Fanuc AC SERVO Motor αis, AC SERVO Motor αi, SERVO AMPLIFIER αi, AC Spindle Motor αi Maintenance Manual

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FANUC AC SERVO MOTOR @*s series

FANUC AC SERVO MOTOR @* series FANUC AC SPINDLE MOTOR FANUC SERVO AMPLIF

IER @* series

MAINTENANCE MANUAL

* series

B-65285EN/03

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-65285EN/03 SAFETY PRECAUTIONS

SAFETY PRECAUTIONS

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

Contents

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

1.2 FANUC AC SERVO MOTOR αis/αi series

FANUC AC SPINDLE MOTOR αi series................................s-3

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

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

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

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

1.3.1Warnings 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

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

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

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

1.3.3Warnings 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-65285EN/03

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-65285EN/03 SAFETY PRECAUTIONS

1.2 FANUC AC SERVO MOTOR α

αis/ααααi series

αα

FANUC AC SPINDLE MOTOR ααααi 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 specification manuals.) 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 specification manuals for details.

s-3

SAFETY PRECAUTIONS B-65285EN/03

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.

s-4

B-65285EN/03 SAFETY PRECAUTIONS

- 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.

- 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.

- 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.

- 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.

- 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.

s-5

SAFETY PRECAUTIONS B-65285EN/03

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 specification manuals.

- 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-65285EN/03 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 IEC34 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-65285EN/03

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 specification manuals 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 specification manual.

- 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 specification manuals, 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 specification manuals, 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-65285EN/03 SAFETY PRECAUTIONS

1.3 FANUC SERVO AMPLIFIER α

αi series

αα

1.3.1 Warnings and Cautions Relating to Mounting

1.3.1.1 Warning

WARNING

- Check the specification code of the amplifier.

Check that the delivered amplifier is as originally ordered.

- Mount a ground fault interrupter.

To guard against fire and electric shock, fit the factory power supply or machine with a ground fault interrupter (designed for use with an inverter).

- Securely ground the amplifier.

Securely connect the ground terminal and metal frame of the amplifier and motor to a common ground plate of the power magnetics cabinet.

- Be aware of the weight of the amplifier and other components.

Control motor amplifiers and AC reactors are heavy. When transporting them or mounting them in the cabinet, therefore, be careful not to injured yourself or damage the equipment. Be particularly carefull not to jam your fingers between the cabinet and amplifier.

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

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

- Ensure that the power supply lines, power lines, and signal lines are securely connected.

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

- Insulate all exposed parts that are charged.

s-9

SAFETY PRECAUTIONS B-65285EN/03

WARNING

- Never touch the regenerative discharge resistor or radiator directly.

The surface of the radiator and regenerative discharge unit become extremely hot. Never touch them directly. An appropriate structure should also be considered.

- Close the amplifier cover after completing the wiring.

Leaving the cover open presents a danger of electric shock.

- Do not disassemble the amplifier.

- Ensure that the cables used for the power supply lines and power lines are of the appropriate diameter and temperature ratings.

- Do not apply an excessively large force to plastic parts.

If a plastic section breaks, it may cause internal damage, thus interfering with normal operation. The edge of a broken section is likely to be sharp and, therefore, presents a risk of injury.

s-10

B-65285EN/03 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.

- Connect the power supply lines and power lines to the appropriate terminals and connectors.

- Connect the signal lines to the appropriate connectors.

- 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.

- Before connecting the power supply wiring, check the supply voltage.

Check that the supply voltage is within the range specified in this manual, then connect the power supply lines.

- Ensure that the combination of motor and amplifier is appropriate.

- Ensure that valid parameters are specified.

Specifying an invalid parameter for the combination of motor and amplifier may not only prevent normal operation of the motor but also result in damage to the amplifier.

- Ensure that the amplifier and peripheral equipment are securely connected.

Check that the magnetic contactor, circuit breaker, and other devices mounted outside the amplifier are securely connected to each other and that those devices are securely connected to the amplifier.

s-11

SAFETY PRECAUTIONS B-65285EN/03

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.

s-12

B-65285EN/03 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 specifications at hand. These items must be stored in a location where they can be retrieved immediately.

- Provide adequate shielding.

A cable to be shielded must be securely connected to the ground plate, using a cable clamp or the like.

s-13

SAFETY PRECAUTIONS B-65285EN/03

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.

- 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-65285EN/03 SAFETY PRECAUTIONS

- 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-65285EN/03

1.3.2.2 Caution

CAUTION

- Note whether an alarm status relative to the amplifier is displayed at power-up or during operation.

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

- Before operating the motor for the first time, mount and adjust the position and speed sensors.

Following the instructions given in the maintenance manual, adjust the position and speed sensors for the spindle so that an appropriate waveform is obtained. If the sensors are not properly adjusted, the motor may not rotate normally or the spindle may fail to stop as desired.

- If the motor makes any abnormal noise or vibration while operating, stop it immediately.

Note that if operation is continued in spite of there being some abnormal noise or vibration, the amplifier may be damaged. Take appropriate corrective action, then resume operation.

- Observe the ambient temperature and output rating requirements.

The continuous output rating or continuous operation period of some amplifiers may fall as the ambient temperature increases. If the amplifier is used continuously with an excessive load applied, the amplifier may be damaged.

- Unless otherwise specified, do not insert or remove any connector while the power is turned on. Otherwise, the amplifier may fail.

s-16

B-65285EN/03 SAFETY PRECAUTIONS

1.3.3 Warnings and Cautions Relating to Maintenance

1.3.3.1 Warning

WARNING

- Read the maintenance manual carefully and ensure that you are totally familiar with its contents.

The maintenance manual describes daily maintenance and the procedures to be followed in the event of an alarm being issued. The operator must be familiar with these descriptions.

- Notes on replacing a fuse or PC board

1) Before starting the replacement work, ensure that the circuit

breaker protecting the power magnetics cabinet is open.

2) Check that the red LED that indicates that charging is in

progress is not lit. The position of the charging LED on each model of amplifier is given in this manual. While the LED is lit, hazardous voltages are present inside the unit, and thus there is a danger of electric shock.

3) Some PC board components become extremely hot. Be

careful not to touch these components.

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

5) Check the specification code of a PC board to be replaced. If

a modification drawing number is indicated, contact FANUC before replacing the PC board. Also, before and after replacing a PC board, check its pin settings.

6) After replacing the fuse, ensure that the screws are firmly

tightened. For a socket-type fuse, ensure that the fuse is inserted correctly.

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

connected.

8) Ensure that all power lines, power supply lines, and

connectors are securely connected.

- Take care not to lose any screws.

When removing the case or PC board, take care not to lose any screws. If a screw is lost inside the nit and the power is turned on, the machine may be damaged.

s-17

SAFETY PRECAUTIONS B-65285EN/03

WARNING

- Notes on replacing the battery of the absolute pulse coder

Replace the battery only while the power is on. If the battery is replaced while the power is turned off, the stored absolute positioning data will be lost. Some series servo amplifier modules have batteries in their servo amplifiers. To replace the battery of any of those models, observe the following procedure: Open the door of the power magnetics cabinet; Leave the control power of the power supply module on; Place the machine in the emergency stop state so that the power being input to the amplifier is shut off; Then, replace the battery. Replacement work should be done only by a person who is trained in the related maintenance and safety requirements. The power magnetics cabinet in which the servo amplifier is mounted has a high-voltage section. This section presents a severe risk of electric shock.

- Check the number of any alarm.

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

- Before resetting an alarm, ensure that the original cause of the alarm has been removed.

- Contact FANUC whenever a question relating to maintenance arises.

- Notes on removing the amplifier

Before removing the amplifier, first ensure that the power is shut off. Be careful not to jam your fingers between the power magnetics cabinet and amplifier.

s-18

B-65285EN/03 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-65285EN/03

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-65285EN/03 PREFACE

PREFACE

Organization of this manual

This manual describes information necessary to maintain FANUC servo amplifier αi series products, such as a power supply module, servo amplifier module, and spindle amplifier module and FANUC servo motor αis/αi series and FANUC spindle motor αi series products. Part I explains the start-up procedure, and part II focuses on troubleshooting. Part III explains the maintenance for servo motor and spindle motor.

The abbreviations listed below are used in this manual.

Product name Abbreviations

FANUC Series 15i FS15i FANUC Series 16i FS16i FANUC Series 18i FS18i FANUC Series 21i FS21i FANUC Series 0i FS0i FANUC Power Mate i-D FANUC Power Mate i-H Power Supply Module PSM Servo Amplifier Module SVM Spindle Amplifier Module SPM

PMi

Series 15

Series 16i, 18i, 21i, 0i, PM

* In this manual, the parameter numbers of servo parameters are

sometimes indicated without CNC product names as follows:

Servo parameter function name or bit

No. 1877 (FS15i)

No. 2062 (FS16i)

Overload protection coefficient (OVC1)

* The manuals shown below provide information related to this

manual. This manual may refer you to these manuals.

FANUC SERVO AMPLIFIER αi series Descriptions B-65282EN FANUC AC SERVO MOTOR αis/αi series Descriptions B-65262EN FANUC AC SPINDLE MOTOR αi series Descriptions B-65272EN FANUC AC SERVO MOTOR αis/αi series Parameter Manual

B-65270EN

FANUC AC SPINDLE MOTOR αi series Parameter Manual

B-65280EN

p-1

B-65285EN/03 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................................................................................7

2.2.1 Power Supply Modules............................................................................................ 7

2.2.2 Servo Amplifier Modules........................................................................................ 8

2.2.3 Spindle Amplifier Modules ..................................................................................... 9

3 START-UP PROCEDURE....................................................................11

3.1 START-UP PROCEDURE (OVERVIEW) ....................................................12

3.2 CONNECTING THE POWER ......................................................................13

3.2.1 Checking the Voltage and Capacity of the Power................................................. 13

3.2.2 Connecting a Protective Ground............................................................................ 14

3.2.3 Selecting the Ground Fault Interrupter That Matches the Leakage Current......... 14

3.3 INITIALIZING SERVO PARAMETERS........................................................15

4 CONFIRMATION OF THE OPERATION..............................................16

4.1 POWER SUPPLY MODULE........................................................................17

4.1.1 Checking the Status LEDs..................................................................................... 18

4.1.2 Check Terminal on the Printed-circuit Board ....................................................... 19

4.1.3 The PIL LED (Power ON Indicator) Is Off........................................................... 21

4.1.4 Checking Method when Magnetic Contactor Is not Switched On........................ 22

4.2 SERVO AMPLIFIER MODULE ....................................................................23

4.2.1 Checking the STATUS Display ............................................................................ 24

4.2.2 VRDY-OFF Alarm Indicated on the CNC Screen ................................................ 25

4.2.3 Method for Observing Motor Current ................................................................... 26

4.3 SPINDLE AMPLIFIER MODULE .................................................................29

4.3.1 STATUS Display................................................................................................... 30

4.3.2 Troubleshooting at Startup .................................................................................... 31

4.3.2.1 The PIL LED (power-on indicator) is off...........................................................31

4.3.2.2 The STATUS display is blinking with "--." .......................................................32

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TABLE OF CONTENTS B-65285EN/03

