FANUC AC SPINDLE MOTOR PARAMETER MANUAL

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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.

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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

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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

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B-65280EN/05 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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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

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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.

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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.”

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

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

1.2.3 Diagnosis (Diagnosis Screen)

This subsection provides a list of the diagnosis (diagnosis screen) indications related to spindle serial output only. For details, 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.”

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.”

(1) For Series 16i

Address Description

400 Information including spindle control

408 Information about spindle serial output interface communication errors

409 Information about spindle serial output interface activation

(2) For Series 30i

Address Description

400 Information including spindle control

408 Information about spindle serial output interface communication errors

(3) For Series 15i

Address Description

1500 Information about spindle serial output interface communication errors

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

1.2.4 Alarm

This subsection provides a list of the alarms related to spindle serial output only. For details of each alarm, 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.”

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.”

(1) For Series 16i

Alarm No. Description

749 A serial communication error occurred while the system was being activated after power-on.

750 The (serial) spindle amplifier was not activated normally at power-on time.

(2) For Series 15i and Series 30i

Alarm No.

15i 30i

PS0223 

SP0201  The same motor number other than 0 is set more than once in parameter No. 5841. SP0202  A spindle number greater than the number of spindles is set in parameter No. 5850.

SP0220 SP1220

SP0221  The correspondence between spindle numbers and motor numbers is incorrect.

SP0225 SP1225

SP0226 SP1226 A framing error occurred in communication between the CNC and serial spindle amplifier.

SP0227 SP1227 A receive error occurred in communication between the CNC and serial spindle amplifier.

SP0228 SP1228

SP0229 

 SP1229

Before a spindle to be controlled is set correctly, a command for using the spindle was executed.

The cable connected to the serial spindle amplifier is disconnected, or no serial spindle amplifier is connected.

A CRC error (communication error) occurred in communication between the CNC and serial spindle amplifier.

A communication error occurred in communication between the CNC and serial spindle amplifier.

A communication error occurred in communication between serial spindle amplifiers (between motor numbers 1 and 2 or between motor numbers 3 and 4).

A communication error occurred in communication between serial spindle amplifiers (between an odd-numbered amplifier and even-numbered amplifier).

Description

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

Alarm No.

15i 30i

SP0230  The value set in parameter No. 5841 is not within the allowable range. SP0970  Spindle control initialization was not terminated. SP0976  No amplifier number could be set for a serial spindle amplifier. SP0978  A time-out was detected in communication with a serial spindle amplifier. SP0979  The communication sequence was incorrect in communication with a serial spindle amplifier.

SP0980

SP0981  An error occurred when data was written to the SIC-LSI on the serial spindle amplifier side. SP0982  An error occurred when data was read from the SIC-LSI on the serial spindle amplifier side. SP0983  An alarm on the spindle amplifier side could not be cleared. SP0984  An error occurred during spindle amplifier reinitialization. SP0985  Automatic parameter setting failed.

SP0987

SP0996  The assignment of spindles and spindle motors is incorrect.



 SP1996

SP1980 to

SP1984

SP1985 to

SP1987

SP1245 to

SP1247

SP1976 to

SP1979

SP1988 to

SP1989

The SIC-LSI on the serial spindle amplifier side is faulty.

The SIC-LSI on the CNC side is faulty.

A communication data error was detected on the CNC side.

An error occurred with the spindle control software.

Spindle motor assignment is incorrect. Check the parameters indicated hereafter. (No.3716,No.3717)

Description

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

1.3 PARAMETERS RELATED TO DETECTORS

NOTE

1 Note that the specifications of parameters related

to detectors for the αi series spindle amplifiers differ from those of parameters for the α series

spindle amplifiers.

2 The terms "motor sensor" and "spindle sensor"

used in the text mean the speed/position detectors

connected to the connectors described below. (i) Motor sensor : Detector connected to connector JYA2 (Mi sensor, MZi sensor, BZi sensor of a built-in

motor, CZi sensor of a built-in motor) (ii) Spindle sensor : Detector connected to connector JYA3 or JYA4 (α position coder, α position coder S, separate

BZi sensor, separate CZi sensor, and so forth)

1.3.1 List of Parameters for Detectors

Parameter No.

15i 16i 30i

 3706#1,0  Gear ratio of spindle to position coder (×1, ×2, ×4, ×8)

5842  3720 Number of pulses of the position coder

3000#0 4000#0 4000#0 Direction of spindle and spindle motor rotation

3001#4 4001#4 4001#4 Spindle sensor mounting direction 3002#3,2,1,0 4002#3,2,1,0 4002#3,2,1,0 Spindle sensor type setting 3003#7,6,5,4 4003#7,6,5,4 4003#7,6,5,4 Setting of the number of spindle sensor gear teeth

3004#3,2 4004#3,2 4004#3,2 External one-rotation signal (proximity switch) setting

3006#1 4006#1 4006#1 Gear ratio increment system

3007#5 4007#5 4007#5 Whether to detect disconnection of feedback signals

3007#6 4007#6 4007#6

3010#2,1,0 4010#2,1,0 4010#2,1,0 Motor sensor type setting 3011#2,1,0 4011#2,1,0 4011#2,1,0 Setting of the number of motor sensor gear teeth

3016#5 4016#5 4016#5

3016#6 4016#6 4016#6 Whether to detect alarms related to threading feedback

3016#7 4016#7 4016#7

3394#2 4394#2 4394#2 Setting of the detection lower limit of the one-rotation signal

3394#5 4394#5 4394#5

3056 to 3059 4056 to 4059 4056 to 4059

3098 4098 4098 Maximum speed for position feedback signal detection

Whether to detect alarms related to position feedback signals (on non-Cs contouring control mode)

Whether to detect alarms related to position feedback (in Cs contouring control mode)

Setting of the function of detecting the one-rotation signal again each time position control mode is set.

Whether to detect the alarm related to spindle sensor polarity erroneous setting Spindle-to-motor gear ratio data (This data is selected by spindle control input signals CTH1A and CTH2A.)

Description

- 10 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

Parameter No.

3171 3173

3172 3174

3334 4334 4334 Arbitrary number of motor sensor teeth 3355 4355 4355 Motor sensor signal amplitude ratio compensation 3356 4356 4356 Motor sensor signal phase difference compensation 3357 4357 4357 Spindle sensor signal amplitude ratio compensation 3358 4358 4358 Spindle sensor signal phase difference compensation 3361 4361 4361 Arbitrary number of spindle sensor teeth

3500 3502

3501 3503

4171 4173

4172 4174

4500 4502

4501 4503

4171 4173

4172 4174

4500 4502

4501 4503

Denominator of arbitrary gear ratio between motor sensor and spindle (This data is selected by spindle control input signal CTH1A.) Numerator of arbitrary gear ratio between motor sensor and spindle (This data is selected by spindle control input signal CTH1A.)

Denominator of arbitrary gear ratio between spindle sensor and spindle (This data is selected by spindle control input signal CTH1A.) Numerator of arbitrary gear ratio between spindle sensor and spindle (This data is selected by spindle control input signal CTH1A.)

- 11 -

1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

1.3.2 Details of Parameters for Detectors

This subsection details the serial spindle parameters (in the four thousands for 16i, and in the four thousands for 30i, and in the three thousands for 15i) among the detector-related parameters. For details of other parameters, 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 9.3 “SPINDLE SPEED CONTROL.”

(b) For Series 30i/31i/32i “FANUC Series 30i/31i/32i-MODEL A

CONNECTION MANUAL (FUNCTION) : B-63943EN-1 Refer to Section 11.3 “SPINDLE SPEED CONTROL.”

CONNECTION MANUAL (FUNCTION) : B-63783EN-1 Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

(d) For Series 0i “FANUC Series 0i-MODEL C

CONNECTION MANUAL (FUNCTION) : B-64113EN-1 Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

3000 4000 4000

3001 4001 4001

3002 4002 4002

SSTYP3 to SSTYP0 Spindle sensor type

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

ROTA1

ROTA1 Indicates the relationship between the rotation directions of spindle

and spindle motor. 0 : Rotates the spindle and spindle motor in the same direction. 1 : Rotates the spindle and spindle motor in the reverse direction.

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

SSDIRC

SSDIRC Indicates the mounting direction of spindle sensor.

0 : Rotates the spindle and spindle sensor in the same direction. 1 : Rotates the spindle and spindle sensor in the reverse direction.

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

SSTYP3 SSTYP2 SSTYP1 SSTYP0

This parameter sets the type of a separate detector to be attached to the spindle (detector to be connected to connector JYA3 or JYA4).

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

SSTYP3 SSTYP2 SSTYP1 SSTYP0 Spindle sensor type

0 0 0 0 None (No position control function is used.) 0 0 0 1 Uses the motor sensor for position feedback 0 0 1 0 α position coder 0 0 1 1 0 1 0 0 α position coder S

Separate BZi sensor, CZi sensor

NOTE

When using a rectangular wave phase A/B,

1024-p/rev position coder, set the same settings as for the α position coder (0,0,1,0).

3003 4003 4003

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

PCPL2 PCPL1 PCPL0 PCTYPE

PCPL2, PCPL1, PCPL0, PCTYPE Gear teeth number setting of the spindle sensor

This parameter sets the number of teeth of a separate detector to be attached to the spindle (detector to be connected to connector JYA3 or JYA4).

PCPL2 PCPL1 PCPL0 PCTYPE

0 0 0 0 256λ/rev 0 0 0 1 128λ/rev 0 1 0 0 512λ/rev 0 1 0 1 64λ/rev 1 0 0 0 768λ/rev 1 0 0 1 1024λ/rev 1 1 0 0 384λ/rev

Gear teeth number of

the spindle sensor

NOTE

1 Set "0, 0, 0, 0" when using an α position coder (bits

3, 2, 1, 0 of No. 4002 = 0, 0, 1, 0) or an α position coder S (bits 3, 2, 1, 0 of No. 4002 = 0, 1, 0, 0).

2 When the motor sensor is used for position

feedback (bits 3, 2, 1, 0 of No. 4002 = 0, 0, 0, 1), this parameter need not be set.

3004 4004 4004

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

RFTYPE EXTRF

EXTRF, RFTYPE External one-rotation signal setting

This parameter sets the type of an external one-rotation signal (proximity) switch to be attached to the spindle (to be connected to connector JYA3).

RFTYPE EXTRF

0 0 None 0 1 Detects the leading edge. 1 1 Detects the trailing edge.

External one-rotation signal

(proximity switch)

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

3006 4006 4006

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

GRUNIT

GRUNIT Sets a gear ratio setting resolution:

0 : 1/100 unit 1 : 1/1000 unit Select a gear ratio data setting resolution from the following: (a) Resolution based on motor rotation increased by a factor of 100

relative to one spindle rotation

(b) Resolution based on motor rotation increased by a factor of 1000

relative to one spindle rotation Depending on the setting of this parameter, the increment system of the parameters indicated in the table below changes.

Parameter No.

15i 16i 30i

3056 to 3059 4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data

Description

NOTE

Usually, use the 1/100 unit (setting "0").

3007 4007 4007

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

PCALCH PCLS

PCLS Determines feedback signal disconnection detection.

0 : Performs disconnection detection. 1 : Does not perform disconnection detection. When this bit is set to "0", SPM alarms 27 (Position coder signal disconnection), 73 (Motor sensor disconnection), and 84 (Spindle sensor disconnection) are checked.

NOTE

1 Usually, set “0”. 2 When adjusting the waveform of a motor/spindle

sensor feedback signal, set "1" temporarily to disable disconnection detection. After completion

of adjustment, be sure to return the setting to "0" to enable disconnection detection.

PCALCH Determines whether to use alarms related to position feedback signals

(on non-Cs contouring control mode). 0 : Detects alarms. 1 : Does not detect alarms. When this bit is set to "0", SPM alarms 41, 42, 47, 81, 82, 83, 85, 86, and 87 are checked.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

3010 4010 4010

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

MSTYP2 MSTYP1 MSTYP0

MSTYP2, MSTYP1, MSTYP0 Motor sensor type

This parameter sets the type of a detector built into the motor (detector to be connected to JYA2).

