FANUC SERVO AMPLIFIER Beta i series MAINTENANCE MANUAL

FANUC AC SERVO MOTOR #*s series
FANUC AC SPINDLE MOTOR #* series

FANUC SERVO AMPLIF

MAINTENANCE MANUAL

IER #* series

I/O Link Option

B-65395EN/01

Ȧ No part of this manual may be reproduced in any form.
Ȧ 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”.

B-65395EN/01 SAFETY PRECAUTIONS

SAFETY PRECAUTIONS

The "Safety Precautions" section describes the safety precautions
relating to the use of FANUC servo motors and servo amplifiers (βi
SVM). Users of any servo motor or amplifier model are requested to
read the "Safety Precautions" carefully before using the motor or
amplifier.
The users are also requested to read an applicable specification manual
carefully and understand each function of the motor or amplifier for
correct use.
The users are basically forbidden to do any behavior or action not
mentioned in the "Safety Precautions." They are invited to ask FANUC
previously about what behavior or action is prohibited.

Contents

1.1 DEFINITION OF WARNING, CAUTION, AND NOTE ........s-2

1.2 FANUC AC SERVO MOTOR βis series..................................s-3

1.2.1 Warning.........................................................................s-3

1.2.2 Caution ..........................................................................s-6

1.2.3 Note ..........................................................................s-7

1.3 FANUC SERVO AMPLIFIER βi series ...................................s-9

1.3.1 Warnings and Cautions Relating to Mounting .............. s-9

1.3.1.1 Warning.............................................................s-9

1.3.1.2 Caution............................................................s-11

1.3.1.3 Note ................................................................s-13

1.3.2 Warnings and Cautions Relating to a Pilot Run..........s-14

1.3.2.1 Warning...........................................................s-14

1.3.2.2 Caution............................................................s-15

1.3.3 Warnings and Cautions Relating to Maintenance .......s-16

1.3.3.1 Warning...........................................................s-16

1.3.4.2 Caution............................................................s-18

1.3.4.3 Note ................................................................s-19

s-1

SAFETY PRECAUTIONS B-65395EN/01

1.1 DEFINITION OF WARNING, CAUTION, AND NOTE

This manual includes safety precautions for protecting the user and
preventing damage to the machine. Precautions are classified into
Warning and Caution according to their bearing on safety. Also,
supplementary information is described as a Note. Read the Warning,
Caution, and Note thoroughly before attempting to use the machine.

WARNING

Applied when there is a danger of the user being

injured or when there is a damage of both the user
being injured and the equipment being damaged if
the approved procedure is not observed.

CAUTION

Applied when there is a danger of the equipment

being damaged, if the approved procedure is not
observed.

NOTE

The Note is used to indicate supplementary

information other than Warning and Caution.

* Read this manual carefully, and store it in a safe place.

s-2

B-65395EN/01 SAFETY PRECAUTIONS

1.2 FANUC AC SERVO MOTOR βis series

1.2.1 Warning

WARNING

• Be safely dressed when handling a motor.
Wear safety shoes or gloves when handling a motor as you may

get hurt on any edge or protrusion on it or electric shocks.

• Use a crane or lift to move a motor from one place to another.
A motor is heavy. If you lift the motor by hand, you may get a

backache, or you may be seriously injured when you drop the
motor. A suitable crane or lift must be used to move the motor.
(For the weight of motors, refer to their respective Descriptions.)

When moving a motor using a crane or lift, use a hanging bolt if

the motor has a corresponding tapped hole, or textile rope if it has
no tapped hole.

If a motor is attached with a machine or any other heavy stuff, do

not use a hanging bolt to move the motor as the hanging bolt
and/or motor may get broken.

• Before starting to connect a motor to electric wires, make sure

they are isolated from an electric power source.

A failure to observe this caution is vary dangerous because you

may get electric shocks.

• Be sure to secure power wires.
If operation is performed with a terminal loose, the terminal block

may become abnormally hot, possibly causing a fire. Also, the
terminal may become disconnected, causing a ground fault or
short-circuit, and possibly giving you electric shocks. See the
section in this manual that gives the tightening torque for attaching
power wires and short-bars to the terminal block.

• Be sure to ground a motor frame.
To avoid electric shocks, be sure to connect the grounding

terminal in the terminal box to the grounding terminal of the
machine.

• Do not ground a motor power wire terminal or short-circuit it

to another power wire terminal.

A failure to observe this caution may cause electric shocks or a

burned wiring.
(*) Some motors require a special connection such as a winding

changeover. Refer to their respective motor Descriptions for
details.

s-3

SAFETY PRECAUTIONS B-65395EN/01

WARNING

• Do not supply the power to the motor while any terminal is

exposed.

A failure to observe this caution is very dangerous because you

may get electric shocks if your body or any conductive stuff
touches an exposed terminal.

• Do not bring any dangerous stuff near a motor.
Motors are connected to a power line, and may get hot. If a

flammable is placed near a motor, it may be ignited, catch fire, or
explode.

• Do not get close to a rotary section of a motor when it is

rotating.

You may get your clothes or fingers caught in a rotary section, and

may be injured. Before starting a motor, ensure that there is no
stuff that can fly away (such as a key) on the motor.

• Do not touch a motor with a wet hand.
A failure to observe this caution is vary dangerous because you

may get electric shocks.

• Before touching a motor, shut off the power to it.
Even if a motor is not rotating, there may be a voltage across the

terminals of the motor.

Especially before touching a power supply connection, take

sufficient precautions.

Otherwise you may get electric shocks.

• Do not touch any terminal of a motor for a while (at least 5

minutes) after the power to the motor is shut off.

High voltage remains across power line terminals of a motor for a

while after the power to the motor is shut off. So, do not touch any
terminal or connect it to any other equipment. Otherwise, you may
get electric shocks or the motor and/or equipment may get
damaged.

• To drive a motor, use a specified amplifier and parameters.
Driving a motor with other than the specified combinations of an

amplifier and parameters may cause the motor to perform an
unexpected operation; for example, the motor may get out of
control, or produce excessively high torque. This may result in the
motor or machine being damaged. Also, an object such as a
workpiece or tool may fly off due to excessive rotation, possibly
causing injury.

• Do not touch a regenerative discharge unit for a while (at least

30 minutes) after the power to the motor is shut off.

A regenerative discharge unit may get hot when the motor is

running.

Do not touch the regenerative discharge unit before it gets cool

enough. Otherwise, you may get burned.

s-4

B-65395EN/01 SAFETY PRECAUTIONS

• When designing and assembling a machine tool, make it

compliant with EN60204-1.

To ensure the safety of the machine tool and satisfy European

standards, when designing and assembling a machine tool, make it
compliant with EN60204-1. For details of the machine tool, refer
to its specification manual.

• Do not touch a motor when it is running or immediately after

it stops.

A motor may get hot when it is running. Do not touch the motor

before it gets cool enough. Otherwise, you may get burned.

• Be careful not get your hair or cloths caught in a fan.
Be careful especially for a fan used to generate an inward air flow.

Be careful also for a fan even when the motor is stopped, because
it continues to rotate while the amplifier is turned on.

• Ensure that motors and related components are mounted

securely.

If a motor or its component slips out of place or comes off when

the motor is running, it is very dangerous.

s-5

SAFETY PRECAUTIONS B-65395EN/01

1.2.2 Caution

CAUTION

• FANUC motors are designed for use with machines. Do not

use them for any other purpose.

If a FANUC motor is used for an unintended purpose, it may cause

an unexpected symptom or trouble. If you want to use a motor for
an unintended purpose, previously consult with FANUC.

• Ensure that a base or frame on which a motor is mounted is

strong enough.

Motors are heavy. If a base or frame on which a motor is mounted

is not strong enough, it is impossible to achieve the required
precision.

• Be sure to connect motor cables correctly.
An incorrect connection of a cable cause abnormal heat generation,

equipment malfunction, or failure. Always use a cable with an
appropriate current carrying capacity (or thickness). For how to
connect cables to motors, refer to their respective Descriptions.

• Ensure that motors are cooled if they are those that require

forcible cooling.

If a motor that requires forcible cooling is not cooled normally, it

may cause a failure or trouble. For a fan-cooled motor, ensure that
it is not clogged or blocked with dust and dirt. For a liquid-cooled
motor, ensure that the amount of the liquid is appropriate and that
the liquid piping is not clogged.

For both types, perform regular cleaning and inspection.

• When attaching a component having inertia, such as a pulley,

to a motor, ensure that any imbalance between the motor and
component is minimized.

If there is a large imbalance, the motor may vibrates abnormally,

resulting in the motor being broken.

• Be sure to attach a key to a motor with a keyed shaft.
If a motor with a keyed shaft runs with no key attached, it may

impair torque transmission or cause imbalance, resulting in the
motor being broken.

s-6

B-65395EN/01 SAFETY PRECAUTIONS

1.2.3 Note

NOTE

• Do not step or sit on a motor.
If you step or sit on a motor, it may get deformed or broken. Do not

put a motor on another unless they are in packages.

• When storing a motor, put it in a dry (non-condensing) place

at room temperature (0 to 40°C).

If a motor is stored in a humid or hot place, its components may

get damaged or deteriorated. In addition, keep a motor in such a
position that its shaft is held horizontal and its terminal box is at
the top.

• Do not remove a nameplate from a motor.
If a nameplate comes off, be careful not to lose it. If the nameplate

is lost, the motor becomes unidentifiable, resulting in maintenance
becoming impossible.

For a nameplate for a built-in spindle motor, keep the nameplate

with the spindle.

• Do not apply shocks to a motor or cause scratches to it.
If a motor is subjected to shocks or is scratched, its components

may be adversely affected, resulting in normal operation being
impaired. Be very careful when handling plastic portions, sensors,
and windings, because they are very liable to break. Especially,
avoid lifting a motor by pulling its plastic portion, winding, or
power cable.

• Do not conduct dielectric strength or insulation test for a

sensor.

Such a test can damage elements in the sensor.

• When testing the winding or insulation resistance of a motor,

satisfy the conditions stipulated in IEC60034.

Testing a motor under a condition severer than those specified in

IEC60034 may damage the motor.

• Do not disassemble a motor.
Disassembling a motor may cause a failure or trouble in it.
If disassembly is in need because of maintenance or repair, please

contact a service representative of FANUC.

• Do not modify a motor.
Do not modify a motor unless directed by FANUC. Modifying a

motor may cause a failure or trouble in it.

s-7

SAFETY PRECAUTIONS B-65395EN/01

NOTE

• Use a motor under an appropriate environmental condition.
Using a motor in an adverse environment may cause a failure or

trouble in it.

Refer to their respective Descriptions for details of the operating

and environmental conditions for motors.

• Do not apply a commercial power source voltage directly to a

motor.

Applying a commercial power source voltage directly to a motor

may result in its windings being burned. Be sure to use a specified
amplifier for supplying voltage to the motor.

• For a motor with a terminal box, make a conduit hole for the

terminal box in a specified position.

When making a conduit hole, be careful not to break or damage

unspecified portions.

Refer to an applicable Descriptions.

• Before using a motor, measure its winding and insulation

resistances, and make sure they are normal.

Especially for a motor that has been stored for a prolonged period

of time, conduct these checks. A motor may deteriorate depending
on the condition under which it is stored or the time during which
it is stored. For the winding resistances of motors, refer to their
respective Descriptions, or ask FANUC. For insulation resistances,
see the following table.

• To use a motor as long as possible, perform periodic

maintenance and inspection for it, and check its winding and
insulation resistances.

Note that extremely severe inspections (such as dielectric strength

tests) of a motor may damage its windings. For the winding
resistances of motors, refer to their respective Descriptions, or ask
FANUC. For insulation resistances, see the following table.

MOTOR INSULATION RESISTANCE MEASUREMENT

Measure an insulation resistance between each winding and

motor frame using an insulation resistance meter (500 VDC).
Judge the measurements according to the following table.

Insulation resistance Judgment

100MΩ or higher Acceptable

10 to 100 MΩ The winding has begun deteriorating. There is no

problem with the performance at present. Be sure
to perform periodic inspection.

1 to 10 MΩ The winding has considerably deteriorated.

Special care is in need. Be sure to perform
periodic inspection.

Lower than 1 MΩ Unacceptable. Replace the motor.

s-8

B-65395EN/01 SAFETY PRECAUTIONS

1.3 FANUC SERVO AMPLIFIER βi series

1.3.1 Warnings and Cautions Relating to Mounting

1.3.1.1 Warning

WARNING

• Check the specification code of the amplifier.
Check that the delivered amplifier is as originally ordered.

• Mount a ground fault interrupter.
To guard against fire and electric shock, fit the factory power

supply or machine with a ground fault interrupter (designed for
use with an inverter).

• Securely ground the amplifier.
Securely connect the ground terminal and metal frame of the

amplifier and motor to a common ground plate of the power
magnetics cabinet.

• Be aware of the weight of the amplifier and other components.
Some amplifiers, AC reactors and AC line filters are heavy. When

transporting them or mounting them in the cabinet, therefore, be
careful not to injured yourself or damage the equipment. Be
particularly careful not to jam your fingers between the cabinet
and amplifier.

• Never ground or short-circuit either the power supply lines or

power lines.

Protect the lines from any stress such as bending. Handle the ends

appropriately.

• Ensure that the power supply lines, power lines, and signal

lines are securely connected.

A loose screw, loose connection, or the like will cause a motor

malfunction or overheating, or a ground fault.

Be extremely careful with power supply lines, motor power lines,

and DC link connections through which a large amount of current
passes, because a loose screw (or poor contact in a connector or
poor connection between a connector terminal and a cable) may
cause a fire.

• Insulate all exposed parts that are charged.

• Never touch the regenerative discharge resistor or radiator

directly.

The surface of the radiator and regenerative discharge unit become

extremely hot. Never touch them directly. An appropriate
structure should also be considered.

s-9

SAFETY PRECAUTIONS B-65395EN/01

WARNING

• Close the amplifier cover after completing the wiring.
Leaving the cover open presents a danger of electric shock.

• Do not disassemble the amplifier.

• Ensure that the cables used for the power supply lines and

power lines are of the appropriate diameter and temperature
ratings.

• Do not apply an excessively large force to plastic parts.
If a plastic section breaks, it may cause internal damage, thus

interfering with normal operation. The edge of a broken section is
likely to be sharp and, therefore, presents a risk of injury.

s-10

B-65395EN/01 SAFETY PRECAUTIONS

1.3.1.2 Caution

CAUTION

• Do not step or sit on the amplifier.
Also, do not stack unpacked amplifiers on top of each other.

• Use the amplifier in an appropriate environment.
See the allowable ambient temperatures and other requirements,

given in the corresponding Descriptions.

• Protect the amplifier from corrosive or conductive mist or

drops of water.

Use a filter if necessary.

• Protect the amplifier from impact.
Do not place anything on the amplifier.

• Do not block the air inlet to the radiator.
A deposit of coolant, oil mist, or chips on the air inlet will result in

a reduction in the cooling efficiency. In some cases, the required
efficiency cannot be achieved. The deposit may also lead to a
reduction in the useful life of the semiconductors. Especially,
when outside air is drawn in, mount filters on both the air inlet and
outlet. These filters must be replaced regularly.

So, an easy-to-replace type of filter should be used.

• Connect the power supply lines and power lines to the

appropriate terminals and connectors.

• Connect the signal lines to the appropriate connectors.

• Before connecting the power supply wiring, check the supply

voltage.

Check that the supply voltage is within the range specified in the

Descriptions, then connect the power supply lines.

• Ensure that the combination of motor and amplifier is

appropriate.