4.3.2.3 The motor does not turn..................................................................................... 33

4.3.2.4 A specified speed cannot be obtained. ...............................................................33

4.3.2.5 When cutting is not performed, the spindle vibrates, making noise. .................. 34

4.3.2.6 An overshoot or hunting occurs. ........................................................................34

4.3.2.7 Cutting power weakens or acceleration/deceleration slows down...................... 35

4.3.3 Status Error Indication Function ........................................................................... 36

4.3.4 Checking the Feedback Signal Waveform ............................................................ 39

4.3.4.1 Mi, MZi, and BZi sensors ..................................................................................40

4.3.4.2 α position coder S ..............................................................................................41

4.3.5 Spindle Check Board............................................................................................. 42

4.3.5.1 Spindle check board specifications ....................................................................42

4.3.5.2 Check board connection..................................................................................... 42

4.3.5.3 Check terminal output signals ............................................................................44

4.3.6 Observing Data Using the Spindle Check Board .................................................. 46

4.3.6.1 Overview............................................................................................................ 46

4.3.6.2 Major characteristics .......................................................................................... 46

4.3.6.3 Observation method ...........................................................................................46

4.3.6.4 Specifying data to be monitored......................................................................... 47

4.3.6.5 Address descriptions and initial values (SPM)...................................................48

4.3.6.6 Principles in outputting the internal data of the serial spindle............................49

4.3.6.7 Data numbers .....................................................................................................53

4.3.6.8 Example of observing data.................................................................................56

4.3.7 Checking Parameters Using the Spindle Check Board.......................................... 57

4.3.7.1 Overview............................................................................................................ 57

4.3.7.2 Checking parameters .......................................................................................... 57

4.3.8 Observing Data Using the SERVO GUIDE .......................................................... 58

4.3.8.1 Overview............................................................................................................ 58

4.3.8.2 Usable series and editions ..................................................................................58

4.3.8.3 List of spindle data that can be observed using the SERVO GUIDE................. 58

4.3.8.4 About the spindle control and spindle status signals..........................................59

4.3.8.5 Example of observing data.................................................................................60

5 PERIODIC MAINTENANCE OF SERVO AMPLIFIER..........................61

5.1 BATTERY FOR THE ABSOLUTE PULSECODER......................................62

5.2 PERIODIC MAINTENANCE OF SERVO AMPLIFIER .................................69

II. TROUBLESHOOTING

1 OVERVIEW ..........................................................................................75

2 ALARM NUMBERS AND BRIEF DESCRIPTIONS ..............................76

2.1 FOR Series 15i ............................................................................................77

2.1.1 Servo Alarm........................................................................................................... 77

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B-65285EN/03 TABLE OF CONTENTS

2.1.2 Spindle Alarm........................................................................................................ 79

2.2 FOR Series 16i, 18i, 20i, 21i, 0i, AND Power Mate i...................................81

2.2.1 Servo Alarm........................................................................................................... 81

2.2.2 Spindle Alarm........................................................................................................ 83

3 TROUBLESHOOTING AND ACTION ..................................................85

3.1 POWER SUPPLY MODULE (PSM, PSMR) ................................................86

3.1.1 Alarm Code 1 (PSM)............................................................................................. 86

3.1.2 Alarm Code 2 (PSM, PSMR) ................................................................................ 87

3.1.3 Alarm Code 3 (PSM)............................................................................................. 87

3.1.4 Alarm Code 4 (PSM, PSMR) ................................................................................ 87

3.1.5 Alarm Code 5 (PSM, PSMR) ................................................................................ 88

3.1.6 Alarm Code 6 (PSM, PSMR) ................................................................................ 88

3.1.7 Alarm Code 7 (PSM, PSMR) ................................................................................ 88

3.1.8 Alarm Code 8 (PSMR) .......................................................................................... 89

3.1.9 Alarm Code A (PSM)............................................................................................ 89

3.1.10 Alarm Code E (PSM, PSMR)................................................................................ 89

3.1.11 Alarm Code H (PSMR) ......................................................................................... 90

3.2 SERVO AMPLIFIER MODULE ....................................................................91

3.2.1 Alarm Code 1......................................................................................................... 93

3.2.2 Alarm Code 2......................................................................................................... 93

3.2.3 Alarm Code 5......................................................................................................... 93

3.2.4 Alarm Code 6......................................................................................................... 94

3.2.5 Alarm Code F ........................................................................................................ 94

3.2.6 Alarm Code P ........................................................................................................ 94

3.2.7 Alarm Code 8......................................................................................................... 95

3.2.8 Alarm Codes 8., 9., and A. .................................................................................... 96

3.2.9 Alarm Codes 8., 9., and A. .................................................................................... 96

3.2.10 Alarm Codes b, c, and d ........................................................................................ 97

3.2.11 Alarm Code "-" Blinking....................................................................................... 98

3.2.12 Alarm Code U........................................................................................................ 99

3.2.13 Alarm Code L ...................................................................................................... 100

3.3 SERVO SOFTWARE .................................................................................101

3.3.1 Servo Adjustment Screen .................................................................................... 101

3.3.2 Diagnosis Screen ................................................................................................. 103

3.3.3 Overload Alarm (Soft Thermal, OVC)................................................................ 104

3.3.4 Feedback Disconnected Alarm............................................................................ 105

3.3.5 Overheat Alarm ................................................................................................... 106

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TABLE OF CONTENTS B-65285EN/03

3.3.6 Invalid Servo Parameter Setting Alarm............................................................... 106

3.3.7 Alarms Related to Pulsecoder and Separate Serial Detector............................... 107

3.3.8 Other Alarms ....................................................................................................... 110

3.4 SPINDLE AMPLIFIER MODULE ...............................................................112

3.4.1 Alarm Code 01..................................................................................................... 112

3.4.2 Alarm Code 02..................................................................................................... 113

3.4.3 Alarm Code 03..................................................................................................... 114

3.4.4 Alarm Code 06..................................................................................................... 114

3.4.5 Alarm Code 07..................................................................................................... 115

3.4.6 Alarm Code 09..................................................................................................... 116

3.4.7 Alarm Code 12..................................................................................................... 117

3.4.8 Alarm Code 15..................................................................................................... 118

3.4.9 Alarm Code 18..................................................................................................... 118

3.4.10 Alarm Codes 19 and 20 ....................................................................................... 118

3.4.11 Alarm Code 21..................................................................................................... 119

3.4.12 Alarm Code 24..................................................................................................... 119

3.4.13 Alarm Code 27..................................................................................................... 120

3.4.14 Alarm Code 29..................................................................................................... 121

3.4.15 Alarm Code 31..................................................................................................... 122

3.4.16 Alarm Code 32..................................................................................................... 122

3.4.17 Alarm Code 34..................................................................................................... 122

3.4.18 Alarm Code 36..................................................................................................... 123

3.4.19 Alarm Code 37..................................................................................................... 123

3.4.20 Alarm Code 41..................................................................................................... 124

3.4.21 Alarm Code 42..................................................................................................... 124

3.4.22 Alarm Code 46..................................................................................................... 124

3.4.23 Alarm Code 47..................................................................................................... 125

3.4.24 Alarm Code 50..................................................................................................... 125

3.4.25 Alarm Codes 52 and 53 ....................................................................................... 126

3.4.26 Alarm Code 54..................................................................................................... 126

3.4.27 Alarm Code 55..................................................................................................... 126

3.4.28 Alarm Code 56..................................................................................................... 126

3.4.29 Alarm Code 66..................................................................................................... 127

3.4.30 Alarm Code 69..................................................................................................... 127

3.4.31 Alarm Code 70..................................................................................................... 127

3.4.32 Alarm Code 71..................................................................................................... 127

3.4.33 Alarm Code 72..................................................................................................... 127

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B-65285EN/03 TABLE OF CONTENTS

3.4.34 Alarm Code 73..................................................................................................... 128

3.4.35 Alarm Code 74..................................................................................................... 128

3.4.36 Alarm Code 75..................................................................................................... 128

3.4.37 Alarm Code 76..................................................................................................... 129

3.4.38 Alarm Code 77..................................................................................................... 129

3.4.39 Alarm Code 78..................................................................................................... 129

3.4.40 Alarm Code 79..................................................................................................... 129

3.4.41 Alarm Code 81..................................................................................................... 130

3.4.42 Alarm Code 82..................................................................................................... 131

3.4.43 Alarm Code 83..................................................................................................... 131

3.4.44 Alarm Code 84..................................................................................................... 132

3.4.45 Alarm Code 85..................................................................................................... 132

3.4.46 Alarm Code 86..................................................................................................... 132

3.4.47 Alarm Code 87..................................................................................................... 132

3.4.48 Alarm Code 88..................................................................................................... 132

3.4.49 Alarm Codes A, A1, and A2................................................................................ 132

3.4.50 Alarm Code b0..................................................................................................... 133

3.4.51 Alarm Codes C0,C1, and C2 ............................................................................... 133

3.4.52 Alarm Code C3.................................................................................................... 133

3.4.53 Other Alarms ....................................................................................................... 134

3.5 αCi SERIES SPINDLE AMPLIFIER MODULE ..........................................135

3.5.1 Alarm Code 12..................................................................................................... 135

3.5.2 Alarm Code 35..................................................................................................... 136

4 HOW TO REPLACE THE FUSES AND PRINTED CIRCUIT

BOARDS ............................................................................................137

4.1 HOW TO REPLACE THE FUSES AND PRINTED CIRCUIT BOARDS ....138

4.1.1 Ordering Number of Printed Circuit Board......................................................... 139

4.1.2 Fuse Locations..................................................................................................... 140

4.1.2.1 PSM .............................................................................................................. 140

4.1.2.2 SVM .............................................................................................................. 141

4.1.2.3 SPM ..............................................................................................................142

4.2 HOW TO REPLACE THE FAN MOTOR.................................................... 143

4.2.1 Internal-Fan Motor Replacement Procedure Common to 60, 90, and 150 mm

Wide Units........................................................................................................... 143

4.2.2 External-Fan Motor Replacement Procedure for 60 and 90 mm Wide Units ..... 144

4.2.3 External-Fan Motor Replacement Procedure for 150 mm Wide Unit................. 145

4.2.4 External-Fan Motor Replacement Procedure for 300 mm Wide Unit................. 146

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TABLE OF CONTENTS B-65285EN/03

III. MOTOR MAINTENANCE

1 SERVO MOTOR MAINTENANCE......................................................149

1.1 RECEIVING AND KEEPING AC SERVO MOTORS .................................150

1.2 DAILY INSPECTION OF AC SERVO MOTORS .......................................151

1.3 PERIODIC INSPECTION OF AC SERVO MOTORS ................................153

1.4 REPLACING THE PULSECODER ............................................................156

1.5 SPECIFICATION NUMBERS OF REPLACEMENT PARTS......................158

2 SPINDLE MOTOR MAINTENANCE...................................................159

2.1 PREVENTIVE MAINTENANCE .................................................................160

2.2 MAINTENANCE PARTS............................................................................163

2.3 ALLOWABLE RADIAL LOAD ....................................................................167

c-6

I. START-UP PROCEDURE

B-65285EN/03 START-UP PROCEDURE 1.OVERVIEW

1 OVERVIEW

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

• Configurations

• Start-up procedure

• Confirmation of the operation

• Periodic maintenance of servo amplifier

- 3 -

2.CONFIGURATIONS START-UP PROCEDURE B-65285EN/03

2 CONFIGURATIONS

- 4 -

B-65285EN/03 START-UP PROCEDURE 2.CONFIGURATIONS

2.1 CONFIGURATIONS

The FANUC servo amplifier αi series consists of the units and components listed below: (1) Power supply module (PSM) (basic) (2) Servo amplifier module (SVM) (basic) (3) Spindle amplifier module (SPM) (basic) (4) AC reactor (basic) (5) Connectors (for connecting cables) (basic) (6) Fuses (option) (7) Power transformer (option)

- 5 -

2.CONFIGURATIONS START-UP PROCEDURE B-65285EN/03

Constituent (example)

200 to 240VAC

3φ

Circuit

breaker 2

Circuit

breaker 1

Magnetic contactor

Lightning

surge

protector

1φ

AC reactor

200R,200S

Lightning

surge

protector

Power supply

module

PSM

3φ

fan motor

Spindle amplifier

module

SPM

Spindle motor

Servo amplifier

module

SVM2

DC link (300V DC)

Servo motor

Units prepared by the machine tool builder

NOTE

1 See Chapter 4 in the Servo Amplifier αi series

Descriptions for details of how to combine the power supply module, servo amplifier modules, and spindle amplifier modules.