MSTYP2 MSTYP1 MSTYP0 Motor sensor type

0 0 0 0 0 1

Mi sensor MZi, BZi, CZi sensor

3011 4011 4011

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

VDT3 VDT2 VDT1

VDT1 to VDT3 Gear teeth number setting of the motor sensor

This parameter sets the number of teeth of a detector built into the motor (detector to be connected to JYA2).

VDT3 VDT2 VDT1 Gear teeth number of the motor sensor

0 0 0 64λ/rev 0 0 1 128λ/rev 0 1 0 256λ/rev 0 1 1 512λ/rev 1 0 0 192λ/rev 1 0 1 384λ/rev

NOTE

When using a sensor with CZi sensor 768 λ/rev or

1024 λ/rev, set 0,0,0 in this parameter, and set 768 or 1024 in the parameter specifying an arbitrary number of motor sensor teeth (parameter No.

4334).

Motor models and corresponding Mi and MZi sensors

Number of gear teeth of the detection

ring on the Mi or MZi sensor

64λ/rev

128λ/rev

256λ/rev

3016 4016 4016

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

RFCHK3 RFCHK2 RFCHK1

RFCHK1 Determines whether to detect alarms related to position feedback (in

Cs contouring control mode). 0 : Does not detect alarms. 1 : Detects alarms. When this bit is set to "1", SPM alarms 81, 82, 85, and 86 are checked.

Motor model

α0.5i

α1i to α3i

α6i to α50i

α12i

P to α60iP

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

RFCHK2 Determines whether to detect the alarm related to threading position

detection signal feedback (SPM alarm 46). 0 : Does not detect alarms. 1 : Detects alarms.

RFCHK3 Setting of the function of detecting the one-rotation signal again each

time position control mode is set. 0 : The one-rotation signal is not detected each time the operating

mode changes. Once the one-rotation signal has been detected, it is not detected

again until the power goes off. 1 : The one-rotation signal is detected each time the operating mode

changes.

3394 4394 4394

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

A21DEN ZPHDTC

ZPHDTC Sets the detection lower limit of the one-rotation signal.

0 : The one-rotation signal is detected when the spindle speed is 10

min

-1

or more.

1 : The one-rotation signal is detected regardless of the spindle

speed.

NOTE

1 This parameter is valid with 9D50 Series E (05)

edition or later and 9D70 series A (01) edition or later.

2 This parameter is enabled when the spindle sensor

is an α position coder or α position coder S.

When the spindle sensor is the MZi/BZi/CZi sensor,

-1

if the spindle speed is 10 min

or more, the one-rotation signal is detected regardless of the setting of this parameter.

A21DEN Whether to detect the spindle sensor polarity erroneous setting alarm

(SPM alarm 21). 0 : The spindle sensor polarity erroneous setting alarm is detected. 1 : The spindle sensor polarity erroneous setting alarm is not

detected. When the spindle sensor polarity erroneous setting alarm is incorrectly detected due to the following reasons, set this bit to disable the alarm detection.

- When the spindle is mechanically separated from the motor.

- When the belt between the spindle and the motor slips.

NOTE

This parameter is valid with 9D50 Series E (05)

edition or later and 9D70 series A (01) edition or later.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

3056 4056 4056

3057 4057 4057

15i 16i 30i

3058 4058 4058

3059 4059 4059

Gear ratio (HIGH) CTH1A=0, CTH2A=0

Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1

Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0

Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)

Valid data range : 0 to 32767 Standard setting : 100

These data are used to set the gear ratio between spindle and spindle motor. Example : When the spindle rotates once, set "250" as the data when the

motor rotates 2.5 times. A parameter is selected with the CTH1A and CTH2A input signals. Set the gear or clutch status to correspond to the clutch/gear signal (CTH1A, CTH2A).

NOTE

When an improper value is set in these parameters,

an unexpected operation can occur. For example, the spindle can continue rotating without stopping at the time of orientation. So, be sure to set a proper gear ratio.

3098 4098 4098

15i 16i 30i

Maximum speed for position feedback signal detection

Unit of data : 1min

-1

(Unit of 10 min-1 when bit 2 (SPDUNT) of parameter No. 4006

= 1)

Valid data range : 0 to 32767 Standard setting : 0

This parameter sets a maximum spindle speed that enables the detection of a motor/spindle sensor feedback signal. When "0" is set in this parameter, up to the maximum motor speed can be detected.

NOTE

Usually, set “0”.

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1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

3171 4171 4171

15i 16i 30i

3172 4172 4172

3173 4173 4173

3174 4174 4174

Denominator of arbitrary gear ratio between motor sensor and spindle (HIGH)

CTH1A=0

Numerator of arbitrary gear ratio between motor sensor and spindle (HIGH)

CTH1A=0

Denominator of arbitrary gear ratio between motor sensor and spindle (LOW)

CTH1A=1

Numerator of arbitrary gear ratio between motor sensor and spindle (LOW)

CTH1A=1

Unit of data : Valid data range : 0 to 32767 Standard setting : 0

These parameters set conversion coefficients (numerator, denominator) for using the detection arbitrary gear ratio function (DMR function) by multiplying a motor sensor (Mi or MZi sensor) feedback signal by a gear ratio to produce a spindle position feedback signal. When the spindle rotates Q times while the motor shaft rotates P times (there is no common divisor other than 1 for P and Q), settings are: No. 4171 (No. 4173 when CTH1A = 1) = P No. 4172 (No. 4174 when CTH1A = 1) = Q When one of these parameters is set to "0", it is assumed to be "1".

NOTE

When using the external one-rotation signal

(proximity switch), use the detection arbitrary gear ratio function (DMR function) by setting an arbitrary gear ratio between the motor sensor and spindle in this parameter.

3334 4334 4334

15i 16i 30i

Arbitrary number of motor sensor teeth

Unit of data : 1λ/rev (Number of motor sensor teeth) Valid data range : 0, 32 to 4096 Standard setting : 0

When the number of motor sensor teeth is other than 64, 128, 192, 256, 384, and 512, set this parameter. When "0" is set in this parameter, the setting of bits 2, 1, 0 (VDT3, VDT2, VDT1) of parameter No. 4011 is valid.

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B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

3355 4355 4355

3357 4357 4357

15i 16i 30i

Motor sensor signal amplitude ratio compensation

Spindle sensor signal amplitude ratio compensation

Unit of data : 1% Valid data range : -8 to 8 Standard setting : 0

These parameters set an amplitude ratio compensation value for the sensor feedback signal (phase A/B of the sinusoidal wave). For details, refer to the Section I-4.3 “AMPLITUDE RATIO/PHASE DIFFERENCE COMPENSATION FUNCTION.”

3356 4356 4356

3358 4358 4358

15i 16i 30i

Motor sensor signal phase difference compensation

Spindle sensor signal phase difference compensation

Unit of data : 1% Valid data range : -4 to 4 Standard setting : 0

These parameters set a phase difference compensation value for the sensor signal (phase A/B of the sinusoidal wave). For details, refer to the Section I-4.3 “AMPLITUDE RATIO/PHASE DIFFERENCE COMPENSATION FUNCTION.”

3361 4361 4361

15i 16i 30i

Arbitrary number of spindle sensor teeth

Unit of data : 1λ/rev (Number of spindle sensor teeth) Valid data range : 0, 64 to 4096 Standard setting : 0

When the number of spindle sensor teeth is other than 64, 128, 256, 384, 512, and 1024 set this parameter. When "0" is set in this parameter, the setting of bits 7, 6, 5, 4 (PCPL2, PCPL1, PCPL0, PCTYPE) of parameter No. 4003 is valid.

- 19 -

1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

3500 4500

3501 4501

3502 4502

3503 4503

15i 16i

Denominator of arbitrary gear ratio between spindle sensor and spindle

(HIGH) CTH1A=0

Numerator of arbitrary gear ratio between spindle sensor and spindle (HIGH)

CTH1A=0

Denominator of arbitrary gear ratio between spindle sensor and spindle

(LOW) CTH1A=1

Numerator of arbitrary gear ratio between spindle sensor and spindle (LOW)

CTH1A=1

Unit of data : Valid data range : 0 to 32767 Standard setting : 0

These parameters set conversion coefficients (numerator, denominator) for using the detection arbitrary gear ratio function (DMR function) by multiplying a spindle sensor (α position coder, α position coder S, separate BZi sensor, or separate CZi sensor) feedback signal by a gear ratio to produce a spindle position feedback signal. When the spindle rotates Q times while the motor shaft rotates P times (there is no common divisor other than 1 for P and Q), settings are: No. 4500 (No. 4502 when CTH1A = 1) = P No. 4501 (No. 4503 when CTH1A = 1) = Q When one of these parameters is set to "0", it is assumed to be "1".

NOTE

1 This parameter is valid with 9D50 Series F (06)

edition or later and 9D70 series A (01) edition or later.

2 When this parameter is used in a configuration

having no external one-rotation signal (proximity switch), set the following parameters.

No.4007#6=1 : Alarms related to positional

feedback signals (in non-Cs mode) are not detected.

No.4016#5=0 : Alarms related to positional

feedback signals (in Cs mode) are not detected.

- 20 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

1.3.3 Typical Detector Configurations

This subsection describes typical detector configurations and the parameter setting procedures for the detector configurations. With the αi series spindle, the detector circuitry hardware is set according to the parameter setting. For this reason, an alarm such as a disconnection alarm may be output while parameters related to detectors are being set. To initialize the hardware, after setting the parameters related to detectors, turn the power to the amplifier off once.

(1) When position control is not exercised

[Sample system configuration]

Spindle motor with built-in Mi sensor

JYA2

SPM TYPE A

Spindle

Parameter No. Settings Description

4002 #3,2,1,0 0,0,0,0 Does not exercise position control.

4010 #2,1,0

4011 #2,1,0

Depends on the

detector.

Depends on the

detector.

Sets the type of motor sensor.

Sets the number of motor sensor gear teeth.

- 21 -

1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(2) When the α position coder is used

[Sample system configuration]

Spindle motor with built-in Mi sensor (or MZi sensor)

JYA2

position coder

SPM TYPE A

JYA3

Directly connected or connected with a gear or timing belt at a ratio of 1:1

Spindle

Parameter No. Settings Description

4000 #0

4001 #4

4002 #3,2,1,0 0,0,1,0

4003 #7,6,5,4 0,0,0,0

4010 #2,1,0

4011 #2,1,0

4056 to 4059

Depends on the

configuration.

Depends on the

configuration.

Depends on the

detector.

Depends on the

detector.

Depends on the

configuration.

Rotation directions of the spindle and motor

Spindle sensor mounting direction

Uses the α position coder as the spindle sensor. Sets the number of spindle sensor gear teeth.

Sets the type of motor sensor.

Sets the number of motor sensor gear teeth. Gear ratio between the spindle and motor

- 22 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

(3) When the α position coder S is used

[Sample system configuration]

Spindle motor with built-in Mi sensor (or MZi sensor)

JYA2

position coder S

SPM TYPE B

JYA4

Directly connected or connected with a gear or timing bel at a ratio of 1:1

Spindle

Parameter No. Settings Description

4000 #0

4001 #4

4002 #3,2,1,0 0,1,0,0

4003 #7,6,5,4 0,0,0,0

4010 #2,1,0

4011 #2,1,0

4056 to 4059

Depends on the

configuration.

Depends on the

configuration.

Depends on the

detector.

Depends on the

detector.

Depends on the

configuration.

Rotation directions of the spindle and motor

Spindle sensor mounting direction

Uses the α position coder S as the spindle sensor. Sets the number of spindle sensor gear teeth.

Sets the type of motor sensor.

Sets the number of motor sensor gear teeth. Gear ratio between the spindle and motor

- 23 -

1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(4) When the MZi, BZi, or CZi sensor is used

[Sample system configuration 1]

Spindle motor with built-in MZi sensor

Spindle

[Sample system configuration 2]

BZi sensor or CZi sensor

Spindle + built-in motor

[Sample system configuration 3]

Spindle motor with built-in MZi sensor

Spindle

Directly connected or connected with a gear or timing belt at a ratio of 1:1

Parameter

No.

4000 #0 0 Rotation directions of the spindle and motor

4002 #3,2,1,0 0,0,0,1

4010 #2,1,0 0,0,1

4011 #2,1,0

4056 to 4059 100 or 1000

Settings Description

Uses the motor sensor for position feedback. Uses the MZi , BZi, or CZi sensor as the motor sensor.

