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FANUC Series 30i-MODEL B, 31i-MODEL B, 32i-MODEL B. MAINTENANCE MANUAL - page 18

8.DIGITAL SERVO

B-64485EN/01

(3) Spindle amplifier setting screen

The spindle amplifier setting screen displays spindle amplifier information.

The spindle amplifier setting screen consists of the following items:

•

NO

Slave number

An FSSB line number (1: First FSSB line, 2: Second FSSB line, 3: Third FSSB line), a hyphen

(-), and a slave number (connection number for the line) are displayed. (The maximum number

of slaves per line is 32.)

•

AMP

Amplifier type

This consists of the letter B, which stands for “spindle amplifier”, a number indicating the

placing of the spindle amplifier, as counted from that nearest to the CNC, and an alphabetic

character indicating the axis order in the spindle amplifier (1: First spindle for a spindle

amplifier).

•

The following items are displayed as spindle amplifier information:

-

SERIES

Spindle amplifier type and series

-

PWR

Maximum output

•

SP NUM

Spindle number

The spindle number assigned to the spindle amplifier is displayed. “0” is displayed if an

FSSB-related alarm is issued or no spindle number is assigned.

•

NAME

Spindle name

The spindle name corresponding to the spindle number is displayed. When the spindle number

is 0, nothing is displayed.

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8.DIGITAL SERVO

(4) Separate detector interface unit screen

The separate detector interface unit screen displays information on separate detector interface units.

The separate detector interface unit screen displays the following items:

•

NO

Slave number

An FSSB line number (1: First FSSB line, 2: Second FSSB line, 3: Third FSSB line), a hyphen

(-), and a slave number (connection number for the line) are displayed. (While the maximum

number of slaves per line is 32, the maximum number of separate detector interface units per

line is 4.)

•

The following items are displayed as separate detector interface unit information:

-

EXT

This consists of the letter M, which stands for "separate detector interface unit", and a

number indicating the placing of the separate detector interface unit, as counted from that

nearest to the CNC. For the second FSSB line, M5 is displayed for the first separate

detector interface unit since the number starts from 5. For the third FSSB line, M9 is

displayed for the first separate detector interface unit since the number starts from 9.

-

TYPE

This is a letter indicating the type of the separate detector interface unit.

-

PCB ID

The ID of the separate detector interface unit is displayed.

The separate detector interface unit ID is followed by SDU (8AXES) when 8-axes

separate detector interface unit or SDU (4AXES) when 4-axes separate detector interface

unit.

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(5) Axis setting screen

The axis setting screen displays the information of axis.

The axis setting screen displays the following items. Any item that cannot be set is not displayed.

(When the first and fifth separate detector interface units are connected and Cs contour control and

tandem control can be used, the screen shown in above figure is displayed.)

•

AXIS

Controlled axis number

This item is the placing of the NC controlled axis.

•

NAME

Program axis name for each axis

•

AMP

FSSB line number and amplifier type of the servo amplifier connected to each

axis

•

M1

Connector number of the first or ninth (first unit for the third FSSB line) separate

detector interface unit

•

M2

Connector number of the second or tenth separate detector interface unit

•

M3

Connector number of the third or eleventh separate detector interface unit

•

M4

Connector number of the fourth or twelfth separate detector interface unit

•

M5

Connector number of the fifth (first unit for the second FSSB line) separate

detector interface unit

•

M6

Connector number of the sixth separate detector interface unit

•

M7

Connector number of the seventh separate detector interface unit

•

M8

Connector number of the eighth separate detector interface unit

Connector numbers set by FSSB automatic setting are displayed.

•

Cs

Cs contour controlled axis

The spindle number for the Cs contour controlled axis set by FSSB automatic setting is

displayed.

•

M/S

Master axis / Slave axis (Slave axis / Dummy axis)

Either of the following settings is displayed: Master axis/slave axis setting for tandem control

or slave axis/dummy axis setting for the electronic gear box (EGB) set by FSSB automatic

setting.

The M1 to M8, Cs, and M/S values are to be set by FSSB automatic setting and do not indicate

current effective settings. The previous values set normally are displayed first after power-on. “0” is

displayed when an FSSB-related alarm is issued.

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8.DIGITAL SERVO

(6) Servo amplifier maintenance screen

The servo 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 cursor

keys

and

The servo amplifier maintenance screen displays the following items:

•

No

Controlled axis number

•

NAME

Program axis name for each axis

•

AMP

FSSB line number and amplifier type of the servo amplifier connected to

each axis

•

SERIES

Type and series of the servo amplifier connected to each axis

•

AXES

Maximum number of axes controlled by a servo amplifier connected to each

axis

•

CUR

Maximum rating current for servo amplifiers connected to each axis

•

EDIT

Version number of a servo amplifier connected to each axis

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8.DIGITAL SERVO

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•

SPEC NUMBER. Amplifier drawing number of the servo amplifier connected to each axis

•

SERIAL NUMB.. Serial number of the servo amplifier connected to each axis

(7) Spindle amplifier maintenance screen

The spindle amplifier maintenance screen displays maintenance information for spindle amplifiers.