2 A magnetic contactor, AC reactor, and circuit

breakers are always required.

3 To protect the unit from surge currents caused by

lightning, connect surge absorbers between lines, and between the lines and ground, at the power inlet of the power magnetics cabinet. See APPENDIX A in the Servo Amplifier αi series Descriptions (B-65282EN) for details.

- 6 -

B-65285EN/03 START-UP PROCEDURE 2.CONFIGURATIONS

2.2 MAJOR COMPONENTS

2.2.1 Power Supply Modules

(1) Power supply modules (PSM, 200VAC-input, power regeneration type)

Model

PSM-5.5i

PSM-11i PSM-15i PSM-26i PSM-30i PSM-37i

PSM-55i

Order

specification

A06B-6110-H006 A06B-6110-C006 A16B-2203-0640 A20B-2100-0760 A06B-6110-H011 A06B-6110-C011 A16B-2203-0641 A20B-2100-0760 A06B-6110-H015 A06B-6110-C015 A16B-2203-0642 A20B-2100-0760 A06B-6110-H026 A06B-6110-C026 A16B-2203-0630 A20B-2100-0761 A06B-6110-H030 A06B-6110-C030 A16B-2203-0631 A20B-2100-0761 A06B-6110-H037 A06B-6110-C037 A16B-2203-0632 A20B-2100-0761

A06B-6110-H055 A06B-6110-C055

Unit specification Wiring board specification

A20B-1008-0081

(Driver PCB) A20B-2003-0420

(2) Power supply modules (PSM, 400VAC-input, power regeneration type)

Model

PSM-11HVi PSM-18HVi PSM-30HVi PSM-45HVi

PSM-75HVi

PSM-100HVi

Order

specification

A06B-6120-H011 A06B-6120-C011 A16B-2203-0647 A20B-2100-0760 A06B-6120-H018 A06B-6120-C018 A16B-2203-0648 A20B-2100-0760 A06B-6120-H030 A06B-6120-C030 A16B-2203-0636 A20B-2100-0761 A06B-6120-H045 A06B-6120-C045 A16B-2203-0637 A20B-2100-0761

A06B-6120-H075 A06B-6120-C075

A06B-6120-H100 A06B-6120-C100

Unit specification Wiring board specification

A20B-1008-0086

(Driver PCB) A20B-2003-0420

A20B-1008-0087

(Driver PCB) A20B-2003-0420

Printed circuit board

specification

A20B-2100-0761

Printed circuit board

specification

A20B-2100-0761

A20B-2100-0760

(3) Power supply modules (PSMR, 200VAC-input, resistance regeneration type)

Model

PSMR-3i

PSMR-5.5i

Order

specification

A06B-6115-H003 A06B-6115-C003 A16B-2203-0781 A06B-6115-H006 A06B-6115-C006 A16B-2203-0782

Unit specification

Printed circuit board

specification

- 7 -

2.CONFIGURATIONS START-UP PROCEDURE B-65285EN/03

2.2.2 Servo Amplifier Modules

(1) Single-axis servo amplifier modules (SVM1, 200VAC-input)

Model Order specification Unit specification

SVM1-20i SVM1-40i

SVM1-80i SVM1-160i SVM1-360i

A06B-6114-H103 A06B-6114-C103 A16B-2203-0691 A06B-6114-H104 A06B-6114-C104 A16B-2203-0660 A06B-6114-H105 A06B-6114-C105 A16B-2203-0661 A06B-6114-H106 A06B-6114-C106 A16B-2203-0662 A06B-6114-H109 A06B-6114-C109 A16B-2203-0625 A20B-2100-0830

Wiring board specification

(2) Two-axis servo amplifier modules (SVM2, 200VAC-input)

Model Order specification Unit specification

SVM2-4/4i SVM2-20/20i SVM2-20/40i SVM2-40/40i SVM2-40/80i SVM2-80/80i SVM2-80/160i SVM2-160/160i

A06B-6114-H201 A06B-6114-C201 A16B-2203-0692 A06B-6114-H205 A06B-6114-C205 A16B-2203-0695 A06B-6114-H206 A06B-6114-C206 A16B-2203-0670 A06B-6114-H207 A06B-6114-C207 A16B-2203-0671 A06B-6114-H208 A06B-6114-C208 A16B-2203-0672 A06B-6114-H209 A06B-6114-C209 A16B-2203-0673 A06B-6114-H210 A06B-6114-C210 A16B-2203-0674 A06B-6114-H211 A06B-6114-C211 A16B-2203-0675

Wiring board specification

Printed circuit board

specification

A20B-2100-0740

Printed circuit board

specification

A20B-2100-0741

(3) Three-axis servo amplifier modules (SVM3, 200VAC-input)

Model Order specification Unit specification

SVM3-4/4/4i SVM3-20/20/20i SVM3-20/20/40i

A06B-6114-H301 A06B-6114-C301 A16B-2203-0696 A06B-6114-H303 A06B-6114-C303 A16B-2203-0698 A06B-6114-H304 A06B-6114-C304 A16B-2203-0680

Wiring board specification

(4) Single-axis servo amplifier modules (SVM1, 400VAC-input)

Model Order specification Unit specification Wiring board specification

SVM1-10HVi SVM1-20HVi SVM1-40HVi SVM1-80HVi

SVM1-180HVi

SVM1-360HVi

A06B-6124-H102 A06B-6124-C102 A16B-2203-0803 A06B-6124-H103 A06B-6124-C103 A16B-2203-0800 A06B-6124-H104 A06B-6124-C104 A16B-2203-0801 A06B-6124-H105 A06B-6124-C105 A16B-2203-0802 A06B-6124-H106 A06B-6124-C106 A16B-2203-0629 A20B-2100-0831

A06B-6124-H109 A06B-6124-C109

A20B-1008-0099

(Driver PCB) A20B-2003-0420

(5) Two-axis servo amplifier modules (SVM2, 400VAC-input)

Model Order specification Unit specification

SVM2-10/10HVi SVM2-20/20HVi SVM2-20/40HVi SVM2-40/40HVi SVM2-40/80HVi SVM2-80/80HVi

A06B-6124-H202 A06B-6124-C202 A16B-2203-0815 A06B-6124-H205 A06B-6124-C205 A16B-2203-0810 A06B-6124-H206 A06B-6124-C206 A16B-2203-0811 A06B-6124-H207 A06B-6124-C207 A16B-2203-0812 A06B-6124-H208 A06B-6124-C208 A16B-2203-0813 A06B-6124-H209 A06B-6124-C209 A16B-2203-0814

Wiring board specification

Printed circuit board

specification

A20B-2100-0742

Printed circuit board

specification

A20B-2100-0740

A20B-2100-0830

Printed circuit board

specification

A20B-2100-0741

- 8 -

B-65285EN/03 START-UP PROCEDURE 2.CONFIGURATIONS

2.2.3 Spindle Amplifier Modules

The order specification varies according to the sensor (function) used.

(1) ααααi series spindle amplifier modules (SPM, 200VAC-input)

TYPE A

Model Order specification Unit specification Wiring board specification

SPM-2.2i SPM-5.5i

SPM-11i SPM-15i SPM-22i SPM-26i SPM-30i

SPM-45i

SPM-55i

A06B-6111-H002 A06B-6111-C002 A16B-2203-0650 A20B-2100-0800 A06B-6111-H006 A06B-6111-C006 A16B-2203-0651 A20B-2100-0800 A06B-6111-H011 A06B-6111-C011 A16B-2203-0652 A20B-2100-0800 A06B-6111-H015 A06B-6111-C015 A16B-2203-0653 A20B-2100-0800 A06B-6111-H022 A06B-6111-C022 A16B-2203-0620 A20B-2100-0800 A06B-6111-H026 A06B-6111-C026 A16B-2203-0621 A20B-2100-0800 A06B-6111-H030 A06B-6111-C030 A16B-2203-0622 A20B-2100-0800

A06B-6111-H045 A06B-6111-C045

A06B-6111-H055 A06B-6111-C055

A20B-1008-0090

(Driver PCB) A20B-2003-0420

A20B-1008-0091

(Driver PCB) A20B-2003-0420

Printed circuit board

specification

A20B-2100-0800

TYPE B

Model Order specification Unit specification Wiring board specification

SPM-2.2i SPM-5.5i

SPM-11i SPM-15i SPM-22i SPM-26i SPM-30i

SPM-45i

SPM-55i

A06B-6112-H002 A06B-6111-C002 A16B-2203-0650 A20B-2100-0801 A06B-6112-H006 A06B-6111-C006 A16B-2203-0651 A20B-2100-0801 A06B-6112-H011 A06B-6111-C011 A16B-2203-0652 A20B-2100-0801 A06B-6112-H015 A06B-6111-C015 A16B-2203-0653 A20B-2100-0801 A06B-6112-H022 A06B-6111-C022 A16B-2203-0620 A20B-2100-0801 A06B-6112-H026 A06B-6111-C026 A16B-2203-0621 A20B-2100-0801 A06B-6112-H030 A06B-6111-C030 A16B-2203-0622 A20B-2100-0801

A06B-6112-H045 A06B-6111-C045

A06B-6112-H055 A06B-6111-C055

A20B-1008-0090

(Driver PCB) A20B-2003-0420

A20B-1008-0091

(Driver PCB) A20B-2003-0420

(2) ααααi series spindle amplifier modules (SPM, 400VAC-input)