• Ensure that valid parameters are specified.
Specifying an invalid parameter for the combination of motor and

amplifier may not only prevent normal operation of the motor but
also result in damage to the amplifier.

• Ensure that the amplifier and peripheral equipment are

securely connected.

Check that the magnetic contactor, circuit breaker, and other

devices mounted outside the amplifier are securely connected to
each other and that those devices are securely connected to the
amplifier.

s-11

SAFETY PRECAUTIONS B-65395EN/01

CAUTION

• Check that the amplifier is securely mounted in the power

magnetics cabinet.

If any clearance is left between the power magnetics cabinet and

the surface on which the amplifier is mounted, dust entering the
gap may build up and prevent the normal operation of the
amplifier.

• Apply appropriate countermeasures against noise.
Adequate countermeasures against noise are required to maintain

normal operation of the amplifier. For example, signal lines must
be routed away from power supply lines and power lines.

• Attachment and detachment of connectors

When power is on, avoid attaching and detaching connectors

unless otherwise noted. Otherwise, the amplifier can become
faulty.

s-12

B-65395EN/01 SAFETY PRECAUTIONS

1.3.1.3 Note

NOTE

• Keep the nameplate clearly visible.

• Keep the legend on the nameplate clearly visible.

• After unpacking the amplifier, carefully check for any

damage.

• Mount the amplifier in a location where it can be easily

accessed periodic inspection and daily maintenance.

• Leave sufficient space around the machine to enable

maintenance to be performed easily.

Do not place any heavy objects such that they would interfere with

the opening of the doors.

• Keep the parameter table and spare parts at hand.
Also, keep the Descriptions at hand. These items must be stored in

a location where they can be retrieved immediately.

• Provide adequate shielding.
A cable to be shielded must be securely connected to the ground

plate, using a cable clamp or the like.

s-13

SAFETY PRECAUTIONS B-65395EN/01

1.3.2 Warnings and Cautions Relating to a Pilot Run

1.3.2.1 Warning

WARNING

• Before turning on the power, check that the cables connected

to the power magnetics cabinet and amplifier, as well as the
power lines and power supply lines, are securely connected.
Also, check that no lines are slack.

A loose screw, loose connection, or the like will cause a motor

malfunction or overheating, or a ground fault. Be extremely
careful with power supply lines, motor power lines, and DC link
connections through which a large amount of current passes,
because a loose screw (or poor contact in a connector or poor
connection between a connector terminal and a cable) may cause a
fire.

• Before turning on the power, ensure that the power magnetics

cabinet is securely grounded.

• Before turning on the power, check that the door of the power

magnetics cabinet and all other doors are closed.

Ensure that the door of the power magnetics cabinet containing the

amplifier, and all other doors, are securely closed. During
operation, all doors must be closed and locked.

• Apply extreme caution if the door of the power magnetics

cabinet or another door must be opened.

Only a person trained in the maintenance of the corresponding

machine or equipment should open the door, and only after
shutting off the power supply to the power magnetics cabinet (by
opening both the input circuit breaker of the power magnetics
cabinet and the factory switch used to supply power to the cabinet).
If the machine must be operated with the door open to enable
adjustment or for some other purpose, the operator must keep his
or her hands and tools well away from any dangerous voltages.
Such work must be done only by a person trained in the
maintenance of the machine or equipment.

• When operating the machine for the first time, check that the

machine operates as instructed.

To check whether the machine operates as instructed, first specify

a small value for the motor, then increase the value gradually. If
the motor operates abnormally, perform an emergency stop
immediately.

• After turning on the power, check the operation of the

emergency stop circuit.

Press the emergency stop button to check that the motor stops

immediately, and that the power being supplied to the amplifier is
shut off by the magnetic contactor.

s-14

B-65395EN/01 SAFETY PRECAUTIONS

WARNING

• Before opening a door or protective cover of a machine to

enable adjustment of the machine, first place the machine in
the emergency stop state and check that the motor has
stopped.

s-15

SAFETY PRECAUTIONS B-65395EN/01

1.3.2.2 Caution

CAUTION

• Note whether an alarm status relative to the amplifier is

displayed at power-up or during operation.

If an alarm is displayed, take appropriate action as explained in

this manual. If the work to be done requires that the door of the
power magnetics cabinet be left open, the work must be carried out
by a person trained in the maintenance of the machine or
equipment. Note that if some alarms are forcibly reset to enable
operation to continue, the amplifier may be damaged. Take
appropriate action according to the contents of the alarm.

• Before operating the motor for the first time, mount and

adjust the position and speed sensors.

Following the instructions given in this manual, adjust the position

and speed sensors for the spindle so that an appropriate waveform
is obtained.

If the sensors are not properly adjusted, the motor may not rotate

normally or the spindle may fail to stop as desired.

• If the motor makes any abnormal noise or vibration while

operating, stop it immediately.

Note that if operation is continued in spite of there being some

abnormal noise or vibration, the amplifier may be damaged. Take
appropriate corrective action, then resume operation.

• Observe the ambient temperature and output rating

requirements.

The continuous output rating or continuous operation period of

some amplifiers may fall as the ambient temperature increases. If
the amplifier is used continuously with an excessive load applied,
the amplifier may be damaged.

• Unless otherwise specified, do not insert or remove any

connector while the power is turned on. Otherwise, the
amplifier may fail.

s-16

B-65395EN/01 SAFETY PRECAUTIONS

1.3.3 Warnings and Cautions Relating to Maintenance

1.3.3.1 Warning

WARNING

• Read this manual carefully and ensure that you are totally

familiar with its contents.

This manual describes daily maintenance and the procedures to be

followed in the event of an alarm being issued. The operator must
be familiar with these descriptions.

• Notes on replacing a fuse or PC board

1) Before starting the replacement work, ensure that the circuit
breaker protecting the power magnetics cabinet is open.

2) Check that the red LED that indicates that charging is in
progress is not lit.

The position of the charging LED on each model of amplifier

is given in the Descriptions. While the LED is lit, hazardous
voltages are present inside the unit, and thus there is a danger
of electric shock.

3) Some PC board components become extremely hot. Be
careful not to touch these components.

4) Ensure that a fuse having an appropriate rating is used.

5) Check the specification code of a PC board to be replaced. If
a modification drawing number is indicated, contact FANUC
before replacing the PC board.

Also, before and after replacing a PC board, check its pin

settings.

6) After replacing a fuse, make sure that the fuse is inserted into
the socket all the way to the root.

7) After replacing the PC board, ensure that it is securely
connected.

8) Ensure that all power lines, power supply lines, and
connectors are securely connected.

• Take care not to lose any screws.
When removing the case or PC board, take care not to lose any

screws. If a screw is lost inside the nit and the power is turned on,
the machine may be damaged.

s-17

SAFETY PRECAUTIONS B-65395EN/01

WARNING

• Notes on replacing the battery of the absolute Pulsecoder
Replace the battery only while the power is on. If the battery is

replaced while the power is turned off, the stored absolute
positioning data will be lost. A battery may be mounted on the
servo amplifier of the βi series servo amplifier module. In this
case, before starting to replace the battery, you must open the
power magnetics cabinet door and take the machine to an
emergency stop to shut down the power to the amplifier without
turning off the control power. Replacement work should be done
only by a person who is trained in the related maintenance and
safety requirements. The power magnetics cabinet in which the
servo amplifier is mounted has a high-voltage section. This section
presents a severe risk of electric shock.

• Check the number of any alarm.
If the machine stops upon an alarm being issued, check the alarm

number. Some alarms indicate that a component must be replaced.
If the power is reconnected without first replacing the failed
component, another component may be damaged, making it
difficult to locate the original cause of the alarm.

• Before resetting an alarm, ensure that the original cause of the

alarm has been removed.

• Contact FANUC whenever a question relating to maintenance

arises.

• Notes on removing the amplifier
Before removing the amplifier, first ensure that the power is shut

off. Be careful not to jam your fingers between the power
magnetics cabinet and amplifier.

s-18

B-65395EN/01 SAFETY PRECAUTIONS

1.3.3.2 Caution

CAUTION

• Ensure that all required components are mounted.

When replacing a component or PC board, check that all

components, including the snubber capacitor, are correctly
mounted. If the snubber capacitor is not mounted, for example, the
IPM will be damaged.

• Tighten all screws firmly.

• Check the specification code of the fuse, PC board, and other

components.

When replacing a fuse or PC board, first check the specification

code of the fuse or PC board, then mount it in the correct position.
The machine will not operate normally if a fuse or PC board
having other than the correct specification code is mounted, or if a
fuse or PC board is mounted in the wrong position.

• Mount the correct cover.
The cover on the front of the amplifier carries a label indicating a

specification code. When mounting a previously removed front
cover, take care to mount it on the unit from which it was removed.

• Notes on cleaning the heat sink and fan

1) A dirty heat sink or fan results in reduced semiconductor
cooling efficiency, which degrades reliability. Periodic
cleaning is necessary.

2) Using compressed air for cleaning scatters the dust. A deposit
of conductive dust on the amplifier or peripheral equipment
will result in a failure.

3) To clean the heat sink, do so only after turning the power off
and ensuring that the heat sink has cooled to room
temperature. The heat sink becomes extremely hot, such that
touching it during operation or immediately after power-off
is likely to cause a burn. Be extremely careful when touching
the heat sink.

s-19

SAFETY PRECAUTIONS B-65395EN/01

1.3.3.3 Note

NOTE

• Ensure that the battery connector is correctly inserted.
If the power is shut off while the battery connector is not

connected correctly, the absolute position data for the machine
will be lost.

• Store the manuals in a safe place.
The manuals should be stored in a location where they can be

accessed immediately it so required during maintenance work.

• Notes on contacting FANUC
Inform FANUC of the details of an alarm and the specification

code of the amplifier so that any components required for
maintenance can be quickly secured, and any other necessary
action can be taken without delay.

s-20

B-65395EN/01 PREFACE

PREFACE

Organization of this manual

This manual describes information necessary to maintain FANUC
SERVO AMPLIFIER βi series products, such as a βi SVM and
FANUC SERVO MOTOR βis series products.
Parts I, II, III and IV explain the start-up procedure, operation,
troubleshooting, and maintenance for the βi series SVM.
Part V explains the maintenance for βis series servo motor.

The abbreviations listed below are used in this manual.

Product name Abbreviations

FANUC Series 15i FS15i
FANUC Series 16i FS16i
FANUC Series 18i FS18i
FANUC Series 21i FS21i
FANUC Series 0i FS0i
FANUC Series 30i FS30i
FANUC Series 31i FS31i
FANUC Series 32i FS32i
FANUC Power Mate i-D
FANUC Power Mate i-H
FANUC SERVO AMPLIFIER βi series SVM
Power Supply Module

Servo Amplifier Module

* The manuals shown below provide information related to this

manual. This manual may refer you to these manuals.

FANUC SERVO AMPLIFIER βi series Descriptions B-65322EN
FANUC AC SERVO MOTOR βis series Descriptions B-65302EN
FANUC AC SERVO MOTOR αis/αi/βis series Parameter Manual
B-65270EN

WARNING

When maintaining and inspecting the servo

amplifier module, keep the power turned off and
make sure that the LED (red) on the front panel of
the servo amplifier module that indicates whether
electric charge is in progress is off. (See Appendix
A.)

PMi

βi SVM, SVM,

p-1

B-65395EN/01 TABLE OF CONTENTS

TABLE OF CONTENTS

SAFETY PRECAUTIONS............................................................................s-1

PREFACE....................................................................................................p-1

I. START-UP PROCEDURE

1 OVERVIEW ............................................................................................. 3

2 CONFIGURATIONS ................................................................................ 4

2.1 CONFIGURATIONS ...................................................................................... 5

2.2 MAJOR COMPONENTS ............................................................................... 6

2.2.1 Servo Amplifier Modules.........................................................................................6

3 START-UP PROCEDURE.......................................................................7

3.1 START-UP PROCEDURE (OVERVIEW) ......................................................8

3.2 CONNECTING THE POWER........................................................................ 9

3.2.1 Checking the Voltage and Capacity of the Power....................................................9

3.2.2 Connecting a Protective Ground ..............................................................................9

3.2.3 Selecting the Ground Fault Interrupter That Matches the Leakage Current ............9

3.3 INITIALIZING PARAMETERS

(SWITCHES AND DUMMY CONNECTORS) .............................................. 10

3.4 PARAMETER INITIALIZATION ................................................................... 11

4 CONFIRMATION OF THE OPERATION ..............................................15

4.1 CHECK PROCEDURE ................................................................................16

5 PERIODIC MAINTENANCE OF SERVO AMPLIFIER ..........................19

5.1 BATTERY FOR THE ABSOLUTE PULSECODER ...................................... 20

5.2 PERIODIC MAINTENANCE OF SERVO AMPLIFIER ................................. 28

II. HANDLING

1 OVERVIEW ........................................................................................... 33

1.1 SERVO AMPLIFIER MODULE INTERFACE............................................... 34

1.2 FANUC I/O LINK INTERFACE AREA.......................................................... 34

1.3 INTERFACE ................................................................................................35

1.3.1 Peripheral Equipment Control Interface.................................................................35

1.3.2 Direct Command Interface .....................................................................................35

1.3.3 Interface Switching.................................................................................................35

1.4 CAUTIONS ON USING THE POWER MATE CNC .....................................36

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TABLE OF CONTENTS B-65395EN/01

2 SIGNAL DESCRIPTIONS .....................................................................37

2.1 DO/DO SIGNALS ........................................................................................38

2.1.1 Peripheral Equipment Control Interface.................................................................38

2.1.2 Direct Command Interface .....................................................................................40

2.2 SIGNALS (LISTED IN GROUPS) ................................................................ 42

2.3 SIGNAL DETAILS........................................................................................ 44

2.3.1 Preparation Completion..........................................................................................44

2.3.2 Reset and Emergency Stop.....................................................................................45

2.3.3 Alarm ......................................................................................................................46

2.3.4 Mode Selection.......................................................................................................47

2.3.5 Jog Feed..................................................................................................................47

2.3.6 Status Signals .........................................................................................................48

2.3.7 Feedrate ..................................................................................................................52

2.3.8 Interlock .................................................................................................................54

2.3.9 Reference Position Return......................................................................................54

2.3.10 Automatic Operation..............................................................................................55

2.3.11 Clamp and Unclamp (for the Peripheral Equipment Control Interface Only)........56

2.3.12 Servo-off.................................................................................................................57

2.3.13 Peripheral Equipment Control Function Code and Related Information ...............58

2.3.14 Direct Command Function Code and Related Information....................................62

2.3.15 Direct Input Signals ................................................................................................68

3 PERIPHERAL EQUIPMENT CONTROL............................................... 71

3.1 COMMAND FORMAT FOR PERIPHERAL EQUIPMENT CONTROL ......... 72

3.2 PERIPHERAL EQUIPMENT CONTROL PROCEDURE.............................. 73

3.2.1 Specifying Operation Using a Function Code........................................................73

3.2.2 Receiving Response Data .......................................................................................73

3.3 FUNCTION CODES ....................................................................................74

3.3.1 Function Codes.......................................................................................................74

3.4 DETAILS OF FUNCTION CODES............................................................... 76

3.4.1 ATC/Turret Control................................................................................................76

3.4.2 Point Positioning Control .......................................................................................78

3.4.3 Reference Position Return......................................................................................80

3.4.4 Reference Position Setting

(when the Reference Position External Setting Function is Used).........................82

3.4.5 Positioning Control (Absolute/Incremental Specification, for Skip Function) ......84

3.4.6 Speed Control.........................................................................................................86

3.4.6.1 Overview ........................................................................................................... 86

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B-65395EN/01 TABLE OF CONTENTS

3.4.6.2 System configuration ......................................................................................... 86

