FANUC Series 16 / 160 / 18 / 180 – Model B. Maintenance Manual - page 10
6. AC SPINDLE (SERIAL INTERFACE)
B-62445E/03
6.4
SPINDLE SETTING
AND TUNING
SCREEN
6.4.1
1.
Confirm the parameters
Display Method
#7
#6
#5
#4
#3
#2
#1
#0
3111
SPS
#1 (SPS)
0 :
Spindle tunign screen is not displayed.
l
1 :
Spindle tuning screen is displayed.
2.
Press
SYSTEM
key.
3.
Press soft key
4.
Press soft key [SP-PRM] and the spindle tuning screen is displayed.
5.
The following screens are available and they can be selected by soft
key.
1
[SP.SET] : Spindle setting screen
2
[SP.TUN] : Spindle tuning screen
3
[SP.MON] : Spindle monitor screen
6.4.2
Spindle Setting Screen
SPINDLE SETTING
(1)GEAR SELECT
: 1
(2)SPINDLE
: S11
(PARAMETER)
(3)GEAR RATIO
50
(4)MAX SPINDLE SPEED
3000
(5)MAX MOTOR SPEED
6000
(6)MAX C AXIS SPEED
100
D Gear select
Shows gear selected on the machine side.
Display
CTH1
CTH2
1
0
0
2
0
1
3
1
0
4
1
1
D Spindle
Shows spindle concerned
S11: Main spindle amp. of 1st spindle
S12
: Sub spindle amp. of 1st spindle
S21
: Main spindle amp. of 2nd spindle
S22
: Sub spindle amp. of 2nd spindle
269
6. AC SPINDLE (SERIAL INTERFACE)
B-62445E/03
D Parameter
S11:1st Main
S12:1st Sub S21:2nd Main
S22:2nd Sub
Gear ratio(HIGH)
4056
4056
4216
4216
Gear ratio(MIDIUM HIGH)
4057
4057
Gear ratio(MIDIUM LOW)
4058
4058
4217
4217
Gear ratio(LOW)
4059
4059
Max. spindle rpm (Gear1)
3741
3741
Max. spindle rpm (Gear2)
3742
3742
Max. spindle rpm (Gear3)
3743
3743
3744
3744
Max. spindle rpm (Gear4)
Max. motor speed
4020
4196
4020
4196
Max. C axis speed
4021
None
4021
None
6.4.3
Spindle Tuning Screen
SPINDLE TUNING
OPERATION
: SPEED CONTROL
GEAR SELECT
: 1
SPINDLE
: S11
(PARAMETER)
(MONITOR)
PROP.GAIN
20
MOTOR SPEED
100
INT.GAIN
50
SPINDLE SPEED 150
LOOP GAIN
3000
POS ERR S1 100
MOTOR VOLT
30
POS ERR S2 103
TIME CONST
100
SYN.ERR
3
REF. SHIFT
2046
D Operation mode
1
: Speed control (normal mode)
2
: Spindle Orientation
3
: Synchronization control
4
: Rigid tapping
5
: Spindle contouring control (Cs axis control)
6
: Spindle positioning control
270
6. AC SPINDLE (SERIAL INTERFACE)
B-62445E/03
D Display of parameter
Display of parameter contents changes depending on operation mode.
Nor-
Orient
Syn-
Rigid
Cs
Spind
mal
ation
chro.
tap-
axis
le
op-
con-
ping
con-
posi-
era-
trol
trol
tion-
tion
ing
con-
trol
Proportional gain
f
f
f
f
f
f
Integral gain
f
f
f
f
f
f
Position loop gain
-
f
f
f
f
f
Motor voltage
f
f
f
f
f
f
Regenerative power
f
-
-
-
-
-
ZRN gain %
-
-
-
f
f
f
Shift reference point
-
f
f
f
f (%)
f
Shift spindle stop pos.
-
f
-
-
-
-
ORAR gain (%)
-
f
-
-
-
-
Acc./Dec. time constant
-
-
f (%)
-
-
-
Refer to item 6.4.5 for correspondence between operation mode and
parameters.
D Display of monitor
Display of monitor contents changes depending on operation mode.
Nor-
Orient
Syn-
Rigid
Cs
Spind
mal
ation
chro.
tap-
axis
le
op-
con-
ping
con-
posi-
era-
trol
trol
tion-
tion
ing
con-
trol
Motor speed
f
f
f
f
f
f
Spindle speed
f
f
f
f
f
-
Position deviation S1
-
f
f
f
f
f
Position deviation S2
-
-
f
-
-
-
Position deviation Z
-
-
-
f
-
-
Synchronous deviation
-
-
f
f
-
-
Feed rate
-
-
-
-
-
f
Spindle data
1) Motor speed [rpm] +
Max. Motor rpm.(*)
16383
(*)
PRM 4020: Main Sp.
PRM 4196: Sub. Sp.
2) Unit of spindle speed of Cs axis control is deg/min.
271
6. AC SPINDLE (SERIAL INTERFACE)
B-62445E/03
6.4.4
Spindle Monitor Screen
SPINDLE MONITOR SCREEN
ALARM
: AL-27(POSITION CODER DIS.)