This screen consists of the following two pages, either of which can be selected by pressing the

cursor keys

and

The spindle amplifier maintenance screen displays the following items:

•

No

Spindle number

•

NAME

Spindle name

•

AMP

FSSB line number and amplifier type of the spindle amplifier connected to

each axis

•

SERIES

Type and series of the spindle amplifier connected to each axis

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8.DIGITAL SERVO

•

AXES

Maximum number of axes controlled by a spindle amplifier connected to

each axis

•

PWR

Rated output of the spindle amplifier connected to each axis

•

EDIT

Version number of a servo amplifier connected to each axis

•

SPEC NUMBER. Amplifier drawing number of the spindle amplifier connected to each axis

•

SERIAL NUMB.. Serial number of the spindle amplifier connected to each axis

FSSB automatic setting procedure

To perform FSSB automatic setting, set items on the FSSB setting screens in (1) to (3) below.

(1) Servo amplifier setting screen

The servo amplifier setting screen displays the following items:

•

HRV

Current loop

For this item, enter a value between 2 to 4.

If a number that falls outside this range is entered, the warning message, “DATA IS OUT OF

RANGE” appears.

•

AXIS

Controlled axis number

For this item, enter a value of between 0 and the maximum number of controlled axes.

If a number that falls outside this range is entered, the warning message, “DATA IS OUT OF

RANGE” appears. Setting 0 means that the relevant servo amplifier is not used.

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(2) Spindle amplifier setting screen

The spindle amplifier setting screen displays the following items:

•

SP NUM

Spindle number

For this item, enter a value of between 0 and the maximum number of spindles.

If a number that falls outside this range is entered, the warning message, “DATA IS OUT OF

RANGE” appears. Setting 0 means that the relevant spindle amplifier is not used.

(3) Axis setting screen

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

•

M1

Connector number of the first or ninth (first unit for the third FSSB line) separate

detector interface unit

•

M2

Connector number of the second or tenth separate detector interface unit

•

M3

Connector number of the third or eleventh separate detector interface unit

•

M4

Connector number of the fourth or twelfth separate detector interface unit

•

M5

Connector number of the fifth (first unit for the second FSSB line) separate

detector interface unit

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8.DIGITAL SERVO

•

M6

Connector number of the sixth separate detector interface unit

•

M7

Connector number of the seventh separate detector interface unit

•

M8

Connector number of the eighth separate detector interface unit

For an axis that uses each separate detector interface unit, enter a connector number using a

number 1 to 8 (maximum number of connectors on a separate detector interface unit).

When a separate detector interface unit is not used, enter 0. If a number that falls outside this

range is entered, the warning message, “DATA IS OUT OF RANGE” appears. For a separate

detector interface unit which is not connected, items are not displayed and values cannot be

entered.

Connector

Connector number

JF101

1

JF102

2

JF103

3

JF104

4

JF105

5

JF106

6

JF107

7

JF108

8

•

CS

Cs contour controlled axis

Enter a spindle number between 1 and the maximum number of spindles for the Cs contour

controlled axis. When a Cs contour controlled axis is not used, enter 0. If a number that falls

outside this range is entered, the warning message, “DATA IS OUT OF RANGE” appears.

When Cs contour control cannot be used, this item is not displayed and any value cannot be

entered.

•

M/S

Master axis / Slave axis (Slave axis / Dummy axis)

Enter an odd number for the master axis and an even number for the slave axis for tandem

control. These numbers must be consecutive and within a range between 1 and the maximum

number of controlled axes. Enter an odd number for the slave axis and an even number for the

dummy axis for the electronic gear box (EGB). These numbers must be consecutive and within

a range between 1 and the maximum number of controlled axes. If a number that falls outside

this range is entered, the warning message, “DATA IS OUT OF RANGE” appears. For the

slave and dummy axes for EGB, set bit 0 (SYN) of parameter No. 2011 to 1. When both

tandem control and electronic gear box cannot be used, this item is not displayed and any value

cannot be entered.

On an FSSB setting screen (other than the connection status screen, servo amplifier maintenance screen,

or spindle amplifier maintenance screen), pressing the soft key [(OPRT)] displays the following soft keys:

To enter data, place the machine in the MDI mode or the emergency stop state, position the cursor to a

desired input item position, then enter desired data and press the soft key [INPUT].

(Alternatively, press the

key on the MDI unit.)

When the soft key [SETTING] is pressed after data has been entered, a warning message listed below is

displayed if the entered data contains an error. When the data is valid, the corresponding FSSB-related

parameters are set up. To restore the previous value normally set if, for example, an entered value is

incorrect, press the soft key [CANCEL].

When this screen is first displayed after power-on, the previous values set normally are displayed.

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8.DIGITAL SERVO

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FSSB automatic setting warning messages

If an invalid setting is detected at FSSB automatic setting, a warning message listed below is displayed.

EGB dummy axis setting means setting an even number for M/S on the axis setting screen for an axis for

which bit 0 (SYN) of parameter No. 2011 is set to 1. EGB slave axis setting means setting an odd number

for M/S on the axis setting screen for an axis for which bit 0 (SYN) of parameter No. 2011 is set to 1.

Warning message

Cause

Cs and M/S are set with the

On the axis setting screen, a value is specified for Cs and M/S for an axis. Do not

same axis

specify any value for Cs and M/S simultaneously.

Cs and M1-8 are set with the

On the axis setting screen, a value is specified for Cs and Ｍ1-8 for an axis. Do

same axis

not specify any value for Cs and Ｍ1-8 simultaneously.

Same number is set in AXIS

On the servo amplifier setting screen, an axis number is set more than once.

Specify each axis number only once.

Same number is set in SP

On the spindle amplifier setting screen, a spindle number is set more than once.