3.4.6.3 Peripheral equipment control command format................................................. 87

3.4.6.4 Command timing chart ......................................................................................89

3.4.6.5 Parameter ........................................................................................................... 92

3.4.6.6 Signal ................................................................................................................ 94

3.4.6.7 Alarm ................................................................................................................ 94

3.4.6.8 Others ................................................................................................................ 95

3.4.7 Coordinate System Setting .....................................................................................96

3.4.8 Rewriting of Parameters .........................................................................................97

3.4.8.1 Overview ........................................................................................................... 97

3.4.8.2 System configuration ......................................................................................... 97

3.4.8.3 Peripheral equipment control command format................................................. 98

3.4.8.4 Command timing chart ......................................................................................99

3.4.8.5 Alarm ................................................................................................................ 99

3.4.8.6 Parameter ........................................................................................................... 99

3.4.9 Control of the Point Data External Setting Function............................................100

3.4.10 Teaching-based Data Setting Control...................................................................101

3.5 REFERENCE POSITION RETURN FUNCTION WITH DOGS.................. 102

3.5.1 Explanation of Function .......................................................................................102

3.5.1.1 Reference position return operation (grid method).......................................... 102

3.5.1.2 Deceleration limit switch installation condition .............................................. 103

3.5.1.3 Tip .............................................................................................................. 104

3.5.2 Parameter..............................................................................................................105

3.6 UPGRADING OF THE ROTATION AXIS CONTROL FUNCTION ............ 106

3.6.1 Function for Specifying the Direction of Rotation Axis High-speed Reference

Position Return.....................................................................................................106

3.6.1.1 Explanation of function ................................................................................... 106

3.6.1.2 Parameter ......................................................................................................... 106

3.6.2 Rotation Axis Rotation Direction Sign Specification Function ...........................107

3.6.2.1 Explanation of function ................................................................................... 107

3.6.2.2 Example of program ........................................................................................ 107

3.6.2.3 Parameter ......................................................................................................... 107

3.7 UPGRADING OF THE CLAMP/UNCLAMP CONTROL FUNCTION .........108

3.7.1 Start of the Timer Counting Until Servo-off in Clamp Processing ......................108

3.7.1.1 Explanation of function ................................................................................... 108

3.7.1.2 Parameter ......................................................................................................... 108

3.7.2 Disabling of Clamp Processing When Jog Operation is Stopped ........................108

3.7.2.1 Explanation of function ................................................................................... 108

3.7.2.2 Parameter ......................................................................................................... 108

3.8 UPGRADING OF THE RESPONSE DATA READ FUNCTION .................109

3.8.1 Overview ..............................................................................................................109

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TABLE OF CONTENTS B-65395EN/01

3.8.2 Details of Function ...............................................................................................109

3.8.3 DI/DO Signals ......................................................................................................110

3.8.4 Parameter..............................................................................................................111

3.8.5 Notes ....................................................................................................................112

3.9 IMPROVEMENT OF TURRET/MAGAZINE NUMBER OUTPUT............... 114

3.9.1 Overview ..............................................................................................................114

3.9.2 Details of Function ...............................................................................................114

3.9.3 Signal ....................................................................................................................118

3.9.4 Parameter..............................................................................................................120

3.9.4.1 Related parameters........................................................................................... 121

3.10 MANUAL HANDLE INTERFACE ............................................................... 124

3.10.1 Overview ..............................................................................................................124

3.10.2 Details of Function ...............................................................................................124

3.10.3 Signal ....................................................................................................................125

3.10.3.1 Signal on the servo amplifier module .............................................................. 125

3.10.3.2 Signal on the CNC (host)................................................................................. 126

3.10.4 Parameter..............................................................................................................127

3.10.4.1 Parameter on the servo amplifier module ........................................................ 127

3.10.4.2 Parameter on the CNC (host)........................................................................... 127

4 DIRECT COMMANDS......................................................................... 128

4.1 DIRECT COMMAND FORMAT .................................................................129

4.2 DIRECT COMMAND CONTROL PROCEDURE .......................................131

4.2.1 Direct Command Control Procedure ....................................................................131

4.2.2 Instruction Command Control (EBUF, EBSY, and ECNT).................................132

4.2.3 Response Command Control (EOREND, EOSTB, EOPC, USR1, and ECONT)133

4.2.4 Command Completion Notification (ECF) ..........................................................133

4.2.5 Alarm (DAL)........................................................................................................134

4.2.6 Direct Command Execution Result ......................................................................134

4.3 LIST OF DIRECT COMMANDS................................................................. 135

4.4 DETAILS OF DIRECT COMMAND FUNCTIONS ...................................... 136

4.4.1 Signal Operation Commands................................................................................136

4.4.2 Parameter..............................................................................................................137

4.4.3 Status Read...........................................................................................................140

4.4.4 Axis Movement Commands.................................................................................154

4.5 THIRTY-TWO-BLOCK BUFFERING OPERATION ................................... 167

4.5.1 Overview ..............................................................................................................167

4.5.2 Memory Registration Procedure...........................................................................167

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B-65395EN/01 TABLE OF CONTENTS

4.5.3 Operation Procedure.............................................................................................168

5 EXTERNAL PULSE INPUT FUNCTION ............................................. 169

5.1 OVERIVIEW ..............................................................................................170

5.2 DETAILED DESCRIPTION........................................................................ 171

6 UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION

(OPTIONAL FUNCTION) ....................................................................172

6.1 OVERVIEW ...............................................................................................173

6.2 SERIES AND EDITIONS OF APPLICABLE SERVO SOFTWARE............ 174

6.3 SETUP METHOD ...................................................................................... 175

6.3.1 Overview ..............................................................................................................175

6.3.2 Details of the Setup Method .................................................................................176

6.4 SIGNAL .....................................................................................................180

6.5 PARAMETER ............................................................................................181

6.6 ALARM ...................................................................................................... 183

6.7 DIAGNOSIS............................................................................................... 183

7 QUICK STOP FUNCTION...................................................................184

7.1 OVERVIEW ...............................................................................................185

7.2 SERIES AND EDITIONS OF APPLICABLE SERVO SOFTWARE............ 185

7.3 SETTING METHOD................................................................................... 185

7.4 PARAMETER ............................................................................................186

III. TROUBLESHOOTING

1 OVERVIEW ......................................................................................... 189

2 ALARM NUMBERS AND BRIEF DESCRIPTIONS ............................190

3 ACTION AGAINST NOISE..................................................................201

3.1 NOTES ON CONNECTING THE GROUND SYSTEMS ............................ 203

3.2 NOTES ON SELECTING THE SPARK KILLER ........................................206

IV. MAINTENANCE OF SERVO AMPLIFIER MODULES

1 HOW TO REPLACE THE FUSES AND PRINTED CIRCUIT

BOARDS .............................................................................................211

1.1 HOW TO REPLACE THE FUSES AND PRINTED CIRCUIT BOARDS..... 212

1.1.1 Ordering Number of Printed Circuit Board..........................................................214

1.1.2 Fuse Locations......................................................................................................214

1.2 HOW TO REPLACE THE FAN MOTOR.................................................... 215

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TABLE OF CONTENTS B-65395EN/01

1.2.1 For Fan Motors for Internal Agitation for SVM1-4i and SVM1-20i ...................215

1.2.2 For Fan Motors for Internal Agitation for SVM1-40i and SVM1-80i .................216

1.2.3 External-Fan Motor ..............................................................................................217

V. SERVO MOTOR MAINTENANCE

1 SERVO MOTOR MAINTENANCE ......................................................221

1.1 RECEIVING AND KEEPING AC SERVO MOTORS ................................. 222

1.2 DAILY INSPECTION OF AC SERVO MOTORS ....................................... 223

1.3 PERIODIC INSPECTION OF AC SERVO MOTORS ................................ 225

1.4 REPLACING THE PULSECODER ............................................................ 228

1.5 SPECIFICATION NUMBERS OF REPLACEMENT PARTS...................... 230

APPENDIX

A SERVO AMPLIFIER MODULE FRONT VIEW .................................... 233

B PARAMETER LIST .............................................................................235

B.1 CONTROLLED-AXIS PARAMETERS .......................................................242

B.2 COORDINATE SYSTEM AND STROKE LIMIT PARAMETERS ............... 243

B.3 FEEDRATE PARAMETERS ...................................................................... 247

B.4 ACCELERATION/DECELERATION CONTROL PARAMETERS .............. 250

B.5 INPUT/OUTPUT SIGNALS PARAMETERS .............................................. 253

B.6 SERVO PARAMETERS ............................................................................ 264

B.7 DIGITAL SERVO STANDARD PARAMETER TABLE ............................... 286

C DIAGNOSIS LISTS .............................................................................288

C.1 SIGNALS SENT FROM CNC (HOST) TO SERVO AMPLIFIER

MODULE ................................................................................................... 289

C.1.1 Peripheral Equipment Control Interface (DRC = 0).............................................289

C.1.2 Direct Command Interface (DRC = 1).................................................................289

C.2 SIGNALS SENT FROM SERVO AMPLIFIER MODULE TO CNC (HOST) 290

C.2.1 Peripheral Equipment Control Interface (DRC = 0).............................................290

C.2.2 Direct Command Interface (DRC = 1).................................................................290

C.3 SERVO POSITIONAL DEVIATION AMOUNT

(SERVO AMPLIFIER MODULE)................................................................ 291

C.4 ACCELERATION/DECELERATION DELAY AMOUNT

(SERVO AMPLIFIER MODULE)................................................................ 291

C.5 FUNCTION BIT (SERVO AMPLIFIER MODULE)...................................... 291

C.6 DIRECT INPUT SIGNAL STATUSES (SERVO AMPLIFIER MODULE).... 291

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B-65395EN/01 TABLE OF CONTENTS

D POWER MATE CNC MANAGER FUNCTIONS .................................. 292

D.1 POWER MATE CNC MANAGER FUNCTIONS

(Series 16, 18, 21, Power Mate) ................................................................ 293

D.1.1 Overview ..............................................................................................................293

D.1.2 I/O Link Connection.............................................................................................293

D.1.3 Function Selection and Termination ....................................................................293

D.1.3.1 Selection .......................................................................................................... 293

D.1.3.2 Function Selection Soft Key............................................................................ 294

D.1.3.3 Termination...................................................................................................... 294

D.1.3.4 Disabling the Power Mate CNC Manager Functions ...................................... 294

D.1.3.5 Parameter Setting............................................................................................. 295

D.1.3.6 Restriction........................................................................................................ 296

D.1.4 Function Overview ...............................................................................................297

D.1.4.1 Soft key status transition diagram.................................................................... 297

D.1.4.2 Screen configuration........................................................................................ 299

D.1.4.3 Operations of an Active Slave ......................................................................... 301

D.1.5 FUNCTION DETAILS ........................................................................................302

D.1.5.1 System Configuration ...................................................................................... 302

D.1.5.2 Parameters........................................................................................................ 304

D.1.5.3 Diagnosis ......................................................................................................... 306

D.1.5.4 Absolute Coordinate ........................................................................................ 307

D.1.5.5 Machine Coordinates ....................................................................................... 308

D.1.5.6 Alarms ............................................................................................................. 308

D.1.6 Alarm Display on the Power Mate CNC Manager...............................................309

D.2 POWER MATE CNC MANAGER FUNCTION (Series 30i, 31i, 32i).......... 310

D.2.1 Screen Display......................................................................................................311

D.2.2 Inputting and Outputting Parameters....................................................................317

D.2.3 Parameters ............................................................................................................319

D.2.4 Warning................................................................................................................320

D.2.5 Note ....................................................................................................................321

E SERVO CHECK BOARD ....................................................................322

c-7

I. START-UP PROCEDURE

B-65395EN/01 START-UP PROCEDURE 1.OVERVIEW

1 OVERVIEW

This part describes the units and components of the FANUC servo
amplifier. It also explains the following information necessary to start
up the servo amplifier:

• Configurations

• Start-up procedure

• Confirmation of the operation

• Periodic maintenance of servo amplifier

- 3 -

2.CONFIGURATIONS START-UP PROCEDURE B-65395EN/01

2 CONFIGURATIONS

- 4 -

B-65395EN/01 START-UP PROCEDURE 2.CONFIGURATIONS

r

2.1 CONFIGURATIONS

A system using FANUC servo amplifier βi series SVMs consists of the
following units and parts:
(1) Servo amplifier module (SVM) (basic)
(2) AC line filter (basic)
(3) Connectors (for connecting cables) (basic)
(4) Fuses (option)
(5) Power transformer (option)

Constituent (example)

Control power
supply
24VDC ± 10%

3φ
200 to 240 VAC

or
1φ
220 to 240 VAC

(4A or 20A models
only)

Circuit
breker

βiseries

SVM

Magnetic
contacto

: Basic

: Option

: Units prepared by the machine tool builder

AC line

filter

Servo
motor

NOTE

1 A circuit breakers, magnetic contactor, and AC line

filter are always required.

2 To protect the unit from surge currents caused by

lightning, connect surge absorbers between lines,
and between the lines and ground, at the power inlet
of the power magnetics cabinet.

3 The AC line filter is different from the AC reactor,

which is designed for another purpose. Substituting
one for the other or using one as both the filter and
reactor is not allowed.

βi series

SVM

Servo

motor

- 5 -

2.CONFIGURATIONS START-UP PROCEDURE B-65395EN/01

2.2 MAJOR COMPONENTS

2.2.1 Servo Amplifier Modules

(1) Servo amplifier module (SVM1)

Model Order specification Unit specification

SVM1-4i
SVM1-20i
SVM1-40i
SVM1-80i

A06B-6132-H001 A06B-6132-C001 A20B-2101-0090
A06B-6132-H002 A06B-6132-C002 A20B-2101-0091
A06B-6132-H003 A06B-6132-C003 A16B-3200-0512
A06B-6132-H004 A06B-6132-C004 A16B-3200-0513

Wiring board
specification

Printed circuit board

specification

A20B-8101-0200

- 6 -

B-65395EN/01 START-UP PROCEDURE 3.START-UP PROCEDURE

3 START-UP PROCEDURE

- 7 -

3.START-UP PROCEDURE START-UP PROCEDURE B-65395EN/01

3.1 START-UP PROCEDURE (OVERVIEW)

Make sure that the specifications of the CNC, servo motors, servo
amplifiers, and other units you received are exactly what you ordered,
and these units are connected correctly. Then, turn on the power.

(1) Before turning on the circuit breaker, check the power supply voltage

connected.

Make sure that the protective ground is connected. Also make sure that

the selected ground fault interrupter is appropriate for the leakage
current that is anticipated.

→ See Section 3.2.

↓

(2) Before the system can be used, some switches and dummy connectors

require setting. So, check the necessary settings.

→ See Section 3.3.

↓

(3) Start the servo amplifier module.

↓

(4) Start the CNC.

↓

(5) Set up parameters.

- 8 -

B-65395EN/01 START-UP PROCEDURE 3.START-UP PROCEDURE

3.2 CONNECTING THE POWER

3.2.1 Checking the Voltage and Capacity of the Power

Before connecting the power, you should measure the AC power
voltage.

Table 3.2.1(a) Action for the AC power (200-V input type)

Permissible

[kVA]

[kVA]

Nominal

voltage

3-phase
200 to
240VAC

1-phase
220 to
240VAC

Action

SVM1-4i, SVM1-20i
SVM1-40i, SVM1-80i

Permitted.
Note) If the voltage is below the rated value,

the rated output may not be obtained.

SVM1-4i, SVM1-20i

Single-phase input is permitted when the power
supply is 380 to 415 VAC to neutral grounding.

