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FANUC AC SERVO MOTOR @+ series
FANUC AC SPINDLE MOTOR @+ series
FANUC SERVO AMPLIFIER @+ series
MAINTENANCE MANUAL
B-65285EN/04
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• No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without notice.
The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.
In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be
done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in this manual should be
regarded as ”impossible”.
• If operation is abnormal, for example, when an alarm is issued or a hardware failure
occurs, the operation described in this manual is not guaranteed unless otherwise
specifically noted. If operation is abnormal, take action according to the instructions
specifically described in this manual if any or contact FANUC when the instructions are
not described.
• Generally, a "safety function" means a function that protects the operators from danger
posed by the machine.
The signals and functions described in this manual cannot be used separately for any
"safety function" unless otherwise described as being [usable for the safety function].
Their specifications are not assumed to be used as the [safety function] in this case,
unexpected danger may be caused. If you have any questions, contact FANUC.
• A device connection error or setting error can lead to unpredictable operation. When
starting to operate the machine for the first time after assembling the machine, replacing
parts, or changing parameter settings, exercise extreme care.
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B-65285EN/04 SAFETY PRECAUTIONS
SAFETY PRECAUTIONS
The "Safety Precautions" section describes the safety precautions relating to the use of FANUC servo
motors, spindle motors, and servo amplifiers (Power Supply, Servo Amplifier, and Spindle Amplifier).
Users of any servo motor or amplifier model are requested to read the "Safety Precautions" carefully before
using the servo motor or amplifier.
The users are also requested to read an applicable specification manual carefully and understand each
function of the motor or amplifier for correct use.
The users are basically forbidden to do any behavior or action not mentioned in the "Safety Precautions."
They are invited to ask FANUC previously about what behavior or action is prohibited.
Contents
1.1 DEFINITION OF WARNING, CAUTION, AND NOTE................................................................. s-2
1.2 FANUC AC SERVO MOTOR αis/αi series
FANUC AC SPINDLE MOTOR αi series ........................................................................................ s-3
1.2.1 Warning .....................................................................................................................................s-3
1.2.2 Caution .......................................................................................................................................s-5
1.2.3 Note............................................................................................................................................ s-6
1.3 FANUC SERVO AMPLIFIER αi series ...........................................................................................s-8
1.3.1 Warnings and Cautions Relating to Mounting...........................................................................s-8
1.3.1.1 Warning .....................................................................................................................s-8
1.3.1.2 Caution ......................................................................................................................s-9
1.3.1.3 Note .........................................................................................................................s-10
1.3.2 Warnings and Cautions Relating to a Pilot Run ......................................................................s-10
1.3.2.1 Warning ...................................................................................................................s-10
1.3.2.2 Caution ....................................................................................................................s-11
1.3.3 Warnings and Cautions Relating to Maintenance.................................................................... s-12
1.3.3.1 Warning ...................................................................................................................s-12
1.3.3.2 Caution ....................................................................................................................s-13
1.3.3.3 Note .........................................................................................................................s-13
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SAFETY PRECAUTIONS B-65285EN/04
1.1 DEFINITION OF WARNING, CAUTION, AND NOTE
This manual includes safety precautions for protecting the user and preventing damage to the machine.
Precautions are classified into Warning and Caution according to their bearing on safety. Also,
supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly before
attempting to use the machine.
WARNING
Applied when there is a danger of the user being injured or when there is a
damage of both the user being injured and the equipment being damaged if the
approved procedure is not observed.
CAUTION
Applied when there is a danger of the equipment being damaged, if the approved
procedure is not observed.
NOTE
The Note is used to indicate supplementary information other than Warning and
Caution.
If a precaution described even as "CAUTION" is not followed, a serious result may be caused depending on
the status. Be sure to follow the precautions described as "WARNING" and "CAUTION" since they give
important information.
* Read this manual carefully, and store it in a safe place.
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B-65285EN/04 SAFETY PRECAUTIONS
1.2 FANUC AC SERVO MOTOR αis/αi series
FANUC AC SPINDLE MOTOR αi series
1.2.1 Warning
WARNING
- Be sure to ground a motor frame.
To avoid electric shocks, be sure to connect the grounding terminal in the terminal box to the grounding
terminal of the machine.
- Before starting to connect a motor to electric wires, make sure they are
isolated from an electric power source.
A failure to observe this caution is vary dangerous because you may get electric shocks.
- Do not ground a motor power wire terminal or short-circuit it to another power
wire terminal.
A failure to observe this caution may cause electric shocks or a burned wiring.
* Some motors require a special connection such as a winding changeover. For details, refer to Chapter
7, "OUTLINE DRAWINGS," in B-65262EN.
- When connecting a cord such as a power line to the terminal block, use
specified tightening torque to firmly connect the cord.
If operation is performed with a loose terminal, the terminal block can overheat, resulting in a fire.
Moreover, a terminal can be detached, resulting in a ground fault, short circuit, or electric shock.
- Do not apply current when a terminal of the terminal block or the crimp
terminal of a power line is exposed.
If the hand or a conductive object touches a terminal of the terminal block or the crimp terminal of a power
line, you may get electric shocks. Attach an insulation cover (accessory) onto the terminal block. Moreover,
cover the crimp terminal at the tip of a power line with an insulation tube.
- Assemble and install a power connector securely.
If a power line is detached due to a failure in crimping or soldering, or a conductive area is exposed due to
a failure in shell assembly, you may get electric shocks.
- Do not touch a motor with a wet hand.
A failure to observe this caution is vary dangerous because you may get electric shocks.
- Before touching a motor, shut off the power to it.
Even if a motor is not rotating, there may be a voltage across the terminals of the motor.
Especially before touching a power supply connection, take sufficient precautions.
Otherwise you may get electric shocks.
- Do not touch any terminal of a motor for a while (at least 20 minutes) after the
power to the motor is shut off.
High voltage remains across power line terminals of a motor for a while after the power to the motor is shut
off. So, do not touch any terminal or connect it to any other equipment. Otherwise, you may get electric
shocks or the motor and/or equipment may get damaged.
- On the machine, install a stop device for securing safety.
The brake built into the servo motor is not a stop device for securing safety. The machine may not be held if
a failure occurs.
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SAFETY PRECAUTIONS B-65285EN/04
WARNING
- Do not enter the area under the vertical axis without securing safety.
If a vertical axis drop occurs unexpectedly, you may be injured.
- Fasten a motor firmly before driving the motor.
If a motor is driven when the motor is not fastened firmly or is fastened insufficiently, the motor can tumble
or is removed, resulting in a danger. If the motor mounting section is not sufficiently strong, the machine
may be damaged or the user may be injured.
- Do not get close to a rotary section of a motor when it is rotating.
When a motor is rotating, clothes or fingers can be caught, resulting in an injury.
- Do not drive a motor with an object such as a key exposed.
An object such as a key can be thrown away, resulting in an injury. Before rotating a motor, check that there
is no object that is thrown away by motor rotation.
- Do not apply a radial load exceeding the "allowable radial load".
The shaft can break, and components can be thrown away. When the vertical axis is involved, a vertical axis
drop can occur.
- To drive a motor, use a specified amplifier and parameters.
An incorrect combination of a motor, amplifier, and parameters may cause the motor to behave
unexpectedly. This is dangerous, and the motor may get damaged.
- Do not bring any dangerous stuff near a motor.
Motors are connected to a power line, and may get hot. If a flammable is placed near a motor, it may be
ignited, catch fire, or explode.
- Be safely dressed when handling a motor.
Wear safety shoes or gloves when handling a motor as you may get hurt on any edge or protrusion on it or
electric shocks.
- Use a crane or lift to move a motor from one place to another.
A motor is heavy, so that if you lift a motor by hand, you may be exposed to various risks. For example, the
waist can be damaged, and the motor can drop to injure you. Use equipment such as a crane as needed. (For
the weight of a motor, see Specification manual (B-65262EN).)
- Do not touch a motor when it is running or immediately after it stops.
A motor may get hot when it is running. Do not touch the motor before it gets cool enough. Otherwise, you
may get burned.
- Be careful not get your hair or cloths caught in a fan.
Be careful especially for a fan used to generate an inward air flow.
Be careful also for a fan even when the motor is stopped, because it continues to rotate while the amplifier
is turned on.
- Install the components around a motor securely.
If a component is displaced or removed during motor rotation, a danger can result.
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B-65285EN/04 SAFETY PRECAUTIONS
1.2.2 Caution
CAUTION
- Use the eyebolt of a motor to move the motor only.
When a motor is installed on a machine, do not move the machine by using the eyebolt of the motor.
Otherwise, the eyebolt and motor can be damaged.
- Do not disassemble a motor.
Disassembling a motor may cause a failure or trouble in it.
If disassembly is in need because of maintenance or repair, please contact a service representative of
FANUC.
For pulse coder replacement, refer to the Subsection III-1.2.6.
- Do not machine and modify a motor.
Do not machine and modify a motor in any case except when motor machining or modification is specified
by FANUC. Modifying a motor may cause a failure or trouble in it.
- Do not conduct dielectric strength or insulation test for a sensor.
Such a test can damage elements in the sensor.
- Be sure to connect motor cables correctly.
An incorrect connection of a cable cause abnormal heat generation, equipment malfunction, or failure.
Always use a cable with an appropriate current carrying capacity (or thickness). For details, refer to Chapter
7, “OUTLINE DRAWINGS” in the Specification manual (B-65262EN).
- Do not apply shocks to a motor or cause scratches to it.
If a motor is subjected to shocks or is scratched, its components may be adversely affected, resulting in
normal operation being impaired. Plastic components and sensors can be damaged easily. So, handle those
components very carefully. In particular, do not lift a motor by using a plastic component, connector,
terminal block, and so forth.
- Do not step or sit on a motor, and do not put a heavy object on a motor.
If you step or sit on a motor, it may get deformed or broken. Do not put a motor on another unless they are
in packages.
- When attaching a component having inertia, such as a pulley, to a motor,
ensure that any imbalance between the motor and component is minimized.
If there is a large imbalance, the motor may vibrates abnormally, resulting in the motor being broken.
- Be sure to attach a key to a motor with a keyed shaft.
If a motor with a keyed shaft runs with no key attached, it may impair torque transmission or cause
imbalance, resulting in the motor being broken.
- Use a motor under an appropriate environmental condition.
Using a motor in an adverse environment may cause a failure or trouble in it. Refer to Specification manual
(B-65262EN) for details of the operating and environmental conditions for motors.
- Do not apply a commercial power source voltage directly to a motor.
Applying a commercial power source voltage directly to a motor may result in its windings being burned.
Be sure to use a specified amplifier for supplying voltage to the motor.
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SAFETY PRECAUTIONS B-65285EN/04
CAUTION
- Do not use the brake built into a motor for braking.
The brake built into a servo motor is designed for holding. If the brake is used for braking, a failure can
occur.
- Ensure that motors are cooled if they are those that require forcible cooling.
If a motor that requires forcible cooling is not cooled normally, it may cause a failure or trouble. For a
fan-cooled motor, ensure that it is not clogged or blocked with dust and dirt. For a liquid-cooled motor,
ensure that the amount of the liquid is appropriate and that the liquid piping is not clogged. For both types,
perform regular cleaning and inspection.
- When storing a motor, put it in a dry (non-condensing) place at room
temperature (0 to 40 °C).
If a motor is stored in a humid or hot place, its components may get damaged or deteriorated. In addition,
keep a motor in such a position that its shaft is held horizontal and its terminal box is at the top.
- FANUC motors are designed for use with machines. Do not use them for any
other purpose.
If a FANUC motor is used for an unintended purpose, it may cause an unexpected symptom or trouble. If
you want to use a motor for an unintended purpose, previously consult with FANUC.
1.2.3 Note
NOTE
- Ensure that a base or frame on which a motor is mounted is strong enough.
Motors are heavy. If a base or frame on which a motor is mounted is not strong enough, it is impossible to
achieve the required precision.
- Do not remove a nameplate from a motor.
If a nameplate comes off, be careful not to lose it. If the nameplate is lost, the motor becomes unidentifiable,
resulting in maintenance becoming impossible.
- When testing the winding or insulation resistance of a motor, satisfy the
conditions stipulated in IEC60034.
Testing a motor under a condition severer than those specified in IEC60034 may damage the motor.
- For a motor with a terminal box, make a conduit hole for the terminal box in a
specified position.
When making a conduit hole, be careful not to break or damage unspecified portions. Refer to the
Specification manual (B-65262EN).
- Before using a motor, measure its winding and insulation resistances, and
make sure they are normal.
Especially for a motor that has been stored for a prolonged period of time, conduct these checks. A motor
may deteriorate depending on the condition under which it is stored or the time during which it is stored. For
the winding resistances of motors, refer to the Specification manual (B-65262EN), or ask FANUC. For
insulation resistances, see the following table.
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B-65285EN/04 SAFETY PRECAUTIONS
NOTE
- To use a motor as long as possible, perform periodic maintenance and
inspection for it, and check its winding and insulation resistances.
Note that extremely severe inspections (such as dielectric strength tests) of a motor may damage its
windings. For the winding resistances of motors, refer to the Specification manual (B-65262EN), or ask
FANUC. For insulation resistances, see the following table.
MOTOR INSULATION RESISTANCE MEASUREMENT
Measure an insulation resistance between each winding and motor frame using an insulation resistance
meter (500 VDC). Judge the measurements according to the following table. Make an insulation
resistance measurement on a single motor unit after detaching cords such as a power line.
Insulation resistance Judgment
100 MΩ or higher Acceptable
10 to 100 MΩ
1 to 10 MΩ
Lower than 1 MΩ Unacceptable. Replace the motor.
The winding has begun deteriorating. There is no problem with the performance at
present. Be sure to perform periodic inspection.
The winding has considerably deteriorated. Special care is in need. Be sure to
perform periodic inspection.
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SAFETY PRECAUTIONS B-65285EN/04
1.3 FANUC SERVO AMPLIFIER αi series
1.3.1 Warnings and Cautions Relating to Mounting
1.3.1.1 Warning
WARNING
- Check the specification code of the amplifier.
Check that the delivered amplifier is as originally ordered.
- Mount a ground fault interrupter.
To guard against fire and electric shock, fit the factory power supply or machine with a ground fault
interrupter (designed for use with an inverter).
- Securely ground the amplifier.
Securely connect the ground terminal and metal frame of the amplifier and motor to a common ground
plate of the power magnetics cabinet.
- Be aware of the weight of the amplifier and other components.
Control motor amplifiers and AC reactors are heavy. When transporting them or mounting them in the
cabinet, therefore, be careful not to injured yourself or damage the equipment. Be particularly carefull
not to jam your fingers between the cabinet and amplifier.
- Never ground or short-circuit either the power supply lines or power lines.
Protect the lines from any stress such as bending. Handle the ends appropriately.
- Ensure that the power supply lines, power lines, and signal lines are securely connected.
A loose screw, loose connection, or the like will cause a motor malfunction or overheating, or a ground
fault.
Be extremely careful with power supply lines, motor power lines, and DC link connections through
which a large amount of current passes, because a loose screw (or poor contact in a connector or poor
connection between a connector terminal and a cable) may cause a fire.
- Insulate all exposed parts that are charged.
- Never touch the regenerative discharge resistor or radiator directly.
The surface of the radiator and regenerative discharge unit become extremely hot. Never touch them
directly. An appropriate structure should also be considered.
- Close the amplifier cover after completing the wiring.
Leaving the cover open presents a danger of electric shock.
- Do not disassemble the amplifier.
- Ensure that the cables used for the power supply lines and power lines are of the appropriate
diameter and temperature ratings.
- Do not apply an excessively large force to plastic parts.
If a plastic section breaks, it may cause internal damage, thus interfering with normal operation. The
edge of a broken section is likely to be sharp and, therefore, presents a risk of injury.
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1.3.1.2 Caution
CAUTION
- Do not step or sit on the amplifier.
Also, do not stack unpacked amplifiers on top of each other.
- Use the amplifier in an appropriate environment.
See the allowable ambient temperatures and other requirements, given in the corresponding
descriptions.
- Protect the amplifier from corrosive or conductive mist or drops of water.
Use a filter if necessary.
- Protect the amplifier from impact.
Do not place anything on the amplifier.
- Do not block the air inlet to the radiator.
A deposit of coolant, oil mist, or chips on the air inlet will result in a reduction in the cooling efficiency.
In some cases, the required efficiency cannot be achieved. The deposit may also lead to a reduction in
the useful life of the semiconductors. Especially, when outside air is drawn in, mount filters on both
the air inlet and outlet. These filters must be replaced regularly.
So, an easy-to-replace type of filter should be used.
- Connect the power supply lines and power lines to the appropriate terminals and connectors.
- Connect the signal lines to the appropriate connectors.
- Before connecting the power supply wiring, check the supply voltage.
Check that the supply voltage is within the range specified in this manual, then connect the power
supply lines.
- Ensure that the combination of motor and amplifier is appropriate.
- Ensure that valid parameters are specified.
Specifying an invalid parameter for the combination of motor and amplifier may not only prevent
normal operation of the motor but also result in damage to the amplifier.
- Ensure that the amplifier and peripheral equipment are securely connected.
Check that the magnetic contactor, circuit breaker, and other devices mounted outside the amplifier are
securely connected to each other and that those devices are securely connected to the amplifier.
- Check that the amplifier is securely mounted in the power magnetics cabinet.
If any clearance is left between the power magnetics cabinet and the surface on which the amplifier is
mounted, dust entering the gap may build up and prevent the normal operation of the amplifier.
- Apply appropriate countermeasures against noise.
Adequate countermeasures against noise are required to maintain normal operation of the amplifier.
For example, signal lines must be routed away from power supply lines and power lines.
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SAFETY PRECAUTIONS B-65285EN/04
1.3.1.3 Note
NOTE
- Keep the nameplate clearly visible.
- Keep the legend on the nameplate clearly visible.
- After unpacking the amplifier, carefully check for any damage.
- Mount the amplifier in a location where it can be easily accessed periodic inspection and daily
maintenance.
- Leave sufficient space around the machine to enable maintenance to be performed easily.
Do not place any heavy objects such that they would interfere with the opening of the doors.
- Keep the parameter table and spare parts at hand.
Also, keep the specifications at hand. These items must be stored in a location where they can be
retrieved immediately.
- Provide adequate shielding.
A cable to be shielded must be securely connected to the ground plate, using a cable clamp or the like.
1.3.2 Warnings and Cautions Relating to a Pilot Run
1.3.2.1 Warning
WARNING
- Before turning on the power, check that the cables connected to the power magnetics cabinet
and amplifier, as well as the power lines and power supply lines, are securely connected. Also,
check that no lines are slack.
A loose screw, loose connection, or the like will cause a motor malfunction or overheating, or a ground
fault. Be extremely careful with power supply lines, motor power lines, and DC link connections
through which a large amount of current passes, because a loose screw (or poor contact in a connector
or poor connection between a connector terminal and a cable) may cause a fire.
- Before turning on the power, ensure that the power magnetics cabinet is securely grounded.
- Before turning on the power, check that the door of the power magnetics cabinet and all other
doors are closed.
Ensure that the door of the power magnetics cabinet containing the amplifier, and all other doors, are
securely closed. During operation, all doors must be closed and locked.
- Apply extreme caution if the door of the power magnetics cabinet or another door must be
opened.
Only a person trained in the maintenance of the corresponding machine or equipment should open the
door, and only after shutting off the power supply to the power magnetics cabinet (by opening both the
input circuit breaker of the power magnetics cabinet and the factory switch used to supply power to the
cabinet). If the machine must be operated with the door open to enable adjustment or for some other
purpose, the operator must keep his or her hands and tools well away from any dangerous voltages.
Such work must be done only by a person trained in the maintenance of the machine or equipment.
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B-65285EN/04 SAFETY PRECAUTIONS
WARNING
- When operating the machine for the first time, check that the machine operates as instructed.
To check whether the machine operates as instructed, first specify a small value for the motor, then
increase the value gradually. If the motor operates abnormally, perform an emergency stop
immediately.
- After turning on the power, check the operation of the emergency stop circuit.
Press the emergency stop button to check that the motor stops immediately, and that the power being
supplied to the amplifier is shut off by the magnetic contactor.
- Before opening a door or protective cover of a machine to enable adjustment of the machine,
first place the machine in the emergency stop state and check that the motor has stopped.
1.3.2.2 Caution
CAUTION
- Note whether an alarm status relative to the amplifier is displayed at power-up or during
operation.
If an alarm is displayed, take appropriate action as explained in the maintenance manual. If the work to
be done requires that the door of the power magnetics cabinet be left open, the work must be carried
out by a person trained in the maintenance of the machine or equipment. Note that if some alarms are
forcibly reset to enable operation to continue, the amplifier may be damaged. Take appropriate action
according to the contents of the alarm.
- Before operating the motor for the first time, mount and adjust the position and speed sensors.
Following the instructions given in the maintenance manual, adjust the position and speed sensors for
the spindle so that an appropriate waveform is obtained.
If the sensors are not properly adjusted, the motor may not rotate normally or the spindle may fail to
stop as desired.
- If the motor makes any abnormal noise or vibration while operating, stop it immediately.
Note that if operation is continued in spite of there being some abnormal noise or vibration, the
amplifier may be damaged. Take appropriate corrective action, then resume operation.
- Observe the ambient temperature and output rating requirements.
The continuous output rating or continuous operation period of some amplifiers may fall as the
ambient temperature increases. If the amplifier is used continuously with an excessive load applied,
the amplifier may be damaged.
- Unless otherwise specified, do not insert or remove any connector while the power is turned on.
Otherwise, the amplifier may fail.
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SAFETY PRECAUTIONS B-65285EN/04
1.3.3 Warnings and Cautions Relating to Maintenance
1.3.3.1 Warning
WARNING
- Read the maintenance manual carefully and ensure that you are totally familiar with its
contents.
The maintenance manual describes daily maintenance and the procedures to be followed in the event
of an alarm being issued. The operator must be familiar with these descriptions.
- Notes on replacing a fuse or PC board
1) Before starting the replacement work, ensure that the circuit breaker protecting the power
magnetics cabinet is open.
2) Check that the red LED that indicates that charging is in progress is not lit.
The position of the charging LED on each model of amplifier is given in this manual. While the
LED is lit, hazardous voltages are present inside the unit, and thus there is a danger of electric
shock.
3) Some PC board components become extremely hot. Be careful not to touch these components.
4) Ensure that a fuse having an appropriate rating is used.
5) Check the specification code of a PC board to be replaced. If a modification drawing number is
indicated, contact FANUC before replacing the PC board.
Also, before and after replacing a PC board, check its pin settings.
6) After replacing the fuse, ensure that the screws are firmly tightened. For a socket-type fuse,
ensure that the fuse is inserted correctly.
7) After replacing the PC board, ensure that it is securely connected.
8) Ensure that all power lines, power supply lines, and connectors are securely connected.
- Take care not to lose any screws.
When removing the case or PC board, take care not to lose any screws. If a screw is lost inside the nit
and the power is turned on, the machine may be damaged.
- Notes on replacing the battery of the absolute pulse coder
Replace the battery only while the power is on. If the battery is replaced while the power is turned off,
the stored absolute positioning data will be lost. Some series servo amplifier modules have batteries in
their servo amplifiers. To replace the battery of any of those models, observe the following procedure:
Open the door of the power magnetics cabinet; Leave the control power of the power supply module
on; Place the machine in the emergency stop state so that the power being input to the amplifier is shut
off; Then, replace the battery. Replacement work should be done only by a person who is trained in the
related maintenance and safety requirements. The power magnetics cabinet in which the servo
amplifier is mounted has a high-voltage section. This section presents a severe risk of electric shock.
- Check the number of any alarm.
If the machine stops upon an alarm being issued, check the alarm number. Some alarms indicate that a
component must be replaced. If the power is reconnected without first replacing the failed component,
another component may be damaged, making it difficult to locate the original cause of the alarm.
- Before resetting an alarm, ensure that the original cause of the alarm has been removed.
- Contact FANUC whenever a question relating to maintenance arises.
- Notes on removing the amplifier
Before removing the amplifier, first ensure that the power is shut off. Be careful not to jam your fingers
between the power magnetics cabinet and amplifier.
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B-65285EN/04 SAFETY PRECAUTIONS
1.3.3.2 Caution
CAUTION
- Ensure that all required components are mounted.
When replacing a component or PC board, check that all components, including the snubber capacitor,
are correctly mounted. If the snubber capacitor is not mounted, for example, the IPM will be damaged.
- Tighten all screws firmly.
- Check the specification code of the fuse, PC board, and other components.
When replacing a fuse or PC board, first check the specification code of the fuse or PC board, then
mount it in the correct position. The machine will not operate normally if a fuse or PC board having
other than the correct specification code is mounted, or if a fuse or PC board is mounted in the wrong
position.
- Mount the correct cover.
The cover on the front of the amplifier carries a label indicating a specification code. When mounting
a previously removed front cover, take care to mount it on the unit from which it was removed.
- Notes on cleaning the heat sink and fan
1) A dirty heat sink or fan results in reduced semiconductor cooling efficiency, which degrades
reliability. Periodic cleaning is necessary.
2) Using compressed air for cleaning scatters the dust. A deposit of conductive dust on the amplifier
or peripheral equipment will result in a failure.
3) To clean the heat sink, do so only after turning the power off and ensuring that the heat sink has
cooled to room temperature. The heat sink becomes extremely hot, such that touching it during
operation or immediately after power-off is likely to cause a burn. Be extremely careful when
touching the heat sink.
1.3.3.3 Note
NOTE
- Ensure that the battery connector is correctly inserted.
If the power is shut off while the battery connector is not connected correctly, the absolute position
data for the machine will be lost.
- Store the manuals in a safe place.
The manuals should be stored in a location where they can be accessed immediately it so required
during maintenance work.
- Notes on contacting FANUC
Inform FANUC of the details of an alarm and the specification code of the amplifier so that any
components required for maintenance can be quickly secured, and any other necessary action can be
taken without delay.
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B-65285EN/04 PREFACE
PREFACE
Organization of this manual
This manual describes information necessary to maintain FANUC Servo Amplifier αi series products, such
as a Power Supply, Servo Amplifier, and Spindle Amplifier and FANUC Servo Motor αis/αi series and
FANUC Spindle Motor αi series products.