NUM

Specify each spindle number only once.

Same number is set in CS

On the axis setting screen, a value is set for Cs more than once. Specify each

value for Cs only once.

Same number is set in M/S

On the axis setting screen, a value is set for M/S more than once. Specify each

value for M/S only once.

AXIS and Cs are set with the

An axis number for which a value is set for Cs on the axis setting screen is set for

same axis

AXIS on the servo amplifier setting screen. Do not set any axis number for which a

value is set for Cs, on the servo amplifier setting screen.

Too many slaves (HRV4)

The maximum number (7) of slaves per FSSB line for servo HRV4 control is

exceeded. Reduce the number of slaves connected to an FSSB line to 7 or less.

Too many slaves (HRV3)

The maximum number (15) of slaves per FSSB line for servo HRV3 control is

exceeded. Reduce the number of slaves connected to an FSSB line to 15 or less.

Too many slaves (HRV2)

The maximum number (32) of slaves per FSSB line for servo HRV2 control is

exceeded. Reduce the number of slaves connected to an FSSB line to 32 or less.

M/S is set with HRV4

For servo HRV4 control, a value is set for M/S. Do not set any value for M/S for

servo HRV4 control.

AXIS is set with EGB dummy

An axis number set for EGB dummy axis setting is set for AXIS on the servo

axis

amplifier setting screen. Do not set any axis number for EGB dummy axis setting,

on the servo amplifier screen.

M/S setting is illegal(EGB)

For M/S, the EGB slave axis setting corresponding to an EGB dummy axis setting

is not made. Make the EGB slave axis setting.

AXIS is not set with EGB

An axis number for EGB slave axis setting is not set for AXIS on the servo

slave axis

amplifier setting screen. Set the axis number for EGB slave axis setting, on the

servo amplifier setting screen.

AXIS is not set with M/S axis

An axis number set for M/S on the axis setting screen is not set for AXIS on the

servo amplifier setting screen. Set the axis number for M/S, on the servo amplifier

setting screen.

EGB dummy axis setting is

EGB dummy axis setting is made when 32 slaves are connected to the second

illegal

FSSB line. Decrease the number of slaves connected to the second FSSB line.

M/S setting is illegal

Invalid M/S setting. Correct the M/S setting.

Setting is illegal(servo)

Invalid servo axis setting (servo amplifier setting, axis setting). Correct the servo

axis setting.

Setting is illegal(spindle)

Invalid spindle setting. Correct the spindle setting.

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8.DIGITAL SERVO

8.3

SERVO TUNING SCREEN

8.3.1

Parameter Setting

Set a parameter to display the servo tuning screen.

#7

#6

#5

#4

#3

#2

#1

#0

3111

SVS

[Input type] Setting input

[Data type] Bit path

#0 SVS 0 : Servo tuning screen is not displayed.

1 : Servo tuning screen is displayed.

8.3.2

Displaying Servo Tuning Screen

1

Press function key

key, continuous menu key

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

2

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

(1)

(9)

(10)

(2)

(11)

(3)

(12)

(4)

(13)

(5)

(14)

(6)

(15)

(7)

(16)

(8)

(17)

(18)

(1) Function bit

: Parameter No.2003

(2) Loop gain

: Parameter No.1825

(3) Tuning start

:

(4) Set period

:

(5) Integral gain

: Parameter No.2043

(6) Proportional gain

: Parameter No.2044

(7) Filter

: Parameter No.2067

(Parameter No.2021)+256

(8) Velocity gain

: Set value

×100

256

(9) Alarm 1

: Diagnosis No.200

(10) Alarm 2

: Diagnosis No.201

(11) Alarm 3

: Diagnosis No.202

(12) Alarm 4

: Diagnosis No.203

(13) Alarm 5

: Diagnosis No.204

(14) Loop gain

: Actual loop gain

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(15) Position error

: Actual position error (Diagnosis No.300)

(16) Current(%)

: Indicate current with % to the rated value.

(when the bit 5 (SPF) of parameter No. 2014 is set to 0)

Actual output(％) : Indicate output value with % to the motor rated value.

(when the bit 5 (SPF) of parameter No. 2014 is set to 1)

(17) Current(A)

: Indicate current with A (peak value).

(not indicated if bit 5 (SPF) of parameter No.2014 is set to 1)

(18) Speed RPM

: Number of motor actual rotation

#7

#6

#5

#4

#3

#2

#1

#0

Alarm 1

OVL

LVA

OVC

HCA

HVA

DCA

FBA

OFA

Alarm 2

ALD

EXP

Alarm 3

CSA

BLA

PHA

RCA

BZA

CKA

SPH

Alarm 4

DTE

CRC

STB

PRM

Alarm 5

OFS

MCC

LDM

PMS

FAN

DAL

ABF

NOTE

The empty fields do not represent alarm codes.

8.4

ADJUSTING REFERENCE POSITION (DOG METHOD)

Overview

Speed

Rapid traverse

FL rate

(Parameter No. 1420α)

(Parameter No. 1425α)

Time

Rapid traverse acc./dec. time constant (Parameter No. 1620α)

*DECα

PCZ

Grid

Grid shift amount

Reference counter capacity

(Parameter No. 1850)

(Parameter No. 1821)

10mm/rev

10000P

Error

Proportion

Speed

M

CMR

counter

gain

loop

Command

+

-

×4

(Serial)

Reference

F⋅FG

PC

counter

GRID

Counter capacity

10000P/rev (Flexible feed gear)

10000P

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8.DIGITAL SERVO

Parameter

There are the following related parameters.

