FANUC SERVO AMPLIF IER #* series
I/O Link Option
MAINTENANCE MANUAL
B-65395EN/01
No part of this manual may be reproduced in any form.
All specifications and designs are subject to change without notice.
In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be done, because there are so many possibilities. Therefore, matters which are not especially described as possible in this manual should be regarded as ”impossible”.
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.
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Contents |
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1.1 DEFINITION OF WARNING, CAUTION, AND NOTE |
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1.2 FANUC AC SERVO MOTOR βis series.................................. |
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1.2.1 |
Warning......................................................................... |
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1.2.2 |
Caution .......................................................................... |
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1.2.3 |
Note |
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1.3 FANUC SERVO AMPLIFIER βi series ................................... |
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1.3.1 Warnings and Cautions Relating to Mounting .............. |
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1.3.1.1 |
Warning............................................................. |
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1.3.1.2 |
Caution............................................................ |
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1.3.1.3 |
Note ................................................................ |
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1.3.2 Warnings and Cautions Relating to a Pilot Run.......... |
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1.3.2.1 |
Warning........................................................... |
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1.3.2.2 |
Caution............................................................ |
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1.3.3 Warnings and Cautions Relating to Maintenance ....... |
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1.3.3.1 |
Warning........................................................... |
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1.3.4.2 |
Caution............................................................ |
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1.3.4.3 |
Note ................................................................ |
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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.
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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.
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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.
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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.
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SAFETY PRECAUTIONS |
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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.
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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.
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SAFETY PRECAUTIONS |
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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 |
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problem with the performance at present. Be sure |
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to perform periodic inspection. |
1 to 10 MΩ |
The winding has considerably deteriorated. |
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Special care is in need. Be sure to perform |
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periodic inspection. |
Lower than 1 MΩ |
Unacceptable. Replace the motor. |
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SAFETY PRECAUTIONS |
1.3 FANUC SERVO AMPLIFIER βi series
1.3.1 Warnings and Cautions Relating to Mounting
1.3.1.1Warning
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.
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SAFETY PRECAUTIONS |
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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.
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1.3.1.2Caution
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.
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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.
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SAFETY PRECAUTIONS |
1.3.1.3Note
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.
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1.3.2 Warnings and Cautions Relating to a Pilot Run
1.3.2.1Warning
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.
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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.
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SAFETY PRECAUTIONS |
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1.3.2.2Caution
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.
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1.3.3 Warnings and Cautions Relating to Maintenance
1.3.3.1Warning
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.
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SAFETY PRECAUTIONS |
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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.
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1.3.3.2Caution
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.
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1.3.3.3Note
NOTE
•Ensure that the battery connector is correctly inserted.
If the power is shut off while the battery connector is not connected correctly, the absolute position data for the machine will be lost.
•Store the manuals in a safe place.
The manuals should be stored in a location where they can be accessed immediately it so required during maintenance work.
•Notes on contacting FANUC
Inform FANUC of the details of an alarm and the specification code of the amplifier so that any components required for maintenance can be quickly secured, and any other necessary action can be taken without delay.
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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 |
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FANUC Series 15i |
FS15i |
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FANUC Series 16i |
FS16i |
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FANUC Series 18i |
FS18i |
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FANUC Series 21i |
FS21i |
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FANUC Series 0i |
FS0i |
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FANUC Series 30i |
FS30i |
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FANUC Series 31i |
FS31i |
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FANUC Series 32i |
FS32i |
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FANUC Power Mate i-D |
PMi |
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FANUC Power Mate i-H |
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FANUC SERVO AMPLIFIER βi series SVM |
βi SVM, SVM, |
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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.)
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TABLE OF CONTENTS |
TABLE OF CONTENTS
SAFETY PRECAUTIONS............................................................................ |
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PREFACE |
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I. START-UP PROCEDURE |
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1 |
OVERVIEW ............................................................................................. |
3 |
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2 |
CONFIGURATIONS ................................................................................ |
4 |
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2.1 |
CONFIGURATIONS ...................................................................................... |
5 |
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2.2 ............................................................................... |
MAJOR COMPONENTS |
6 |
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2.2.1 Servo Amplifier Modules |
6 |
3 |
START .......................................................................-UP PROCEDURE |
7 |
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3.1 ...................................................... |
START - UP PROCEDURE (OVERVIEW) |
8 |
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3.2 ........................................................................ |
CONNECTING THE POWER |
9 |
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.................................................... |
3.2.1 Checking the Voltage and Capacity of the Power |
9 |
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.............................................................................. |
3.2.2 Connecting a Protective Ground |
9 |
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............ |
3.2.3 Selecting the Ground Fault Interrupter That Matches the Leakage Current |
9 |
3.3INITIALIZING PARAMETERS
|
(SWITCHES AND DUMMY CONNECTORS) .............................................. |
10 |
3.4 |
PARAMETER INITIALIZATION ................................................................... |
11 |
4 |
CONFIRMATION OF THE OPERATION .............................................. |
15 |
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4.1 |
CHECK PROCEDURE ................................................................................ |
16 |
|
5 |
PERIODIC MAINTENANCE OF SERVO AMPLIFIER .......................... |
19 |
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5.1 |
BATTERY FOR THE ABSOLUTE PULSECODER...................................... |
20 |
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5.2 |
PERIODIC MAINTENANCE OF SERVO AMPLIFIER ................................. |
28 |
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II. HANDLING |
|
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1 |
OVERVIEW |
........................................................................................... |
33 |
|
|
1.1 |
SERVO AMPLIFIER MODULE INTERFACE............................................... |
34 |
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1.2 |
FANUC ..........................................................I/O LINK INTERFACE AREA |
34 |
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1.3 |
INTERFACE ................................................................................................ |
35 |
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1.3.1 .................................................................Peripheral Equipment Control Interface |
35 |
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1.3.2 ..................................................................................... |
Direct Command Interface |
35 |
|
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1.3.3 ................................................................................................. |
Interface Switching |
35 |
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1.4 |
CAUTIONS .....................................ON USING THE POWER MATE CNC |
36 |
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c-1
TABLE OF CONTENTS B-65395EN/01
2 SIGNAL DESCRIPTIONS ..................................................................... |
37 |
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2.1 |
DO/DO SIGNALS ........................................................................................ |
38 |
|
|
2.1.1 |
Peripheral Equipment Control Interface................................................................. |
38 |
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2.1.2 |
Direct Command Interface ..................................................................................... |
40 |
2.2 |
SIGNALS (LISTED IN GROUPS) ................................................................ |
42 |
|
2.3 |
SIGNAL DETAILS........................................................................................ |
44 |
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|
2.3.1 |
Preparation Completion.......................................................................................... |
44 |
|
2.3.2 |
Reset and Emergency Stop..................................................................................... |
45 |
|
2.3.3 |
Alarm...................................................................................................................... |
46 |
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2.3.4 |
Mode Selection....................................................................................................... |
47 |
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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 |
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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 |
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3.2 |
PERIPHERAL EQUIPMENT CONTROL PROCEDURE.............................. |
73 |
|
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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 |
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|
TABLE OF CONTENTS |
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3.4.6.2 |
System configuration ......................................................................................... |
86 |
|
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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 |
||
3.6.1Function 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 |
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|
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 |
4.2.3Response 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 |
|
c-5
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 |
|
c-6
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