Part I explains the start-up procedure, and part II focuses on troubleshooting.
Part III explains the maintenance for servo motor and spindle motor.
The abbreviations listed below are used in this manual.
Product name Abbreviations
FANUC Series 15i FS15i
FANUC Series 16i FS16i
FANUC Series 18i FS18i
FANUC Series 21i FS21i
FANUC Series 30i FS30i
FANUC Series 31i FS31i
FANUC Series 32i FS32i
FANUC Series 0i FS0i
FANUC Power Mate i-D
FANUC Power Mate i-H
Power Supply PS
Servo Amplifier SV
Spindle Amplifier SP
* In this manual, the parameter numbers of servo parameters are sometimes indicated without CNC
product names as follows:
PMi
Servo parameter function name or bit
Series 15
Series 16i, 18i, 21i, 0i, PM
i
No. 1877 (FS15i)
i
No. 2062 (FS16i)
Overload protection coefficient (OVC1)
* The manuals shown below provide information related to this manual. This manual may refer you to
these manuals.
FANUC SERVO AMPLIFIER αi series Descriptions B-65282EN
FANUC AC SERVO MOTOR αi series Descriptions B-65262EN
FANUC AC SPINDLE MOTOR αi series Descriptions B-65272EN
FANUC AC SERVO MOTOR αi series, FANUC AC SERVO MOTOR βi series,
FANUC LINEAR MOTOR LiS series,
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series Parameter Manual B-65270EN
FANUC AC SPINDLE MOTOR αi/βi series, BUILT-IN SPINDLE MOTOR Bi series
Parameter Manual B-65280EN
p-1
Page 18
Page 19
B-65285EN/04 TABLE OF CONTENTS
TABLE OF CONTENTS
SAFETY PRECAUTIONS........................................................................... S-1
1.1 DEFINITION OF WARNING, CAUTION, AND NOTE................................. s-2
1.2 FANUC AC SERVO MOTOR αis/αi series
FANUC AC SPINDLE MOTOR αi series .................................................... s-3
1.2.1 Warning.................................................................................................................s-3
1.2.2 Caution ..................................................................................................................s-5
1.2.3 Note .......................................................................................................................s-6
1.3 FANUC SERVO AMPLIFIER αi series .......................................................s-8
1.3.1 Warnings and Cautions Relating to Mounting......................................................s-8
1.3.1.1 Warning ......................................................................................................... s-8
1.3.1.2 Caution........................................................................................................... s-9
1.3.1.3 Note.............................................................................................................. s-10
1.3.2 Warnings and Cautions Relating to a Pilot Run.................................................. s-10
1.3.2.1 Warning ....................................................................................................... s-10
1.3.2.2 Caution......................................................................................................... s-11
1.3.3 Warnings and Cautions Relating to Maintenance ...............................................s-12
1.3.3.1 Warning ....................................................................................................... s-12
1.3.3.2 Caution......................................................................................................... s-13
1.3.3.3 Note.............................................................................................................. s-13
PREFACE....................................................................................................p-1
I. START-UP PROCEDURE
1 OVERVIEW .............................................................................................3
2 CONFIGURATIONS ................................................................................4
2.1 CONFIGURATIONS ......................................................................................4
2.2 MAJOR COMPONENTS ............................................................................... 5
2.2.1 Power Supply ...........................................................................................................5
2.2.2 Servo Amplifier........................................................................................................6
2.2.3 Spindle Amplifier .....................................................................................................8
3 START-UP PROCEDURE.....................................................................11
3.1 START-UP PROCEDURE (OVERVIEW) .................................................... 11
3.2 CONNECTING THE POWER...................................................................... 11
3.2.1 Checking the Voltage and Capacity of the Power..................................................11
3.2.2 Connecting a Protective Ground ............................................................................12
3.2.3 Selecting the Ground Fault Interrupter That Matches the Leakage Current ..........12
3.2.4 Checking the Phase Sequence of the Fan Motor Power Supply.............................12
3.3 INITIALIZING PARAMETERS .....................................................................12
4 CONFIRMATION OF THE OPERATION ..............................................13
4.1 POWER SUPPLY ........................................................................................ 13
4.1.1 Checking the Status LEDs (Power Supply)............................................................14
4.1.2 Check Terminal on the Printed-circuit Board.........................................................14
4.1.3 The PIL LED (Power ON Indicator) Is Off............................................................16
4.1.4 Checking Method when Magnetic Contactor Is not Switched On.........................16
4.2 SERVO AMPLIFIER .................................................................................... 17
4.2.1 Checking the STATUS Display (Servo Amplifier)................................................18
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TABLE OF CONTENTS B-65285EN/04
4.2.2 VRDY-OFF Alarm Indicated on the CNC Screen.................................................18
4.2.3 Method for Observing Motor Current....................................................................19
4.3 SPINDLE AMPLIFIER .................................................................................22
4.3.1 STATUS Display (Spindle Amplifier)...................................................................23
4.3.2 Troubleshooting at Startup.....................................................................................23
4.3.2.1 The PIL LED (power-on indicator) is off. ...................................................... 23
4.3.2.2 The STATUS display is blinking with "--."....................................................23
4.3.2.3 The motor does not turn.................................................................................. 24
4.3.2.4 A specified speed cannot be obtained. ............................................................ 24
4.3.2.5 When cutting is not performed, the spindle vibrates, making noise. .............. 25
4.3.2.6 An overshoot or hunting occurs...................................................................... 25
4.3.2.7 Cutting power weakens or acceleration/deceleration slows down.................. 25
4.3.3 Status Error Indication Function ............................................................................26
4.3.4 Checking the Feedback Signal Waveform .............................................................29
4.3.4.1 αi M sensor, αi MZ sensor, and αi BZ sensor................................................ 30
4.3.4.2 Analog αi CZ sensor ....................................................................................... 31
4.3.4.3 α position coder S ........................................................................................... 32
4.3.5 Spindle Check Board ..............................................................................................32
4.3.5.1 Spindle check board specifications ................................................................. 32
4.3.5.2 Check board connection.................................................................................. 33
4.3.5.3 Check terminal output signals......................................................................... 33
4.3.6 Observing Data Using the Spindle Check Board ...................................................35
4.3.6.1 Overview......................................................................................................... 35
4.3.6.2 Major characteristics ....................................................................................... 35
4.3.6.3 Observation method ........................................................................................ 35
4.3.6.4 Specifying data to be monitored ..................................................................... 36
4.3.6.5 Address descriptions and initial values (Spindle Amplifier) .......................... 36
4.3.6.6 Principles in outputting the internal data of the serial spindle ........................ 37
4.3.6.7 Data numbers .................................................................................................. 39
4.3.6.8 Example of observing data.............................................................................. 41
4.3.7 Checking Parameters Using the Spindle Check Board ..........................................42
4.3.7.1 Overview......................................................................................................... 42
4.3.7.2 Checking parameters....................................................................................... 42
4.3.8 Observing Data Using the SERVO GUIDE ...........................................................42
4.3.8.1 Overview......................................................................................................... 42
4.3.8.2 Usable series and editions............................................................................... 42
4.3.8.3 List of spindle data that can be observed using the SERVO GUIDE ............. 43
4.3.8.4 About the spindle control and spindle status signals ...................................... 44
4.3.8.5 Example of observing data.............................................................................. 45
II. TROUBLESHOOTING
1 OVERVIEW ...........................................................................................49
2 ALARM NUMBERS AND BRIEF DESCRIPTIONS ..............................50
2.1 FOR Series 15i ....................................................................................................... 50
2.1.1 Servo Alarm ...........................................................................................................50
2.1.2 Spindle Alarm.........................................................................................................51
2.2 FOR Series 16i, 18i, 20i, 21i, 0i, AND Power Mate i ....................................... 54
2.2.1 Servo Alarm ...........................................................................................................54
2.2.2 Spindle Alarm.........................................................................................................55
2.3 FOR Series 30i/ 31i/32i ......................................................................................... 58
2.3.1 Servo Alarm ...........................................................................................................58
2.3.2 Spindle Alarm.........................................................................................................59
2.4 FOR Series 0i-D .......................................................................................... 61
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B-65285EN/04 TABLE OF CONTENTS
2.4.1 Servo Alarm ...........................................................................................................61
2.4.2 Spindle Alarm.........................................................................................................62
3 TROUBLESHOOTING AND ACTION...................................................64
3.1 POWER SUPPLY (αiPS, αiPSR)................................................................. 64
3.1.1 No LED Display (αiPS, αiPSR) .............................................................................64
3.1.2 Alarm Code 1 (αiPS)..............................................................................................64
3.1.3 Alarm Code 2 (αiPS, αiPS
3.1.4 Alarm Code 3 (αiPS)..............................................................................................65
3.1.5 Alarm Code 4 (αiPS, αiPS
3.1.6 Alarm Code 5 (αiPS, αiPS
3.1.7 Alarm Code 6 (αiPS, αiPS
3.1.8 Alarm Code 7 (αiPS, αiPS
3.1.9 Alarm Code 8 (αiPS
R
3.1.10 Alarm Code A (αiPS).............................................................................................67
3.1.11 Alarm Code E (αiPS, αiPS
3.1.12 Alarm Code H (αiPS
3.1.13 Alarm Code P (αiPS, αiPS
3.2 SERVO AMPLIFIER .................................................................................... 68
3.2.1 Alarm Code 1 .........................................................................................................69
3.2.2 Alarm Code 2 .........................................................................................................69
3.2.3 Alarm Code 5 .........................................................................................................69
3.2.4 Alarm Code 6 .........................................................................................................69
3.2.5 Alarm Code F .........................................................................................................70
3.2.6 Alarm Code P .........................................................................................................70
3.2.7 Alarm Code 8 .........................................................................................................70
3.2.8 Alarm Codes 8., 9., and A. .....................................................................................70
3.2.9 Alarm Codes 8., 9., and A. .....................................................................................71
3.2.10 Alarm Codes b, c, and d .........................................................................................71
3.2.11 Alarm Code "-" Blinking........................................................................................71
3.2.12 Alarm Code U ........................................................................................................72
3.2.13 Alarm Code L.........................................................................................................72
3.2.14 DB Relay Error (CNC Message "Alarm SV0654") ...............................................73
3.3 SERVO SOFTWARE................................................................................... 73
3.3.1 Servo Adjustment Screen .......................................................................................73
3.3.2 Diagnosis Screen ....................................................................................................74
3.3.3 Overload Alarm (Soft Thermal, OVC)...................................................................75
3.3.4 Feedback Disconnected Alarm ...............................................................................76
3.3.5 Overheat Alarm ......................................................................................................77
3.3.6 Invalid Servo Parameter Setting Alarm..................................................................77
3.3.7 Alarms Related to Pulsecoder and Separate Serial Detector ..................................78
3.3.8 Other Alarms ..........................................................................................................79
3.4 SPINDLE AMPLIFIER .................................................................................81
3.4.1 Alarm Code 01 .......................................................................................................81
3.4.2 Alarm Code 02 .......................................................................................................81
3.4.3 Alarm Code 03 .......................................................................................................82
3.4.4 Alarm Code 06 .......................................................................................................82
3.4.5 Alarm Code 07 .......................................................................................................83
3.4.6 Alarm Code 09 .......................................................................................................83
3.4.7 Alarm Code 10 .......................................................................................................83
3.4.8 Alarm Code 12 .......................................................................................................84
3.4.9 Alarm Code 13 .......................................................................................................84
3.4.10 Alarm Code 14 .......................................................................................................84
)..................................................................................65
R
)..................................................................................65
R
)..................................................................................66
R
)..................................................................................66
R
)..................................................................................66
R
)............................................................................................66
) .................................................................................67
R
) ...........................................................................................67
R
)..................................................................................67
R
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TABLE OF CONTENTS B-65285EN/04
3.4.11 Alarm Code 15 .......................................................................................................85
3.4.12 Alarm Code 16 .......................................................................................................85
3.4.13 Alarm Code 17 .......................................................................................................85
3.4.14 Alarm Code 18 .......................................................................................................85
3.4.15 Alarm Codes 19 and 20 ..........................................................................................85
3.4.16 Alarm Code 21 .......................................................................................................86
3.4.17 Alarm Code 22 ......................................................................................................86
3.4.18 Alarm Code 24 .......................................................................................................86
3.4.19 Alarm Code 27 .......................................................................................................86
3.4.20 Alarm Code 29 .......................................................................................................87
3.4.21 Alarm Code 31 .......................................................................................................88
3.4.22 Alarm Code 32 .......................................................................................................88
3.4.23 Alarm Code 34 .......................................................................................................88
3.4.24 Alarm Code 36 .......................................................................................................88
3.4.25 Alarm Code 37 .......................................................................................................89
3.4.26 Alarm Code 41 .......................................................................................................89
3.4.27 Alarm Code 42 .......................................................................................................90
3.4.28 Alarm Code 43 .......................................................................................................90
3.4.29 Alarm Code 46 .......................................................................................................90
3.4.30 Alarm Code 47 .......................................................................................................90
3.4.31 Alarm Code 49 ......................................................................................................91
3.4.32 Alarm Code 50 .......................................................................................................91
3.4.33 Alarm Codes 52 and 53 ..........................................................................................92
3.4.34 Alarm Code 54 .......................................................................................................92
3.4.35 Alarm Code 55 .......................................................................................................92
3.4.36 Alarm Code 56 .......................................................................................................92
3.4.37 Alarm Code 61 .......................................................................................................92
3.4.38 Alarm Code 65 .......................................................................................................93
3.4.39 Alarm Code 66 .......................................................................................................93
3.4.40 Alarm Code 67 .......................................................................................................93
3.4.41 Alarm Code 69 .......................................................................................................93
3.4.42 Alarm Code 70 .......................................................................................................94
3.4.43 Alarm Code 71 .......................................................................................................94
3.4.44 Alarm Code 72 .......................................................................................................94
3.4.45 Alarm Code 73 .......................................................................................................94
3.4.46 Alarm Code 74 .......................................................................................................95
3.4.47 Alarm Code 75 .......................................................................................................95
3.4.48 Alarm Code 76 .......................................................................................................95
3.4.49 Alarm Code 77 .......................................................................................................95
3.4.50 Alarm Code 78 .......................................................................................................96
3.4.51 Alarm Code 79 .......................................................................................................96
3.4.52 Alarm Code 80 .......................................................................................................96
3.4.53 Alarm Code 81 .......................................................................................................96
3.4.54 Alarm Code 82 .......................................................................................................97
3.4.55 Alarm Code 83 .......................................................................................................97
3.4.56 Alarm Code 84 .......................................................................................................98
3.4.57 Alarm Code 85 .......................................................................................................98
3.4.58 Alarm Code 86 .......................................................................................................98
3.4.59 Alarm Code 87 .......................................................................................................98
3.4.60 Alarm Code 88 .......................................................................................................98
3.4.61 Alarm Code 89 .......................................................................................................98
3.4.62 Alarm Code 90 ......................................................................................................99
3.4.63 Alarm Code 91 ......................................................................................................99
3.4.64 Alarm Code 92 .....................................................................................................100
3.4.65 Alarm Codes A, A1, and A2 ................................................................................100
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B-65285EN/04 TABLE OF CONTENTS
3.4.66 Alarm Code b0 .....................................................................................................100
3.4.67 Alarm Codes C0,C1, and C2 ................................................................................101
3.4.68 Alarm Code C3.....................................................................................................101
3.4.69 Alarm Code C4....................................................................................................101
3.4.70 Alarm Code C5....................................................................................................101
3.4.71 Alarm Code C7....................................................................................................101
3.4.72 Alarm Code C8....................................................................................................101
3.4.73 Alarm Code C9....................................................................................................102
3.4.74 Alarm Code d0 ....................................................................................................102
3.4.75 Alarm Code d1 ....................................................................................................102
3.4.76 Alarm Code d2 .....................................................................................................102
3.4.77 Alarm Code d3 ....................................................................................................103
3.4.78 Alarm Code d4 .....................................................................................................103
3.4.79 Alarm Code d7 .....................................................................................................103
3.4.80 Alarm Code d9 .....................................................................................................103
3.4.81 Alarm Code E0.....................................................................................................103
3.4.82 Alarm Code E1....................................................................................................104
3.4.83 Other Alarms ........................................................................................................104
3.5 αCi SERIES SPINDLE AMPLIFIER MODULE .......................................... 105
3.5.1 Alarm Code 12 .....................................................................................................105
3.5.2 Alarm Code 35 .....................................................................................................106
4 REPLACING AMPLIFIER COMPONENTS......................................... 107
4.1 REPLACEMENT OF A FAN MOTOR ........................................................ 107
4.2 REPLACING BATTERY FOR ABSOLUTE PULSECODERS .................... 112
4.2.1 Overview ..............................................................................................................112
4.2.2 Replacing Batteries...............................................................................................112
4.2.3 Replacing the Batteries in a Separate Battery Case..............................................113
4.2.4 Replacing the Battery Built into the Servo Amplifier ..........................................113
4.2.5 Notes on Replacing a Battery (Supplementary Explanation)...............................115
4.2.5.1 Battery connection modes.............................................................................115
4.2.5.2 Connecting the battery for the α series motor............................................... 115
4.2.5.3 Notes on attaching connectors ......................................................................116
4.3 HOW TO REPLACE THE FUSES ............................................................. 118
4.3.1 Fuse Locations......................................................................................................119
4.3.1.1 Power Supply ................................................................................................ 119
4.3.1.2 Servo Amplifier ............................................................................................ 119
4.3.1.3 Spindle Amplifier..........................................................................................120
III. MOTOR/DETECTOR/AMPLIFIER PREVENTIVE
MAINTENANCE
1 MOTOR/DETECTOR/AMPLIFIER PREVENTIVE MAINTENANCE ...124
1.1 LIST OF MANUALS RELATED TO MOTORS AND AMPLIFIERS ............ 124
1.2 PREVENTIVE MAINTENANCE OF MOTORS AND DETECTORS........... 125
1.2.1 Warnings, Cautions, and Notes on Preventive Maintenance of Motors and
Detectors...............................................................................................................125
1.2.2 Preventive Maintenance of a Motor (Common to All Models)............................127
1.2.2.1 Main inspection items ................................................................................... 127
1.2.2.2 Periodic cleaning of a motor ......................................................................... 130
1.2.2.3 Notes on motor cleaning ............................................................................... 130
1.2.2.4 Notes on the cutting fluid (informational) ....................................................130
1.2.3 Routine Inspection of a Spindle Motor with a Through Hole ..............................131
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TABLE OF CONTENTS B-65285EN/04
1.2.4 Preventive Maintenance of a Built-in Spindle Motor and Spindle Unit...............131
1.2.4.1 Routine inspection of the FANUC-NSK spindle unit................................... 132
1.2.4.2 Maintenance of the FANUC-NSK spindle unit ............................................ 132
1.2.4.3 Test run of the FANUC-NSK spindle unit.................................................... 133
1.2.4.4 Storage method of the FANUC-NSK spindle unit........................................ 133
1.2.5 Preventive Maintenance of a Linear Motor ..........................................................133
1.2.5.1 Appearance inspection of the linear motor (magnet plate) ........................... 133
1.2.6 Maintenance of a Detector....................................................................................134
1.2.6.1 Alarms for built-in detectors (αi and βi Pulsecoders) and troubleshooting
actions ........................................................................................................... 134
1.2.6.2 Alarms for separate detectors and troubleshooting actions........................... 135
1.2.6.3 Detailed troubleshooting methods ................................................................ 135
1.2.6.4 Maintenance of βiS motor Pulsecoders......................................................... 137
1.3 PREVENTIVE MAINTENANCE OF SERVO AMPLIFIERS .......................138
1.3.1 Warnings, Cautions, and Notes on Operation of Servo Amplifiers .....................138
1.3.2 Preventive Maintenance of a Servo Amplifier .....................................................141
1.3.3 Maintenance of a Servo Amplifier .......................................................................142
1.3.3.1 Display of the servo amplifier operation status............................................. 142
1.3.3.2 Replacement of a fan motor .......................................................................... 144
1.4 REPLACING BATTERY FOR ABSOLUTE PULSECODERS .................... 145
1.4.1 Overview ..............................................................................................................145
1.4.2 Replacing Batteries...............................................................................................146
1.4.3 Replacing the Batteries in a Separate Battery Case..............................................146
1.4.4 Replacing the Battery Built into the Servo Amplifier ..........................................147
IV. MOTOR MAINTENANCE
1 SERVO MOTOR MAINTENANCE ......................................................151
1.1 SERVO MOTOR MAINTENANCE PARTS................................................ 151
1.1.1 Pulsecoder ............................................................................................................151
1.1.2 Cooling Fan ..........................................................................................................152
1.2 REPLACING COOLING FANS.................................................................. 153
1.2.1 Replacing a Cooling Fan ......................................................................................153
1.2.1.1 αiS 50 with Fan, αiS 60 with Fan, and αiF 40 with Fan .............................. 153
1.2.1.2 αiS 100 with Fan and αiS 200 with Fan (including HV) ............................. 156
1.2.1.3 αiS 300 and αiS 500 (including HV)............................................................ 156
1.2.1.4 αiS 1000HV..................................................................................................157
1.2.1.5 αiS 2000HV and αiS 3000HV...................................................................... 157
2 SPINDLE MOTOR MAINTENANCE PARTS ......................................158
2.1 MAINTENANCE PARTS............................................................................ 158
APPENDIX
A MEASURING SERVO MOTOR WAVEFORMS (TCMD, VCMD) ........ 165
ADDITIONAL INFORMATION
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I. START-UP PROCEDURE
Page 26
Page 27
B-65285EN/04 START-UP PROCEDURE 1.OVERVIEW
1 OVERVIEW
This part describes the units and components of the Servo Amplifier. It also explains the following
information necessary to start up the Servo Amplifier:
• Configurations
• Start-up procedure
• Confirmation of the operation
• Periodic maintenance of servo amplifier
- 3 -
Page 28
2.CONFIGURATIONS START-UP PROCEDURE B-65285EN/04
φ
2 CONFIGURATIONS
2.1 CONFIGURATIONS
The FANUC servo amplifier αi series consists of the units and components listed below:
(1) Power Supply (PS) (basic)
(2) Servo Amplifier (SV) (basic)
(3) Spindle Amplifier (SP) (basic)
(4) AC reactor (basic)
(5) Connectors (for connecting cables) (basic)
(6) Fuses (option)
(7) Power transformer (option)
Constituent (example)
Power Supply
PS
Servo Amplifier
SV
Spindle Amplifier
SP
DC link
(300V DC)
200 to 240VAC
3φ
Circuit
breaker 2
Circuit
breaker 1
Units prepared by the machine tool builder
Magnetic
contactor
Lightning
surge
protector
φ
1
AC reactor
200R,200S
Lightning
surge
protector
φ
3
fan motor
3
Spindle motor
Servo motor
NOTE
1 See Chapter 4, “HOW TO SELECT THE MODULE” in the FANUC SERVO
AMPLIFIER
i
series (B-65282EN) for details of how to combine the Power
α
Supply, Servo Amplifiers, and Spindle Amplifiers.
2 A magnetic contactor, AC reactor, and circuit breakers are always required.
3 To protect the unit from surge currents caused by lightning, connect surge
absorbers between lines, and between the lines and ground, at the power inlet of
the power magnetics cabinet. See Appendix A, “FITTING A LIGHTNING SURGE
PROTECTION DEVICE” in the FANUC SERVO AMPLIFIER
i
series
α
(B-65282EN) for details.