SVM1-4i, SVM1-20i
SVM1-40i, SVM1-80i

Not permitted.
Use an insulating transformer to adjust the input
voltage.

SVM1-4i SVM1-20i SVM1-40i SVM1-80i

0.2 1.9 3.9 6.2

22

voltage

fluctuation

width

-15%
+10%

-15%
+10%

Other than the above

Table 3.2.1 (b) list the input power specification. Use a power source
with sufficient capacity so that the system will not malfunction due to a
voltage drop even at a time of peak load.

Table 3.2.1 (b) AC power voltage specifications (200-V input type)

Model

Nominal voltage rating 200 to 240VAC -15%, +10%

Power source frequency 50/60Hz ±1Hz

Power source capacity

(for the main circuit)

Power source capacity

(for the control circuit)

3.2.2 Connecting a Protective Ground

Check that the protective ground line is connected correctly.

3.2.3 Selecting the Ground Fault Interrupter That Matches the

Leakage Current

Check that a correct ground fault interrupter is selected.

- 9 -

3.START-UP PROCEDURE START-UP PROCEDURE B-65395EN/01

3.3 INITIALIZING PARAMETERS (SWITCHES AND DUMMY

CONNECTORS)

SVM1-4i, SVM1-20i

• When no regenerative resistor is used
Connect connector CXA20 by using a dummy connector.
See FANUC SERVO AMPLIFIER βi series DESCRIPTIONS

(B-65322EN).

SVM1-40i, SVM1-80i

• Switch (SW) setting
The regenerative resistor alarm level is set. The setting condition

varies depending on the regenerative resistor used (the built-in
regenerative resistor or separate regenerative resistor). Perform
the setting properly.

WARNING

Incorrect setting can damage the regenerative

resistor.

See FANUC SERVO AMPLIFIER βi series DESCRIPTIONS

(B-65322EN).

• When the built-in regenerative resistor is used
Connect connector CXA20 by using a dummy connector.
Connect connector CZ6 by using a dummy connector.
See FANUC SERVO AMPLIFIER βi series DESCRIPTIONS

(B-65322EN).

- 10 -

B-65395EN/01 START-UP PROCEDURE 3.START-UP PROCEDURE

3.4 PARAMETER INITIALIZATION

(1) Preparation prior to servo parameter initialization
Before servo parameter initialization, check the following:

<1> Servo motor model (Example: β8/3000is)
<2> Amount of travel per motor rotation (Example: 10 mm/motor

revolution)

At first, decide "detection unit", for example detection unit = 1µm.

Next, calculate number of pulses per motor revolution with
"detection unit" and "amount of travel per motor revolution".

(Number of pulses per motor revolution)
= (Amount of travel per motor revolution) / (Detection unit)

Example)
In case detection unit = 1µm, amount of travel per motor

revolution =10mm

10mm/1µm=10000
Then, number of pulses per motor revolution = 10000

pulses/revolution

(2) Procedure for servo parameter initialization

<1> Turn on the power to the servo amplifier module.
<2> Turn on the power to the host controller in the emergency

stop state.
<3> Perform parameter initialization from the CNC.
Set values for the parameters listed below. (See <5> to <9>.)

Example Parameter number

Motor type number 258 No.125
CMR 2 No.32
Numerator for the number of
pulses per revolution
Denominator for the number of
pulses per revolution
Direction of travel 111 No.31
Reference counter capacity 10000 No.180

<4> Set initialization bit DGPR to 0.

b7 b6 b5 b4 b3 b2 b1 b0

No.12 DGPR

When this bit is set to 0, a power disconnection request alarm
(alarm No. 0) is issued. However, 5 to 9 below can be set.

Start initialization

(The power to the CNC is not turned on until 11.)

10000 No.105

1 No.106

DGPR (b1) = 0

- 11 -

← DGPR is automatically set to 1 when the

power is turned off then back on.

3.START-UP PROCEDURE START-UP PROCEDURE B-65395EN/01

<5> Set a motor type number.
In parameter No. 125, set the motor type number of the servo

motor to be used.

SVM1-4i

Motor model

Motor

specification

Motor type number

SVM1-20i

Motor model

Motor

specification

Motor type number

Motor model

Motor

specification

Motor type number

Motor model

Motor

specification

Motor type number

SVM1-40i

Motor model

Motor

specification

Motor type number

SVM1-80i

Motor model

Motor

specification

Motor type number

β0.2/5000is β0.3/5000is

0111 0112

260 261

α1/5000i β2/4000is α2/5000i β4/4000is β8/3000is

0202 0061 0205 0063 0075

252 253 255 256 258

α2/5000is α4/5000is αC4/3000i αC8/2000i β0.4/5000is

0212 0215 0221 0226 0114

262 265 271 276 280

β0.5/5000is β1/5000is

0115 0116 0241

281 282 291

αC12/2000i

β12/3000is α4/4000i β22/2000is α8/3000i αC22/2000i

0078 0223 0085 0227 0246

272 273 274 277 296

α8/4000is α12/4000is α12/3000i α22/3000i αC30/1500i

0235 0238 0243 0247 0251

285 288 293 297 301

<6> Set CMR.
In parameter No. 32, set a factor by which the amount of

travel specified in the CNC is multiplied for the servo

system.

CMR = Command unit/detection unit

When CMR is 1 to 48

Setting = CMR x 2

When CMR is 1/2 to 1/27

Usually, CMR = 1. So, set 2.

- 12 -

Setting = 1/CMR + 100

B-65395EN/01 START-UP PROCEDURE 3.START-UP PROCEDURE

<7> Set the number of pulses per revolution
The number of pulses per revolution is calculated with

reduction ratios or leads of the ball screws and detection unit.

(Number of pulses per motor revolution)
= (amount of travel per motor revolution) / (detection unit)

Numerator for the number of pulses
per rotation
Denominator for the number of
pulses per rotation

(Parameter No. 179) (>32767)

(Parameter No. 105) (≤32767)

=

(Parameter No. 106) (≤32767)

=

(Parameter No. 106) (≤32767)

Example of setting)
Example: 10um detection in semi-closed loop

Ball screw lead Number of pulses per rotation

Numerator/denominator

10 (mm/rev)
20 (mm/rev)
30 (mm/rev)

10mm/10µm=1000/1
20mm/10µm=2000/1
30mm/10µm=3000/1

Example of setting)
1/100 degree detection with a deceleration ratio of 10:1 for a

rotation axis

Every time the motor makes one rotation, the table rotates through 360/10
degrees. The number of pulses per motor rotation is 360/10 ÷ (1/100) = 3600
pulses, so set the ollowing:Numerator = 3600, Denominator = 1

<8> Set the direction of motor travel in parameter No. 31.

111 Clockwise as viewed from the pulse coder

-111 Counterclockwise as viewed from the pulse coder

<9> Set the reference counter capacity. (Parameter No. 180)
Set the reference counter capacity when performing a

reference position return operation based on the grid method.

Set the number of position pulses per motor rotation, or set

that number divided by an integer.

Example of setting)

αi pulse coders, semi-closed loop (1µmm detection)

Ball screw lead

10mm/revolution
20
30

Number of

pulses per motor

revolution

10000/1
20000/1
30000/1

Reference

counter

10000
20000
30000

Grid width

10mm
20mm
30mm

- 13 -

3.START-UP PROCEDURE START-UP PROCEDURE B-65395EN/01

<10>Turn off/on both CNC and servo amplifier module and servo

parameter initialization is finished.
This completes servo parameter initialization.

<11>If you use αi pulse coder as an absolute pulse coder, some

procedures described below are needed.

1 Set the following parameter, then turn off / on the host

CNC and servo amplifier module.

b7 b6 b5 b4 b3 b2 b1 b0

No.11 APCX ABSX

APCX (#7) Absolute position detector is

0 : not used 1 : used

ABSX (#0) Position of machine and position of absolute pulse coder is

0 : not matched 1 : matched

2 Make sure that a battery is connected to the absolute

pulse coder, and turn the power to the host CNC and
servo amplifier module off and on again.

3 A reference position return request is indicated.

4 Rotate the servo motor through one or more rotations by

jogging and so on.

5 Turn the power to the host CNC and servo amplifier

module off, then back on again.

6 CNC requires the reference position return again.

7 Perform reference position return. The ABSX is set to 1

after finishing the reference position return.

- 14 -

B-65395EN/01 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4 CONFIRMATION OF THE OPERATION

- 15 -

4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65395EN/01

4.1 CHECK PROCEDURE

1. Turn on the power.

When the LED indicates data other than or

Refer to the explanation of troubleshooting in Part III.

2. The LED indicates

3. The emergency stop state is released.

The LED does not indicate

Check the *ESP signal applied to the servo amplifier module.
Check the *ESP signal applied through the I/O link.

4. The LED indicates

5. Issue a command from the host controller.

6. Check the operation of the servo motor.

An alarm is issued.

Refer to the explanation of troubleshooting in Part III.

The motor does not rotate.

Check the command.
Check the parameter settings.
Check *RILK applied to the servo amplifier module.

The motor malfunctions.

Check the standard setting parameters are correctly set.
Check the setting value of No.100(load inertia) and No.107(position loop gain).

- 16 -

B-65395EN/01 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

Table 4.1 LED Indications and Meanings

LED indication State Description

Blinking

Blinking

Indication other
than the above

Servo amplifier
module not ready

Servo amplifier
module ready

Command being
executed

Parameters being
loaded

Alarm

This indicates that control power (+24
VDC) is supplied. No alarm is issued, but
the motor is not activated.

This indicates that the motor is activated,
and that commands can now be accepted.

This indicates that an accepted command
is now being executed.

This indicates that parameters are being
loaded in a batch from the power mate
CNC manager.

An alarm is issued. For information about
alarms, see the explanation of
troubleshooting in Part III.

- 17 -

4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65395EN/01

LED

LED

4/20A

40/80A

- 18 -

B-65395EN/01 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER

5 PERIODIC MAINTENANCE OF SERVO

AMPLIFIER

- 19 -

5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65395EN/01

5.1 BATTERY FOR THE ABSOLUTE PULSECODER

The battery unit for the absolute Pulsecoder can be connected using
[Connection scheme 1] and [Connection scheme 2] explained below.

[Connection scheme 1]
Supplying power from one battery unit to more than one SVM

Battery case

A06B-6050-K060

SVM SVM

CXA19B CXA19B

CXA19A CXA19A

Battery

A06B-6050-K061

Connector

A06B-6130-K201

• If a low battery voltage or a battery voltage of 0 V is indicated by
an APC (absolute Pulsecoder) alarm, replace the battery.

If a battery voltage of 0 V is indicated, you need to make a zero

point return.

If a battery voltage of 0 V is indicated, you need to make a zero

point return.

• The absolute Pulsecoder of the βis series servo motor (β0.4/5000i
to β22/2000i

S) is incorporated with a backup capacitor as standard.

S

This backup capacitor enables an absolute position detection to be
continued for about 10 minutes. Therefore, no zero point return
need be performed if the time during which servo amplifier power
is kept off for battery replacement is within 10 minutes.

The Pulsecoder of the β series servo motors and some of the βi

series servo motors (β0.2/5000i

S to β0.3/5000iS) does not include

S

a backup capacitor. Be careful when replacing the battery for this
Pulsecoder. See [Caution No. 1 for battery replacement] at the end
of this section for details.

• The battery service life is about two years for the βi
motors (β0.4/5000i

S to β22/2000iS) if servo motors for six axes are

connected. For the β series servo motors and some of the βi
servo motors (β0.2/5000i

S to β0.3/5000iS), the battery service life

S series servo

S series

is about one year.

FANUC recommends that you replace the batteries periodically

according to the battery service life.

• The battery unit consists of four R20 alkaline batteries.
Commercial batteries can be used in the battery unit. The optional
battery offered by FANUC is A06B-6050-K061.

- 20 -

B-65395EN/01 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER

WARNING

1 Do not connect more than one battery to the same

BAT (B3) line. If the output voltage is different
between the batteries, they may be short-circuited,
resulting in the batteries becoming very hot.

2 Install the battery with correct polarity. If the battery

is installed with incorrect polarity, it may overheat,
blow out, or catch fire.

- 21 -

5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65395EN/01

[Connection scheme 2] Incorporating each SVM with batteries

SVM

CX5X CX5X

Battery case

A06B-6093-K002

Battery

A06B-6093-K001

SVM

Battery case

A06B-6093-K002

Battery

A06B-6093-K001

• If a low battery voltage or a battery voltage of 0 V is indicated by
an APC (absolute Pulsecoder) alarm, replace the battery
(A06B-6073-K001).

If a battery voltage of 0 V is indicated, you need to make a zero

point return.

• The absolute Pulsecoder of the βis series servo motor (β0.4/5000i
to β22/2000i

S) is incorporated with a backup capacitor as standard.

This backup capacitor enables an absolute position detection to be
continued for about 10 minutes. Therefore, no zero point return
need be performed if the time during which servo amplifier power
is kept off for battery replacement is within 10 minutes.

The Pulsecoder of the β series servo motors and some of the βi

series servo motors (β0.2/5000i

S to β0.3/5000iS) does not include

a backup capacitor. Be careful when replacing the battery for this
Pulsecoder. See [Caution No. 1 for battery replacement] at the end
of this section for details.

• The battery service life is about two years for the βi
motors (β0.4/5000i
and some of the βi
β0.3/5000i

S), the battery service life is about one year.

S to β22/2000iS). For the β series servo motors

S series servo motors (β0.2/5000iS to

S series servo

FANUC recommends that you replace the batteries periodically

according to the battery service life.

• The built-in batteries are not commercially available. They must
be purchased from FANUC. So, FANUC recommends that you
keep spares.

S

S

- 22 -

B-65395EN/01 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER

WARNING

1 When using the built-in batteries

(A06B-6093-K001), do not connect them to the BAT
(B3) of connector CXA19A/CXA19B.

The output voltages from different SVM batteries

may be short-circuited, resulting in the batteries
becoming very hot.

2 Do not connect more than one battery to the same

BAT (B3) line. If the output voltage is different
between the batteries, they may be short-circuited,
resulting in the batteries becoming very hot.

- Installation procedure for the battery

⋅ SVM1-4i, SVM1-20i

(1) Install the battery in the SVM.
(2) Install the battery cover.
(3) Attach the battery connector to CX5X of the SVM.

SVM

Inserting direction

Cable side

Battery

Battery cover

Connector

CX5X

Red : +6V

Black : 0V

+6V

0V

- 23 -

5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65395EN/01

⋅ SVM1-40i, SVM1-80i

(1) Install the battery in the SVM.
(2) Install the battery cover.
(3) Attach the battery connector to CX5X of the SVM.

SVM

Inserting direction

Cable side

Red: +6 V

Connector

Black: 0 V

CX5X

+6 V

0 V

Battery

Battery cover

CAUTION

1 When the battery is installed in the SVM from the

side from which the cable is drawn, the cable may
be stretched tight, which can lead to a poor contact
condition. Therefore, install the battery so that the
cable is not extended tightly.

2 Be careful when handling the connector. See

[Caution No. 2 for battery replacement] at the end of
this section for details.

- 24 -

B-65395EN/01 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER

[Caution No. 1 for battery replacement]

The Pulsecoder of the β series servo motors and some of the βiS series
servo motors (β0.2/5000i
capacitor as standard. To keep the absolute position information in the

absolute Pulsecoder, you need to keep the control power turned on
during battery replacement. Follow the procedure explained below.