Depends on

the detector.

Sets the number of motor sensor gear teeth.

Gear ratio between the spindle and motor 1 : 1

- 24 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

(5) When the separate type BZi sensor or separate type CZi sensor is used

[Sample system configuration]

Parameter No. Settings Description

4000 #0

4001 #4

4002 #3,2,1,0 0,0,1,1

4003 #7,6,5,4

4010 #2,1,0

4011 #2,1,0

4056 to 4059

Depends on the

configuration.

Depends on the

configuration.

Depends on the

detector.

Depends on the

detector.

Depends on the

detector.

Depends on the

configuration.

Spindle motor with built-in Mi sensor (or MZi sensor)

Spindle

BZi sensor or CZi sensor

Rotation directions of the spindle and motor

Spindle sensor mounting direction

Uses the BZi sensor or CZi sensor as the spindle sensor. Sets the number of spindle sensor gear teeth.

Sets the type of motor sensor.

Sets the number of motor sensor gear teeth. Gear ratio between the spindle and motor

- 25 -

1.START-UP FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(6) When the external one-rotation signal (proximity switch) is used

[Sample system configuration]

Spindle motor with built-in Mi sensor (or MZi sensor)

Spindle

External one-rotation signal (proximity switch)

Gear or timing belt

Parameter No. Settings Description

4000 #0

4002 #3,2,1,0 0,0,0,1

4004 #2 1 Uses the external one-rotation signal.

4004 #3

4010 #2,1,0

4011 #2,1,0

4056 to 4059

4171 to 4174

Depends on the

configuration.

Depends on the

detector.

Depends on the

detector.

Depends on the

detector.

Depends on the

configuration.

Depends on the

configuration.

Rotation directions of the spindle and motor Uses the motor sensor for position feedback.

Sets the external one-rotation signal type.

Sets the type of motor sensor.

Sets the number of motor sensor gear teeth. Gear ratio between the spindle and motor Arbitrary gear ratio between the motor sensor and spindle

- 26 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 1.START-UP

(7) When the axis on which the spindle sensor is mounted is not the spindle

[Sample system configuration]

Spindle motor with built-in Mi sensor

Gear or timing belt

JYA2

SPM

position coder

Medial axis

TYPE A

JYA3

Directly connected or connected

Spindle

with a gear or timing belt at a ratio of 1:1

Parameter No. Settings Description

4000 #0

4001 #4

4002 #3,2,1,0

4003 #7,6,5,4

4010 #2,1,0 0, 0, 0

4011 #2,1,0

4007 #6 1

4016 #5 0

4056 to 4059

4500 to 4503

Depends on the

configuration.

Depends on the

configuration.

Depends on the

configuration.

Depends on the

detector.

Depends on the

detector.

Depends on the

configuration.

Depends on the

configuration.

Rotation directions of the spindle and motor

Spindle sensor mounting direction

Type of spindle sensor

Sets the number of spindle sensor gear teeth. Uses the Mi sensor as the motor sensor. Sets the number of motor sensor gear teeth. Alarms related to positional feedback signals (in non-Cs mode) are not detected. Alarms related to positional feedback signals (in Cs mode) are not detected. Gear ratio between the spindle and motor Arbitrary gear ratio between the spindle sensor and spindle

NOTE

Those functions such as the orientation function that

require a one-rotation signal cannot be used.

- 27 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2 EXPLANATION OF OPERATION MODES

- 28 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

2.1 VELOCITY CONTROL MODE

2.1.1 Start-up Procedure

A. Check that the serial spindle starts up normally and is ready for

operation.

B. Prepare and check the PMC ladder.

C. Set the detector-related parameters according to the system

configuration.

D. Set the parameters related to spindle speed specification.

E. Check that the spindle rotates at the desired speed.

F. Make a velocity loop gain adjustment as required.

• No.4040, 4041 : Velocity loop proportional gain

• No.4048, 4049 : Velocity loop integral gain

2.1.2 Overview

The velocity control mode is a function for exercising velocity control to rotate the spindle motor according to a velocity command from the CNC.

NOTE

On a CNC screen (such as the spindle monitor

screen and the adjustment screen), the velocity control mode is indicated as "NORMAL OPERATION MODE".

2.1.3 System Configuration

The velocity control mode is applicable to all detector configurations. For system configurations, see Subsection 1.3.3, "TYPICAL DETECTOR CONFIGURATIONS".

- 29 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.1.4 List of I/O Signals (CNC↔PMC)

This subsection provides a list of the I/O signals related to the velocity control mode only. For details of each signal, 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 9.3 “SPINDLE SPEED CONTROL.” (b) For Series 30i/31i/32i “FANUC Series 30i/31i/32i-MODEL A

CONNECTION MANUAL (FUNCTION) : B-63943EN-1

Refer to Section 11.3 “SPINDLE SPEED CONTROL.” (c) For Series 15i “FANUC Series 15i-MODEL B

CONNECTION MANUAL (FUNCTION) : B-63783EN-1

Refer to Section 9.3 “SPINDLE SPEED CONTROL.” (d) For Series 0i “FANUC Series 0i-MODEL C

CONNECTION MANUAL (FUNCTION) : B-64113EN-1

Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

For details of the I/O signals common to the CNCs, see Chapter 3, "I/O SIGNALS (CNC ↔ PMC)", in Part I.

(1) Input signals(PMC→CNC)

(a) Series 16i

#7 #6 #5 #4 #3 #2 #1 #0

Common to all axes G027 *SSTP2

Common to all axes G028 GR2 GR1

Common to all axes G029 *SSTP SOR SAR

Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I

2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

(*1)

NOTE

*1 These signals are valid in multi-spindle control.

*SSTP1

(*1)

SWS2

(*1)

SWS1

(*1)

- 30 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(b) Series 30i

#7 #6 #5 #4 #3 #2 #1 #0

Common to all axes G027 *SSTP2

Common to all axes G028 GR2 GR1

Common to all axes G029 *SSTP SOR SAR

Common to all axes G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0

1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I

2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2

1st- G033 SIND SSIN SGN R12I R11I R10I R09I

2nd- G035 SIND2 SSIN2 SGN2 R12I2 R11I2 R10I2 R09I2

(*1)

*SSTP1

(*1)

SWS2

(*1)

SWS1

(*1)

NOTE

*1 These signals are valid in multi-spindle control.

Common to all axes G005 FIN

1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A

2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B

1st- G025 RISGNA RI12A RI11A RI10A RI9A RI8A

2nd- G233 RISGNB RI12B RI11B RI10B RI9B RI8B

1st- G026 GS4A GS2A GS1A

2nd- G272 GS4B GS2B GS1B

#7 #6 #5 #4 #3 #2 #1 #0

(d) Common to CNCs

1st- G227 G070 G070 MRDYA SFRA SRVA CTH1A CTH2A TLMHA TLMLA

2nd- G235 G074 G074 MRDYB SFRB SRVB CTH1B CTH2B TLMHB TLMLB

1st- G226 G071 G071 SOCNA *ESPA

2nd- G234 G075 G075 SOCNB *ESPB

1st- G229 G072 G072 OVRA

2nd- G237 G076 G076 OVRB

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

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2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(2) Output signals (CNC→PMC)

(a) Series 16i

F001 ENB

F007 SF

F022 S07 S06 S05 S04 S03 S02 S01 S00

F023 S15 S14 S13 S12 S11 S10 S09 S08

F024 S23 S22 S21 S20 S19 S18 S17 S16

F025 S31 S30 S29 S28 S27 S26 S25 S24

F034 GR3O

F036 R08O R07O R06O R05O R04O R03O R02O R01O

F037 R12O R11O R10O R09O

(b) Series 16i

F001 ENB

F007 SF

F022 S07 S06 S05 S04 S03 S02 S01 S00

F023 S15 S14 S13 S12 S11 S10 S09 S08

F024 S23 S22 S21 S20 S19 S18 S17 S16

F025 S31 S30 S29 S28 S27 S26 S25 S24

F034 GR3O

F036 R08O R07O R06O R05O R04O R03O R02O R01O

F037 R12O R11O R10O R09O

#7 #6 #5 #4 #3 #2 #1 #0

(*1)

GR2O

(*1)

NOTE

*1 These signals are valid with the M series only.

#7 #6 #5 #4 #3 #2 #1 #0

(*1)

GR2O

(*1)

NOTE

*1 These signals are valid with the M series only.

GR1O

(*1)

GR1O

(*1)

- 32 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(b) Series 15i

Common to all axes F008 SF

Common to all axes F020 S7 S6 S5 S4 S3 S2 S1 S0

Common to all axes F021 S15 S14 S13 S12 S11 S10 S09 S08

Common to all axes F022 S23 S22 S21 S20 S19 S18 S17 S16

Common to all axes F023 S31 S30 S29 S28 S27 S26 S25 S24

Common to all axes F045 SRSRDY

1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A

2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B

1st- F11 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A

2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B

1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A

2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B

1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A

2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B

1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A

2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B

1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A

2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B

1st- F341 SRRDYA

2nd- F342 SRRDYB

#7 #6 #5 #4 #3 #2 #1 #0

1st- F229 F045 F045 TLMA LDT2A LDT1A SARA SDTA SSTA

2nd- F245 F049 F049 TLMB LDT2B LDT1B SARB SDTB SSTB

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

- 33 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.1.5 Related Parameters

Parameter No.

15i 16i 30i

 3705#0 3705#0 Sets SF signal output and the S code for an S command.  3705#2 3705#2 Gear switch method (M series only)  3705#4 3705#4 Sets SF signal output and the S code for an S command (T series only).

 3705#5 3705#5

 3705#6 3705#6 Sets SF signal output (M series only).  3706#4 3706#4 Spindle gear selection method (M series only)  3706#7,6 3706#7,6 Spindle speed command polarity (valid when input signal SSIN = 0)

 3709#0 3709#0

 3735 3735 Minimum clamp speed of the spindle motor (M series only)  3736 3736 Maximum clamp speed of the spindle motor (M series only)  3740 3740 Time until the spindle speed arrival signal is checked  3741 3741 Maximum spindle speed for gear 1  3742 3742 Maximum spindle speed for gear 2  3743 3743 Maximum spindle speed for gear 3  3744 3744 Maximum spindle speed for gear 4 (T series only)

 3751 3751

 3752 3752

 3772 3772 Maximum allowable spindle speed

2031 3031 3031 Allowable number of S code characters

2003#1   Sets an S code polarity. 2204#0   Sets the display of an actual spindle speed. 2402#6   Sets the S code specified in a block containing G92.

5602#3  

5611  

5612   Unit of spindle speed output with the DO signal

5807#0  

5842  3720 Number of position coder pulses

5847  3721

5848  3722

5850   Spindle number to be selected at power-on/reset time

5820#4   Sets the method of spindle speed calculation.

3006#5 4006#5 4006#5 Sets an analog override range.

3009#4 4009#4 4009#4

Sets SF signal output when constant surface speed control is exercised and an S code is specified (M series only).

Number of sampling operations at spindle speed calculation time (T series only for 16i)

Spindle motor speed at the switch point between gear 1 and gear 2 (M series only)

Spindle motor speed at the switch point between gear 2 and gear 3 (M series only)

Whether to provide an indication for an alarm detected with the spindle amplifier. (Set "0" usually.)

Number of sampling operations when an average spindle speed is to be found.

Enables/disables the spindle alarms (SPxxxx) of all spindles. (Set "0" usually.)

Number of gear teeth on the position coder side on velocity control (for feed per revolution, threading, etc.)

Number of gear teeth on the spindle side on velocity control (for feed per revolution, threading, etc.)

Whether to output the load detection signals (LDT1, LDT2) during acceleration/deceleration

Description

- 34 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

Parameter No.

15i 16i 30i

3009#6 4009#6 4009#6 Analog override type

3012#7 4012#7 4012#7 Sets the spindle HRV function. (Set "1".)

5607#0 4019#7 4019#7

3352#1 4352#1 4352#1 Sets the peak hold function for load meter output.

3020 4020 4020 Maximum motor speed

3022 4022 4022 Speed arrival detection level

3023 4023 4023 Speed detection level

3024 4024 4024 Speed zero detection level

3025 4025 4025 Sets a torque limitation value.