TYPE A

Model Order specification Unit specification Wiring board specification

SPM-5.5HVi

SPM-11HVi SPM-15HVi SPM-30HVi SPM-45HVi

SPM-75HVi

SPM-100HVi

A06B-6121-H006 A06B-6121-C006 A16B-2203-0820 A20B-2100-0800 A06B-6121-H011 A06B-6121-C011 A16B-2203-0821 A20B-2100-0800 A06B-6121-H015 A06B-6121-C015 A16B-2203-0822 A20B-2100-0800 A06B-6121-H030 A06B-6121-C030 A16B-2203-0627 A20B-2100-0800 A06B-6121-H045 A06B-6121-C045 A16B-2203-0628 A20B-2100-0800

A06B-6121-H075 A06B-6121-C075

A06B-6121-H100 A06B-6121-C100

A20B-1008-0096

(Driver PCB) A20B-2003-0420

A20B-1008-0097

(Driver PCB) A20B-2003-0420

Printed circuit board

specification

A20B-2100-0801

Printed circuit board

specification

A20B-2100-0800

- 9 -

2.CONFIGURATIONS START-UP PROCEDURE B-65285EN/03

TYPE B

Model Order specification Unit specification Wiring board specification

SPM-5.5HVi

SPM-11HVi SPM-15HVi SPM-30HVi SPM-45HVi

SPM-75HVi

SPM-100HVi

A06B-6122-H006 A06B-6121-C006 A16B-2203-0820 A20B-2100-0801 A06B-6122-H011 A06B-6121-C011 A16B-2203-0821 A20B-2100-0801 A06B-6122-H015 A06B-6121-C015 A16B-2203-0822 A20B-2100-0801 A06B-6122-H030 A06B-6121-C030 A16B-2203-0627 A20B-2100-0801 A06B-6122-H045 A06B-6121-C045 A16B-2203-0628 A20B-2100-0801

A06B-6122-H075 A06B-6121-C075

A06B-6122-H100 A06B-6121-C100

A20B-1008-0096

(Driver PCB) A20B-2003-0420

A20B-1008-0097

(Driver PCB) A20B-2003-0420

Printed circuit board

specification

A20B-2100-0801

(3) ααααCi series spindle amplifier modules (SPMC, 200VAC-input)

Model Order specification Unit specification Wiring board specification

SPMC-2.2i SPMC-5.5i

SPMC-11i SPMC-15i SPMC-22i

A06B-6116-H002 A06B-6111-C002 A16B-2203-0650 A20B-2100-0802 A06B-6116-H006 A06B-6111-C006 A16B-2203-0651 A20B-2100-0802 A06B-6116-H011 A06B-6111-C011 A16B-2203-0652 A20B-2100-0802 A06B-6116-H015 A06B-6111-C015 A16B-2203-0653 A20B-2100-0802 A06B-6116-H022 A06B-6111-C022 A16B-2203-0620 A20B-2100-0802

Printed circuit board

specification

- 10 -

B-65285EN/03 START-UP PROCEDURE 3.START-UP PROCEDURE

3 START-UP PROCEDURE

- 11 -

3.START-UP PROCEDURE START-UP PROCEDURE B-65285EN/03

3.1 START-UP PROCEDURE (OVERVIEW)

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

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

voltage connected. → See Section 3.2.

(2) Some types of PSM, SVM, and SPM require settings before the

system can be used. So check whether you must make settings. → See Section 3.3.

(3) Turn on the power, and set initial parameters on the CNC.

For the initialization of servo parameters, refer to the following manual: FANUC AC SERVO MOTOR αis/αi series Parameter Manual (B-65270EN)

For the initialization of spindle parameters, refer to the following manual: FANUC AD SPINDLE MOTOR αi series Parameter Manual (B-65280EN)

(4) For start-up adjustment and troubleshooting, see Chapter 4.

• Method of using optional wiring boards for adjustment of the

PSM, SVM, and SPM

• Spindle sensor adjustment values

- 12 -

B-65285EN/03 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)

AC power

voltage

170 to 264 V 200 to 240 V

264 V or more 380 to 550 V

Table 3.2.1(b) Action for the AC power (400-V input type)

AC power

voltage

340 to 528 V 400 to 480 V

Nominal

voltage

Nominal

voltage

Action

These power lines can be connected directly to the system. Note) If the voltage is below the rated value,

the rated output may not be obtained. This power line must be connected through an insulation transformer to step down the voltage to 200 V.

Action

These power lines can be connected directly to the system. Note) If the voltage is below the rated value,

the rated output may not be obtained.

Table 3.2.1 (c) and (b) list the input power specification for the power supply module. 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 240 VAC -15%,+10%

Power source frequency 50/60 Hz ±1 Hz

Power source capacity (for the

main circuit) [kVA]

Power source capacity (for the

control circuit) [kVA]

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

Model

Nominal voltage rating

(for the main circuit)

Nominal voltage rating

(for the control circuit)

Power source frequency 50/60Hz ±1Hz

Power source capacity (for the

main circuit) [kVA]

Power source capacity (for the

control circuit) [kVA]

PSM

-5.5i

9 172237445379

PSM

-11HVi

17 26 44 64 107 143

PSM

-11i

PSM

-18HVi

PSM

-15i

PSM

-30HVi

PSM

-26i

PSM

-45HVi

400 to 480VAC -15%,+10%

200 to 240VAC -15%,+10%

PSM

0.7

PSM

-75HVi

0.7

-30i

PSM

-37i

PSM

-100HVi

PSM

-55i

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3.START-UP PROCEDURE START-UP PROCEDURE B-65285EN/03

3.2.2 Connecting a Protective Ground

Refer to the items in Chapter 5, "Installation," in "FANUC SERVO AMPLIFIER αi series Descriptions" B-65282EN, and check that the protective ground line is connected correctly.

3.2.3 Selecting the Ground Fault Interrupter That Matches the

Leakage Current

Refer to the items in Chapter 5, "Installation," in " FANUC SERVO AMPLIFIER αi series Descriptions" B-65282EN, and check that a correct ground fault interrupter is selected.

- 14 -

B-65285EN/03 START-UP PROCEDURE 3.START-UP PROCEDURE

3.3 INITIALIZING PARAMETERS

(1) Servo amplifier module

For the initialization of servo parameters, refer to the following manual: FANUC AC SERVO MOTOR αis/αi series Parameter Manual (B-65270EN)

(2) Spindle amplifier module

For the initialization of spindle parameters, refer to the following manual: FANUC AC SPINDLE MOTOR αi series Parameter Manual (B-65280EN)

- 15 -

4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

4 CONFIRMATION OF THE OPERATION

- 16 -

B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.1 POWER SUPPLY MODULE

Check each item according to the procedure described below.

1. Supply control power (200 VAC) to the power supply module

at the emergency stop state.

2. Check the STATUS LEDs. See Section 4.1.1.

See Section 3.1 of Part II.

3. Release the system from emergency stop state.

4. Make sure that the MCC is turned on.

OK NG

See Subsec. 4.1.4.

5. Check the operation of the servo and spindle motors.

larm occurs.

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

4.1.1 Checking the Status LEDs

Position of the

STATUS LEDs

No. STATUS LEDs Description

The STATUS display LED is off.

Control power has not been supplied. The control power circuit is defective. See Section

4.1.3.

Not ready The main circuit is not supplied with power (MCC OFF). Emergency stop state

Ready The main circuit is supplied with power (MCC ON). The PSM is operable.

Warning state (the dot at the bottom right lights.) A failure has occurred in the PSM. The PSM can keep operating. However it will enter an alarm state after a certain period of time. See Section 3.1 of Part II.

Alarm state The PSM is not operable. See Section 3.1 of Part II.

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.1.2 Check Terminal on the Printed-circuit Board

The input current check signal is output to connector JX1B. To observe the output, use the servo check pin board A06B-6071-K290 (see below).

Table 4.1.2(a) Check pins

Check

Description

L1 phase (R-phase) current L2 phase (S-phase) current

Reference point of observation

Table 4.1.2 (b) IR and IS current conversion value

Model Current conversion

PSM-5.5i

PSM-11i PSM-15i PSM-26i PSM-30i PSM-37i

PSM-55ii PSM-11HVi PSM-18HVi PSM-30HVi PSM-45HVi PSM-75HVi

PSM-100HVi

Location of

observation

JX1B-pin1

JX1B-pin2

JX1Bpin12,14,16

133A/1V (2.5 V at the center) 133A/1V (2.5 V at the center) 200A/1V (2.5 V at the center) 266A/1V (2.5 V at the center) 333A/1V (2.5 V at the center) 400A/1V (2.5 V at the center) 666A/1V (2.5 V at the center) 100A/1V (2.5 V at the center) 133A/1V (2.5 V at the center) 200A/1V (2.5 V at the center) 266A/1V (2.5 V at the center) 400A/1V (2.5 V at the center) 466A/1V (2.5 V at the center)

The "+" sign with respect to the input of the amplifier. If the L1 or L2 phase current exceeds the overcurrent alarm level, an alarm condition (with alarm code 01) occurs in the PSM.

Remark

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

About the servo check pin board A06B-6071-K290

The servo check pin board can be used to observe signals in the PSM.

(1) Specification

Order specification Description Remark

A06B-6071-K290

Printed-circuit board : A20B-1005-0340

Printed-circuit board A20B-1005-0340

Cable A660-2042-T031#L200R0

A20B-1005-0340

<5>

<4>

<3>

<2>

<10>

<9>

<8>

<7>

<15>

<14>

<13>

<12>

<20>

<19>

<18>

<17>

CN1 CN2

100mm

Printed-circuit board with check pins mounted 20-conductor one-to-one cable Length : 200mm

<1>

<6>

<11>

<16>

34mm

Cable : A660-2042-T031#L200R0

Approx. 200mm

One-to-one wiring is provided between CN1 and CN2. The connector pin numbers correspond to the check pin numbers.

(2) Connection

Connect the cable to the connector JX1B at the front of the PSM.

PSM

A20B-1005-0340

JX1B

CN1

CN2

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.1.3 The PIL LED (Power ON Indicator) Is Off.

Table 4.1.3 Check method and action

No. Cause of trouble Check method Action

AC power for the

control circuit not supplied

Blown fuse in the

control circuit

Incorrect wiring

Faulty power supply circuit on

the printed circuit board

Check that power is connected to connector CX1A.

Check whether F1 or F2 has blown. See Chapter 4 of Part II.

Check whether the 24-V power output is shortcircuited and whether a load exceeding the rating is connected. The power-on LED indicator PIL operates on the +5-V power supply. Check the control power voltage.

(1) If the AC power input

for control is connected to connector CX1B by mistake, F2 (FU2) may blow. Connect the AC power input to CX1A.

(2) Replace the fuse. If

the fuse blows again after the replacement, replace the printed circuit board.

Replace the printed circuit board, driver board, or power distribution board.

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

4.1.4 Checking Method when Magnetic Contactor Is not Switched

(1) The system is still in an emergency stop status.

→ Check the connection.

(2) There is a connector problem.

(a) Check that the connectors are attached to correct locations.

