FANUC Series 16 / 160 / 18 / 180 – Model B. Maintenance Manual

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

D Help for operation

Press [2 OPR], then a menu for operation method is displayed.

HELP (OPERATION METHOD)

O1234 N12345

1. PROGRAM EDIT

2. SEARCH

3. RESET

4. DATA INPUT WITH MDI

5. DATA INPUT WITH TAPE

6. OUTPUT

7. INPUT WITH FANUC CASSETTE

8. OUTPUT WITH FANUC CASSETTE

9. MEMORY CLEAR

[1 ALARM]

[2 OPR]

[3 PARA]

[ OPRT ]

Press [OPRT], (an item number) and soft key [SELECT], then an

operation method of the item is displayed.

PAGE

Pressing PAGE key

displays another pages.

PAGE

HELP (OPERATION METHOD)

O1234 N12345

<<1.PROGRAM EDIT>>

1/4

Current

page/ Total

DELETE ALL PROGRAMS

page

MODE :EDIT

SCREEN :PROGRAM

OPR

:(0-9999) - (DELETE)

DELETE ONE PROGRAM

MODE : EDIT

SCREEN : PROGRAM

OPR

:(0+PROGRAM NUMBER) - <DELETE>

[

]

[

]

[

]

[

]

[SELECT]

B-62445E/03

1. DISPLAY AND OPERATION OF CRT/MDI

D Parameter table

Press soft key [3 PARA], then a parameter table is displayed.

HELP (PARAMETER TABLE)

O1234 N12345

1/4

Current

page/ Total

·SETTING

(NO.0000~ )

page

·READER/PUNCHER INTERFACE

(NO.0100~ )

·AXIS CONTROL/SETTING UNIT

(NO.1000~ )

·COORDINATE SYSTEM

(NO.1200~ )

·STROKE LIMIT

(NO.1300~ )

·FEED RATE

(NO.1400~ )

·ACCEL/DECELERATION CTRL

(NO.1600~ )

·SERVO RELATED

(NO.1800~ )

·DI/DO

(NO.3000~ )

[1 ALAM ] [2 OPR ][ 3 PARA

] [

][SELECT]

PAGE

Another screen can be selected by the PAGE key

PAGE

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

1.8

DISPLAYING

DIAGNOSTIC PAGE

1.8.1

SYSTEM

(1) Press

key.

Displaying Diagnostic

(2) Press soft key [DGN], then a diagnostic screen is displayed.

Page

1.8.2

Contents Displayed

D Causes when the

machine does not travel

000 WAITING FOR FIN SIGNAL

An auxiliary function is being

in spite of giving a

executed.

command

001 MOTION

Travel command of cycle

operation is being executed.

002 DWELL

DWELL Dwell is being

executed.

003 IN-POSITION CHECK

In-position check is being done.

004 FEEDRATE OVERRIDE 0%

Feedrate override is 0%.

005 INTERLOCK/START LOCK

Interlock or start lock is input.

006 SPINDLE SPEED ARRIVAL CHECK

Waiting for spindle speed

arrival signal.

010 PUNCHING

Data is being output through

reader/puncher interface.

011 READING

Data is being input through

reader/puncher interface.

012 WAITING FOR (UN) CLAMP

Waiting for the end of index

table indexing

013 JOG FEEDRATE OVERRIDE 0%

Manual feedrate override is 0%.

014 WAITING FOR RESET, ESP,RRW OFF

NC is in reset state.

015 EXTERNAL PROGRAM NUMBER SEARCH External Program Number

Search External program

number search is being done

016 BACKGROUND ACTIVE

Background is being used.

B-62445E/03

1. DISPLAY AND OPERATION OF CRT/MDI

D Cause of the cycle start

LED turned off

020 CUT SPEED UP/DOWN

021 RESET BUTTON ON

022 RESET AND REWIND ON

023 EMERGENCY STOP ON

024 RESET ON

025 STOP MOTION OR DWELL

Input of emergency stop signal

Input of external reset signal

Reset button On of MDI

Input of reset & rewind

Servo alarm generation

Switching to other mode, Feed hold

Single block stop

D State of TH alarm

030 CHARACTER NUMBER TH ALARM

Position of the character that

caused TH alarm. The position

is counted from the head.

031 TH DATA

Data of the character that caused

TH alarm.

D Detail of Alarm 350 of

serial pulse coder

DGN

0202

CSA

BLA

PHA

RCA

BZA

CKA

SPH

#6(CSA):

Hardware of serial pulse coder is abnormal

#5(BLA):

Battery voltage is low (warning)

#4(PHA):

Serial pulse coder or feedback cable is erroneous.

#3(RCA):

Serial pulse coder is faulty.

Counting of feedback cable is erroneous.

#2(BZA):

Battery voltage became 0.

Replace the battery and set the reference position.

#1(CKA):

Serial pulse coder is faulty.

Internal block stopped.

#0(SPH):

Serial pulse coder or feedback cable is faulty.

Counting of feedback cable is erroneous.

D Detail of Alarm 351 of

serial pulse coder

DGN

0203

DTE

CRC

STB

#7(DTE): Communication failure of serial pulse coder.

There is no response for communication.

#6(CRC): Communication failure of serial pulse coder.

Transferred data is erroneous.

#5(STB): Communication failure of serial pulse coder.

Transferred data is erroneous.