3026 4026 4026 Load detection level 1

3027 4027 4027 Load detection level 2

3028 4028 4028 Sets an output limitation pattern.

3029 4029 4029 Output limitation value

3030 4030 4030 Soft start/stop setting time

3040 3041

3048 3049

3056 to 3059 4056 to 4059 4056 to 4059

3081 4081 4081 Delay time until the motor power is turned off

3082 4082 4082 Sets an acceleration/deceleration time.

3083 4083 4083 Motor voltage on the velocity control mode

3136 4136 4136 Motor voltage on the velocity control mode (for low-speed characteristics)

3171 3173

3172 3174

3508 4508 4508 Rate of change in acceleration at soft start/stop

4040 4041

4048 4049

4171 4173

4172 4174

4040 4041

4048 4049

4171 4173

4172 4174

Automatic spindle parameter setting function

Velocity loop proportional gain on the velocity control mode

(A parameter is selected by the PMC input signal CTH1A.)

Velocity loop integral gain on the velocity control mode

(A parameter is selected by the PMC input signal CTH1A.)

Spindle and motor gear ratio data

(A parameter is selected by the PMC input signals CTH1A and CTH2A.)

Denominator of an arbitrary gear ratio between the motor sensor and spindle

(A parameter is selected by the input signal CTH1A.)

Numerator of an arbitrary gear ratio between the motor sensor and spindle

(A parameter is selected by the input signal CTH1A.)

Description

NOTE

1 For the detector-related parameters, see Section

1.3, "PARAMETERS RELATED TO DETECTORS", in Part I.

2 For velocity loop proportional/integral gain

adjustment, see Section 4.1, "VELOCITY LOOP GAIN ADJUSTMENT", in Part I.

- 35 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.1.6 Details of Related Parameters

This subsection details the serial spindle parameters (in the four thousands for 16i , and in the four thousands for 30i, and in the three thousands for 15i) among the parameters related to the velocity control mode. For details of other parameters, 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 9.3 “SPINDLE SPEED CONTROL.” (b) For Series 30i/31i/32i “FANUC Series 30i/31i/32i-MODEL A

CONNECTION MANUAL (FUNCTION) : B-63943EN-1

Refer to Section 11.3 “SPINDLE SPEED CONTROL.” (c) For Series 15i “FANUC Series 15i-MODEL B

CONNECTION MANUAL (FUNCTION) : B-63783EN-1

Refer to Section 9.3 “SPINDLE SPEED CONTROL.” (d) For Series 0i “FANUC Series 0i-MODEL C

CONNECTION MANUAL (FUNCTION) : B-64113EN-1

Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

3006 4006 4006

3009 4009 4009

3012 4012

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

ALGOVR

ALGOVR Sets a spindle analog override range.

0 : 0 to 100% (standard setting value) 1 : 0 to 120%

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

OVRTYP LDTOUT

LDTOUT Whether to output the load detection signals (LDT1 and LDT2) during

acceleration/deceleration 0 : Not output during acceleration/deceleration. (standard setting

value) 1 : Output (at all times) during acceleration/deceleration if the

parameter-set level is exceeded.

OVRTYP Analog override type

0 : Override of linear function type (standard setting value) 1 : Override of quadratic function type

15i 16i

#7 #6 #5 #4 #3 #2 #1 #0

SPHRV

SPHRV Sets the spindle HRV control function.

0 : Disables spindle HRV control. 1 : Enables spindle HRV control. (standard setting value) Set to “1”.

- 36 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

NOTE

The control method usable with the αi series spindle

is spindle HRV control only. The conventional control method is not supported.

4019 4019

16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

PRLOAD

PRLOAD Automatic parameter setting function

0 : Does not perform automatic parameter setting. (standard setting

value) 1 : Performs automatic parameter setting. After setting a desired motor model code in parameter No. 4133 and setting this bit to 1, turn off the power to the CNC, then turn on the power to the CNC again. The parameters (No. 4000 to No. 4175) for the αi series spindle corresponding to the model code are automatically initialized. Upon completion of automatic setting, this bit is automatically set to 0.

NOTE

With FS15i, the parameter address of this function is

different, namely, bit 0 of No. 5607 is used. Moreover, note that the meanings of settings are reversed as follows. 0 : Performs automatic parameter setting. 1 : Does not perform automatic parameter setting. In this case, set a model code in parameter No.

3133.

3352 4352 4352

3020 4020 4020

Standard setting value : Depends on the motor model.

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

PKHALW

PKHALW Sets the peak hold function for load meter output.

0 : Does not use the peak hold function. (standard setting value) 1 : Uses the peak hold function.

15i 16i 30i

Unit of data : 1min

Maximum motor speed

-1

(Unit of 10 min-1 when bit 2 (SPDUNT) of parameter No. 4006

= 1)

Valid data range : 0 to 32767

This parameter sets a maximum spindle motor speed.

- 37 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

WARNING

The spindle motor may rotate at the maximum

spindle motor speed specified by this parameter. Therefore, this parameter must not be set to a value greater than the maximum rotation speed indicated by the specification of the spindle motor.

3022 4022 4022

Standard setting value : 150

3023 4023 4023

Standard setting value : 30

3024 4024 4024

Standard setting value : 75

3025 4025 4025

Standard setting value : 50

15i 16i 30i

Speed arrival detection level

Unit of data : 0.1% Valid data range : 0 to 1000

This parameter sets a speed arrival signal (SARA) detection range. When the motor speed reaches within ±(setting data/10)% of a specified speed, the speed arrival signal (SARA) is set to 1.

15i 16i 30i

Speed detection level

Unit of data : 0.1% Valid data range : 0 to 1000

This parameter sets a speed detection signal (SDTA) detection range. When the motor speed is (setting data/10)% of a maximum speed or less, the speed detection signal (SDTA) is set to 1.

15i 16i 30i

Speed zero detection level

Unit of data : 0.01% Valid data range : 0 to 10000

This parameter sets a speed zero detection signal (SSTA) detection range. When the motor speed is (setting data/100)% of a maximum speed or less, the speed zero detection signal (SSTA) is set to 1.

15i 16i 30i

Sets a torque limitation value.

Unit of data : 1% Valid data range : 0 to 100

This parameter sets a torque limitation value to be applied when the torque limitation command HIGH (TLMHA) or the torque limitation command LOW (TLMLA) is specified. The data indicates limitation values when the maximum torque is 100%.

- 38 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

Torque limitation

command

LOW(TLMLA)

0 0 No torque limitation is imposed.

0 1

1 0 1 1

Torque limitation

command

HIGH(TLMHA)

Description

The torque is limited to the value set in this parameter. The torque is limited to a half of the value set in this parameter.

3026 4026 4026

15i 16i 30i

Load detection level 1

Unit of data : 1% Valid data range : 0 to 100

Standard setting value : 83

This parameter sets a load detection signal 1 (LDT1A) detection range. When the output of the spindle motor is (setting data)% of the maximum output or more, load detection signal 1 (LDT1A) is set to 1.

3027 4027 4027

15i 16i 30i

Load detection level 2

Unit of data : 1% Valid data range : 0 to 100

Standard setting value : 95

This parameter sets a load detection signal 2 (LDT2A) detection range. When the output of the spindle motor is (setting data)% of the maximum output or more, load detection signal 2 (LDT2A) is set to 1.

3028 4028 4028

15i 16i 30i

Sets an output limitation pattern.

Unit of data : Valid data range : 0 to 6

Standard setting value : 0

Select an appropriate pattern from the following: A : Output is limited only at acceleration time and deceleration time

for gradual acceleration/deceleration, and the rated output is used

for steady-state rotation. (Setting data: 1, 4, or 7)

(Function similar to soft start/stop) B : Maximum output is used at acceleration time and deceleration

time, and output is limited in steady-state rotation. (Setting data:

2, 5, or 8) C : Using the same motor and amplifier, a machine with a different

output specification is produced. (Setting data: 3, 6, or 9)

- 39 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

Description

No output limitation is imposed. 0 0 0 A. Output is limited only at acceleration time

and deceleration time.

B. Output is not limited at acceleration time

and deceleration time, but output is limited in steady-state rotation.

C. Output is limited in all operations. 3 6 9

Pattern 1 Pattern 2 Pattern 3

[Output limitation pattern 1]--- Setting data = 1, 2, 3 ---

Output

Setting data

1 4 7

2 5 8

Pout

Catalog value

Limit value

NmNb0

Pout ×=

4029 No. parameter in Setting

100

[Output limitation pattern 2]--- Setting data = 4, 5, 6 ---

Output

Pout

Catalog value

Limit value

Speed

Nm Nb0

Pout ×=

4029 No. parameter in Setting

100

- 40 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

[Output limitation pattern 3]--- Setting data = 7, 8, 9 ---

Output

3029 4029 4029

15i 16i 30i

Output limitation value

Unit of data : 1% Valid data range : 0 to 100

Standard setting value : 100

This parameter sets a desired limitation value, with the maximum output (overload tolerance) being 100%. This setting becomes valid when output is limited by setting parameter No. 4028.

3030 4030 4030

15i 16i 30i

Soft start/stop setting time

Unit of data : 1min

No. 4006 = 1)

Valid data range : 0 to 32767

Standard setting value : 0

This parameter sets an acceleration value (speed change rate) when the soft start/stop function is enabled (when the soft start/stop signal SOCNA = 1).

NOTE

When 0 is set, the soft start/stop function is disabled.

Catalog value

Limit value

Nout ×=

Nout

100

Speed

NmNb0

4029 No. parameter in Setting

-1

/sec (Unit of 10min-1/sec when bit 2 (SPDUNT) of parameter

- 41 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

3040 4040 4040

15i 16i 30i

3041 4041 4041

Velocity loop proportional gain on velocity control mode (LOW) CTH1A=1

Velocity loop proportional gain on velocity control mode (HIGH) CTH1A=0

Unit of data : Valid data range : 0 to 32767 Standard setting : 10

This data is used to set the velocity loop proportional gain on velocity control mode. When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A = 1, (LOW) is selected.

3048 4048 4048

3049 4049 4049

15i 16i 30i

Velocity loop integral gain on velocity control mode (HIGH) CTH1A=0

Velocity loop integral gain on velocity control mode (LOW) CTH1A=1

Unit of data : Valid data range : 0 to 32767 Standard setting : 10

This data is used to set the velocity loop integral gain on velocity control mode. When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A = 1, (LOW) is selected.

3056 4056 4056

15i 16i 30i

3057 4057 4057

3058 4058 4058

3059 4059 4059

Gear ratio (HIGH) CTH1A=0, CTH2A=0

Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1

Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0

Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000)

Valid data range : 0 to 32767 Standard setting : 100

These data are used to set the gear ratio between spindle and spindle motor. Example : When the spindle rotates once, set "250" as the data when the

motor rotates 2.5 times. A parameter is selected with the CTH1A and CTH2A input signals. Set the gear or clutch status to correspond to the clutch/gear signal (CTH1A, CTH2A).

NOTE

When an improper value is set in these parameters,

an unexpected operation can occur. For example, the spindle can continue rotating without stopping at the time of orientation. So, be sure to set a proper gear ratio.

- 42 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

3081 4081 4081

15i 16i 30i

Delay time until the motor power is turned off

Unit of data : 10ms Valid data range : 0 to 1000

Standard setting value : 20 (200ms)

This parameter sets a period of time from the stop of the motor (detection of the speed zero detection signal SSTA set to 1) until the power to the motor is turned off if the SFR/SRV signal is off.

NOTE

When a small value is set in this parameter, the

motor can coast after the power to the motor is turned off.

3082 4082 4082

15i 16i 30i

Setting of acceleration/deceleration time

Unit of data : 1sec Valid data range : 0 to 255

Standard setting value : 10

This parameter sets a period of time in which alarm detection is disabled by assuming that the spindle motor is being accelerated or decelerated even if the velocity error exceeds the velocity error excess alarm (SPM alarm 02) level after start of acceleration/deceleration on the velocity control mode. In the velocity control mode, a step-by-step speed command is specified. So, the spindle motor cannot follow up the command immediately after start of acceleration/deceleration, and the velocity error exceeds the velocity error excess alarm level. This parameter is used to prevent the velocity error excess alarm (SPM alarm 02) from being detected incorrectly immediately after start of acceleration/deceleration.