→ Ensure that the connectors are attached to the location

CXA2A on the PSM and the location CXA2B on the SPM/SVM.

PSM

CXA2A

SPM/SVM

CXA2B

CXA2A

SPM/SVM

CXA2B

CXA2A

(Battery box for pulse coder)

(b) The interface cable between CXA2B of the power supply

module and CXA2A of the SVM or SPM is defective. → Check whether the interface cable is faulty.

(3) The power for driving the magnetic contactor is not supplied.

→ Check the voltage across the both ends of the coil of the

magnetic contactor.

(4) The relay for driving the magnetic contactor is defective.

→ Check that a circuit between pins CX3-1 and CX3-3 of

connector is closed and opened.

PSM

MCC driving relay

(5) The PSM, SVM, or SPM is defective.

→ Replace the defective module.

- 22 -

CX3-1

CX3-3

B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.2 SERVO AMPLIFIER MODULE

Check each item according to the procedure described below.

1. Check the connection, and supply control power (200 VAC) to the power supply module.

2. Check the STATUS LEDs. See Section 4.2.1.

Alarm occurs.

See Section 3.2 of Part II.

3. Check the CNC parameters (including servo parameters), and reset emergency stop state.

Alarm occurs.

See Section 3.2 of Part II.

4. Check the operation of the servo motor.

Refer to the FANUC AC SERVO MOTOR

αis/αi series Parameter Manual (B-65270EN).

Abnormal operation

- 23 -

4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

4.2.1 Checking the STATUS Display

The STATUS display (a 7-segment LED) on the front of the SVM indicates the operation status.

Position of the

STATUS LEDs

STATUS display Description

• The STATUS display LED is not on.

<1> Power is not turned on. <2> Poor cable connection

→ Check the cable.

<3> The servo amplifier is defective.

→ Replace the fuse (F1) or servo amplifier.

Blinking

• The cable is shorted out. Check the cable.

• The control power supply is waiting for a ready signal.

• The servo amplifier is ready to operate.

The servo motor is supplied with power.

• Alarm state

If an alarm is issued in the servo amplifier, a value other than "0" and "-" is indicated on the STATUS display LED. See Section 3.2 of Part II.

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.2.2 VRDY-OFF Alarm Indicated on the CNC Screen

When the VRDY-OFF alarm is indicated on the CNC, check the items listed below. In addition, VRDY-OFF can occur also for reasons other than listed below. If the following items turn out to have not caused VRDY-OFF, check diagnosis information No. 358 (V ready-off information) on the diagnosis screen and report it to FANUC.

(1) Communication interface between amplifier and module

Is the cable for the communication interface (CXA2A/B) between the amplifier and module connected correctly?

(2) Emergency stop signal (ESP)

Has the emergency stop signal (connector: CX4) applied to the PSM been released? Alternatively, is the signal connected correctly?

(3) MCON signal

Hasn't setting up the axis detach function disabled the transmission of the ready command signal MCON from the CNC to the SVM?

(4) SVM control printed-circuit board

The SVM control printed-circuit board may be poorly installed or faulty. Be sure to push the faceplate as far as it will go. If the problem persist, replace the control printed-circuit board.

On the Series 16i/18i/21i/0i/PMi, checking diagnosis information (DGN) No. 358 makes it possible to analyze the cause of the VRDYOFF alarm. (Supported servo software: Series 90B0/D(04) and subsequent editions)

Diagnosis

358 V ready-off information

Convert the displayed value to binary form, and check bits 5 to 14 of the resulting binary number. When the servo amplifier starts working, these bits become 1 sequentially, starting at bit 5. When the servo amplifier has started normally, all of bits 5 to 14 become 1. Check bits 5 to 14 sequentially, starting at the lowest-order bit. The first lowest bit that is not 0 corresponds to the processing that caused the V ready-off alarm.

#15 #14 #13 #12 #11 #10 #9 #8

SRDY DRDY INTL RLY CRDY MCOFF MCONA

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

MCONS *ESP HRDY

#06(*ESP) : Emergency stop signal

#07,#08,#09 : MCON signal (CNC → amplifier → converter)

#10(CRDY) : Converter preparation completed signal

#11(RLY) : Relay signal (DB relay energized)

#12(INTL) : Interlock signal (DB relay de-energized)

#13(DRDY) : Amplifier preparation completed signal

- 25 -

4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

4.2.3 Method for Observing Motor Current

This subsection explains how to observe the current that flows through the servo motor.

Method of using the SERVO GUIDE

Refer to online help for explanations about how to connect to and use the servo adjustment tool, SERVO GUIDE.

- Supported CNC systems

Series 16i/18i/21i/0i -MODEL B Servo software supporting the αi series: Series 90B0/L(12) and subsequent editions and 9096/C(03) and subsequent editions

- Setting

Select an axis to be subjected to measurement in graph window channel setting. Also select IR and IS under Kind. Under Coef (conversion coefficient), set the maximum allowable current (Ap) for the amplifier in use.

- Display

NOTE

1 Servo software series 90B0 supports setting of a

motor current sampling period of up to 125 µs.

2 Servo software series 9096 supports setting of a

motor current sampling period of 1 ms only.

Select the XTYT mode from the graph window mode (M) menu to display waveforms.

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

Method of using the servo check board

For details on how to connect and use the servo check board, refer to the following: Section 4.18 in the FANUC AC SERVO MOTOR αis/αi series Parameter Manual (B-65270EN)

- Required units

- Servo check board A06B-6057-H630

- Oscilloscope

- Settings

⋅⋅⋅⋅ CNC setting

Parameter setting for servo software series 90B0

Output channel

FS15i

FS16i/18i/21i/0i/PMi

Measurement axis/

current phase

L-axis (Note 1) 370 0 402 0

M-axis (Note 1) 2418 0 2450 0

Data number 5 No.1726 No.1774 No.1775 No.1776 No.2115 No.2151 No.2152 No.2153

IR IS

Data number 6

Parameter setting for servo software series 9096

Output channel

FS16i/18i/21i/0i/PMi

Measurement axis/

current phase

L-axis (Note 1) 370 402

M-axis (Note 1) 1010 1042

Data number 5

No.2115 No.2115

IR IS

Data number 6

When series 9096 is used, if no axis is paired with the measurement axis (Note 2), IR and IS cannot be observed simultaneously.

NOTE

1 The L-axis is an axis identified with an odd number

set in parameter No. 1023. The M-axis is an axis identified with an even number set in parameter No.

1023.

2 The axis specified as 2n-1 in parameter No. 1023

and the axis specified as 2n will be in a pair.

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

Setting the output period of motor current data (for the 90B0 series only)

⋅⋅⋅⋅ Setting up the check board

Output period

Velocity loop period 0 (default)

Current loop period 1 (Note 3)

Parameter No. 1746 /

Bit 7 of parameter No. 2206

NOTE

3 If the current loop period is set up as the motor

current data output period, selecting data number 0, 1, 2, or 4 disables the output of signals (such as a velocity command) to channels. To observe the motor current and other signals (such as a velocity command), specify the output period as 1 ms.

4 For the servo software series 9096, the output

period of the motor current is only 1 ms. The current loop period cannot be used for output.

- Set the AXIS digit of the LED display with an axis number from 1 to 8 specified in parameter No. 1023.

- Set the DATA digit of the LED display with a data number from 5 to 6.

- Method for observing the motor current

The voltage corresponding to the motor current is output to a channel for which 5 The waveform of the motor current can be observed by measuring the voltage mentioned above with an oscilloscope. The following table lists the relationships between the observed voltage and the motor current.

Maximum amplifier

For the SVM1-20i, for example, the motor current is 5A (actual value rather than effective value) if the observed voltage is 1V.

or 6 is set as the data number on the servo check board.

current

10A 20A 40A

80A 160A 180A 360A

SVM type

SVM1-10HVi and others

SVM1-20i and others SVM1-40i and others SVM1-80i and others

SVM1-160i and others

SVM1-180HVi and others

SVM1-360i and others

Motor current/

observed voltage

[A/V]

2.5 5

10 20 40 45 90

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.3 SPINDLE AMPLIFIER MODULE

Check each item according to the procedure described below.

1. Supply control power (200 VAC) to the power supply module, and turn on the power to the CNC.

2. Check the STATUS display. See Subsection 4.3.1.

OK Alarm issued.

See Part II.

3. Has the system been used with this connection status?

No Yes

4. Prepare and check a PMC ladder. (The descriptions manual is required.)

5. Set and check spindle-related parameters. (The parameter manual is required.)

6. Check the waveform on the sensor. See Subsection 4.3.4.

7. Release the system from the emergency stop state.

8. Make sure that the magnetic contactor for PSM input is turned on. See Section 4.1.

9. Check the operation in normal operation mode (S command).

10. Check the operation of optional functions.

- 29 -

4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

4.3.1 STATUS Display

STATUS

ALM

ERR

No. ALM ERR STATUS Description

The control power supply has not been switched on.

250

304

6 00 The motor is supplied with power.

7 Lighting

8 Lighting

indication

Blinking

Lighting

01 or

above is

displayed.

01 or

above is

displayed.

The power supply circuit is defective. See Section 3.1.2. For about 1.0 s after the control power supply is switched on, the lower two digits of the spindle software series No. are indicated.

Example) 50: Software series No. 9D50 The spindle software edition number is displayed for about 1.0 s. 01, 02, 03, and so on correspond to A, B, C, and so on, respectively.

Example) 04: software edition D The CNC has not been switched on.

The machine is waiting for serial

communication and parameter loading to

end. Parameter loading has ended. The motor is not supplied with power.

Alarm state

The SPM is not operable.

See Chapter 1 of Part II. Error state

Incorrect parameter setting or improper

sequence.

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.3.2 Troubleshooting at Startup

4.3.2.1 The PIL LED (power-on indicator) is off.

(1) When the PIL LED on the spindle amplifier module does not

come on after the main circuit breaker is turned on

No. Cause of trouble Check method Action

The 200-V control power is

not supplied.

2 The cable is defective. The PSM PIL lamp is on.

The power is externally

connected to 0 V, GND, or the like.

There is a blown fuse on the

printed circuit board.

The printed circuit board is

defective.

The PSM PIL lamp is off.

When the connector is detached, the PIL lamp is on.

Even when all cables except the cable attached to connector CX2A/B are detached, the PIL lamp does not come on.

Check the cable attached to CX1A of PSM. Check the cable attached to the connector CXA2A/B.

Replace or repair the cable.

If the fuse blows, the printed circuit board may be faulty. Replace the unit.

Replace the unit.

- 31 -

4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

)

4.3.2.2 The STATUS display is blinking with "--."

(1) When no spindle communication alarm message is indicated on

the CNC Check whether the CNC software option setting or bit setting is correct.

(2) When a communication alarm message is indicated on the CNC

No. Cause of trouble Check method Action

Note that the cable used for

1 The cable is incorrect.

2 The cable is defective.

The printed circuit board is

defective.

(3) When Dual Check Safety is in use, and No. 756 or 766 occurs on

the CNC (FS16i) Check that K76, shown below, is mounted on the second spindle. If Dual Check Safety is not in use or the CNC has only the first spindle, K76 is unnecessary.

connecting an electric/optical adapter and the cable connected directly to the CNC differ in specifications. Check the connector housing section.

