FANUC Series 0i-MODEL D, FANUC Series 0i Mate-MODEL D. MAINTENANCE MANUAL

8.DIGITAL SERVO

B-64305EN/03

(9) Reference counter

1821

Reference counter capacity for each axis (0 to 99999999)

(a) For the semi-closed loop

Reference counter

= Number of position pulses required per motor revolution or the same number divided by an integer

NOTE

If the rotation ratio between the motor and table is not an integer when a rotation

axis is used, a reference counter capacity needs to be set so that the point

where reference counter = 0 (grid point) always appears at the same position

relative to the table.

Example of setting)

αi Pulsecoder, semi-closed loop (1 μm detection)

Lead of ball screw

Required number of position pulses

Grid width

Reference counter

(mm/revolution)

(pulses/revolution)

(mm)

10000

20000

30000

If there is an error between the required number of position pulses per motor revolution and the setting of

the reference counter, the reference position varies, depending on the start point.

Such an error needs to be eliminated by changing the detection unit. In this case, a reference counter

capacity may be set using a fraction.

Example of setting)

System with detection unit = 1 μm, ball screw lead = 20 mm/revolution, and deceleration ratio = 1/17

(i)

Method of setting a reference counter capacity as a fraction

Required number of position pulses per motor revolution = 20000/17

Set the following parameters:

1821

Reference counter capacity of each axis (numerator) (0 to 99999999)

2179

Reference counter capacity of each axis (denominator) (0 to 100)

The parameter for a denominator is not displayed on the servo setting screen. So, a denominator

needs to be set on the parameter screen.

In this example, set numerator = 20000, and denominator = 17.

NOTE

The reference counter assumes only an integer. So, if a fraction is set for a

reference counter capacity, the gap to the point where reference counter = 0 is

compensated for.

(In pulse control theory, a position less than one pulse cannot be controlled. So,

grid interval compensation is performed so that a grid point error is less than one

detection unit at all times.)

(ii) Method of changing the detection unit

Required number of position pulses per motor revolution = 20000/17

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The values of all of the following parameters are multiplied by 17 to change the detection unit to

1/17 μm:

Parameter to be changed

FFG × 17

Can be changed on the servo setting screen.

CMR × 17

Can be changed on the servo setting screen.

Reference counter × 17

Can be changed on the servo setting screen.

Effective area × 17

No.1826, No.1827

Positional deviation limit value during movement × 17

No.1828

Positional deviation limit value during a stop × 17

No.1829

Backlash amount × 17

No.1851, No.1852

As the detection unit is changed from 1 μm to 1/17 μm, the values of all parameters to be set using

the detection unit must be multiplied by 17.

CAUTION

In addition to the parameters listed above, there are parameters to be set using

the detection unit.

For detailed descriptions, refer to [Unit of data] in each parameter description in

the Parameter Manual (B-64310EN).

This change eliminates an error between the required number of position pulses per motor revolution

and the reference counter.

Required number of position pulses per motor revolution = 20000

Reference counter = 20000

(b)

For the closed loop

Reference counter = Z phase (reference position) interval/detection unit or the same number divided by an integer

If the reference counter does not assume an integer, see the example of semi-closed loop.

NOTE

If the rotation ratio between the separate detector and table is not an integer

when a rotation axis is used, a reference counter capacity needs to be set so

that the point where reference counter = 0 (grid point) always appears at the

same position relative to the table.

Example of setting)

Example 1)

When Z phase interval = 50 mm and detection unit = 1 μm

Reference counter = 50,000/1 = 50,000

Example 2)

When detection unit = 0.001° with a rotation axis

Reference counter = 360/0.001 = 360,000

Example 3)

When there is only one Z phase as in the case of a linear scale

Set a simple number such as 10000 and 50000 for the reference counter.

Turn off the power then back on.

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8.2

FSSB DISPLAY AND SETTING SCREEN

Connecting the CNC control unit to servo amplifiers via a 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.

