FANUC AC SPINDLE MOTOR PARAMETER MANUAL
#
FANUC AC SPINDLE MOTOR @* series
FANUC AC SPINDLE MOTOR
PARAMETER MANUAL
* series
B-65280EN/05
• No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without notice.
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”.
This manual contains the program names or device names of other companies, some of
which are registered trademarks of respective owners. However, these names are not
followed by or in the main body.
B-65280EN/05 DEFINITION OF WARNING, CAUTION, AND NOTE
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.
- Read this manual carefully, and store it in a safe place.
s-1
B-65280EN/05 PREFACE
PREFACE
This manual describes the parameters and functions of the FANUC
servo amplifier αi/βi series spindle. This manual is divided into four
parts and appendix. Part I describes the αi series spindle, Part II
describes the βi series spindle, Part III describes the αCi series spindle,
and Part IV describes the Bis series spindle.
Unless otherwise noted, the parameter numbers for FANUC Series 16i
are used in the text. When using any other model, reference the
corresponding parameter numbers.
The table below indicates the abbreviated model names used with the
parameter numbers.
Product name
FANUC Series 30i Series 30i
FANUC Series 31i Series 31i
FANUC Series 32i Series 32i
FANUC Series 16i Series 16i
FANUC Series 18i Series 18i
FANUC Series 21i Series 21i
FANUC Series 0i Series 0i
FANUC Series 15i Series 15i 15i
Abbreviated model
name in text
For detailed information indicating which model each function
described in this manual can be used with, refer to the manual of each
CNC. For the package specifications, in particular, refer to the CNC
manual.
The manuals related to the αi/βi series spindle are listed below.
(1) FANUC AC SPINDLE MOTOR αi series DESCRIPTIONS
(B-65272EN)
(2) FANUC AC SPINDLE MOTOR αCi series DESCRIPTIONS
(B-65372EN)
(3) FANUC AC SPINDLE MOTOR βi series DESCRIPTIONS
(B-65312EN)
(4) FANUC SERVO AMPLIFIER αi series DESCRIPTIONS
(B-65282EN)
(5) FANUC SERVO AMPLIFIER βi series DESCRIPTIONS
(B-65322EN)
(6) FANUC SERVO MOTOR αis/αi series,
FANUC SPINDLE MOTOR αi series,
FANUC SERVO AMPLIFIER αi series
MAINTENANCE MANUAL (B-65285EN)
(7) FANUC SERVO MOTOR βis series,
FANUC SPINDLE MOTOR βi series,
FANUC SERVO AMPLIFIER βi series
MAINTENANCE MANUAL (B-65325EN)
Abbreviated model
name in table
30i
16i
p-1
PREFACE B-65280EN/05
(8) FANUC AC SPINDLE MOTOR αi/βi series
PARAMETER MANUAL (B-65280EN)
(9) FANUC AC SPINDLE MOTOR αi
(B-65292EN)
B series DESCRIPTIONS
p-2
B-65280EN/05 TABLE OF CONTENTS
TABLE OF CONTENTS
DEFINITION OF WARNING, CAUTION, AND NOTE .................................s-1
PREFACE....................................................................................................p-1
I. FANUC AC SPINDLE MOTOR αi series
1 START-UP............................................................................................... 3
1.1 START-UP PROCEDURE............................................................................. 4
1.2 SPINDLE SERIAL INTERFACE (Optional function) ...................................... 5
1.2.1 Parameters Related to Spindle Serial Output ...........................................................5
1.2.2 Automatic Spindle Parameter Initialization .............................................................6
1.2.3 Diagnosis (Diagnosis Screen)...................................................................................7
1.2.4 Alarm ........................................................................................................................8
1.3 PARAMETERS RELATED TO DETECTORS.............................................. 10
1.3.1 List of Parameters for Detectors.............................................................................10
1.3.2 Details of Parameters for Detectors........................................................................12
1.3.3 Typical Detector Configurations ............................................................................21
2 EXPLANATION OF OPERATION MODES........................................... 28
2.1 VELOCITY CONTROL MODE.....................................................................29
2.1.1 Start-up Procedure..................................................................................................29
2.1.2 Overview ................................................................................................................29
2.1.3 System Configuration.............................................................................................29
2.1.4 List of I/O Signals (CNC↔PMC)..........................................................................30
2.1.5 Related Parameters .................................................................................................34
2.1.6 Details of Related Parameters ................................................................................36
2.1.7 Troubleshooting .....................................................................................................46
2.2 POSITION CODER METHOD SPINDLE ORIENTATION
(Optional function) .......................................................................................50
2.2.1 Start-up Procedure..................................................................................................50
2.2.2 Overview ................................................................................................................51
2.2.3 Feature....................................................................................................................51
2.2.4 System Configuration.............................................................................................52
2.2.5 Stop Position Specification Method .......................................................................54
2.2.6 I/O Signals (CNC ↔ PMC) ...................................................................................55
2.2.7 Examples of Sequences ..........................................................................................59
2.2.8 Related Parameters .................................................................................................62
c-1
TABLE OF CONTENTS B-65280EN/05
2.2.9 Details of Related Parameters ................................................................................63
2.2.10 Calculating the Position Gain for Orientation ........................................................68
2.2.11 Adjusting the Orientation Stop Position Shift Parameter.......................................69
2.2.12 Calculating the Orientation Time ...........................................................................71
2.3 RIGID TAPPING (Optional function)............................................................ 73
2.3.1 Start-up Procedure..................................................................................................73
2.3.2 Overview ................................................................................................................73
2.3.3 System Configuration.............................................................................................74
2.3.4 List of I/O Signals (CNC ↔ PMC)........................................................................77
2.3.5 Sequence.................................................................................................................79
2.3.6 Related Parameters .................................................................................................80
2.3.7 Details of Related Parameters ................................................................................82
2.3.8 Parameter Setting Procedure ..................................................................................89
2.3.9 Adjustment Procedure ............................................................................................98
2.3.10 Diagnosis (Diagnosis Screen)...............................................................................104
2.3.11 Alarm ....................................................................................................................106
2.4 Cs CONTOURING CONTROL (Optional function) .................................... 109
2.4.1 Start-up Procedure................................................................................................109
2.4.2 Overview ..............................................................................................................110
2.4.3 System Configuration...........................................................................................110
2.4.4 List of I/O Signals (CNC ↔ PMC)......................................................................112
2.4.5 Examples of Sequences ........................................................................................114
2.4.6 Related Parameters ...............................................................................................115
2.4.7 Details of Related Parameters ..............................................................................117
2.4.8 Diagnosis (Diagnosis Screen)...............................................................................126
2.4.9 Alarm ....................................................................................................................126
2.5 SPINDLE SYNCHRONOUS CONTROL (Optional function)...................... 127
2.5.1 Start-up Procedure................................................................................................127
2.5.2 Overview ..............................................................................................................128