OPERATION
: Cs AXIS OONTROL
SPINDLE SPEED : 100 DEG/MIN
MOTOR SPEED
: 150 RPM
0
50
100
150
200
LOAD METER (%)
JJJJJ
CONTROL INPUT : ORCM MRDY *ESP
CONTROL OUTPUT : SST SDT ORAR
D Spindle alarm
1: Motor overheated
2: Speed deviation excessive
3: Fuse blow of DC link
4: Fuse blow of AC inputline
5: Fuse blow of DC voltage
7: Excessive speed
9: Heat sink overheat
10: Low voltage of AC input
11: Excess voltage in DC link
12: Excess current in DC link
13: CPU internal data memory error
18: ROM SUM check error
19: U phase current offset excessive
20: V phase current offset excessive
24: Serial data transmission abnormal
25: Serial data transmission stop
26: Cs axis speed detecting signal failure
27: Position coder signal disconnection
28: Cs pos.detect signal disconnection
29: Short time overload
30: Input circuit excess current
31: Speed detecting signal disconnection
32: SLC LSI internal RAM abnormal
33: DC link charging insufficient
34: Parameter abnormal setting
35: Gear ratio data excessive
36: Error counter overflow
37: Speed detecting unit error setting
38: Magnetic sensor signal abnormal
39: Alarm of one revolution signal for Cs axis control is detected
40: Alarm of one revolution signal for Cs axis control is not detected
41: Erroneous detection of the position coder one revolution signal
42: Undetection of the position coder one revolution signal
46: Erroneous detection of the position coder one revolution signal on
threading
47: Abnormal position coder signal
48: Erroneous detection of position coder one revolution signal
272
6. AC SPINDLE (SERIAL INTERFACE)
B-62445E/03
D Operation
Following 6 modes are available:
a. Normal operation
b. Orientation
c. Synchronous operation
d. Rigid tapping
e. Cs contour cotrol
f. Spindle positioning control
D Load meter
The load meter displays spindle load in a unit of 10%.
1) Load meter[%] +Loadmeterdata
Max.output value
3276
of load meter (*)
(*) PRM 4127: Main
PRM 4274: Sub.
D Control input signal
Max.10 signals those are ON are displayed from the following signals:
TLML
: Torque limit command (low)
SPSL
: Spindle selection signal
TLMH
: Torque limit command (high)
MCFN
: Power line switching
CTH1
: Gear signal 1
SOCN
: Soft start/stop cancel
CTH2
: Gear signal 2
RSL
: Output switching request
SRV
: Spindle reverse rotation
RCH
: Power line state confirm
SFR
: Spindle forward rotation
INDX
: Orientation stop pos.
ORCM
: Spindle orientation
change
MEDY
: Machine ready
ROTA
: Rotation direction of
ARST
: Alarm reset signal
ORCM
*ESP
: Emergency stop
NRRO
: Shor-cut of ORCM
INTG
: Speed integral control
signal
DEFM
: Referencial mode
command
D Control output signals
Max. 10 signals those are ON are displayed from the following signals:
ALM
: Alarm signal
TML5
: Torque limitation
SST
: Speed zero signal
ORAR
: Orientation end signal
SDT
: Speed detecting signal
CHP
: Power line switched signal
SAR
: Speed arrival signal
CFIN
: Spindle switch complete
LDT1
: Load detecting signal 1
RCHP
: Output switch signal
LDT2
: Load detecting signal 2
RCFN
: Output switch complete
signal
273
6. AC SPINDLE (SERIAL INTERFACE)
B-62445E/03
6.4.5
Correspondence
Between Operation
Mode and Parameters
on Spindle Tuning
Screen
D Speed control mode
Numerals are parameter numbers :
(Normal mode)
S11:
S12:
S21:
S22:
1st Main
1st Sub
2nd Main
2nd Sub
Proportional gain(HIGH)
4040
4206
4040
4206
Proportional gain (LOW)
4041
4207
4041
4207
Integral gain(HIGH)
4048
4048
4212
4212
Integral gain(LOW)
4049
4049
Motor voltage
4083
4236
4083
4236
Regenerative power
4080
4231
4080
4231
D Spindle orientation mode
Numerals are parameter numbers :
S11:
S12:
S21:
S22:
1st Main
1st Sub
2nd Main
2nd Sub
Proportional gain(HIGH)
4042
4208
4042
4208
Proportional gain (LOW)
4043
4209
4043
4209
Integral gain(HIGH)
4050
4050
4213
4213
Integral gain(LOW)
4051
4051
Position loop gain(HIGH)
4060
4218
4060
4218
Position loop gain
4061
4061
(MID,HIGH)
Position loop gain
4062
4219
4062
4219
(MID,LOW)
Position loop gain(LOW)
4063
4063
Motor voltage
4084
4237
4084
4237
Change of position gain
4064
4220
4064
4220
Stop position shift amount
4077
4228
4077
4228
Orientation by PC method
4031
4204
4031
4204
274
6. AC SPINDLE (SERIAL INTERFACE)
B-62445E/03
D Synchronization control
Numerals are parameter numbers :
mode
S11:
S12:
S21:
S22:
1st Main
1st Sub
2nd Main
2nd Sub
Proportional gain(HIGH)
4044
4210
4044
4210
Proportional gain (LOW)
4045
4211
4045
4211
Integral gain(HIGH)
4052
4052
4214
4214
Integral gain(LOW)
4053
4053
Position loop gain(HIGH)
4065
4221
4065
4221
Position loop gain
4066
4066
(MID,HIGH)
Position loop gain
4067
4222
4067
4222
(MID,LOW)
Position loop gain(LOW)
4068
4068
Motor voltage
4085
4238
4085
4238
Acc./Dec. time constant
4032
4032
Shift amount
4034
4034
D Rigid tapping mode
Numerals are parameter numbers :
S11:
S12:
S21:
S22:
1st Main
1st Sub
2nd Main
2nd Sub
Proportional gain(HIGH)
4044
4210
4044
4210
Proportional gain (LOW)
4045
4211
4045
4211
Integral gain(HIGH)
4052
4052
4214
4214
Integral gain(LOW)
4053
4053
Position loop gain(HIGH)
4065
4221
4065
4221
Position loop gain
4066
4066
(MID,HIGH)
Position loop gain
4067
4222
4067
4222
(MID,LOW)
Position loop gain(LOW)
4068
4068
Motor voltage
4085
4238
4085
4238
ZRN gain %
4091
4239
4091
4239
Grid shift amount
4073
4223
4073
4223
275
6. AC SPINDLE (SERIAL INTERFACE)
B-62445E/03
D Spindle contouring
Numerals are parameter numbers :
control mode
(Cs axis control)
S11:
S12:
S21:
S22:
1st Main
1st Sub
2nd Main
2nd Sub
Proportional gain(HIGH)
4046
4046
Proportional gain (LOW)
4047
4047
Integral gain(HIGH)
4054
4054
Integral gain(LOW)
4055
4055
Position loop gain(HIGH)
4069
4069
Position loop gain
4070
4070
(MID,HIGH)
Position loop gain
4071
4071
(MID,LOW)
Position loop gain(LOW)
4072
4072
Motor voltage
4086
4086
ZRN gain %
4092
4092
Reference position shift
4135
4135
D Spindle positioning
control mode
S11:
S12:
S21:
S22:
1st Main
1st Sub
2nd Main
2nd Sub
Proportional gain(HIGH)
4044
4210
4044
4210
Proportional gain (LOW)
4045
4211
4045
4211
Integral gain(HIGH)
4052
4052
4214
4214
Integral gain(LOW)
4053
4053
Position loop gain(HIGH)
4065
4065
Position loop gain
4066
4221
4066
4221
(MID,HIGH)
Position loop gain
4067
4067
(MID,LOW)
4222
4222
Position loop gain(LOW)
4068
4068
Motor voltage
4085
4238
4085
4238
ZRN gain %
4091
4239
4091
4239
Reference position shift
4073
4223
4073
4223
276
6. AC SPINDLE (SERIAL INTERFACE)
B-62445E/03
Standard parameters those are specific to each motor model can be set at
6.5
a time by this operation.