- 4 -
Page 29
B-65285EN/04 START-UP PROCEDURE 2.CONFIGURATIONS
2.2 MAJOR COMPONENTS
2.2.1 Power Supply
(1) Power Supply (PS, 200VAC-input, power regeneration type)
Model
αi PS 5.5
αi PS 11
αi PS 15
αi PS 26
αi PS 30
αi PS 37
αi PS 55
αi PS 5.5
αi PS 11
αi PS 15
αi PS 26
αi PS 30
αi PS 37
αi PS 55
Order
specification
A06B-6110-H006 A06B-6110-C006 A16B-2203-0640 A20B-2100-0391(*1)
A06B-6110-H011 A06B-6110-C011 A16B-2203-0641 A20B-2100-0391(*1)
A06B-6110-H015 A06B-6110-C015 A16B-2203-0642 A20B-2100-0391(*1)
A06B-6110-H026 A06B-6110-C026 A16B-2203-0630 A20B-2100-0391(*2)
A06B-6110-H030 A06B-6110-C030 A16B-2203-0631 A20B-2100-0391(*2)
A06B-6110-H037 A06B-6110-C037 A16B-2203-0632 A20B-2100-0391(*2)
A06B-6110-H055 A06B-6110-C055
A06B-6140-H006 A06B-6140-C006 A16B-2203-0640 A20B-2100-0390
A06B-6140-H011 A06B-6140-C011 A16B-2203-0641 A20B-2100-0390
A06B-6140-H015 A06B-6140-C015 A16B-2203-0642 A20B-2100-0390
A06B-6140-H026 A06B-6140-C026 A16B-2203-0630 A20B-2100-0390
A06B-6140-H030 A06B-6140-C030 A16B-2203-0631 A20B-2100-0390
A06B-6140-H037 A06B-6140-C037 A16B-2203-0632 A20B-2100-0390
A06B-6140-H055 A06B-6140-C055
Unit specification Wiring board specification
A20B-1008-0081
(Driver PCB) A20B-2003-0420
A20B-1008-0081
(Driver PCB) A20B-2003-0420
(*1) Old specification: A20B-2100-0760 (*2) Old specification: A20B-2100-0761
(2) Power Supply (PS, 400VAC-input, power regeneration type)
Model
αi PS 11HV
αi PS 18HV
αi PS 30HV
αi PS 45HV
αi PS 75HV
αi PS 100HV
αi PS 11HV
αi PS 18HV
αi PS 30HV
αi PS 45HV
αi PS 60HV
αi PS 75HV
αi PS 100HV
Order
specification
A06B-6120-H011 A06B-6120-C011 A16B-2203-0647 A20B-2100-0391(*1)
A06B-6120-H018 A06B-6120-C018 A16B-2203-0648 A20B-2100-0391(*1)
A06B-6120-H030 A06B-6120-C030 A16B-2203-0636 A20B-2100-0391(*2)
A06B-6120-H045 A06B-6120-C045 A16B-2203-0637 A20B-2100-0391(*2)
A06B-6120-H75 A06B-6120-C75
A06B-6120-H100 A06B-6120-C100
A06B-6150-H011 A06B-6150-C011 A16B-2203-0647 A20B-2100-0390
A06B-6150-H018 A06B-6150-C018 A16B-2203-0648 A20B-2100-0390
A06B-6150-H030 A06B-6150-C030 A16B-2203-0636 A20B-2100-0390
A06B-6150-H045 A06B-6150-C045 A16B-2203-0637 A20B-2100-0390
A06B-6150-H060 A06B-6150-C060 A16B-2203-0638 A20B-2100-0390
A06B-6150-H75 A06B-6150-C75
A06B-6150-H100 A06B-6150-C100
(*1) Old specification: A20B-2100-0760 (*2) Old specification: A20B-2100-0761
Unit specification Wiring board specification
A20B-1008-0086
(Driver PCB) A20B-2003-0420
A20B-1008-0087
(Driver PCB) A20B-2003-0420
A20B-1008-0086
(Driver PCB) A20B-2003-0420
A20B-1008-0087
(Driver PCB) A20B-2003-0420
(3) Power Supply (PSR, 200VAC-input, resistance regeneration type)
Model Order specification Unit specification Printed circuit board specification
αi PSR 3
αi PSR 5.5
A06B-6115-H003 A06B-6115-C003 A16B-2203-0781
A06B-6115-H006 A06B-6115-C006 A16B-2203-0782
Printed circuit board
specification
A20B-2100-0391(*2)
A20B-2100-0390
Printed circuit board
specification
A20B-2100-0391(*2)
A20B-2100-0391(*2)
A20B-2100-0390
A20B-2100-0390
- 5 -
Page 30
2.CONFIGURATIONS START-UP PROCEDURE B-65285EN/04
2.2.2 Servo Amplifier
(1) Single-axis Servo Amplifier (200VAC-input)
Model Order specification Unit specification
αi SV 20
αi SV 40
αi SV 80
αi SV 160
αi SV 360
αi SV 4
αi SV 20
αi SV 40
αi SV 80
αi SV 160
αi SV 360
αi SV 20L
αi SV 40L
αi SV 80L
αi SV 160L
A06B-6114-H103 A06B-6114-C103 A16B-2203-0691
A06B-6114-H104 A06B-6114-C104 A16B-2203-0660
A06B-6114-H105 A06B-6114-C105 A16B-2203-0661
A06B-6114-H106 A06B-6114-C106 A16B-2203-0662
A06B-6114-H109 A06B-6114-C109
A06B-6117-H101 A06B-6117-C101 A16B-2203-0690
A06B-6117-H103 A06B-6117-C103 A16B-2203-0691
A06B-6117-H104 A06B-6117-C104 A16B-2203-0660
A06B-6117-H105 A06B-6117-C105 A16B-2203-0661
A06B-6117-H106 A06B-6117-C106 A16B-2203-0662
A06B-6117-H109 A06B-6117-C109 A16B-2203-0875 A20B-2101-0070
A06B-6117-H153 A06B-6117-C153 A16B-2203-0666
A06B-6117-H154 A06B-6117-C154 A16B-2203-0660
A06B-6117-H155 A06B-6117-C155 A16B-2203-0667
A06B-6117-H156 A06B-6117-C156 A16B-2203-0663
Wiring board
specification
A16B-2203-0625
or
A16B-2203-0875
(*1) Old specification: A20B-2100-0740 (*2) Old specification: A20B-2100-0830
(2) Two-axis Servo Amplifier (200VAC-input)
Model Order specification Unit specification
αi SV 4/4
αi SV 20/20
αi SV 20/40
αi SV 40/40
αi SV 40/80
αi SV 80/80
αi SV 80/160
αi SV 160/160
αi SV 4/4
αi SV 4/20
αi SV 20/20
αi SV 20/40
αi SV 40/40
αi SV 40/80
αi SV 80/80
αi SV 80/160
αi SV 160/160
αi SV 20/20L
αi SV 20/40L
αi SV 40/40L
αi SV 40/80L
αi SV 80/80L
A06B-6114-H201 A06B-6114-C201 A16B-2203-0692
A06B-6114-H205 A06B-6114-C205 A16B-2203-0695
A06B-6114-H206 A06B-6114-C206 A16B-2203-0670
A06B-6114-H207 A06B-6114-C207 A16B-2203-0671
A06B-6114-H208 A06B-6114-C208 A16B-2203-0672
A06B-6114-H209 A06B-6114-C209 A16B-2203-0673
A06B-6114-H210 A06B-6114-C210 A16B-2203-0674
A06B-6114-H211 A06B-6114-C211 A16B-2203-0675
A06B-6117-H201 A06B-6117-C201 A16B-2203-0692
A06B-6117-H203 A06B-6117-C203 A16B-2203-0694
A06B-6117-H205 A06B-6117-C205 A16B-2203-0695
A06B-6117-H206 A06B-6117-C206 A16B-2203-0670
A06B-6117-H207 A06B-6117-C207 A16B-2203-0671
A06B-6117-H208 A06B-6117-C208 A16B-2203-0672
A06B-6117-H209 A06B-6117-C209 A16B-2203-0673
A06B-6117-H210 A06B-6117-C210 A16B-2203-0674
A06B-6117-H211 A06B-6117-C211 A16B-2203-0675
A06B-6117-H255 A06B-6117-C255 A16B-2203-0677
A06B-6117-H256 A06B-6117-C256 A16B-2203-0678
A06B-6117-H257 A06B-6117-C257 A16B-2203-0679
A06B-6117-H258 A06B-6117-C258 A16B-2203-0672
A06B-6117-H259 A06B-6117-C259 A16B-2203-0673
(*1) Old specification: A20B-2100-0741
Wiring board
specification
Printed circuit board
specification
A20B-2101-0040 (*1)
A20B-2101-0070 (*2)
A20B-2101-0040
A20B-2101-0040
Printed circuit board
specification
A20B-2101-0041 (*1)
A20B-2101-0041
- 6 -
Page 31
B-65285EN/04 START-UP PROCEDURE 2.CONFIGURATIONS
(3) Three-axis Servo Amplifier (200VAC-input)
Model Order specification Unit specification
αi SV 4/4/4
αi SV 20/20/20
αi SV 20/20/40
αi SV 4/4/4
αi SV 20/20/20
αi SV 20/20/40
A06B-6114-H301 A06B-6114-C301 A16B-2203-0696
A06B-6114-H303 A06B-6114-C303 A16B-2203-0698
A06B-6114-H304 A06B-6114-C304 A16B-2203-0680
A06B-6117-H301 A06B-6117-C301 A16B-2203-0696
A06B-6117-H303 A06B-6117-C303 A16B-2203-0698
A06B-6117-H304 A06B-6117-C304 A16B-2203-0680
(*1) Old specification: A20B-2100-0742
Wiring board
specification
Printed circuit board
specification
A20B-2101-0042 (*1)
A20B-2101-0042
(4) Single-axis Servo Amplifier (400VAC-input)
Model Order specification Unit specification Wiring board specification
αi SV 10HV
αi SV 20HV
αi SV 40HV
αi SV 80HV
αi SV 180HV
αi SV 360HV
αi SV 10HV
αi SV 20HV
αi SV 40HV
αi SV 80HV
αi SV 180HV
αi SV 360HV
αi SV 540HV
αi SV 10HVL
αi SV 20HVL
αi SV 40HVL
αi SV 80HVL
A06B-6124-H102 A06B-6124-C102 A16B-2203-0803
A06B-6124-H103 A06B-6124-C103 A16B-2203-0800
A06B-6124-H104 A06B-6124-C104 A16B-2203-0801
A06B-6124-H105 A06B-6124-C105 A16B-2203-0802
A16B-2203-0629
A06B-6124-H106 A06B-6124-C106
A06B-6124-H109 A06B-6124-C109
A06B-6127-H102 A06B-6127-C102 A16B-2203-0803
A06B-6127-H103 A06B-6127-C103 A16B-2203-0800
A06B-6127-H104 A06B-6127-C104 A16B-2203-0801 A20B-2101-0040
A06B-6127-H105 A06B-6127-C105 A16B-2203-0802
A06B-6127-H106 A06B-6127-C106 A16B-2203-0876 A20B-2101-0071
A06B-6127-H109 A06B-6127-C109
A06B-6127-H110 A06B-6127-C110
A06B-6127-H152 A06B-6127-C152 A16B-2203-0804
A06B-6127-H153 A06B-6127-C153 A16B-2203-0805
A06B-6127-H154 A06B-6127-C154 A16B-2203-0806
A06B-6127-H155 A06B-6127-C155 A16B-2203-0802
(Driver PCB) A20B-2003-0420
(Driver PCB) A20B-2003-0770
(Driver PCB) A20B-2003-0770
or
A16B-2203-0876
A20B-1008-0099
A20B-1008-0098
A20B-1008-0098
(*1) Old specification: A20B-2100-0740 (*2) Old specification: A20B-2100-0831
(*3) Old specification: A20B-2100-0830
Printed circuit
board specification
A20B-2101-0040(*1)
A20B-2101-0071 (*2)
A20B-2101-0070 (*3)
A20B-2101-0070
A20B-2101-0072
A20B-2101-0040
(5) Two-axis Servo Amplifier (400VAC-input)
Model Order specification Unit specification
αi SV 10/10HV
αi SV 20/20HV
αi SV 20/40HV
αi SV 40/40HV
αi SV 40/80HV
αi SV 80/80HV
Wiring board
specification
A06B-6124-H202 A06B-6124-C202 A16B-2203-0815
A06B-6124-H205 A06B-6124-C205 A16B-2203-0810
A06B-6124-H206 A06B-6124-C206 A16B-2203-0811
A06B-6124-H207 A06B-6124-C207 A16B-2203-0812
A06B-6124-H208 A06B-6124-C208 A16B-2203-0813
A06B-6124-H209 A06B-6124-C209 A16B-2203-0814
Printed circuit board
specification
A20B-2101-0041 (*1)
- 7 -
Page 32
2.CONFIGURATIONS START-UP PROCEDURE B-65285EN/04
Model Order specification Unit specification
αi SV 10/10HV
αi SV 20/20HV
αi SV 20/40HV
αi SV 40/40HV
αi SV 40/80HV
αi SV 80/80HV
αi SV 10/10HVL
αi SV 20/20HVL
αi SV 20/40HVL
αi SV 40/40HVL
A06B-6127-H202 A06B-6127-C202 A16B-2203-0815
A06B-6127-H205 A06B-6127-C205 A16B-2203-0810
A06B-6127-H206 A06B-6127-C206 A16B-2203-0811
A06B-6127-H207 A06B-6127-C207 A16B-2203-0812
A06B-6127-H208 A06B-6127-C208 A16B-2203-0813
A06B-6127-H209 A06B-6127-C209 A16B-2203-0814
A06B-6127-H252 A06B-6127-C252 A16B-2203-0816
A06B-6127-H255 A06B-6127-C255 A16B-2203-0817
A06B-6127-H256 A06B-6127-C256 A16B-2203-0811
A06B-6127-H257 A06B-6127-C257 A16B-2203-0812
(*1) Old specification: A20B-2100-0741
2.2.3 Spindle Amplifier
The order specification varies according to the sensor (function) used.
(1) αi series Spindle Amplifier (200VAC-input)
TYPE A
Model
αi SP 2.2
αi SP 5.5
αi SP 11
αi SP 15
αi SP 22
αi SP 26
αi SP 30
αi SP 37
αi SP 45
αi SP 55
αi SP 2.2
αi SP 5.5
αi SP 11
αi SP 15
αi SP 22
αi SP 26
αi SP 30
αi SP 37
αi SP 45
αi SP 55
Order
specification
A06B-6111-H002 A06B-6111-C002 A16B-2203-0650 A20B-2101-0354
A06B-6111-H006 A06B-6111-C006 A16B-2203-0651 A20B-2101-0354
A06B-6111-H011 A06B-6111-C011 A16B-2203-0652 A20B-2101-0354
A06B-6111-H015 A06B-6111-C015 A16B-2203-0653 A20B-2101-0354
A06B-6111-H022 A06B-6111-C022 A16B-2203-0620 A20B-2101-0354
A06B-6111-H026 A06B-6111-C026 A16B-2203-0621 A20B-2101-0354
A06B-6111-H030 A06B-6111-C030 A16B-2203-0622 A20B-2101-0354
A06B-6111-H037 A06B-6111-C037 A16B-2203-0623 A20B-2101-0354
A06B-6111-H045 A06B-6111-C045
A06B-6111-H055 A06B-6111-C055
A06B-6141-H002 A06B-6141-C002 A16B-2203-0656 A20B-2101-0350
A06B-6141-H006 A06B-6141-C006 A16B-2203-0657 A20B-2101-0350
A06B-6141-H011 A06B-6141-C011 A16B-2203-0658 A20B-2101-0350
A06B-6141-H015 A06B-6141-C015 A16B-2203-0659 A20B-2101-0350
A06B-6141-H022 A06B-6141-C022 A16B-2203-0870 A20B-2101-0350
A06B-6141-H026 A06B-6141-C026 A16B-2203-0871 A20B-2101-0350
A06B-6141-H030 A06B-6141-C030 A16B-2203-0872 A20B-2101-0350
A06B-6141-H037 A06B-6141-C037 A16B-2203-0873 A20B-2101-0350
A06B-6141-H045 A06B-6141-C045
A06B-6141-H055 A06B-6141-C055
Unit specification Wiring board specification
A20B-1008-0090
(Driver PCB) A20B-2003-0420
A20B-1008-0091
(Driver PCB) A20B-2003-0420
A20B-1008-0092
(Driver PCB) A20B-2003-0770
A20B-1008-0093
(Driver PCB) A20B-2003-0770
Wiring board
specification
Printed circuit board
specification
A20B-2101-0041
Printed circuit board
specification
A20B-2101-0354
A20B-2101-0354
A20B-2101-0350
A20B-2101-0350
TYPE B
Model Order specification Unit specification Wiring board specification
αi SP 2.2
αi SP 5.5
αi SP 11
αi SP 15
A06B-6112-H002 A06B-6111-C002 A16B-2203-0650 A20B-2101-0355
A06B-6112-H006 A06B-6111-C006 A16B-2203-0651 A20B-2101-0355
A06B-6112-H011 A06B-6111-C011 A16B-2203-0652 A20B-2101-0355
A06B-6112-H015 A06B-6111-C015 A16B-2203-0653 A20B-2101-0355
- 8 -
Printed circuit board
specification
Page 33
B-65285EN/04 START-UP PROCEDURE 2.CONFIGURATIONS
Model Order specification Unit specification Wiring board specification
αi SP 22
αi SP 26
αi SP 30
αi SP 37
αi SP 45
αi SP 55
αi SP 2.2
αi SP 5.5
αi SP 11
αi SP 15
αi SP 22
αi SP 26
αi SP 30
αi SP 37
αi SP 45
αi SP 55
A06B-6112-H022 A06B-6111-C022 A16B-2203-0620 A20B-2101-0355
A06B-6112-H026 A06B-6111-C026 A16B-2203-0621 A20B-2101-0355
A06B-6112-H030 A06B-6111-C030 A16B-2203-0622 A20B-2101-0355
A06B-6112-H037 A06B-6111-C037 A16B-2203-0623 A20B-2101-0355
A06B-6112-H045 A06B-6111-C045
A06B-6112-H055 A06B-6111-C055
A06B-6142-H002 A06B-6141-C002 A16B-2203-0656 A20B-2101-0351
A06B-6142-H006 A06B-6141-C006 A16B-2203-0657 A20B-2101-0351
A06B-6142-H011 A06B-6141-C011 A16B-2203-0658 A20B-2101-0351
A06B-6142-H015 A06B-6141-C015 A16B-2203-0659 A20B-2101-0351
A06B-6142-H022 A06B-6141-C022 A16B-2203-0870 A20B-2101-0351
A06B-6142-H026 A06B-6141-C026 A16B-2203-0871 A20B-2101-0351
A06B-6142-H030 A06B-6141-C030 A16B-2203-0872 A20B-2101-0351
A06B-6142-H037 A06B-6141-C037 A16B-2203-0873 A20B-2101-0351
A06B-6142-H045 A06B-6141-C045
A06B-6142-H055 A06B-6141-C055
A20B-1008-0090
(Driver PCB) A20B-2003-0420
A20B-1008-0091
(Driver PCB) A20B-2003-0420
A20B-1008-0092
(Driver PCB) A20B-2003-0770
A20B-1008-0093
(Driver PCB) A20B-2003-0770
Printed circuit board
specification
A20B-2101-0355
A20B-2101-0355
A20B-2101-0351
A20B-2101-0351
(2) αi series Spindle Amplifier (400VAC-input)
TYPE A
Model
αi SP 5.5HV
αi SP 11HV
αi SP 15HV
αi SP 30HV
αi SP 45HV
αi SP 75HV
αi SP 100HV
αi SP 5.5HV
αi SP 11HV
αi SP 15HV
αi SP 30HV
αi SP 45HV
αi SP 75HV
αi SP 100HV
Order
specification
A06B-6121-H006 A06B-6121-C006 A16B-2203-0820 A20B-2101-0354
A06B-6121-H011 A06B-6121-C011 A16B-2203-0821 A20B-2101-0354
A06B-6121-H015 A06B-6121-C015 A16B-2203-0822 A20B-2101-0354
A06B-6121-H030 A06B-6121-C030 A16B-2203-0627 A20B-2101-0354
A06B-6121-H045 A06B-6121-C045 A16B-2203-0628 A20B-2101-0354
A06B-6121-H075 A06B-6121-C075
A06B-6121-H100 A06B-6121-C100
A06B-6151-H006 A06B-6151-C006 A16B-2203-0826 A20B-2101-0350
A06B-6151-H011 A06B-6151-C011 A16B-2203-0827 A20B-2101-0350
A06B-6151-H015 A06B-6151-C015 A16B-2203-0828 A20B-2101-0350
A06B-6151-H030 A06B-6151-C030 A16B-2203-0877 A20B-2101-0350
A06B-6151-H045 A06B-6151-C045 A16B-2203-0878 A20B-2101-0350
A06B-6151-H075 A06B-6151-C075
A06B-6151-H100 A06B-6151-C100
Unit specification Wiring board specification
A20B-1008-0096
(Driver PCB) A20B-2003-0420
A20B-1008-0097
(Driver PCB) A20B-2003-0420
A20B-1008-0094
(Driver PCB) A20B-2003-0770
A20B-1008-0095
(Driver PCB) A20B-2003-0770
TYPE B
Model
αi SP 5.5HV
αi SP 11HV
αi SP 15HV
αi SP 30HV
αi SP 45HV
Order
specification
A06B-6122-H006 A06B-6121-C006 A16B-2203-0820 A20B-2101-0355
A06B-6122-H011 A06B-6121-C011 A16B-2203-0821 A20B-2101-0355
A06B-6122-H015 A06B-6121-C015 A16B-2203-0822 A20B-2101-0355
A06B-6122-H030 A06B-6121-C030 A16B-2203-0627 A20B-2101-0355
A06B-6122-H045 A06B-6121-C045 A16B-2203-0628 A20B-2101-0355
Unit specification Wiring board specification
Printed circuit board
specification
A20B-2101-0354
A20B-2101-0354
A20B-2101-0350
A20B-2101-0350
Printed circuit board
specification
- 9 -
Page 34
2.CONFIGURATIONS START-UP PROCEDURE B-65285EN/04
Model
αi SP 75HV
αi SP 100HV
αi SP 5.5HV
αi SP 11HV
αi SP 15HV
αi SP 30HV
αi SP 45HV
αi SP 75HV
αi SP 100HV
Order
specification
A06B-6122-H075 A06B-6121-C075
A06B-6122-H100 A06B-6121-C100
A06B-6152-H006 A06B-6151-C006 A16B-2203-0826 A20B-2101-0351
A06B-6152-H011 A06B-6151-C011 A16B-2203-0827 A20B-2101-0351
A06B-6152-H015 A06B-6151-C015 A16B-2203-0828 A20B-2101-0351
A06B-6152-H030 A06B-6151-C030 A16B-2203-0877 A20B-2101-0351
A06B-6152-H045 A06B-6151-C045 A16B-2203-0878 A20B-2101-0351
A06B-6152-H075 A06B-6151-C075
A06B-6152-H100 A06B-6151-C100
Unit specification Wiring board specification
A20B-1008-0096
(Driver PCB) A20B-2003-0420
A20B-1008-0097
(Driver PCB) A20B-2003-0420
A20B-1008-0094
(Driver PCB) A20B-2003-0770
A20B-1008-0095
(Driver PCB) A20B-2003-0770
(3) αCi series Spindle Amplifiers (200VAC-input)
Model
SPMC-2.2i
SPMC-5.5i
SPMC-11i
SPMC-15i
SPMC-22i
Order
specification
A06B-6116-H002 A06B-6111-C002 A16B-2203-0650 A20B-2100-0802
A06B-6116-H006 A06B-6111-C006 A16B-2203-0651 A20B-2100-0802
A06B-6116-H011 A06B-6111-C011 A16B-2203-0652 A20B-2100-0802
A06B-6116-H015 A06B-6111-C015 A16B-2203-0653 A20B-2100-0802
A06B-6116-H022 A06B-6111-C022 A16B-2203-0620 A20B-2100-0802
Unit specification Wiring board specification
Printed circuit board
specification
A20B-2101-0355
A20B-2101-0355
A20B-2101-0351
A20B-2101-0351
Printed circuit board
specification
- 10 -
Page 35
B-65285EN/04 START-UP PROCEDURE 3.START-UP PROCEDURE
3 START-UP PROCEDURE
3.1 START-UP PROCEDURE (OVERVIEW)
Make sure that the specifications of the CNC, servo motors, servo amplifiers, and other units you received
are exactly what you ordered, and these units are connected correctly. Then, turn on the power.
(1) Before turning on the circuit breaker, check the power supply voltage connected.
→ See Section 3.2.
(2) Some types of Power Supply, Servo Amplifier, and Spindle Amplifier require settings before the
system can be used. So check whether you must make settings.
→ See Section 3.3.
(3) Turn on the power, and set initial parameters on the CNC.
For the initialization of servo parameters, refer to the following manual:
FANUC AC SERVO MOTOR αi series Parameter Manual (B-65270EN)
For the initialization of spindle parameters, refer to the following manual:
FANUC AD SPINDLE MOTOR αi series Parameter Manual (B-65280EN)
(4) For start-up adjustment and troubleshooting, see Chapter 4.
• Method of using optional wiring boards for adjustment of the Power Supply, Servo Amplifier,
and Spindle Amplifier
• Spindle sensor adjustment values
3.2 CONNECTING THE POWER
3.2.1 Checking the Voltage and Capacity of the Power
Before connecting the power, you should measure the AC power voltage.
Table 3.2.1 (c) and (b) list the input power specification for the Power Supply. Use a power source with
sufficient capacity so that the system will not malfunction due to a voltage drop even at a time of peak load.
Table 3.2.1 (c) AC power voltage specifications (200-V input type)
Model
Nominal voltage rating 200 to 240 VAC -15%,+10%
Power source frequency 50/60 Hz ±1 Hz
Power source capacity (for the
main circuit) [kVA]
Power source capacity (for the
control circuit) [kVA]
αiPS
5.5
9 17 22 37 44 53 79
αiPS
11
αiPS
15
αiPS
26
0.7
αiiPS
30
αiPS
37
αiPS
55
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3.START-UP PROCEDURE START-UP PROCEDURE B-65285EN/04
Table 3.2.1 (d) AC power voltage specifications (200-V input type)
Model
Nominal voltage rating
(for the main circuit)
Nominal voltage rating
(for the control circuit)
Power source frequency 50/60Hz ±1Hz
Power source capacity (for the
main circuit) [kVA]
Power source capacity (for the
control circuit) [kVA]
αiPS
11HV
17 26 44 64 86 143
αiPS
18HV
αiPS
30HV
αiPS
45HV
400 to 480VAC -15%,+10%
200 to 240VAC -15%,+10%
αiPS
60HV
0.7
αiPS
75HV
3.2.2 Connecting a Protective Ground
Refer to the items in Chapter 5, "Installation," in "FANUC SERVO AMPLIFIER αi series Descriptions
(B-65282EN)", and check that the protective ground line is connected correctly.
3.2.3 Selecting the Ground Fault Interrupter That Matches the
Leakage Current
Refer to the items in Chapter 5, "Installation," in " FANUC SERVO AMPLIFIER αi series Descriptions
(B-65282EN)", and check that a correct ground fault interrupter is selected.
3.2.4 Checking the Phase Sequence of the Fan Motor Power Supply
When connecting a power supply to a three-phase fan motor, check that the phase sequence is correct. If the
phase sequence is incorrect, the fan motor rotates in the reverse direction, which may decrease cooling
efficiency or stop the fan motor due to overheating.
3.3 INITIALIZING PARAMETERS
(1) Servo Amplifier
For the initialization of servo parameters, refer to the following manual:
FANUC AC SERVO MOTOR αi series Parameter Manual (B-65270EN)
(2) Spindle Amplifier
For the initialization of spindle parameters, refer to the following manual:
FANUC AC SPINDLE MOTOR αi series Parameter Manual (B-65280EN)
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4.CONFIRMATION OF THE
A
A
B-65285EN/04 START-UP PROCEDURE
OPERATION
4 CONFIRMATION OF THE OPERATION
4.1 POWER SUPPLY
Check each item according to the procedure described below.
1. Supply control power (200 VAC) to the Power Supply at the
emergency stop state.
2. Check the STATUS LEDs. See Section 4.1.1.
OK
See Section 3.1 of Part II.
3. Release the system from emergency stop state.
larm occurs.
larm occurs.
4. Make sure that the MCC is turned on.
OK NG
See Subsec. 4.1.4.
5. Check the operation of the servo and spindle motors.
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4.CONFIRMATION OF THE
OPERATION
START-UP PROCEDURE B-65285EN/04
4.1.1 Checking the Status LEDs (Power Supply)
The STATUS display (a 7-segment LED) on the front of the Power Supply indicates the operation status.
STATUS LED position
STATUS
display
The STATUS LED is off.