NOTE

With a machine tool such as a lathe that has a large

load inertia, the acceleration/deceleration time becomes longer. In such a case, set the value corresponding to the acceleration/deceleration time of the machine in this parameter.

- 43 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

3083 4083 4083

15i 16i 30i

Motor voltage setting on velocity control mode

3136 4136 4136

Motor voltage setting on velocity control mode (for low-speed characteristics)

Unit of data : 1% Valid data range : 0 to 100 Standard setting : Depends on the motor model.

This parameter sets the motor voltage under the no-load condition in velocity control mode. The motor voltage to be set depends the motor model, the most usual setting is 30. If an abrupt application of a heavy load in the no-load condition lowers the motor speed, adjust this parameter to around 50 to 70 to improve the torque response characteristic. Note that, however, setting a large value causes heating and large activation sound during no-load motor operation.

3171 4171 4171

15i 16i 30i

3172 4172 4172

3173 4173 4173

3174 4174 4174

Denominator of an arbitrary gear ratio between the motor sensor and spindle

(HIGH) CTH1A=0

Numerator of an arbitrary gear ratio between the motor sensor and spindle

(HIGH) CTH1A=0

Denominator of an arbitrary gear ratio between the motor sensor and spindle

(LOW) CTH1A=1

Numerator of an arbitrary gear ratio between the motor sensor and spindle

(LOW) CTH1A=1

Unit of data : Valid data range : 0 to 32767

Standard setting value : 0

These parameters set conversion coefficients (numerator, denominator) for using the detection arbitrary gear ratio function (DMR function) by multiplying a motor sensor (Mi sensor) feedback signal by a gear ratio to produce a spindle position feedback signal. When the spindle rotates Q times while the motor shaft rotates P times (there is no common divisor other than 1 for P and Q), the settings are: No. 4171 (No. 4173 when CTH1A = 1) = P No. 4172 (No. 4173 when CTH1A = 1) = Q When 0 is set in any of these parameters, the setting of 1 is assumed.

NOTE

1 When performing feed per revolution with the

2 Threading using the detection arbitrary gear ratio

detection arbitrary gear ratio function (DMR function), set an arbitrary gear ratio between the motor sensor and spindle in this parameter.

function (DMR function) is not supported.

- 44 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

3508 4508 4508

15i 16i 30i

Rate of change in acceleration at soft start/stop

Unit of data : 10min

-1

/sec2 Valid data range : 0 to 32767 Standard setting : 0

This parameter sets the jerk (the rate of change in acceleration) when the soft start/stop function is enabled (soft start/stop signal SOCNA =

1).

cceleration in velocity command

-1

/sec)

(min

Increase in acceleration

Initial acceleration

Time(sec)

Starts changing velocity command issued from CNC at this point.

Increase in acceleration = 10 × setting in parameter No. 4508 × T

Initial acceleration = Setting in parameter No. 4030

NOTE

1 This parameter is valid with 9D50 Series G (07)

edition or later and 9D70 series A (01) edition or later.

2 If 0 is set, a liner type velocity command is observed

when the soft start/stop function is enabled.

- 45 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.1.7 Troubleshooting

If the spindle motor does not operate normally, take an action by referencing the items listed below according to the state of trouble. For an action to be taken when an alarm is issued, refer to the maintenance manual.

State of trouble

(i) When the motor does not rotate

(ii) When the motor does not rotate at a specified speed

When the motor vibrates and makes an abnormal sound when

(iii)

rotating

(iv) When an overshoot or hunting occurs (v) When the cutting capability is degraded (vi) When the acceleration/deceleration time is long

(i) When the motor does not rotate

(1) Check the connections. (Refer to Descriptions.)

(a) Motor power line phase order (b) Feedback signal cable connection (c) DC link connection between the power supply module and

spindle amplifier module

(2) Check the parameter settings.

(a) Parameter data for each motor model (b) Detector-related parameter data (Refer to Subsec. 1.3.2 in

Part I.)

15i 16i 30i

3020 4020 4020 Maximum motor speed

(d) Parameters related to spindle speed specification For Series 16i/18i/21i “FANUC Series 16i/18i/21i-MODEL B

CONNECTION MANUAL (FUNCTION) : B-63523EN-1 Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

For Series 30i/31i/32i “FANUC Series 30i/31i/32i-MODEL A

CONNECTION MANUAL (FUNCTION) : B-63943EN-1 Refer to Section 11.3 “SPINDLE SPEED CONTROL.”

For Series 15i “FANUC Series 15i-MODEL B

CONNECTION MANUAL (FUNCTION) : B-63783EN-1 Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

For Series 0i “FANUC Series 0i-MODEL C

CONNECTION MANUAL (FUNCTION) : B-64113EN-1 Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

Description

- 46 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(3) Check the input signals.

(a) Input signals for spindle control (PMC → CNC)

1st- G227 G070 G070 MRDYA SFRA SRVA

2nd- G235 G074 G074 MRDYB SFRB SRVB

1st- G226 G071 G071 *ESPA

2nd- G234 G075 G075 *ESPB

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

(4) Check the feedback signal.

(a) Feedback signal level (Refer to Maintenance Manual.) (b) Shielding and grounding (Refer to Descriptions.)

(ii) When the motor does not rotate at a specified speed

(1) Check the connections. (Refer to Descriptions.)

(a) Motor power line connection (b) Feedback signal cable connection point

(2) Check the parameter settings.

(a) Parameter data for each motor model (b) Detector-related parameter data (Refer to Subsec. 1.3.2 in

Part I.)

15i 16i 30i

3020 4020 4020 Maximum motor speed

(d) Parameters related to spindle speed specification For Series 16i/18i/21i “FANUC Series 16i/18i/21i-MODEL B

CONNECTION MANUAL (FUNCTION) : B-63523EN-1 Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

For Series 30i/31i/32i “FANUC Series 30i/31i/32i-MODEL A

CONNECTION MANUAL (FUNCTION) : B-63943EN-1 Refer to Section 11.3 “SPINDLE SPEED CONTROL.”

For Series 15i “FANUC Series 15i-MODEL B

CONNECTION MANUAL (FUNCTION) : B-63783EN-1 Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

For Series 0i “FANUC Series 0i-MODEL C

CONNECTION MANUAL (FUNCTION) : B-64113EN-1 Refer to Section 9.3 “SPINDLE SPEED CONTROL.”

(3) Check the feedback signal.

(a) Feedback signal level (Refer to Maintenance Manual.) (b) Shielding and grounding (Refer to Descriptions.)

Description

- 47 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(iii) When the motor vibrates and makes an abnormal sound when rotating

(1) Check the feedback signal.

(a) Feedback signal level (Refer to Maintenance Manual.) (b) Shielding and grounding (Refer to Descriptions.)

(2) Check the parameter settings. The velocity loop gain may be too large. Adjust the following

parameters:

15i 16i 30i

3040 4040 4040

3041 4041 4041

3048 4048 4048

3049 4049 4049

Velocity loop proportional gain (HIGH)

Velocity loop proportional gain (LOW)

Velocity loop integral gain (HIGH)

Velocity loop integral gain (LOW)

Description Setting data

Decrease the setting values.

(3) Make a comparison with the case of motor coasting. If vibration and sound produced when the motor coasts are

extremely smaller than those produced when the motor is driven, the control circuit is faulty. If sound produced remains unchanged, the motor or the machine may be faulty. If the feedback signal cable from the motor is disconnected during motor rotation, an alarm is issued, and the motor coasts. Before performing the coasting of the motor, consult with the machine tool builder for confirmation. Depending on the sequence, the brake may be applied.

(iv) When an overshoot or hunting occurs

(1) Check the parameter settings.

(a) The velocity loop gain may be too large. Adjust the

following parameters:

15i 16i 30i

3040 4040 4040

3041 4041 4041

3048 4048 4048

3049 4049 4049

Velocity loop proportional gain (HIGH)

Velocity loop proportional gain (LOW)

Velocity loop integral gain (HIGH)

Velocity loop integral gain (LOW)

Description Setting data

Decrease the setting values.

- 48 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(v) When the cutting capability is degraded

(1) Check the parameter settings.

(a) Parameter data for each motor model (b) Output limitation pattern and output limitation value

15i 16i 30i

3028 4028 4028 Output limitation pattern setting

3029 4029 4029 Output limitation value

Description

(2) Check the input signals.

(a) Torque limitation commands (TLMH, TLML)

1st- G227 G070 G070 TLMHA TLMLA

2nd- G235 G074 G074 TLMHB TLMLB

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

(3) Check the machine.

(a) Belt tension, and so forth

(vi) When the acceleration/deceleration time is long

(1) Check the parameter settings.

(a) Parameter data for each motor model (b) Output limitation pattern and output limitation value

15i 16i 30i

3028 4028 4028 Output limitation pattern setting 3029 4029 4029 Output limitation value

in the parameter table for each motor model is set.)

15i 16i 30i

3080 4080 4080 Regenerative power limitation

3166 4166 4166

Regenerative power limitation (for low-speed characteristics)

(2) Check the input signals.

(a) Torque limitation commands (TLMH, TLML)

1st- G227 G070 G070 TLMHA TLMLA

2nd- G235 G074 G074 TLMHB TLMLB

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

Description

- 49 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.2 POSITION CODER METHOD SPINDLE ORIENTATION

2.2.1 Start-up Procedure

A. Check that operation in the velocity control mode is enabled.

B. Prepare and check the ladder program for spindle orientation.

C. Set the parameters related to spindle orientation or detector.

D. Check the position detect signal (position coder signal).

E. Check whether orientation is performed.

F. Set and check the direction used for orientation.

- Set the direction of rotation used for orientation.

Optional function

G. Adjust the orientation stop position.

- Detection level for the orientation completion signal

- Orientation stop position shift

- Orientation stop position

H. Adjust the orientation speed.

- Position gain for orientation

- Motor speed limit ratio for orientation

- Orientation speed

I. Adjust the orientation stop (to eliminate overshoot and ensure stop-time rigidity).

- Position gain for orientation

- Velocity loop proportional gain for orientation

- Velocity loop integral gain for orientation

- Motor voltage for orientation

- Rate of change in position gain upon orientation completion

J. Check ATC operation.

- 50 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

2.2.2 Overview

Unlike a function for stopping the spindle at a predetermined position mechanically, for example, by using a stopper, the spindle orientation function stops the spindle at a predetermined position by directly reading the position feedback signal from a position detector attached to the spindle of the machine.

NOTE

To use this function, the CNC software option is

required.

2.2.3 Feature

(1) Elimination of a mechanical section used for stopping at a

predetermined position

Only a position detector needs to be connected to the spindle. A

mechanical section (such as a stopper and pin) used to mechanically stop the spindle at a predetermined position for

spindle orientation is unnecessary. (2) Reduction in orientation time A spindle motor attached to the spindle is used. So, orientation is

enabled directly at high speed, independently of gear shifting,

thus resulting in a remarkable reduction in orientation time. (3) Simplified power magnetic sequence The required sequence consists of only a command for stopping

at a predetermined position, completion signal, and clutch/gear

signal. No other signals are required. Sequences for an

orientation speed command and torque limitation command are

unnecessary. (4) Reliability This function is based on a purely electric method. So, an

external shock does not damage the mechanical section, thus

improving reliability. (5) High precision and high rigidity The precision and rigidity of the spindle stopping at a

predetermined position are sufficiently high for tool change

operation (ATC). (6) Workpiece positioning On a lathe, a workpiece can be positioned to align the workpiece

attachment/detachment direction. (7) Reduction in the number of processes in boring When a boring process ends, the workpiece can be positioned in

the same direction as the direction of spindle rotation. So, the

workpiece is not damaged by the tool tip. Moreover, the tool tip can be attached or detached in a constant

direction relative to the workpiece, so that a program can be

created easily.

- 51 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.2.4 System Configuration

The system configurations that enable the use of the position coder method orientation function are shown below.