2.5.3 System Configuration...........................................................................................129
2.5.4 Explanation of Operation .....................................................................................136
2.5.5 I/O Signals (CNC ↔ PMC) .................................................................................137
2.5.6 Examples of Sequences ........................................................................................141
2.5.7 Related Parameters ...............................................................................................146
2.5.8 Details of Related Parameters ..............................................................................147
2.5.9 Number of Error Pulses in Spindle Synchronous Control....................................155
2.5.10 Specifying a Shift Amount for Spindle Phase Synchronous Control...................156
c-2
B-65280EN/05 TABLE OF CONTENTS
2.5.11 Diagnosis (Diagnosis Screen)...............................................................................156
2.5.12 Alarm ....................................................................................................................157
2.6 SPECIFICATIONS COMMON TO ALL OPERATION MODES.................. 158
2.6.1 Overview ..............................................................................................................158
2.6.2 List of I/O Signals (CNC ↔ PMC)......................................................................158
2.6.3 Parameters ............................................................................................................163
2.6.4 Details of Parameters............................................................................................166
2.6.5 Diagnosis (Diagnosis Screen)...............................................................................176
3 I/O SIGNALS (CNC ↔ PMC) ..............................................................178
3.1 INPUT SIGNALS (PMC→CNC→SPM)...................................................... 179
3.1.1 List of Input Signals .............................................................................................179
3.1.2 Explanation of Input Signals ................................................................................180
3.1.3 Details of Input Signals ........................................................................................182
3.2 OUTPUT SIGNALS (SPM→CNC→PMC).................................................. 192
3.2.1 List of Output Signals...........................................................................................192
3.2.2 Explanation of Output Signals .............................................................................193
3.2.3 Details of Output Signals .....................................................................................195
4 ADJUSTMENT .................................................................................... 202
4.1 VELOCITY LOOP GAIN ADJUSTMENT ................................................... 203
4.1.1 Overview ..............................................................................................................203
4.1.2 Parameters ............................................................................................................203
4.1.3 Adjustment Procedure ..........................................................................................206
4.1.4 Additional Information (Position Gain Adjustment)............................................207
4.2 MACHINE RESONANCE ELIMINATION................................................... 208
4.2.1 TCMD Filter.........................................................................................................208
4.2.2 HRV Filter............................................................................................................209
4.2.3 Disturbance Input Function ..................................................................................212
4.3 AMPLITUDE RATIO/PHASE DIFFERENCE COMPENSATION
FUNCTION ................................................................................................ 217
5 FUNCTION DESCRIPTIONS .............................................................. 222
5.1 SPEED RANGE SWITCHING CONTROL (Optional function)................... 223
5.1.1 Overview ..............................................................................................................223
5.1.2 Series and Editions of Applicable Spindle Software............................................223
5.1.3 Configuration .......................................................................................................223
5.1.4 I/O Signals (CNC ↔ PMC) .................................................................................224
5.1.5 Sequence...............................................................................................................228
c-3
TABLE OF CONTENTS B-65280EN/05
5.1.6 List of Related Parameters....................................................................................230
5.1.7 Details of Related Parameters ..............................................................................231
5.1.8 Parameter-specified Switching between High- and Low-speed Characteristics ..233
5.2 SPINDLE SWITCHING CONTROL ........................................................... 235
5.2.1 Overview ..............................................................................................................235
5.2.2 Series and Editions of Applicable Spindle Software............................................235
5.2.3 Configuration .......................................................................................................235
5.2.4 Details of Specifications.......................................................................................236
5.2.5 Restrictions...........................................................................................................236
5.2.6 I/O Signals (CNC↔PMC) ...................................................................................237
5.2.7 Sequence...............................................................................................................240
5.2.8 List of Related Parameters....................................................................................242
5.2.9 Details of Related Parameters ..............................................................................242
5.2.10 Parameter Setting Procedure ................................................................................245
5.2.11 Supplementary Descriptions about Parameters ....................................................246
5.3 INCRMENTAL COMMAND TYPE SPINDLE ORIENTATION
(SPINDLE ROTATION SPEED CONTROL) (Optional function)................ 247
5.3.1 Overview ..............................................................................................................247
5.3.2 Series and Editions of Applicable Spindle Software............................................247
5.3.3 System Configuration...........................................................................................248
5.3.4 I/O Signals(CNC↔PMC) ....................................................................................251
5.3.5 Examples of Sequences ........................................................................................253
5.3.6 List of Related Parameters....................................................................................256
5.3.7 Details of Related Parameters ..............................................................................256
5.4 HIGH-SPEED SPINDLE ORIENTATION (Optional function)..................... 257
5.4.1 Overview ..............................................................................................................257
5.4.2 Series and Editions of Applicable Spindle Software............................................257
5.4.3 System Configuration...........................................................................................257
5.4.4 I/O Signals (CNC↔PMC) ...................................................................................260
5.4.5 Sequence...............................................................................................................262
5.4.6 List of Related Parameters....................................................................................265
5.4.7 Details of Related Parameters ..............................................................................266
5.4.8 Spindle Data Used in Tuning ...............................................................................271
5.4.9 Tuning Procedure .................................................................................................272
5.5 SPINDLE ORIENTATION DURING SPINDLE SYNCHRONIZATION
CONTROL (Optional function)................................................................... 278
5.5.1 Overview ..............................................................................................................278
c-4
B-65280EN/05 TABLE OF CONTENTS
5.5.2 Series and Editions of Applicable Spindle Software............................................278
5.5.3 Specification.........................................................................................................279
5.5.4 I/O Signals (CNC ↔ PMC) .................................................................................281
5.5.5 Sequence...............................................................................................................285
5.5.6 List of Related Parameters....................................................................................287