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

D Details of digital servo

alarm 414

DGN

0200

OVL

OVC

HCA

HVA

DCA

FBA

OFA

#7(OVL): Overload alarm

#6(LV): Insufficient voltage alarm

#5(OVC): Over current alarm

#4(HCA): Abnormal current alarm

#3(HVA): Overvoltage alarm

#2(DCA): Discharge alarm

#1(FBA): Disconnection alarm

#0(OFA): Overflow alarm

DGN

0201

ALD

EXP

Overload

Motor overheat

alarm

Amplifier overheat

Disconnec-

Built-in pulse coder (hand)

tion alarm

Disconnection of separated type pulse

coder (hard)

Disconnection of pulse coder (software)

DGN

0204

RAM

OFS

MCC

LDA

PMS

#6(OFS):

Abnormal current value result of A/D conversion of digital

#5(MCC):

Contacts of MCC of servo amplifier is melted.

#4(LDA):

Serial pulse coder LED is abnormal

#3(PMS):

Feedback is not correct due to faulty serial pulse coder C or feedback

cable.

D Detail of digital servo

This data indicates the cause of servo alarm No. 417, detected by the NC.

alarm 417

If the alarm is detected by the servo, the PRM bit (bit 4 of DGN No. 0203)

is set to 1.

0280

AXS

DIR

PLS

PLC

MOT

#0 (MOT):

The motor type specified in parameter No. 2020 falls outside the

predetermined range.

#2 (PLC):

The number of velocity feedback pulses per motor revolution, specified in

parameter No. 2023, is zero or less. The value is invalid.

#3 (PLS):

The number of position feedback pulses per motor revolution, specified in

parameter No. 2024, is zero or less. The value is invalid.

#4 (DIR):

The wrong direction of rotation for the motor is specified in parameter No.

2022 (the value is other than 111 or -111).

#6 (AXS):

In parameter No. 1023 (servo axis number), a value that falls outside the

range of 1 to the number of controlled axes is specified. (For example, 4 is

specified instead of

3.)

Alternatively, the values specified in the

parameter are not consecutive.

B-62445E/03

1. DISPLAY AND OPERATION OF CRT/MDI

D Position error amount

DGN

0300

Position error of an axis in detection unit

Feed rate [mm/min]

Position error=

60 servo loop gain [1/sec]

Detection unit

D Machine position

DGN

0301

Distance from reference position of an axis in detection unit

D Reference position shift

function

DGN

302

Distance from the end of the deceleration dog to the first grid point

[Data type] Two-word axis

[Units of data] 0.001 mm (metric output), 0.0001 inch (inch output)

[Valid data range] 0 to "99999999

D Diagnostic data related

to the Inductosyn

absolute position

detector

DGN

380

Difference between the absolute position of the motor and offset data

M (absolute position of the motor) - S (offset data)

λ(pitch interval)

The remainder resulting from the division is displayed.

[Data type]

Two-word axis

[Units of data]

Detection units

DGN

381

Offset data from the Inductosyn

Off set data is displayed when CNC calculates the machine position.

[Data type]

Two-word axis

[Units of data]

Detection units

D Serial spindle

DGN

0400

SAI

SS2

SSR

POS

SIC

This data indicates the offset data received by the CNC while it is

calculating the machine coordinates.

#4(SAI)

0 : Spindle analog control is not used.

1 : Spindle analog control is used.

#3(SS2)

0 : Spindle serial doesn’t control 2nd spindle.

1 : Spindle serial control 2nd spindle.

#2(SSR)

0 : Spindle serial control is not performed.

1 : Spindle serial control is performed.

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

#1 (POS) A module required for spindle analog control is

0 : not mounted

1 : mounted

#0 (SIC) A module required for spindle serial control is

0 : not mounted

1 : mounted

DGN

0401

Serial spindle alarm state of 1st spindle

DGN

0402

Serial spindle alarm state of 2nd spindle

DGN

0408

SSA

SCA

CME

CER

SNE

FRE

CRE

#0 (CRE):

A CRC error occurred. (Warning)

#1 (FRE):

A framing error occurred. (Warning)

#2 (SNE):

The transmission/reception target is invalid.

#3 (CER):

An error occurred during reception.

#4 (CME):

No response was returned during automatic scanning.

#5 (SCA):

A communication alarm occurred on the spindle amplifier side.

#7 (SSA):

A system alarm occurred on the spindle amplifier side.

(These problems cause spindle alarm 749. Such problems are mainly

caused by noise, disconnection, or instantaneous power-off).

DGN

0409

SPE

S2E

S1E

SHE

Refer to this diagnosis when alarm 750 has generated.

#3 (SPE)

In spindle serial control serial spindle parameters

0 : Satisfy start condition of spindle unit

1 : Do not satisfy start condition of spindle unit

#2 (S2E)

0 : 2nd spindle started normally in spindle serial control.

1 : 2nd spindle did not start normally in spindle serial control.

#1 (S1E)

0 : 1st spindle started normally in spindle serial control.

1 : 1st spindle did not start normally in spindle serial control.

#0 (SHE)

0 : Serial communication module is correct on CNC side.