Control power has not been supplied, cable is faulty, or control power
circuit is defective.
Not ready status
The main circuit is not supplied with power (magnetic contactor is off);
emergency stop state.
When blinking: Power is off.
Ready status
The main circuit is supplied with power (magnetic contactor is on); the
power supply is ready for operation.
When blinking: Power is off.
Warning state (The dot at the lower right lights.)
The power supply has failed; an alarm has occurred after a certain
time of operation.
The warning type is indicated by the character displayed.
Alarm status
The alarm type is indicated by the character displayed.
Description
4.1.2 Check Terminal on the Printed-circuit Board
To the Power Supply connector JX1B, the input current check signal is output. To observe the output, use
the servo check pin board A06B-6071-K290 (see below).
Table 4.1.2(a) Check pins
Check
pin
IR L1 phase (R-phase) current JX1B-pin1
IS L2 phase (S-phase) current JX1B-pin2
0V
Reference point of
observation
Description
Table 4.1.2 (b) IR and IS current conversion value
Model Current conversion
αiPS 5.5
αiPS 11
αiPS 15
αiPS 26
αiPS 30
αiPS 37
αiPS 55
αiPS 11HV
αiPS 18HV
αiPS 30HV
αiPS 45HV
αiPS 60HV
αiPS 75HV
αiPS 100HV
Location of
observation
JX1B-pin12,14,16
Remark
The "+" sign with respect to the input of the amplifier.
If the L1 or L2 phase current exceeds the overcurrent
alarm level, an alarm condition (with alarm code 01)
occurs in the Power Supply.
133A/1V(2.5 V at the center)
133A/1V(2.5 V at the center)
200A/1V(2.5 V at the center)
266A/1V(2.5 V at the center)
333A/1V(2.5 V at the center)
400A/1V(2.5 V at the center)
666A/1V(2.5 V at the center)
100A/1V(2.5 V at the center)
133A/1V(2.5 V at the center)
200A/1V(2.5 V at the center)
266A/1V(2.5 V at the center)
333A/1V(2.5 V at the center)
400A/1V(2.5 V at the center)
466A/1V(2.5 V at the center)
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4.CONFIRMATION OF THE
A
B-65285EN/04 START-UP PROCEDURE
OPERATION
About the servo check pin board A06B-6071-K290
The servo check pin board can be used to observe signals in the Power Supply.
(1) Specification
Order specification Description Remark
A06B-6071-K290
Printed-circuit board
A20B-1005-0340
Cable
A660-2042-T031#L200R0
Printed-circuit board with check pins
mounted
20-conductor one-to-one cable
Length : 200mm
Printed-circuit board : A20B-1005-0340
A20B-1005-0340
<5>
<4>
<3>
<2>
<1>
<10>
<9>
<8>
<7>
<6>
<15>
<14>
<13>
<12>
<11>
<20>
<19>
<18>
<17>
<16>
CN1 CN2
100mm
34mm
Cable : A660-2042-T031#L200R0
pprox. 200mm
One-to-one wiring is provided between CN1 and CN2.
The connector pin numbers correspond to the check pin numbers.
(2) Connection
Connect the cable to the connector JX1B at the front of the Power Supply.
PS
A20B-1005-0340
JX1B
CN1
CN2
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4.CONFIRMATION OF THE
OPERATION
START-UP PROCEDURE B-65285EN/04
4.1.3 The PIL LED (Power ON Indicator) Is Off.
Table 4.1.3 Check method and action
No. Cause of trouble Check method Action
AC power for the control
1
circuit not supplied
Blown fuse in the control
2
circuit
3
Incorrect wiring
Faulty power supply circuit
4
on the printed circuit board
Check that power is connected to
connector CX1A.
Check whether F1 or F2 has blown.
See Chapter 4 of Part II.
Check whether the 24-V power output is
short-circuited and whether a load
exceeding the rating is connected.
The power-on LED indicator PIL
operates on the +5-V power supply.
Check the control power voltage.
(1) If the AC power input for control
is connected to connector CX1B
by mistake, F2 (FU2) may blow.
Connect the AC power input to
CX1A.
(2) Replace the fuse. If the fuse
blows again after the
replacement, replace the printed
circuit board.
Replace the printed circuit board,
driver board, or power distribution
board.
4.1.4 Checking Method when Magnetic Contactor Is not Switched
On
(1) The system is still in an emergency stop status.
→ Check the connection.
(2) There is a connector problem. ("-" blinks for about 2 seconds or "P" is displayed after an emergency
stop status is released.)
(a) Check that the connectors are attached to correct locations.
→ Ensure that the connectors are attached to the location CXA2A on the Power Supply and the
location CXA2B on the Spindle Amplifier/Servo Amplifier.
PS
CXA2A
(b) The interface cable between CXA2B of the Power Supply and CXA2A of the Servo Amplifier or
Spindle Amplifier is defective.
→ Check whether the interface cable is faulty.
(3) The power for driving the magnetic contactor is not supplied. ("-" blinks for about 2 seconds after an
emergency stop status is released.)
→ Check the voltage across the both ends of the coil of the magnetic contactor.
SP/SV
CXA2B
CXA2A
- 16 -
SP/SV
CXA2B
CXA2A
(Battery box for Pulsecoder)
Page 41
4.CONFIRMATION OF THE
A
A
A
B-65285EN/04 START-UP PROCEDURE
OPERATION
(4) The relay for driving the magnetic contactor is defective. ("-" blinks for about 2 seconds after an
emergency stop status is released.)
→ Check that a circuit between pins CX3-1 and CX3-3 of connector is closed and opened.
PS
CX3-1
MCC driving relay
CX3-3
(5) The Power Supply, Servo Amplifier, or Spindle Amplifier is defective.
→ Replace the defective module.
4.2 SERVO AMPLIFIER
Check each item according to the procedure described below.
1. Check the connection, and supply control power (200 VAC) to the
Power Supply.
2. Check the STATUS LEDs. See Section 4.2.1.
See Section 3.2 of Part II.
3. Check the CNC parameters (including servo parameters), and reset
emergency stop state.
4. Check the operation of the servo motor.
See Section 3.2 of Part II.
Refer to the FANUC AC SERVO MOTOR
α
α
series Parameter Manual (B-65270EN).
s/
i
i
larm occurs.
larm occurs.
bnormal operation
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4.CONFIRMATION OF THE
OPERATION
START-UP PROCEDURE B-65285EN/04
4.2.1 Checking the STATUS Display (Servo Amplifier)
The STATUS display (a 7-segment LED) on the front of the Servo Amplifier indicates the operation status.
STATUS LED
position
Nameplate
STATUS
display
Blink
Description
The STATUS LED is off.
Control power has not been supplied, cable is faulty, or control
power circuit is defective.
The control power is short-circuited (- blinks).
Cable failure
Waiting for the READY signal from the CNC.
Ready status
The servo motor is excited.
Alarm status
The alarm type is indicated by the character displayed.
4.2.2 VRDY-OFF Alarm Indicated on the CNC Screen
When the VRDY-OFF alarm is indicated on the CNC, check the items listed below. In addition,
VRDY-OFF can occur also for reasons other than listed below. If the following items turn out to have not
caused VRDY-OFF, check diagnosis information No. 358 (V ready-off information) on the diagnosis
screen and report it to FANUC.
(1) Communication interface between amplifiers
Is the cable for the communication interface (CXA2A/B) between the amplifiers connected correctly?
(2) Emergency stop signal (ESP)
Has the emergency stop signal (connector: CX4) applied to the Power Supply been released?
Alternatively, is the signal connected correctly?
(3) MCON signal
Hasn't setting up the axis detach function disabled the transmission of the ready command signal
MCON from the CNC to the Servo Amplifier?
(4) Servo Amplifier control printed-circuit board
The Servo Amplifier control printed-circuit board may be poorly installed or faulty. Be sure to push
the faceplate as far as it will go. If the problem persist, replace the control printed-circuit board.
On the Series 30i/31i/32i/16i/18i/21i/0i/PMi, checking diagnosis information (DGN) No. 358 makes it
possible to analyze the cause of the VRDY-OFF alarm.
Diagnosis
Convert the displayed value to binary form, and check bits 5 to 14 of the resulting binary number.
When the servo amplifier starts working, these bits become 1 sequentially, starting at bit 5. When the servo
amplifier has started normally, all of bits 5 to 14 become 1.
Check bits 5 to 14 sequentially, starting at the lowest-order bit. The first lowest bit that is not 0 corresponds
to the processing that caused the V ready-off alarm.
#15 #14 #13 #12 #11 #10 #9 #8
SRDY DRDY INTL RLY CRDY MCOFF MCONA
#7 #6 #5 #4 #3 #2 #1 #0
MCONS *ESP HRDY
358 V ready-off information
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4.CONFIRMATION OF THE
B-65285EN/04 START-UP PROCEDURE
OPERATION
#06(*ESP) : Emergency stop signal
#07,#08,#09 : MCON signal (CNC → Servo Amplifier → Power Supply)
#10(CRDY) : Power Supply preparation completed signal
#11(RLY) : Relay signal (DB relay energized)
#12(INTL) : Interlock signal (DB relay de-energized)
#13(DRDY) : Amplifier preparation completed signal
The following table lists diagnosis information No. 358 values and main causes of problems. Do not insert
or remove any connector when the power is on.
Diagnosis No.
358 value
417 The system is still in an
emergency stop state.
993 The Power Supply
preparation completed signal
(CRDY) is not output.
4065 The interlock signal is not
input.
225
481
2017
8161
97
Problem Check item
(1) Check whether the emergency stop signal input to CX4 on
the Power Supply has been released.
(2) Check whether there is no problem with the connection or
cable for the communication interface between the amplifiers.
(3) Replace the Servo Amplifier.
(1) Check whether there is no problem with the connection or
cable for the communication interface (CXA2A/B) between
the amplifiers.
(2) Check whether the input power is supplied.
(3) Check whether the power is supplied to the operation coil of
the magnetic contactor. Check whether there is no problem
with the connection of CX3 on the Power Supply.
(4) Replace the Servo Amplifier.
When a dynamic brake module (DBM) is used, check (1) to (4).
When no DBM is used, replace the Servo Amplifier.
(1) Check the connection between the Servo Amplifier and DBM.
(2) Check the connection between the Power Supply and Servo
Amplifier (CX1A/B).
(3) Check whether the fuse (FU2) on the control printed-circuit
board on the Power Supply has blown.
(4) Replace the Servo Amplifier.
－
－
－
－
－
Replace the Servo Amplifier.
Replace the Servo Amplifier.
Replace the Servo Amplifier.
Replace the Servo Amplifier.
Check whether the axis detach function is set.
4.2.3 Method for Observing Motor Current
This subsection explains how to observe the current that flows through the servo motor.
(1) Method of using the SERVO GUIDE
Refer to online help for explanations about how to connect to and use the servo adjustment tool, SERVO
GUIDE.
- Supported CNC systems
Series 30i/ 31i/32i -MODEL A (applied to 3.00 and subsequent editions of the SERVO GUIDE)
Series 16i/18i/21i -MODEL B
Series 0i-MODEL B, C, D (Series 0i-MODELD applied to 6.00 and subsequent editions of the SERVO
GUIDE)
Power Mate i -MODEL D,H
Servo software supporting the αi series
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4.CONFIRMATION OF THE
OPERATION
START-UP PROCEDURE B-65285EN/04
90Dx/A(01) and subsequent editions, 90Ex/A(01) and subsequent editions, 90C5/A(01) and subsequent
editions, 90B1/A(01) and subsequent editions, 90B5/A(01) and subsequent editions, 90B6/A(01) and
subsequent editions, 90B0/L(12) and subsequent editions, 9096/C(03) and subsequent editions
- Setting
Select an axis to be subjected to measurement in graph window channel setting. Also select IR and IS under
Kind. Under Coef (conversion coefficient), set the maximum allowable current (Ap) for the amplifier in
use.
NOTE
1 Servo software series 90B0 supports setting of a motor current sampling period of
up to 125 μs.
2 Servo software series 9096 supports setting of a motor current sampling period of
1 ms only.
- Display
Select the XTYT mode from the graph window mode (M) menu to display waveforms.
(2) Method of using the servo check board
For details on how to connect and use the servo check board, refer to the following:
Appendix I in the FANUC AC SERVO MOTOR αi series Parameter Manual (B-65270EN)
For Series 30i/31i/32i and Series 0i-MODEL C, D, use the SERVO GUIDE because the servo check board
cannot be connected and used.
- Required units
- Servo check board
A06B-6057-H630
- Oscilloscope
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Page 45
4.CONFIRMATION OF THE
B-65285EN/04 START-UP PROCEDURE
OPERATION
- Settings
⋅ CNC setting
Parameter setting for servo software series 90B0
Output channel
FS15i
FS16i/18i/21i/0i/PMi
Measurement axis/ current
phase
L-axis (Note 1) 370 0 402 0
M-axis (Note 1) 2418 0 2450 0
Data number 5
No.1726 No.1774 No.1775 No.1776
No.2115 No.2151 No.2152 No.2153
IR IS
Data number 6
Parameter setting for servo software series 9096
Output channel
FS16i/18i/21i/0i/PMi
Measurement axis/ current
phase
L-axis (Note 1) 370 402
M-axis (Note 1) 1010 1042
Data number 5
No.2115 No.2115
IR IS
Data number 6
When series 9096 is used, if no axis is paired with the measurement axis (Note 2), IR and IS cannot be
observed simultaneously.
NOTE
1 The L-axis is an axis identified with an odd number set in parameter No. 1023. The
M-axis is an axis identified with an even number set in parameter No. 1023.
2 The axis specified as 2n-1 in parameter No. 1023 and the axis specified as 2n will
be in a pair.
Setting the output period of motor current data (for the 90B0 series only)
Output period
Velocity loop period 0 (default)
Current loop period 1 (Note 3)
Parameter No. 1746 /
Bit 7 of parameter No. 2206
NOTE
3 If the current loop period is set up as the motor current data output period,
selecting data number 0, 1, 2, or 4 disables the output of signals (such as a
velocity command) to channels. To observe the motor current and other signals
(such as a velocity command), specify the output period as 1 ms.
4 For the servo software series 9096, the output period of the motor current is only 1
ms. The current loop period cannot be used for output.
⋅ Setting up the check board
- Set the AXIS digit of the LED display with an axis number from 1 to 8 specified in parameter No.
1023.
- Set the DATA digit of the LED display with a data number from 5 to 6.
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4.CONFIRMATION OF THE
A
OPERATION
START-UP PROCEDURE B-65285EN/04
- Method for observing the motor current
The voltage corresponding to the motor current is output to a channel for which 5 or 6 is set as the data
number on the servo check board.
The waveform of the motor current can be observed by measuring the voltage mentioned above with an
oscilloscope.
The following table lists the relationships between the observed voltage and the motor current.
Maximum amplifier current Servo Amplifier type Motor current/ observed voltage [A/V]
10A
20A
40A
80A
160A
180A
360A
540A
For the Servo Amplifier1-20i, for example, the motor current is 5A (actual value rather than effective value)
if the observed voltage is 1V.
αiSV 10HV and others
αiSV 20 and others
αiSV 40 and others
αiSV 80 and others
αiSV 160 and others
αiSV 180HV and others
αiSV 360 and others
αiSV 540HV
2.5
5
10
20
40
45
90
135
4.3 SPINDLE AMPLIFIER
Check each item according to the procedure described below.
1. Supply control power (200 VAC) to the Power Supply, and turn on
the power to the CNC.
2. Check the STATUS display. See Subsection 4.3.1.
OK
3. Has the system been used with this connection status?
No Yes
4. Prepare and check a PMC ladder. (The descriptions manual is
required.)
5. Set and check spindle-related parameters. (The parameter manual
is required.)
6. Check the waveform on the sensor. See Subsection 4.3.4.
larm issued.
See Part II.
7. Release the system from the emergency stop state.
8. Make sure that the magnetic contactor for Power Supply input is
turned on. See Section 4.1.
9. Check the operation in normal operation mode (S command).
10. Check the operation of optional functions.
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Page 47
4.CONFIRMATION OF THE
B-65285EN/04 START-UP PROCEDURE
OPERATION
4.3.1 STATUS Display (Spindle Amplifier)
The STATUS display (a 7-segment LED) on the front of the Spindle Amplifier indicates the operation
status.
STATUS LED
position
Nameplate
STATUS
display
Blink Blink
Description
The STATUS LED is off.
Control power has not been supplied, cable is faulty, or control
power circuit is defective.
After control power is turned on, the spindle software series is displayed
(for approx. 1 second).
The last two digits of the spindle software series number are
displayed.
The spindle software version is displayed (for approx. 1 second following
the display of the spindle software series).
[Display] 01,02,03,･･･ → [Version] A, B, C,･･･
The CNC is not powered on (- - blinks).
Waiting for serial communication and parameter loading completion.
Parameter loading completed
The motor is not excited.
Ready status
The spindle motor is excited.
Alarm status
The alarm type is indicated by the character displayed.
Error status (invalid sequence or parameter setting error)
The error type is indicated by the character displayed.
4.3.2 Troubleshooting at Startup
4.3.2.1 The PIL LED (power-on indicator) is off.
(1) When the PIL LED on the spindle amplifiers does not come on after the main circuit breaker is turned
on
No. Cause of trouble Check method Action
The 200-V control power is not
1
supplied.
2 The cable is defective. The Power Supply PIL lamp is on.
The power is externally
3
connected to 0 V, GND, or the
like.
There is a blown fuse on the
4
printed circuit board.
The printed circuit board is
5
defective.
The Power Supply PIL lamp is off.
When the connector is detached,
the PIL lamp is on.
Even when all cables except the
cable attached to connector
CX2A/B are detached, the PIL
lamp does not come on.
4.3.2.2 The STATUS display is blinking with "--."
(1) When no spindle communication alarm message is indicated on the CNC
Check whether the CNC software option setting or bit setting is correct.
(2) When a communication alarm message is indicated on the CNC
Check the cable attached to
CX1A of Power Supply.
Check the cable attached to the
connector CXA2A/B.
Replace or repair the cable.
If the fuse blows, the printed
circuit board may be faulty.
Replace the unit.
Replace the unit.
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Page 48
4.CONFIRMATION OF THE
p
)
OPERATION
START-UP PROCEDURE B-65285EN/04
No. Cause of trouble Check method Action
Note that the cable used for
connecting an electric/optical
1 The cable is incorrect.
2 The cable is defective.
The printed circuit board is
3
defective.
adapter and the cable connected
directly to the CNC differ in
specifications.
Check the connector housing
section.
Replace the unit.
(3) When Dual Check Safety is in use, and No. 756 or 766 occurs on the CNC (FS16i)
Check that K76, shown below, is mounted on the second spindle.
If Dual Check Safety is not in use or the CNC has only the first spindle, K76 is unnecessary.
CNC
JA41 JA7B JA7A JA7B
SP
(First spindle)
SP
(Second
indle
s
JA7A
K76
Replace the cable with a correct
cable.
Repair or replace the cable.
Details of K76
K76
X2NDSP0V(15)
(13)
20-pin half-pitch
connector
4.3.2.3 The motor does not turn.
(1) When "--" is indicated on the STATUS display of the Spindle Amplifier
Check whether spindle control signals are input. (An example for the first spindle is shown below.)
FS15i
G227 G070 G070 MRDYA SFRA SRVA
G226 G071 G071 *ESPA
－
－
FS16i
FS0i-B/C
G029 G029 *SSTP
G030 G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0
(2) When "00" is indicated on the STATUS display of the Spindle Amplifier
No spindle speed command is input.
Refer to Chapter 1 in "FANUC AC SPINDLE MOTOR αi series Parameter Manual (B-65280EN),"
and check related parameters.
(3) When an alarm number is indicated on the Spindle Amplifier
See the description of the alarm number in Part II.
FS30i
FS0i-D
#7 #6 #5 #4 #3 #2 #1 #0
4.3.2.4 A specified speed cannot be obtained.
(1) When the speed always differs from a specified speed
Check parameters.
Refer to Chapter 1 in "FANUC AC SPINDLE MOTOR αi series Parameter Manual (B-65280EN),"
and check related parameters.
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4.CONFIRMATION OF THE
B-65285EN/04 START-UP PROCEDURE
(2) When an alarm number is indicated on the Spindle Amplifier
See the description of the alarm number in Part II.
OPERATION
4.3.2.5 When cutting is not performed, the spindle vibrates, making
noise.
(1) The spindle vibrates only when the spindle speed has reached or is at a particular speed level.
Check whether the spindle also vibrates when the motor is turning by inertia. If noise is unchanged,
investigate the source of mechanical vibration. There are several methods to turn the spindle by inertia
as explained below. Because these methods involve machine sequences, consult with the machine tool
builder.
A. Setting spindle control signal MPOF (FS16i: G73#2, FS15i: G228#2) to 1 immediately causes
the spindle to turn by inertia.
B. Set ALSP (FS16i: bit 2 of parameter No. 4009, FS15i: bit 2 of parameter No. 3009) to 1. Then,
when the power to the CNC is turned off during spindle rotation, the spindle turns by inertia. (On
the spindle amplifier, Alarm 24 is indicated.)
(2) When noise is generated at the time the motor is stopped or at any time
A. See Subsection 4.3.4 of this part, and check and adjust the waveform of the spindle sensor.
B. Check that the motor part number matches its parameters. For details, refer to Appendix A in
"FANUC AC SPINDLE MOTOR αi series Parameter Manual (B-65280EN)."
C. Adjust the velocity loop gain and so forth.
For details, refer to Chapter 1 in "FANUC AC SPINDLE MOTOR αi series Parameter Manual
(B-65280EN)."
4.3.2.6 An overshoot or hunting occurs.
Refer to Chapter 1 in "FANUC AC SPINDLE MOTOR αi series Parameter Manual (B-65280EN)," and
adjust parameters.
4.3.2.7 Cutting power weakens or acceleration/deceleration slows
down.
(1) When the load meter does not indicate the maximum output
A. A mechanical cause such as a belt slip may occur.
(2) When the load meter indicates the maximum output
A. Check whether the torque limit signal is input incorrectly.
FS15i
G227 G070 G070 TLMHA TLMLA
FS16i
FS0i-B/C
B. If you are using the αi BZ sensor, it is likely that a slip has occurred between the sensor gear and
spindle (on acceleration).
C. Check that the motor part number matches its parameters.
For details, refer to Appendix A in "FANUC AC SPINDLE MOTOR αi series Parameter Manual
(B-65280EN)."
FS30i
FS0i-D
#7 #6 #5 #4 #3 #2 #1 #0
D. Check whether the output limit pattern is set incorrectly.
For details, refer to Chapter 1 in "FANUC AC SPINDLE MOTOR αi series Parameter Manual
(B-65280EN)."
- 25 -
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4.CONFIRMATION OF THE
OPERATION
START-UP PROCEDURE B-65285EN/04
4.3.3 Status Error Indication Function
When there is a sequence or parameter error, the error LED (yellow) in the display section of the Spindle
Amplifier (SP) goes on with an error code displayed. This can ease troubleshooting at the time of machine
startup.
Status
The error LED
(yellow) lights.
The error code is also displayed on the CNC diagnosis screen.
Diagnosis No.
FS15i FS16i
710(First spindle)
1561
711(Second spindle)
730(Third spindle)
731(Fourth spindle)
When the Spindle Amplifier does not operate for a certain function, check whether the status error is
indicated in the display section of the Spindle Amplifier or CNC diagnosis screen.
No. Description Action
Although neither *ESP (emergency stop signal) (there are
two types of signals, a PMC signal and Power Supply (PS)
contact signal) nor MRDY (machine ready signal) has
01
been input, SFR (forward rotation signal), SRV (reverse
rotation signal), or ORCM (orientation command) is input.
Although parameter settings are such that that there is no
position sensor (position control is not to be performed,
that is, bits 3, 2, 1, and 0 of parameter No. 4002 are,
03
respectively, 0, 0, 0, and 0), a Cs axis contour control
command has been issued.
In this case, the motor is not activated.
Although parameter settings are such that that there is no
position sensor (position control is not to be performed,
that is, bits 3, 2, 1, and 0 of parameter No. 4002 are,
respectively, 0, 0, 0, and 0), a servo mode (such as rigid
04
tapping or Cs axis control) command or spindle
synchronization control command has been issued.
In this case, the motor is not activated.
Although optional parameter for the orientation function is
05
not set, an ORCM (orientation command) is input.
Although optional parameter for the output switching
06
option is not set, low-speed winding is selected (RCH = 1).
Although Cs contour control mode is input, neither SFR
07
(forward rotation signal) nor SRV (reverse rotation signal)
is input.
Although servo mode (rigid tapping or spindle positioning)
08
control command is input, neither SFR (forward rotation
signal) nor SRV (reverse rotation signal) is input.
An error code is indicated. (from 01)
FS30i
FS0i-D
710 Status error code
Description
Check the *ESP and MRDY sequences. For
MRDY, pay attention to the parameter that
specifies whether to use the MRDY signal (bit 0
of parameter No. 4001).
Check setting of the parameter.
Check setting of the parameter.
Check setting of the parameter for orientation.
Check setting of the parameter for output
switching and the power line status signal
(RCH).
Check the sequence.
Check the sequence.
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4.CONFIRMATION OF THE
B-65285EN/04 START-UP PROCEDURE
No. Description Action
Although spindle synchronization control command is
09
input, neither SFR (forward rotation signal) nor SRV
(reverse rotation signal) is input.
Although Cs contour control command is input, another
10
operation mode (servo mode, spindle synchronization, or
orientation) is specified.
Although servo mode (rigid tapping or spindle positioning)
11
is input, another operation mode (Cs contour control,
spindle synchronization, or orientation) is specified.
Although spindle synchronization is input, another
12
operation mode (Cs contour control, servo mode, or
orientation) is specified.
Although orientation specification is input, another
13
operation mode (Cs contour control, servo mode, or
synchronization control) is specified.
The SFR (forward rotation signal) and SRV (reverse
14
rotation signal) are input at the same time.
Although the parameter not to use the differential speed
16
control function (bit 5 of parameter No. 4000 = 0) is set,
DEFMD (differential speed mode command) is input.
The parameter settings for the speed detector (bits 2, 1,
17
and 0 of parameter No. 4011) are invalid. There is no
speed detector that matches the settings.