5.5.7 Details of Related Parameters ..............................................................................288
5.6 SPINDLE FINE ACC./DEC. (FAD) FUNCTION ......................................... 290
5.6.1 Overview ..............................................................................................................290
5.6.2 Series and Editions of Applicable Spindle Software............................................290
5.6.3 Block Diagram .....................................................................................................291
5.6.4 Parameters ............................................................................................................291
5.6.5 Diagnosis (Diagnosis Screen)...............................................................................293
5.6.6 Status Errors .........................................................................................................293
5.6.7 Cautions................................................................................................................294
5.7 UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION
(Optional function) .....................................................................................296
5.7.1 Overview ..............................................................................................................296
5.7.2 Series and Editions of Applicable Spindle Software............................................296
5.7.3 I/O Signals (CNC↔PMC) ...................................................................................297
5.7.4 List of Related Parameters....................................................................................298
5.7.5 Details of Related Parameters ..............................................................................298
5.7.6 Parameter Tuning Procedure ................................................................................300
5.8 SPINDLE EGB (SPINDLE ELECTRONIC GEAR BOX)
(Optional function) .....................................................................................302
5.8.1 Overview ..............................................................................................................302
5.8.2 Series and Editions of Applicable Spindle Software............................................302
5.8.3 System Configuration...........................................................................................303
5.8.4 Block Diagram .....................................................................................................306
5.8.5 I/O Signals (CNC ↔ PMC) .................................................................................307
5.8.6 Examples of Sequences ........................................................................................307
5.8.7 List of Related Parameters....................................................................................308
5.8.8 Details of Related Parameters ..............................................................................309
5.8.9 Diagnosis Signal Related to Spindle EGB ...........................................................312
5.8.10 Status Errors Related to Spindle EGB..................................................................312
5.8.11 Alarms ..................................................................................................................313
5.9 DIFFERENTIAL SPINDLE SPEED CONTROL .........................................314
5.9.1 Overview ..............................................................................................................314
c-5
TABLE OF CONTENTS B-65280EN/05
5.9.2 Series and Editions of Applicable Spindle Software............................................314
5.9.3 Configuration .......................................................................................................315
5.9.4 Description ...........................................................................................................316
5.9.5 I/O Signals (CNC↔PMC) ...................................................................................316
5.9.6 Examples of Sequences ........................................................................................317
5.9.7 List of Related Parameters....................................................................................318
5.9.8 Details of Related Parameters ..............................................................................318
5.9.9 Status Errors on Differential Spindle Speed Control ...........................................318
5.10 DUAL POSITION FEEDBACK FUNCTION (Optional function) ................. 319
5.10.1 Overview ..............................................................................................................319
5.10.2 Series and Editions of Applicable Spindle Software............................................319
5.10.3 Block Diagram .....................................................................................................320
5.10.4 List of Related Parameters....................................................................................321
5.10.5 Details of Related Parameters ..............................................................................321
5.10.6 SPM Alarm...........................................................................................................325
5.11 TORQUE TANDEM CONTROL FUNCTION (Optional function) ............... 326
5.11.1 Overview ..............................................................................................................326
5.11.2 Series and Editions of Applicable Spindle Software............................................326
5.11.3 System Configuration...........................................................................................327
5.11.4 I/O Signals (CNC ↔ PMC) .................................................................................329
5.11.5 Examples of Sequences ........................................................................................332
5.11.6 Parameters ............................................................................................................336
5.11.7 Alarm and Status Error.........................................................................................339
5.12 MAGNETIC SENSOR METHOD SPINDLE ORIENTATION
(Optional function) .....................................................................................340
5.12.1 Overview ..............................................................................................................340
5.12.2 Series and Editions of Applicable Spindle Software............................................340
5.12.3 System Configuration...........................................................................................340
5.12.4 I/O Signals (CNC ↔ PMC) .................................................................................341
5.12.5 Sequence...............................................................................................................341
5.12.6 Parameters ............................................................................................................342
II. FANUC AC SPINDLE MOTOR βi series
1 START-UP........................................................................................... 349
1.1 START-UP PROCEDURE ......................................................................... 350
1.2 SPINDLE SERIAL INTERFACE (Optional function) .................................. 351
1.2.1 Parameters Related to Spindle Serial Output .......................................................351
c-6
B-65280EN/05 TABLE OF CONTENTS
1.2.2 Automatic Spindle Parameter Initialization .........................................................351
1.2.3 Diagnosis (Diagnosis Screen)...............................................................................352
1.2.4 Alarm ....................................................................................................................352
1.3 PARAMETERS RELATED TO DETECTORS............................................ 353
1.3.1 List of Parameters for Detectors...........................................................................353
1.3.2 Details of Parameters for Detectors......................................................................353
1.3.3 Typical Detector Configurations ..........................................................................354
2 EXPLANATION OF OPERATION MODES......................................... 358
2.1 VELOCITY CONTROL MODE................................................................... 359
2.1.1 Start-up Procedure................................................................................................359
2.1.2 Overview ..............................................................................................................359
2.1.3 System Configuration...........................................................................................359
2.1.4 List of I/O Signals (CNC↔PMC)........................................................................359
2.1.5 Related Parameters ...............................................................................................359
2.1.6 Details of Related Parameters ..............................................................................359
2.1.7 Troubleshooting ...................................................................................................359
2.2 POSITION CODER METHOD SPINDLE ORIENTATION
(Optional function) .....................................................................................360