Using the FSSB setting screen to specify axis-to-amp relationships enables axis settings to be calculated

automatically; that is, if bit 0 (DFS) of parameter No. 14476 = 0, parameters Nos. 1023, 1905, 1936, 1937,

14340 to 14349, and 14376 to 14391 are set automatically, and if bit 0 (DFS) of parameter No. 14476 = 1,

parameters Nos. 1023, 1905, 1910 to 1919, 1936, and 1937 are set automatically.

Display

The FSSB setting screen displays FSSB-based amplifier and axis information. This information can also

be specified by the operator.

Press function key

To display [FSSB], press continuous menu key

several times.

Pressing soft key [FSSB] causes the AMP SET screen (or the previously selected FSSB setting

screen) to appear, with the following soft keys displayed.

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 separate detector interface units.

Page keys

and

can be used to switch between the sections.

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The amplifier setting screen consists of the following items:

•

NO. (slave number)

For slaves connected by the FSSB, up to 10 continuous slave numbers (up to 8 for amps and up

to 2 for interface units) assigned with the one nearest to the CNC as the lowest slave number

are displayed.

Each slave number displayed on the amp setting screen consists of “1” indicating the FSSB1

line, "-" (hyphen) that follows it, and the slave unit number of the connected slave arranged in

ascending order with the one nearest to the CNC as the lowest number.

•

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), M (second axis), or N (third axis) indicating the placing of the axis in the

amplifier.

•

AXIS NO. (controlled axis number)

Each controlled axis number displayed is a value set in parameter Nos. 14340 to 14349 plus 1 if

bit 0 (DFS) of parameter No. 14476 = 0 or a value set in parameter Nos. 1910 to 1919 plus 1 if

bit 0 (DFS) of parameter No. 14476 = 1.

•

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:

SERIES (servo amplifier name)

UNIT (servo amplifier unit type)

CURRENT (maximum rating)

•

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

SEPARATE

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

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 separate detector interface unit.

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PCB ID

This display consists of four digits indicating the separate detector interface unit ID

(hexadecimal). The separate detector interface unit ID is followed by SDU (8-AXES) for

the eight-axis separate detector module or SDU (4-AXES) for the four-axis separate

detector module.

<2> Axis setting screen

The axis setting screen displays the information shown below:

This axis setting screen displays the following items:

•

AXIS (controlled axis number)

This item is the placing of the NC controlled axis.

•

NAME (controlled axis name)

•

AMP (type of the amplifier connected to each axis)

•

M1 (connector number for separate detector interface unit 1)

The connector number for separate detector interface unit 1 stored in the SRAM is displayed.

•

M2 (connector number for separate detector interface unit 2)

The connector number for separate detector interface unit 2 stored in the SRAM is displayed.

•

1-DSP

If the number of servo HRV3 controlled axes that can be controlled by one DSP is limited, the

number of axes controllable by one DSP stored in the SRAM is displayed. When 0 is displayed,

no limitation is imposed.

•

Cs (Cs contour controlled axis)

The value stored in the SRAM is displayed. It is spindle number for the Cs contour controlled

axis.

•

TNDM

The value stored in the SRAM is displayed. Consecutive odd and even numbers are displayed

for the master and slave axes for tandem control.

<3> 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.

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The amplifier maintenance screen displays the following items:

•

AXIS (controlled axis number)

•

NAME (controlled axis name)

•

AMP (type of amplifier connected to each axis)

•

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

•

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

•

AXES (maximum number of axes controlled by an amplifier connected to each axis)

•

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

•

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

•

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

Example) 090123 = January 23, 2009

•

MAINTE-NO. (engineering change number for an amplifier connected to each axis)

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Setting

On an FSSB setting screen (other than the amplifier maintenance screen), pressing soft key [(OPRT)]

displays the following operation selection soft keys:

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

key on the MDI panel).

When soft key [SETING] is pressed after data is entered, a warning message is displayed if the entered

data is incorrect. When the entered data is correct, it is set in parameters Nos. 1023, 1905, 1936, 1937,

14340 to 14349, and 14376 to 14391 if bit 0 (DFS) of parameter No. 14476 = 0 or parameter Nos. 1023,

1905, 1910 to 1919, 1936, and 1937 if bit 0 (DFS) of parameter No. 14476 = 1.