1 : An error occurred in serial communication module on CNC side

DGN

0410

Load meter of 1st spindle [%]

DGN

0411

Speed meter of 1st spindle [%]

DGN

0412

Load meter of 2nd spindle [%]

B-62445E/03

1. DISPLAY AND OPERATION OF CRT/MDI

DGN

0413

Speed meter of 2nd spindle [%]

DGN

0414

Position error in 1st spindle synchronous control mode

DGN

0415

Position error in 2nd spindle synchronous control mode

DGN

0416

Absolute value of synchronization error between 1st and 2nd spindles

DGN

0417

Feedback information of 1st spindle position coder

DGN

0418

Position error of 1st spindle position loop mode

DGN

0419

Feedback information of 2nd spindle position coder

DGN

0420

Feedback information of 2nd spindle position coder

D Diagnostic data related

to rigid tapping

DGN

450

Spindle position error during rigid tapping

[Data type]

Word

[Unit of data]

Detection units

DGN

451

Spindle distribution during rigid tapping

[Data type]

Word

[Unit of data]

Detection units

DGN

454

Accumulated spindle distribution during rigid tapping

[Data type]

Two-word

[Unit of data]

Detection units

DGN

455

Instantaneous difference for the move command, calculated in terms of the spindle,

during rigid tapping (signed, accumulated value)

[Data type] Two-word

[Unit of data] Detection units

DGN

456

Instantaneous difference for the travel error, calculated in terms of the spindle,

during rigid tapping (signed)

[Data type] Word

[Unit of data] Detection units

DGN

457

Width of synchronization error during rigid tapping (maximum value)

[Data type] Word

[Unit of data] Detection units

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

D Two-spindle polygon

This data indicates the status of the polygon synchronization mode.

machining

(T series only)

470

SC0

LGE

SCF

PST

SPL

#0 (SPL):

Spindle polygon synchronization is in progress.

#1 (PST):

Spindle polygon synchronization mode is starting.

#2:

Spindle polygon synchronization mode is being released.

#3:

The spindle speed is being changed in spindle polygon synchronization

mode.

#4 (SCF):

The spindle speed has been changed in spindle polygon synchronization

mode.

#5:

Not used

#6 (LGE):

In spindle polygon synchronization mode, the two spindles have different

loop gains.

#7 (SC0):

In spindle polygon synchronization mode, the specified speed is zero.

<Note>⋅

If SPL and SCF are set to 1 and #1, #2, and #3 are set to 0 in polygon

synchronization mode, the operation is normal.

⋅

If the status does not change, even though PST is set to 1 and the program

is stopped in a block including G51.2, one of the spindles cannot attain the

polygon synchronization speed. This may occur when the spindle cannot

be activated because the PSTU bit (bit 7 of parameter No. 7603) is set to 0.

⋅

LGE is set to 1 when the speed is changed in polygon synchronization

mode if the serial spindle control unit uses different loop gains for the first

and second spindles during spindle synchronization.

When this function is used, the two spindles must be controlled with an

identical loop gain. The warning is displayed in DGN, but the warning

does not cause an alarm.

(The serial spindle control unit switches

parameters according to the statuses of CTH1, CTH2, and other signals.)

⋅

SCO is set to 1 if either of the following occurs: The combination of the

programmed S value and spindle control signals including *SSTP

<G0029, #6>, SOV0 to SOV7 <G0030> and multispindle control signal

<G0027> causes 0 or a value smaller than the resolution of spindle control

to be programmed (the programmed value multiplied by 4095/highest-

spindle-speed is smaller than 1). Alternatively, SIND control <G0032,

G0033> is used and the programmed output is 0.

When SCO is set to 1, the spindle speed becomes 0, setting bit 0 of DGN

471 to 1 and disabling the ratio of polygon synchronization rotation. This,

however, is handled as a result of the program, and does not cause P/S

alarm No. 5018.

B-62445E/03

1. DISPLAY AND OPERATION OF CRT/MDI

This data indicates the cause of P/S alarm 5018 or 218.

471

NPQ

PQE

NSP

SUO

QCL

PCL

#0 to #3

→Cause of P/S alarm No. 5018

P/S alarm No. 5018 can be cleared by issuing a reset. The cause indication

is retained until the cause is removed or until polygon synchronization

mode is released.

#4 to #7

→Cause of P/S alarm No. 218

If P/S alarm No. 218 occurs, polygon synchronization mode is released.

The cause indication, however, is retained until P/S alarm No. 218 is

cleared by issuing a reset.

#0:

The speed specified for spindle polygon synchronization is too low. (The

unit speed becomes 0 for internal operations.)

#1 (PCL):

The first spindle (master axis in polygon synchronization) is clamped.

#2 (QCL):

The second spindle (slave axis in polygon synchronization) is clamped.

#3 (SUO):

The speed specified in spindle polygon synchronization is too high. (The

speed is restricted to the upper limit for internal operations.)

#4 (NSP):

A spindle required for control is not connected.

(The serial spindle,

second spindle, etc. is not connected.)

#5:

A negative Q value is specified while the QDRC bit (bit 1 of parameter

No. 7603) is set to 1.

#6 (PQE):

The P value or Q value, specified with G51.2, falls outside the

predetermined range. Alternatively, the P and Q values are not specified

as a pair.

#7 (NPQ):

Although the P and Q values are not specified with G51.2, an R value is

specified. Alternatively, none of the P, Q, or R value is specified.

<Note>⋅

Bit 0 is set to 1 even when the specified spindle speed is 0 (bit 7 of DGN

470 is set to 1). This, however, does not cause P/S alarm No. 5018 to be

output (because the programmed speed is 0). P/S alarm No. 5018 occurs

when bit 7 of DGN 470 is set to 0, while bit 0 of DGN 471 is set to 1.

Normal spindle speeds will not cause this alarm to be output.

⋅

PCL indicates that the speed specified for the master axis exceeds the

maximum speed for the first axis, specified in parameters No. 3741 to

3744, causing, the specified speed to be limited to the maximum speed.

PCL is not set to 1 provided the first spindle is connected correctly.

⋅

QCL is set to 1 when the polygon synchronization speed specified for the

second spindle (slave axis in polygon synchronization) exceeds the value

set in parameter No. 7621, causing the actual speed to be limited to the

specified value.