2.2.1 Start-up Procedure................................................................................................360
2.2.2 Overview ..............................................................................................................360
2.2.3 Feature..................................................................................................................360
2.2.4 System Configuration...........................................................................................360
2.2.5 Stop Position Specification Method .....................................................................362
2.2.6 I/O Signals (CNC ↔ PMC) .................................................................................362
2.2.7 Examples of Sequences ........................................................................................362
2.2.8 Related Parameters ...............................................................................................362
2.2.9 Details of Related Parameters ..............................................................................362
2.2.10 Adjusting the Orientation Stop Position Shift Parameter.....................................362
2.3 RIGID TAPPING (Optional function).......................................................... 363
2.3.1 Start-up Procedure................................................................................................363
2.3.2 Overview ..............................................................................................................363
2.3.3 System Configuration...........................................................................................363
2.3.4 List of I/O Signals (CNC ↔ PMC)......................................................................366
2.3.5 Sequence...............................................................................................................366
2.3.6 Related Parameters ...............................................................................................366
2.3.7 Details of Related Parameters ..............................................................................366
2.3.8 Parameter Setting Procedure ................................................................................366
c-7
TABLE OF CONTENTS B-65280EN/05
2.3.9 Adjustment Procedure ..........................................................................................366
2.3.10 Diagnosis (Diagnosis Screen)...............................................................................366
2.3.11 Alarm ....................................................................................................................366
2.4 Cs CONTOURING CONTROL (Optional function) .................................... 367
2.4.1 Start-up Procedure................................................................................................367
2.4.2 Overview ..............................................................................................................367
2.4.3 System Configuration...........................................................................................367
2.4.4 List of I/O Signals (CNC ↔ PMC)......................................................................368
2.4.5 Examples of Sequences ........................................................................................368
2.4.6 Related Parameters ...............................................................................................368
2.4.7 Details of Related Parameters ..............................................................................369
2.4.8 Diagnosis (Diagnosis Screen)...............................................................................370
2.4.9 Alarm ....................................................................................................................370
2.5 SPINDLE SYNCHRONOUS CONTROL (Optional function)...................... 371
2.5.1 Start-up Procedure................................................................................................371
2.5.2 Overview ..............................................................................................................371
2.5.3 System Configuration...........................................................................................372
2.5.4 Explanation of Operation .....................................................................................375
2.5.5 I/O Signals (CNC ↔ PMC) .................................................................................375
2.5.6 Examples of Sequences ........................................................................................375
2.5.7 Related Parameters ...............................................................................................375
2.5.8 Details of Related Parameters ..............................................................................375
2.5.9 Number of Error Pulses in Spindle Synchronous Control....................................375
2.5.10 Specifying a Shift Amount for Spindle Phase Synchronous Control...................375
2.5.11 Diagnosis (Diagnosis Screen)...............................................................................375
2.5.12 Alarm ....................................................................................................................375
2.6 SPECIFICATIONS COMMON TO ALL OPERATION MODES.................. 376
2.6.1 Overview ..............................................................................................................376
2.6.2 List of I/O Signals (CNC ↔ PMC)......................................................................376
2.6.3 Parameters ............................................................................................................376
2.6.4 Details of parameters............................................................................................376
2.6.5 Diagnosis (Diagnosis Screen)...............................................................................376
3 I/O SIGNALS (CNC ↔ PMC) ..............................................................377
3.1 INPUT SIGNALS (PMC→CNC→SVPM) ................................................... 378
3.1.1 List of Input Signals .............................................................................................378
3.1.2 Explanation of Input Signals ................................................................................378
3.1.3 Details of input signals .........................................................................................378
c-8
B-65280EN/05 TABLE OF CONTENTS
3.2 OUTPUT SIGNALS (SVPM→CNC→PMC) ............................................... 379
3.2.1 List of Output Signals...........................................................................................379
3.2.2 Explanation of Output Signals .............................................................................379
3.2.3 Details of Output Signals .....................................................................................379
4 ADJUSTMENT .................................................................................... 380
4.1 VELOCITY LOOP GAIN ADJUSTMENT ................................................... 381
4.1.1 Overview ..............................................................................................................381
4.1.2 Parameters ............................................................................................................381
4.1.3 Adjustment Procedure ..........................................................................................381
4.1.4 Additional Information (Position Gain Adjustment)............................................381
5 FUNCTION DESCRIPTIONS .............................................................. 382
5.1 INCRMENTAL COMMAND TYPE SPINDLE ORIENTATION
(SPINDLE ROTATION SPEED CONTROL) (Optional function)................ 383
5.1.1 Overview ..............................................................................................................383
5.1.2 System Configuration...........................................................................................383
5.1.3 I/O Signals (CNC↔PMC) ...................................................................................385
5.1.4 Examples of Sequences ........................................................................................385
5.1.5 List of Related Parameters....................................................................................386
5.1.6 Details of Related Parameters ..............................................................................386
5.2 HIGH-SPEED SPINDLE ORIENTATION (Optional function)..................... 387
5.2.1 Overview ..............................................................................................................387
5.2.2 System Configuration...........................................................................................387
5.2.3 I/O Signals (CNC↔PMC) ...................................................................................388
5.2.4 Sequence...............................................................................................................389
5.2.5 List of Related Parameters....................................................................................390
5.2.6 Details of Related Parameters ..............................................................................391
5.2.7 Spindle Data Used in Tuning ...............................................................................391
5.2.8 Tuning Procedure .................................................................................................391