Replace the cable with a correct cable.

Repair or replace the cable.

Replace the unit.

CNC

Details of K76

K76

X2NDSP0V(15)

(13)

20-pin half-pitch connector

SPM (First spindle)

JA41 JA7B JA7A JA 7B

SPM (Second spindle

JA7A

K76

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.3.2.3 The motor does not turn.

(1) When "--" is indicated on the STATUS display of the SPM

Check whether spindle control signals are input. (An example for the first spindle is shown below.)

FS15i FS16i

G227 G070 MRDYA SFRA SRVA G226 G071 *ESPA

- G029 *SSTP

- G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0

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

(2) When "00" is indicated on the STATUS display of the SPM

No spindle speed command is input. Refer to Chapter 1 in "FANUC AC SPINDLE MOTOR αi series Parameter Manual (B-65280EN)," and check related parameters.

(3) When an alarm number is indicated on the SPM

See the description of the alarm number in Part II.

4.3.2.4 A specified speed cannot be obtained.

(1) When the speed always differs from a specified speed

Check parameters. Refer to Chapter 1 in "FANUC AC SPINDLE MOTOR αi series Parameter Manual (B-65280EN)," and check related parameters.

(2) When an alarm number is indicated on the SPM

See the description of the alarm number in Part II.

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

4.3.2.5 When cutting is not performed, the spindle vibrates, making

noise.

(1) The spindle vibrates only when the spindle speed has reached or is

at a particular speed level. Check whether the spindle also vibrates when the motor is turning by inertia. If noise is unchanged, investigate the source of mechanical vibration. There are several methods to turn the spindle by inertia as explained below. Because these methods involve machine sequences, consult with the machine tool builder. A. Setting spindle control signal MPOF (FS16i: G73#2, FS15i:

G228#2) to 1 immediately causes the spindle to turn by inertia.

B. Set ALSP (FS16i: bit 2 of parameter No. 4009, FS15i: bit 2

of parameter No. 3009) to 1. Then, when the power to the CNC is turned off during spindle rotation, the spindle turns by inertia. (On the spindle amplifier, Alarm 24 is indicated.)

(2) When noise is generated at the time the motor is stopped or at any

time A. See Subsection 4.3.4 of this part, and check and adjust the

waveform of the spindle sensor.

B. Check that the motor part number matches its parameters.

For details, refer to Appendix A in "FANUC AC SPINDLE MOTOR αi series Parameter Manual (B-65280EN)."

C. Adjust the velocity loop gain and so forth.

For details, refer to Chapter 1 in "FANUC AC SPINDLE MOTOR αi series Parameter Manual (B-65280EN)."

4.3.2.6 An overshoot or hunting occurs.

Refer to Chapter 1 in "FANUC AC SPINDLE MOTOR αi series Parameter Manual (B-65280EN)," and adjust parameters.

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.3.2.7 Cutting power weakens or acceleration/deceleration slows

down.

(1) When the load meter does not indicate the maximum output

A. A mechanical cause such as a belt slip may occur.

(2) When the load meter indicates the maximum output

A. Check whether the torque limit signal is input incorrectly.

FS15i FS16i

G227 G070 TLMHA TLMLA

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

B. If you are using the BZi sensor, it is likely that a slip has

occurred between the sensor gear and spindle (on acceleration).

C. Check that the motor part number matches its parameters.

For details, refer to Appendix A in "FANUC AC SPINDLE MOTOR αi series Parameter Manual (B-65280EN)."

D. Check whether the output limit pattern is set incorrectly.

For details, refer to Chapter 1 in "FANUC AC SPINDLE MOTOR αi series Parameter Manual (B-65280EN)."

- 35 -

4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

)

4.3.3 Status Error Indication Function

When there is a sequence or parameter error, the error LED (yellow) in the display section of the spindle amplifier module (SPM) goes on with an error code displayed. This can ease troubleshooting at the time of machine startup.

status

The error LED

n error code is indicated. (from 01

When the spindle amplifier module does not operate for a certain function, check whether the status error is indicated in the display section of the SPM.

No. Description Action

Although neither *ESP (emergency stop signal) (there are two types of signals, a PMC signal and PSM contact signal) nor MRDY (machine

ready signal) has been input, SFR (forward rotation signal), SRV (reverse rotation signal), or ORCM (orientation command) is input. Although parameter settings are such that that there is no position sensor (position control is not to be performed, that is, bits 3, 2, 1, and 0 of parameter No. 4002 are, respectively,

0, 0, 0, and 0), a Cs axis contour control command has been issued. In this case, the motor is not activated. Although parameter settings are such that that there is no position sensor (position control is not to be performed, that is, bits 3, 2, 1, and 0 of parameter No. 4002 are, respectively, 0, 0, 0, and 0), a servo mode (such as

rigid tapping or Cs axis control) command or spindle synchronization control command has been issued. In this case, the motor is not activated. Although optional parameter for the orientation function is not set, an

ORCM (orientation command) is input. Although optional parameter for the output switching option is not set,

low-speed winding is selected (RCH =

1).

Check the *ESP and MRDY sequences. For MRDY, pay attention to the parameter that specifies whether to use the MRDY signal (bit 0 of parameter No. 4001).

Check setting of the parameter.

Check setting of the parameter for orientation.

Check setting of the parameter for output switching and the power line status signal (RCH).

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

No. Description Action

Although Cs contour control mode is input, neither SFR (forward rotation

signal) nor SRV (reverse rotation signal) is input. Although servo mode (rigid tapping or spindle positioning) control command is input, neither SFR (forward rotation

signal) nor SRV (reverse rotation signal) is input. Although spindle synchronization control command is input, neither

SFR (forward rotation signal) nor SRV (reverse rotation signal) is input. Although Cs contour control command is input, another operation mode (servo mode, spindle

synchronization, or orientation) is specified. Although servo mode (rigid tapping or spindle positioning) is input, another operation mode (Cs contour control,

spindle synchronization, or orientation) is specified.

Although spindle synchronization is input, another operation mode (Cs

contour control, servo mode, or orientation) is specified.

Although orientation specification is input, another operation mode (Cs

contour control, servo mode, or synchronization control) is specified.

The SFR (forward rotation signal) and

SRV (reverse rotation signal) are input at the same time. Although the parameter not to use the differential speed control function (bit 5 of parameter No. 4000 = 0) is set,

DEFMD (differential speed mode command) is input. The parameter settings for the speed detector (bits 2, 1, and 0 of parameter No. 4011) are invalid. There is no

speed detector that matches the settings.

Check the sequence.

Do not specify another mode during execution of the Cs contour control command. Before entering another mode, cancel the Cs contour control command. Do not specify another mode during execution of the servo mode command. Before entering another mode, cancel servo mode. Do not specify another mode during execution of the spindle synchronization command. Before entering another mode, cancel the spindle synchronization command. Do not specify another mode during execution of the orientation command. Before entering another mode, cancel the orientation command.

Input one of the SFR and SRV signals.

Check the setting of the parameter and the differential speed mode command.

Check the setting of the parameter.

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

No. Description Action

Although parameter settings are such that that there is no position sensor (position control is not to be performed, that is, "bits 3, 2, 1, and 0

of parameter No. 4002 are, respectively, 0, 0, 0, and 0," a position coder-based orientation command has been issued. Although magnetic sensor orientation command is input, another operation mode (Cs contour control, servo

mode, or spindle synchronization) is specified. Although continuous indexing in position coder-based orientation is to be performed, an absolute position

command (INCMD = 0) has been issued after incremental operation (INCMD = 1). Parameter settings are such that the shortest-time orientation function is to be used (bit 6 of parameter No. 4018

is 0 and parameter Nos. 4320 to 4323 are nonzero). This hardware configuration does not support the use of the spindle FAD

function. In this case, the motor is not activated. This hardware configuration does not support the use of the spindle EGB

function. In this case, the motor is not activated. Both spindle FAD function and

spindle EGB function are enabled. In this case, the motor is not activated.

Check the setting of the parameter and the input signal.

Do not specify another mode during execution of the orientation command. Before entering another mode, cancel the orientation command. Check the INCMD (incremental command). Be sure to perform absolute position command-based orientation before an absolute position command.

The shortest-time orientation function cannot be used in the αi

series spindle amplifier. Use a different type of orientation.

Check the CNC model.

These functions cannot be used at the same time. Enable only one of the functions.

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.3.4 Checking the Feedback Signal Waveform

The measurement locations and the method for attaching connectors vary depending on the configuration of the detector. Check the waveform while seeing Table 4.3.4. The check terminals are on the check board.

Table 4.3.4(a) Signals input to the SPM and corresponding check terminals on the check board

Check

terminal

name

PA1 PB1 PA2 PB2 PS1 PS2

EXTSC1

SPM input signal

(connector

name-pin No.)

JYA2-pin5,6 JYA2-pin7,8 JYA4-pin5,6 JYA4-pin7,8 JYA2-pin1,2 JYA4-pin1,2 JYA3-pin15 Proximity switch (external one-rotation signal)

Mi, MZi, and BZi sensors

Mi, MZi, and BZi sensors α position coder S (1024λ) MZi and BZi sensors (one-rotation signal) MZi and BZi sensors (one-rotation signal)

Main sensors Remarks

For the α position coder and α position coder S (one-rotation signal), observe the SPM input signal directly, using the servo check pin board A06B-6071-K290.

For TYPE B only

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

4.3.4.1 Mi, MZi, and BZi sensors

Measurement

location

PA1, PB1

Separate sensors PA2, PB2

Measurement

condition

The speed must be 1500 min

-1

or less.

Rotation direction: CW

Detection gear

Motor

Waveforms of phase

and phase B

Ripples of phase A and phase B

For MZi and BZi sensors only

Waveform of phase Z

Sample waveform

PA1 (PA2)

Voffs

PB1 (PB2)

0 V

PA1, PB1 (PA2, PB2)

(Z - *Z)

Vpp

Vphase

Vrip

Vpz

Voffz

0 V

Measurement item Specification Measurement method Adjustment method

Vpp 0.5 to 1.2 Vp-p

Voffs, Voffsz 2.5 V ±100 mV

Vphase 90 ±3° Vrip < 70 mV

Use the DC range of a digital voltmeter.

Normally, the Mi and MZi sensors need not be adjusted. For Voffs and Voffz, only level check is possible, but adjustment is not possible.

Vpz > 0.5 V

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.3.4.2 α

Measurement

location

α position coder S

αα

Measurement

condition

PA2, PB2 CW rotation direction as

viewed from the flange

Waveforms of phase

and phase B

Waveform of phase Z

Sample waveform

PA1 (PA2)

Voffs

PB1 (PB2)

0 V

(Z - *Z)

Vpp

Vphase

Measurement item Specification Measurement method Adjustment method

Vpp 0.8 to 1.2 Vp-p

Voffs,Voffsz 2.5 V ±100 mV

Use the DC range of a digital voltmeter.

Only level check is possible, but adjustment is not possible.