⋅

SUO occurs if the number of distributed pulses for ITP exceeds 32767,

that is, if the speed specified for the first axis, divided by the specified P

value, exceeds 59998. In other words, SUO occurs when a speed in excess

of 59998 rpm is specified for the first axis if P is set to 1.

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

The specified synchronization mode status is displayed.

DGN

474

Rotation ratio of the master axis in spindle polygon synchronization

(specified P value)

In spindle polygon synchronization mode, the rotation ratio (specified P

value) of the current master axis (first spindle) is displayed.

DGN

475

Rotation ratio of the slave axis in spindle polygon synchronization

(specified Q value)

In spindle polygon synchronization mode, the rotation ratio (specified Q

value) of the current slave axis (second axis) is displayed.

DGN

476

Phase difference between two spindles in spindle polygon synchronization

(specified R value)

In spindle polygon synchronization mode, the current phase difference

(specified R value) is displayed.(The units are the minimum input

increment for the rotation axis of the machine.)

If the RDGN bit (bit 5 of parameter 7603) is set to 1, the shift amount

specified for the serial spindle (number of specified pulses, calculated at

a rate of 4096 pulses per 360 degrees) is displayed.

This diagnostic data indicates the actual speed of each spindle in

synchronization mode.

DGN

477

Actual speed of the master axis for spindle polygon synchronization (rpm)

In spindle polygon synchronization mode, the actual speed of the master

axis (first spindle) is displayed.

DGN

478

Actual speed of the slave axis in spindle polygon synchronization (rpm)

In spindle polygon synchronization mode, the actual speed of the slave

axis (second spindle) is displayed.

<Note> The values of DGN 477 and DGN 478 are displayed without being

sampled. The displayed values may vary from the actual values. Use

these values for guidance only.

B-62445E/03

1. DISPLAY AND OPERATION OF CRT/MDI

D State of remote buffer

(protocol A)

DGN

0500

Send command

1: SYN

2: RDY

3: RST

4: ALM

5: SAT

6: GTD

7: RTY

8: SDI

DGN

0501

Receive command

1: SYN

2: RDY

3: ARS

4: AAL

5: CLB

6: SET

7: DAT

8: EOD

9: WAT

10: RTY 11:RDI

12: SDO

DGN

0502

State of remote buffer

0 : Not ready

1 : Reset state

2 : Operation state

3 : Alarm state

4 : Circuit disconnection

D Diagnostic data related

to MMC-IV

DGN

510

This data indicates the internal MMC-IV information (not available to

general users).

DGN

511

This data indicates the internal MMC-IV information (not available to

general users).

DGN

512

PA1

PA0

BNK

THH

THL

PRA

This data indicates the cause of a system alarm that has occurred in

MMC-IV.

#0(PRA)

1 : A RAM parity error occurred in shared RAM.

#2(THL)

0 : The temperature of the MMC board is too low.

1 : Normal

#3(THH)

0 : The temperature of the MMC board is too high.

1 : Normal

0 : Normal

1 : An NMI has occurred on the MMC board.

#5(BNK)

If bit 0 (PRA) is set to 1,

0 : An alarm occurred in the lower half of shared RAM.

1 : An alarm occurred in the upper half of shared RAM.

#6 (PA0)

If bit 0 (PRA) is set to 1,

1 : An alarm occurred at an even-numbered address.

#7 (PA1)

If bit 0 (PRA) is set to 1,

1 : An alarm occurred at an odd-numbered address.

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

DGN

513

This data indicates the internal MMC-IV information.

For the VIDEO signal,

1 : The CNC/PMC screen is selected.

0 : The MMC screen is selected.

D Diagnostic data related

to a small-diameter peck

drilling cycle (M series

only)

DGN

520

Total number of retractions during cutting after G83 is specified

Executing the G83 command clears the value to zero.

DGN

521

Total number of retractions made by receiving the overload signal during cutting

after G83 is specified

Executing the G83 command clears the value to zero.

DGN

522

Position on the drill axis from which retraction is started

The units are the same as the minimum input increment.

DGN

523

Difference between the position on the drill axis from which the previous retraction

was started and the position from which the current retraction is started

The units are the same as the minimum input increment.

B-62445E/03

1. DISPLAY AND OPERATION OF CRT/MDI

D Diagnostic data related

to ATC for FD Alpha

DGN

530

A99

A98

A97

A96

A95

A43

* Check the contents of this data if alarm 251 is output.

#5 (A99):

A pry alarm occurred while the tool was being changed.

#4 (A98):

After the power was turned on or after an emergency stop was released,

M06 was specified before the first reference position return. While the

tool was being changed, machine lock was enabled for the Z-axis.

#3 (A97):

M06 is specified in canned cycle mode. M06 is specified in a block

containing the command instructing reference position return. M06 is

specified in tool compensation mode.

#2 (A96):

The current tool number parameter (parameter No. 7810) is set to 0.

#1 (A95):

M06 is specified while the Z-axis machine coordinate is positive.

#0 (A43):

A prohibited T code is specified after M06.

DGN

531

585

584

583

582

581

580

502

#6 (585):

Spindle servo alarm (excessive error during ATC magazine indexing)

#5 (584):

Invalid sequence during positioning and ATC (system error)

#4 (583):

Spindle servo alarm (LSI overflow)

#3 (582):

Spindle servo alarm (excessive drift)

#2 (581):

Spindle servo alarm (excessive error during travel)

#1 (580):

Spindle servo alarm (excessive error in the stop state)

#0 (502):

Large spindle distribution (system error)

D Diagnostic data related

to simple synchronous

control

DGN

540

Difference between position errors of the master axis and slave axis under simple

synchronous control

* M series only

The units are the same as the detection units.