AUTOMATIC
Note that, however, depending on the conditions under which a motor is
SETTING OF
used, the machine tool builder may determine unique values to the
STANDARD
parameters.
Therefore, always set the parameters (No.4000 and later) according to the
PARAMETER
parameter list attached to the machine.
1. Turn on power under emergency stop condition.
2. Set PRM4019#7 to 1.
#7
#6
#5
#4
#3
#2
#1
#0
4019
LDSP
#7(LDSP) Serial interface spindle parameters are:
0 : Not set automatically.
l 1 : Set automatically.
3. Set a motor model code.
4133
Motor model code
Code
Motor model
Code
Motor model
0
3S
(1500/6000rpm)
10
18P
(750/6000rpm)
1
6S
(1500/6000rpm)
11
22P
(750/6000rpm)
2
8S
(1500/6000rpm)
12
40P
(575/4500rpm)
3
12S
(1500/6000rpm)
13
30P
(575/4500rpm)
4
15S
(1500/6000rpm)
14
50P
(575/4500rpm)
5
18S
(1500/4500rpm)
15
1S
(3000/8000rpm)
6
30S
(1150/4500rpm)
16
1.5S
(1500/8000rpm)
7
8P
(750/6000rpm)
17
2S
(1500/8000rpm)
8
12P
(750/6000rpm)
18
3S
(1500/6000rpm)
9
15P
(750/6000rpm)
23
0.5S
(3000/8000rpm)
4. Turn off power once, then turn it on again.
“PLoAd” is displayed on the spindle amplifier PCB and the standard
parameters are read.
277
7. AC SPINDLE (ANALOG INTERFACE)
B-62445E/03
AC SPINDLE (ANALOG INTERFACE)
7
This chapter describes connection between the analog interface spindle
amplifier, block diagram, setting method of standard parameters and
function confirmation procedure of the spindle amplifier.
7.1 GENERAL OF SPINDLE CONTROL
(ANALOG INTERFACE) .
279
7.2 TABLE OF TEST POINTS .
284
7.3 SETTING PARAMETERS
(DIGITAL AC SPINDLE) .
287
7.4 SETTING STANDARD PARAMETERS .
288
7.5 LIST OF PARAMETER .
289
7.6 TUNING AFTER REPLACING PCB
(S SERIES AC SPINDLE) .
292
The following specification number is printed on the spindle unit
for the analog interface spindle amplifier.
A06B-6059-Hxxx
(xxx is any)
278
7. AC SPINDLE (ANALOG INTERACE)
B-62445E/03
7.1
GENERAL OF
SPINDLE CONTROL
(ANALOG
INTERFACE)
7.1.1
Block Diagram
S command
M command
PMC
NC
M03
X M05, M06, M19
CW/CCW command
Spindle speed
orientation
conversion
FIN
Auxiary function end
Motor speed
*SSTP
Spindle stop
Gear 1 Gear 2
GR1O, GR2O, GR3O
Gear selection (16M/ 18M)
GR1, GR2
Gear information
(16T/18T)
S
Max. spindle speed, etc.
PRM 3714X3743, 3735
3736, 3751X2 (M series)
PRM 3741X3744 (T series)
*ESP, MRDY SAR, LDT
SFR, SRV
SST, ORAR
Position coder interface
ORCM, TLM
SDT, ALM
D/ A converter
PRM 3730 (Gain)
PRM 3731 (Offset)
DV
SVC
RV
Spindle amp.