[Replacing procedure for the battery]

1. Make sure that the power to the SVM is on (the LED “POWER”
on the front of the SVM is on).

2. Make sure that the emergency stop button of the system has been
pressed.

3. Make sure that the motor is not activated.

4. Make sure that the DC link charge LED of the SVM is off.

5. Remove the old battery, and install a new battery.

6. This completes the replacement. You can turn off the power to the
system.

S to β0.3/5000iS) does not include a backup

WARNING

1 When replacing the battery, be careful not to touch

bare metal parts in the panel. In particular, be
careful not to touch any high-voltage circuits due to
the electric shock hazard.

2 Before replacing the battery, check that the DC link

charge confirmation LED on the front of the servo
amplifier is off. Neglecting this check creates an
electric shock hazard.

3 Install the battery with correct polarity. If the battery

is installed with incorrect polarity, it may overheat,
blow out, or catch fire.

4 Avoid a short-circuit between the +6 V and 0 V lines

of a battery or cable. A short-circuit may lead to a
hot battery, an explosion, or fire.

- 25 -

5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65395EN/01

[Caution No. 2 for battery replacement]

If an excessive strain is applied to a connector when it is inserted or
removed, a poor contact may result. When inserting and removing the
battery connector, therefore, be careful not to apply an excessive
wrenching force to it; just follow the instructions given in the following
table.

(1) Attaching connectors

<1>

<2>

<5>

<3>

<4>

10 degrees or less

5 degrees or less

Check the attachment
position.

Plug the cable
connector while
raising it slightly.

Here, the angle of the
cable connector to the
horizontal must be 5
degrees or less.

After passing the lock
pin, insert the
connector straight.

The attachment of the
connector is
completed.

- 26 -

B-65395EN/01 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER

(2) Detaching the connector

Hold both the sides of
the cable insulator and
the cable, and pull
them horizontally.

<1>

Pull out the cable side
while raising it slightly.

<2>

10 degrees or less

Here, the angle of the
cable to the horizontal
must be 5 degrees or

<3>

less.

5 degrees or less

- 27 -

5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65395EN/01

5.2 PERIODIC MAINTENANCE OF SERVO AMPLIFIER

To use the servo amplifier for a long time and keep its high performance
and reliability, you should perform maintenance and inspection on it
routinely.

Inspection

target

Environment

Environment Humidity O 90%RH or lower (no condensation allowed)

Environment

Environment

Environment

Environment

Amplifier General O

Amplifier General O

Amplifier Screw O There shall be no loose screw.

Amplifier Fan motor O

Amplifier Connector O Whether there is a loose connector.

Amplifier Cable O

External

device

External

device

External

device

item

Ambient

temperature

Dust

Oil mist

Cooling air

path

Abnormal

vibration and

noise

Power

supply

voltage

Magnetic
contactor

Ground fault

interrupter

AC line filter O There shall be no hum.

Inspection cycle Inspection

Routine Periodic

Surroundings of the power magnetics cabinet:

O

Inside of power magnetics cabinet: 0 to 55 °C

O

O

O

O

O The magnetic contactor shall not rattle or chatter.

O The interrupter shall be able to trip.

No dust or oil mist shall be on and around the servo
amplifier.
Whether the cooling air path is free from an obstacle.
Whether the cooling fan motor is working.
(1) There shall be no abnormal sound or vibration that

has not be experienced so far.

(2) Any vibration on and around the amplifier shall not

be over 0.5 G.

3-phase input :

Shall be within the rating (200 to 240 V).

Single-phase input :

Shall be within the rating (220 to 240 V).
Whether the amplifier generates abnormal sound or
odor.
Whether there is dust or oil mist on the amplifier.
Whether the amplifier generates abnormal sound or
odor.

(1) Whether the motor is running normally.
(2) The motor shall not generate abnormal vibration

or sound.

(3) There shall be no dust or oil mist on the motor.

(1) Whether there is a sign of past heat generation.
(2) Whether there is a deteriorated sheath (discolored

or cracked).

Criterion Remark

0 to 45 °C

(*1) Generally, fan motors are periodic-replacement parts.
If a fan motor for a servo amplifier does not work, the amplifier

will not get broken immediately. However, you should inspect the
fan motor constantly and replace it in a preventive manner.

(*1)

- 28 -

B-65395EN/01 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER

Specification number of fan unit

- SVM

SVM name

SVM1-4i
SVM1-20i
SVM1-40i
SVM1-80i

Fan for circulating the inside air Fan for cooling external heat sink fins

Fan unit (*1) Fan motor Fan unit (*1) Fan motor

- A90L-0001-0423#50 - -

A06B-6110-C605 A90L-0001-0510 - ­A06B-6110-C605 A90L-0001-0510 A06B-6134-K002 -

(*1) A fan unit is a set of a fan motor and a cover for mounting it.

- 29 -

II. HANDLING

B-65395EN/01 HANDLING 1.OVERVIEW

1 OVERVIEW

- 33 -

1.OVERVIEW HANDLING B-65395EN/01

1.1 SERVO AMPLIFIER MODULE INTERFACE

The servo amplifier module is connected to a host unit such as a CNC
via 128 DI and 128 DO points of the FANUC I/O Link. The ladder
program on the host unit sends move commands to the servo amplifier
module and monitors its status, via this interface.

Host unit

PMC I/O interface area
in the CNC

Yy+0

Yy+1

:

Yy+7

:

Yy+15

Xx+0

Xx+1

:

Xx+7

:

Xx+15

interface area

Instruction command

I/O Link

Response command

1.2 FANUC I/O Link INTERFACE AREA

The interface area used to transfer data via the FANUC I/O Link is
divided into two sections: A signal area for handling reset and alarm
signals, and a command code area for handling move commands and
status monitor command code.

The host unit can directly read- and write-access the signal area. So it
can be used to select the interface mode, start/stop operations, and
monitor for alarm conditions.

The command code area can be used to issue commands to servo
amplifier modules by combining function code and command data. For
example, it is possible to send absolute/incremental move command
and reference position return move command blocks, and receive the
current position data.

Servo amplifier module

- 34 -

B-65395EN/01 HANDLING 1.OVERVIEW

1.3 INTERFACE

Interfaces are used to transfer data to and from the servo amplifier
module.
Essentially, there are two operation modes: Peripheral equipment
control interface and direct command interface. The mode to be used is
selected by the DRC signal in the signal area.

1.3.1 Peripheral Equipment Control Interface

This interface offers a high degree of compatibility with the peripheral
equipment control functions of the Power Mate-E. It is provided with
commands that can be used to control the peripheral equipment of
machine tools. It enables the implementation of a series of positioning
operations, such as axis clamp/unclamp, with a single command. This
interface is useful if a ladder program, created based on this interface, is
already available.

1.3.2 Direct Command Interface

This interface is used to implement a positioning operation with a single
command, unlike peripheral equipment control, in which a single
command can perform multiple operations. Besides a positioning
command, this interface offers commands such as wait, parameter
read/write, and diagnosis data read commands, enabling a wide range of
operations can be implemented.

The two interface modes can be switched during operation. Interface
switching causes the meaning of signals to be changed, requiring
complicated ladder program logic. So, it is recommended that the
interface mode not be changed during a servo amplifier module control
sequence.

1.3.3 Interface Switching

Either peripheral equipment control or direct command interface mode
is available depending on the situation. Usually, interface switching is
not performed while the power is on. When necessary, however, the
host can switch the interface by issuing a DRC signal.

When the DRC signal is 0, the peripheral equipment control interface is
selected. When it is 1, the direct command interface is selected.

When the DRCO signal is 0, response data received from the servo
amplifier unit indicates the peripheral equipment control interface.
When it is 1, the response data indicates the direct command interface.

- 35 -

1.OVERVIEW HANDLING B-65395EN/01

DRC signal switching must be performed during a reset state. Signal
switching causes the meaning of a signal in use to be changed. Be
careful when a command is being issued or axis movement is occurring,
as signal switching may result in unexpected behavior.

Once the DRC signal is switched, defer issuing a command until one
scan after the DRCO signal is switched. If the DRC signal is inverted
again before the DRCO signal is switched, it may become impossible to
exchange data with the servo amplifier module normally. Before
inverting the DRC signal again, wait for at least one scan after the
DRCO signal is switched.

1.4 CAUTIONS ON USING THE POWER MATE CNC

When the direct command interface is selected, using a Power Mate
CNC manager function at the same time causes the area for response
commands (Xx+4 to Xx+15) to be shared by the PMC and the manager.
For this reason, it is necessary to distinguish between the response
commands for their respective instruction commands and receive only
those response commands for the PMC of the host. "USR1" in a
response command is used to determine whether it is for the PMC or the
manager.
If "USR1" is "0", the response command is for the PMC of the host and
the PMC can receive it; if "USR1" is "1", it is for the Power Mate CNC
manager and the PMC must ignore it.

- 36 -

B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

2 SIGNAL DESCRIPTIONS

- 37 -

2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

2.1 DO/DO SIGNALS

A host unit such as a CNC is connected to the servo amplifier module
via 128 DI and 128 DO points of the FANUC I/O Link.

CAUTION

I/O link interface signal assignment differs between

the peripheral equipment control and direct
command interfaces.

2.1.1 Peripheral Equipment Control Interface

Locations Yy+0, Yy+1, and Yy+7 are allocated as the DO signal area,
while locations Xx+0, Xx+1, Xx+2, and Xx+7 are allocated as the DI
signal area. To control the servo amplifier module, it is necessary to
turn on or off directly those signals that are assigned to these areas of
read them.
For the command code area, the function code and command data 1 are
assigned to location Yy+2, and command data 2 is assigned to locations
Yy+3 to Yy+6. Command issue to the servo amplifier module must be
done using these locations. Also, response commands are assigned to
locations Xx+3 to Xx6; receive the response data for instruction
commands.

CNC (host) → Servo amplifier module (DRC=0)

7 6 5 4 3 2 1 0

Yy+0 ST UCPS2 -X +X DSAL MD4 MD2 MD1

Yy+1 DRC ABSRD *ILK SVFX *ESP ERS

Yy+2 Function code Command data 1

Yy+3

Yy+4

Yy+5

Yy+6

Yy+7 RT DRN ROV2/MP2 ROV1/MP1 *OV8 *OV4 *OV2 *OV1

Yy+8

Yy+9

Yy+10

Yy+11

Yy+12

Yy+13

Yy+14

Yy+15

Command data 2

Unusable

(System reserved area)

- 38 -

B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

Servo amplifier module → CNC (host) (DRC=0)

7 6 5 4 3 2 1 0

Xx+0 OPC4 OPC3 OPC2 OPC1 INPX SUPX IPLX DEN2

Xx+1 OP SA STL UCPC2 OPTENB ZRFX DRCO ABSWT

Xx+2 MA AL DSP2 DSP1 DSALO TRQM RST ZPX

Xx+3

Xx+4

Xx+5

Xx+6

Xx+7 SVERX PSG2 PSG1 MVX APBAL MVDX

Xx+8

Xx+9

Xx+10

Xx+11

Xx+12

Xx+13

Xx+14

Xx+15

(Power mate CNC manager response area)

Response data

Unusable

See Section 2.3 for details of the signals. Section 3.3 explains the
function code, command data, and response data.

CAUTION

In the past, the "V READY OFF alarm ignore signal

(IGNVRY<Yy+1#6>)" existed. When the servo
amplifier module is normal, however, V READY
OFF alarm (No. 401) is not issued. This signal is,
therefore, deleted. If this signal was used in the
ladder program, delete it.

NOTE

#4 and #5 of Yy+7 are used by both the rapid

traverse override signal (ROV1 and ROV2) and the
incremental feed signal (MP1 and MP2). If bit 5
(MP) of parameter No. 5 is "1" and the system is in
manual handle mode, they are for the incremental
feed signal, and if MP is "0" or the system is not in
manual handle mode, they are for the rapid traverse
signal. If MP is "1", before switching from manual
handle mode to another mode, the signal must be
returned to such a setting that the bits are for the
rapid traverse override signal.

- 39 -

2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

2.1.2 Direct Command Interface

Locations Yy+0 to Yy+3 are allocated as the DO signal area, while
locations Xx+0 to Xx+3 are allocated as the DI signal area. To control
the servo amplifier unit, turn on or off directly those signals that are
assigned to these areas or read them.
In the "instruction command area", direct commands (instruction
commands) are assigned to locations Yy+4 to Yy+15, which are used to
send commands to the servo amplifier module. Also, direct commands
(response commands) are assigned to locations Xx+4 to Xx+15; receive
the response commands for instruction commands.

CNC (host) → Servo amplifier module (DRC=1)

7 6 5 4 3 2 1 0

Yy+0 ST -X +X MD4 MD2 MD1

Yy+1 DRC WFN *ILK SVFX *ESP ERS

Yy+2 RT DRN ROV2 ROV1 *OV8 *OV4 *OV2 *OV1

Yy+3 INPF

Yy+4 EBUF EOREND ECNT

Yy+5 Direct command (function code)

Yy+6 Direct command (command data 1)

Yy+7 Direct command (command data 2)

Yy+8 Direct command (command data 3)

Yy+9 Direct command (command data 4)

Yy+10 Direct command (command data 5)

Yy+11 Direct command (command data 6)

Yy+12 Direct command (command data 7)

Yy+13 Direct command (command data 8)

Yy+14 Direct command (command data 9)

Yy+15 Direct command (command data 10)

CAUTION

In the past, the "V READY OFF alarm ignore signal

(IGNVRY<Yy+1#6>)" existed. When the servo
amplifier module is normal, however, V READY
OFF alarm (No. 401) is not issued. This signal is,
therefore, deleted. If this signal was used in the
ladder program, delete it.

- 40 -

B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

Servo amplifier module → CNC (host) (DRC=1)

7 6 5 4 3 2 1 0

Xx+0 INPX SUPX IPLX DEN2

Xx+1 OP SA STL OPTENB ZRFX DRCO WAT

Xx+2 MA AL TRQM RST ZPX

Xx+3 INPFO SVERX PSG2 PSG1 MVX APBAL MVDX

Xx+4 EBSY EOSTB ECF USR1 EOPC DAL ECONT

Xx+5 Direct command (function code)

Xx+6 Reserved Execution result

Xx+7 Direct command (response data 1)

Xx+8 Direct command (response data 2)

Xx+9 Direct command (response data 3)

Xx+10 Direct command (response data 4)

Xx+11 Direct command (response data 5)

Xx+12 Direct command (response data 6)

Xx+13 Direct command (response data 7)

Xx+14 Direct command (response data 8)

Xx+15 Direct command (response data 9)

See Section 2.3 for details of the signals. Section 4.4 explains the
function number, command data, and response data.

- 41 -

2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

2.2 SIGNALS (LISTED IN GROUPS)

* The following lists not only signals transferred via the I/O link

interface but also direct input/output signals such as *ESP, *-OT,
*+OT, *RILK, *DEC, and HDI.

* Each listed address is based on the I/O link assignment address of

each slave of the host.