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

D Diagnostic data related

to the dual position

feedback function

0550

Closed loop error

[Data type]

2-word axis

[Unit of data]

Detection units

[Valid data range]

-99999999 to +99999999

0551

Semi-closed loop error

[Data type]

2-word axis

[Unit of data]

Detection units

[Valid data range]

-99999999 to +99999999

0552

Error between semi-closed and closed loops

[Data type]

word axis

[Unit of data]

Detection units

[Valid data range]

-32768 to +32767

0553

Amount of dual position compensation

[Data type]

2-word axis

[Unit of data]

Detection units

[Valid data range]

-99999999 to +99999999

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

1.9

NC STATE DISPLAY

ACTUAL POSITION (ABSOLUTE)

O1000 N00010

217.940

363.233

0.000

PART COUNT

RUN TIME

0H15M CYCLE TIME

0M38S

ACT.F

3000MM/M

T0000

MEM

STRT MTN

***

09:06:35

[ ABS ]

[ REL ]

[ ALL ]

[ HNDL ]

[ OPRT ]

MEM

STRT

MTN

***

ALM/BAT (Alarm state/

Low battery)

FIN (Waiting for auxiliary

funciton finish)

MTN/DWL( Axis travelling/dwelling)

- -EMG- -/-RESET-(Emergency stop/reset

state)

STRT/STOP/HOLD/INC

(Start/Stop/Hold state)

Mode display

EDIT/MEM/RMT/MDI/INC

HND/JOG/REF/THND/TJOG

EDIT: Edit mode

MEM: Memory mode

RMT: Remote operation mode

MDI:

MDI operation mode

INC:

Incremental feed mode

(Without manual pulse

generator)

HND: Handle feed mode

JOG: Jog feed mode

REF: Reference position

return mode

THND: TEACH IN NANDLE

mode

TJOG: TEACH IN JOG mode

B-62445E/03

1. DISPLAY AND OPERATION OF CRT/MDI

Tuning becomes easier by graphically displaying servo error amount and

1.10

torque command, etc. (Graphic option is required).

WAVE FORM

The following two types of waveform diagnosis functions are supported:

DIAGNOSTIC

(1) One-shot type

FUNCTION

The one-shot type waveform diagnosis function can graphically

display, as a waveform, any variation in those data items listed below.

The start of data sampling can be triggered by the rising or falling edge

of a machine signal. This function facilitates the adjustment of the

servo and spindle motors.

a. Error, pulse distribution amount, torque, speed, current, and

thermal simulation data for the servo motor of each axis

b. Composite speed for the first, second, and third axes

c. Spindle motor speed and load meter value

d. On/off state of a machine signal specified with a signal address

(2) Storage type

The storage type waveform diagnosis function enables the storing

of any variation in the data items listed below and, if a servo alarm

occurs, the graphical display (as a waveform) of the stored data. The

end of data sampling can be triggered by the rising or falling edge

of a machine signal. This function facilitates the estimation of

erroneous locations. Stored data can be output via the reader/punch

interface.

a. Error, pulse distribution amount, torque, speed, current, and

thermal simulation data for the servo motor for each axis

Notes

To output stored waveform data, the optional reader/punch

interface must have been installed.

The waveform diagnosis function is enabled when bit 0

(SGD) of parameter No. 3112 is set to 1. Note, however, that

a graphics board is necessary to display waveforms.

(1) Set a parameter to utilize the servo waveform diagnostic function.

1.10.1

Setting Parameters

3112

SGD

#0(SGD)

0 : Do not display servo waveform (usual graphic display).

1 : Displays servo waveform (usual graphic display function cannot be

used.

(2) Turn off the power once and turn it on again.

3120

Time between servo alarm and sampling stop (storage type)

[Data type] Word

[Unit of data] ms

[Valid data range] 1 to 32760

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

1.10.2

SYSTEM

1. Press the

key to display a system screen such as aparameter.

Waveform Diagnostic

Parameter Screen

2. Press the next menu key

several times, and the soft key

[W.DGNS] is displayed.

3. Press

[W.DGNS], then the parameter screen for the waveform

diagnosis is displayed.

Set the necessary data items. Position the cursor to the item to be set,

enter the corresponding data, then press

INPUT

. Data items for which

***** is displayed cannot be set. To assist in data setting, the frame on

the right side of the screen displays help information for that data to which

the cursor is positioned. Help information which cannot fit into a single

frame is split into several pages, which the user can scroll through using

the page keys

and

WAVE DIAGNOSE (PARAMETER)

O1234 N12345

GRP CONDITION 100

GRP CONDITION

(ONE-S TYPE)

SAMPLING TIME *****MS

0:START

TRIGGER *******

1:START&TRG

↑

2:START&TRG

↓

(MEMORY TYPE)

(CH-1)

(CH-2)

100: DATA OF

DATA NO.

MEMORY

UNIT

1000

1/3

SIGNAL

*******

T0000

EDIT **** *** ***

08:20:52

[W.PRM]

[W.GRPH]

[ W.MEM ]

[

]

[

]

D Waveform diagnosis

(1) Display start condition

parameters (one-shot

0 : Starts data sampling upon the [START] key being pressed, samples

type)

data for the specified period, then draws a waveform.

1 : Starts data sampling upon the detection of the first rising edge of the

trigger signal after the [START] key is pressed, samples data for the

specified period, then draws a waveform.