5.3 SPINDLE FINE ACC./DEC. (FAD) FUNCTION ......................................... 392
5.3.1 Overview ..............................................................................................................392
5.3.2 Series and Editions of Applicable Spindle Software............................................392
5.3.3 Block Diagram .....................................................................................................392
5.3.4 Parameters ............................................................................................................393
5.3.5 Diagnosis (Diagnosis Screen)...............................................................................393
5.3.6 Status Errors .........................................................................................................393
5.3.7 Cautions................................................................................................................393
c-9
TABLE OF CONTENTS B-65280EN/05
5.4 UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION
(Optional function) .....................................................................................394
5.4.1 Overview ..............................................................................................................394
5.4.2 Series and Editions of Applicable Spindle Software............................................394
5.4.3 I/O Signals (CNC↔PMC) ...................................................................................394
5.4.4 List of Related Parameters....................................................................................394
5.4.5 Details of Related Parameters ..............................................................................394
5.4.6 Parameter Tuning Procedure ................................................................................394
III. FANUC AC SPINDLE MOTOR αCi series
1 START-UP........................................................................................... 397
1.1 START-UP PROCEDURE ......................................................................... 398
1.2 SPINDLE SERIAL INTERFACE (Optional function) .................................. 399
1.2.1 Parameters Related to Spindle Serial Output .......................................................399
1.2.2 Automatic Spindle Parameter Initialization .........................................................399
1.2.3 Diagnosis (Diagnosis Screen)...............................................................................400
1.2.4 Alarm ....................................................................................................................400
1.3 PARAMETERS RELATED TO DETECTORS............................................ 401
1.3.1 List of Parameters for Detectors...........................................................................401
1.3.2 Details of Parameters for Detectors......................................................................402
1.3.3 Typical Detector Configurations ..........................................................................406
2 EXPLANATION OF OPERATION MODES......................................... 408
2.1 VELOCITY CONTROL MODE................................................................... 409
2.1.1 Start-up Procedure................................................................................................409
2.1.2 Overview ..............................................................................................................409
2.1.3 System Configuration...........................................................................................409
2.1.4 List of I/O Signals (CNC↔PMC)........................................................................410
2.1.5 Related Parameters ...............................................................................................414
2.1.6 Details of Related Parameters ..............................................................................415
2.1.7 Troubleshooting ...................................................................................................420
2.2 POSITION CODER METHOD SPINDLE ORIENTATION
(Optional function) .....................................................................................424
2.2.1 Start-up Procedure................................................................................................424
2.2.2 Overview ..............................................................................................................425
2.2.3 Feature..................................................................................................................425
2.2.4 System Configuration...........................................................................................425
2.2.5 Stop Position Specification Method .....................................................................425
c-10
B-65280EN/05 TABLE OF CONTENTS
2.2.6 I/O Signals (CNC↔PMC) ...................................................................................426
2.2.7 Examples of Sequences ........................................................................................426
2.2.8 Related Parameters ...............................................................................................427
2.2.9 Details of Related Parameters ..............................................................................428
2.2.10 Adjusting the Orientation Stop Position Shift Parameter.....................................432
2.3 RIGID TAPPING (Optional function).......................................................... 433
2.3.1 Start-up Procedure................................................................................................433
2.3.2 Overview ..............................................................................................................433
2.3.3 System Configuration...........................................................................................434
2.3.4 List of I/O Signals (CNC ↔ PMC)......................................................................435
2.3.5 Sequence...............................................................................................................437
2.3.6 Related Parameters ...............................................................................................438
2.3.7 Details of Related Parameters ..............................................................................439
2.3.8 Parameter Setting Procedure ................................................................................444
2.3.9 Adjustment Procedure ..........................................................................................450
2.3.10 Diagnosis (Diagnosis Screen)...............................................................................450
2.3.11 Alarm ....................................................................................................................450
2.4 SPINDLE SYNCHRONOUS CONTROL (Optional function)...................... 451
2.4.1 Start-up Procedure................................................................................................451
2.4.2 Overview ..............................................................................................................452
2.4.3 System Configuration...........................................................................................452
2.4.4 Explanation of Operation .....................................................................................452
2.4.5 I/O Signals (CNC ↔ PMC) .................................................................................453
2.4.6 Examples of Sequences ........................................................................................453
2.4.7 Related Parameters ...............................................................................................454
2.4.8 Details of Related Parameters ..............................................................................455
2.4.9 Number of Error Pulses in Spindle Synchronous Control....................................461
2.4.10 Specifying a Shift Amount for Spindle Phase Synchronous Control...................461
2.4.11 Diagnosis (Diagnosis Screen)...............................................................................461
2.4.12 Alarm ....................................................................................................................461
2.5 SPECIFICATIONS COMMON TO ALL OPERATION MODES.................. 462
2.5.1 Overview ..............................................................................................................462
2.5.2 List of I/O Signals (CNC ↔ PMC)......................................................................462
2.5.3 Parameters ............................................................................................................466
2.5.4 Details of parameters............................................................................................468
2.5.5 Diagnosis (Diagnosis Screen)...............................................................................475
3 I/O SIGNALS (CNC ↔ PMC) ..............................................................476
c-11
TABLE OF CONTENTS B-65280EN/05
3.1 INPUT SIGNALS (PMC→CNC→SPM)...................................................... 477
3.1.1 List of Input Signals .............................................................................................477
3.1.2 Explanation of Input Signals ................................................................................478
3.1.3 Details of Input Signals ........................................................................................479