Function list

Address

Group Signal name Symbol

Preparation completion signal MA Xx+2#7 2.3.1

1

Servo preparation completion signal SA Xx+1#6 2.3.1
Emergency stop signal *ESP Yy+1#1 2.3.2

2

External reset signal ERS Yy+1#0 2.3.2
Reset in-progress signal RST Xx+2#1 2.3.2
Alarm signal AL Xx+2#6 2.3.3

3

Absolute pulse coder battery alarm

signal
4 Mode selection signal MD4,MD2,MD1 Yy+0#0 to Yy+0#2 2.3.4
5 Feed axis and direction selection signal +X,-X Yy+0#4,Yy+0#5 2.3.5

Remaining travel in-range signal DEN2 Xx+0#0 2.3.6

Distribution pulse signal IPLX Xx+0#1 2.3.6

Acceleration/deceleration pulse signal SUPX Xx+0#2 2.3.6

In-position signal INPX Xx+0#3 2.3.6

Servo positional deviation monitor

signal

6

Axis movement in-progress signal MVX Xx+7#2 Xx+3#2 2.3.6

Movement direction signal MVDX Xx+7#0 Xx+3#0 2.3.6

Area signal PSG1,PSG2 Xx+7#3,Xx+7#4 Xx+3#3,Xx+3#4 2.3.6

Speed control in-progress signal TRQM Xx+2#2 2.3.6

Function enable signal OPTENB Xx+1#3 2.3.6

Feedrate override signal *OV1 to *OV8 Yy+7#0 to Yy+7#3 Yy+2#0 to Yy+2#3 2.3.7

Manual rapid traverse selection signal RT Yy+7#7 Yy+2#7 2.3.7
7

Rapid traverse override signal ROV1,ROV2 Yy+7#4,Yy+7#5 Yy+2#4,Yy+2#5 2.3.7

Incremental feed signal MP1, MP2 Yy+7#4,Yy+7#5 -- 2.3.7
8 Interlock signal *ILK Yy+1#3 2.3.8

Reference position return completion

signal
9

Reference position establishment

signal

Automatic operation start signal ST Yy+0#7 2.3.10

Automatic operation start in-progress

signal

10

Automatic operation signal OP Xx+1#7 2.3.10

Dry run signal DRN Yy+7#6 Yy+2#6 2.3.10

APBAL Xx+7#1 Xx+3#1 2.3.3

SVERX Xx+7#6 Xx+3#6 2.3.6

ZPX Xx+2#0 2.3.9

ZRFX Xx+1#2 2.3.9

STL Xx+1#5 2.3.10

Peripheral

equipment

Direct command

Reference

item

- 42 -

B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

Address

Group Signal name Symbol

Unclamp command signal UCPC2 Xx+1#4 -- 2.3.11

11

Clamp/unclamp state output signal UCPS2 Yy+0#6 -- 2.3.11

12 Servo-off signal SVFX Yy+1#2 2.3.12

Operation completion signal

Function code CMD CODEP Yy+2#4 to Yy+2#7 -- 2.3.13

Command data 1 CMD DATA1 Yy+2#0 to Yy+2#3 -- 2.2.13

Command data 2 CMD DATA2 Yy+3 to Yy+6 -- 2.3.13

Response data ANS DATAP Xx+3 to Xx+6 -- 2.3.13

13

Response data check signal DSP1,DSP2 Xx+2#4 to Xx+2#5 -- 2.3.13

Response data write completion signal ABSWT Xx+1#0 -- 2.3.13

Response data read completion signal ABSRD Yy+1#4 -- 2.3.13

Alarm output command signal DSAL Yy+0#3 -- 2.3.13

Alarm output state check signal DSALO Xx+2#3 -- 2.3.13

Function code command strobe signal EBUF -- Yy+4#7 2.3.14

Function code command read

completion signal

Function code CMD CODE -- Yy+5 2.3.14

Command data CMD DATA -- Yy+6 to Yy+15 2.3.14

Response data ANS DATA -- Xx+7 to Xx+15 2.3.14

Continuously output data signal EOPC -- Xx+4#2 2.3.14

Response data readable signal EOSTB -- Xx+4#6 2.3.14

Response data read completion signal EOREND -- Yy+4#6 2.3.14

Command continuation notification

signal

14

PMM data signal USR1 -- Xx+4#3 2.3.14

Response data continuation notification

signal

Function code command completion

notification signal

Alarm signal DAL -- Xx+4#1 2.3.14

Wait signal WAT -- Xx+1#0 2.3.14

Wait completion signal WFN -- Yy+1#4 2.3.14

Memory registration signal INPF -- Yy+3#7 2.3.14

Memory registration in-progress signal INPFO -- Xx+3#7 2.3.14

Interface switch signal DRC -- Yy+1#5 2.3.14

Interface status notification signal DRCO -- Xx+1#1 2.3.14

Emergency stop signal *ESP Direct input 2.3.15

Overtravel signal *-OT,*+OT Direct input 2.3.15

High-speed interlock signal *RILK Direct input 2.3.15

15

Deceleration signal for reference

position return

Skip signal HDI Direct input 2.3.15

OPC1, OPC2,

OPC3, OPC4

EBSY -- Xx+4#7 2.3.14

ECNT -- Yy+4#0 2.3.14

ECONT -- Xx+4#0 2.3.14

ECF -- Xx+4#5 2.3.14

*DEC Direct input 2.3.15

Peripheral

equipment

Xx+0#4 to Xx+0#7 -- 2.3.13

Direct command

Reference

item

- 43 -

2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

2.3 SIGNAL DETAILS

2.3.1 Preparation Completion

(1) Preparation completion signal MA

[Classification] Input signal <Xx+2#7> (common to both the peripheral equipment

control and direct command interfaces)
[Function] This signal indicates that the servo amplifier module is ready to operate.
[Input condition] The signal becomes 1 when:

1. Self-diagnosis in the servo amplifier module completes normally
when the power is switched on.

The signal becomes 0 when:

1. The power to the servo amplifier module is switched off.

2. A control unit error such as a CPU or memory failure is detected.

(2) Servo preparation completion signal SA

[Classification] Input signal <Xx+1#6> (common to both the peripheral equipment

control and direct command interfaces)

[Function] This signal indicates that the servo amplifier module is ready to operate.

Conversely, if this signal is not issued, the servo amplifier module is not
operating.

[Input condition] The signal becomes 1 when:

1. Self-diagnosis in the servo system completes normally when the
power to the control unit is switched on.

2. A servo alarm (if any has occurred) is reset.

3. An emergency stop condition (if any has occurred) is reset.

The signal becomes 0 when:

1. The power to the control unit is switched off.

2. A servo alarm condition is detected.

3. An emergency stop is effected.

NOTE

In the servo-off state, the SA signal remains at 1

unless a condition which resets it to 0 occurs.

- 44 -

B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

2.3.2 Reset and Emergency Stop

(1) Emergency stop signal *ESP

[Classification] Output signal <Yy+1#1> (common to both the peripheral equipment

control and direct command interfaces)
[Function] This signal brings the control unit to an emergency stop.
[Operation] When the signal becomes 0, the control unit operates as follows:

1. The control unit stops immediately during axis movement.

2. A reset is applied after the stop.

3. When the emergency stop signal is 0, the servo preparation
completion signal SA is also 0, because the servo system is not
operating. If axis movement occurs while the servo system is not
operating, the amount of movement is reflected in the current
position coordinates held in the control unit (follow-up).

4. While the emergency stop signal is 0, jog and function code
commands cannot be issued.

(2) External reset signal ERS

[Classification] Output signal <Yy+1#0> (common to both the peripheral equipment

control and direct command interfaces)
[Function] This signal resets the servo amplifier module.
[Operation] When the signal becomes 1, the servo amplifier module operates as

follows:

1. The servo amplifier module immediately decelerates axis
movement to a stop.

2. After a stop, the servo amplifier module is reset, then the
following are canceled:

• Function code commands are canceled regardless of whether

they are under execution, buffered, or on input signals.

• In an alarm state, those alarms that can be canceled are

canceled.

3. While the external reset signal is 1, jog and function code
commands cannot be issued.

(3) Reset in-progress signal RST

[Classification] Input signal <Xx+2#1> (common to both the peripheral equipment

control and direct command interfaces)
[Function] This signal indicates that the control unit is being reset.
[Input condition] The signal becomes 0 when:

1. A reset is completed.

The signal becomes 1 when:

1. A reset is in progress.

That is, the external reset signal ERS ((2) in Section 2.3.2) is 1, or the

emergency stop signal *ESP ((1) in Section 2.3.2) is 0.

- 45 -

2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

2.3.3 Alarm

(1) Alarm signal AL

[Classification] Input signal <Xx+2#6> (common to both the peripheral equipment

control and direct command interfaces)
[Function] This signal indicates that the servo amplifier module is in an alarm state.
[Input condition] The signal becomes 1 when:

1. The servo amplifier module enters an alarm state.

The following alarms can occur in the servo amplifier module.

1) P/S alarm

2) Pulse coder alarm

3) Servo alarm

4) Overtravel alarm

The signal becomes 0 when:

1. The servo amplifier module is released from an alarm state by a
reset.

Some alarms occur again after they are reset, unless their cause is

removed.

So, the AL signal is issued again immediately. In this case, the AL

signal may become 0 for a moment.

(2) Absolute pulse coder battery alarm signal APBAL

[Classification] Input signal <Xx+7#1> (peripheral equipment control interface)
<Xx+3#1> (direct command interface)
[Function] This signal indicates that the batteries of the absolute pulse coder

require replacement.

[Input condition] The signal becomes 1 when:

1. The absolute pulse coder battery voltage is low.

The signal becomes 0 when:

1. The batteries are replaced, and the battery voltage becomes higher
than or equal to the rating.

This alarm will occur again after it is reset, unless the batteries are

replaced.

So, the APBAL signal is immediately issued again. In this case,

the APBAL signal may become 0 for a moment.

CAUTION

Use this signal to display this battery alarm on the

machine operator's panel. On the host controller,
this battery alarm is not displayed if the power mate
CNC manager screen is not displayed.

- 46 -

B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

2.3.4 Mode Selection

(1) Mode selection signal MD1, MD2, MD4

[Classification] Output signal <Yy+0#0 to #2> (common to both the peripheral

equipment control and direct command interfaces)
[Function] This signal selects an operation mode.
[Operation] The signal is a code signal consisting of three bits: MD1, MD2, and

MD4. The code signal selects one of three modes: automatic operation

(AUTO), handle feed (HANDLE), or jog (JOG), according to the

combination of these bits.

MD4 MD2 MD1 Description

0 0 1 Automatic operation (AUTO)
1 0 0 Handle feed (HANDLE)
1 0 1 Jog feed by +X and -X (JOG)

CAUTION

Do not switch the operation mode during automatic

operation. Stop automatic operation before switching
the operation mode.

NOTE

See Section 3.10 or Chapter 5 for details of handle feed.

2.3.5 Jog Feed

(1) Feed axis and direction selection signals +X, -X

[Classification] Output signal <Yy+0#4,#5>(common to both the peripheral equipment

control and direct command interfaces)
[Function] These signals select the direction in which jog feed movement

(rotation) is to be performed, and cause it to be performed in the

selected direction.
[Operation] The signals are valid when jog feed (JOG) mode is selected. They

indicate the direction of feed. After JOG mode is selected, changing +X

or -X, whichever is desired, from 0 to 1 causes and keeps movement in

the corresponding direction at a feedrate specified by the override

signals *OV1 to *OV8 ((1) of Subsection 2.3.7) or the manual rapid

traverse selection signal RT ((2) of Subsection 2.3.7), provided the

signal is 1.

NOTE

1 Simultaneously setting +X and -X to 1 results in

neither direction being selected (equivalent to when
both are 0).

2 If a feed axis selection signal becomes 1 before the

jog feed signal (JOG) is selected, these signals are
ignored. If the JOG signal is selected, it must be
reset to 0 before the feed axis selection signal is set.
The servo amplifier unit begins feeding when the
JOG signal rises.

- 47 -

2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

2.3.6 Status Signals

(1) Remaining travel in-range signal DEN2

[Classification] Input signal <Xx+0#0> (common to both the peripheral equipment

control and direct command interfaces)
[Function] This signal indicates that, in the servo amplifier module, the number of

axis move command distribution pulses that have not been used for axis

movement (residual movement amount) is smaller than a

parameter-specified value.
[Input condition] The signal becomes 1 when:

1. The number of axis move command distribution pulses that have
not been used for axis movement (residual movement amount) is
smaller than a parameter-specified value.

The signal becomes 0 when:

1. The number of axis move command distribution pulses that have
not been used for axis movement (residual movement amount) is
larger than a parameter-specified value.

2. When the value of a parameter for the remaining travel in-range
signal is 0.

NOTE

1 The DEN2 signal remains 0 during jog feed (JOG).
2 The DEN2 signal maintains its current state until

another move command is issued.

(2) Distribution pulse signal IPLX

[Classification] Input signal <Xx+0#1> (common to both the peripheral equipment

control and direct command interfaces)

[Function] This signal indicates that the servo amplifier module has axis move

command distribution pulses that have not been used for axis
movement (residual movement amount).

[Input condition] The signal becomes 1 when:

1. There are axis move command distribution pulses that have not
been used for axis movement (residual movement amount).

The signal becomes 0 when:

1. There is no axis move command distribution pulse that has not
been used for axis movement (residual movement amount).

NOTE

The IPLX signal is valid while jog feed (JOG) mode

is set.

- 48 -

B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

(3) Acceleration/deceleration pulse signal SUPX

[Classification] Input signal <Xx+0#2> (common to both the peripheral equipment

control and direct command interfaces)

[Function] This signal indicates that the servo amplifier module has accumulated

pulses in the acceleration/deceleration control section.

[Input condition] The signal becomes 1 when:

1. Axis movement distribution pulses are accumulated in the
acceleration/deceleration control section.

The signal becomes 0 when:

1. No axis movement distribution pulses are accumulated in the
acceleration/deceleration control section.

(4) In-position signal INPX

[Classification] Input signal <Xx+0#3> (common to both the peripheral equipment

control and direct command interfaces)

[Function] This signal indicates that the controlled axis is in position (has reached

the specified value).

[Input condition] The signal becomes 1 when:

1. There is no acceleration/deceleration delay (accumulated pulses)
for the controlled axis, and the servo positional deviation is within
a parameter-specified range.

The signal becomes 0 when:

1. There is an acceleration/deceleration delay (accumulated pulses)
for the controlled axis, or

2. The servo positional deviation falls outside a parameter-specified
range.

(5) Servo positional deviation monitor signal SVERX

[Classification] Input signal <Xx+7#6> (peripheral equipment control interface)
<Xx+3#6> (direct command interface)
[Function] This signal indicates that, in the servo amplifier module, the amount of

servo positional deviation has exceeded a parameter-specified value.

[Input condition] The signal becomes 1 when:

1. The servo positional deviation amount is larger than a
parameter-specified value.

The signal becomes 0 when:

1. A parameter-specified value for the servo positional deviation
amount is 0, or

2. The servo positional deviation amount is within a
parameter-specified range.

(6) Axis movement in-progress signal MVX

[Classification] Input signal <Xx+7#2> (peripheral equipment control interface)

<Xx+3#2> (direct command interface)

[Function] The signal indicates that movement along the controlled axis is being

performed.

[Input condition] The signal becomes 1 when:

1. Controlled axis movement begins.

2. Bit 7 (SVFP) of parameter No. 010 is set to 1 to perform follow-up
in clamp processing or servo-off state, and the servo position
deviation amount (DGN No. 032) is not zero.

- 49 -

2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

The signal becomes 0 when:

1. Controlled axis movement ends, and the controlled axis enters the
in-position state.

2. Bit 7 (SVFP) of parameter No. 010 is set to 1 to perform follow-up
in clamp processing or servo-off state, and the servo position
deviation amount (DGN No. 032) is zero.

NOTE

The MVX signal is valid while jog feed (JOG) mode

is set.

(7) Movement direction signal MVDX

[Classification] Input signal <Xx+7#0> (peripheral equipment control interface)

<Xx+3#0> (direct command interface)

[Function] The servo amplifier module indicates the movement direction of its

controlled axis.

[Input condition] The signal becomes 1 when:

1. Controlled axis movement in the negative direction begins.

The signal becomes 0 when:

1. Controlled axis movement in the positive direction begins.

NOTE

1 The MVDX signal is valid while jog feed (JOG)

mode is set.

2 The MVDX signal maintains its current state during

a stop. It does not become 0 even upon a stop after
movement in the negative direction.