I/O card or I/O unit
Operatior’s
Spindle
panel
Load meter
PC
motor
LM
Speed meter
Spindle
SM
279
7. AC SPINDLE (ANALOG INTERFACE)
B-62445E/03
7.1.2
Calculation of S Analog
Voltage and Associated
Parameters
[M series]
1
Gear change method A(PRM3705#2=0)
SVC Motor speed
Gear 1
Gear 2
Gear 3
(4095) 10V
Max
PRM 3736
PRM 3735
0V
S code
0
PRM 3741
PRM 3742
PRM 3743
(RPM)
2
Gear change method B(PRM3705#2=1)
SVC Motor speed
Gear 1
Gear 2
Gear 3
(4095) 10V
Max
PRM 3736
PRM 3752
PRM 3751
PRM 3735
0V
S code
0
PRM 3741
PRM 3742
PRM 3743
(RPM)
[T series]
Constant surface speed control is available
SVC Motor speed
Gear 1
Gear 2
Gear 3
Gear 4
Max
(4095) 10V
0V
S code
0
PRM 3741
PRM 3742
PRM 3743
PRM 3744
(RPM)
280
7. AC SPINDLE (ANALOG INTERACE)
B-62445E/03
#7
#6
#5
#4
#3
#2
#1
#0
3706
TCW
CWM
TCW
CWM
Sign of output voltage
0
0
+ with M03 or M04
0
1
- with M03 or M04
1
0
+ with M03, - with 04
1
1
- with M03, + with M04
[M series]
#7
#6
#5
#4
#3
#2
#1
#0
3705
SGB
#2 (SGB)
Spindle speed taken when gear is changed is
0 : Max. speed for each gear
1 : Set by respective parameters (PRM542, 543, 585, 586)
3741
Max. spindle speed of gear 1
(1X9999)
[rpm]
3742
Max. spindle speed of gear 2 (1X9999)
[rpm]
3743
Max. spindle speed of gear 3 (1X9999)
[rpm]
3736
Upper limit of the output to the spindle motor
3735
Lower limit of the output to the spindle motor
Spindle speed Z(upper limit/lower limit)
Set value=
4095
Max. spindle speed
[T series]
DGN
3741
Max. spindle speed of gear 1
(1X 9999)
[rpm]
DGN
3742
Max. spindle speed of gear 2 (1X 9999)
[rpm]
DGN
3743
Max. spindle speed of gear 3
(1X 9999)
[rpm]
DGN
3744
Max. spindle speed of gear 4
(1X 9999)
[rpm]
281
7. AC SPINDLE (ANALOG INTERFACE)
B-62445E/03
7.1.3
Gear 1 is used in the following explanation, although any gear may be
applied.
Tuning S Analog
For the T series, select gear 1 manually or an M code.
Voltage (D/A Converter)
(1) For M series, change upper and lower limit as follows:
⋅
For gear change method A: PRM 3736=4095, PRM 3735=0
⋅
For gear change method B: PRM 3751=4095, PRM 3735=0
This is not required for T series.
(2) Tuning offset of D/A converter
Command spindle speed 0 and tune the following prameter so that
voltage at test point DA2 on the spindle amplifier PCB becomes 0mV.
1) For M series
S0 ; (Command by MDI operation and press the cycle start button)
2) For T series (In case of G code system A)
G97 S0 ; (Command by MDI operation as the same as M series)
DGN
3731
Spindle speed (D/A converter) offset compensation value
(3) Tune the gain of D/A converter
Command the maximun spindle speed of gear 1 and tune the following
parameter so that voltage at test point DA2 on the spindle amplifier
PCB becomes 10.0V.
1) For M series
S
;
(
is a value of parameter 3741)
(Specify by MDI operation and press the cycle start button.)
DGN
3741
Max. spindle speed of gear 1 (1-9999) [rpm]
2) For T series (G code system A)
G97 S
;
(
is a value of parameter 3741)
(Specify by MDI operation and press the cycle start button.)
Usually a voltage is output from the D/A converter by only an S command
execution. However, CW rotation command (M03) may be required on
some machines.
282
7. AC SPINDLE (ANALOG INTERACE)
B-62445E/03
(4) If the output voltage is not correct, perform the following calculation,
change the value of parameter no. 3730 and tune the gain of D/A
converter.
10V
Setting value=
(Current value of PRM 3730)
measured voltage
(5) Execute an S command again and confirm that the output voltage is
correct.
Return the parameters to the previous values.
283
7. AC SPINDLE (ANALOG INTERFACE)
B-62445E/03
7.2
TABLE OF TEST
POINTS
7.2.1
Model 1S to 3S
Name
Signal
Remarks
(Amp. Specification :
DA2
Analog speed command
0 to +10V, Rated speed at 10V
A06B-6059-H00x)
voltage (SVC)
PA
Pulse generator output
90° advance by PB at CW rotation
A-phase
Vp-p =0.36-0.5V
PB
Pulse generator output
90° delay by PA at CW rotation
B-phase
Vp-p =0.36-0.5V
RA
A-phase standard voltage
+2. 5VDC "0. 2V
RB
B-phase standard voltage
+2. 5VDC "0. 2V
PAP
A phase pulse waveform
Duty 50%
(ON/ OFF ratio)
PBP
B phase pulse waveform
Duty 50%
(ON/ OFF ratio)
TSA
Speed feedback signal
"10V at rated max. speed of motor
(CW:+,CCW:-)
TS2
Low-speed detection signal
Adjustment of each model by RV6
TS3
Speed pulse F/V conversion
At CCW (forwar rotation)
signal
6000rpm, -4.65 to -6.15V
VCMD
Speed command voltage
0X"10V,(CCW:+, CW: - )
FWP
CCW rotation pulse
Pulse width=3.2µs, occurs only at CCW (for-
ward rotation)
RVP
CW rotation pulse
Pulse width=3.2µs, occurs only at CW (back-
ward rotation)
ER
Error voltage
-4.2 to +4.8V
CLK1
Clock signal
2. 5MHz, duty 50%
SLIP
Slip pulse
VDC
DC link voltage signal
Voltage 1/100 of DC link voltage
DTDC
DC form voltage of input AC
Voltage 1/100 of DC form voltage of input AC
voltage
voltage
IU
U-phase current detection
signal
22.2 A/V
IV
V-phase current detection
signal
IW
W-phase current detection
signal
+24V
+24V DC voltage
About 23V "4%
+15V
+15V DC voltage
+15V"4%
+5V
+5V DC voltage
+5V"4%
–15V
-15V DC voltage
-15V"4%
0V
SM
Speed meter signal
At maximum rated max. rotation +10V
LM
Loadmeter signal