Although parameter settings are such that that there is no
position sensor (position control is not to be performed,
that is, "bits 3, 2, 1, and 0 of parameter No. 4002 are,
18
respectively, 0, 0, 0, and 0," a position coder-based
orientation command has been issued.
Although magnetic sensor orientation command is input,
19
another operation mode (Cs contour control, servo mode,
or spindle synchronization) is specified.
The tandem operation command was input in the spindle
21
synchronization control enable state.
Spindle synchronization control was specified in the
22
tandem operation enable state.
The tandem operation command is input without the
23
required option.
Although continuous indexing in position coder-based
orientation is to be performed, an absolute position
24
command (INCMD = 0) has been issued after incremental
operation (INCMD = 1).
The parameter settings are such that both spindle switch
26
and three-stage speed range switch are used.
Parameter settings are such that the shortest-time
29
orientation function is to be used (bit 6 of parameter No.
4018 is 0 and parameter Nos. 4320 to 4323 are nonzero).
Check the sequence.
Do not specify another mode during execution
of the Cs contour control command. Before
entering another mode, cancel the Cs contour
control command.
Do not specify another mode during execution
of the servo mode command. Before entering
another mode, cancel servo mode.
Do not specify another mode during execution
of the spindle synchronization command.
Before entering another mode, cancel the
spindle synchronization command.
Do not specify another mode during execution
of the orientation command. Before entering
another mode, cancel the orientation command.
Input one of the SFR and SRV signals.
Check the setting of the parameter and the
differential speed mode command.
Check the setting of the parameter.
Check the setting of the parameter and the input
signal.
Do not specify another mode during execution
of the orientation command. Before entering
another mode, cancel the orientation command.
Input the tandem operation command when
spindle synchronization control is canceled.
Specify spindle synchronization control when
torque tandem operation is canceled.
Torque tandem control requires a CNC software
option. Check the option.
Check the INCMD (incremental command).
Be sure to perform absolute position
command-based orientation before an absolute
position command.
Check the parameter settings and the input
signal.
The shortest-time orientation function cannot be
used in the αi series spindle amplifier. The use
of the optimum orientation function is
recommended.
OPERATION
- 27 -
Page 52
4.CONFIRMATION OF THE
OPERATION
START-UP PROCEDURE B-65285EN/04
No. Description Action
The magnetic pole has not been detected, but a command
is input.
30
This hardware configuration does not support the use of
31
the spindle FAD function. In this case, the motor is not
activated.
S0 is not specified in the velocity mode, but the
32
disturbance input function is enabled (bit 7 of parameter
No. 4395 is set to 1).
This hardware configuration does not support the use of
33
the spindle EGB function. In this case, the motor is not
activated.
Both spindle FAD function and spindle EGB function are
34
enabled. In this case, the motor is not activated.
Spindle Amplifier (SP) ID information cannot be obtained. Replace the spindle amplifier with one with
35
The submodule SM (SSM) is faulty .
1) The interface signal between the Spindle Amplifier
36
37
38
39
43
44
and SSM is disconnected.
2) SSM failure
The current loop setting (No. 4012) has been changed. Check the setting of parameter No. 4012, and
A parameter related to communication between spindle
amplifiers is specified incorrectly. Alternatively, a function
unavailable with the torque tandem function is set.
Although SFR (forward rotation command), SRV (reverse
rotation command), or ORCM (orientation command) is
input, DSCN (disconnection detection disable signal) is
input.
A setting which does not support the α
is used.
The spindle amplifier does not support the control period
setting.
iCZ sensor (serial)
In the magnetic pole undetected state (EPFIXA
= 0), the motor cannot be driven even when a
command is input. Input a command in the
magnetic pole detected state (EPFIXA = 1).
When EPFSTR is set to 1, any command is
ignored and this error is displayed even in the
magnetic pole detected state. After the
completion of magnetic pole detection, set
EPFSTR to 0.
Check the CNC model.
Specify S0 in the velocity mode before enabling
the disturbance input function (bit 7 of
parameter No. 4395 to 1).
Check the CNC model.
These functions cannot be used at the same
time. Enable only one of the functions.
correct ID information.
For the action to be taken for this status error,
refer to Section 1.4, "Submodule SM," in Part IV
in the FANUC AC SPINDLE MOTOR αi series
Parameter Manual.
turn the power off, then on again.
Check the parameters.
Check the sequence. Do not input DSCN
(disconnection detection disable signal) during
the input of a command which excites the motor.
Check the parameter settings.
Check the setting of parameter No. 4012.
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Page 53
4.CONFIRMATION OF THE
B-65285EN/04 START-UP PROCEDURE
OPERATION
NOTE
*1 When status error 43 is displayed, check the following items. The items to be
checked differ depending on the series and edition of the spindle software.
Series 9D80 edition E (edition 05) or edition F (edition 06): Items <1> to <12>
Series 9D80 edition G (edition 07): Items <1> to <9>, <12>, and <13>
Series 9D80 edition H (edition 08): Items <1> to <9>, <13>, and <14>
(1) For both the motor sensor and spindle sensor, the setting is made to use an
i
CZ sensor (serial). (No.4010#2,1,0=0,1,0 and No.4002#3,2,1,0=0,1,1,0)
α
(2) Spindle HRV control is not set. (No.4012#7=0)
(3) The setting is made to use the differential speed control function.
(No.4000#5=1)
(4) The setting is made to use the spindle switch control function.
(No.4014#0=1)
(5) The setting is made so that an alarm related to position feedback is not
detected. (No.4007#6=1 or No.4016#5=0)
(6) The setting is made so that the disconnection of the feedback signal is not
detected. (No.4007#5=1)
(7) The setting is made so that an alarm related to position signal feedback is not
detected during thread cutting. (No.4016#5=0)
(8) The setting is made to use an external one-rotation signal. (No.4004#2=1)
(9) The setting is made to use a position coder. (No.4002#3,2,1,0=0,0,1,0)
(10) The setting is made to drive a synchronous spindle motor. (No.4012#6=1)
(11) The setting is made to use communication between Spindle Amplifiers.
(No.4352#7=1 or No.4352#6=1)
(12) The setting is made to use the Dual Check Safety function.
(13) The setting is made to use the spindle tandem function. (No.4015#3=1)
(14) Although the setting is made to use an
i
CZ sensor (serial) as the motor
α
sensor, the Dual Check Safety function is enabled.
4.3.4 Checking the Feedback Signal Waveform
The measurement locations and the method for attaching connectors vary depending on the configuration of
the detector. Check the waveform while seeing Table 4.3.4. The check terminals are on the check board.
Table 4.3.4(a) Signals input to the Spindle Amplifier and corresponding check terminals on the check board
Check
terminal
name
PA1
PB1
PA2
PB2
PS1
PS2
EXTSC1
For the α position coder and α position coder S (one-rotation signal), observe the Spindle Amplifier input
signal directly, using the servo check pin board A06B-6071-K290.
Spindle Amplifier input
signal (connector
name-pin No.)
JYA2-pin5,6
JYA2-pin7,8
JYA4-pin5,6
JYA4-pin7,8
JYA2-pin1,2
JYA4-pin1,2
JYA3-pin15 Proximity switch (external one-rotation signal)
αi M, αi MZ, and αi BZ sensors
Analog αi CZ sensor
αi BZ sensor
Analog αi CZ sensor
α position coder Ｓ(1024λ)
αi MZ and αi BZ sensors (one-rotation signal)
Analog αi CZ sensor (one-rotation signal)
αi BZ sensor (one-rotation signal)
Analog αi CZ sensor (one-rotation signal)
Main sensors Remarks
- 29 -
For TYPE B only
For TYPE B only
Page 54
4.CONFIRMATION OF THE
A
OPERATION
START-UP PROCEDURE B-65285EN/04
4.3.4.1 αi M sensor, αi MZ sensor, and αi BZ sensor
Measurement
location
PA1, PB1
Separate sensors
PA2, PB2
PS1
Separate sensor
PS2
Measurement
condition
The speed must be 1500
-1
min
or less.
Rotation direction: CW
Detection gear
Motor
CW
Waveforms of phase
and phase B
Ripples of phase A and
phase B
For αi MZ and αi BZ sensors only
Waveform of
phase Z
Sample waveform
PA1 (PA2)
Voffs
PB1 (PB2)
0 V
PA1, PB1 (PA2, PB2)
(Z - *Z)
Vpp
Vphase
Vrip
Vpz
Voffz
0 V
Measurement item Specification Measurement method Adjustment method
Vpp 0.5 to 1.2 Vp-p
Voffs, Voffsz 2.5 V ±100 mV
Use the DC range of a digital
voltmeter.
Vphase 90 ±3°
Vrip < 70 mV
Vpz > 0.5 V
Normally, the αi M and αi MZ
sensors need not be adjusted. For
Voffs and Voffz, only level check is
possible, but adjustment is not
possible.
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4.CONFIRMATION OF THE
A
B-65285EN/04 START-UP PROCEDURE
OPERATION
4.3.4.2 Analog αi CZ sensor
Measurement
location
PA1, PB1
Separate sensors
PA2, PB2
Measureme
nt item
Vpp 0.9 to 1.1V p-p
Voffs 2.5V ± 50mV
Specification Measurement method Adjustment method
Measurement
location
PS1
Separate sensor
PS2
Measurement
condition
Speed: 500min
-1
Rotation direction: CW
Detection gear
Motor
CW
Use the DC range of a digital
voltmeter.
Measurement
condition
Speed: 500min
-1
Rotation direction: CW
Detection gear
Waveforms of phase
and phase B
Waveform of
phase Z
Sample waveform
PA1(PA2)
Voffs
PB1(PB2)
0V
Vpp
Vphase
The sensors are adjusted at shipment.
Do not adjust the sensors, or the detection
precision is affected.
Sample waveform
Z
Voffz
Vpz
Motor
CW
Measureme
nt item
Vpz 0.66 to 1.65V p-p
Voffsz 2.5V ± 50mV
Specification Measurement method Adjustment method
Use the DC range of a digital
voltmeter.
NOTE
For how to check the serial output
report of the relevant sensor.
0V
The sensors are adjusted at shipment.
Do not adjust the sensors, or the detection
precision is affected.
i
CZ sensor signals, refer to the technical
α
- 31 -
Page 56
4.CONFIRMATION OF THE
A
OPERATION
START-UP PROCEDURE B-65285EN/04
4.3.4.3 α position coder S
Measurement
location
PA2, PB2 CW rotation direction
Measurement
condition
as viewed from the
flange
Waveforms of phase
and phase B
Waveform of phase
Z
Sample waveform
PA1 (PA2)
Voffs
0 V
(Z - *Z)
0V
Vpp
Vphase
PB1 (PB2)
Measurement item Specification Measurement method Adjustment method
Vpp 0.8 to 1.2 Vp-p
Voffs,Voffsz 2.5 V ±100 mV
Vphase 90 ±5°
Use the DC range of a digital
voltmeter.
Only level check is possible, but
adjustment is not possible.
4.3.5 Spindle Check Board
When connecting the check board, you can:
<1> Observe signal waveforms.
<2> Observe internal data.
<3> Check spindle parameter values.
You can perform the above more easily by using the SERVO GUIDE. For information about the SERVO
GUIDE, see Subsection 4.3.8.
4.3.5.1 Spindle check board specifications
Spindle check board specifications is bellow.
Table 4.3.5.1 Spindle check board specifications
Specification Drawing No. of printed circuit board Applicable unit
A06B-6078-H001 A20B-2001-0830
- 32 -
αi series, αCi series
(having the same specification as for the α series)
Page 57
4.CONFIRMATION OF THE
A
A
B-65285EN/04 START-UP PROCEDURE
OPERATION
4.3.5.2 Check board connection
(1) αi series
SP
JX4
JY1
JY1A JX4A
20B-2001-0830
JY1B JX4B
(2) αCi series
SPMC
Spindle check
board
Output equivalent to JX4
Output equivalent to JY1
JY1
JY1A JX4A
20B-2001-0830
JY1B JX4B
Output equivalent to JY1
4.3.5.3 Check terminal output signals
(1) αi series
Check
terminal
LM Load meter signal PA1 Phase A sine wave signal 1
SM Speedometer signal PB1 Phase B sine wave signal 1
Analog output for internal data
CH1
observation
(Phase U current: IU)
Analog output for internal data
CH2
observation
(Motor speed TSA: 1638 min
CH1D Output for internal data bit observation PB2 Phase B sine wave signal 2 (TYPE B)
CH2D Output for internal data bit observation PS2 Phase Z sine wave signal 2 (TYPE B)
VRM Disuse PA3 Disuse
LSA1 Disuse PB3 Disuse
EXTSC1 External one-rotation signal (main) PA4 Disuse
LSA2 Disuse PB4 Disuse
Signal name
-1
terminal
/V)
Spindle
check
board
Check
Signal name
PS1 Phase Z sine wave signal 1
PA2 Phase A sine wave signal 2 (TYPE B)
- 33 -
Page 58
4.CONFIRMATION OF THE
OPERATION
START-UP PROCEDURE B-65285EN/04
Check
terminal
EXTSC2 Disuse OVR2 Analog override command
PAD
PBD
PSD
GND 0 V
Phase A of position coder signal output
(TYPE B)
Phase B of position coder signal output
(TYPE B)
Phase Z of position coder signal output
(TYPE B)
Signal name
Check
terminal
15V Disuse
5V +5 VDC power check
-15V Disuse
Signal name
(2) αCi series
Check
terminal
Speedometer signal (This can be
LM
SM Disuse PB1 Disuse
CH1
CH2
CH1D Output for internal data bit observation PB2 Disuse
CH2D Output for internal data bit observation PS2 Disuse
VRM Disuse PA3 Disuse
LSA1 Disuse PB3 Disuse
EXTSC1 Disuse PA4 Disuse
LSA2 Disuse PB4 Disuse
EXTSC2 Disuse OVR2 Analog override command
PAD Disuse 15V Disuse
PBD Disuse 5V +5 VDC power check
PSD Disuse -15V Disuse
GND 0 V
switched to the load meter signal by
parameter setting.)
Analog output for internal data
observation
(Phase U current: IU)
Analog output for internal data
observation
(Estimated motor speed : 1638 min
Signal name
-1
/V)
Check
terminal
PA1 Disuse
PS1 Disuse
PA2 Disuse
Signal name
- 34 -
Page 59
4.CONFIRMATION OF THE
B-65285EN/04 START-UP PROCEDURE
OPERATION
Check terminal arrangement
PIL
LM
SM
VRM
0V
PA2
PB2
PS2
0V
LSA2
EXTSC2
PAD
PBD
PSD
5V
15V
-15V
Display
Operation
buttons
DATA
SET
UPMODE
DOWN
CH1
LSA1
CH1D
EXTSC1
CH2
CH2D
0V
PA3
PA1
PB3
PB1
PA4
PS1
PB4
0V
OVR2
4.3.6 Observing Data Using the Spindle Check Board
4.3.6.1 Overview
By using the check board, you can convert digital signals used for control in the Spindle Amplifier to analog
voltage, and observe the conversion result with an oscilloscope. For internal data observation, you can use
CH1 and CH2 (output: -5 to +5 V) as the two-channel analog output, and CH1D and CH2D as the output for
checking specific bits of bit data or the like. You can also view internal data on the five-digit indicator.
4.3.6.2 Major characteristics
Item
Measurement point CH1, CH2 CH1D, CH2D
Output voltage range -5 to +5 V
Resolution
About 39 mV
(10 V/256)
Output impedance 10 kΩmin 10 kΩmin
4.3.6.3 Observation method
H: 2 Vmin
L: 0.8 Vmax
-
By setting data using four DIP switches on the check board, you can output internal data to the five-digit
display, analog voltage output circuit, channels 1 and 2 (LM and SM or CH1 and CH2).
Data on channels 1 and 2 is the one from an 8-bit D/A converter.
The correspondence between channel 1/2 and the check terminal is listed below.
Measurement point Check terminal
Channel 1
Channel 2
CH1
CH1D, data bit 0
CH2
CH2D, data bit 0
- 35 -
Page 60
4.CONFIRMATION OF THE
OPERATION
START-UP PROCEDURE B-65285EN/04
4.3.6.4 Specifying data to be monitored
<1> Press the four setting switches at the same time for at least a second ."FFFFF" will be displayed on the
indicator.
<2> Turn off the switches and press the "MODE" switch. "d-00" will be displayed on the indicator and the
system will enter the mode for monitoring internal data.
<3> In this mode, the motor can be operated normally.
Press the "UP" or "DOWN" switch while holding down the "MODE" switch. The indicator display
will change in the range of "d-00" to "d-12".
<4> The following shows the correspondence between the destinations of the internal data of the serial
spindle and addresses d-01 to d-12.
d-01 to d-04 : Specifies the amount of data to be output to the indicator, data shift, and output
format (decimal or hexadecimal).
d-05 to d-08 : Specifies the amount of data to be output to the channel 1, data shift, and whether
an offset is provided.
d-09 to d-12 : Specifies the amount of data to be output to the channel 2, data shift, and whether
an offset is provided.
<5> Select address d-xx in the procedure for setting data described in <3>.
<6> Turn off the "MODE" switch. "d-xx" will disappear 0.5 second later, and the data will be displayed for
a second.
Change the set data using the "UP" or "DOWN" switch within the second the data is displayed.
<7> When more than a second elapses without pressing the "UP" or "DOWN" switch, data cannot be
changed.
If the "MODE" switch is turned on or off, however, setting can be started from the beginning of the
step in item <6>.
4.3.6.5 Address descriptions and initial values (Spindle Amplifier)
[Output to the indicator]
Address Description Initial value
d-01 Specifies a data number. 0
d-02 Shift at data output (0 to 31 bits) 0
Data shift direction
d-03
d-04
[Output to the channel 1]
Address Description Initial value
d-05 Specifies a data number
d-06
d-07
d-08
0 : Data is shifted right.
1 : Data is shifted left.
Display format
0 : Decimal notation
1 : Hexadecimal notation(0 to F)
Shift at data output
(0 to 31 bits)
Data shift direction
0: Data is shifted right
1: Data is shifted left
Offset
0: Not provided
1: Provided
0
0
218
(U-phase current)
8
0
1
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Page 61
4.CONFIRMATION OF THE
B-65285EN/04 START-UP PROCEDURE
OPERATION
[Output to the channel 2]
Address Description Initial value
d-09 Specifies a data number
d-10
d-11
d-12
Shift at data output
(0 to 31 bits)
Data shift direction
0: Data is shifted right
1: Data is shifted left
Offset
0: Not provided
1: Provided
19
(Motor velocity)
18
0
1
4.3.6.6 Principles in outputting the internal data of the serial spindle
The length of data is 32 bits (BIT31 TO BIT00) unless it is described as 16 bits.
BIT31 BIT00BIT01BIT02BIT03
(1) Example of output to the indicator
Example1: Displaying data in decimal
When the number of digits to shift data (d-02)=0 and display format (d-04)=0 (decimal notation): The
last 16 bits of data (BIT15 to BIT00) are converted into decimal (0 to 65535 max.) and displayed.
BIT15 BIT00BIT01
……
……
16 bits
Converted into decimal
data and displayed
Indicator
X X X X X
Example2: Displaying data in hexadecimal
When the number of digits to shift data (d-02)=0 and display format (d-04)=1 (hexadecimal notation):
The last 16 bits of data (BIT15 to BIT00) are converted into hexadecimal (0 to FFFFF max.) and
displayed.
BIT15 BIT00BIT01
Indicator
……
16 bits
X X X X
Converted into hexadecimal
data and displayed
(The fifth digit is bl ank.)
Example3: Shifting data left
When the number of digits to shift data (d-02)=3, the shift direction is left (d-03=1), and display format
(d-04)=1 (hexadecimal notation): Data in BIT12 to BIT00 and the last three bits of data (=0) are
converted into hexadecimal (0 to FFFFF max.) and displayed.
Indicator
……
16 bits
Converted into hexadecimal
data and displayed
X X X X
000BIT00BIT01
(The fifth digit is blank.)
BIT12
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4.CONFIRMATION OF THE
OPERATION
START-UP PROCEDURE B-65285EN/04
Example4: Shifting data right
When the number of digits to shift data (d-02)=5, shift direction is right (d-03=0), and display format
(d-04)=0 (decimal notation): Data in BIT20 to BIT05 is converted into decimal (0 to 65535 max.) and
displayed.
BIT20 BIT05BIT06
Indicator
……
16 bits
X X X X X
Converted into decimal
data and displayed
Example5: Shifting data right when the data length is 16 bits
When the data length is 16 bits, data shift (d-02)=5, shift direction is right (d-03=0), and display format
is decimal notation (d-04=0): The first five bits of data and data in BIT15 to BIT05 are converted into
decimal and displayed.
000 BIT050 0
Indicator
BIT15
16 bits
X X X X X
……
Converted into decimal
data and displayed
(2) Example of output to the channel 1
Internal data is output to channel 1 by setting it in an 8-bit D/A converter.
The D/A converter output ranges from -5 to +5 V, depending on a set value of internal data. See the table
below.
Internal data in binary (decimal) Setting d-08 (whether there is offset) Output on channel 1
00000000 (0) 0 -5V
11111111 (255) 0 +4.96V
10000000 (-128) 1 -5V
00000000 (0) 1 0V
01111111 ( 127) 1 +4.96V
Example1: Data set
When the number of digits to shift data (d-06)=0 and when no offset is provided (d-08=0): The last
eight bits of data (BIT07 to BIT00) is set in the D/A converter of the LM terminal.
BIT07 BIT00BIT01
BIT06 BIT05 BIT04 BIT03 BIT02
Set in the D/A converter for channel 1 output
Example2: Shifting data left
When the number of digits to shift data (d-06)=3, shift direction is right (d-07=1), and no offset is
provided (d-08=0): Data in BIT14 to BIT00 and the last three bits of data (=0) are set in the D/A
converter.
BIT04 00
BIT03 BIT02 BIT01 BIT00 0
Set in the D/A converter for channel 1 output
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4.CONFIRMATION OF THE
B-65285EN/04 START-UP PROCEDURE
OPERATION
Example3: Shifting data right
When the number of digits to shift data (d-06)=10, shift direction is right (d-07=1), and no offset is
provided (d-08=0): Data in BIT17 to BIT10 is set in the D/A converter.
BIT17 BIT10BIT11
BIT16 BIT15 BIT14 BIT13 BIT12
Set in the D/A converter for channel 1 output
Example4: Shifting data right when the data length is 16 bits
When the data length is 16 bits, data shift (d-06)=10, shift direction is right (d-07=0), and no offset is
provided (d-08=0): The first two bits of data (=0) and data in BIT15 to BIT10 are set in the D/A
converter.
0 BIT10BIT11
0 BIT15 BIT14 BIT13 BIT12
Set in the D/A converter for channel 1 output
Example5: If an offset is provided
When the number of digits to shift data (d-06)=10, shift direction is right (d-07=0), and an offset is
provided (d-08=1): Data in most significant bit BIT17 (to which 1 is added) and data in BIT16 to
BIT10 are set in the D/A converter.
BIT17 Data +1 BIT10BIT11BIT16 BIT15 BIT14 BIT13 BIT12
Set in the D/A converter for channel 1 output
Example6: Data bit observation
For data shift (d-06) = 0 with no offset (d-08 = 0), the lowest data bit (BIT00) can be observed as a
high/low level at check terminal CH1D.
BIT07
BIT06 BIT05 BIT04 BIT03 BIT02
BIT01
BIT00
Output to check terminal CH1D
(3) Example of output to the channel 2
Output to the channel 2 is the same as that to the channel 1. However, the addresses for setting data (d-09 to
d-12) are different from those for output to the channel 1.
Setting velocity information in the channel 1 and the number of errors in the channel 2 enables simultaneous
monitoring of the change in each data item using the two channels.
4.3.6.7 Data numbers
(1) Data numbers
Data
No.
Main data
16 Motor speed command 32 The 12th bit (BIT12) indicates a units in min-1.
19 Motor speed 32
25 Motor speed deviation 32
4 Move command 32 Number of command pulses for ITP (usually 8 ms)
Description
Data
length
Remarks
-1
The 12th bit (BIT12) indicates a units in min
estimated value is used for the αCi series.)
(Speed command - motor speed) The 12th bit (BIT12)
indicates a units in min
-1
.
. (An
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4.CONFIRMATION OF THE
OPERATION
START-UP PROCEDURE B-65285EN/04
Data
No.
Main data
9 Positioning error 32
90 Torque command 16
131 Speedometer data 16 SM terminal
132 Load meter data 16 LM terminal
136 Position error 32
Data between the spindle and CNC
5 Speed command data 16
6 Spindle control signal 1 16 See the command signal from the PMC to spindle in (3).
10 Load meter data 16 +32767 for maximum output
11 Motor speed data 16
12 Spindle status signal 1 16 See the status signal from the spindle to PMC in (3).
66 Spindle control signal 2 16 See the command signal from the PMC to spindle in (3).
182 Spindle status signal 2 16 See the status signal from the spindle to PMC in (3).
Other data
218
219
162 DC link voltage 16 1000 V/FS by shifting 8 bits left
Phase U current (A/D conversion
data)
Phase V current (A/D conversion
data)
Description
Data
length
Number of erroneous pulses (Spindle synchronous
control, Cs contour control, Rigid tapping mode)
0 to ±16384
Number of erroneous pulses (Position coder
orientation)
±16384 for the maximum speed command
±16384 for maximum speed
16 10 V/FS by shifting 8 bits left
16
Remarks
(2) Internal data conversion
Data No. Signal name Description (All are voltage values on check pins when the shift amount is 8.)
218 IU Phase U current
219 IV Phase V current
DC link voltage signal
162 VDC
100V/1V (200 V system)
200V/1V (400 V system)
The current is positive when it is input to the amplifier. (*1)
*1 Current conversion result for channels 218 and 219
Model Conversion result
αiSP 2.2
αiSP 5.5
αiiSP 11
αiSP 15
αiSP 22
αiSP 26
αiSP 30
αiSP 37
αiSP 45
αiSP 55
αiSP 5.5HV
αiSP 11HV
αiSP 15HV
αiSP 30HV
αiSP 45HV
αiiSP 75HV
αiSP 100HV
16.7A/1V
33.3A/1V
50.0A/1V
66.7A/1V
100A/1V
133A/1V
150A/1V
233A/1V
16.7A/1V
33.3A/1V
50.0A/1V
66.7A/1V
133A/1V
150A/1V
(3) About the spindle control and spindle status signals
Shown below are the data numbers for the PMC signals used by the spindle and the configuration of
each data item. Refer to Chapter 3, "PMC Signals (CNC ↔ PMC)" of "FANUC AC SPINDLE
MOTOR αi series PARAMETER MANUAL" (B-65280EN) for explanations about each signal.