To restore the previous value of a parameter if, for example, an entered value is incorrect, press soft key

[CANCEL].

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

CAUTION

1 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.

2 If pressing soft key [SETING] results in a warning being issued, re-enter the data

or press soft key [CANCEL] to reset the warning. Pressing the reset key cannot

reset the warning.

<1> Amplifier setting screen

The amplifier setting screen displays the following items:

•

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 [SETING] is pressed to

assert the entered value. In this case, no value can be entered for the parameter.

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<2> Axis setting screen

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

•

M1 (connector number for separate detector interface unit 1)

M2 (connector number for separate detector interface unit 2)

For an axis on which to use each separate detector interface unit, enter a connector number with

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

When a separate detector interface unit is not connected and a number that falls outside the

valid range is entered, the warning message

“ILLEGAL DATA” is displayed. When a

separate detector interface unit is connected and a number that falls outside the valid range is

entered, the warning message “DATA IS OUT OF RANGE” is displayed.

•

1-DSP

If the number of servo HRV3 controlled axes that can be controlled by one DSP is limited, set

the number of axes controllable by one DSP.

Number of servo HRV3 controlled axes

Setting: 3

The same value is set for axes other than Cs contour controlled axes.

If a value other than 0, 1, and 3 is input, the warning "INVALID FORMAT" is output.

•

Cs (Cs contour controlled axis)

Enter spindle number (1 to 2) for the Cs contour controlled axis. If a number other than 0 to 2 is

entered, the warning message “DATA IS OUT OF RANGE” is displayed.

•

TNDM (or M/S if EGB (T series) is enabled)

Enter odd and even numbers for axes for tandem control or EGB (T series). These numbers

must be consecutive and within a range between 1 and the number of controlled axes. If a

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

RANGE” is displayed.

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

“DATA IS OUT OF RANGE” is displayed if any of the following conditions is satisfied.

•

The setting disables the connection of controlled axes with amplifiers and separate detector

interface units.

•

A value other than 0 is specified for both M1 and M2 for an axis.

•

A value other than 0 is specified for both Cs and TNDM for an axis.

•

1-DSP is 1 and TNDM is not 0 for an axis.

•

1-DSP is 3 and TNDM is specified for a multiple of four for an axis.

•

A duplicate value is specified for M1.

•

A duplicate value is specified for M2.

•

A duplicate value is specified for Cs.

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•

A duplicate value is specified for TNDM.

•

An invalid master/slave axis pair is specified for TNDM.

8.3

SERVO TUNING SCREEN

8.3.1

Parameter Setting

Set a parameter to display the servo tuning screen.

3111

SVS

[Input type] Setting input

[Data type] Bit path

#0 SVS Servo setting screen or servo tuning screen is:

0: Not displayed.

1: Displayed.

8.3.2

Displaying Servo Tuning Screen

Press function key

key, continuous menu key

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

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

<1>

<9>

<2>

<10>

<3>

<11>

<12>

<4>

<13>

<5>

<14>

<6>

<15>

<7>

<16>

<8>

<17>

<18>

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(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

(8) Velocity gain Set value^{(Parameter No.2021)+256}

×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

(15) Position error : Actual position error (Diagnosis No.300)

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

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

(18) Speed RPM : Number of motor actual rotation

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.

8.3.3

Alarms Related to Amplifiers and Motors

An alarm is identified from the data of alarms 1, 2, and 5. The meaning of each bit is indicated below.

Alarm 1

Alarm 5

Alarm 2

Description

Action

OVL

LVA

OVC

HCA

HVA

DCA

FBA

MCC

FAN

ALD

EXP

Overcurrent alarm (PSM)

Overcurrent alarm (SVM)

Overcurrent alarm

(software)

Overvoltage alarm

Excessive regenerative

discharge alarm

Power supply

undervoltage (PSM)

DC link undervoltage

(PSM)

Control power supply

undervoltage (SVM)

DC link undervoltage

(SVM)

Overheat (PSM)

Motor overheat

MCC welding, precharge

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Alarm 1

Alarm 5

Alarm 2

Description

Action

OVL

LVA

OVC

HCA

HVA

DCA

FBA

MCC

FAN

ALD

EXP

Fan stop (PSM)

Fan stop (SVM)

OVC alarm

NOTE

For the alarms with no action number, see the maintenance manual of the servo

amplifier.