At maximum rated max. output +10V
284
7. AC SPINDLE (ANALOG INTERACE)
B-62445E/03
7.2.2
Models 6S to 26S
(Amp. specification:
A06B-6059-H2xx)
Name
Signal contents
Remarks
DA2
Analog speed command
0X+10V, Rated speed at 10V
voltage (SVC)
PA
Pulse generator output
90, advance by PB at CW rotation
A-phase
Vp-p=0.36-0.5V
PB
Pulse generator output
90,delay by PA at CW rotation Vp-p=0.36-0.5V
B-phase
RA
A-phase standard voltage
+2. 5V DC "0. 2V
RB
B-phase standard voltage
+2. 5V DC "0. 2V
PAP
A phase pulse waveform
Duty 50%
(ON/ OFF ratio)
PBP
B phase pulse waveform
Duty 50%
(ON/ OFF ratio)
TSA
Speed feedback signal
At maximum rated max. rotation
"10V(CW:+,CCW:-)
TS2
Low-speed detection signal
At CCW (forward rotation)
22.5rpm , -1.4V"0.3V
TS3
Speed pulse F/V converison
At CCW (forward rotation)
signal
6000 rpm , -4.65 to -6.15V
VCMD
Speed command voltage
0X"10V, (CCW:+, CW: - )
TSAF
CCW rotation speed detection
At CCW (forward rotation)
signal
6000 rpm , 0. 82V "82mv
TSAR
CW rotation speed
At CW (backward rotation)
detection signal
6000 rpm , 0. 82V "82mv
ER
Error voltage
-4.2X+4.8V
CLK1
Clock signal
2. 5MHz , duty 50%
SLIP
Slip pulse
VDC
DC link voltage signal
Voltage 1/100 of DC link voltage
SDC
Control power DC link
Voltage 1/100 of control power DC link
voltage
voltage
ADIN
A/D converter input signal
IU
U-phase current detection
signal
Model
6SX12S
15SX22S
26S
IV
V-phase current detection sig-
Current
33.3 A/V
66.6 A/V
83.3 A/V
nal
value
IW
W-phase current detection
signal
+24V
+24V DC voltage
About 23V "4%
+15V
+15V DC voltage
+15V"4%
+5V
+5V DC voltage
+5V"4%
–15V
-15V DC voltage
-15V"4%
0V
*RGHLD
Regenerative stop signal
285
7. AC SPINDLE (ANALOG INTERFACE)
B-62445E/03
Check
7.2.3
Waveform
Remarks
terminal
Test Points Signal
+10V
+10V at maxi-
Waveform
mum rated rota-
DA2
0V
tion
(0V at 0 rpm)
+10V
At CCW
VCMD
0V
(Minus for re-
verse rotation)
0V
TSA
Speed feedback
voltage
-10V
(Pulse for re-
0V
verse rotation)
TS3
F/V converter
-5.0V
output
(Pluse for re-
+4. 8V
verse rotation)
ER
0V
Velocity devi-
ation voltage
-4.2V
Pulse generator
PB
PA
output
PA
0.36
+2.5V
Phase differ-
PB
X0.5
ence between
V
PA and PB is
0V
90,.
RA
RB
2.5V"0.2V
Nominal voltage
0V
PAP
+4Y+4. 5V
0V
0V
PBP
Signal formed
by PA/PB
Peak
IU
0V
Current feed-
back signal of
each phase
IV
0V
Peak value is
IW
0V
proportional to
current value
200ns
200ns
+4V
Clock
CLK1
2. 5MHz
0V
286
7. AC SPINDLE (ANALOG INTERACE)
B-62445E/03
7.3
SETTING
Parameters can be set and confirmed
PCB
through the display and the setting switch
PARAMETERS
on the PCB.
Display
(DIGITAL AC
SPINDLE)
Display
Setting
switch
Setting
switch
1.
If the PCB is mounted a jumper SH, set it to SET.
DATA
⇑
DOWN
MODE
2.
Press the setting switch
,
SET
,
UP
and
⇓
at the same time for more than 1 second and when the display shows
FFFFF, release the buttons.
3.
Press the
MODE
button and a parameter (mode) no. is displayed.
⇑
4.
Press and hold the
MODE
button and press the
UP
or
DOWN
button, then the number increases or decreases by 1.
⇓
5.
Value of parameter is shown on the display in 4 digits about 0.5 second
after the
MODE
button is released.
⇑
6.
Value of parameter increases by one by
UP
button and decreases
DOWN
by one by
button.
⇓
7.
Perform the same operation for another parameters.
DATA
8.
Press
button at last.
SET
When the display shows 88888, the setting value is stored in memory.
DATA
* If you turn off power before pressing
button, the values
SET
of parameters return to the previous values.
287
7. AC SPINDLE (ANALOG INTERFACE)
B-62445E/03
7.4
SETTING STANDARD
The standard parameters are stored in ROM. If the pa-
PARAMETERS
rameter list attached to the machine is lost or when an
accident occurs and no parameter can be set, perform
the setting of standard parameters.
Also when a ROM is replaced with different maximum
speed applied to different motor model, perform the
following procedure.
However, since the standard parameters are set to
each motor, some parameters must be modified by the
parameter list according to the machine’s unique char-
acteristics.
1. Turn off power.
2. Set jumper S1 on the PCB to TEST.
3. If the PCB is provided with jumper SH, set it to SET.
4. Turn on power and confirm that display shows 00000, 11111, ..., and
FFFFF repeatedly.
DATA
⇑
DOWN
MODE
5. Press the setting switch
,
SET
,
UP
and
⇓
at the
same time for more than 1 second and when the display shows FFFFF,
release the buttons.
6. Press the
MODE
button and the display shows FC-00.
DOWN
7. Press and hold the
MODE
button and press
button to display
⇓
FC-22 on the display and release the
MODE
button. (Display changes
to that of step 4)
Other number shows other meaning, therefore select the number
correctly.
DATA
8. Press
button more than one second.
SET
9. When the display shows GOOD, the standard parameters have been
set correctly.
10.Turn power off and set jumper S1 and SH to the DRIVE side.
11.Modify the standard parameters those are specific to the machine or
the PCB as required. Refer to 7.6 ”Tuning after replacing PCB”.
288
7. AC SPINDLE (ANALOG INTERACE)
B-62445E/03
7.5
LIST OF PARAMETER
Setting
No.