2 : Starts data sampling upon the detection of the first falling edge of the

trigger signal after the [START] key is pressed, samples data for the

specified period, then draws a waveform.

(2) Sampling period: Set the period during which data will be sampled.

Valid data range: 10 to 32760

Units: ms

(3) Trigger: Set the PMC address and bit for the signal used to trigger the

start of data sampling, when 1 or 2 is set for the start condition.

Example) G0007.2: ST signal

B-62445E/03

1. DISPLAY AND OPERATION OF CRT/MDI

(4) Data number: The table below lists the numbers of the data items for

which a waveform can be displayed (n = 1 to 8).

Data No.

Description

Units

Does not display a waveform.

Servo error (8 ms) for the n-th axis (positional

Pulses

deviation)

(detection units)

Pulse distribution for the n-th axis

Pulses

(move command)

(input increments)

Torque for the n-th axis (actual current)

% (relative to

maximum current)

Servo error (2 ms) for the n-th axis (positional

Pulses

deviation)

(detection units)

Actual speed for the n-th axis

RPM

Command current for the n-th axis

% (relative to

maximum current)

Thermal simulation data for the n-th axis

% (OVC alarm ra-

tio)

Composite speed for the first, second, and

Pulses

third axes

(input increments)

On/off state of a machine signal specified with

None

a signal address

10n

Actual spindle speed for the n-th axis

% (relative to

maximum rotation

speed)

11n

Load meter for the spindle for the n-th axis

% (relative to

maximum output)

(5) Data units: Weight of data when 1 is specified. The data units are

automatically specified for each data item and need not be set unless

the units must be changed for some reason.

[Valid data range]

1 to 1000

[Unit]

0.001

(6) Signal address: PMC address and bit number. Set in the same way as

that for trigger, when the data number is 99.

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

D Waveform diagnosis

(1) Display start condition

parameters (storage

100 : Draws a waveform for the stored data.

type)

(2) Sampling period: Invalid

(3) Trigger: Invalid

(4) Data number: The table below lists the numbers of the data items for

which a waveform can be displayed (n = 1 to 8). Numbers for which

no data is stored cannot be specified.

Data No.

Description

Units

Does not display a waveform.

Servo error (8 ms) for the n-th axis (positional

Pulses

deviation)

(detection units)

Pulse distribution for the n-th axis (move com-

Pulses

mand)

(input increments)

Torque for the n-th axis (actual current)

% (relative to

maximum current)

Actual speed for the n-th axis

RPM

Command current for the n-th axis

% (relative to

maximum current)

Thermal simulation data for the n-th axis

% (OVC alarm ra-

tio)

(5) Data units: Weight of data when 1 is specified. The data units are

automatically specified for each data item and need not be set unless

the units must be changed for some reason.

[Valid data range]

1 to 1000

[Unit]

0.001

(6) Signal address: Invalid

B-62445E/03

1. DISPLAY AND OPERATION OF CRT/MDI

1.10.3

1. Press soft key [W.GRPH], then graph of waveform diagnosis is

displayed.

Graphic of Wave

Diagnosis data

WAVE DIAGNOSE (GRAPHIC)

CH1

CH2

1.0

0.5

-0.

-1.

[START] [TIME³] [²TIME] [H-DOBL] [H-HALF]

2. Press soft key [(OPRT)], then the following soft keys are displayed.

The following three sets of soft keys are displayed by the

key.

[START] [TIME³] [²TIME] [H-DOBL] [H-DOBL]

[START] [CH-1°] [CH-1±] [V-DOBL] [V-HALF]

[START] [CH-2°] [CH-2±] [V-DOBL] [V-HALF]

[START ]

:Starts Graphic data

[TIME→]

:Shift the waveform of channel 1 and 2 rightward

[←TIME]

: Shift the waveform of channel and 2 leftward

[H-DOBL] :Double the time scale of the waveform of

channel 1 and 2

[H-HALF] :Half the time scale of the waveform of

channel 1 and 2

[H-DOBL] :Double the height of waveform of channel 1 and 2

[V-HALF]

:Half the height of waveform of channel 1 and 2

[CH-1↑]

: Shift the zero point of channel 1 upward

[CH-1↓]

: Shift the zero point of channel 1 downward

10 [CH-2↑]

: Shift the zero point of channel 2 upward

11 [CH-2↓]

: Shift the zero point of channel 2 downward

D Drawing a waveform for

The one-shot type waveform diagnosis function draws a waveform for a

one-shot type waveform

specified data item in real time as the data is sampled. The sampled data,

diagnosis

however, is not stored and thus cannot be output later.

To sample data for one-shot type waveform diagnosis, press the

[START] key on the WAVE DIAGNOS. (GRAPHIC) screen. Then, data

is sampled when the specified start condition is satisfied. Data sampling

continues for the specified period.

Pressing the [SATART] soft key starts data sampling. While sampling

is being performed, SAMPLING blinks at the top of the screen. Once data

sampling has been completed, a waveform is automatically displayed.

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

WAVE DIAGNOS. (GRAPHIC)

O1234 N12345

CH1

CH2

EDIT **** ******

[START] [TIME³] [²TIME] [H-DOBL] [H-HALF]

D Drawing a waveform for

To use storage type waveform diagnosis, set 100 for the display start

storage type waveform

condition. The maximum data width for storage type waveform diagnosis

diagnosis

is 32760 ms. Data must be sampled before starting drawing. The next

page explains sampling in detail.