#7

#6

#5

#4

#3

#2

#1

#0

1005

DLZx

[Input type] Parameter input

[Data type] Bit axis

#1 DLZx Function for setting the reference position without dogs

0: Disabled

1: Enabled

1821

Reference counter size for each axis

NOTE

When this parameter is set, the power must be turned off before

operation is continued.

[Input type] Parameter input

[Data type] 2-word axis

[Unit of data] Detection unit

[Valid data range] 0 to 999999999

Set a reference counter size.

As a reference counter size, specify a grid interval for reference position return based on

the grid method.

When a value less than 0 is set, the specification of 10000 is assumed.

When a linear scale with absolute address reference marks is used, set the interval of

mark 1.

1850

Grid shift and reference position shift for each axis

NOTE

When this parameter is set, the power must be turned off before

operation is continued.

[Input type] Parameter input

[Data type] 2-word axis

[Unit of data] Detection unit

[Valid data range] -99999999 to 99999999

To shift the reference position, the grid can be shifted by the amount set in this parameter.

Up to the maximum value counted by the reference counter can be specified as the grid

shift.

In case of bit 4 (SFDx) of parameter No. 1008 is 0: Grid shift

In case of bit 4 (SFDx) of parameter No. 1008 is 1: Reference point shift

NOTE

For setting the reference position without dogs, only the grid shift

function can be used. (The reference position shift function cannot

be used.)

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#7

#6

#5

#4

#3

#2

#1

#0

1815

APCx

APZx

OPTx

[Input type] Parameter input

[Data type] Bit axis

NOTE

When at least one of these parameters is set, the power must be

turned off before operation is continued.

#1 OPTx Position detector

0: A separate pulse coder is not used.

1: A separate pulse coder is used.

NOTE

Set this parameter to 1 when using a linear scale with reference

marks or a linear scale with an absolute address zero point

(full-closed system).

#4 APZx Machine position and position on absolute position detector when the absolute position

detector is used

0: Not corresponding

1: Corresponding

When an absolute position detector is used, after primary adjustment is performed or after

the absolute position detector is replaced, this parameter must be set to 0, power must be

turned off and on, then manual reference position return must be performed. This

completes the positional correspondence between the machine position and the position

on the absolute position detector, and sets this parameter to 1 automatically.

#5 APCx Position detector

0: Other than absolute position detector

1: Absolute position detector (absolute pulse coder)

-

Separate type Pulsecoder or linear scale is used

1821

Reference counter capacity per axis

[P]

Normally, the number of feedback pulses per motor revolution is set to the reference counter capacity.

* When plural reference marks are on a linear scale, a quotient of the distance between the reference

marks divided by an interfer may be used as a reference counter capacity:

(Example)

(1μm)

300mm ⇒ reference counter

30000

20000

15000

10000

etc

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8.DIGITAL SERVO

8.5

DOGLESS REFERENCE POSITION SETTING

When there are no dog nor limit switch for reference position return, this function enables the tool to

return the reference position that is set by MTB.

When the absolute position detector is used, the reference position once set remains also during power off.

When the absolute detector is replaced or absolute

position is lost, perform this setting.

Overview

Speed

Reference position return

FL rate (PRM 1425)

Time

JOG

ZRN

+Jα

GRID

ZP α

Operation

<1> Move the tool along an axis for setting the reference position in the reference position return

direction in jog feed and position the tool near the reference position.

<2> Select the manual reference position return mode and set the feed axis and direction select signal (+

or - direction) for the axis for setting the reference position to 1.

<3> The tool is positioned at the nearest grid (electric grid based on the one-rotation signal of the

position detector) in the reference position return direction specified in bit 5 (ZMIx) of parameter No.

1006 from the current position. This position is set as the reference position.

<4> After the in-position status is confirmed, the reference position return completion signal (ZP1) and

reference position establishment signal (ZRF1) are set to 1.

* 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.

Parameter

There are the following related parameters.

#7

#6

#5

#4

#3

#2

#1

#0

1005

DLZx

[Input type] Parameter input

[Data type] Bit axis

#1 DLZx Function for setting the reference position without dogs

0: Disabled

1: Enabled

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#7

#6

#5

#4

#3

#2

#1

#0

1006

ZMIx

[Input type] Parameter input

[Data type] Bit axis

NOTE

When this parameter is set, the power must be turned off before

operation is continued.

#5 ZMIx The direction of manual reference position return is:

0:

+ direction

1:

- direction

8.6

αi SERVO WARNING INTERFACE

Overview

The αi servo system can report the warning status before one of the following target alarms occurs.

When the warning status is entered, a report to the PMC is issued.

For example, this signal can be used by the machine for retracting tools from the time a warning occurs

by the time a servo alarm occurs.

Signal

Servo warning detail signals SVWRN1 to 4 <F093.4 to 7>

[Classification] Output signal

[Function] Reports the warning signal corresponding to the state of the servo amplifier.

[Output condition] The following table shows the warning statuses of the servo amplifier and their

corresponding warning signals.

