-AXES, Cs, and TANDEM are nonzero for an axis.

D A duplicate value is specified for M1.

D A duplicate value is specified for M2.

D A duplicate value is specified for Cs.

D A duplicate value is specified for TANDEM.

D An invalid master/slave axis pair is specified for TANDEM.

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9.2

SERVO TUNING

SCREEN

9.2.1

Set a parameter to display the servo tuning screen.

Parameter Setting

3111

SVS

#0 (SVS)

0 : Servo tuning screen is not displayed.

1 : Servo tuning screen is displayed.

9.2.2

1. Press

SYSTEM

key

and soft key [SV. PARA] in this order.

Displaying Servo

2. Press soft key [SV.TUN] to select the servo tuning screen.

Tuning Screen

SERVO TUNING

01234 N12345

(PAMAMETER)

(MONITOR)

(1)

FUN.BIT

00000000

ALARM 1

00000000

(9)

(2)

LOOP GAIN

3000

ALARM 2

00000000

(10)

(3)

TURNING SET.

ALARM 3

10000000

(11)

(4)

SET PERIOD

ALARM 4

00000000

(12)

(5)

INT.GAIN

113

ALARM 5

00000000

(13)

(6)

PROP.GAIN

-1015

LOOP GAIN

2999

(14)

(7)

FILER

POS ERROR

556

(15)

(8)

VELOC.GAIN

125

CURRENT%

(16)

SPEED RPM

100

(17)

SV SET

SV TUN

OPE

(1)

Function bit

: PRM 2003

(2)

Loop gain : PRM 1825

(3)

Tuning start :

(4)

Set period :

(5)

Integral gain

: PRM 2043

(6)

Proportional gain

: PRM 2044

(7)

Filter

: PRM 2067

(PRM 2021)+256

(8)

Velocity gain

Set value=

×100

256

(9)

Alarm 1 : DGN 200 (Details of alarm 400 and 414)

(10) Alarm 2 : DGN 201 (Details of disconnection alarm, overload)

(11)

Alarm 3 : DGN 202 (Details of alarm 319)

(12) Alarm 4 : DGN 203 (Details of alarm 319)

(13) Alarm 5 : DGN 204 (Details of alarm 414)

(14) Loop gain : Actual loop gain

(15) Position error : Actual position error(DGN 300)

(16) Current(%) : Indicate current with % to the rated value.

(17) Current(A) : Indicate current with A.

(18) Speed RPM : Number of motor actual rotation

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Alarm1

OVL

OVC

HCA

HVA

DCA

FBA

OFA

DGN (200)

#7 (OVL)

Overload alarm

#6 (LV)

Insufficient voltage alarm

#5 (OVC)

Overcurrent alarm

#4 (HCA)

Abnormal current alarm

#3 (HVA)

Excessive voltage alarm

#2 (DCA)

Discharge alarm

#1 (FBA)

Disconnection alarm

#0 (OFA)

Overflow alarm

Alarm2

ALD

EXP

DGN (201) ⇓

Over-

—

Amplifier overheat

load

alarm

—

Motor overheat

Discon-

—

Separate type pulse coder disconnec-

nection

tion (Hardware)

alarm

—

Pulse coder disconnection (software)

Alarm3

CSA

BLA

PHA

RCA

BZA

CKA

SPH

DGN (202)

#6 (CSA)

Hardware of serial pulse coder is abnormal.

#5 (BLA)

Battery voltage is in low (warning).

#4 (PHA)

Serial pulse coder or feedback cable is abnormal.

Counting the feedback signal is in error.

#3 (RCA)

Serial pulse coder is faulty.

Counting is in error.

If the RCA bit is set to 1 when both the FBA bit (bit 1 of alarm 1) and

ALD bit of alarm 2 are set to 1 and the EXP bit of alarm 2 (internal

hardware disconnection) is set to 1, a count miss alarm (CMAL)

occurs in the α pulse coder.

#2 (BZA)

Battery voltage becomes 0.

Replace batteries and set the reference position.

#1 (CKA)

Serial pulse coder is faulty.

Internal clock has stopped.

#0 (SPH)

Serial pulse coder or feedback cable is faulty.

Counting the feedback signal is in error.

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Alarm4

DTE

CRC

STB

PRM

DGN (203)

#7 (DTE)

Communication error of serial pulse coder.

There is no response.

Generally, a leading cause is a break in a wire.

#6 (CRC)

Communication error of serial pulse coder.

Transmitted data is in error.

#5 (STB)

Communication error of serial pulse coder.

Transmitted data is in error.

#4 (PRM)

The alarm is detected by the digital servo, the values specified in the

parameter is not correct.