Contents
value
F-00
The speed of the motor is displayed. (rpm)
F-01
Machine ready signal (MRDY) is
0: not used
1: used
F-02
Spindle speed override is
0: not used
1: used
F-03
Upper limit of speed override is
0: 100%
1: 120%
F-04
none
F-05
Setting of maximum speed
Standard
High-speed
0
Max. 5000
Max. 10000
Standard : 256p/ rev (Detector I)
1
Max. 6000
Max.12000
High-speed : 128p/ rev (Detector II)
2
Max. 15000
3
Max. 20000
F-06
Setting of output limit pattern
Pattern 1
Pattern 2
Content
0
0
The output is not limit
1
4
Limited at acc./dec. time
2
5
Limited under normal operation
3
6
Limited under all operation
Pattern 1
Pattern 2
Output
Output
Speed
Speed
Nb
Nb
Nb: Base speed
F-07
Limit value at output limited (The max. rated output is 100)
F-08
Delay time to motor power interruption (Standard setting
40msec)
Excitation interruption of motor power using MRDY signal is
F-09
0: not used
1: used
F-10
Adjustment of speed error offset at the time of the forward rotation command
F-11
Adjustment of speed error offset at the time of the reverse rotation command
F-12
Adjustment of speed error offset at the time of the orientation command
*
F-13
Speed at forward rotation command (Model 1S Y 3S is RV1)
Parameters marked with *does not exist in models 1S to 3S.
289
7. AC SPINDLE (ANALOG INTERFACE)
B-62445E/03
Setting
No.
Contents
value
F-14
Speed at reverse rotation command (Refer to RV2 for Models 1S to 3S)
Motor peed when spindle speed command voltage is 10V
F-15
(Setting value=Speed/100)
Detection range of speed arrival signal(SAR)
F-16
( Detection range=command speed setting value % )
Detection range of speed detecting signal (SDT)
F-17
(Maximum speed)
(Setting data % )
F-18
Torque limit value when the torque limit signal (TLMH) is turned on
F-19
Acceleration /deceleration time (Setting value=(Acceleration time [sec])
2)
F-20
Limit of regenerative power
F-21
Speed control phase compensation P : HIGH gear (CTH=1)
F-22
Speed control phase compensation P : LOW gear (CTH=0)
F-23
Speed control phase compensation P in orientation : HIGH gear (CTH=1)
F-24
Speed control phase compensation P in orientation : LOW gear (CTH=0)
F-25
Speed control phase compensation I : HIGH gear (CTH=1)
F-26
Speed control phase compensation I : LOW gear (CTH=0)
F-27
Speed control phase compensation I in orientation : HIGH gear (CTH=1)
F-28
Speed control phase compensation I in orientation : LOW gear (CTH=0)
*
F-29
Speed detection offset (Refer to RV3 for models 1S to 3S)
F-30
Display of motor speed (value is 1 when rigid tapping is used)
F-31
Setting of rigid tap mode
F-32
Motor voltage at normal operation
F-33
Motor voltage in orientation
F-34
Motor voltage in rigid tap mode
F-35
Setting of detection ragne of zero-speed signal (SST) (The detection
range=(maximum speed)
(The setting data/100))
F-36
Detection range of load detection signal (LDT)
*
F-37
Time constant of torque deviation at deceleration start
Characteristics of control in deceleration
F-38
(When the gear noises at deceleration, set the data to 1)
Characteristics of control in stable rotation with no load
F-39
(When the motor speed may undulate in the stable rotation , set the data to 1)
Characteristics of control in torque limitation
F-40
(When using mechanical orientation)
Parameters marked with * does not exist in models 1S to 3S.
290
7. AC SPINDLE (ANALOG INTERACE)
B-62445E/03
Following are the parameters relating to the motor characteristics.
Therefore, do not change the settings.
If you changed these parameter, perform the standard setting of the
parameters.
Setting
No.
Content
value
F-41
Current loop I gain
F-42
Slip compensation constant
F-43
Slip constant
F-44
Voltage compensation
F-45
PWM maximum amplitude
F-46
Second current command
F-47
Current assumed constant
F-48
Fixed torque point
F-49
Excitation weak point
F-50
Voltage conversion constant
F-51
Selection of speed detector
F-52
Current conversion constant
F-53
Current loop P gain
291
7. AC SPINDLE (ANALOG INTERFACE)
B-62445E/03
7.6
1.
Set jumpers on the PCB to the previous satate.
TUNING AFTER
2.
Check whether ROM is mounted or not and confirm version of ROM.
REPLACING PCB
If ROM is not mounted or ROM series is different, remove the ROM
(S SERIES AC
from the old PCB and mount it on new PCB.
SPINDLE)
3.
Install the PCB to the unit and set the system to the emergency stop
state. Then turn on power and measure voltage on the PCB.
Test points
Rating
+24V
About 23V "4%
+15V
+15V "4%
+5V
+5V "2%
–15V
-15V "2%
4.
If the PCB mounts jumper SH, set it to SET.
(Depending on version of PCB, there is no jumper SH.)
5.
Confirm that jumper S1 is set to DRIVE and turn on power.
DATA
⇑
DOWN
MODE
6.
Press
,
SET
,
UP
and
⇓
buttons at the same time
for more than one second to enable writing parameters.
When the display shows
FFFFF
, it is a state that parameters can be
written.
7.
Set parameters according to the parameter list attached to the machine.
⇑
1) When you press and hold
MODE
button and press
or
UP
DOWN
key, you can change parameter number.
⇓
⇑
DOWN
2) When you press
or
key without pressing
MODE
UP
⇓
key, you can change the values of parameters.
8.
After you have completed the setting of parameters, release the
emergency stop, rotate the spindle at a low speed to see whether
problem does not occur.
* At first, check from low speed to midium speed.
* You should be ready to press the emergency stop button to escape
from accidental problem.
9.
Turn off rotation commands to make fine adjustment of the PCB.
The PCB for model 1S to 3S mounts the following volumes.