Warning status signals

Time from when a

SVWRN4

SVWRN3

SVWRN2

SVWRN1

warning state signal is

Corresponding alarm messages

<F093.7>

<F093.6>

<F093.5>

<F093.4>

issued to until an alarm

occurs

SV0444 SV INTERNAL FAN

1

0

0

0

One minute

FAILURE

SV0601 SV EXTERNAL FAN

1

0

0

1

Until overheat occurs

FAILURE

(inconstant)

SV0443 PS INTERNAL FAN

1

1

0

0

One minute

FAILURE

SV0606 PS EXTERNAL FAN

1

1

0

1

Until overheat occurs

FAILURE

(inconstant)

SV0431 PS OVERLOAD

1

1

1

0

One minute

SV0607 PS IMPROPER INPUT

1

1

1

1

PSR: Five seconds,

POWER

PS: One minute

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8.DIGITAL SERVO

A timing chart for handling a warning is shown below.

Occurrence of a warning

Servo amplifier

SVWRN1-4

(Warning)

PMC

Perform deceleration stop or block stop

during this time period with the PMC to

stop the machine without damage. The

time period varies with the warning type.

Activation

Occurrence and stop of the alarm corresponding to a warning

Signal address

#7

#6

#5

#4

#3

#2

#1

#0

F093

SVWRN4

SVWRN3

SVWRN2

SVWRN1

SVS

Warning status alarms for αi servo amplifiers

When bit 2 (SWP) of parameter No. 1807 is set to 0, if an αi servo amplifier is placed in the warning

status, a DS alarm is output in addition to the servo warning detail signals.

If one of the following alarms is issued, automatic operation enters the feed hold state and movements

along all controlled axes including PMC axes are decelerated to a stop. Issuing a warning status alarm

does not cause the servo motor to be deactivated.

Alarm No. when

Alarm No. when

the servo

the servo

Operation performed when the warning status

Alarm message

amplifier is in the

amplifier is in the

occurs

warning status

alarm status

DS0608

SV0444

SV INTERNAL

Immediately after the fan stops, DS0608 is displayed

FAN FAILURE

and movements along axes enter the feed hold stop

state. The servo motor is kept active for 1 minute.

After that, the servo motor is deactivated and

SV0444 is displayed.

DS0609

SV0601

SV EXTERNAL

Immediately after the fan stops, DS0609 is displayed

FAN FAILURE

and movements along axes enter the feed hold stop

state. When bit 2 of parameter No. 1807 is set to 1

after that, the alarm display can be canceled by a

reset and operation can be restarted.

DS0610

SV0443

PS INTERNAL

Immediately after the fan stops, DS0610 is displayed

FAN FAILURE

and movements along axes enter the feed hold stop

state. The servo motor is kept active for 1 minute.

After that, the servo motor is deactivated and

SV0443 is displayed.

DS0611

SV0606

PS EXTERNAL

Immediately after the fan stops, DS0611 is displayed

FAN FAILURE

and movements along axes enter the feed hold stop

state. When bit 2 of parameter No. 1807 is set to 1

after that, the alarm display can be canceled by a

reset and operation can be restarted.

DS0612

SV0431

PS OVERLOAD

If the main circuit of the common power supply (PS)

is overloaded, DS0612 is displayed and movements

along axes enter the feed hold stop state. A certain

period of time after that, the servo motor is

deactivated and SV0441 is displayed.

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Alarm No. when

Alarm No. when

the servo

the servo

Operation performed when the warning status

Alarm message

amplifier is in the

amplifier is in the

occurs

warning status

alarm status

DS0613

SV0607

PS IMPROPER

If the main power source for the common power

INPUT POWER

supply (PS) becomes abnormal, DS0613 is

displayed and movements along axes enter the feed

hold stop state.

After an alarm in the warning status listed above is issued, when the αi servo amplifier is actually placed

in the alarm status, the servo motor is deactivated and the number of an alarm in the alarm status is

additionally displayed.

When bit 2 (SWP) of parameter No. 1807 is set to 1, if an αi servo amplifier is placed in the warning

status, only the servo warning detail signals are output and no alarm in the warning status (alarm DS0608

to DS0613) is issued. If a servo amplifier is placed in the warning status during automatic operation,

automatic operation is kept. So, decelerate the movements along axes to a stop using the servo warning

detail signals before the servo motor is deactivated. Note that if the movements along axes are not

decelerated to a stop, the servo motor is suddenly deactivated during movement along axes.

Parameter

#7

#6

#5

#4

#3

#2

#1

#0

1807

SWP

[Input type] Parameter input

[Data type] Bit path

#2 SWP This parameter specifies the operation of the αi series servo amplifier in its warning state

(for example, with the fan stopped).

0: An alarm is issued when the amplifier is placed in the warning state. Automatic

operation enters the feed hold state and the servo axis is decelerated to a stop.

1: An alarm is not issued even when the amplifier is placed in the warning state.

Automatic operation is kept. The servo is deactivated if the amplifier shifts from the

warning state to the alarm state.

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8.DIGITAL SERVO

B-64485EN/01

#1 IDC The soft key [UPDATEALL ID], which updates ID information on the servo or spindle

information screen as a batch, is:

0: Not displayed.

1: Displayed.

NOTE

IDC is effective only if bit 0 (IDW) of parameter No. 13112 is set to

1.

#7

#6

#5

#4

#3

#2

#1

#0

13112

SVI

IDW

[Input type] Parameter input

[Data type] Bit path

#0 IDW Editing on the servo or spindle information screen is:

0: Prohibited.

1: Not prohibited.

#1 SVI The servo information screen is:

0: Displayed.