Action 1: Related to overcurrent alarms

An overcurrent alarm is issued when an excessively large current flows in the main circuit.

If an overcurrent alarm is always issued after the emergency stop state is canceled or at the time of

gradual acceleration/ deceleration, the cause may be a defective amplifier, cable connection error,

broken cable, or parameter setting error.

First, check if the servo parameters indicated below are set to the standard values. If the servo

parameters Nos. 2004, 2040, and 2041 are set to the standard values, check the amplifier and cable

connections according to the maintenance manual of the amplifier.

If an overcurrent alarm is issued only at the time of abrupt acceleration/deceleration, the use

condition is too severe. Increase the time constant and see what happens.

CAUTION

If the emergency stop state is canceled when the power line to the motor is

disconnected, an overcurrent alarm (software) may be issued. If this poses a

problem, set the following parameter to 1:

Bit 0 of parameter No. 2207: Ignores an overcurrent alarm (software).

Action 2: Related to overheat alarms

If an overheat alarm is issued after a long-time continuous operation, the temperature of the motor or

amplifier may be high. Stop the operation for a while and see what happens. If an overheat alarm is

still issued about 10 minutes after the power is turned off, the hardware is probably faulty.

If an overheat alarm is issued intermittently, increase the time constant or increase stop times in the

program to suppress an increase in temperature.

Action 3: Related to an OVC alarm

If an OVC alarm is issued, check if the parameters indicated below are set to the standard values.

No.1877, No.1878, No.1893

No.2062, No.2063, No.2065

No.2161, No.2162, No.2163, No.2164

If the parameters are set to the standard values, increase the time constant or increase stop times in

the program to suppress an increase in temperature.

8.3.4

Alarms related to the αi Pulsecoder

An alarm is identified from the data of alarms 1, 2, 3, and 5. The meaning of each bit is indicated below.

Alarm 3

Alarm 5

Alarm 2

Description

Action

CSA

BLA

PHA

RCA

BZA

CKA

SPH

LDM

PMS

FBA

ALD

EXP

Soft phase alarm

Battery voltage zero

Count error alarm

EEPROM error alarm

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Alarm 3

Alarm 5

Alarm 2

Description

Action

CSA

BLA

PHA

RCA

BZA

CKA

SPH

LDM

PMS

FBA

ALD

EXP

Battery undervoltage (warning)

Pulse error alarm

LED error alarm

CAUTION

The alarms with no action number are considered to be caused by a Pulsecoder

failure. Replace the Pulsecoder.

Action 1: Battery-related alarms

Check if a battery is connected. When the power is turned on for the first time after a battery is

connected, a battery voltage zero alarm is issued. In such a case, turn off the power then turn on the

power again. If a battery voltage zero alarm is still issued, check the battery voltage. If a battery

undervoltage alarm is issued, check the voltage and replace the battery.

Action 2: Alarms that may be caused by noise

If an alarm is issued intermittently or an alarm is issued after the emergency stop state is canceled,

the cause of the alarm is probably noise. In this case, provide sufficient noise protection. If an alarm

is issued even after noise protection is provided, replace the Pulsecoder.

8.3.5

Alarms Related to Serial Pulsecoder Communication

An alarm is identified from the data of alarm 4. The meaning of each bit is indicated below.

Alarm 4

Description

DTE

CRC

STB

PRM

Serial Pulsecoder communication alarm

Action:

An error occurred in serial communication. Check if the cable is connected correctly and also check

if the cable is not disconnected and broken. If CRC or STB is 1, it is likely that the cause is noise.

Take an antinoise measure. If an alarm is always issued after the power is turned on, the Pulsecoder

or amplifier control board may be faulty.

8.3.6

Alarms Related to Disconnection

An alarm is identified from the data of alarms 1 and 2. The meaning of each bit is indicated below.