Vphase 90 ±5°

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

4.3.5 Spindle Check Board

When connecting the check board, you can:

<1> Observe signal waveforms.

<2> Observe internal data.

<3> Check spindle parameter values.

4.3.5.1 Spindle check board specifications

Spindle check board specifications is bellow.

Table 4.3.5.1 Spindle check board specifications

Specification

A06B-6078-H001 A20B-2001-0830

4.3.5.2 Check board connection

Drawing No. of printed

circuit board

αi series, αCi series (having the same specification as for the α series)

Applicable unit

(1) αi series

SPM

JX4

JY1

JY1A JX4A

A20B-2001-0830

JY1B JX4B

Spindle check board

Output equivalent to JX4

Output equivalent to JY1

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

(2) αCi series

SPMC

JY1

JY1A JX4A

A20B-2001-0830

JY1B JX4B

Output equivalent to JY1

Spindle check board

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

4.3.5.3 Check terminal output signals

(1) αi series

Check terminal Signal name Check terminal Signal name

LM Load meter signal PA1 Phase A sine wave signal 1 SM Speedometer signal PB1 Phase B sine wave signal 1

Analog output for internal data

CH1

CH2

CH1D Output for internal data bit observation PB2 Phase B sine wave signal 2 (TYPE B) CH2D Output for internal data bit observation PS2 Phase Z sine wave signal 2 (TYPE B)

VRM Disuse PA3 Disuse

LSA1 Disuse PB3 Disuse

EXTSC1 External one-rotation signal (main) PA4 Disuse

LSA2 Disuse PB4 Disuse

EXTSC2 Disuse OVR2 Analog override command

PAD

PBD

PSD

observation (Phase U current: IU) Analog output for internal data observation (Motor speed TSA: 1638 min

Phase A of position coder signal output (TYPE B) Phase B of position coder signal output (TYPE B) Phase Z of position coder signal output (TYPE B)

-1

/V)

PS1 Phase Z sine wave signal 1

PA2 Phase A sine wave signal 2 (TYPE B)

15V Disuse

5V +5 VDC power check

-15V Disuse

GND 0 V

(2) αCi series

Check terminal Signal name Check terminal Signal name

Speedometer signal (This can be

SM Disuse PB1 Disuse

CH1

CH2

CH1D Output for internal data bit observation PB2 Disuse CH2D Output for internal data bit observation PS2 Disuse

VRM Disuse PA3 Disuse

LSA1 Disuse PB3 Disuse

EXTSC1 Disuse PA4 Disuse

LSA2 Disuse PB4 Disuse

EXTSC2 Disuse OVR2 Analog override command

PAD Disuse 15V Disuse PBD Disuse 5V +5 VDC power check PSD Disuse -15V Disuse

switched to the load meter signal by parameter setting.)

Analog output for internal data observation (Phase U current: IU) Analog output for internal data observation (Estimated motor speed : 1638 min

PA1 Disuse

PS1 Disuse

-1

/V)

PA2 Disuse

GND 0 V

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

Check terminal arrangement

PIL

VRM

PA2

PB2

PS2

LSA2

EXTSC2

PAD

PBD

PSD

15V

-15V

Display

Operation

buttons

DATA

SET

UPMODE

DOWN

CH1

LSA1

CH1D

EXTSC1

CH2

CH2D

PA3

PA1

PB3

PB1

PA4

PS1

PB4

OVR2

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

4.3.6 Observing Data Using the Spindle Check Board

4.3.6.1 Overview

By using the check board, you can convert digital signals used for control in the spindle amplifier module to analog voltage, and observe the conversion result with an oscilloscope. For internal data observation, you can use CH1 and CH2 (output: -5 to +5 V) as the two-channel analog output, and CH1D and CH2D as the output for checking specific bits of bit data or the like. You can also view internal data on the five-digit indicator.

4.3.6.2 Major characteristics

Item

Measurement point CH1, CH2 CH1D, CH2D

Output voltage range -5 to +5 V

Resolution

Output impedance 10 kΩmin 10 kΩmin

About 39 mV

(10 V/256)

H: 2 Vmin

L: 0.8 Vmax

4.3.6.3 Observation method

By setting data using four DIP switches on the check board, you can output internal data to the five-digit display, analog voltage output circuit, channels 1 and 2 (LM and SM or CH1 and CH2). Data on channels 1 and 2 is the one from an 8-bit D/A convertor. The correspondence between channel 1/2 and the check terminal is listed below.

Channel 1

Channel 2

Measurement point Check terminal

CH1 CH1D, data bit 0 CH2 CH2D, data bit 0

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.3.6.4 Specifying data to be monitored

<1> Press the four setting switches at the same time for at least a

second ."FFFFF" will be displayed on the indicator.

<2> Turn off the switches and press the "MODE" switch. "d-00" will

be displayed on the indicator and the system will enter the mode for monitoring internal data.

<3> In this mode, the motor can be operated normally.

Press the "UP" or "DOWN" switch while holding down the "MODE" switch. The indicator display will change in the range of "d-00" to "d-12".

<4> The following shows the correspondence between the

destinations of the internal data of the serial spindle and addresses d-01 to d-12. d-01 to d-04: Specifies the amount of data to be output to the

indicator, data shift, and output format (decimal or hexadecimal).

d-05 to d-08: Specifies the amount of data to be output to the

channel 1, data shift, and whether an offset is provided.

d-09 to d-12: Specifies the amount of data to be output to the

channel 2, data shift, and whether an offset is provided.

<5> Select address d-xx in the procedure for setting data described in

<3>.

<6> Turn off the "MODE" switch. "d-xx" will disappear 0.5 second

later, and the data will be displayed for a second. Change the set data using the "UP" or "DOWN" switch within the second the data is displayed.

<7> When more than a second elapses without pressing the "UP" or

"DOWN" switch, data cannot be changed. If the "MODE" switch is turned on or off, however, setting can be started from the beginning of the step in item <6>.

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

4.3.6.5 Address descriptions and initial values (SPM)

[Output to the indicator]

Address Description Initial value

d-01 Specifies a data number. 0 d-02 Shift at data output (0 to 31 bits) 0

Data shift direction

d-03

d-04

[Output to the channel 1]

Address Description Initial value

d-05 Specifies a data number

d-06

d-07

d-08

0 : Data is shifted right. 1 : Data is shifted left.

Display format

0 : Decimal notation 1 : Hexadecimal notation(0 to F)

Shift at data output (0 to 31 bits) Data shift direction

0: Data is shifted right 1: Data is shifted left

Offset

0: Not provided 1: Provided

218

(U-phase current)

[Output to the channel 2]

Address Description Initial value

d-09 Specifies a data number

d-10

d-11

d-12

Shift at data output (0 to 31 bits) Data shift direction

0: Data is shifted right 1: Data is shifted left

Offset

0: Not provided 1: Provided

(Motor velocity)

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.3.6.6 Principles in outputting the internal data of the serial spindle

The length of data is 32 bits (BIT31 TO BIT00) unless it is described as 16 bits.

BIT31 BIT00BIT01BIT02BIT03

(1) Example of output to the indicator

Example1 Displaying data in decimal When the number of digits to shift data (d-02)=0 and display format (d-04)=0 (decimal notation): The last 16 bits of data (BIT15 to BIT00) are converted into decimal (0 to 65535 max.) and displayed.

BIT15 BIT00BIT01

Indicator

Example2 Displaying data in hexadecimal When the number of digits to shift data (d-02)=0 and display format (d-04)=1 (hexadecimal notation): The last 16 bits of data (BIT15 to BIT00) are converted into hexadecimal (0 to FFFFF max.) and displayed.

BIT15 BIT00BIT01

……

16 bits

Converted into decimal data and displayed

X X X X X

……

16 bits

Converted into hexadecimal data and displayed

Indicator

X X X X

(The fifth digit is bl ank.)

Example3 Shifting data left When the number of digits to shift data (d-02)=3, the shift direction is left (d-03=1), and display format (d-04)=1 (hexadecimal notation): Data in BIT12 to BIT00 and the last three bits of data (=0) are converted into hexadecimal (0 to FFFFF max.) and displayed.

Indicator

……

16 bits

Converted into hexadecimal data and displayed

X X X X

000BIT00BIT01

(The fifth digit is bl ank.)

BIT12

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

Example4 Shifting data right When the number of digits to shift data (d-02)=5, shift direction is right (d-03=0), and display format (d-04)=0 (decimal notation): Data in BIT20 to BIT05 is converted into decimal (0 to 65535 max.) and displayed.

BIT20 BIT05BIT06

Indicator

……

16 bits

Converted into decimal data and displayed

X X X X X

Example5 Shifting data right when the data length is 16 bits When the data length is 16 bits, data shift (d-02)=5, shift direction is right (d-03=0), and display format is decimal notation (d-04=0): The first five bits of data and data in BIT15 to BIT05 are converted into decimal and displayed.

000 BIT050 0

Indicator

BIT15

16 bits

X X X X X

……

Converted into decimal data and displayed

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

(2) Example of output to the channel 1

Internal data is output to channel 1 by setting it in an 8-bit D/A convertor. The D/A converter output ranges from -5 to +5 V, depending on a set value of internal data. See the table below.

Internal data in binary

(decimal)

00000000 (0) 0 -5V 11111111 (255) 0 +4.96V 10000000 (-128) 1 -5V 00000000 (0) 1 0V 01111111 ( 127) 1 +4.96V

Setting d-08

(whether there is offset)

Output on channel 1

Example1 Data set When the number of digits to shift data (d-06)=0 and when no offset is provided (d-08=0): The last eight bits of data (BIT07 to BIT00) is set in the D/A converter of the LM terminal.

BIT07 BIT00BIT01

BIT06 BIT05 BIT04 BIT03 BIT02

Set in the D/A converter for channel 1 output

Example2 Shifting data left When the number of digits to shift data (d-06)=3, shift direction is right (d-07=1), and no offset is provided (d-08=0): Data in BIT14 to BIT00 and the last three bits of data (=0) are set in the D/A converter.

BIT04 00

BIT03 BIT02 BIT01 BIT00 0

Set in the D/A converter for channel 1 output

Example3 Shifting data right When the number of digits to shift data (d-06)=10, shift direction is right (d-07=1), and no offset is provided (d-08=0): Data in BIT17 to BIT10 is set in the D/A converter.

BIT17 BIT10BIT11

BIT16 BIT15 BIT14 BIT13 BIT12

Set in the D/A converter for channel 1 output

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

Example4 Shifting data right when the data length is 16 bits When the data length is 16 bits, data shift (d-06)=10, shift direction is right (d-07=0), and no offset is provided (d-08=0): The first two bits of data (=0) and data in BIT15 to BIT10 are set in the D/A converter.

0 BIT10BIT11

0 BIT15 BIT14 BIT13 BIT12

Set in the D/A converter for channel 1 output

Example5 If an offset is provided When the number of digits to shift data (d-06)=10, shift direction is right (d-07=0), and an offset is provided (d-08=1): Data in most significant bit BIT17 (to which 1 is added) and data in BIT16 to BIT10 are set in the D/A converter.