1: Not displayed.

Displaying the servo information screen

1

Press the

function key, then press the [SYSTEM] soft key.

2

Press the [SERVO INFO] soft key to display the screen as shown below.

* Servo information is stored in flash ROM. If there is a difference between the ID information in

screen and the actual ID information, the corresponding items are preceded by *, as shown

below.

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B-64485EN/01

8.DIGITAL SERVO

Additional Information

Even if replacement is performed reasonably such as for repairing, this function

incorrectly indicates the * mark when it detects the replacement.

To clear the * mark, follow the steps below to update the registered data, as

described in the editing section later.

(1) Make the registered data editable. (Bit 0 (IDW) of parameter No. 13112 = 1)

(2) On the edit screen, place the cursor on the item from which you want to

delete the * mark.

(3) Operate the soft keys [READ ID], [INPUT], and [SAVE] in that order.

To clear all * marks at a time, press soft key [UPDATEALL ID] (displayed when

bit 1 (IDC) of parameter No. 11320 is set to 1).

Editing the servo information screen

1

Assume that bit 0 (IDW) of parameter No. 13112 = 1 and bit 1 (IDC) of parameter No. 11320 = 1.

2

Press the MDI switch on the machine operator's panel.

3

Follow the steps shown in "Displaying the servo information screen" to display the screen as shown

below.

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8.DIGITAL SERVO

B-64485EN/01

4

To move the cursor on the screen, use the

and

keys.

Screen operation

Mode

Key operation

Use

Viewing (*1)

Page key

Scrolls up or down on a screen-by-screen basis.

Editing (*2)

Soft key

[INPUT]

Replace the selected ID information at the cursor position with the

character string in key-in buffer.

[CANCEL]

Deletes the character string in key-in buffer.

[READ ID]

Transfers the ID information the connected device at the cursor has to

the key-in buffer. Only the items preceded by * (*3) are valid.

[SAVE]

Saves the ID information that has been changed on the servo information

screen in flash ROM.

[RELOAD]

Cancels the ID information that has been changed on the servo

information screen and loads ID information from flash ROM.

[UPDATEALL ID] (*1)

Updates the ID information for all axes that is output from each of the

connected units displayed on the servo or spindle information screen at a

time.

Page key

Scrolls up or down on a screen-by-screen basis.

Cursor key

Scrolls up or down the selection of ID information.

*1 Viewing mode: when bit 0 (IDW) of parameter No. 13112 = 0

*2 Editing mode: when bit 0 (IDW) of parameter No. 13112 = 1

*3 If there is a difference between the ID information in screen and the actual ID information, the

corresponding items are preceded by *.

*4 when bit 1 (IDC) of parameter No. 11320 = 1

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B-64485EN/01

8.DIGITAL SERVO

NOTE

For axes that are not used by the αi servo system, ID information of connected

units cannot be obtained.

- 513 -

B-64485EN/01

9.AC SPINDLE

9.1

SERIAL INTERFACE AC SPINDLE

9.1.1

Outline of Spindle Control

S command

M command

NC

PMC

M03, M04, M05, M19

FIN

*SSTP (Spindle stop)

Motor speed

SOVx (Spindle override)

SF, GR1O, GR2O, GR3O

(For milling machining)

GR1, GR2 (For lathe cutting)

S

SOR (Orientation)

(Parameters Nos. 3735 to

3752)

0

R01O to R12O

1

Orientation speed

(bit 1 (ESF) of parameter No.3705,

R01I to R12I

parameter No.3732, and bit 5

0

1

(ORM) of parameter No.3706)

SIND

Output polarity (Bits 7 (CWM) and

SGN (0=+, 1=-)

6 (TCW) of parameter No.3706)

0

1

SSIN

*ESP, MRDY,

SFR, SRV, ORCM etc.

SST, SDT, SAR, LDT1, LDT2

ORAR, ALM etc.

Communication

function

Communication cable

Serial

spindle

Communication

amplifier

function

Spindle

Operator's panel

motor

PC

Load meter

LM

Speedometer

Spindle

SM

- 515 -

9.AC SPINDLE

B-64485EN/01

9.1.1.1 Method A of gear change for machining center system

(bit 2 (SGB) of Parameter No.3705 = 0)

Output

Motor speed

4095

Max

Parameter

Gear 2

Gear 3

No.3736

Gear 1

Parameter

No.3735

0

S code

0

Parameter

Parameter

Parameter

(min^-1)

No.3741

No.3742

No.3743

9.1.1.2 Method B of gear change for machining center system

(bit 2 (SGB) of Parameter No.3705 = 1)

Output

Motor speed

Parameter

4095

Max

No.3736

Parameter

No.3752

Parameter

Gear 1

Gear 2

Gear 3

No.3751

Parameter

No.3735

0

S code

0

Parameter

Parameter Parameter

(min^-1)

No.3741

No.3742

No.3743

9.1.1.3 Lathe system

Output Motor speed

4095

Max

Gear 1

Gear 2

Gear 3

Gear 4

S code

(min^-1)

0

0

0

Parameter

Parameter Parameter Parameter

No.3741

No.3742

No.3743

No.3744

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B-64485EN/01

9.AC SPINDLE

9.1.2

Spindle Setting and Tuning Screen

9.1.2.1 Display method

(1) Confirm the parameters

#7

#6

#5

#4

#3

#2

#1

#0

3111

SPS

[Input type] Setting input

[Data type] Bit path

#1 SPS 0: The spindle tuning screen is not displayed.