3.2 OUTPUT SIGNALS (SPM→CNC→PMC).................................................. 480
3.2.1 List of Output Signals...........................................................................................480
3.2.2 Explanation of Output Signals .............................................................................480
3.2.3 Details of Output Signals .....................................................................................480
4 ADJUSTMENT .................................................................................... 481
4.1 VELOCITY LOOP GAIN ADJUSTMENT ................................................... 482
4.1.1 Overview ..............................................................................................................482
4.1.2 Parameters ............................................................................................................482
4.1.3 Adjustment Procedure ..........................................................................................485
4.1.4 Additional Information (Position Gain Adjustment)............................................486
IV. FANUC BUILT-IN SPINDLE MOTOR Bis series
1 START-UP........................................................................................... 489
1.1 START-UP PROCEDURE ......................................................................... 490
1.2 SPINDLE SERIAL INTERFACE (Optional function) .................................. 491
1.2.1 Parameters Related to Spindle Serial Output .......................................................491
1.2.2 Automatic Spindle Parameter Initialization .........................................................491
1.2.3 Diagnosis (Diagnosis Screen)...............................................................................491
1.2.4 Alarm ....................................................................................................................491
1.3 PARAMETERS RELATED TO DETECTORS............................................ 492
1.3.1 List of Parameters for Detectors...........................................................................492
1.3.2 Details of Parameters for Detectors......................................................................492
1.3.3 Typical Detector Configurations ..........................................................................493
1.4 SUB MODULE SM..................................................................................... 494
1.4.1 Overview ..............................................................................................................494
1.4.2 Series and Editions of Applicable Spindle Software............................................494
1.4.3 Configuration .......................................................................................................494
1.4.4 Related Parameters ...............................................................................................495
1.4.5 Stop Processing When a Sub Module SM Error Occurs......................................496
1.4.6 Alarm and Status Error.........................................................................................497
1.4.7 Caution .................................................................................................................498
1.5 MAGNETIC POLE DETECTION................................................................ 500
1.5.1 Overview ..............................................................................................................500
c-12
B-65280EN/05 TABLE OF CONTENTS
1.5.2 Magnetic Pole Detection Operation .....................................................................501
1.5.3 AMR Offset Function...........................................................................................503
1.5.4 I/O Signals (CNC ↔ PMC) .................................................................................505
1.5.5 Related Parameters ...............................................................................................507
1.5.6 Sequence...............................................................................................................512
1.5.7 Causes of SPM Alarm 65 .....................................................................................514
1.5.8 Cautions................................................................................................................514
2 EXPLANATION OF OPERATION MODES......................................... 515
2.1 VELOCITY CONTROL MODE................................................................... 516
2.1.1 Start-up Procedure................................................................................................516
2.1.2 Overview ..............................................................................................................516
2.1.3 System Configuration...........................................................................................516
2.1.4 List of I/O Signals (CNC↔PMC)........................................................................516
2.1.5 Related Parameters ...............................................................................................517
2.1.6 Details of Related Parameters ..............................................................................519
2.1.7 Troubleshooting ...................................................................................................526
2.2 POSITION CODER METHOD SPINDLE ORIENTATION
(Optional function) .....................................................................................527
2.2.1 Start-up Procedure................................................................................................527
2.2.2 Overview ..............................................................................................................527
2.2.3 Feature..................................................................................................................527
2.2.4 System Configuration...........................................................................................527
2.2.5 Stop Position Specification Method .....................................................................527
2.2.6 I/O Signals (CNC ↔ PMC) .................................................................................527
2.2.7 Examples of Sequences ........................................................................................528
2.2.8 Related Parameters ...............................................................................................528
2.2.9 Details of Related Parameters ..............................................................................529
2.2.10 Adjusting the Orientation Stop Position Shift Parameter.....................................532
2.3 RIGID TAPPING (Optional function).......................................................... 533
2.3.1 Start-up Procedure................................................................................................533
2.3.2 Overview ..............................................................................................................533
2.3.3 System Configuration...........................................................................................533
2.3.4 List of I/O Signals (CNC ↔ PMC)......................................................................533
2.3.5 Sequence...............................................................................................................533
2.3.6 Related Parameters ...............................................................................................534
2.3.7 Details of Related Parameters ..............................................................................536
2.3.8 Parameter Setting Procedure ................................................................................540
c-13
TABLE OF CONTENTS B-65280EN/05
2.3.9 Adjustment Procedure ..........................................................................................540
2.3.10 Diagnosis (Diagnosis Screen)...............................................................................545
2.3.11 Alarm ....................................................................................................................545
2.4 Cs CONTOURING CONTROL (Optional function) .................................... 546
2.4.1 Start-up Procedure................................................................................................546
2.4.2 Overview ..............................................................................................................546
2.4.3 System Configuration...........................................................................................546
2.4.4 List of I/O Signals (CNC ↔ PMC)......................................................................546
2.4.5 Examples of Sequences ........................................................................................546
2.4.6 Related Parameters ...............................................................................................547
2.4.7 Details of Related Parameters ..............................................................................549
2.4.8 Diagnosis (Diagnosis Screen)...............................................................................556
2.4.9 Alarm ....................................................................................................................556
2.5 SPINDLE SYNCHRONOUS CONTROL (Optional function)...................... 557
2.5.1 Start-up Procedure................................................................................................557