Alarm 1

Alarm 2

Actio

Description

OVL

LVA

OVC

HCA

HVA

DCA

FBA

ALD

EXP

Hard disconnection (separate A/B

phase disconnection)

Soft disconnection

(closed loop / αi Pulsecoder)

Action 1:

This alarm is issued when a separate A/B phase scale is used. Check if the A/B phase detector is

connected correctly.

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Action 2: Full-closed

This alarm is issued when the position feedback pulse change is smaller than the velocity feedback

pulse change. This means that this alarm is not issued in a semi-closed loop. Check if the separate

detector outputs position feedback pulses correctly. If the separate detector outputs position

feedback pulses correctly, such a situation that only the motor makes turns in the reverse direction at

the start of machine movement because of a large backlash between the motor position and scale

position is considered to have occurred.

2003

TGAL

#1 TGAL 1: The parameter-set detection level is used for a soft disconnection alarm.

2064

Soft disconnection alarm level

Standard setting 4: An alarm is issued when the motor makes a 1/8 revolution.

Increase the setting of this parameter.

Action 2: αi Pulsecoder

This alarm is issued when synchronization between phase data and absolute position data sent from

the built-in Pulsecoder is lost. While the power to the NC is turned off, unplug the Pulsecoder cable,

then plug the cable once again after about 10 minutes. If this alarm is still issued, replace the

Pulsecoder.

8.3.7

Alarm Related to Invalid Parameter Settings

An alarm is identified from the data of alarm 4. The meaning of the PRM bit is defined as follows:

Alarm 4

Description

DTER

CRC

STB

PRM

Invalid parameter detected by the servo software

When PRM = 1, an invalid parameter is detected by the servo software. Read the value indicated by

diagnosis 352, and troubleshoot according to "FANUC AC SERVO MOTOR αis/αi series Parameter

Manual (B-65270EN)".

When PRM = 0, read the bit value indicated by diagnosis 280, and determine the cause according to the

following:

Diagnosis 280#0 = 1

: In parameter No. 2020 used for motor module specification, a value not within

the specifiable range is specified.

Diagnosis 280#2 = 1

: In parameter No. 2023, an incorrect value such as a value equal to or less than 0

is set.

Diagnosis 280#3 = 1

: In parameter No. 2024, an incorrect value such as a value equal to or less than 0

is set.

Diagnosis 280#4 = 1

: In parameter No. 2022, a correct value (111 or -111) is not set.

Diagnosis 280#6 = 1

: In parameter No. 2023, an incorrect value is set.

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8.3.8

Others

An alarm is identified from the data of alarm 5. The meaning of each bit is indicated below.

Alarm 5

Description

Action

OFS

MCC

LDM

PMS

FAN

DAL

ABF

Feedback mismatch alarm

Semi-closed/closed loop excessive error alarm

Current offset error alarm

Action 1:

This alarm is issued when the move direction of the position detector becomes opposite to the move

direction of the speed detector. Check the rotation direction of the separate detector. If the rotation

direction of the separate detector is opposite to the rotation direction of the motor, take the following

action:

For the A/B phase detector:

Exchange the connections of A and A with each other.

For the serial detector:

Reverse the following signal direction setting for the separate detector.

Even with the A/B phase detector, the signal direction can be reversed by setting the parameter

below. This method cannot be used when absolute position communication is required.

2018

RVRSE

#0 RVRSE Whether to reverse the signal direction of the separate detector can be set.

0: Does not reverse the signal direction of the separate detector.

1: Reverses the signal direction of the separate detector.

If there is a large distortion between the motor and separate detector, it is likely that the signal direction

may be reversed when the motor accelerates or decelerates steeply. In such a case, change the detection

level.

2018

RNLV

#1 RNLV The detection level of a feedback mismatch alarm can be changed.

0: Detected at 600 mm^-1 or more

1: Detected at 1000 min^-1 or more

Action 2:

This alarm is issued when the difference between the motor position and separate detector position

exceeds the semi-closed/closed loop excessive error level. Check if the dual position feedback

conversion coefficient is set correctly. If the dual position feedback conversion coefficient is set

correctly, increase the alarm level. If this alarm is still issued after changing the level, check the

connection direction of the scale.