(1) When the α position coder is used

Spindle motor with built-in Mi sensor (or MZi sensor)

JYA2

SPM TYPE A

JYA3

(2) When the α position coder S is used

JYA2

SPM TYPE B

JYA4

(3) When the built-in motor is used

Spindle

position coder

Directly connected or connected with a gear or timing belt at a ratio of 1:1

Spindle motor with built-in Mi sensor (or MZi sensor)

Spindle

position coder S

Directly connected or connected with a gear or timing bel at a ratio of 1:1

BZi sensor or CZi sensor

Spindle+ Bult-in motor

JYA2

SPM TYPE A

- 52 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(4) When the spindle motor with built-in MZi sensor is used

Spindle motor with built-in MZi sensor

JYA2

SPM TYPE A

Directly connected or connected with a gear or timing bel at a ratio of 1:1

Spindle

(5) When the separate type BZi sensor or separate type CZi sensor is used

Spindle motor with built-in Mi sensor (or MZi sensor)

Spindle

BZi sensor or CZi sensor

- 53 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(6) When the external one-rotation signal (proximity switch) is used

Spindle motor with built-in Mi sensor

sensor)

(or MZ

Spindle

External one-rotation signal switch (proximity switch)

NOTE

1 For stable detection of the one-rotation signal, fix the

rotation direction (bits 3 and 2 of No. 4003) for orientation at one direction.

2 Set the type (bits 3 and 2 of No. 4004) of the

external one-rotation signal (proximity switch).

3 For stable detection of the one-rotation signal, set an

orientation speed (No. 4038) from 50 to 100 min according to the specification of the external one-rotation signal (proximity switch).

4 The detection of the one-rotation signal starts after

the orientation speed is reached.

5 Set the parameters (No. 4171 to No. 4174) for the

numerator/denominator of an arbitrary gear ratio between the motor sensor and spindle.

2.2.5 Stop Position Specification Method

Stop position

specification method

Parameter-based specification

External setting for stop position specification

Set the number of pulses ( one-rotation signal to a stop position (360 pulses).

Specify the number of pulses (0 to 4095 pulses) from the one-rotation signal to a stop position with a PMC signal (360° = 4096 pulses). The sum of the number of pulses set in the parameter and the number of pulses specified with a PMC signal represents a final stop position.

Gear or timing belt

Description

±4095 pulses) from the

-1

° = 4096

- 54 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

2.2.6 I/O Signals (CNC ↔ PMC)

(1) Address list of Input signals (PMC → CNC)

1st- G227 G070 G070

2nd- G235 G074 G074

1st- G229 G072 G072

2nd- G237 G076 G076

1st- G230 G078 G078

2nd- G238 G080 G080

1st- G231 G079 G079

2nd- G239 G081 G081

15i 16i 30i

(2) Details of input signals (PMC → CNC)

(a) Orientation command (ORCMA)

#7 #6 #5 #4 #3 #2 #1 #0

ORCMA CTH1A CTH2A

ORCMB CTH1B CTH2B

NRROA ROTAA INDXA

SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00

SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00

NRROB ROTAB INDXB

SHA11 SHA10 SHA09 SHA08

SHB11 SHB10 SHB09 SHB08

(i) This signal is used to stop the spindle at a predetermined position

in order to change the tool or attach or detach a workpiece. (ii) If this signal is set to 1, the spindle, when rotating, is

immediately decelerated to stop at a predetermined position. (iii) If an orientation command is issued for safety, set the

forward/reverse spindle rotation command (SFRA/SRVA) and

the speed command to 0. With these settings, the spindle does

not start rotation even if ORCMA is set to 0 during tool change

operation. (iv) Set this signal to 0 with the tool change completion signal or the

workpiece attachment/detachment completion signal. (v) At power-on time, be sure to set the orientation command signal

to 0. (vi) If an alarm is issued or an emergency stop operation is performed

during orientation, ensure that the orientation command signal is

reset (to 0). At power-on time, return the ATC arm to a safe

position so that the arm and associated equipment are not

damaged when the spindle and tool rotate.

- 55 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(b) Clutch/gear signals (CTH1A, CTH2A)

(i) These signals are used to select spindle control parameters

(position gain, gear ratio, and velocity loop gain) when there are

two or more gear change stages between the spindle and spindle

motor. (ii) Make settings as indicated in the table below according to the

state of the clutch or gear. The names such as HIGH GEAR are

given for convenience, and the correspondence to the actual

gears is free.

CTH1A CTH2A

0 0 HIGH GEAR 0 1 MEDIUM HIGH GEAR 1 0 MEDIUM LOW GEAR 1 1 LOW GEAR

(i) This signal is used to change to another orientation position after

a spindle orientation operation is performed by stop position

external setting type orientation. This signal is valid when the spindle orientation command

(ORCMA) = 1. (ii) When this signal makes a transition from 1 to 0, the spindle is

oriented to the position (arbitrary position in one rotation:

absolute position command) specified by new stop position data

(SHA11 to 00) within one rotation. (iii) The direction of orientation rotation is specified by the shortcut

command (NRROA) and the rotation direction command

(ROTAA). (iv) This function is valid when the CNC parameter for the stop

position external setting type orientation function is set.

(d) Spindle orientation stop position change shortcut command (NRROA)

(i) This signal is used for shortcut (within ±180 degrees) positioning

at the next stop position when a rotation direction is specified to

change the orientation position after a spindle orientation

operation. (ii) When this signal is set to 1, shortcut positioning is performed,

regardless of the spindle orientation stop position change rotation

direction command (ROTAA).

(e) Spindle orientation stop position change rotation direction command (ROTAA)

(i) This signal is used to specify a rotation direction when the

orientation position is successively changed to another

orientation position after a spindle orientation operation. When this signal is set to 0, the spindle rotates CCW and stops. When this signal is set to 1, the spindle rotates CW and stops. (ii) This signal is valid when the spindle orientation stop position

change shortcut command (NRROA) is set to 0.

- 56 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(f) Spindle orientation external stop position command (SHA11 to SHA00)

(i) With the stop position external setting type spindle orientation

function, a stop position is set. A stop position is determined by

the expression indicated below. This command specifies an

absolute position during one rotation.

(degrees)position Stop

360

4096

∑

××=

)2(

Pi = 0 when SHAi = 0. Pi = 1 when SHAi = 1. (ii) When the stop position external setting type spindle orientation

function is used, the position coder method spindle orientation

stop position setting parameter (No. 4031) is invalid.

(3) Address list of output signals (CNC → PMC)

1st- F229 F045 F045

2nd- F245 F049 F049

i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

ORARA

ORARB

(4) Details of output signals (CNC → PMC)

(a) Orientation completion signal (ORARA)

(i) This signal is set to 1 when the spindle stops in the neighborhood

of a predetermined position (±1°, for example) after an

orientation command is input. ORARA is set to 1 when the following three conditions are

satisfied:

- ORCMA=“1”

- SSTA(speed zero detection signal)=“1”

- The spindle is in the neighborhood of a predetermined position.

The condition for the neighborhood of a predetermined position

is set using parameter No. 4075 (orientation completion signal detection level). Only when all of the three conditions are satisfied, the orientation completion signal is output. Such a state that the orientation completion signal is not output when a certain time has elapsed after the input of an orientation command is abnormal. In this case, issue an orientation alarm by detecting this state with a power magnetic sequence.

(ii) When this signal is set to 1, start a tool change operation and

workpiece attachment/detachment operation.

- 57 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(iii) The orientation completion signal is output when the spindle is in

the neighborhood of a predetermined position. This means that this signal does not represent a complete stop signal. With some machines, the operation time for the arm to grasp the tool of the spindle may be short. In this case, insert a time (0.1 to 0.5 second) before operating the arm for ATC so that the arm grasps the tool when the spindle has stopped completely.

Speed zero detection point

Spindle speed

Orientation completion signal ORARA

TC arm operation

start signal

(iv) This signal is set to 0, for example, when the spindle is moved

out of the neighborhood of a predetermined stop position as in a case where an external force is applied. In this case, use a sequence that stops tool change operation. However, do not cancel the orientation command, but execute a tool change operation after the orientation completion signal is set to 1 again.

(v) If the ATC of the machine has a structure that can cause a serious

accident such as destruction due to a circuit failure, create a signal for indicating an automatic tool change enable area by using a proximity switch to make a double safety check with a power magnetic sequence before changing the tool.

Neighborhood of stop position

Chattering

0.1 to 0.5 sec

- 58 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

ATC

2.2.7 Examples of Sequences

(1) Orientation command at stop time

Orientation command

Stop

Motor speed

Orientation completion signal

TC operation

CW direction

CCW direction

NOTE

The rotation direction of the spindle motor can be

selected by parameter settings. By default, the spindle rotates in the direction specified before the orientation command signal is issued and then it stops at a predetermined position.

(2) Orientation command during high-speed rotation

Rotation command

Note

Start Completion

Stop

operation

Orientation command

High-speed

CW direction

Motor speed

CCW direction

Orientation completion signal

TC operation

Deceleration

Stop

operation

Start Completion

- 59 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(3) Stop position external setting type spindle orientation

Spindle orientation command ORCMA

Spindle orientation stop position command SHA00-11

Spindle orientation stop position change command INDXA

Spindle orientation stop position change rotation direction command ROTAA

Spindle orientation stop position change shortcut command NRROA

Motor speed

Spindle orientation completion signal ORARA

CW direction

CCW direction

Stop <3> Stop <2> Stop <1>

NOTE

Set t = 50 msec or more.

Stop <1>

• Predetermined stop position based on the normal orientation

command

• The rotation direction of the spindle motor is determined by

parameter setting.

• After the power is turned on, the spindle rotates at the orientation

speed and seizes the one-rotation signal before stopping at a predetermined position for the first time. After the first stop, the spindle stops at a predetermined position within one rotation.

• When the stop position external setting type spindle orientation

function is used, the spindle stops at a predetermined position after shifting by the stop position data read on the rising edge of the spindle orientation command signal if the data of the spindle orientation stop position command SHA00-SHA11 is set after the first stop.

Stop <2>, <3>

• Predetermined stop positions based on the stop position external

setting type spindle orientation function

- 60 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

• The rotation direction of the spindle motor depends on the

spindle orientation stop position change rotation direction command (ROTAA) and the spindle orientation stop position change shortcut command (NRROA).

NOTE

The spindle orientation stop position change

command INDXA is valid only when the spindle orientation command ORCMA is set to 1.

- 61 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.2.8 Related Parameters

Parameter No.

15i 16i 30i

3015#0 4015#0 4015#0

5609#2 3702#3,#2 3729#0

3003#0 4003#0 4003#0 Choice of orientation method (To be set to 0 for the position coder method)

3003#3,#2 4003#3,#2 4003#3,#2 Direction of rotation in spindle orientation

3017#7 4017#7 4017#7 Shortcut function when orientation is specified in stop state

3031 4031 4031

3042 3043 3050 3051

3056 to 3059 4056 to 4059 4056 to 4059

3060 to 3063 4060 to 4063 4060 to 4063

3064 4064 4064 Rate of change in the position gain upon completion of spindle orientation 3075 4075 4075 Detection level for the spindle orientation completion signal 3076 4076 4076 Speed limit ratio for spindle orientation 3077 4077 4077 Spindle orientation stop position shift 3084 4084 4084 Motor voltage for spindle orientation 3038 4038 4038 Spindle orientation speed

3171 3173

3172 3174

4042 4043 4050 4051

4171 4173

4172 4174

4042 4043 4050 4051

4171 4173

4172 4174

Specifies whether to use the spindle orientation function. (Set this bit to 1.) (The CNC software option is required.) Specifies whether to use the spindle orientation function with the stop position external setting type. (For 16i, #2: First spindle, #3: Second spindle)

Stop position for position coder method orientation (This parameter is disabled when spindle orientation with an externally set stop position or an externally set incremental command is used.) Velocity loop proportional gain for orientation (A parameter is selected by the CTH1A input signal.) Velocity loop integral gain for orientation (A parameter is selected by the CTH1A input signal.) Spindle-to-motor gear ratio (A parameter is selected by the CTH1A and CTH2A input signals.) Position gain for orientation (A parameter is selected by the CTH1A and CTH2A input signals.)

Denominator of an arbitrary gear ratio between the motor sensor and spindle (A parameter is selected by the input signal CTH1A.)

Numerator of an arbitrary gear ratio between the motor sensor and spindle (A parameter is selected by the input signal CTH1A.)