1: The spindle tuning screen is displayed.

(2) Press the function key

to select the screen for setting parameters and other data.

(3) Press the continuous menu key

(4) Press the soft key [SP.PRM]. Then, the spindle setting and tuning screen appears.

(5) The following screens are provided. These screens can be selected using soft keys.

<1> [SP.SET] : Spindle setting screen

<2> [SP.TUN] : Spindle tuning screen

<3> [SP.MON] : Spindle monitor screen

(6) With the page keys

, a spindle to be displayed can be selected (only when multiple

serial spindles are connected).

9.1.2.2 Spindle setting screen

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9.AC SPINDLE

B-64485EN/01

-

Gear selection

The gear select status on the machine side is displayed.

Indication

CTH1

CTH2

1

0

0

2

0

1

3

1

0

4

1

1

-

Spindle

Select a spindle for which data is to be set.

S11 :

Main spindle amplifier for the 1st spindle

S12 :

Subspindle amplifier for the 1st spindle

S21 :

Main spindle amplifier for the 2nd spindle

S22 :

Subspindle amplifier for the 2nd spindle

Switching between the main spindle and the subspindle is performed by spindle switching control.

Spindle switching control is the function for driving two spindle motors with one spindle amplifier. For

details, refer to the following manual.

Refer to the section related to “Spindle Switching Control” in the FANUC AC SPINDLE MOTOR αi /βi

series, FANUC BUILT-IN SPINDLE MOTOR Bi series PARAMETER MANUAL (B-65280EN).

-

Parameters

S11:

S12:

S21:

S22:

1st Main

1st Sub

2nd Main

2nd Sub

Gear ratio (HIGH)

4056

4056

4216

4216

Gear ratio (MEDIUM HIGH)

4057

4057

Gear ratio (MEDIUM LOW)

4058

4058

4217

4217

Gear ratio (LOW)

4059

4059

Max. spindle speed (gear1)

3741

3741

Max. spindle speed (gear2)

3742

3742

Max. spindle speed (gear3)

3743

3743

Max. spindle speed (gear4)

3744

3744

Max. motor speed

4020

4196

4020

4196

Max. C axis speed

4021

None

4021

None

- 518 -

B-64485EN/01

9.AC SPINDLE

9.1.2.3 Spindle tuning screen

-

Operation mode

1

: SPEED CONTROL

2

: SPINDLE ORIENTATION

3

: SYNCHRONIZATION CONTROL

4

: RIGID TAPPING

5

: SP.CONTOURING CONTROL

6

: SP.POSITIONING CONTROL

-

Gear selection

-

Spindle

The descriptions of these two items are the same as those for the spindle setting screen.

-

Displayed parameters

The displayed parameters vary depending on the operation mode.

Spindle positioning

Synchronization

Normal operation

Orientation

Rigid tapping

Cs contour control

control

control

Proportional gain

Proportional gain

Proportional gain

Proportional gain

Proportional gain

Proportional gain

Integral gain

Integral gain

Integral gain

Integral gain

Integral gain

Integral gain

Loop gain

Motor voltage

Loop gain

Loop gain

Loop gain

Loop gain

Motor voltage

Regenerative power

Motor voltage

Motor voltage

Motor voltage

Motor voltage

ZRN gain (%)

ORAR gain (%)

Acceleration/

ZRN gain

ZRN gain (%)

Shift reference

Shift spindle stop

deceleration constant

Shift reference

Shift reference

position

position

(%)

position

position

Shift reference

Shift reference

position

position

*1) For the parameter numbers corresponding to the displayed parameter items, see Section

“Correspondence between operation mode and parameters on spindle tuning screen”.

- 519 -

9.AC SPINDLE

B-64485EN/01

-

Displayed monitoring items

The displayed monitoring items vary depending on the operation mode.

Spindle positioning

Synchronization

Normal operation

Orientation

Rigid tapping

Cs contour control

control

control

Motor speed

Motor speed

Motor speed

Motor speed

Motor speed

Motor speed

Feedrate

Spindle speed

Spindle speed

Spindle speed

Spindle speed

Spindle speed

Position deviation S

Position deviation S

Position deviation S1

Position deviation S

Position deviation S

Position deviation S2

Position deviation Z

Synchronous

Synchronous

deviation

deviation

*1)

|Spindle data|

Motor speed [min^-1] =

× Max. motor speed (*)