Alarm5

OFS

MCC

LDM

PMS

DGN (204)

#6 (OFS)

A/D conversion of current value of digital servo is abnormal.

#5 (MCC)

Contacts of electro-magnetic contactor of servo amplifier is blown

#4 (LDM)

LED of α pulse coder is abnormal.

#3 (PMS)

No. of feedback pulses are in error because α pulse coder or feedback

cable is faulty.

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9. DIGITAL SERVO

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9.3

ADJUSTING

REFERENCE

POSITION

(DOG METHOD)

9.3.1

General

Speed

Rapid traverse

(PRM1420α)

FL rate

(PRM1425 α )

Time

Rapid traverse acc./dec. time constant (PRM1620 α )

*DECα

PCZ

Grid

Grid shift amount

Reference counter capacity

(PRM1850)

(PRM1821)

10mm/rev

10000P

Error

Proportion

Speed

CMR

gain

Command

counter

loop

–

(Serial)

Refere

GRID

FFG

count.

10000P/rev

Counter capacity

(Flexible feed gear)

10000P

D Parameter

PRM

1002

DLZ

#1(DLZ)

0 : Reference position return method is normal (dog).

1 : Dogless reference position setting is used.

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9. DIGITAL SERVO

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PRM

1005

DLZ

#1(DLZ)

0 : The normal method (dog) is used for reference position return.

1 : Reference position setting without dogs is used (axis by axis).

NOTE

A reference position can be set axis by axis by setting bit 1

of parameter No. 1002 to 0 and setting bit 1 of parameter

No. 1005. Reference position setting without dogs cannot

be used for a spindle positioning axis and Cs contour axis.

When these axes are involved, use bit 1 of parameter No.

1005.

PRM

1821

Reference counter capacity

[P]

No. of feedback pulses or its division by an integer is set.

PRM

1850

Grid shift amount per axis

[P]

When the resolution is 0.0001mm, set the value in the unit ten times

the detection unit.

PRM

1815

APC

APZ

OPT

#5(APC)

0 : Position detector is other than absolute pulse coder.

1 : Position detector is absolute pulse coder.

#4(APZ)

Zero position of absolute pulse coder is :

0 : Not established

1 : Established

(Turns to 1 after establishment)

To manually change the value of the APZ bit from 0 to 1 without first

returning to the reference position

when using serial pulse coder α , follow this procedure: Back up the

data with the battery and give the motor one or more turns.

Turn the power off then on again, then change the APZ bit setting

from 0 to 1.

#1(OPT)

0 : Position detection is performed by the pulse coder built in the motor.

1 : Separate type pulse coder or linear scale is used.

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9. DIGITAL SERVO

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When there are no dog nor limit switch for reference position return, this

9.4

function enables the tool to return the reference position that is set by

DOGLESS

MTB.

REFERENCE

When the absolute position detector is used, the reference position once

POSITION SETTING

set remains also during power off. When the absolute detector is replaced

or absolute position is lost, perform this setting.

9.4.1

General

Speed

Reference position return

FL rate (PRM 1425)

Time

JOG

ZRN

+Jα

GRID

ZP α

9.4.2

Move the tool near the reference position using a manual operation.

Operation

Select the reference position return mode or switch.

Press a button for an axis-and-direction-select-signal + or -, and the

machine moves to the next grid, then stops.

(This position is set as the reference position).

After the reference position has been set, select the reference position

return mode(ZRN signal is 1) and turn on an axis-and-direction-

select signal, then the tool returns to the reference position.

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9. DIGITAL SERVO

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9.4.3

Associated Parameters

PRM

1002

DLZ

#1(DLZ)

0 : Dog is used for reference position return

1 : Dogless reference position setting (all axes)

PRM

1005

DLZ

#1(DLZ)

0 : The normal method (dog) is used for reference position return.

1 : Reference position setting without dogs is used (axis by axis).

NOTE

A reference position can be set axis by axis by setting bit 1

of parameter No. 1002 to 0 and setting bit 1 of parameter

No. 1005. Reference position setting without dogs cannot

be used for a spindle positioning axis and Cs contour axis.

When these axes are involved, use bit 1 of parameter No.

1005.

PRM

1006

ZMI

#5(ZMI)

0 : Reference position return and backlash initial direction is +.

1 : Reference position return and backlash initial direction is -.

After ZRN signal becomes 1, manual feed direction is always the

direction set by this parameter irrespective of an axis selection signal.

691

FANUC Series 16i/160i/160is-MODEL B, Series 18i/180i/180is-MODEL B, Series 21i/210i/210is-MODEL B. MAINTENANCE MANAUL - page 24