NOTE

1 For the parameters related to detectors, see the Section 1.3

“PARAMETERS RELATED TO DETECTORS” in the Part I.

2 For velocity loop proportional/integral gain adjustment, see

Section 4.1, "VELOCITY LOOP GAIN ADJUSTMENT", in Part I.

3 When using the external one-rotation signal (proximity switch), fix

the orientation-time rotation direction (bits 3 and 2 of No. 4003) at one direction.

4 When using the external one-rotation signal (proximity switch), set

the type of the external one-rotation signal (bits 3 and 2 of No.

4004).

5 When using the external one-rotation signal (proximity switch), set

an orientation speed from 50 to 100 min-1 (No. 4038) according to the specification of the used external one-rotation signal.

6 When using the external one-rotation signal (proximity switch), set

the numerator/denominator of an arbitrary gear ratio between the motor sensor and spindle (No. 4171 to No. 4174).

Description

- 62 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

2.2.9 Details of Related Parameters

3003 4003 4003

3004 4004 4004

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

DIRCT2 DIRCT1 PCMGSL

DIRCT2, DIRCT1 Setting of rotation direction at spindle orientation

DIRCT2 DIRCT1 Rotation direction at spindle orientation

0 0

0 1

1 0

1 1 CW (clockwise) direction looking from shaft of motor

By rotation direction immediately before (It is CCW at the power on.) By rotation direction immediately before (It is CW at the power on.) CCW (counterclockwise) direction looking from shaft of motor

NOTE

When using the external one-rotation signal

(proximity switch), fix the orientation-time rotation direction at CCW or CW for stable detection of the one-rotation signal.

(Bits 3, 2 of No. 4003) = 1, 0 or 1, 1)

PCMGSL Selects the type of orientation.

Set this bit to 0 (orientation by a position coder).

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

RFTYPE EXTRF

EXTRF, RFTYPE Sets the external one-rotation signal (proximity switch).

RFTYPE EXTRF External one-rotation signal (proximity switch)

0 0 None 0 1 Detects the rising edge. 1 1 Detect the falling edge.

NOTE

When using the external one-rotation signal

(proximity switch), set the type of the external one-rotation signal (proximity switch) by using this parameter.

- 63 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

3017 4017 4017

15i 16i 30i

#7 #6 #5 #4 #3 #2 #1 #0

NRROEN

NRROEN Specifies whether to use the shortcut function when orientation is

specified in the stop state. 0 : Does not use the function. 1 : Uses the function. When this bit is set to 1, short cut operation is performed when the following conditions are satisfied:

• Bit 7 of parameter No. 4016 (RFCHK3) is set to 0.

• Zero speed detection output signal SST is set to 1.

• Shortcut command input signal NRROA is set to 1.

3031 4031 4031

15i 16i 30i

Position coder method orientation stop position

Unit of data : 1 pulse unit (360 degrees/4096) Valid data range : 0 to 4096 Standard setting : 0

This data is used to set the stop position of position coder method spindle orientation. It can be set at every 360 degrees/4096. When stop position external command type orientation and incremental command external type orientation are set, this parameter becomes invalid. Stop position command (SHA11-SHA00) of input signal instructed becomes valid.

3038 4038 4038

15i 16i 30i

Spindle orientation speed

Unit of data : 1min

-1

(10min

-1

when bit 2 of parameter No.4006(SPDUNT) is set to

1) Valid data range : 0 to 32767 Standard setting : 0

This parameter sets the orientation speed at the end of the spindle. When 0 is specified for this parameter, the orientation speed is determined depending on the position gain and the motor speed limit ratio for orientation.

NOTE

When using the external one-rotation signal

(proximity switch), set an orientation speed from 50 to 100 min-1 according to the specification of the used external one-rotation signal (proximity switch) for stable detection of the one-rotation signal.

- 64 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

3042 4042 4042

3043 4043 4043

15i 16i 30i

Velocity loop proportional gain on orientation (HIGH) CTH1A=0

Velocity loop proportional gain on orientation (LOW) CTH1A=1

Unit of data : Valid data range : 0 to 32767 Standard setting : 10

This parameter sets the velocity loop proportional gain for spindle orientation. When the CTH1A input signal is set to 0, proportional gain for the HIGH gear is selected. When the CTH1A input signal is set to 1, proportional gain for the LOW gear is selected.

3050 4050 4050

3051 4051 4051

15i 16i 30i

Velocity loop integral gain on orientation (HIGH) CTH1A=0

Velocity loop integral gain on orientation (LOW) CTH1A=1

Unit of data : Valid data range : 0 to 32767 Standard setting : 10

This parameter sets the velocity loop integral gain for spindle orientation. When the CTH1A input signal is set to 0, integral gain for the HIGH gear is selected. When the CTH1A input signal is set to 1, integral gain for the LOW gear is selected.

3056 4056 4056

3057 4057 4057

3058 4058 4058

3059 4059 4059

15i 16i 30i

Gear ratio (HIGH) CTH1A=0, CTH2A=0

Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1

Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0

Gear ratio (LOW) CTH1A=1, CTH2A=1

Unit of data : (Motor rotation for one rotation of spindle) / 100

(When parameter No. 4006 #1 (GRUNIT) is 1, motor rotation / 1000) Valid data range : 0 to 32767 Standard setting : 100

These parameters set the gear ratio of the spindle motor relative to the

spindle.

When the motor rotates 2.5 times, for every rotation of the spindle, for

example, set 250 in the parameter.

A parameter is selected by the CTH1A and CTH2A input signals.

The gear or clutch status must correspond to the status of the CTH1A

and CTH2A input signals.

NOTE

When an improper value is set in these

parameters, an unexpected operation can occur. For example, the spindle can continue rotating without stopping at the time of orientation. So, be sure to set a proper gear ratio.

- 65 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

3060 4060 4060

3061 4061 4061

3062 4062 4062

3063 4063 4063

3064 4064 4064

3075 4075 4075

3076 4076 4076

15i 16i 30i

Unit of data : 0.01sec

Position gain on orientation (HIGH) CTH1A=0, CTH2A=0

Position gain on orientation (MEDIUM HIGH) CTH1A=0, CTH2A=1

Position gain on orientation (MEDIUM LOW) CTH1A=1, CTH2A=0

Position gain on orientation (LOW) CTH1A=1, CTH2A=1

-1

Valid data range : 0 to 32767 Standard setting : 1000

These parameters set the position gain for orientation.

A parameter is selected by the CTH1A and CTH2A input signals.

15i 16i 30i

Modification rate of position gain on orientation completion

Unit of data : 1% Valid data range : 0 to 799 Standard setting : 100

This data is used to set the modification rate of position gain on

spindle orientation completion.

15i 16i 30i

Orientation completion signal detection level (limits of in-position)

Unit of data : ±1 pulse unit (360 degrees/4096) Valid data range : 0 to 100 Standard setting : 10

This data is used to set the detecting level of orientation completion

signal (ORARA).

When the spindle position is located within the setting data on

orientation completion, the bit of orientation completion signal

(ORARA) in the spindle control signals is set to "1".

When the orientation command (ORCMA) is turned off (= 0), the

orientation completion signal (ORARA) is set to "0".

15i 16i 30i

Motor speed limit ratio on orientation

Unit of data : 1% Valid data range : 0 to 100 Standard setting : 33

This data is used to set motor speed limit ratio on orientation.

The value calculated from the position gain (No. 4060 to No. 4063)

and this parameter as indicated below is used as an orientation speed

and reference position return speed on servo mode (rigid

tapping/spindle positioning).

()

gainPosition

()

ratioGear

100

)speed(motor motor of speedn Orientatio

×××=

ratio)limit (Speed

1−

][min

100

- 66 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

3077 4077 4077

15i 16i 30i

Orientation stop position shift value

Unit of data : ±1 pulse unit (360 degrees/4096) Valid data range : -4095 to 4095 Standard setting : 0

In the position coder method orientation, set this data to shift stop

position.

Spindle is shift numbers of setting pulse in CCW direction, and stops

by data (+).

3084 4084 4084

15i 16i 30i

Motor voltage setting on orientation

Unit of data : 1% Valid data range : 0 to 100 Standard setting : 30

This parameter sets the motor voltage for orientation. Usually, set 30.

The value may vary, however, depending on the motor model.

3171 4171 4171

3172 4172 4172

3173 4173 4173

3174 4174 4174

15i 16i 30i

Denominator of arbitrary gear ratio between motor sensor and spindle (HIGH)

CTH1A=0

Numerator of arbitrary gear ratio between motor sensor and spindle (HIGH)

CTH1A=0

Denominator of arbitrary gear ratio between motor sensor and spindle (LOW)

CTH1A=1

Numerator of arbitrary gear ratio between motor sensor and spindle (LOW)

CTH1A=1

Unit of data : Valid data range : 0 to 32767 Standard setting : 0

These parameters set conversion coefficients (numerator,

denominator) for using the detection arbitrary gear ratio function

(DMR function) by multiplying a motor sensor (Mi or MZi sensor)

feedback signal by a gear ratio to produce a spindle position feedback

signal.

When the spindle rotates Q times while the motor shaft rotates P times

(there is no common divisor other than 1 for P and Q), settings are:

No. 4171 (No. 4173 when CTH1A = 1) = P

No. 4172 (No. 4174 when CTH1A = 1) = Q

When 0 is set in any of these parameters, the setting of 1 is assumed.

NOTE

When using the external one-rotation signal

(proximity switch), set an arbitrary gear ratio between the motor sensor and spindle by using this parameter.

- 67 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

×××

2.2.10 Calculating the Position Gain for Orientation

(1) When the spindle orientation speed (parameter No. 4038) is set

to 0, the orientation speed is determined using the following expression:

GEARRoriPG60Nori

where,

Nori : Orientation speed (motor speed) [min

Rori : Motor speed limit ratio for orientation

(parameter No. 4076)

PG : Position gain on orientation [sec

(parameter Nos. 4060 to 4063)

GEAR : Spindle-to-motor gear ratio

(parameter Nos. 4056 to 4059)

(2) The position gain for spindle orientation is obtained using the

following expression:





≤



()



where,

PG : Position gain for orientation [sec

(parameter Nos. 4060 to 4063)

Tm : 30-min rated torque [Nm] for the motor when rotating

at Nori [min

Jm : Rotor inertia [kgm

Jl : Load inertia converted to motor shaft inertia [kgm

Rori : Motor speed limit ratio for orientation

(parameter No. 4076)

GEAR : Spindle-to-motor gear ratio

(parameter Nos. 4056 to 4059)

(3) Calculation example when motor model α6i is being used alone

[%]33Rori

]W[7500

−

1047.0][min1500

][kgm0179.0Jm2=

-1

]

-1

]

 

××+×π

-1

]



GEARRoriJlJm2



-1

]

]Nm[8.47

]



≤∴

 

8.47





××π

33.00179.02



1−

][sec9.35

- 68 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

2.2.11 Adjusting the Orientation Stop Position Shift Parameter

Adjust the orientation stop position shift parameter by following the

procedure below.

(1) Adjustment using diagnosis screen No. 445 (spindle position data

display) (16i, 30i) (a) Specify parameters as follows: No.3117#1=1 (to enable the display function of diagnosis

screen No. 445) No.4016#7=0 No.4031=0 (When external signals are used for setting, set

the SHA11 to SHA00 DI signals to 0.) No.4077=0 (b) Enter an orientation command (ORCMA) to stop

orientation. (c) After orientation is stopped, check that diagnosis screen No.

445 displays 0. Cancel the orientation command and set the emergency stop

state to deactivate the motor. (d) Rotate the spindle manually to the position where you want

the spindle to stop then read the displayed value of

diagnosis screen No. 445. (e) Set the displayed value of (d) as the parameter data for an

orientation stop position shift amount (parameter No. 4077).

Example:

Value displayed in No. 445 when orientation is stopped = 0

Value displayed in No. 445 when the spindle is rotated manually in

the emergency stop state = 1024

Value to be specified in the parameter No. 4077 = 1024

NOTE

1 The display function of diagnosis screen No. 445 is a

maintenance function. After completion of adjustment, return the setting of bit 1 of parameter No. 3117 to 0.

2 The FS15i does not have the spindle position data

display function.