3 The servo amplifier module outputs the MVDX

signal even during follow-up, provided the
necessary condition is satisfied.

(8) Area signals PSG1 and PSG2

[Classification] Input signal PSG1<Xx+7#3>, PSG2<Xx+7#4>

(peripheral equipment control interface)
PSG1<Xx+3#3>, PSG2<Xx+3#4>
(direct command interface)

[Function] The servo amplifier module indicates that the current machine

coordinates are within a parameter-specified range, using two code
signal outputs.

[Input condition] If a parameter is set up as shown below, PSG1 and PSG2 are output in

the respective sections, as shown below.

(1) to (3) are parameter-set values.

- 50 -

B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

NOTE

1 The servo amplifier module outputs the PSG1 and

PSG2 signals even during follow-up, provided the
necessary condition is satisfied.

2 When bit 1 (PSSV) of parameter No. 007 is "1",

input is accomplished with the position (actual motor
position) with consideration given to the
acceleration/deceleration, servo positional
deviation, etc.

(9) Speed control mode signal TRQM

[Classification] Input signal <Xx+2#2>
[Function] The servo amplifier module notifies that the speed control mode is set.
[Input condition] The signal becomes 1 when:

1. When speed control is activated, and the speed control mode is set

The signal becomes 0 when:

1. When the speed control stop command is executed

2. Servo alarm, overtravel alarm, reset, emergency stop, servo-off

(10) Function enable signal OPTENB

[Classification] Input signal <Xx+1#3> (common to both the peripheral equipment

control and direct command interfaces)

[Function] The servo amplifier module notifies that the function is enabled

(usable).
The function is as follows:

• Unexpected disturbance torque detection function (software
option function)

[Input condition] The signal becomes 1 when:

1. The function becomes usable.

The signal becomes 0 when:

1. The function is under preparation, immediately after power on.

2. The function is not ordered.

CAUTION

The Unexpected disturbance torque detection

function is disabled until this signal becomes "1". Be
sure to confirm that this signal is "1" before starting
axis movement.

- 51 -

2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

2.3.7 Feedrate

(1) Override signals *OV1 to *OV8

[Classification] Output signal<Yy+7#0 to #3> (peripheral equipment control interface)

<Yy+2#0 to #3> (direct command interface)
[Function] The host applies override to jog feed and cutting feedrates.
[Operation] Four binary code signals are provided. They correspond to the override

values listed below.

*OV8 *OV4 *OV2 *OV1 Override value (%)

1 1 1 1 0
1 1 1 0 10
1 1 0 1 20
1 1 0 0 30
1 0 1 1 40
1 0 1 0 50
1 0 0 1 60
1 0 0 0 70
0 1 1 1 80
0 1 1 0 90
0 1 0 1 100
0 1 0 0 110
0 0 1 1 120
0 0 1 0 130
0 0 0 1 140
0 0 0 0 150

Actual jog feed and automatic cutting feedrates are obtained by

multiplying the respective specified values by the override values.

(2) Manual rapid traverse selection signal RT

[Classification] Output signal <Yy+7#7> (peripheral equipment control interface)

<Yy+2#7> (direct command interface)
[Function] The host selects rapid traverse for jog feed.
[Operation] The RT signal is valid when jog feed mode (JOG) is selected. When the

signal is 1, jog feed is performed at a rapid traverse rate. Under this

condition, setting a feed axis and direction selection signal (+X or -X)

to 1 starts rapid traverse in the specified direction. If jog feed is selected,

a feed axis and direction selection signal (+X or -X) is 1, and an

override signal is valid, setting the RT signal to 1 starts rapid traverse.

Resetting the RT signal to 0 resumes normal feed.

- 52 -

B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

(3) Rapid traverse override signals ROV1 and ROV2

[Classification] Output signal <Yy+7#4 to #5> (peripheral equipment control interface)

<Yy+2#4 to #5> (direct command interface)
[Function] The host specifies override for rapid traverse.
[Operation] The following table lists the override amounts.

ROV2 ROV1 Override value

0 0 100%
0 1 50%
1 0 25%
1 1 F0

NOTE

F0 is a value specified in parameter No. 061.

(4) Incremental feed signal MP1, MP2

[Classification] Output signal <Yy+7#4 to #5> (peripheral equipment control interface)
[Function] Used to select the manual handle feed magnification of the servo

amplifier module.
[Operation] In manual handle mode, the servo amplifier module drives the motor for

the pulses of the input manual pulse generator times the magnification

selected with this signal.

MP1 MP2

0 0 1 user unit
0 1 10 user units
1 0 100 user units

1 1

Amount of travel per graduation of the

manual pulse generator

(M/N) user unit
(M = Parameter No. 62, N = Parameter No. 63)

NOTE

1 This signal is effective if bit 5 (MP) of parameter No.

5 of the servo amplifier module is 1.
2 This signal is effective in manual handle mode only.
3 This signal shares the same bits with the rapid

traverse override signal. In manual handle mode,

these bits are for the incremental feed signal; in

modes other than manual handle mode, they are for

the rapid traverse override signal. Before switching

from manual handle mode to another mode, this

signal must be returned to such a setting that the

bits are for the rapid traverse override signal.

- 53 -

2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

2.3.8 Interlock

(1) Interlock signal *ILK

[Classification] Output signal <Yy+1#3> (common to both the peripheral equipment

control and direct command interfaces)
[Function] The host stops sending all movement commands.
[Input condition] When the *ILK signal is 0, the host resets all movement command

signals to 0 to decelerate and stop controlled axis feed. Movement

commands remain valid when the *ILK signal is 0. When it becomes 1,

movement is resumed immediately.

No command other than a move command is affected.

NOTE

The interlock signal is valid in jog feed mode (JOG).

2.3.9 Reference Position Return

(1) Reference position return completion signal ZPX

[Classification] Input signal <Xx+2#0> (common to both the peripheral equipment

control and direct command interfaces)
[Function] The servo amplifier module indicates that it is at the reference position.
[Input condition] The signal becomes 1 when:

1. Manual reference position return is completed, and the servo
amplifier module enters the in-position state.

2. Function code command-based reference position return is
completed, and the servo amplifier module enters the in-position
state.

The signal becomes 0 when:

1. The servo amplifier module moves out of the reference position.

(2) Reference position establishment signal ZRFX

[Classification] Input signal <Xx+1#2> (common to both the peripheral equipment

control and direct command interfaces)

[Function] The servo amplifier module notifies the host of the reference position

establishment state.

[Input condition] The signal becomes 1 when:

1. Reference position establishment is completed.

The signal becomes 0 when:

1. Reference position establishment is not completed.

NOTE

This signal is effective if bit 2 (ZRNO) of parameter

No. 004 is "1".

- 54 -

B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

2.3.10 Automatic Operation

(1) Automatic operation start signal ST

[Classification] Output signal <Yy+0#7> (common to both the peripheral equipment

control and direct command interfaces)

[Function] The host starts function code commands, such as part of peripheral

equipment control ATC operations and point positioning. Specifically,
the host issues a direct command to start 32-block buffering.

[Operation] When the ST signal is set to 1 then reset to 0 again, the servo amplifier

module begins operating. Section 3.3.1 explains the function codes for
which the ST signal is valid in peripheral equipment control.

NOTE

It is also possible to start operation at the rising

edge (from off to on) of the ST signal as specified by
the STON parameter (bit 7 of parameter No. 003).

(2) Automatic operation start in-progress signal STL

[Classification] Input signal <Xx+1#5> (common to both the peripheral equipment

control and direct command interfaces)
[Function] This signal indicates that automatic operation has been started.
[Input condition] The signal becomes 1 when a command to start automatic operation is

issued.

It becomes 0 when automatic operation stops.

(3) Automatic operation signal OP

[Classification] Input signal <Xx+1#7>(common to both the peripheral equipment

control and direct command interfaces)
[Function] This signal indicates that a series of automatic operations is in progress.
[Input condition] The signal becomes 1 when a command to start automatic operation is

issued. The signal remains set to 1 even after automatic operation stops.

It becomes 0 upon the occurrence of a reset.

(4) Dry run signal DRN

[Classification] Output signal <Yy+7#6>(peripheral equipment control interface)

<Yy+2#6>(direct command interface)
[Function] Dry run is valid during automatic operation (AUTO mode). During dry

run, a feedrate command issued during automatic operation is ignored,

and a manual-feed feedrate determined by override signals *OV1 to

*OV8 ((1) of Section 2.3.7) is used. Dry run is also valid for rapid

traverse. When the RT signal ((2) of Section 2.3.7) is set to 1 during dry

run, the "rapid traverse rate" and the "maximum manual-feed feedrate"

are used for the rapid traverse and cutting feed blocks, respectively.

When the RT signal is reset to 0, the "same rate as the manual-feed

feedrate" is resumed.
[Operation] Setting the DRN signal to 1 causes the system to enter the dry run state.

Resetting it to 0 resumes the feed rate specified during automatic

operation.

- 55 -

2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

2.3.11 Clamp and Unclamp (for the Peripheral Equipment Control

Interface Only)

NOTE

When the signal described below is used, the

external pulse input function cannot be used.

(1) Unclamp command signal UCPC2

[Classification] Input signal <Xx+1#4>
[Function] An actual machine clamp/unclamp operation is performed by the host.

The servo amplifier module outputs this signal when a function code

command for peripheral equipment control is executed, thereby

requesting a clamp/unclamp operation to the host.
[Input condition] The signal becomes 1 when:

The module requests an unclmap operation to the host.

The signal becomes 0 when:

The module requests a clamp operation to the host.

The servo amplifier module sets UCPC2 to "1" when a move command

with a function code starts. The module sets it to "0" at the end of the

move command. For details, see the timing chart of each function code

for peripheral equipment control.

NOTE

The UCPC2 signal is valid when the NCLP

parameter (bit 1 of parameter No. 003) is 0.

(2) Clamp/unclamp state output signal UCPS2

[Classification] Output signal <Yy+0#6>
[Function] When the servo amplifier module requests clamping/unclamping of the

machine, using the UCPC2 signal, the host actually clamps/unclamps

the machine. Upon the completion of clamping/unclamping, it reports it

to the servo amplifier unit, which then proceeds to the next processing.
[Operation] The signal is set to 1 when the machine is unclamped. When it is

clamped, the signal is reset to 0. See the timing chart for the function

codes for peripheral equipment control.

NOTE

The UCPS2 signal is valid when the NCLP

parameter (bit 1 of parameter No. 003) is 0.

- 56 -

B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

2.3.12 Servo-off

(1) Servo-off command signal SVFX

[Classification] Output signal <Yy+1#2> (common to both the peripheral equipment

control and direct command interfaces)
[Function] The host turns off the servo circuit for a controlled axis, that is, shuts off

the current to the servo motor of the controlled axis. This disables

positioning control. Position detection continues, however. So, the

current position will not be lost.
[Operation] The servo motor remains off while the signal is 1. If the machine is

moved by the application of external force, its coordinates are shifted,

because positioning control does not work during the servo-off state.

How the shifted machine coordinates are handled can be selected by a

parameter, as follows:

1. The machine coordinate shift is recorded in an error counter.

When the servo-off signal becomes 0, the machine moves to

cancel out the error recorded in the error counter.

2. Follow-up is performed.

The machine coordinate shift is regarded as being the result of a

command, and the control unit adjusts its current position data so
that the error counter becomes 0. With this method, the machine
remains in a shifted position even after the servo-off signal
becomes 0. However, the machine moves to the correct position
the next time an absolute command is issued, because the control
unit has information about the correct position.

[Use] Generally, method 1 above is used to prevent excessive current flowing

through the servo motor when it is clamped mechanically with a force

stronger than the servo motor can generate. Usually, the host keeps the

interlock signal at 0 while the servo-off signal is 1. Generally, method 2

is used to operate the machine by rotating the motor with a handle feed

mechanism.

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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

2.3.13 Peripheral Equipment Control Function Code and Related

Information

(1) Operation completion signals OPC1, OPC2, OPC3, and OPC4

[Classification] Input signal <Xx+0#4 to #7>
[Function] The servo amplifier module indicates information about the completion

of each function code. The host executes its sequence according to this

signal.
[Input condition] See the timing chart of each function code for the corresponding input

timing.

OPC1 indicates, to the host, that the servo amplifier module has

received a command.

The servo amplifier module issues an unclamp command signal

(UCPC2 = 1) to request the host to unclamp the machine.

OPC2 indicates, to the host, that the servo amplifier module has

received an unclamp completed command signal (UCPS2 = 1). The

servo amplifier module starts axis operation.

OPC3 indicates, to the host, that an axis operation is completed and the

in-position state is assumed, simultaneously as the clamp command

(UCPC2 = 0).

OPC4 indicates, to the host, that the servo amplifier module has

received the clamp completion signal (UCPS2 = 0) and finished

executing all commands.

The timing at which the signal is input is set in parameter No. 166.

CAUTION

If the unclamp command signal (UCPC2) and the

clamp/unclamp state output signal (UCPS2) are not
used (bit 1 (NCLP) of parameter No. 003 = 1), OPC4
is output to the host even if the instruction command
is interrupted due to an external reset, emergency
stop, alarm, etc.

NOTE

When the unclamp command signal (UCPC2) and

clamp/unclamp state output signal (UCPS2) are not
used (when bit 1 (NCLP) of parameter No. 003 = 1),
OPC2 and OPC3 are not output to the host. In this
case, OPC4 is output to the host when an axis
operation is completed and the in-position state is
assumed.

(2) Function code

[Classification] Output signal <Yy+2#4 to #7>
[Function] The host sets the peripheral equipment control function code.
[Output condition] See the timing chart of each function code for the corresponding output

timing. See Sections 3.3 and 3.4 for details.

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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

(3) Command data 1

[Classification] Output signal <Yy+2#0 to #3>
[Function] The host sets command data 1 to specify the feed rate for peripheral

equipment control.
[Output condition] See the timing chart of each function code for the corresponding output

timing. See Sections 3.3 and 3.4 for details.

(4) Command data 2

[Classification] Output signal <Yy+3 to Yy+6>
[Function] The host sets command data 2 to specify the amount of movement for

peripheral equipment control.
[Output condition] See the timing chart of each function code for the corresponding output

timing. See Sections 3.3 and 3.4 for details.

(5) Response data

[Classification] Input signal <Xx+3 to Xx+6>

[Function] (A) The servo amplifier module outputs the current position number

(point, turret, or magazine number) for point or ATC control. This
response data is set up upon the completion of positioning. The
servo amplifier module continues to output the previous number
until the new response data is set up.

(B) By setting parameter No. 020 appropriately, it is possible to output

the following data items real-time:

• Machine coordinates

• Workpiece coordinates

• Motor current value

• Skip measurement data

• Actual feedrate

• Actual rotation speed

• Torque command

NOTE

Skip measurement data is output when the skip

signal is input or when the end point is reached.

(C) When the DSAL signal [Subsection 2.3.13.(9)] is 1, the servo

amplifier module outputs the number of alarms and the first alarm
number.

[Input condition] See the function code command list for details.

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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

CAUTION

1 The purpose of this data, when used by the host, is

limited to display on the host. This data consists of
32 bits of DI signals; the bits are not updated at a
time, but are updated on a bit-by-bit basis. So, if this
data is being updated when coordinates are read
during movement on axes, the correct position may
not be read normally. This data is prepared for
position display on the host, so that this data cannot
be used to make a machine area check. However,
correct coordinates can be read even during
movement on axes by establishing synchronization
between the host and servo amplifier module. For
details, see Section 3.8. This is true of all data items
output real-time.