2.5.2 Overview ..............................................................................................................557
2.5.3 System Configuration...........................................................................................557
2.5.4 Explanation of Operation .....................................................................................558
2.5.5 I/O Signals (CNC ↔ PMC) .................................................................................558
2.5.6 Examples of Sequences ........................................................................................558
2.5.7 Related Parameters ...............................................................................................559
2.5.8 Details of Related Parameters ..............................................................................560
2.5.9 Number of Error Pulses in Spindle Synchronous Control....................................566
2.5.10 Specifying a Shift Amount for Spindle Phase Synchronous Control...................566
2.5.11 Diagnosis (Diagnosis Screen)...............................................................................566
2.5.12 Alarm ....................................................................................................................566
2.6 SPECIFICATIONS COMMON TO ALL OPERATION MODES.................. 567
2.6.1 Overview ..............................................................................................................567
2.6.2 List of I/O Signals (CNC ↔ PMC)......................................................................567
2.6.3 Parameters ............................................................................................................571
2.6.4 Details of Parameters............................................................................................574
2.6.5 Diagnosis (Diagnosis Screen)...............................................................................582
3 I/O SIGNALS (CNC ↔ PMC) ..............................................................583
3.1 INPUT SIGNALS (PMC→CNC→SPM)...................................................... 584
3.1.1 List of Input Signals .............................................................................................584
3.1.2 Explanation of Input Signals ................................................................................585
3.1.3 Details of Input Signals ........................................................................................586
c-14
B-65280EN/05 TABLE OF CONTENTS
3.2 OUTPUT SIGNALS (SPM→CNC→PMC).................................................. 590
3.2.1 List of Output Signals...........................................................................................590
3.2.2 Explanation of Output Signals .............................................................................591
3.2.3 Details of Output Signals .....................................................................................592
4 ADJUSTMENT .................................................................................... 594
4.1 VELOCITY LOOP GAIN ADJUSTMENT ................................................... 595
4.1.1 Overview ..............................................................................................................595
4.1.2 Parameters ............................................................................................................595
4.1.3 Adjustment Procedure ..........................................................................................595
4.1.4 Additional Information (Position Gain Adjustment)............................................595
4.2 MACHINE RESONANCE ELIMINATION................................................... 595
4.2.1 TCMD Filter.........................................................................................................595
4.2.2 HRV Filter............................................................................................................595
4.2.3 Disturbance Input Function ..................................................................................595
4.3 AMPLITUDE RATIO/PHASE DIFFERENCE COMPENSATION
FUNCTION ................................................................................................ 595
5 FUNCTION DESCRIPTIONS .............................................................. 596
5.1 SPEED RANGE SWITCHING CONTROL (Optional function)................... 597
5.2 SPINDLE SWITCHING CONTROL ........................................................... 597
5.3 INCRMENTAL COMMAND TYPE SPINDLE ORIENTATION
(SPINDLE ROTATION SPEED CONTROL) (Optional function)................ 598
5.3.1 Overview ..............................................................................................................598
5.3.2 Series and Editions of Applicable Spindle Software............................................598
5.3.3 System Configuration...........................................................................................598
5.3.4 I/O Signals(CNC↔PMC) ....................................................................................599
5.3.5 Examples of Sequences ........................................................................................599
5.3.6 List of Related Parameters....................................................................................600
5.3.7 Details of Related Parameters ..............................................................................600
5.4 HIGH-SPEED SPINDLE ORIENTATION (Optional function)..................... 601
5.4.1 Overview ..............................................................................................................601
5.4.2 Series and Editions of Applicable Spindle Software............................................601
5.4.3 System Configuration...........................................................................................601
5.4.4 I/O Signals (CNC↔PMC) ...................................................................................602
5.4.5 Sequence...............................................................................................................603
5.4.6 List of Related Parameters....................................................................................604
5.4.7 Details of Related Parameters ..............................................................................605
c-15
TABLE OF CONTENTS B-65280EN/05
5.4.8 Spindle Data Used in Tuning ...............................................................................610
5.4.9 Tuning Procedure .................................................................................................610
5.5 SPINDLE ORIENTATION DURING SPINDLE SYNCHRONOUS
CONTROL (Optional function)................................................................... 616
5.5.1 Overview ..............................................................................................................616
5.5.2 Series and Editions of Applicable Spindle Software............................................616
5.5.3 Specification.........................................................................................................616
5.5.4 I/O Signals (CNC ↔ PMC) .................................................................................617
5.5.5 Sequence...............................................................................................................618
5.5.6 List of Related Parameters....................................................................................619
5.5.7 Details of Related Parameters ..............................................................................619
5.6 SPINDLE FINE ACC./DEC. (FAD) FUNCTION ......................................... 620
5.6.1 Overview ..............................................................................................................620
5.6.2 Series and Editions of Applicable Spindle Software............................................620
5.6.3 Block Diagram .....................................................................................................620
5.6.4 Parameters ............................................................................................................620
5.6.5 Diagnosis (Diagnosis Screen)...............................................................................620
5.6.6 Status Errors .........................................................................................................620
5.6.7 Cautions................................................................................................................620
5.7 UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION
(Optional function) .....................................................................................621
5.7.1 Overview ..............................................................................................................621
5.7.2 Series and Editions of Applicable Spindle Software............................................621
5.7.3 I/O Signals (CNC↔PMC) ...................................................................................622
5.7.4 List of Related Parameters....................................................................................623
5.7.5 Details of Related Parameters ..............................................................................623
5.7.6 Parameter Tuning Procedure ................................................................................623
5.8 SPINDLE EGB (SPINDLE ELECTRONIC GEAR BOX)
(Optional function) .....................................................................................624
5.8.1 Overview ..............................................................................................................624