- 69 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(2) Adjustment using the spindle check board

(a) Specify parameters as follows: No.4016#7=0 No.4031=0 (When external signals are used for setting, set

the SHA11 to SHA00 DI signals to 0.) No.4077=0 (b) To display the position coder counter under position control,

set the following on the spindle check board: d-01=295 d-02=0 d-03=0 d-04=0 (c) Enter an orientation command (ORCMA) to stop

orientation. (d) Once orientation stops, check that 00000 is displayed. Cancel the orientation command and set the emergency stop

state to deactivate the motor. (e) Manually position the spindle to the position where you

want the spindle to stop. Then, read the displayed value. (f) Set the displayed value of (5) as the parameter data for an

orientation stop position shift amount.

Example:

Value displayed when orientation is stopped = 00000

Value displayed when the spindle is positioned manually

after deactivating the motor = 01024

Value to be specified in the parameter No. 4077 = 1024

- 70 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

××=

2.2.12 Calculating the Orientation Time

The time required for orientation differs between the first orientation (before the one-rotation signal has first been detected) and the second and subsequent orientations (once the one-rotation signal has been detected).

(1) Before the one-rotation signal has first been detected(first

orientation)

The time, from the input of an orientation command until

orientation stops, is divided into four periods.

In the following figure, A indicates that the motor in the stop

state starts rotating and is accelerated to the orientation speed. B indicates that the already rotating motor is decelerated to the orientation speed.

Motor speed

Time

t1 : Time required to achieve orientation speed Nori [sec]

: Time from the detection of a one-rotation signal (0 to 1 rotation) after Nori is achieved, until the

number of pulses output before the next one-rotation signal has been checked [sec]

: Time from the completion of the checking of the number of pulses until deceleration starts [sec]

: Time from the start of deceleration until orientation is completed [sec]

(a) Normally, t Orientation speed Nori [min

gain PG [sec

is measured on the actual machine.

-1

] and the motor speed limit ratio for

-1

] is calculated from position

orientation Rori.

Rori60PGNori

(b) t

is the time required for the motor to rotate one to two

turns at orientation speed Nori [min

601

≤≤

Nori

∴

is the time required for the motor to rotate zero to one

Nori

RoriPG

turns at orientation speed Nori [min

600

Nori

≤≤

Nori

≤≤∴

-1

602

601

RoriPG

≤≤

RoriPG

-1

- 71 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(d) t4 is the time from the start of deceleration until orientation

has been completed. Let the orientation completion width be within ±10 pulses.

Then, t

(e) Therefore, the orientation time t[sec](=t

expressed as follows:

(2) Once the one-rotation signal has been detected (second and

subsequent orientations) (a) Once the one-rotation signal has been detected, the time

required to detect the signal is no longer necessary.

Therefore, when orientation is started from the rotating state,

orientation time t[sec](=t

(b) Whenever orientation is started from the stop state,

orientation must be completed and the stop state entered

within one rotation. In this case, the orientation time t [sec]

is expressed as follows:

(3) Calculation examples Time required to achieve the orientation speed t Position gain PG = 20 [sec Motor speed limit for orientation Rori = 0.33 (= 33%)

(a) Orientation time before the one-rotation signal has been

detected

(b) Orientation time when orientation is started from the

rotating state (once the one-rotation signal has been

detected)

state (once the one-rotation signal has been detected)

can be calculated as follows:

×=

≤≤

×+

≤≤

RoriPG

−

Rori1

RoriPG

33.020

×+

− ×

≤≤∴

5.0

Rori4096

-1

]

×+

33.04096

[sec]196.1t[sec]896.0

≤≤∴

33.04096

[sec]896.0[sec]746.0

≤≤∴

33.01

33.020

20 [sec]346.0t[sec]0

1+t3+t4

1+t2+t3+t4

Rori4096

+≤≤

) is expressed as follows:

+≤≤

RoriPG

Rori4096

33.04096

5.0

+≤≤

33.04096

= 0.5 [sec]

5.0t

+≤≤

33.020

RoriPG

×+

) can be

Rori4096

33.020

33.04096

- 72 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

2.3 RIGID TAPPING

2.3.1 Start-up Procedure

A. Check that operation in the velocity control mode is enabled.

B. Prepare and check the rigid tapping ladder program.

C. Set up the detector-related parameters according to the system configuration.

- Specify to use the spndile sensor and spindle motor.

- Specify the rotation direction of the spindle and motor and that of the spindle and position coder.

- Set up the gear ratio between the spindle and motor.

- Specify an arbitrary gear ratio (for rigid tapping that uses a signal from the built-in sensor when the gear ratio between the spindle and motor is not 1:1).

D. Adjust the parameters according to the adjustment procedure.

- Maximum rotation speed and acceleration/deceleration time constant for rigid tapping

- Position gain for rigid tapping

- Velocity loop proportional and integral gains for rigid tapping

- Motor voltage for rigid tapping

- Motor activation delay

Optional function

2.3.2 Overview

E. Check the precision by actually performing cutting.

If there is a problem with the precision of the machine, adjust the acceleration/deceleration time constant and velocity loop gains again.

Rigid tapping is a function for performing high-precision tapping by exercising position control so that the spindle rotation is synchronized with tapping axis feed at all times. This subsection describes the specifications of the rigid tapping function related to the serial spindle.

NOTE

To use this function, the CNC software option is

required.

- 73 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

2.3.3 System Configuration

The system configurations that enable the use of rigid tapping are shown below.

(1) When the α position coder is used

Spindle motor with built-in Mi sensor

sensor)

(or MZ

JYA2

SPM TYPE A

JYA3

(2) When the α position coder S is used

JYA2

SPM TYPE B

JYA4

(3) When the built-in motor is used

Spindle

position coder

Directly connected or connected with a gear or timing belt at a ratio of 1:1

Spindle motor with built-in Mi sensor (or MZi sensor)

Spindle

position coder S

Directly connected or connected with a gear or timing bel at a ratio of 1:1

BZi sensor or CZi sensor

Spindle+ Bult-in motor

JYA2

SPM TYPE B

- 74 -

B-65280EN/05 FANUC AC SPINDLE MOTOR αi series 2.EXPLANATION OF OPERATION MODES

(4) When the spindle motor with built-in Mi sensor (or MZi sensor) is used

Spindle motor with built-in Mi sensor (or MZi sensor)

JYA2

SPM TYPE A

Directly connected at a ratio of 1:1 or connected with a gear or timing belt at a ratio of m:n

Spindle

NOTE

1 When performing rigid tapping by using a signal from

the sensor built into the motor as a position feedback signal, use one of the following functions if the gear ratio between the motor and spindle is other than 1:1

(a) Detection arbitrary gear ratio function (DMR

function)

(b) Command arbitrary gear ratio function (CMR

function)

2 When using the detection arbitrary gear ratio function

(DMR function), set the following:

- Parameters (No. 4171 to No. 4174) for the numerator/denominator of an arbitrary gear ratio between the motor sensor and spindle

3 When using the detection arbitrary gear ratio function

(DMR function) with a motor containing a built-in MZi sensor, set bit 6 of No. 4007 to 1 so that the alarms related to the position feedback signal (when non-Cs contouring control is exercised) are not detected.

4 When using the command arbitrary gear ratio function

(CMR function) with FS16i, set the following:

- Enable the setting of an arbitrary gear ratio between the spindle and position coder (bit 1 of No. 5200 = 1).

- Enable the setting of the command arbitrary gear ratio function (CMR) on rigid tapping (bit 7 of No. 4006 = 1).

- Set the parameters for specifying the number of gear teeth on the spindle side (No. 5221 to No. 5224).

- Set the parameters for specifying the number of gear teeth on the position coder side (No. 5231 to No.

5234).

5 Reference position return can be performed when the

spindle is directly connected to the motor or when the spindle is connected to the motor at a ratio of 1:1.

- 75 -

2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αi series B-65280EN/05

(5) When the separate type BZi sensor or separate type CZi sensor is used

Spindle motor with built-in Mi sensor

(or MZ

sensor)

Spindle

sensor or CZi sensor

(6) When the external one-rotation signal (proximity switch) is used

Spindle motor with built-in Mi sensor

sensor)

(or MZ

Spindle

External one-rotation signal switch (proximity switch)

Gear or timing belt

NOTE

1 When using the external one-rotation signal

(proximity switch), use the detection arbitrary gear ratio function (DMR function).

2 When using the detection arbitrary gear ratio

function (DMR function), set the following:

- Parameters (No. 4171 to No. 4174) for the numerator/denominator of an arbitrary gear ratio between the motor sensor and spindle

3 Set the type of the external one-rotation signal

(proximity switch) (bits 3 and 2 of No. 4004).

4 For stable detection of the one-rotation signal, set a

reference position return speed (No. 4074) from 50 to 100 min

-1

according to the specification of the

used external one-rotation signal (proximity switch).

5 When orientation based on the external one-rotation

signal is used together, match the reference position return speed and direction with the orientation speed and direction.

- 76 -

FANUC AC SPINDLE MOTOR PARAMETER MANUAL

Specifications and Main Features

Frequently Asked Questions

User Manual

B-65280EN/05

DEFINITION OF WARNING, CAUTION, AND NOTE

PREFACE

TABLE OF CONTENTS

I. FANUC AC SPINDLE MOTOR αi series

1 START-UP

1.1 START-UP PROCEDURE

1.2 SPINDLE SERIAL INTERFACE

1.2.1 Parameters Related to Spindle Serial Output

1.2.2 Automatic Spindle Parameter Initialization

(1) Parameter list

(2) Procedure for automatic spindle parameter initialization

1.2.3 Diagnosis (Diagnosis Screen)

(1) For Series 16i

(2) For Series 30i

(3) For Series 15i

1.2.4 Alarm

(1) For Series 16i

(2) For Series 15i and Series 30i

1.3 PARAMETERS RELATED TO DETECTORS

1.3.1 List of Parameters for Detectors

1.3.2 Details of Parameters for Detectors

1.3.3 Typical Detector Configurations

(1) When position control is not exercised

(2) When the α position coder is used

(3) When the α position coder S is used

(4) When the MZi, BZi, or CZi sensor is used

(5) When the separate type BZi sensor or separate type CZi sensor is used

(6) When the external one-rotation signal (proximity switch) is used

(7) When the axis on which the spindle sensor is mounted is not the spindle

2 EXPLANATION OF OPERATION MODES

2.1 VELOCITY CONTROL MODE

2.1.1 Start-up Procedure

2.1.2 Overview

2.1.3 System Configuration

(1) Input signals(PMC→CNC)

(2) Output signals (CNC→PMC)

2.1.5 Related Parameters

2.1.6 Details of Related Parameters

2.1.7 Troubleshooting

(i) When the motor does not rotate

(ii) When the motor does not rotate at a specified speed

(iii) When the motor vibrates and makes an abnormal sound when rotating

(iv) When an overshoot or hunting occurs

(v) When the cutting capability is degraded

(vi) When the acceleration/deceleration time is long

2.2 POSITION CODER METHOD SPINDLE ORIENTATION

2.2.1 Start-up Procedure

2.2.2 Overview

2.2.3 Feature

2.2.4 System Configuration

(1) When the α position coder is used

(2) When the α position coder S is used

(3) When the built-in motor is used

(4) When the spindle motor with built-in MZi sensor is used

(5) When the separate type BZi sensor or separate type CZi sensor is used

(6) When the external one-rotation signal (proximity switch) is used

2.2.5 Stop Position Specification Method

(1) Address list of Input signals (PMC → CNC)

(2) Details of input signals (PMC → CNC)

(3) Address list of output signals (CNC → PMC)

(4) Details of output signals (CNC → PMC)

2.2.7 Examples of Sequences

(1) Orientation command at stop time

(2) Orientation command during high-speed rotation

(3) Stop position external setting type spindle orientation

2.2.8 Related Parameters

2.2.9 Details of Related Parameters

2.2.10 Calculating the Position Gain for Orientation

2.2.11 Adjusting the Orientation Stop Position Shift Parameter

2.2.12 Calculating the Orientation Time

2.3 RIGID TAPPING

2.3.1 Start-up Procedure

2.3.2 Overview

2.3.3 System Configuration

(1) When the α position coder is used