Pressing the [START] soft key loads stored data. While the data is being

loaded, SAMPLING blinks at the top of the screen. Once the data has

been loaded, a waveform is displayed. The date on which the data was

stored is displayed at the top left of the screen. If the [START] soft key

is pressed while data is being stored, storage is stopped and the waveform

for the data stored up to that point is displayed. The WAVE DIAGNOS.

(MOMORY) screen indicates whether data is being stored.

WAVE DIAGNOS. (GRAPHIC)

O1234 N12345

CH193/01/13

12:15:00

CH2

EDIT **** ******

[START] [TIME³] [²TIME] [H-DOBL] [H-HALF]

B-62445E/03

1. DISPLAY AND OPERATION OF CRT/MDI

1.10.4

(1) Press the

SYSTEM

function key. Pressing the menu continuation key [

Data sampling for

] displays the [W.DGNS] soft key. Press this soft key to display the

storage type waveform

WAVE DIAGNOS. (PARAMETER) screen.

diagnosis

(2) Press the [W.MEM] soft key to display the WAVE DIAGNOS.

(MEMORY) screen. The operation selection soft keys appear.

The configuration of the operation selection soft keys is as follows:

WAVE DIAGNOS. (MEMORY)

O1234 N12345

CONDITION:

100

TRIGGER: G0123.4

DATA KINDS

SAMPLING AXIS

POS ERROR

XYZABCUV

MOTION CMD

XYZABCUV

CURRENT (%)

XYZABCUV

SPEED (RPM)

NONE

TORQUE CMD

NONE

HEAT SIMLT

XYZABCUV

SMPL TIME :

2. 0SEC

DATE

: MEMORY

EDIT **** *** ***

08:20:52

[SELECT] [

] [

] [START]

(3) The configuration of the operation selection soft keys is as follows:

[W.PRM] [W.GRPH] [ W.MEM ] [

] [

]

Press

[SELECT] [

] [

] [START]

[

] [

] [PUNCH] [

] [

]

Fig. 1.10.4 Soft keys

(4) Using the cursor, set the necessary data items. To set the sampling

axes, position the cursor to the data item to be set, enter the names of

the axes for which data will be sampled for that data item, then press

[SELECT] or

INPUT

. The axis names are displayed to the right of the

data items.

Example) XYZ + [SELECT] or

INPUT

Once the sampling axes have been selected, the sampling period for each

axis is displayed. Subsequently pressing the [START] soft key starts data

sampling.

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

Notes

Data items for which ***** is displayed cannot be set.

To change the sampling axes, enter new axis names then

press the [SELECT] soft key. Pressing the [SLELCT] soft

key without entering an axis name results in no sampling

axis being set.

If the sampling axes are changed during data sampling,

data sampling is stopped. In this case, press the [START]

soft key to restart data sampling for the new sampling axes.

Initially, no sampling axis is set.

D Storage data parameters

(1) Storage stop condition

100: Stops data storage upon the issue of a servo alarm.

101: Stops data storage upon the issue of a servo alarm or the

detection of the rising edge of the trigger signal.

102: Stops data storage upon the issue of a servo alarm or the

detection of the falling edge of the trigger signal.

The maximum stored data width is 32760 ms. If the storage stop

condition is not satisfied within 32760 ms, data is overwritten, starting

with the oldest data.

Parameter No. 3120 can be used to delay data storage being stopped by

a specified period (ms), after the issue of a servo alarm.

(2) Trigger: Set the PMC address and bit for the signal used to trigger the

stopping of data storage, when 101 or 102 is set for the stop condition.

Example) G0007.2: ST signal

(3) Data type: The following table lists the types of data for which a

waveform can be displayed.

Data type

Description

Units

POS ERROR

Servo error (8 ms) for the n-th axis

Pulses

(detection units)

MOTION CMD

Pulse distribution for the n-th axis

Pulses

(input increments)

CURRENT (%)

Torque for the n-th axis

% (relative to

maximum current)

SPEED (RPM)

Actual speed for the n-th axis

RPM

TORQUE CMD

Command current for the n-th axis

% (relative to

maximum current)

HEAT SIMLT

Thermal simulation data for the n-th

axis

(OVC alarm ratio)

(4) Sampling axis: The axes along which data will be sampled are

displayed.

(5) Sampling period: The sampling period for each axis is displayed.

(6) Date of storage: While data is being sampled, MEMORY blinks in this

field. When data sampling stops, the date at that point appears in this

field.

B-62445E/03

1. DISPLAY AND OPERATION OF CRT/MDI

1.10.5

Waveform diagnosis data of servo alarm format can be output to an I/O

device, as follows:

Outputting waveform

Select EDIT mode.

diagnosis data

(storage type)

Press the

SYSTEM

key, then display the WAVE DIAGNOS. (MEMORY)

screen.

Press the [W.MEM],

, [PUNCH], and [EXEC] soft keys, in this

order.

For details of input/output to/from the FANUC Floppy Cassette or FA

Card, see “Output to FANUC Floppy Cassette or FA Card,” below.

WAVE DIAGNOSE (MEMORY)

O1234 N12345

CONDIGION:

100

TRIGGER: G0123.4

DATA KINDS

SAMPLING AXIS

POS ERROR

XYZABCUV

MOTION CMD

XYZABCUV

CURRENT (%)

XYZABCUV

SPEED (RPM)

NONE

TORQUE CMD

NONE

HEAT SIMLT

XYZABCUV

SMPL TIME :

2.0SEC

DATE

: 93/01/13

12:15:00

EDIT **** *** ***

12:15:52

[SELECT] [

] [

] [START]

[

] [

] [PUNCH] [

] [

]

Press

[

] [

] [ CAN ] [ EXEC ]

Press

D Output to FANUC Floppy

Cassette or FA Card

Select EDIT mode.