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4.CONFIRMATION OF THE
B-65285EN/04 START-UP PROCEDURE
OPERATION
(a) Data number 6 : Spindle control signal 1
#15 #14 #13 #12 #11 #10 #9 #8
RCH RSL INTG SOCN MCFN SPSL *ESP ARST
#7 #6 #5 #4 #3 #2 #1 #0
MRDY ORCM SFR SRV CTH1 CTH2 TLMH TLML
(b) Data number 66 : Spindle control signal 2
#15 #14 #13 #12 #11 #10 #9 #8
DSCN SORSL MPOF
#7 #6 #5 #4 #3 #2 #1 #0
RCHHG MFNHG INCMD OVR NRRO ROTA INDX
(c) Data number 12 : Spindle status signal 1
#15 #14 #13 #12 #11 #10 #9 #8
RCFN RCHP CFIN CHP
#7 #6 #5 #4 #3 #2 #1 #0
ORAR TLM LDT2 LDT1 SAR SDT SST ALM
(d) Data number 182 : Spindle status signal 2
#15 #14 #13 #12 #11 #10 #9 #8
#7 #6 #5 #4 #3 #2 #1 #0
EXOF SOREN INCST PC1DT
4.3.6.8 Example of observing data
(1) Example of observing a positioning error using the channel 1
Address Description Set Data
d-05 Data number 9 9 9 9
d-06 Data shift 0 1 1 2
d-07 Data shift direction 0 1 1 1
d-08 Offset 1 1 1 1
Data unit (NOTE) 256p/FS 512p/FS 128p/FS 64p/FS
NOTE
FS=10V (-5V to 5V)
(2) Example of observing a motor speed using the channel 2
Address Description Set Data
d-09 Data number 19 19 19
d-10 Data shift 12 13 11
d-11 Data shift direction 0 0 0
d-12 Offset 0 0 0
Data unit (NOTE) 256min-1/FS 512min-1/FS 128 min-1/FS
NOTE
FS=10V (-5V to 5V)
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4.CONFIRMATION OF THE
OPERATION
START-UP PROCEDURE B-65285EN/04
(3) Observation of phase U current in the αiSP 11
Setting of observation data
Data No. 218
Shift amount 8
Shift direction 0 (shifted left)
Offset 1 (provided)
+5 V
100 A
0 V
-5 V
33.3 A/1 V
4.3.7 Checking Parameters Using the Spindle Check Board
4.3.7.1 Overview
By using the check board, you can check parameter values transferred to the Spindle Amplifier. Specify
parameter numbers using the four setting switches on the check board, and check parameter values on the
five-digit indicator.
4.3.7.2 Checking parameters
<1> Press the four setting switches at the same time for at least one second. "FFFFF" will be displayed on
the indicator.
<2> Turn off the switches and press the "MODE" switch. "d-00" will be displayed on the indicator and the
system will enter the mode for measuring internal data.
<3> With "0" set for "d-00", press the "MODE" and "DATA SET" switches at the same time for at least one
second. "CCCCC" will be displayed on the indicator.
<4> Turn off the switches and press the "MODE" switch. "F-xxx" will be displayed on the indicator and the
system will enter the mode for checking spindle parameters (F-mode). (Even in this mode, the motor
can be operated normally.)
<5> Press the "UP" or "DOWN" switch while holding down the "MODE" switch (with "F-xxx" displayed).
The number of "F-xxx" increases or decreases. Set the internal number of a parameter you want to
check. For correspondences between the parameter internal numbers and NC parameter numbers, see
the parameter list in the appendix to the parameter manual.
<6> Turn off the switches. The parameter value corresponding to the set internal number is displayed for
about one second. (Bit parameter values are displayed in hexadecimal.)
4.3.8 Observing Data Using the SERVO GUIDE
4.3.8.1 Overview
Using the servo adjustment tool, SERVO GUIDE, enables you to observe internal data for the spindle.
This subsection describes the spindle data that can be observed using the SERVO GUIDE. It also presents
examples of observed data. Refer to online help for detailed explanations about how to use the SERVO
GUIDE.
4.3.8.2 Usable series and editions
Series 9D50/B(02) and subsequent editions
Series 9D53/A(01) and subsequent editions
Series 9D70/A(01) and subsequent editions
Series 9D80/A(01) and subsequent editions
Series 9D90/A(01) and subsequent editions
Series 9DA0/A(01) and subsequent editions
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4.CONFIRMATION OF THE
B-65285EN/04 START-UP PROCEDURE
OPERATION
4.3.8.3 List of spindle data that can be observed using the SERVO
GUIDE
The following table lists the spindle data that can be observed using the SERVO GUIDE.
Data type Description
SPEED Motor speed
INORM Motor current amplitude
TCMD Torque command
VCMD Motor speed command
VERR Speed deviation
ERR Position error (9D50/11 and subsequent editions *1)
ERRC Position error (CNC)
ORERR Position error at orientation
WMDAT Move command for an individual position loop
SYNC Synchronization error (9D50/11 and subsequent editions *1)
PCPOS Cumulative position feedback value
MCMD Move command for an individual communication cycle
ERR2 Position error 2
ERR2C Position error 2(CNC) (9D50/11 and subsequent editions *1)
CSPOS Cumulative position feedback value
SPCMD Speed command data from the CNC
SPSPD Spindle speed (9D50/11 and subsequent editions *1)
SPCT1 Spindle control signal 1
SPCT2 Spindle control signal 2
SPCT3 Spindle control signal 3 (9D50/11 and subsequent editions *1)
SPST1 Spindle status signal 1
SPST2 Spindle status signal 2
ORSEQ Orientation sequence data
SFLG1 Spindle flag 1 (9D50/11 and subsequent editions *1)
SPPOS Spindle position data (9D50/12 and subsequent editions *2)
LMDAT Load meter data 1 (9D50/11 and subsequent editions *1)
DTRQ Spindle load torque (Unexpected disturbance torque detection function) 1
(9D50/11 and subsequent editions *1)
FREQ Frequency of disturbance torque (Disturbance input function) 1
(9D50/11 and subsequent editions *1)
GAIN Gain data (Disturbance input function) 1 (9D50/11 and subsequent editions *1)
MTTMP Motor winding temperature 1 (9D50/11 and subsequent editions *1)
MFBDF Motor sensor feedback incremental data 1 (9D50/11 and subsequent editions *1)
(For amplitude ratio and phase difference compensation)
SFBDF Spindle sensor feedback incremental data 1 (9D50/11 and subsequent editions *1)
(For amplitude ratio and phase difference compensation)
PA1 AD data 1 of A phase of motor sensor (9D50/11 and subsequent editions *1)
PB1 AD data 1 of B phase of motor sensor (9D50/11 and subsequent editions *1)
PA2 AD data 1 of A phase of spindle sensor (9D50/11 and subsequent editions *1)
PB2 AD data 1 of B phase of spindle sensor (9D50/11 and subsequent editions *1)
VDC DC link voltage 1 (9D50/11 and subsequent editions *1)
SFERR Semi-full error 1 (Dual position feedback) (9D50/11 and subsequent editions *1)
SMERR Semi-closed side error 1 (Dual position feedback) (9D50/11 and subsequent editions *1)
SPACC Spindle acceleration data 1 (9D50/20 and subsequent editions *4)
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4.CONFIRMATION OF THE
OPERATION
START-UP PROCEDURE B-65285EN/04
NOTE
*1 Available with 9D53/03 and subsequent editions for series 9D53, 9D70/02 and
subsequent editions for series 9D70, 9D80/01 and subsequent editions for series
9D80, and 9D90/01 and subsequent editions for series 9D90.
*2 Available with 9D53/04 and subsequent editions for series 9D53, 9D70/03and
subsequent editions for series 9D70, 9D80/01and subsequent editions for series
9D80, and 9D90/0 and subsequent editions for series 9D90.
*3 To observe data marked with *1 and *2, the SERVO GUIDE Ver. 3.0 or later is
required.
*4 Available with 9D70/10 and subsequent editions for series 9D70, 9D80/04 and
subsequent editions for series 9D80, and 9D90/01 and subsequent editions for
series 9D90.
To observe this data, the SERVO GUIDE Ver. 4.10 or later is required.
4.3.8.4 About the spindle control and spindle status signals
As stated in the previous item, the SERVO GUIDE can be used to observe the PMC signals (spindle control
signals 1 and 2 and spindle status signals 1 and 2) used by the spindle.
Listed below is the data configuration for spindle control signals 1 and 2 and spindle status signals 1 and 2.
Refer to Chapter 3, "PMC Signals (CNC ↔ PMC)" of "FANUC AC SPINDLE MOTOR αi series
PARAMETER MANUAL" (B-65280EN) for explanations about each signal.
(a) Spindle control signal 1 (SPCT1)
#15 #14 #13 #12 #11 #10 #9 #8
RCH RSL INTG SOCN MCFN SPSL *ESP ARST
#7 #6 #5 #4 #3 #2 #1 #0
MRDY ORCM SFR SRV CTH1 CTH2 TLMH TLML
(b) Spindle control signal 2 (SPCT2)
#15 #14 #13 #12 #11 #10 #9 #8
DSCN SORSL MPOF
#7 #6 #5 #4 #3 #2 #1 #0
RCHHG MFNHG INCMD OVR NRRO ROTA INDX
(c) Spindle control signal 3 (SPCT3)
#15 #14 #13 #12 #11 #10 #9 #8
#7 #6 #5 #4 #3 #2 #1 #0
(d) Spindle status signal 1 (SPST1)
#15 #14 #13 #12 #11 #10 #9 #8
RCFN RCHP CFIN CHP
#7 #6 #5 #4 #3 #2 #1 #0
ORAR TLM LDT2 LDT1 SAR SDT SST ALM
(e) Spindle status signal 2 (SPST2)
#15 #14 #13 #12 #11 #10 #9 #8
#7 #6 #5 #4 #3 #2 #1 #0
EXOF SOREN INCST PC1DT
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4.CONFIRMATION OF THE
B-65285EN/04 START-UP PROCEDURE
OPERATION
4.3.8.5 Example of observing data
The following figure shows an example of data (synchronization error and motor speed at rigid tapping)
observed using the SERVO GUIDE.
DRAW1 : SYNC
DRAW2 : SPEED
DRAW1 : SYNC (synchronization error) *1
DRAW2 : SPEED (motor speed)
*1 The synchronization error is servo axis output data.
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Page 71
II. TROUBLESHOOTING
Page 72
Page 73
B-65285EN/04 TROUBLESHOOTING 1.OVERVIEW
1 OVERVIEW
This part describes the troubleshooting procedure for each amplifier. Read the section related to your
current trouble to locate it and take an appropriate action.
First, check the alarm number and STATUS display indicated on your amplifier with each list (alarm
numbers in the list are those for the CNC) in Chapter 2 to find the corresponding detailed information in
Chapter 3. Then take an appropriate action according to the detailed information.
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2.ALARM NUMBERS AND
BRIEF DESCRIPTIONS
TROUBLESHOOTING B-65285EN/04
2 ALARM NUMBERS AND BRIEF
DESCRIPTIONS
2.1 FOR Series 15i
2.1.1 Servo Alarm
Alarm No. SV PS Description Remarks
SV0027 Invalid digital servo parameter setting 3.3.6
SV0361 Pulsecoder phase error (built-in) 3.3.7 (1)
SV0364 Soft phase alarm (built-in) 3.3.7 (1)
SV0365 LED error (built-in) 3.3.7 (1)
SV0366 Pulse error (built-in) 3.3.7 (1)
SV0367 Count error (built-in) 3.3.7 (1)
SV0368 Serial data error (built-in) 3.3.7 (3)
SV0369 Data transfer error (built-in) 3.3.7 (3)
SV0380 LED error (separate) 3.3.7 (2)
SV0381 Pulsecoder phase error (separate) 3.3.7 (2)
SV0382 Count error (separate) 3.3.7 (2)
SV0383 Pulse error (separate) 3.3.7 (2)
SV0384 Soft phase alarm (separate) 3.3.7 (2)
SV0385 Serial data error (separate) 3.3.7 (3)
SV0386 Data transfer error (separate) 3.3.7 (3)
SV0387 Sensor error (separate) 3.3.7 (2)
SV0421 Excessive semi-full error 3.3.8
SV0430 Servo motor overheat 3.3.5
SV0431 3 Converter: main circuit overload 3.1.3
SV0432 6 Converter: control power supply undervoltage 3.1.6
SV0433 4 Converter: DC link undervoltage 3.1.4
SV0434 2 Inverter: control power supply undervoltage 3.2
SV0435 5 Inverter: DC link undervoltage 3.2
SV0436 Soft thermal (OVC) 3.3.3
SV0437 1 Converter: input circuit overcurrent 3.1.1
SV0438 b Inverter: motor current alarm (L axis) 3.2
SV0438 c Inverter: motor current alarm (M axis) 3.2
SV0438 d Inverter: motor current alarm (N axis) 3.2
SV0439 7 Converter: DC link overvoltage 3.1.7
SV0440 H Converter: Excessive deceleration power 3.1.11
SV0441 Current offset error 3.3.8
SV0442 5 Converter: DC link precharge failure 3.1.5
SV0443 2 Converter: cooling fan stopped 3.1.2
SV0444 1 Inverter: internal cooling fan stopped 3.2
SV0445 Soft disconnection alarm 3.3.4
SV0446 Hard disconnection alarm Not issued
SV0447 Hard disconnection alarm (separate) 3.3.4
SV0448 Feedback mismatch alarm 3.3.8
SV0449 8. Inverter: IPM alarm (L axis) 3.2
SV0449 9. Inverter: IPM alarm (M axis) 3.2
SV0449 A. Inverter: IPM alarm (N axis) 3.2
SV0600 8 Inverter: DC link current alarm (L axis) 3.2
SV0600 9 Inverter: DC link current alarm (M axis) 3.2
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2.ALARM NUMBERS AND
B-65285EN/04 TROUBLESHOOTING
Alarm No. SV PS Description Remarks
SV0600 A Inverter: DC link current alarm (N axis) 3.2
SV0601 F Inverter: cooling fan stopped of the radiator 3.2
SV0602 6 Inverter: overheat 3.2
SV0603 8. Inverter: IPM alarm (OH) (L axis) 3.2
SV0603 9. Inverter: IPM alarm (OH) (M axis) 3.2
SV0603 A. Inverter: IPM alarm (OH) (N axis) 3.2
SV0604 P Communication error between amplifiers 3.2
SV0605 8 Converter: Excessive regenerative power 3.1.8
SV0606 A Converter: cooling fan stopped of the radiator 3.1.9
SV0607 E Open phase in the converter main power supply 3.1.10
BRIEF DESCRIPTIONS
2.1.2 Spindle Alarm
Alarm No. SP PS Description Remarks
SP0001 01 Motor overheat 3.4.1
SP0002 02 Excessive speed deviation 3.4.2
SP0003 03 DC link fuse blown 3.4.3
SP0004 04 E Open phase in the converter main power supply 3.1.10
SP0006 06 Temperature sensor disconnected 3.4.4
SP0007 07 Excessive speed 3.4.5
SP0009 09 Main circuit overload/IPM overheat 3.4.6
SP0010 10 Low power supply input voltage 3.4.7
SP0011 11 7 Converter: DC link overvoltage 3.1.7
SP0012 12 DC link overcurrent/IPM alarm
SP098x 13 CPU internal data memory error 3.4.9
SP0014 14 Amplifier ID not registered 3.4.10
SP0015 15 Output switching/spindle switching alarm 3.4.11
SP0017 17 Amplifier ID data error 3.4.13
SP098x 18 Program sum check error 3.4.14
SP098x 19 Excessive offset of the phase U current detection circuit 3.4.15
SP098x 20 Excessive offset of the phase V current detection circuit 3.4.15
SP0021 21 Position sensor polarity setting incorrect 3.4.16
SP0022 22 Spindle amplifier current overload 3.4.17
SP022x 24 Serial transfer data error 3.4.18
SP0027 27 Position coder disconnected 3.4.19
SP0029 29 Short-period overload 3.4.20
SP0030 30 1 Overcurrent in the converter input circuit 3.1.1
SP0031 31 Motor lock alarm 3.4.21
SP0032 32 Serial communication LSI RAM error 3.4.22
SP0033 33 5 Converter: DC link precharge failure 3.1.5
SP0034 34 Parameter data out of the specifiable range 3.4.23
SP0035 35 Gear ratio parameter error 3.5.2
SP0036 36 Error counter overflow 3.4.24
SP0037 37 Speed detector parameter error 3.4.25
SP0041 41 Position coder one-rotation signal detection error 3.4.26
SP0042 42 Position coder one-rotation signal not detected 3.4.27
SP0043 43 Position coder signal for differential speed mode disconnected 3.4.28
SP0046 46
SP0047 47 Position coder signal error 3.4.30
SP0049
49 Overflow of converted motor speed for differential spindle speed
Position sensor one-rotation signal detection error during thread
cutting
control
3.4.8
3.5.1
3.4.29
3.4.31
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Page 76
2.ALARM NUMBERS AND
BRIEF DESCRIPTIONS
TROUBLESHOOTING B-65285EN/04
Alarm No. SP PS Description Remarks
SP0050 50
Excessive speed command calculation value during spindle
synchronization
SP0051 51 4 Converter: DC link undervoltage 3.4.33
SP0052 52 ITP signal error I 3.4.33
SP0053 53 ITP signal error II 3.4.34
SP0054 54 Current overload alarm 3.4.35
SP0055 55 Abnormal switching status of power leads 3.4.36
SP0056 56 Internal cooling fan stopped 3.1.11
SP0057 57 H Converter: excessive deceleration power 3.1.3
SP0058 58 3 Converter: main circuit overload 3.1.2
SP0059 59 2 Converter: cooling fan stopped 3.4.37
SP0061 61 Excessive semi-closed loop/closed loop position error alarm 3.4.38
SP0065 65 Abnormal travel distance in magnetic pole determination operation 3.4.39
SP0066 66 Communication alarm between spindle and amplifier 3.4.45
SP0069 69 Safety speed exceeded 3.4.46
SP0070 70 Abnormal axis data 3.4.47
SP0071 71 Abnormal safety parameter 3.4.51
SP0072 72 Motor speed mismatch 3.4.52
SP0073 73 Motor sensor disconnected 3.4.53
SP0074 74 CPU test alarm 3.4.54
SP0075 75 CRC test alarm 3.4.55
SP0076 76 Safety function not executed 3.4.56
SP0077 77 Axis number mismatch 3.4.57
SP0078 78 Safety parameter mismatch 3.4.58
SP0079 79 Abnormal initial test operation 3.4.59
SP0080 80 Destination amplifier error in inter-spindle amplifier communication 3.4.60
SP0081 81 Motor sensor one-rotation signal detection error 3.4.61
SP0082 82 Motor sensor one-rotation signal not detected 3.4.62
SP0083 83 Motor sensor signal error 3.4.63
SP0084 84 Spindle sensor disconnected 3.4.64
SP0085 85 Spindle sensor one-rotation signal detection error 3.4.83
SP0086 86 Spindle sensor one-rotation signal not detected 3.4.83
SP0087 87 Spindle sensor signal error 3.4.65
SP0088 88 Cooling fan stopped of the radiator 3.4.65
SP0089
SP0090
SP0091
SP0092
SP0097
(MODEL A)
89 Sub module SM (SSM) error 3.4.65
90 Unexpected rotation alarm 3.4.66
91 Pole position count miss alarm 3.1.6
92 Velocity command-dependent overspeed alarm 3.1.8
Other spindle amplifier alarm
3.1.4
3.1.9
SP0097x A Program ROM error 3.4.67
SP0097x A1 Program ROM error 3.4.67
SP0097x A2 Program ROM error 3.4.67
SP0098 Other converter alarm 3.4.68
SP0098
(MODEL A)
SP0098
(MODEL A)
SP0098
(MODEL A)
SP0098
(MODEL A)
SP0110
(MODEL B)
b0 Communication error between amplifiers
b1 6 Converter: control power supply low voltage
b2 8 Converter: excessive regenerative power
b3 2 Converter: cooling fan stopped of the radiator
b0 Communication error between amplifiers
3.4.74
3.4.76
3.4.77
3.4.78
3.4.79
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Page 77
2.ALARM NUMBERS AND
B-65285EN/04 TROUBLESHOOTING
BRIEF DESCRIPTIONS
Alarm No. SP PS Description Remarks
SP0111
(MODEL B)
SP0112
(MODEL B)
SP0113
(MODEL B)
SP0120
(MODEL B)
SP0121
(MODEL B)
SP0122
(MODEL B)
SP0123
(MODEL B)
SP0130
SP0132
SP0133
SP0134
SP0137
SP0139
SP0140
SP0141
b1 6 Converter: control power supply low voltage
b2 8 Converter: excessive regenerative power
b3 A Converter: cooling fan stopped of the radiator
C0 Communication data alarm 3.4.51
C1 Communication data alarm 3.4.51
C2 Communication data alarm 3.4.51
C3 Spindle switching circuit error 3.4.52
d0 Speed polarity error in torque tandem operation 3.4.74
d2 Serial data error 3.4.76
d3 Data transfer error 3.4.77
d4 Soft phase alarm 3.4.78
d7 Device communication error 3.4.79
d9 Pulse error alarm 3.4.80
E0 Count error alarm 3.4.81
E1 Serial sensor one-rotation signal not detected 3.4.82
3.4.80
3.4.81
3.4.82
- 53 -
Page 78
2.ALARM NUMBERS AND
BRIEF DESCRIPTIONS
TROUBLESHOOTING B-65285EN/04
2.2 FOR Series 16i, 18i, 20i, 21i, 0i, AND Power Mate i
2.2.1 Servo Alarm
Alarm No. SV PS Description Remarks
361 Pulsecoder phase error (built-in) 3.3.7 (1)
364 Soft phase alarm (built-in) 3.3.7 (1)
365 LED error (built-in) 3.3.7 (1)
366 Pulse error (built-in) 3.3.7 (1)
367 Count error (built-in) 3.3.7 (1)
368 Serial data error (built-in) 3.3.7 (3)
369 Data transfer error (built-in) 3.3.7 (3)
380 LED error (separate) 3.3.7 (2)
381 Pulsecoder phase error (separate) 3.3.7 (2)
382 Count error (separate) 3.3.7 (2)
383 Pulse error (separate) 3.3.7 (2)
384 Soft phase alarm (separate) 3.3.7 (2)
385 Serial data error (separate) 3.3.7 (3)
386 Data transfer error (separate) 3.3.7 (3)
387 Sensor error (separate) 3.3.7 (2)
417 Invalid parameter 3.3.6
421 Excessive semi-full error 3.3.8
430 Servomotor overheat 3.3.5
431 3 Converter: main circuit overload 3.1.3
432 6 Converter: control undervoltage 3.1.6
433 4 Converter: DC link undervoltage 3.1.4
434 2 Inverter: control power supply undervoltage 3.2
435 5 Inverter: DC link undervoltage 3.2
436 Soft thermal (OVC) 3.3.3
437 1 Converter: input circuit overcurrent 3.1.1
438 b Inverter: motor current alarm (L axis) 3.2
438 c Inverter: motor current alarm (M axis) 3.2
438 d Inverter: motor current alarm (N axis) 3.2
439 7 Converter: DC link overvoltage 3.1.7
440 H Converter: excessive deceleration power 2.1.11
441 Current offset error 3.3.8
442 5 Converter: DC link precharge failure 3.1.5
443 2 Converter: cooling fan stopped 3.1.2
444 1 Inverter: internal cooling fan stopped 3.2
445 Soft disconnection alarm 3.3.4
447 Hard disconnection alarm (separate) 3.3.4
448 Feedback mismatch alarm 3.3.8
449 8. Inverter: IPM alarm (L axis) 3.2
449 9. Inverter: IPM alarm (M axis) 3.2
449 A. Inverter: IPM alarm (N axis) 3.2
453 Soft disconnection alarm (α Pulsecoder) 3.3.4
600 8. Inverter: DC link current alarm (L axis) 3.2
600 9. Inverter: DC link current alarm (M axis) 3.2
600 A. Inverter: DC link current alarm (N axis) 3.2
601 F Inverter: cooling fan stopped of the radiator 3.2
602 6 Inverter: overheat 3.2
603 8. Inverter: IPM alarm (OH) (L axis) 3.2
603 9. Inverter: IPM alarm (OH) (M axis) 3.2
603 A. Inverter: IPM alarm (OH) (N axis) 3.2
- 54 -
Page 79
2.ALARM NUMBERS AND
B-65285EN/04 TROUBLESHOOTING
Alarm No. SV PS Description Remarks
604 P Communication error between amplifiers 3.2
605 8 Converter: excessive regenerative power 3.1.8
606 A Converter: cooling fan stopped of the radiator 3.1.9
607 E Open phase in the converter main power supply 3.1.10
SV0654 DB relay error 3.2.14
BRIEF DESCRIPTIONS
2.2.2 Spindle Alarm
Alarm No. SP PS Description Remarks
9001 7n01 01 Motor overheat 3.4.1
9002 7n02 02 Excessive speed deviation 3.4.2
9003 7n03 03 DC link fuse blown 3.4.3
9004 7n04 04 E Open phase in the converter main power supply 3.1.10
9006 7n06 06 Temperature sensor disconnected 3.4.4
9007 7n07 07 Excessive speed 3.4.5
9009 7n09 09 Main circuit overload/IPM overheat 3.4.6
9010 7n10 10 Low power supply input voltage 3.4.7
9011 7n11 11 7 Converter: DC link overvoltage 3.1.7
9012 7n12 12 DC link overcurrent/IPM alarm
750 13 CPU internal data memory error 3.4.9
9014 7n14 14 Amplifier ID not registered 3.4.10
9015 7n15 15 Speed range switching/spindle switching alarm 3.4.8
9016 7n16 16 RAM error 3.4.12
9017 7n17 17 Amplifier ID data error 3.4.13
750 18 Program sum check error 3.4.14
750 19 Excessive offset of the phase U current detection circuit 3.4.15
750 20 Excessive offset of the phase V current detection circuit 3.4.15
9021 7n21 21 Position sensor polarity setting incorrect 3.4.11
9022 7n22 22 Spindle amplifier current overload 3.4.17
749 24 Serial transfer data error 3.4.18
9027 7n27 27 Position coder disconnected 3.4.19
9029 7n29 29 Short-time overload 3.4.20
9030 7n30 30 1 Overcurrent in the converter input circuit 3.1.1
9031 7n31 31 Motor lock alarm 3.4.21
9032 7n32 32 Serial communication LSI RAM error 3.4.22
9033 7n33 33 5 Converter: DC link precharge failure 3.1.5
9034 7n34 34 Parameter data out of the specifiable range 3.4.23
9035 7n35 35 Gear ratio parameter error 3.5.2
9036 7n36 36 Error counter overflow 3.4.24
9037 7n37 37 Speed detector parameter error 3.4.25
9041 7n41 41 Position coder one-rotation signal detection error 3.4.26
9042 7n42 42 Position coder one-rotation signal not detected 3.4.27
9043 7n43 43 Position coder signal for differential speed mode disconnected 3.4.28
9046 7n46 46
9047 7n47 47 Position coder signal error 3.4.30
9049 7n49
9050 7n50 50
9051 7n51 51 4 Converter: DC link low voltage 3.1.4
9052 7n52 52 ITP signal error I 3.4.33
49 Overflow of converted motor speed for differential spindle speed
Position sensor one-rotation signal detection error during thread
cutting
control
Excessive speed command calculation value during spindle
synchronous control
- 55 -
3.4.8
3.5.1
3.4.29
3.4.31
3.4.32
Page 80
2.ALARM NUMBERS AND
BRIEF DESCRIPTIONS
TROUBLESHOOTING B-65285EN/04
Alarm No. SP PS Description Remarks
9053 7n53 53 ITP signal error II 3.4.33
9054 7n54 54 Current overload alarm 3.4.34
9055 7n55 55 Abnormal switching status of power leads 3.4.35
9056 7n56 56 Internal cooling fan stopped 3.4.36
9057 7n57 57 H Converter: excessive deceleration power 3.1.11
9058 7n58 58 3 Converter: main circuit overload 3.1.3
9059 7n59 59 2 Converter: cooling fan stopped 3.1.2
9061 7n61 61 Excessive semi-closed loop/closed loop position error alarm 3.4.37
9065 7n65 65 Abnormal travel distance in magnetic pole determination operation 3.4.38
9066 7n66 66 Communication alarm between Spindle Amplifiers 3.4.29
9067 7n67 67 Reference position return command in the EGB mode 3.4.40
9069 7n69 69 Safety speed exceeded 3.4.30
9070 7n70 70 Abnormal axis data 3.4.31
9071 7n71 71 Abnormal safety parameter 3.4.32
9072 7n72 72 Motor speed mismatch 3.4.33
9073 7n73 73 Motor sensor disconnected 3.4.34
9074 7n74 74 CPU test alarm 3.4.35
9075 7n75 75 CRC test alarm 3.4.36
9076 7n76 76 Safety function not executed 3.4.37
9077 7n77 77 Axis number mismatch 3.4.38
9078 7n78 78 Safety parameter mismatch 3.4.39
9079 7n79 79 Abnormal initial test operation 3.4.40
9080 7n80 80 Destination amplifier error in inter-spindle amplifier communication 3.4.52
9081 7n81 81 Motor sensor one-rotation signal detection error 3.4.41
9082 7n82 82 Motor sensor one-rotation signal not detected 3.4.42
9083 7n83 83 Motor sensor signal error 3.4.43
9084 7n84 84 Spindle sensor disconnected 3.4.44
9085 7n85 85 Spindle sensor one-rotation signal detection error 3.4.45
9086 7n86 86 Spindle sensor one-rotation signal not detected 3.4.46
9087 7n87 87 Spindle sensor signal error 3.4.47
9088 7n88 88 Cooling fan stopped of the radiator 3.4.48
9089 7n89 89 Sub module SM (SSM) error 3.4.61
9090 7n90 90 Unexpected rotation alarm 3.4.62
9091 7n91 91 Pole position count miss alarm 3.4.63
9092 7n92 92 Velocity command-dependent overspeed alarm 3.4.64
7n97 Other spindle amplifier alarm 3.4.52
7n98 Other converter alarm 3.4.52
749 A Program ROM error 3.4.65
749 A1 Program ROM error 3.4.65
749 A2 Program ROM error 3.4.65
9110 7n98 b0 Communication error between amplifiers 3.4.50
9111 7n98 b1 6 Converter: control power supply low voltage 3.1.6
9112 7n98 b2 8 Converter: excessive regenerative power 3.1.8
9113 7n98 b3 A Converter: cooling fan stopped of the radiator 3.1.9
9120 C0 Communication data alarm 3.4.51
9121 C1 Communication data alarm 3.4.51
9122 C2 Communication data alarm 3.4.51
9123 C3 Spindle switching circuit error 3.4.52
9124 7n97 C4 Invalid learning control velocity command 3.4.69
9125 7n97 C5 Invalid dynamic characteristic compensation degree 3.4.70
9127 7n97 C7 Invalid learning cycle 3.4.71
9128 7n97 C8 Excessive speed deviation alarm in spindle synchronization 3.4.72
9129 7n97 C9 Excessive position error alarm in spindle synchronization 3.4.73
- 56 -
Page 81
2.ALARM NUMBERS AND
B-65285EN/04 TROUBLESHOOTING
Alarm No. SP PS Description Remarks
9130 7n97 d0 Speed polarity error in torque tandem operation 3.4.74
9131 7n97 d1 Spindle adjustment function alarm 3.4.75
9132 7n97 d2 Serial data error 3.4.76
9133 7n97 d3 Data transfer error 3.4.77
9134 7n97 d4 Soft phase alarm 3.4.78
9137 7n97 d7 Device communication error 3.4.79
9139 7n97 d9 Pulse error alarm 3.4.80
9140 7n97 E0 Count error alarm 3.4.81
9141 7n97 E1 Serial sensor one-rotation signal not detected 3.4.82
756, 766 Abnormal axis data 3.4.83
BRIEF DESCRIPTIONS
* n represents a spindle number.