5.8.2 Series and Editions of Applicable Spindle Software............................................624
5.8.3 System Configuration...........................................................................................625
5.8.4 Block Diagram .....................................................................................................625
5.8.5 I/O Signals (CNC ↔ PMC) .................................................................................626
5.8.6 Examples of Sequences ........................................................................................626
5.8.7 List of Related Parameters....................................................................................627
5.8.8 Details of Related Parameters ..............................................................................627
c-16
B-65280EN/05 TABLE OF CONTENTS
5.8.9 Diagnosis Signal Related to Spindle EGB ...........................................................628
5.8.10 Status Errors Related to Spindle EGB..................................................................628
5.8.11 Alarms ..................................................................................................................628
5.9 DIFFERENTIAL SPINDLE SPEED CONTROL .........................................629
5.10 DUAL POSITION FEEDBACK FUNCTION (Optional function).....................629
5.11 TORQUE TANDEM CONTROL FUNCTION (Optional function)...................629
5.12 MAGNETIC SENSOR METHOD SPINDLE ORIENTATION
(Optional function)...............................................................................................629
APPENDIX
A SPINDLE PARAMETER TABLE......................................................... 633
A.1 αi SERIES SPINDLE PARAMETER TABLE ............................................. 634
A.2 αCi SERIES SPINDLE PARAMETER TABLE........................................... 650
A.3 Bis SERIES SPINDLE PARAMETER TABLE............................................ 654
B LIST OF SPINDLE PARAMETER NUMBERS....................................661
C PARAMETER TABLE FOR EACH MOTOR MODEL .........................667
C.1 SPINDLE MOTOR αi series ...................................................................... 668
C.2 SPINDLE MOTOR αiP series..................................................................... 672
C.3 SPINDLE MOTOR αiT series..................................................................... 674
C.4 SPINDLE MOTOR α(HV)i series............................................................... 676
C.5 SPINDLE MOTOR α(HV)iP series ............................................................. 678
C.6 SPINDLE MOTOR α(HV)iT series ............................................................. 679
C.7 SPINDLE MOTOR βi series ...................................................................... 681
C.8 SPINDLE MOTOR αCi series.................................................................... 682
D LISTS OF ALARMS/STATE ERRORS ............................................... 683
D.1 LIST OF SPINDLE ALARMS ..................................................................... 684
D.2 LIST OF SPINDLE STATE ERRORS ........................................................ 686
E TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL......... 689
E.1 αi SERIES SPINDLE ................................................................................. 690
E.1.1 Input Signals (PMC→CNC).................................................................................690
E.1.2 Output Signals (CNC→PMC)..............................................................................692
E.2 αCi SERIES SPINDLE ..............................................................................695
E.2.1 Input Signals (PMC→CNC).................................................................................695
E.2.2 Output Signals (CNC→PMC)..............................................................................697
E.3 Bis SERIES SPINDLE ............................................................................... 699
E.3.1 Input Signals (PMC→CNC).................................................................................699
c-17
TABLE OF CONTENTS B-65280EN/05
E.3.2 Output Signals (CNC→PMC)..............................................................................701
F OBSERVING DATA USING THE SERVO GUIDE ..............................704
F.1 SERIES AND EDITIONS OF APPLICABLE SPINDLE SOFTWARE......... 705
F.2 SPINDLE DATA THAT CAN BE OBSERVED USING THE SERVO
GUIDE ....................................................................................................... 706
F.2.1 Data List ...............................................................................................................706
F.2.2 About the Spindle Speed Control and Spindle Status Signals .............................707
F.3 EXAMPLE OF OBSERVING DATA ........................................................... 708
G PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi
SERIES AND αCi SERIES.................................................................. 710
G.1 PARAMETERS WITH DIFFERENT MEANINGS....................................... 711
H PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE αi
SERIES AND Bis SERIES.................................................................. 713
H.1 PARAMETERS WITH DIFFERENT MEANINGS....................................... 714
c-18
I. FANUC AC SPINDLE MOTOR αi series
B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP
1 START-UP
- 3 -
1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05
1.1 START-UP PROCEDURE
A. Check the spindle-related specifications.
- CNC model
- Spindle motor
- Power supply module
- Spindle amplifier module
- Detector system
B. Check all connections. (See DESCRIPTIONS (B-65272EN).)
C. Prepare and check the PMC ladder program.
D. Check the CNC parameter setting for using the αi series
(Serial) spindle. (See Subsection 1.2.1.)
E. Perform automatic αi series (Serial) spindle parameter
initialization. (See Subsection 1.2.2.)
- Set a motor model code and the parameter enabling use
of the automatic parameter initialization function, then turn
the CNC off and then on again.
F. Change parameter data (when no model code is used).
- For a motor for which there is no model code, perform
automatic initialization by specifying 300 (or 400 when the
speed range switching function is used), then change the
parameter data according to the parameter list for the
motor.
G. Set the parameters related to the detectors. (See Section 1.3.)
I. Check the waveforms of the feedback signals from detectors.
(Refer to the MAINTENANCE MANUAL (B-65285EN).)
H. When using a machine in a system
that has already been started, load all
CNC parameters for the machine.
- 4 -
B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP
1.2 SPINDLE SERIAL INTERFACE
1.2.1 Parameters Related to Spindle Serial Output
This subsection provides a list of the parameters related to spindle
serial output only. For details of each parameter, refer to the
Connection Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.2 “SPINDLE SERIAL OUTPUT/SPINDLE
ANALOG OUTPUT.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A
CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.2 “SPINDLE SERIAL OUTPUT.”
(c) For Series 15i
“FANUC Series 15i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.2 “SPINDLE SERIAL OUTPUT/SPINDLE
ANALOG OUTPUT.”
(d) For Series 0i
“FANUC Series 0i-MODEL C
CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.2 “SPINDLE SERIAL OUTPUT/SPINDLE
ANALOG OUTPUT.”
Parameter No.
15i 16i 30i
3701#1
3716#0
5606#0
3701#4 Number of connectable serial spindles
3702#1 Multi-spindle control function
5841 Motor number of each spindle
3717 Amplifier number of each spindle
5845 3718 Spindle indication subscript (main spindle)
5846 3719 Spindle indication subscript (sub-spindle)
5850 Spindle number selected at power-on/reset time
Whether to use the serial interface
(Set 0.)
Selection of a spindle (analog/serial)
(Set 1.)
Selection of an interface (serial/analog)
(Set 1.)
(Whether to use the second serial spindle)
(Whether to use the multi-spindle control function)
NOTE
To use the spindle serial interface, the CNC software
option is required.
Description
Optional function
- 5 -
1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05
1.2.2 Automatic Spindle Parameter Initialization
(1) Parameter list
Parameter No.
15i 16i 30i
5607#0 4019#7 4019#7 Function for automatically initializing spindle parameters
3133 4133 4133 Spindle motor model code
(2) Procedure for automatic spindle parameter initialization
Perform automatic spindle parameter initialization by following the
procedure below.
<1> Set the model code for the desired motor for automatic parameter
initialization.
Parameter No.
15i 16i 30i
3133 4133 4133 Model code
NOTE
1 The control method usable with the αi series
spindle is spindle HRV control only. The
conventional control method is not supported.
2 When using a spindle motor that has no model
code, set model code "300" ("400" for a spindle
motor with speed range switching control) for
automatic parameter setting, then manually input
data according to the parameter table for each
motor model.
<2> Set the relevant parameter to enable automatic spindle parameter
initialization.
Parameter No.
15i 16i 30i
5607#0
NOTE
This bit is reset to its original value after
automatic parameter initialization.
<3> Turn the CNC off, then on again. Then, the spindle parameters
specified with a model code are automatically initialized.
4019#7 4019#7 1
Description
Description
Description
0
- 6 -
Loading...