2 The current position number (point, turret, and

magazine number) is not output until the reference
position is established. If bit 2 (NZRPO) of
parameter No. 007 is "1", it is output even if the
reference position is not established.

3 The current position number (point, turret, and

magazine number) is 0 when the power is turned
on, and is output upon the completion of positioning
due to peripheral equipment control ATC
operations, point positioning, or reference position
return. If, then, a move command such as JOG
operation is executed, the current position number
no longer matches the current position on the axes.
If, after the completion of ATC operations, point
positioning, or reference position return, a move
command such as jog operation is started, it is no
longer possible to control the current position on the
axes by looking at the current position number
output on the host. Besides, if, after an index
command of ATC operations is started, it is
interrupted due to the occurrence of a reset, alarm,
etc., the current position number no longer matches
the current position on the axes.

As for the turret/magazine number, however, the

constraint described above is eliminated and the
correct number can be constantly output because of
improved specifications. For details, see Section

3.9, "Turret/Magazine Number Output
Improvement".

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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

(6) Response data check signals DSP1 and DSP2

[Classification] Input signal <Xx+2#4 to #5>
[Function] The servo amplifier module indicates the contents of the response data.
[Input condition] The servo amplifier module specifies the response data using a

combination of signals, as listed below.

DSP2 DSP1 Response data

0 0 Not output

1 1

1 0 Current position number (ATC, point number)
0 1 Actual feedrate or actual speed

Coordinates, motor current value, skip
measurement data, or torque command

NOTE

1 The setting of parameter No. 20 determines which

of coordinates, motor current value, skip
measurement data, and torque command the
response data is.

2 The setting of parameter No. 20 determines which

of actual feedrate and actual speed the response
data is.

(7) Response data write completion signal ABSWT

[Classification] Input signal <Xx+1#0>
[Function] After writing response data (Xx+3 to Xx+6), the servo amplifier

module inverts this signal for notification to the host.
[Operation] The servo amplifier module exclusive-ORs ABSWT with ABSRD.

When the result of exclusive-OR is 0, response data (Xx+3 to Xx+6) is

written, and this signal is inverted.

(8) Response data read completion signal ABSRD

[Classification] Output signal <Yy+1#4>
[Function] After reading response data (Xx+3 to Xx+6), the host inverts this signal

for notification to the servo amplifier module.
[Operation] The host exclusive-ORs ABSWT with ABSRD. When the result of

exclusive-OR is 1, response data (Xx+3 to Xx+6) is read, and this

signal is inverted.

(9) Alarm output command signal DSAL

[Classification] Output signal <Yy+0#3>
[Function] The host specifies that alarm information be output as response data.

When DSAL is 1, the following information is output as response data.

Xx+3 Number of alarms (byte type)

Xx+4,Xx+5 Alarm number (word type)

[Operation] When the signal is 0, a turret, magazine, point number, coordinates, or

motor current value are output as response data. When the signal is 1,

the number of alarms and the first alarm number are output as response

data.

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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

(10) Alarm output state check signal DSALO

[Classification] Input signal <Xx+2#3>
[Function] The servo amplifier module indicates the contents of the response data.
[Input condition] When the signal is 0, a turret, magazine, point number, coordinates, or

motor current value are being output as response data. When the signal

is 1, the number of alarms and the first alarm number are being output as

response data.

2.3.14 Direct Command Function Code and Related Information

(1) Function code command strobe signal EBUF

[Classification] Output signal <Yy+4#7>
[Function] After setting the function code (Yy+5) and command data (Yy+6 to

Yy+15), the host inverts the logical state of this signal to indicate to the

servo amplifier module that the function code is ready for transfer.
[Operation] The servo amplifier module exclusive-ORs EBUF with EBSY. If the

result of exclusive ORing is 1, the servo amplifier module behaves as

follows:

(A) When the function code command is of a type to be buffered

before execution.

1. If the function code command buffer of the servo amplifier
module is available, the servo amplifier module receives the
function code command at the function code command
buffer.

2. If the function code command buffer of the servo amplifier
module is unavailable, the servo amplifier module waits until
it becomes available, that is, rejects reception of the current
function code command.

(B) If the function code command is of a type to be executed

immediately without being buffered

1. The servo amplifier module receives the function code
command at its execution buffer immediately and starts
processing according to the function code command.

(2) Function code command read completion signal EBSY

[Classification] Input signal <Xx+4#7>
[Function] The servo amplifier module indicates that it has accepted a function

code command. Because the result of exclusive-ORing EBUF and
EBSY becomes 0, it becomes possible to issue another function code.

[Input condition] The state of the signal is inverted when a function code command is

received by the servo amplifier module.

(3) Function code

[Classification] Output signal <Yy+5>
[Function] The host specifies the function code command to be executed.
[Operation] The servo amplifier module behaves as directed by the function code

command when receiving it.
See "Direct command function details" for details.

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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

(4) Command data

[Classification] Output signal <Yy+6 to Yy+15>
[Function] The host provides data for a function code command.
[Operation] The servo amplifier module behaves as directed by the function code

command when receiving it.
See "Direct command function details" for details.

(5) Response data

[Classification] Input signal <Xx+7 to Xx+15>

[Function] (A) The servo amplifier module returns the result of function code

command execution.

(B) The servo amplifier module returns the data requested by the

function code.

(C) The servo amplifier module outputs continuous-output data, such

as the current position, requested by the continuous read
command.

[Input condition] (A) The servo amplifier module returns the result of function code

command execution.

It is possible to defer the return of the result of each function code

command and return their results at the same time, if they are of a
type that can be buffered.

(B) The servo amplifier module outputs data, such as alarm

information, requested by the function code.

(C) If the host is to receive data, such as the current position, that is

being monitored continuously, the servo amplifier module
continues to output the requested data in response to a single
request.

After setting the above data or result, the servo amplifier module

inverts the state of EOSTB. They can be read when the result of
exclusive-ORing EOREND with EOSTB is 1. EOPC indicates
that the current data is of continuous output type. When EOPC is 0,
it indicates data covered in (A) or (B). When it is 1, it indicates
data covered in (C).

(6) Continuously output data signal EOPC

[Classification] Input signal <Xx+4#2>
[Function] The servo amplifier module indicates that continuously output data

requested using a function code command is being output as response
data.

[Input condition] The signal becomes 1 when:

1. Continuously output data requested by a function code command
is being output as response data.

The signal becomes 0 when:

1. Data other than continuously output data requested by a function
code command is being output as response data.

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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

(7) Response data readable signal EOSTB

[Classification] Input signal <Xx+4#6>
[Function] The servo amplifier module indicates that data requested using a

function code command has been output as response data and is now
readable.

[Input condition] The state of the signal is inverted when:

1. The response data becomes readable.

(8) Response data read completion signal EOREND

[Classification] Output signal <Yy+4#6>
[Function] The host notifies the servo amplifier module that it has read response

data.

[Operation] When the state of the signal is inverted, the servo amplifier module

behaves as follows:

1. The result of function code command execution is output as
response data.

2. If a function code command is a data output command, the
command is executed, and the result is output as response data.

NOTE

If the result of exclusive-ORing EOSTB with

EOREND is 1, it becomes impossible to output
further command data. Before inverting the state of
EOREND, apply appropriate countermeasures.

(9) Command continuation notification signal ECNT

[Classification] Output signal <Yy+4#0>
[Function] When the host has too much command data to be sent at one time, it sets

the ECNT signal to 1 to inform the slave that remaining data exists.

[Operation] When the ECNT signal becomes 1, the servo amplifier module behaves

as follows:

1. After receiving command data from the buffer, the servo amplifier
module inverts the state of the EBSY signal so that it matches the
state of the EBUF, thereby prompting the transfer of the next data.

The signal is reset to 0 at the last data of a series of commands.

(10) PMM data signal USR1

[Classification] Input signal <Xx+4#3>
[Function] Direct commands transfer data using the same area as the power mate

CNC manager function. If USR1 is 0, it is necessary to perform special
processing to read the data, because it is a response from the ladder
program of the host. If USR1 is 1, the response command (Xx+4 and
after) is for the power mate CNC manager and, therefore, the ladder
program on the host ignores it.

[Input condition] The signal becomes 1 when:

1. The response data is power mate CNC data.

The signal becomes 0 when:

1. The response data is data from a ladder program.

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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

(11) Response data continuation notification signal ECONT

[Classification] Input signal <Xx+4#0>
[Function] If there is too much response data to be sent at one time, the ECONT

signal is set to 1. In this case, after reading the current data, the host
waits for the next data. The host must continue to read data for as long
as the ECONT signal is 1. The "next data" is input from Xx+5.

[Input condition] The signal becomes 1 when:

1. Remaining response data exists.

The signal becomes 0 when:

1. All response data has been read.

(12) Function code command completion notification signal ECF

[Classification] Input signal <Xx+4#5>
[Function] If function code command execution completion notification mode is

entered with NMOD set to 1, the servo amplifier module sets ECF to 1
to indicate that positioning directed by this command has been
completed, and waits for the next command to be executed until the
host responds. The host issues the SET FIN command to cause
processing to move to the next command.

[Input condition] The signal becomes 1 when:

1. The system enters function code command execution completion
notification mode with NMOD set to 1, and positioning directed
by the function code is completed.

The signal becomes 0 when:

1. The SET FIN command is executed.

(13) Alarm signal DAL

[Classification] Input signal <Xx+4#1>
[Function] If an alarm condition occurs in the servo amplifier module, the servo

amplifier module sets the DAL signal to 1. The host issues a READ
ALARM STATUS command to read details of the alarm condition, as
required.

[Input condition] The signal becomes 1 when:

1. When an alarm condition occurs in the slave.

The signal becomes 0 when:

1. When there is no alarm condition in the slave.

(14) Wait signal WAT

[Classification] Input signal <Xx+1#0>
[Function] The servo amplifier module indicates, to the host, that it is in the wait

state. After performing the necessary processing, the host returns a wait
completion signal (WFN) to cause the servo amplifier module to
continue operating. This method is used by the servo amplifier module
to request the host to perform processing, when the servo amplifier
module is running continuously in memory operation mode.

[Input condition] The signal becomes 1 when:

1. The servo amplifier module executes a wait command during
memory operation.

The signal becomes 0 when:

1. The host sets the wait completion signal WFN to 1.

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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

(15) Wait completion signal WFN

[Classification] Output signal <Yy+1#4>
[Function] If the servo amplifier module issues wait signal WAT to cause it to enter

the wait state, the host releases the servo amplifier module from the wait
state. Upon receiving the wait completion signal, the servo amplifier
module executes the next command.

[Operation] When the servo amplifier module is in the wait state, it sets the wait

signal WAT to 1. If the WFN signal is set to 1 under this condition, the
servo amplifier unit and host behave as follows:

1. The servo amplifier module resets the wait signal WAT to 0. Upon
detecting that the WAT becomes 0, the host resets the WFN to 0.
The servo amplifier module exits from the wait state and executes
the next command.

(16) Memory registration signal INPF

[Classification] Output signal <Yy+3#7>
[Function] The host can store function code commands into the memory of the

servo amplifier unit and control memory operation according to the data
in the memory. If buffering type function code, such as a position
command, is issued with INPF set to 1, it is registered into memory
instead of being executed. Up to 32 blocks can be registered. Once a
series of registration operations has been completed, the INPF is reset to

0. This command is erased when the power is switched off. It is

necessary to register it in memory before memory operation is used. If
the INPF is set to 1 when function code is already registered in memory,
the function code is cleared from memory, allowing new function code
to be registered.

[Operation] If buffering type function code is issued with INPF set to 1, it is stored

into memory instead of being executed.

(17) Memory registration in-progress signal INPFO

[Classification] Input signal <Xx+3#7>
[Function] The servo amplifier module indicates, to the host, that it is in memory

registration mode. When the INPFO signal is 1, a buffering type
function code command, such as a positioning command, is stored into
memory instead of being executed.

[Input condition] The signal becomes 1 when:

1. The host sets the INPF signal to 1 to specify memory registration
mode, and the servo amplifier module enters memory registration
mode.

The signal becomes 0 when:

1. The host resets the INPF signal to 0 to release memory registration
mode, and the servo amplifier module exits from memory
registration mode.

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B-65395EN/01 HANDLING 2.SIGNAL DESCRIPTIONS

(18) Interface switch signal DRC

[Classification] Output signal <Yy+1#5>
[Function] The host informs the servo amplifier module of the interface type

(peripheral equipment control interface or direct command interface) to
be used.

[Operation] When the DRC signal is 0, the slave runs using the peripheral

equipment control interface. When it is 1, the slave runs using the direct
command interface. The servo amplifier module also sends the interface
status notification signal DRCO ((19) of Section 2.3.14) to the host.
After detecting the DRCO signal, the host issues commands.
After changing the DRC signal, the host should not issue a command
within one scan after the DRCO signal changes. Once the state of the
DRC signal is inverted, do not invert it again before the state of the
DRCO signal changes accordingly, as data communication with the
servo amplifier module is hindered. Before inverting the state of the
DRC signal again, wait for at least one scan after the state of the DRCO
signal changes.

NOTE

Usually, the DRC signal should not be switched

while the power is switched on. If necessary, it
should be switched during a reset state, that is,
while neither automatic nor JOG operation is in
progress. Moreover, it should not be switched when
the motor is not in the in-position state.

(19) Interface status notification signal DRCO

[Classification] Input signal <Xx+1#1>
[Function] The servo amplifier module informs the host of the current interface

mode (peripheral equipment control or direct command interface).
After detecting the DRCO signal, the host issues commands.

[Input condition] The signal becomes 1 when:

1. The slave is in direct command interface mode.

The signal becomes 0 when:

1. The slave is in peripheral equipment control interface mode.

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2.SIGNAL DESCRIPTIONS HANDLING B-65395EN/01

2.3.15 Direct Input Signals

NOTE

The following signals are not host-to-servo amplifier

module FANUC I/O Link interface signals.

(1) Emergency stop signal *ESP

[Classification] Servo amplifier module direct input signal
[Function] The host stops the servo amplifier module immediately.
[Operation] When the signal becomes 0, the servo amplifier module behaves as

follows:

1. Hosts stops servo amplifier module immediately.

2. A reset is performed after a stop.

3. The servo system cannot operate for as long as the emergency stop
signal is 0. So, the servo preparation completion signal SA is held
at 0. If the machine is shifted while the SA is 0, the shift is
reflected in the current coordinates in the servo amplifier module;
the current position will not be lost (follow-up).

4. Neither jog feed nor a function code command can be issued while
the emergency stop signal is 0.

(2) Overtravel signals *-OT and *+OT

[Classification] Servo amplifier module direct input signal
[Function] The host indicates that the controlled axis has reached the stroke limit

described below.
*-OT: The stroke limit in the negative direction has been reached.
*+OT: The stroke limit in the positive direction has been reached.

[Operation] When the signal becomes 0, the servo amplifier module behaves as

follows:

1. The controlled axis is stopped immediately by zero-speed-based
deceleration, and an OT alarm for the input direction is output. A
movement in the opposite direction can be made by jog feed or
handle feed. The execution of function code commands and the
reading of commands are stopped.

2. The direction in which the signal becomes 0 is memorized. Even
after the signal is returned to 1, the controlled axis is prevented
from operating in that direction until the OT alarm is reset.

(3) High-speed interlock signal *RILK

[Classification] Servo amplifier module direct input signal
[Function] The host stops all movement command-specified feed.
[Operation] While the signal is 0, the servo amplifier module resets the all

movement command-specified feed to 0 to stop controlled axis feed.
Axis movement is decelerated to a stop.
A move command remains valid even when the signal is 0. Movement
can be resumed immediately when the signal is set to 1 again. This does
not affect non-move commands.

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