- 57 -
Page 82
2.ALARM NUMBERS AND
BRIEF DESCRIPTIONS
TROUBLESHOOTING B-65285EN/04
2.3 FOR Series 30i/ 31i/32i
2.3.1 Servo Alarm
Alarm No. SV PS Description Remarks
SV0361 Pulsecoder phase error (built-in) 3.3.7 (1)
SV0364 Soft phase alarm (built-in) 3.3.7 (1)
SV0365 LED error (built-in) 3.3.7 (1)
SV0366 Pulse error (built-in) 3.3.7 (1)
SV0367 Count error (built-in) 3.3.7 (1)
SV0368 Serial data error (built-in) 3.3.7 (3)
SV0369 Data transfer error (built-in) 3.3.7 (3)
SV0380 LED error (separate) 3.3.7 (2)
SV0381 Pulsecoder phase error (separate) 3.3.7 (2)
SV0382 Count error (separate) 3.3.7 (2)
SV0383 Pulse error (separate) 3.3.7 (2)
SV0384 Soft phase alarm (separate) 3.3.7 (2)
SV0385 Serial data error (separate) 3.3.7 (3)
SV0386 Data transfer error (separate) 3.3.7 (3)
SV0387 Sensor error (separate) 3.3.7 (2)
SV0401 V ready off
SV0417 Invalid servo parameter 3.3.6
SV0421 Excessive semi-full error 3.3.8
SV0430 Servo motor overheat 3.3.5
SV0431 3 Converter: main circuit overload 3.1.3
SV0432 6 Converter: control power supply undervoltage 3.1.6
SV0433 4 Converter: DC link undervoltage 3.1.4
SV0434 2 Inverter: control power supply undervoltage 3.2
SV0435 5 Inverter: DC link undervoltage 3.2
SV0436 Soft thermal (OVC) 3.3.3
SV0437 1 Converter: input circuit overcurrent 3.1.1
SV0438 b Inverter: motor current alarm (L axis) 3.2
SV0438 C Inverter: motor current alarm (M axis) 3.2
SV0438 d Inverter: motor current alarm (N axis) 3.2
SV0439 7 Converter: DC link overvoltage 3.1.7
SV0440 H Converter: Excessive deceleration power 2.1.11
SV0441 Current offset error 3.3.8
SV0442 5 Converter: DC link precharge failure 3.1.5
SV0443 2 Converter: cooling fan stopped 3.1.2
SV0444 1 Inverter: internal cooling fan stopped 3.2
SV0445 Soft disconnection alarm 3.3.4
SV0447 Hard disconnection alarm (separate) 3.3.4
SV0448 Feedback mismatch alarm 3.3.8
SV0449 8. Inverter: IPM alarm (L axis) 3.2
SV0449 9. Inverter: IPM alarm (M axis) 3.2
SV0449 A. Inverter: IPM alarm (N axis) 3.2
SV0453 α Pulsecoder soft disconnection 3.3.4
SV0600 8 Inverter: DC link current alarm (L axis) 3.2
SV0601 F Inverter: cooling fan stopped of the radiator 3.2
SV0602 6 Inverter: overheat 3.2
SV0603 8. Inverter: IPM alarm (OH) (L axis) 3.2
SV0603 9. Inverter: IPM alarm (OH) (M axis) 3.2
SV0603 A. Inverter: IPM alarm (OH) (N axis) 3.2
SV0604 P Communication error between amplifiers 3.2
Ⅰ4.2.2
- 58 -
Page 83
2.ALARM NUMBERS AND
B-65285EN/04 TROUBLESHOOTING
Alarm No. SV PS Description Remarks
SV0605 8 Converter: Excessive regenerative power 3.1.8
SV0606 A Converter: cooling fan stopped of the radiator 3.1.9
SV0607 E Open phase in the converter main power supply 3.1.10
SV0654 DB relay error 3.2.14
BRIEF DESCRIPTIONS
2.3.2 Spindle Alarm
Alarm No. SP PS Description Remarks
SP9001 01 Motor overheat 3.4.1
SP9002 02 Excessive speed deviation 3.4.2
SP9003 03 DC link fuse blown 3.4.3
SP9004 04 E Open phase in the converter main power supply 3.1.10
SP9006 06 Temperature sensor disconnected 3.4.4
SP9007 07 Excessive speed 3.4.5
SP9009 09 Main circuit overload/IPM overheat 3.4.6
SP9010 10 Low power supply input voltage 3.4.7
SP9011 11 7 Converter: DC link overvoltage 3.1.7
SP9012 12 DC link overcurrent/IPM alarm
SP12xx 13 CPU internal data memory error 3.4.9
SP9014 14 Amplifier ID not registered 3.4.10
SP9015 15 Output switching/spindle switching alarm 3.4.11
SP9016 16 RAM error 3.4.12
SP0017 17 Amplifier ID data error 3.4.13
SP12xx 18 Program sum check error 3.4.14
SP12xx 19 Excessive offset of the phase U current detection circuit 3.4.15
SP12xx 20 Excessive offset of the phase V current detection circuit 3.4.15
SP9021 21 Position sensor polarity setting incorrect 3.4.16
SP9022 22 Spindle amplifier current overload 3.4.17
SP12xx 24 Serial transfer data error 3.4.18
SP9027 27 Position coder disconnected 3.4.19
SP9029 29 Short-period overload 3.4.20
SP9030 30 1 Overcurrent in the converter input circuit 3.1.1
SP9031 31 Motor lock alarm 3.4.21
SP9032 32 Serial communication LSI RAM error 3.4.22
SP9033 33 5 Converter: DC link precharge failure 3.1.5
SP9034 34 Parameter data out of the specifiable range 3.4.23
SP9035 35 Gear ratio parameter error 3.5.2
SP9036 36 Error counter overflow 3.4.24
SP9037 37 Speed detector parameter error 3.4.25
SP9041 41 Position coder one-rotation signal detection error 3.4.26
SP9042 42 Position coder one-rotation signal not detected 3.4.27
SP9043 43 Position coder signal for differential speed mode disconnected 3.4.28
SP9046 46 Position sensor one-rotation signal detection error during thread cutting 3.4.29
SP9047 47 Position coder signal error 3.4.30
SP9049 49 Overflow of converted motor speed for differential spindle speed control 3.4.31
SP9050 50 Excessive speed command calculation value in spindle synchronization 3.4.32
SP9051 51 4 Converter: DC link undervoltage 3.1.4
SP9052 52 ITP signal error I 3.4.33
SP9053 53 ITP signal error II 3.4.33
SP9054 54 Current overload alarm 3.4.34
SP9055 55 Abnormal switching status of power leads 3.4.35
SP9056 56 Internal cooling fan stopped 3.4.36
SP9057 57 H Converter: excessive deceleration power 3.1.11
3.4.8
3.5.1
- 59 -
Page 84
2.ALARM NUMBERS AND
BRIEF DESCRIPTIONS
TROUBLESHOOTING B-65285EN/04
Alarm No. SP PS Description Remarks
SP9058 58 3 Converter: main circuit overload 3.1.3
SP9059 59 2 Converter: cooling fan stopped 3.1.2
SP9061 61 Excessive semi-closed loop/closed loop position error alarm 3.4.37
SP9065 65 Abnormal travel distance in magnetic pole determination operation 3.4.38
SP9066 66 Communication alarm between spindle and amplifier 3.4.39
SP9067 67 Reference position return command in the EGB mode 3.4.40
SP9069 69 Safety speed exceeded 3.4.41
SP9070 70 Abnormal axis data 3.4.42
SP9071 71 Abnormal safety parameter 3.4.43
SP9072 72 Motor speed mismatch 3.4.44
SP9073 73 Motor sensor disconnected 3.4.45
SP9074 74 CPU test alarm 3.4.46
SP9075 75 CRC test alarm 3.4.47
SP9076 76 Safety function not executed 3.4.48
SP9077 77 Axis number mismatch 3.4.49
SP9078 78 Safety parameter mismatch 3.4.50
SP9079 79 Abnormal initial test operation 3.4.51
SP9080 80 Destination amplifier error in inter-spindle amplifier communication 3.4.52
SP9081 81 Motor sensor one-rotation signal detection error 3.4.53
SP9082 82 Motor sensor one-rotation signal not detected 3.4.54
SP9083 83 Motor sensor signal error 3.4.55
SP9084 84 Spindle sensor disconnected 3.4.56
SP9085 85 Spindle sensor one-rotation signal detection error 3.4.57
SP9086 86 Spindle sensor one-rotation signal not detected 3.4.58
SP9087 87 Spindle sensor signal error 3.4.59
SP9088 88 Cooling fan stopped of the radiator 3.4.60
SP9089 89 Sub module SM (SSM) error 3.4.61
SP9090 90 Unexpected rotation alarm 3.4.62
SP9091 91 Pole position count miss alarm 3.4.63
SP9092 92 Velocity command-dependent overspeed alarm 3.4.64
SP12xx A Program ROM error 3.4.65
SP12xx A1 Program ROM error 3.4.65
SP12xx A2 Program ROM error 3.4.65
SP9110 b0 Communication error between amplifiers 3.4.66
SP9111 b1 6 Converter: control power supply low voltage 3.1.6
SP9112 b2 8 Converter: excessive regenerative power 3.1.8
SP9113 b3 A Converter: cooling fan stopped of the radiator 3.1.9
SP9120 C0 Communication data alarm 3.4.67
SP9121 C1 Communication data alarm 3.4.67
SP9122 C2 Communication data alarm 3.4.67
SP9123 C3 Spindle switching circuit error 3.4.68
SP9124 C4
SP9125 C5
SP9127 C7
SP9128 C8 Excessive speed deviation alarm in spindle synchronization 3.4.72
SP9129 C9 Excessive position error alarm in spindle synchronization 3.4.73
SP9130 d0 Speed polarity error in torque tandem operation 3.4.74
SP9131 d1
SP9132 d2 Serial data error 3.4.76
SP9133 d3 Data transfer error 3.4.77
SP9134 d4 Soft phase alarm 3.4.78
SP9137 d7 Device communication error 3.4.79
SP9139 d9 Pulse error alarm 3.4.80
SP9140 E0 Count error alarm 3.4.81
Invalid learning control velocity command
Invalid dynamic characteristic compensation degree
Invalid learning cycle
Spindle adjustment function alarm
3.4.69
3.4.70
3.4.71
3.4.75
- 60 -
Page 85
2.ALARM NUMBERS AND
B-65285EN/04 TROUBLESHOOTING
Alarm No. SP PS Description Remarks
SP9141 E1 Serial sensor one-rotation signal not detected 3.4.82
BRIEF DESCRIPTIONS
2.4 FOR Series 0i-D
2.4.1 Servo Alarm
Alarm No. SV PS Description Remarks
SV0361 Pulsecoder phase error (built-in) 3.3.7 (1)
SV0364 Soft phase alarm (built-in) 3.3.7 (1)
SV0365 LED error (built-in) 3.3.7 (1)
SV0366 Pulse error (built-in) 3.3.7 (1)
SV0367 Count error (built-in) 3.3.7 (1)
SV0368 Serial data error (built-in) 3.3.7 (3)
SV0369 Data transfer error (built-in) 3.3.7 (3)
SV0380 LED error (separate) 3.3.7 (2)
SV0381 Pulsecoder phase error (separate) 3.3.7 (2)
SV0382 Count error (separate) 3.3.7 (2)
SV0383 Pulse error (separate) 3.3.7 (2)
SV0384 Soft phase alarm (separate) 3.3.7 (2)
SV0385 Serial data error (separate) 3.3.7 (3)
SV0386 Data transfer error (separate) 3.3.7 (3)
SV0387 Sensor error (separate) 3.3.7 (2)
SV0401 V ready off
SV0417 Invalid servo parameter 3.3.6
SV0421 Excessive semi-full error 3.3.8
SV0430 Servo motor overheat 3.3.5
SV0431 3 Converter: main circuit overload 3.1.3
SV0432 6 Converter: control power supply undervoltage 3.1.6
SV0433 4 Converter: DC link undervoltage 3.1.4
SV0434 2 Inverter: control power supply undervoltage 3.2
SV0435 5 Inverter: DC link undervoltage 3.2
SV0436 Soft thermal (OVC) 3.3.3
SV0437 1 Converter: input circuit overcurrent 3.1.1
SV0438 b Inverter: motor current alarm (L axis) 3.2
SV0438 C Inverter: motor current alarm (M axis) 3.2
SV0438 d Inverter: motor current alarm (N axis) 3.2
SV0439 7 Converter: DC link overvoltage 3.1.7
SV0440 H Converter: Excessive deceleration power 2.1.11
SV0441 Current offset error 3.3.8
SV0442 5 Converter: DC link precharge failure 3.1.5
SV0443 2 Converter: cooling fan stopped 3.1.2
SV0444 1 Inverter: internal cooling fan stopped 3.2
SV0445 Soft disconnection alarm 3.3.4
SV0447 Hard disconnection alarm (separate) 3.3.4
SV0448 Feedback mismatch alarm 3.3.8
SV0449 8. Inverter: IPM alarm (L axis) 3.2
SV0449 9. Inverter: IPM alarm (M axis) 3.2
SV0449 A. Inverter: IPM alarm (N axis) 3.2
SV0453 α Pulsecoder soft disconnection 3.3.4
SV0600 8 Inverter: DC link current alarm (L axis) 3.2
SV0601 F Inverter: cooling fan stopped of the radiator 3.2
SV0602 6 Inverter: overheat 3.2
SV0603 8. Inverter: IPM alarm (OH) (L axis) 3.2
Ⅰ4.2.2
- 61 -
Page 86
2.ALARM NUMBERS AND
BRIEF DESCRIPTIONS
TROUBLESHOOTING B-65285EN/04
Alarm No. SV PS Description Remarks
SV0603 9. Inverter: IPM alarm (OH) (M axis) 3.2
SV0603 A. Inverter: IPM alarm (OH) (N axis) 3.2
SV0604 P Communication error between amplifiers 3.2
SV0605 8 Converter: Excessive regenerative power 3.1.8
SV0606 A Converter: cooling fan stopped of the radiator 3.1.9
SV0607 E Open phase in the converter main power supply 3.1.10
SV0654 DB relay error 3.2.14
2.4.2 Spindle Alarm
Alarm No. SP PS Description Remarks
SP9001 01 Motor overheat 3.4.1
SP9002 02 Excessive speed deviation 3.4.2
SP9003 03 DC link fuse blown 3.4.3
SP9004 04 E Open phase in the converter main power supply 3.1.10
SP9006 06 Temperature sensor disconnected 3.4.4
SP9007 07 Excessive speed 3.4.5
SP9009 09 Main circuit overload/IPM overheat 3.4.6
SP9010 10 Low power supply input voltage 3.4.7
SP9011 11 7 Converter: DC link overvoltage 3.1.7
SP9012 12 DC link overcurrent/IPM alarm
SP12xx 13 CPU internal data memory error 3.4.9
SP9014 14 Amplifier ID not registered 3.4.10
SP9015 15 Output switching/spindle switching alarm 3.4.11
SP9016 16 RAM error 3.4.12
SP0017 17 Amplifier ID data error 3.4.13
SP12xx 18 Program sum check error 3.4.14
SP12xx 19 Excessive offset of the phase U current detection circuit 3.4.15
SP12xx 20 Excessive offset of the phase V current detection circuit 3.4.15
SP9021 21 Position sensor polarity setting incorrect 3.4.16
SP9022 22 Spindle amplifier current overload 3.4.17
SP12xx 24 Serial transfer data error 3.4.18
SP9027 27 Position coder disconnected 3.4.19
SP9029 29 Short-period overload 3.4.20
SP9030 30 1 Overcurrent in the converter input circuit 3.1.1
SP9031 31 Motor lock alarm 3.4.21
SP9032 32 Serial communication LSI RAM error 3.4.22
SP9033 33 5 Converter: DC link precharge failure 3.1.5
SP9034 34 Parameter data out of the specifiable range 3.4.23
SP9035 35 Gear ratio parameter error 3.5.2
SP9036 36 Error counter overflow 3.4.24
SP9037 37 Speed detector parameter error 3.4.25
SP9041 41 Position coder one-rotation signal detection error 3.4.26
SP9042 42 Position coder one-rotation signal not detected 3.4.27
SP9043 43 Position coder signal for differential speed mode disconnected 3.4.28
SP9046 46 Position sensor one-rotation signal detection error during thread cutting 3.4.29
SP9047 47 Position coder signal error 3.4.30
SP9049 49 Overflow of converted motor speed for differential spindle speed control 3.4.31
SP9050 50 Excessive speed command calculation value in spindle synchronization 3.4.32
SP9051 51 4 Converter: DC link undervoltage 3.1.4
SP9052 52 ITP signal error I 3.4.33
SP9053 53 ITP signal error II 3.4.33
SP9054 54 Current overload alarm 3.4.34
3.4.8
3.5.1
- 62 -
Page 87
2.ALARM NUMBERS AND
B-65285EN/04 TROUBLESHOOTING
Alarm No. SP PS Description Remarks
SP9055 55 Abnormal switching status of power leads 3.4.35
SP9056 56 Internal cooling fan stopped 3.4.36
SP9057 57 H Converter: excessive deceleration power 3.1.11
SP9058 58 3 Converter: main circuit overload 3.1.3
SP9059 59 2 Converter: cooling fan stopped 3.1.2
SP9061 61 Excessive semi-closed loop/closed loop position error alarm 3.4.37
SP9065 65 Abnormal travel distance in magnetic pole determination operation 3.4.38
SP9066 66 Communication alarm between spindle and amplifier 3.4.39
SP9069 69 Safety speed exceeded 3.4.41
SP9070 70 Abnormal axis data 3.4.42
SP9071 71 Abnormal safety parameter 3.4.43
SP9072 72 Motor speed mismatch 3.4.44
SP9073 73 Motor sensor disconnected 3.4.45
SP9074 74 CPU test alarm 3.4.46
SP9075 75 CRC test alarm 3.4.47
SP9076 76 Safety function not executed 3.4.48
SP9077 77 Axis number mismatch 3.4.49
SP9078 78 Safety parameter mismatch 3.4.50
SP9079 79 Abnormal initial test operation 3.4.51
SP9080 80 Destination amplifier error in inter-spindle amplifier communication 3.4.52
SP9081 81 Motor sensor one-rotation signal detection error 3.4.53
SP9082 82 Motor sensor one-rotation signal not detected 3.4.54
SP9083 83 Motor sensor signal error 3.4.55
SP9084 84 Spindle sensor disconnected 3.4.56
SP9085 85 Spindle sensor one-rotation signal detection error 3.4.57
SP9086 86 Spindle sensor one-rotation signal not detected 3.4.58
SP9087 87 Spindle sensor signal error 3.4.59
SP9088 88 Cooling fan stopped of the radiator 3.4.60
SP9089 89 Sub module SM (SSM) error 3.4.61
SP9090 90 Unexpected rotation alarm 3.4.62
SP9091 91 Pole position count miss alarm 3.4.63
SP9092 92 Velocity command-dependent overspeed alarm 3.4.64
SP12xx A Program ROM error 3.4.65
SP12xx A1 Program ROM error 3.4.65
SP12xx A2 Program ROM error 3.4.65
SP9110 b0 Communication error between amplifiers 3.4.66
SP9111 b1 6 Converter: control power supply low voltage 3.1.6
SP9112 b2 8 Converter: excessive regenerative power 3.1.8
SP9113 b3 A Converter: cooling fan stopped of the radiator 3.1.9
SP9120 C0 Communication data alarm 3.4.67
SP9121 C1 Communication data alarm 3.4.67
SP9122 C2 Communication data alarm 3.4.67
SP9123 C3 Spindle switching circuit error 3.4.68
SP9128 C8 Excessive speed deviation alarm in spindle synchronization 3.4.72
SP9129 C9 Excessive position error alarm in spindle synchronization 3.4.73
SP9131 d1 Speed polarity error in torque tandem operation 3.4.75
SP9132 d2 Serial data error 3.4.76
SP9133 d3 Data transfer error 3.4.77
SP9134 d4 Soft phase alarm 3.4.78
SP9137 d7 Device communication error 3.4.79
SP9139 d9 Pulse error alarm 3.4.80
SP9140 E0 Count error alarm 3.4.81
SP9141 E1 Serial sensor one-rotation signal not detected 3.4.82
BRIEF DESCRIPTIONS
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3 TROUBLESHOOTING AND ACTION
3.1 POWER SUPPLY (αiPS, αiPS
If an alarm occurs, in the STATUS display, the ALM LED lights red, and the one-digit 7-segment display
indicates an alarm code or warning code.