2078

Dual position feedback conversion coefficient (numerator)

2079

Dual position feedback conversion coefficient (denominator)

2118

Dual position feedback semi-closed/full-closed loop error level

[Setting] Detection unit. When 0 is set, no detection operation is performed.

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Action 3:

The current offset value (equivalent to the current value during an emergency stop) of the current

detector becomes abnormally high. If this alarm is still issued after the power is turned off then back

on, the current detector is considered to be faulty. When using the αi series, replace the amplifier.

8.4

ADJUSTING REFERENCE POSITION (DOG METHOD)

Overview

Speed

Rapid traverse

FL rate

(Parameter No. 1420)

(Parameter No. 1425)

Time

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

*DECn

PCZ

Grid

Grid shift amount

Reference counter capacity

(Parameter No. 1850)

(Parameter No. 1821)

10mm/rev

10000P

Error

Proportion

Speed

CMR

counter

gain

Command

loop

×4

(Serial)

Reference

F⋅FG

counter

GRID

10000P/rev (Flexible feed gear)

Counter capacity

10000P

Parameter

There are the following related parameters.

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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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 parameter SFDx(No.1008#4) is 0: Grid shift

In case of parameter SFDx(No.1008#4) 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.)

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 Pulsecoder is not used.

1: A separate Pulsecoder is used.

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8.DIGITAL SERVO

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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 Pulsecoder)

Separate type Pulsecoder or linear scale is used

1821

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 integer may be used as a reference counter capacity:

(Example)

(1μm)

300mm ⇒ reference counter

30000

20000

15000

10000

etc

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.

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8.DIGITAL SERVO

Overview

Speed

Reference position return

FL rate (PRM 1425)

Time

JOG

ZRN

+Jｎ

GRID

ZP n

Operation

<1> Jog-feed the axis for which you want to set a reference position in the reference position return

direction and stop it a little short of 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 (ZPn) and

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

* Once a reference position is set up, simply providing the axis direction signal manually with the

ZRN signal set to “1” causes the axis to return to the reference position.

Parameter

There are the following related parameters.

1005

DLZx

[Input type] Parameter input

[Data type] Bit axis

#1 DLZx Function for setting the reference position without dogs

0: Disabled

1: Enabled

1006

ZMIx

[Input type] Parameter input

[Data type] Bit axis

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8.DIGITAL SERVO

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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:

+ direction

- 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 F093.7>

[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 warning

Corresponding alarm messages

SVWRN4

SVWRN3

SVWRN2

SVWRN1

state signal is issued to until

(F093.7)

(F093.6)

(F093.5)

(F093.4)

an alarm occurs

444 n AXIS: INV. COOLING FAN

Until overheat occurs

FAILURE

(inconstant)

601 n AXIS: INV. RADIATOR FAN

Until overheat occurs

FAILURE

(inconstant)

443 n AXIS: CNV. COOLING FAN

Until overheat occurs

FAILURE

(inconstant)

606 n AXIS: CNV. RADIATOR

Until overheat occurs

FAN FAILURE

(inconstant)

431 n AXIS: CNV. OVERLOAD

One minute

607 n AXIS: CNV. SINGLE

PSMR: Five seconds,

PHASE FAILURE

PSM: One minute

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

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8.DIGITAL SERVO

Signal address

F093

SVWRN4

SVWRN3

SVWRN2

SVWRN1

8.7

αi SERVO INFORMATION SCREEN

Overview

In the αi servo system, ID information output from each of the connected units is obtained and output to

the CNC screen.

The units that have ID information are shown below.

(Remark: Some instances of these units do not have ID information.)

Servo motor

Pulsecoder

Servo amplifier module

Power supply module

ID information is automatically read from each of the connected units during first startup of the CNC and

then recorded. Next time (and the subsequent time) the CNC is started, the ID information that can be

read is compared with one recorded at the first startup time in order to monitor any change to the

connected units. (If there is a difference between them, the alarm mark (*) appears.)

The recorded ID information can be edited. Therefore, the ID information of an unit that does not have ID

information can be displayed. (However, the alarm mark (*) indicating a difference between these IDs

appears.)