16383

(*) Parameter No. 4020: Main spindle Parameter No. 4196: Subspindle

9.1.2.4 Spindle monitor screen

- 520 -

B-64485EN/01

9.AC SPINDLE

-

Spindle alarm

9001 :MOTOR OVERHEAT

9053 :ITP FAULT 2

9113 :PS EXTERNAL FAN FAILURE

9002 :EX DEVIATION SPEED

9054 :OVERCURRENT

9120 :COMMUNICATION DATA ERROR

9003 :DC-LINK FUSE IS BROKEN

9055 :ILLEGAL POWER LINE

9121 :COMMUNICATION DATA ERROR

9004 :PS IMPROPER INPUT POWER

9056 :COOLING FAN FAILURE

9122 :COMMUNICATION DATA ERROR

9006 :THERMAL SENSOR DISCONNECT

9057 :PS EXCESS-REGENERATION2

9123:SPINDLE SWITCH CIRCUIT

ERROR

9007 :OVER SPEED

9058 :PS OVERLOAD

9124:LEARNING CTRL ROTATION CMD

ERROR

9009 :OVERHEAT MAIN CIRCUIT

9059 :PS INTERNAL FAN FAILURE

9125:LEARNING CTRL COMP ORDER

ERROR

9011 :PS OVER VOLT. DC LINK

9061 :SEMI-FULL ERROR EXCESS

9127 :LEARNING CTRL PERIOD ERROR

9012 :OVERCURRENT POWER CIRCUIT

9065 :SERIAL SPINDLE ALARM

9128:SP SYNC VELOCITY ERROR

EXCESS

9013 :CPU DATA MEMORY FAULT

9066 :COM. ERROR BETWEEN SP AMPS

9129:SP SYNC POSITION ERROR

EXCESS

9014 :SOFTWARE SERIES MISMATCH

9067 :FSC/EGB COMMAND ERROR

9130:TORQUE TANDEM POLARITY

ERROR

9015 :SPINDLE SWITCHING FAULT

9069 :SAFETY SPEED OVER

9131:SPINDLE TUNING FUNCTION

ALARM

9016 :RAM ERROR

9070 :ILLEGAL AXIS DATA

9132 :SER.SENSOR DATA ERROR

9017 :ID NUMBER PARITY ERROR

9071 :SAFETY PARAMETER ERROR

9133 :SER.SENSOR TRANSFER ERROR

9018:SUMCHECK ERROR PROGRAM

9072:MISMATCH RESULT OF MOTOR

9134:SER.SENSOR SOFT PHASE

ROM

SPEED CHECK

ERROR

9019 :EXCESS OFFSET CURRENT U

9073 :MOTOR SENSOR DISCONNECTED

9135 :SAFETY SPEED ZERO ERROR(SP)

9020 :EXCESS OFFSET CURRENT V

9074 :CPU TEST ERROR

9136:MISMATCH RESULT OF SAFETY

SPEED ZERO CHECK(SP)

9021 :POS SENSOR POLARITY ERROR

9075 :CRC ERROR

9137:SP DEVICE COMMUNICATION

ERROR

9022 :SP AMP OVER CURRENT

9076:INEXECUTION OF SAFETY

9139 :SER.SENSOR PULSE MISS

FUNCTIONS

9024 :SERIAL TRANSFER ERROR

9077:MISMATCH RESULT OF AXIS

9140 :SER.SENSOR COUNT MISS

NUMBER CHECK

9027 :DISCONNECT POSITION CODER

9078:MISMATCH RESULT OF SAFETY

9141 :SER.SENSOR NO 1-ROT SIGNAL

PARAMETER CHECK

9029 :OVERLOAD

9079 :INITIAL TEST ERROR

9142 :SER.SENSOR ABNORMAL

9030 :OVERCURRENT

9080 :ALARM AT THE OTHER SP AMP.

9143:CS HIGH SPEED CHANGE CMD

ERROR

9031 :MOTOR LOCK

9081 :1-ROT MOTOR SENSOR ERROR

9144:CURRENT DETECT CIRCUIT

ERROR

9032 :SIC-LSI RAM FAULT

9082 :NO 1-ROT MOTOR SENSOR

9145 :LOW VOLTAGE DRIVER

9033 :PS PRE-CHARGE FAILURE

9083 :MOTOR SENSOR SIGNAL ERROR

9146 :SP:INTERNAL OVERHEAT

9034 :ILLEGAL PARAMETER

9084 :SPNDL SENSOR DISCONNECTED

9147 :SP:GROUND FAULT

9036 :OVERFLOW ERROR COUNTER

9085 :1-ROT SPNDL SENSOR ERROR

9200 :PS GROUND FAULT

9037:ILLEGAL SETTING VELOCITY

9086 :NO 1-ROT SPNDL SENSOR

9201 :PS OVERCURRENT 2

DETECTOR

9041:ILLEGAL 1REV SIGN OF

9087 :SPNDL SENSOR SIGNAL ERROR

9202 :PS OVERCURRENT 3

POSITION CODER

9042:NO 1REV SIGN OF POSITION

9088 :COOLING RADI FAN FAILURE

9203 :PS OVERCURRENT 4

CODER

9043:DISCONNECT POSITION CODER

9089 :SUB MODULE SM (SSM) ERROR

9204 :PS SOFT THERMAL

DEF. SPEED

9046:ILLEGAL 1REV SIGN OF SCREW

9090 :UNEXPECTED ROTATION

9205 :PS OVER VOLT. DC LINK 2

CUT

9047:ILLEGAL SIGNAL OF POSITION

9091 :POLE POSITION COUNT MISS

9206 :PS OVER VOLT. DC LINK 3

CODER

9049 :DEF. SPEED IS OVER VALUE

9092:OVER SPEED TO VELOCITY

9207 :PS OVER VOLT. DC LINK 4

COMMAND

9050:SYNCRONOUS VALUE IS OVER

9110 :AMP COMMUNICATION ERROR

SPEED

9051 :PS LOW VOLT. DC LINK

9111:PS LOW VOLT. CONTROL

9052 :ITP FAULT 1

9112 :PS EXCESS-REGENERATION1

-

Operation

Following 6 modes are available:

a.

Normal operation

b.

Orientation

c.

Synchronous operation

d.

Rigid tapping

e.

Cs contour control

f.

Spindle positioning control

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