The meaning of each warning code is the same as that of the corresponding alarm code. If a warning
code is displayed, an alarm condition will occur in a certain period of time. The Power Supply remains
operable while the warning code stays displayed.
Example of an alarm Example of a warning
code display code display
3.1.1 No LED Display (αiPS, αiPS
(1) Meaning
The 200-V control power (CX1A) is not supplied.
Alternatively, the 24-VDC power is short-circuited.
(2) Cause and troubleshooting
(a) Check whether the circuit breaker for the control power supply is off.
When a lightning surge absorber is connected immediately following the circuit breaker, check
whether the lightning surge absorber is short-circuited by lightning. If the lightning surge
absorber is short-circuited, replace it.
(b) Disconnect the cable from the connector CX1A and turn the control power on. If "-" is displayed,
the 24-V power to a Servo Amplifier or Spindle Amplifier may be short-circuited.
→ Detect the amplifier which causes the power to be short-circuited by sequentially
connecting the cable from the Power Supply and replace it.
(c) Disconnect the cable from the connector CX4 and turn the control power on. If "-" is displayed,
the external 24-V power may be connected to pin 3 of CX4 incorrectly.
→ Correct the connection.
R
)
)
R
3.1.2 Alarm Code 1 (αiPS)
For the αiPS-5.5 to -15 and 11HV to 18HV
(1) Meaning
The main circuit power module (IPM) has detected an abnormal condition.
(2) Cause and troubleshooting
(a) Control supply voltage decrease of the power module (IPM)
→ Replace the power unit.
(b) Input supply voltage imbalance
→ Check the input power supply specification.
(c) The specification of the AC reactor does not match the PSM in use.
→ Check the PSM and the specification of the AC reactor.
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(d) IPM failure
→ Replace the IPM.
ACTION
For the αiPS15 to –55 and 30HV to 100HV
(1) Meaning
Overcurrent flowed into the input of the main circuit.
(2) Cause and troubleshooting
(a) Input supply voltage imbalance
→ Check the input power supply specification.
(b) The specification of the AC reactor does not match the PSM in use.
→ Check the PSM and the specification of the AC reactor.
(c) IGBT defective
→ Replace IGBT.
3.1.3 Alarm Code 2 (αiPS, αiPS
(1) Meaning
A cooling fan for the control circuit has stopped.
With the A06B-6140-HXXX or A06B-6150-HXXX (an upgrade version of PS), this alarm is also
issued when a unit stirring fan has stopped.
(2) Cause and troubleshooting
(a) Cooling fan broken
Check whether the cooling fan rotates normally.
→ Replace it.
(b) Internal stirring fan broken (only with an upgrade version of PS)
→ Replace it.
)
R
3.1.4 Alarm Code 3 (αiPS)
(1) Meaning
The temperature of the main circuit heat sink has risen abnormally.
(2) Cause and troubleshooting
(a) Cooling fan for the main circuit broken
Check whether the cooling fan for the main circuit rotates normally.
→ Replace it.
(b) Dust accumulation
→ Clean the cooling system with a vacuum cleaner or the factory air blower.
(c) Overload
→ Examine the operating conditions.
(d) Poor installation of the control printed-circuit board
→ Be sure to push the faceplate as far as it will go. (This alarm may be displayed if one of the
connectors for connection between the control printed-circuit board and power
printed-circuit board is detached.)
3.1.5 Alarm Code 4 (αiPS, αiPS
(1) Meaning
In the main circuit, the DC voltage (DC link) has dropped.
(2) Cause and troubleshooting
(a) A small power dip has occurred.
→ Check the power supply.
R
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(b) Low input power supply voltage
→ Check the power supply specification.
(c) The main circuit power supply may have been switched off with an emergency stop state
released.
→ Check the sequence.
3.1.6 Alarm Code 5 (αiPS, αiPS
(1) Meaning
The main circuit capacitor was not recharged within the specified time.
(2) Cause and troubleshooting
(a) Too many Servo Amplifier and/or Spindle Amplifier units are connected.
→ Check the specification of the PSM.
(b) The DC link is short-circuited.
→ Check the connection.
(c) The recharge current limiting resistor is defective.
→ Replace the distributing board.
3.1.7 Alarm Code 6 (αiPS, αiPS
(1) Meaning
The control power supply voltage decrease.
The 24-V power supply is abnormal in the Power Supply. (Internal fuse blown)
(2) Cause and troubleshooting
(a) Input voltage decrease
→ Check the power supply.
(b) Power Supply broken
→ If this alarm is issued just by turning the control power on, replace the Power Supply.
)
R
)
R
3.1.8 Alarm Code 7 (αiPS, αiPS
(1) Meaning
In the main circuit, the DC voltage at the DC link is abnormally high.
(2) Cause and troubleshooting
(a) Excessive regenerated power
The PSM does not have a sufficient capacity.
→ Check the specification of the PSM.
(b) The output impedance of the AC power source is too high.
→ Check the power source output impedance.
(Normal if the voltage variation at maximum output time is within 7%)
(c) The main circuit power supply may have been switched off with an emergency stop state
released.
→ Check the sequence.
3.1.9 Alarm Code 8 (αiPS
(1) Meaning
There is excessive short-term regenerative power.
(2) Cause and troubleshooting
(a) Insufficient regenerative resistance
→ Review the specification of the regenerative resistance.
)
R
)
R
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(b) Regenerative circuit failure
→ The regenerative circuit is abnormal. Replace the PSMR.
ACTION
3.1.10 Alarm Code A (αiPS)
(1) Meaning
A cooling fan of external cooling fin has stopped.
With the A06B-6110-HXXX or A06B-6120-HXXX, this alarm is also issued when a unit stirring fan
has stopped.
(2) Cause and troubleshooting
(a) Cooling fan for the radiator cooling fin broken
Check whether the cooling fan for the radiator cooling fin rotates normally.
→ Replace it.
(b) Unit stirring fan broken （A06B-6110-HXXX,A06B-6120-HXXX のみ）
Check whether the unit stirring fan rotates normally.
→ Replace it.
(c) Poor installation of the control printed-circuit board
→ Be sure to install the control printed-circuit board.
(This alarm may be issued if one of the connectors for connection between the control
printed-circuit board and power printed-circuit board become loose.)
(d) Poor installation of the control printed-circuit board
→ Be sure to push the faceplate as far as it will go. (This alarm may be displayed if one of the
connectors for connection between the control printed-circuit board and power
printed-circuit board is detached.)
3.1.11 Alarm Code E (αiPS, αiPS
(1) Meaning
The input power supply is abnormal (open phase).
(2) Cause and troubleshooting
(a) The input power supply has an open phase.
Check the power supply voltage.
→ If there is no problem with the power supply voltage, check the connections.
3.1.12 Alarm Code H (αiPS
(1) Meaning
The temperature of the regenerative resistor has arisen abnormally.
(2) Cause and troubleshooting
(a) Regenerative resistance not detected
→ Check the wiring for the regenerative resistance.
(b) Insufficient regenerative resistance
→ Review the specification for the regenerative resistance.
(c) Excessive regenerative power
→ Reduce the frequency at which acceleration/ deceleration occurs.
(d) Regenerative resistor cooling fan stopped
→ Check to see if the regenerative resistor cooling fan has stopped.
)
R
)
R
3.1.13 Alarm Code P (αiPS, αiPS
(1) Meaning
Communication error between amplifiers
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(2) Cause and troubleshooting
(a) Check the connector and cable (CXA2A).
(b) Replace the Power Supply (control printed-circuit board).
3.2 SERVO AMPLIFIER
The following table lists alarms related to the Servo Amplifier.
See this table while comparing the CNC alarm codes presented in Chapter 2, "Alarm Numbers and Brief
Description" with the LED displays of the Servo Amplifier.
Alarm
Inverter: internal cooling fan stopped 1
Inverter: control power supply
undervoltage
Inverter: DC link undervoltage 5
Inverter: overheat 6
Inverter: cooling fan stopped of the
radiator
Communication error between
amplifiers
Inverter: DC link current alarm (L axis) 8
Inverter: IPM alarm (L axis) 8.
Inverter: IPM alarm (M axis) 9.
Inverter: IPM alarm (N axis) A.
Inverter: IPM alarm (OH) (L axis) 8.
Inverter: IPM alarm (OH) (M axis) 9.
Inverter: IPM alarm (OH) (N axis) A.
Inverter: motor current alarm (L axis) b
Inverter: motor current alarm (M axis) c
Inverter: motor current alarm (N axis) d
Inverter: abnormal control power
supply
Inverter: FSSB communication error
(COP10B)
LED
display
2
F
P
Blinking -
U
- Fan not running.
- Fan motor connector or cable defective
- Servo Amplifier failure
- The 24 V control power supply output from the
Power Supply is low.
- Connector/cable (CXA2A/B) defective
- Servo Amplifier failure
- Low input voltage
- DC link short-bar poor connection
- Servo Amplifier failure
- The motor is being used under a harsh condition.
- The ambient temperature is high.
- Servo Amplifier failure
- Fan not running.
- Fan motor connector or cable defective
- Servo Amplifier failure
- Connector/cable (CXA2A/B) defective
- Servo Amplifier failure
- Short-circuit between power lead phases or
ground fault in them
- Short-circuit between motor winding phases or
ground fault in them
- Servo Amplifier failure
- Short-circuit between power lead phases or
ground fault in them
- Short-circuit between motor winding phases or
ground fault in them
- Servo Amplifier failure
- The motor is being used under a harsh condition.
- The ambient temperature is high.
- Servo Amplifier failure
- Short-circuit between power lead phases or
ground fault in them
- Short-circuit between motor winding phases or
ground fault in them
- Incorrect motor ID setting
- Servo Amplifier failure
- Motor failure
- Connector or cable (JF*) failure
- Motor failure
- Servo Amplifier failure
- Connector or cable (COP10B) failure
- Servo Amplifier failure
- CNC failure
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Major cause Reference
3.2.1
3.2.2
3.2.3
3.2.4
3.2.5
3.2.6
3.2.7
3.2.8
3.2.9
3.2.10
3.2.11
3.2.12
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Alarm
Inverter: FSSB communication error
(COP10A)
LED
display
L
- Connector or cable (COP10A) failure
- Servo Amplifier failure
Major cause Reference
ACTION
3.2.13
3.2.1 Alarm Code 1
(1) Meaning
Inverter: internal cooling fan stopped
(2) Cause and troubleshooting
(a) Check whether there is any foreign material in the fan.
(b) Be sure to push the faceplate (control printed-circuit board) as far as it will go.
(c) Check that the fan connector is attached correctly.
(d) Replace the fan.
(e) Replace the Servo Amplifier.
3.2.2 Alarm Code 2
(1) Meaning
Inverter: control power supply undervoltage
(2) Cause and troubleshooting
(a) Check the three-phase input voltage of the amplifier (the voltage shall not be lower than 85% of
the rated input voltage).
(b) Check the 24 V power supply voltage output from the Power Supply (the voltage shall normally
not lower than 22.8 V).
(c) Check the connector and cable (CXA2A/B).
(d) Replace the Servo Amplifier.
3.2.3 Alarm Code 5
(1) Meaning
Inverter: DC link undervoltage
(2) Cause and troubleshooting
(a) Check that the screws for the DC link connection cable (bar) are tight.
(b) If a DC link low voltage alarm condition occurs in more than one module, see Subsection 3.1.4,
"Alarm code 4" for explanations about how to troubleshoot the Power Supply.
(c) If a DC link low voltage alarm condition occurs in one Servo Amplifier only, be sure to push the
faceplate (control printed-circuit board) of that Servo Amplifier as far as it will go.
(d) Replace the Servo Amplifier in which this alarm has occurred.
3.2.4 Alarm Code 6
(1) Meaning
Inverter: overheat
(2) Cause and troubleshooting
(a) Check that the motor is being used at or below its continuous rating.
(b) Check that the cooling capacity of the cabinet is sufficient (inspect the fans and filters).
(c) Check that the ambient temperature is not too high.
(d) Be sure to push the faceplate (control printed-circuit board) as far as it will go.
(e) Replace the Servo Amplifier.
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3.2.5 Alarm Code F
(1) Meaning
Inverter: cooling fan stopped of the radiator
(2) Cause and troubleshooting
(a) Check whether there is any foreign material in the fan.
(b) Be sure to push the faceplate (control printed-circuit board) as far as it will go.
(c) Check that the fan connector is attached correctly.
(d) Replace the fan.
(e) Replace the Servo Amplifier.
3.2.6 Alarm Code P
(1) Meaning
Communication error between amplifiers
(2) Cause and troubleshooting
(a) Check the connector and cable (CXA2A/B).
(b) Replace the control printed-circuit board.
(c) Replace the Servo Amplifier.
3.2.7 Alarm Code 8
(1) Meaning
Inverter: DC link current alarm
(2) Cause and troubleshooting
(a) Disconnect the motor power leads from the Servo Amplifier, and release the Servo Amplifier
from an emergency stop condition.
<1> If no abnormal DC link current alarm condition has occurred → Go to (b).
<2> If an abnormal DC link current alarm condition has occurred → Replace the Servo
Amplifier.
(b) Disconnect the motor power leads from the Servo Amplifier, and check the insulation between
PE and the motor power lead U, V, or W.
<1> If the insulation is deteriorated → Go to (c).
<2> If the insulation is normal → Replace the Servo Amplifier.
(c) Disconnect the motor from its power leads, and check whether the insulation of the motor or
power leads is deteriorated.
<1> If the insulation of the motor is deteriorated → Replace the motor.
<2> If the insulation of any power lead is deteriorated → Replace the power lead.
3.2.8 Alarm Codes 8., 9., and A.
(1) Meaning
Inverter: IPM alarm
(2) Cause and troubleshooting
(a) Be sure to push the faceplate (control printed-circuit board) as far as it will go.
(b) Disconnect the motor power leads from the Servo Amplifier, and release the Servo Amplifier
from an emergency stop condition.
<1> If no IPM alarm condition has occurred → Go to (b).
<2> If an IPM alarm condition has occurred → Replace the Servo Amplifier.
(c) Disconnect the motor power leads from the Servo Amplifier, and check the insulation between
PE and the motor power lead U, V, or W.
<1> If the insulation is deteriorated → Go to (c).
<2> If the insulation is normal → Replace the Servo Amplifier.
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(d) Disconnect the motor from its power leads, and check whether the insulation of the motor or
power leads is deteriorated.
<1> If the insulation of the motor is deteriorated → Replace the motor.
<2> If the insulation of any power lead is deteriorated → Replace the power lead.
ACTION
3.2.9 Alarm Codes 8., 9., and A.
(1) Meaning
Inverter: IPM alarm (OH)
(2) Cause and troubleshooting
(a) Be sure to push the faceplate (control printed-circuit board) as far as it will go.
(b) Check that the heat sink cooling fan is running.
(c) Check that the motor is being used at or below its continuous rating.
(d) Check that the cooling capacity of the cabinet is sufficient (inspect the fans and filters).
(e) Check that the ambient temperature is not too high.
(f) Replace the Servo Amplifier.
3.2.10 Alarm Codes b, c, and d
(1) Meaning
Inverter: DC link current alarm
(2) Cause and troubleshooting
(a) Checking the servo parameters
Referring to "FANUC AC SERVO MOTOR αi series Parameter Manual (B-65270EN)," check
whether the following parameters have default values.
Series 15i
Series 16i, 18i, 20i, 21i, 0i
Power Mate i
Alternatively, if an abnormal motor current alarm condition occurs only on rapid
acceleration/deceleration, it is likely that the motor is being used under too harsh a condition.
Increase the acceleration/deceleration time constant, and see what will occur.
(b) Be sure to push the faceplate (control printed-circuit board) as far as it will go.
(c) Disconnect the motor power leads from the Servo Amplifier, and release the Servo Amplifier
from an emergency stop condition.
<1> If no abnormal motor current occurs → Go to (c).
<2> If an abnormal motor current occurs → Replace the Servo Amplifier.
(d) Disconnect the motor power leads from the Servo Amplifier, and check the insulation between
PE and the motor power lead U, V, or W.
<1> If the insulation is deteriorated → Go to (d).
<2> If the insulation is normal → Replace the Servo Amplifier.
(e) Disconnect the motor from its power leads, and check whether the insulation of the motor or
power leads is deteriorated.
<1> If the insulation of the motor is deteriorated → Replace the motor.
<2> If the insulation of any power lead is deteriorated → Replace the power lead.
No.1809 No.1852 No.1853
No.2004 No.2040 No.2041
3.2.11 Alarm Code "-" Blinking
(1) Meaning
Inverter: abnormal control power supply
(2) Cause and troubleshooting
(a) Disconnect the feedback cable (JF*) from the Servo Amplifier, and then switch on the power.
<1> If blinking continues → Replace the Servo Amplifier.
<2> If blinking stops → Go to (b).
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(b) Disconnect the feedback cable (JF*) from the Pulsecoder, and then switch on the power. (Keep
the cable on the Servo Amplifier side connected.)
<1> If blinking continues → Replace the cable.
<2> If blinking stops → Replace the motor.
3.2.12 Alarm Code U
(1) Meaning
Inverter: FSSB communication error (COP10B) (NOTE)
(2) Cause and troubleshooting
(a) Replace the Servo Amplifier optical cable (COP10B) that is nearest to the CNC on which "U" is
displayed (in Fig. 3.2.12, the cable between UNIT2 and UNIT3).
(b) Replace the Servo Amplifier that is nearest to the CNC on which "U" is displayed (in Fig. 3.2.12,
UNIT3).
(c) Replace the COP10B-side Servo Amplifier that is nearest to the CNC on which "U" is displayed
(in Fig. 3.2.12, UNIT2).
(d) Replace the servo card in the CNC.
UNIT1 UNIT2 UNIT3 UNIT4
Master side
(CNC side)
COP10B
COP10A
LL U
COP10B
COP10A
Fig. 3.2.12
COP10B
COP10A
U
COP10B
Slave side
COP10A
NOTE
When the CNC power is turned on, "U" blinks momentarily, and then "-" steadily
lights. This is not a failure, though.
3.2.13 Alarm Code L
(1) Meaning
Inverter: FSSB communication error (COP10A)
(2) Cause and troubleshooting
(a) Replace the Servo Amplifier optical cable (COP10A) that is farthest to the CNC on which "L" is
displayed (in Fig. 3.2.13, the cable between UNIT2 and UNIT3).
(b) Replace the Servo Amplifier that is farthest to the CNC on which "L" is displayed (in Fig. 3.2.13,
UNIT2).
(c) Replace the COP10A-side Servo Amplifier that is farthest to the CNC on which "L" is displayed
(in Fig. 3.2.13, UNIT3).
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3.TROUBLESHOOTING AND
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UNIT1 UNIT2 UNIT3 UNIT4
Master side
(CNC side)
COP10B
COP10A
LL U
COP10B
COP10A
Fig. 3.2.13
COP10B
COP10A
U
COP10B
Slave side
COP10A
ACTION
3.2.14 DB Relay Error (CNC Message "Alarm SV0654")
(1) Meaning
DB relay error
(2) Cause and troubleshooting
(a) Check whether the power lead is short-circuited.
(b) Replace the Servo Amplifier.
3.3 SERVO SOFTWARE
If a servo alarm is issued, an alarm message is output, and details of the alarm are also displayed on the
servo adjustment screen or the diagnosis screen. Using the alarm identification table given in this section,
determine the alarm, and take a proper action.
3.3.1 Servo Adjustment Screen
The following procedure can be used to display the servo adjustment screen.
(The DPL/MDI of the Power Mate has no servo adjustment screen.)
z Series 15i
SYSTEM
→ [CHAPTER] → [SERVO] → [ ] → [SERVO ALARM]
z Series 16i, 18i, 20i, 21i, 0i
SYSTEM
→ [SYSTEM] → [ ] → [SV-PRM] → [SV-TUN]
If the servo setting screen does not appear, specify the following parameter, then switch the CNC off and on
again.
#7 #6 #5 #4 #3 #2 #1 #0
3111 SVS
SVS (#0)=1 (to display the servo setting screen)
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A
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larm detail
information
<1>
<2>
<3>
<4>
<5>
Fig. 3.3.1(a) Servo adjustment screen
larm detail
information
<1>
<2>
<3>
<4>
<5>
<6>
<7>
<8>
<9>
Fig. 3.3.1(b) Series 15i servo alarm screen
The table below indicates the names of the alarm bits.
Table 3.3.1 List of alarm bit names
#7 #6 #5 #4 #3 #2 #1 #0
<1> Alarm 1 OVL LVA OVC HCA HVA DCA FBA OFA
<2> Alarm 2 ALD EXP
<3> Alarm 3 CSA BLA PHA RCA BZA CKA SPH
<4> Alarm 4 DTE CRC STB PRM
<5> Alarm 5 OFS MCC LDM PMS FAN DAL ABF
<6> Alarm 6 SFA
<7> Alarm 7 OHA LDA BLA PHA CMA BZA PMA SPH
<8> Alarm 8 DTE CRC STB SPD
<9> Alarm 9 FSD SVE IDW NCE IFE
NOTE
The empty fields do not represent alarm codes.
3.3.2 Diagnosis Screen
The alarm items of the servo adjustment screen correspond to the diagnosis screen numbers indicated in the
table below.
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Table 3.3.2 Correspondence between the servo adjustment screen and diagnosis screen
Alarm No.
<1> Alarm 1
<2> Alarm 2
<3> Alarm 3
<4> Alarm 4
<5> Alarm 5
<6> Alarm 6
<7> Alarm 7
<8> Alarm 8
<9> Alarm 9
No 3014 + 20(X-1)
3015 + 20(X-1)
3016 + 20(X-1)
3017 + 20(X-1)
⎯⎯⎯⎯⎯
⎯⎯⎯⎯⎯
⎯⎯⎯⎯⎯
⎯⎯⎯⎯⎯
⎯⎯⎯⎯⎯
Series 15i Series 16i, 18i, 21i, 0i
No 200
201
202
203
204
⎯⎯
205
206
⎯⎯
ACTION
<1>
<2>
<3>
<4>
<5>
<7>
<8>
Fig. 3.3.2 Diagnosis screen
3.3.3 Overload Alarm (Soft Thermal, OVC)
(Alarm identification method)
#7 #6 #5 #4 #3 #2 #1 #0
<1> Alarm 1
(Action)
(1) Make sure that the motor is not vibrating.
⇒ If a motor vibrates, the current flowing in it becomes more than necessary, resulting in an alarm.
(2) Make sure that the power lead to the motor is connected correctly.
⇒ If the connection is incorrect, an abnormal current flows in the motor, resulting in an alarm.
(3) Make sure that the following parameters are set correctly.
⇒ An overload alarm is issued based on the result of calculation of these parameters. Be sure to set
them to the standard values. For details of the standard values, refer to the FANUC AC SERVO
MOTOR αi series Parameter Manual (B-65270EN).
No. 1877 (FS15i) Overload protection coefficient (OVC1)
No. 2062 (FS16i)
No. 1878 (FS15i) Overload protection coefficient (OVC2)
No. 2063 (FS16i)
No. 1893 (FS15i) Overload protection coefficient (OVCLMT)
No. 2065 (FS16i)
No. 1785 (FS15i) Overload protection coefficient (OVC21)
No. 2162 (FS16i)
OVL LVA OVC HCA HVA DCA FBA OFA
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Page 100
3.TROUBLESHOOTING AND
ACTION
TROUBLESHOOTING B-65285EN/04
No. 1786 (FS15i) Overload protection coefficient (OVC22)
No. 2163 (FS16i)
No. 1787 (FS15i) Overload protection coefficient (OVCLMT2)
No. 2165 (FS16i)
Measure the actual current values (IR, IS) using the SERVO GUIDE, compare the values with overload
duty curves in the Servo Motor Descriptions (B-65262EN), and check whether the load on the machine is
too large compared with the motor capacity. If the actual current is high on acceleration/deceleration, it is
likely that the time constant is too small.
3.3.4 Feedback Disconnected Alarm
(Alarm identification method)
#7 #6 #5 #4 #3 #2 #1 #0
<1> Alarm 1
<2> Alarm 2 ALD EXP
<6> Alarm 6 SFA
FBA ALD EXP SFA Alarm description Action
1 1 1 0 Hard disconnection (separate phase A/B) 1
1 0 0 0 Soft disconnection (closed loop) 2
1 0 0 1
(Action)
Action 1: This alarm is issued when a separate phase A/B scale is used. Check if the phase A/B
detector is connected correctly.
Action 2: This alarm is issued when the position feedback pulse variation is small relative to the
velocity feedback pulse variation. This means that this alarm is not issued when a semi-full
is used. Check if the separate detector outputs position feedback pulses correctly. If
position feedback pulses are output correctly, it is considered that the motor alone is
rotating in the reverse direction at the start of machine operation because of a large
backlash between the motor position and scale position.
OVL LVA OVC HCA HVA DCA FBA OFA
Soft disconnection (αi Pulsecoder)
3
#7 #6 #5 #4 #3 #2 #1 #0
No. 1808 (FS15i) TGAL
No. 2003 (FS16i)
TGAL (#1) 1: Uses the parameter for the soft disconnection alarm detection level.
No. 1892 (FS15i) Soft disconnection alarm level
No. 2064 (FS16i)
Standard setting 4: Alarm issued for a 1/8 rotation of the motor.
Increase this value.
Action 3: This alarm is issued when synchronization between the absolute position data sent from the
built-in Pulsecoder and phase data is lost. Turn off the power to the CNC, then detach the
Pulsecoder cable then attach it again. If this alarm is still issued, replace the Pulsecoder.
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