Parameter

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

Press the

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

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

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8.DIGITAL SERVO

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* 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.

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.

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8.DIGITAL SERVO

Editing the servo information screen

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

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

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

below.

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.

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 *.

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9.AC SPINDLE

B-64305EN/03

9.1

SERIAL INTERFACE AC SPINDLE

9.1.1

Outline of Spindle Control

S command

M command

PMC

M03, M04, M05, M19

FIN

*SSTP (Spindle stop)

Motor speed

SOVx (Spindle override)

SF, GR1O, GR2O, GR3O

(For M series)

GR1, GR2 (For T series)

SOR (Orientation)

(Parameters Nos. 3735 to

3752)

R01O to R12O

Orientation speed

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

R01I to R12I

parameter No.3732, and bit 5

(ORM) of parameter No.3706)

SIND

Output polarity (Bits 7 (CWM) and

SGN (0=+, 1=-)

6 (TCW) of parameter No.3706)

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

Load meter

Speedometer

Spindle

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9.AC SPINDLE

9.1.1.1 Method A of gear change for M series

(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

S code

Parameter

(min^-1)

No.3741

No.3742

No.3743

9.1.1.2 Method B of gear change for M series

(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

S code

Parameter

Parameter Parameter

(min^-1)

No.3741

No.3742

No.3743

9.1.1.3 T series

Output Motor speed

4095

Max

Gear 1

Gear 2

Gear 3

Gear 4

S code

(min^-1)

Parameter

Parameter Parameter Parameter

No.3741

No.3742

No.3743

No.3744

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9.AC SPINDLE

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9.1.2

Spindle Setting and Tuning Screen

9.1.2.1 Display method

(1) Confirm the parameters

3111

SPS

[Input type] Setting input

[Data type] Bit path

#1 SPS The spindle setting screen is:

0: Not displayed.

1: 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.SET]. 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

Gear selection

The gear select status on the machine side is displayed.

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9.AC SPINDLE

Clutch/gear signal

Indication

CTH1n

CTH2n

Spindle

Select a spindle for which data is to be set.

S11 :

1st spindle

S21 :

2nd spindle

S31 :

3rd spindle

Parameters

S11:

S21:

S31:

1st spindle

2nd spindle

3rd spindle

Gear ratio (HIGH)

4056

Gear ratio (MEDIUM HIGH)

4057

Gear ratio (MEDIUM LOW)

4058

Gear ratio (LOW)

4059

Max. spindle speed (gear1)

3741

Max. spindle speed (gear2)

3742

Max. spindle speed (gear3)

3743

Max. spindle speed (gear4)

3744

Max. motor speed

4020

Max. Cs axis speed

4021

9.1.2.3 Spindle tuning screen

Operation mode

: SPEED CONTROL

: SPINDLE ORIENTATION

: SYNCHRONIZATION CONTROL

: RIGID TAPPING

: SP.CONTOURING CONTROL

: SP.POSITIONING CONTROL (T series)

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9.AC SPINDLE

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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.

Normal

Synchronous

Spindle positioning

Orientation

Rigid tapping

Cs contour control

operation

control

control (T series)

Proportional gain

Integral gain

Motor voltage

Loop gain

Regenerative

Motor voltage

power

ORAR gain (%)

Acceleration/

ZRN gain (%)

Shift spindle stop

deceleration constant

Shift reference position

position

Shift reference position

Shift reference

position

*1) For the parameter numbers corresponding to the displayed parameter items, see Section 9.1.2.5.

Displayed monitoring items

The displayed monitoring items vary depending on the operation mode.

Normal

Synchronous

Spindle positioning

Orientation

Rigid tapping

Cs contour control

operation

control

control (T series)

Motor speed

Spindle speed

Feedrate

Position deviation S

Position deviation S1

Position deviation S

Position deviation S2

Position deviation Z

Synchronous deviation

*1)

|Spindle data|

Motor speed [min^-1] =

× Max. motor speed (*)

16383

(*) Parameter No. 4020

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FANUC Series 0i-MODEL D, FANUC Series 0i Mate-MODEL D. MAINTENANCE MANUAL - page 12