RV1
Adjusting forward rotation
speed
Used for fine adjustment of max. speed
RV2
Adjusting reverse rotation
speed
RV3
Adjusting velocity detection
Set check terminal TS3 to 0mV at stop.
circuit offset
RV4
Adjusting +5V
Adjust +5V"0.1V
RV5
Gain when changing a gain
Standard setting 50 %
RV6
Velocity detection circuit gain
Do not change setting
at low speed
292
7. AC SPINDLE (ANALOG INTERACE)
B-62445E/03
10.Measure test point TS3 with a digital tester and adjust parameter
F-29
so that it becomes 0mV at a stop state.
Adjust this item with volume RV3(velocity detection circuit offset
adjustment) on the PCB for models 1S to 3S.
11.Execute spindle speed command S0 and spindle forward command
M03. Tune offset speed by parameter
F-10
so that the spindle does
not rotate by M03. In some machines, rotational direction of motor
and M03 are reverse. Therefore, if motor speed does not change with
M03, command M04.
12.Execute spindle speed command S0 and spindle reverse command
M04. Tune offset speed by parameter
F-11
so that the spindle does
not rotate by M04.
13.When the orientation function is equipped, execute orientation
command M19 or perform orientation by a manual operation.
Tune
F-12
so that INPOS-FINE (magnetic sensor method) or
INPOS-ADJUST(position coder method) is lit when an orientation
completes.
14.Tune
F-12
so that motor speed becomes that specified by a
command duning forward rotation.
* When you halt the setting switch operations, the display shows
5-digit motor speed in a few seconds and you confirm the speed.
For model 1S to 3S, tune this item by volume RV1 (forward rotation
speed adjustment) on the PCB.
15.Tune
F-14
so that motor speed becomes that specified by a
command during reverse rotation.
For model 1S to 3S, tune this item by volume RV2 (reverse rotation
speed adjustment) on the PCB.
DATA
16.Press
SET
button for more than one second to memorize
88888
parameters.When they are memorized, the display shows
DATA
Note 1)If you turn off power without pressing
SET
button, the
parameters become invalid.
Note
This operation cannot be accepted when a rotation
command is specified.
Always perform this operation with the spindle stopped.
17.Turn off the power and return jumper S1 and SH to DRIVE.
293
8. TROUBLESHOOTING
B-62445E/03
TROUBLESHOOTING
8
This chapter describes troubleshooting procedure. If your system
employs FANUC CONTROL MOTOR α series, also refer to its manuals
listed in preface of this manual.
8.1
CORRECTIVE ACTION FOR FAILURES .
296
8.2
POWER CANNOT BE TURNED ON .
298
8.3
NO MANUAL OPERATION NOR AUTOMATIC
OPERATION CAN BE EXECUTED .
301
8.4
JOG OPERATION CANNOT BE DONE .
305
8.5
HANDLE OPERATION CANNOT BE DONE .
309
8.6
AUTOMATIC OPERATION CANNOT BE DONE 312
8.7
CYCLE START LED SIGNAL HAS
TURNED OFF .
321
8.8
NOTHING IS DISPLAYED ON CRT .
323
8.9
ALARM 85 TO 87 (READER/PUNCHER
INTERFACEALARM) .
326
8.10 REFERENCE POSITION DEVIATES .
335
8.11 ALARM 90 (REFERENCE POSITION
RETURN IS ABNORMAL) .
336
8.12 ALARM 300 (REQUEST FOR REFERENCE
POSITION RETURN) .
338
8.13 ALARM 301 TO 305
(ABSOLUTE PULSE CODER IS FAULTY) .
339
8.14 ALARM 306 TO 308 (ABSOLUTE
PULSE CODER BATTERY IS LOW) .
342
8.15 ALARM 350 (SERIAL PULSE
CODER IS ABNORMAL) .
343
8.16 ALARM 351 (SERIAL PULSE CODER
COMMUNICATION IS ABNORMAL) .
344
8.17 ALARM 400 (OVERLOAD) .
345
8.18 ALARM 401 (*DRDY SIGNAL TURNED OFF) .
347
8.19 ALARM 404 and 405
(*DRDY SIGNAL TURNED ON) .
349
8.20 ALARM 410 (EXCESSIVE POSITION ERROR
AMOUNT DURING STOP) .
350
294
B-62445E/03
8.TROUBLESHOOTING
8.21 ALARM 411 (EXCESSIVE POSITION ERROR
DURING MOVE) .
351
8.22 ALARM 414 (DIGITAL SERVO SYSTEM IS
ABNORMAL) .
353
8.23 ALARM 416 (DISCONNECTION ALARM) .
365
8.24 ALARM 417 (DIGITAL SERVO SYSTEM IS
ABNORMAL) .
366
8.25 ALARM 700 (OVERHEAT AT CONTROL SIDE) . 367
8.26 ALARM 704 (SPINDLE SPEED FLUCTUATION
DETECTION ALARM) .
368
8.27 ALARM 749 (SERIAL SPINDLE
COMMUNICATION ERROR) .
369
8.28 ALARM 750 (SPINDLE SERIAL LINK
CANNOT BE STARTED) .
372
8.29 ALARM 751,761 (SPINDLE ALARM) .
377
8.30 ALARM 900 (ROM PARITY ERROR) .
378
8.31 ALARM 910 TO 915 (SRAM PARITY) .
381
8.32 ALARM 916 (DRAM PARITY ERROR) .
384
8.33 ALARM 920 TO 923
(WATCH DOG OR RAM PARITY) .
386
8.34 ALARM 924
(SERVO MODULE MOUNTING ERROR) .
390
8.35 ALARM 930 (CPU ERROR) .
391
8.36 ALARM 950 (PMC SYSTEM ALARM) .
392
8.37 ALARM 951 (PMC-RC WATCH DOG ALARM) . 394
8.38 ALARM 970 (NMI ALARM IN PMC
CONTROL MODULE) .
395
8.39 ALARM 971 (NMI ALARM IN SLC) .
397
8.40 ALARM 972 (NMI ALARM) .
398
8.41 ALARM 973
(NMI ALARM BY UNKNOWN CAUSE) .
399
295
8. TROUBLESHOOTING
B-62445E/03
When a failure occurs, it is important to correctly grasp what kind of
8.1
failure occured and take appropriate action, to promptly recover the
CORRECTIVE
machine.