Press the

SYSTEM

key, then display the WAVE DIAGNOS. (MEMORY)

screen.

Open the write protect tab on the floppy disk or card.

Press the [W.MEM],

, [PUNCH], and [EXEC] soft keys, in this

order.

The waveform diagnosis data is output to a file named WAVE

DIAGNOS, to which the number of the last file is assigned.

If a file named WAVE DIAGNOS already exists in the floppy disk or

on the card, P/S alarm 86 is issued. A floppy disk or card can contain

only one file for waveform diagnosis data. If the existing WAVE

DIAGNOS file contains unnecessary waveform diagnosis data of

servo alarm format, delete that file before attempting to output new

data. The procedure for deleting a file is described later.

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

D Output format

In the servo alarm format, the header, date and time, selected axes, and

waveform diagnosis data are output in this order. Data items are identified

by nine identifier words. Output data other than the identifier words

varies with the data type.

T(identifier word)

T0 : Header

T60 : Positional deviation

T61 : Move command

T62 : Actual current

T63 : Actual speed

T64 : Command current

T65 : Thermal simulation

T68 : Selected axes

T69 : Date and time

Header

;

C: Data word

Data word

;

D *..*: Data Example: 12:14 59 seconds on June 23, 1992

;

Selected axes

P0: Positional deviation

P1: Actual speed

P2: Move command

P3: Command current

P4: Actual current

P5: Thermal simulation

D*.. *: Axis number (1 to 8)

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

Load meter of the servo axis and the serial spindle and the speed meter

1.11

can be displayed.

OPERATING

MONITOR

1.11.1

Set a parameter to display operating monitor.

Display Method

3111

OPM

#5:(OPM)

0 :

Operating monitor is not displayed.

1 :

Operating monitor is displayed.

Press the

POS

key to display the position display screen.

Press continuous menu key

, then soft key [MONI] is displayed.

Press the soft key [MONI], then the operating monitor screen is

displayed.

OPERATING MONITOR

O0001 N00001

(LOAD METER)

X :

80%

S1:

201%

Y :

* * * * *

(SPEED METER RPM)

Z :

* * * * *

0% S1:

* * *

1500

PART COUNT

RUN TIME

0H15M

CYCLE TIME

0H 0M38S

ACT.F

3000 MM/M

MEM STRT MTN ***

09:06:35

[

[ ABS ] [ REL ] [ ALL ] [ HNDL ] [ OPRT ]

Notes

The bar graph for the load meter shows load up to 200%.

The bar graph for the speed meter shows the ratio of the current spindle speed to the

maximum spindle speed (100%). Although the speed meter normally indicates the speed of the

spindle motor, it can also be used to indicate the speed of the spindle by setting bit 6153. (OPS)

of parameter 311 to 1.

The servo axes for their load meters are displayed are set to parameter No. 3151 to 3. If

parameters 3151 to 3153 are all zero, the load meter of the basic axes are displayed.

For 10” LCD/14” CRT, the bar of the load meter that exceed 100% shows purple color.

1. DISPLAY AND OPERATION OF CRT/MDI

B-62445E/03

1.12

LIST OF OPERATIONS

Reset

Data

Param-

Func-

prote

Function

eter

Mode

tion

Operation

ction

write=1

button

key

Resetting run hour

POS

[(OPRT)] [RUNPRE]→[EXEC]

Resetting no. of ma-

[(OPRT)] [PTSPRE]→[EXEC]

POS

chined parts

Resetting OT alarm

At Pow-

er ON

Resetting alarm 100

Registration from MDI

Data

Param-

Func-

prote

Function

eter

Mode

tion

Operation

ction

write=1

button

key

SYS-

Parameter no.→[NO.SRH]→Data→<INPUT> → PWE =0

MDI or

TEM

→<RESET>

Inputting parameters

Yes

E.Stop

(PA-

RAM)

Inputting offset val-

OFF-

Offset number→[NO.SRH]→Offset value→<INPUT>

OFF

ues

SET

Inputting setting

SET-

Setting no.→[NO.SRH]Data→<INPUT>

OFF

MDI

data

TING

Input of PMC pa-

[PMCPRM]→[COUNTR] or [DATA]→Data→<INPUT>

rameters, counter

OFF

SYS-

and data table

MDI or

TEM

Inputting PMC pa-

E.Stop

[PMCPRM]→[TIMER] or [KEEPRL]→Data→<INPUT>

(PMC)

rameters (Timer,

OFF

keep relay)

POS→

<POS>(Display of relative coordinate)<AXIS>→[ORIGIN]

Tool length mea-

JOG

OFF-

→<OFFSET>→Jog the tool to measuring position

surement

SET

Offset no.→[NO.SRH]→<AXIS>→[INP.C]

Input/Output with FANUC Cassette

Data

Param-

Func-

prote

Function

eter

Mode

tion

Operation

ction

write=1

button

key

Heading a file

EDIT

PROG

<N>→File no.→[ " ]→[F SRH]→[EXEC]

Deleting a file

OFF

EDIT

PROG

<N>→File no.→[ " ]→[DELETE→[EXEC]

Collating a program

EDIT

PROG

Heading a file→<O>→Program number→[(OPRT)]

→[ " ]→[READ]→[EXEC]

FANUC Series 16 / 160 / 18 / 180 – Model B. Maintenance Manual - page 3