ACTION FOR
Check for the failure according to the following procedure :
FAILURES
With what
When?
What failure?
operation?
Grasp the kind of failure
↓
Appropriate action
↓
Recovery
8.1.1
Investigating the
(1) When and how many times (frequency of occurrences)
Conditions under
(2) With what operation
which Failure Occurred
(3) What failure occurred
1
When did the failure occur?
Date and time?
Occurred during operation? (how long was the operation?)
Occurred when the power was turned on?
Was there any lightening surge, power failure, or other disturbances to
the power supply?
How many times has it occurred
Only once?
Occurred many times ? (How many times per hour, per day, or per
month?)
2
With what operation did it occur ?
What was the NC mode when the failure occurred?
Jog mode/memory operation mode /MDI mode /reference position
return mode
If during program operation,
1) Where in the program ?
2) Which program No. and sequence No. ?
3) What program ?
4) Occurred during axial movement ?
5) Occurred during the execution of an M/S/T code ?
6) Failure specific to the program ?
Does the same operation cause the same failure ?
(Check the repeatability of the failure.)
Occurred during data input/output ?
<Feed axes and spindles>
For a failure related to feed axis servo
1) Occurred at both low feedrate and high feedrate ?
2) Ocurred only for a certain axis ?
296
B-62445E/03
8.TROUBLESHOOTING
For a failure related to spindles
When did the failure occur ? (during power-on, acceleration,
deceleration, or constant rotation)
3
What failure occurred ?
Which alarm was displayed on the alarm display screen on the CRT?
(Check the axis along which an alarm has occurred for alarms 300 to
599.)
For alarm 350 : Examine diagnostic 202
For alarm 351 : Examine diagnostic 203
For alarm 414 : What does diagnostic display 200,201,204
indicate ?
For alarm 751 or 761
: Which spindle alarm is indicated ?
(indicated by AL-XX (XX is a number))
Is the CRT screen correct ?
If machining dimensions are incorrect
1) How large is the error ?
2) Is the position display on the CRT correct ?
3) Are the offsets correct ?
4
Other information
⋅
Is there noise origin around machine?
If the failure has not occurred frequently, the cause may be external
noise to the power supply or inductive noise on machinery cables.
Operate other machines connected to the same power line and see
if noise come from the relays or compressors.
⋅
Is it taken any countermeasure for noise in machine side?
⋅
Check the following for the input power supply voltage :
1) Is there variation in the voltage ?
2) Are the voltages different depending on the phase ?
3) Is the standard voltage supplied ?
⋅
How high is the ambient temperature of the control unit?
(0_C to 45_C during operation)
Refer to manual about noise.
⋅
Has excessive vibration been applied to the control unit?
(0.5 G or less during operation)
5
When you contact our service center, specify the following items :
1) Name of the NC unit
2) Name of the machine tool builder and type of machine
3) Software series/version of the NC
4) Specifications of the servo amplifier and motor
(for a failure related to the servo)
5) Specifications of the spindle amplifier and spindle motor
(for a failure related to a spindle)
See the drawing issued by the machine tool builder for the locations
of the NC unit and servo/spindle amplifiers.
We use the following specification codes :
Servo /spindle amplifier : A06B-VVVV-HVVV
Servo/spindle amplifier
: A06B-VVVV-BVVV
(V represents a number)
297
8. TROUBLESHOOTING
B-62445E/03
8.2
POWER CANNOT BE
TURNED ON
Points
Confirm the green LED PIL and red LED ALM on the front of power unit.
1) Proceed to item 1 when green LED PIL is turned off.
2) Proceed to item 2 when green LED is lit and red LED AML is turned
off.
3) Check item 3 when red LED ALM is lit.
Causes and Remedies
1
LED is turned off
(1) Fuse F1 or F2 on the power unit front panel is blown.
(a) Input power voltage is too high.
(b) Power unit is faulty.
(2) Input voltage is low
Measure voltage at R and S terminals of connector CPI to confirm
appropriate voltage is supplied.
If it is not normal, check machine side magnetics circuit.
200VAC, +10%,
50/ 60Hz, "1Hz, 1φ
220VAC, +10%,
60Hz, "1Hz, 1φ
(3) Power supply unit is faulty.
2
Conditions for power on
Conditions for power on are as follows:
are not satisfied.(PIL is
lit and ALM is off)
Power supply unit
AL
Contacts of external alarm
is open.
ON button
ON
Contacts of power on is
closed.
COM
OFF
Contacts of power off is
closed.
OFF button
For details, refer to 2.5.1 Power Supply Unit.
3
LED ALM is lit
(1) Fuse F3 is blown on the front panel of power unit
Check whether +24V is short-circuited or grounded. (See figure
below).
CP5
CP2
+24V
F3
Regu
9ICRT/MDI
lator
Unit
For details, refer to 2.4.
9ICRT unit is faulty.
298
B-62445E/03
8.TROUBLESHOOTING
(2) Power supply unit is faulty.
(a) Remove connector CP2, CP3, CP5, and CP6.
(b) Turn off the power of the machine and retract the power unit from
the controller.
(c) Turn on power of NC.
(d) When LED ALM is lit, power unit is faulty.
If ALM is not lit, power supply unit is normal.
Note
When a work is conducted with power supply unit removed,
perform the work within 30 minutes (Data in memory may be
lost)
(3) Load (+5V) is grounded or short-circuited
(a) With power supply unit installed on the control unit, turn off the
power on the machine side.
(b) Remove cables (1) to (3) in the figure below, turn on power of NC
and check LED ALM.
Note
To release lightening of ALM, turn off NC power.
(c) When LED ALM is turned off while removing the cable, the load
connected by the removed wire may be faulty.
Notes
When removing the cable note the following :
1
If 6V battery is connected as shown below, absolute position
of the machine may be lost when cable (2)is removed.
Therefore, the machine position must be established by
reference position return ,after releasing the alarm.
2
If
6V battery is not connected, the above operation is not
needed.
299