BIT17 Data +1 BIT10BIT11BIT16 BIT15 BIT14 BIT13 BIT12

Set in the D/A converter for channel 1 output

Example6 Data bit observation For data shift (d-06) = 0 with no offset (d-08 = 0), the lowest data bit (BIT00) can be observed as a high/low level at check terminal CH1D.

BIT07

BIT06 BIT05 BIT04 BIT03 BIT02

(3) Example of output to the channel 2

Output to the channel 2 is the same as that to the channel 1. However, the addresses for setting data (d-09 to d-12) are different from those for output to the channel 1. Setting velocity information in the channel 1 and the number of errors in the channel 2 enables simultaneous monitoring of the change in each data item using the two channels.

BIT01

BIT00

Output to check terminal CH1D

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.3.6.7 Data numbers

(1) Data numbers

Data

No.

Main data

16 Motor speed command 32

19 Motor speed 32

25 Motor speed deviation 32

4 Move command 32

9 Positioning error 32

90 Torque command 16 0 to ±16384

131 Speedometer data 16 SM terminal 132 Load meter data 16 LM terminal

136 Position error 32

Data between the spindle and CNC

5 Speed command data 16

6 Spindle control signal 1 16

10 Load meter data 16 +32767 for maximum output 11 Motor speed data 16 ±16384 for maximum speed

12 Spindle status signal 1 16

66 Spindle control signal 2 16

182 Spindle status signal 2 16

Other data

218

219

162 DC link voltage 16 1000 V/FS by shifting 8 bits left

Description

Phase U current (A/D conversion data) Phase V current (A/D conversion data)

Data

length

The 12th bit (BIT12) indicates a units

-1

in min The 12th bit (BIT12) indicates a units

-1

in min for the αCi series.)

(Speed command - motor speed) The 12th bit (BIT12) indicates a units in

-1

min Number of command pulses for ITP (usually 8 ms) Number of erroneous pulses (Spindle synchronous control, Cs contour control, Rigid tapping mode)

Number of erroneous pulses (Position coder orientation)

±16384 for the maximum speed command See the command signal from the PMC to spindle in (3).

See the status signal from the spindle to PMC in (3). See the command signal from the PMC to spindle in (3). See the status signal from the spindle to PMC in (3).

16 10 V/FS by shifting 8 bits left

Remarks

. (An estimated value is used

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

(2) Internal data conversion

Data No. Signal name

218 IU Phase U current 219 IV Phase V current

162 VDC

*1 Current conversion result for channels 218 and 219

Description (All are voltage values on check pins

when the shift amount is 8.)

The current is positive when it is

input to the amplifier. (*1) DC link voltage signal 100V/1V (200 V system) 200V/1V (400 V system)

Model Conversion result

SPM-2.2i SPM-5.5i

SPM-11i SPM-15i SPM-22i SPM-26i SPM-30i SPM-45i SPM-55i

SPM-5.5HVi

SPM-11HVi SPM-15HVi SPM-30HVi SPM-45HVi SPM-75HVi

SPM-100HVi

16.7A/1V

33.3A/1V

50.0A/1V

66.7A/1V 100A/1V 133A/1V 150A/1V 233A/1V

16.7A/1V

33.3A/1V

50.0A/1V

66.7A/1V 133A/1V 150A/1V

(3) About the spindle control and spindle status signals

Shown below are the data numbers for the PMC signals used by the spindle and the configuration of each data item. Refer to Chapter 3, "PMC Signals (CNC ↔ PMC)" of "FANUC AC SPINDLE MOTOR αi series PARAMETER MANUAL" (B65280EN) for explanations about each signal.

(a) Data number 6 : Spindle control signal 1

#15 #14 #13 #12 #11 #10 #9 #8

RCH RSL INTG SOCN MCFN SPSL *ESP ARST

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

MRDY ORCM SFR SRV CTH1 CTH2 TLMH TLML

(b) Data number 66 : Spindle control signal 2

#15 #14 #13 #12 #11 #10 #9 #8

DSCN SORSL MPOF

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

RCHHG MFNHG INCMD OVR NRRO ROTA INDX

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

#15 #14 #13 #12 #11 #10 #9 #8

RCFN RCHP CFIN CHP

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

ORAR TLM LDT2 LD T1 SAR SDT SST ALM

(d) Data number 182 : Spindle status signal 2

#15 #14 #13 #12 #11 #10 #9 #8

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

EXOF SOREN INCST PC1DT

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

4.3.6.8 Example of observing data

(1) Example of observing a positioning error using the channel 1

Address Description Set Data

d-05 Data number 9 9 9 9 d-06 Data shift 0 1 1 2 d-07 Data shift direction 0 1 1 1 d-08 Offset 1 1 1 1

Data unit (NOTE) 256p/FS 512p/FS 128p/FS 64p/FS

NOTE

FS=10V (-5V to 5V)

(2) Example of observing a motor speed using the channel 2

Address Description Set Data

d-09 Data number 19 19 19 d-10 Data shift 12 13 11 d-11 Data shift direction 0 0 0 d-12 Offset 0 0 0

Data unit (NOTE) 256min-1/FS 512min-1/FS 128 min-1/FS

NOTE

FS=10V (-5V to 5V)

(3) Observation of phase U current in the SPM-11i

Setting of observation data

Data No. 218

Shift amount 8

Shift direction 0 (shifted left)

Offset 1 (provided)

+5 V

100 A

0 V

-5 V

33.3 A/1 V

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.3.7 Checking Parameters Using the Spindle Check Board

4.3.7.1 Overview

By using the check board, you can check parameter values transferred to the spindle amplifier module. Specify parameter numbers using the four setting switches on the check board, and check parameter values on the five-digit indicator.

4.3.7.2 Checking parameters

<1> Press the four setting switches at the same time for at least one

second. "FFFFF" will be displayed on the indicator.

<2> Turn off the switches and press the "MODE" switch. "d-00" will

be displayed on the indicator and the system will enter the mode for measuring internal data.

<3> With "0" set for "d-00", press the "MODE" and "DATA SET"

switches at the same time for at least one second. "CCCCC" will be displayed on the indicator.

<4> Turn off the switches and press the "MODE" switch. "F-xxx" will

be displayed on the indicator and the system will enter the mode for checking spindle parameters (F-mode). (Even in this mode, the motor can be operated normally.)

<5> Press the "UP" or "DOWN" switch while holding down the

"MODE" switch (with "F-xxx" displayed). The number of "Fxxx" increases or decreases. Set the internal number of a parameter you want to check. For correspondences between the parameter internal numbers and NC parameter numbers, see the parameter list in the appendix to the parameter manual.

<6> Turn off the switches. The parameter value corresponding to the

set internal number is displayed for about one second. (Bit parameter values are displayed in hexadecimal.)

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

4.3.8 Observing Data Using the SERVO GUIDE

4.3.8.1 Overview

Using the servo adjustment tool, SERVO GUIDE, enables you to observe internal data for the spindle. This subsection describes the spindle data that can be observed using the SERVO GUIDE. It also presents examples of observed data. Refer to online help for detailed explanations about how to use the SERVO GUIDE.

4.3.8.2 Usable series and editions

Series 9D50/B(02) and subsequent editions

4.3.8.3 List of spindle data that can be observed using the SERVO

GUIDE

The following table lists the spindle data that can be observed using the SERVO GUIDE.

Data type Description

SPEED Motor speed INORM Motor current amplitude

TCMD Torque command VCMD Motor speed command VERR Speed deviation

WMDAT Move command for an individual position loop

PERR1 Position error 1 ORERR Position error at orientation PCPOS Cumulative position feedback value

MCMD Move command for an individual communication cycle

PERR2 Position error 2 CSPOS Cumulative position feedback value SPCMD Speed command data from the CNC

SPCT1 Spindle control signal 1

SPCT2 Spindle control signal 2

SPST1 Spindle status signal 1 SPST2 Spindle status signal 2

ORSEQ Orientation sequence data

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B-65285EN/03 START-UP PROCEDURE 4.CONFIRMATION OF THE OPERATION

4.3.8.4 About the spindle control and spindle status signals

As stated in the previous item, the SERVO GUIDE can be used to observe the PMC signals (spindle control signals 1 and 2 and spindle status signals 1 and 2) used by the spindle. Listed below is the data configuration for spindle control signals 1 and 2 and spindle status signals 1 and 2. Refer to Chapter 3, "PMC Signals (CNC ↔ PMC)" of "FANUC AC SPINDLE MOTOR αi series PARAMETER MANUAL" (B-65280EN) for explanations about each signal.

(a) Spindle control signal 1 (SPCT1)

#15 #14 #13 #12 #11 #10 #9 #8

RCH RSL INTG SOCN MCFN SPSL *ESP ARST

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

MRDY ORCM SFR SRV CTH1 CTH2 TLMH TLML

(b) Spindle control signal 2 (SPCT2)

#15 #14 #13 #12 #11 #10 #9 #8

DSCN SORSL MPOF

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

RCHHG MFNHG INCMD OVR NRRO ROTA INDX

#15 #14 #13 #12 #11 #10 #9 #8

RCFN RCHP CFIN CHP

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

ORAR TLM LDT2 LD T1 SAR SDT SST ALM

(d) Spindle status signal 2 (SPST2)

#15 #14 #13 #12 #11 #10 #9 #8

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

EXOF SOREN INCST PC1DT

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4.CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65285EN/03

4.3.8.5 Example of observing data

The following figure shows an example of data (synchronization error and motor speed at rigid tapping) observed using the SERVO GUIDE.

DRAW1 : SYNC

DRAW2 : SPEED

DRAW1 : SYNC (synchronization error) *1 DRAW2 : SPEED (motor speed)

*1 The synchronization error is servo axis output data.

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B-65285EN/03 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER

5 PERIODIC MAINTENANCE OF SERVO

AMPLIFIER

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5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65285EN/03

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. Refer to Subsection 9.3.2.6, "Battery" in "FANUC SERVO AMPLIFIER αi series Descriptions (B-63282EN)" for details.

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

Battery case

A06B-6050-K060

PSM

CXA2A

SVM SVM

CXA2B CXA2B

CXA2A CXA2A

Battery

A06B-6050-K061

Connector

A06B-6110-K211

- 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.

- The absolute Pulsecoder of the αis/αi series servo motor 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. On the contrary, the absolute Pulsecoder of the standard α series servo motor is not incorporated with 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 service life of the batteries is about two years if they are used in a six-axis configuration with αis/αi series servo motors and one year if they are used in a six-axis configuration with α series servo motors. 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.

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B-65285EN/03 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER

WARNING

1 Do not connect more than one battery to the same

BATL (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.

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5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65285EN/03

[Connection scheme 2] Incorporating each SVM with batteries

SVM

Battery case

A06B-6114-K500

Battery

A06B-6073-K001

CX5X

SVM

Battery case

A06B-6114-K500

Battery

A06B-6073-K001

CX5X

- If a low battery voltage or a battery voltage of 0 V is indicated by an APC (absolute Pulsecoder) alarm, replace the battery (A06B6073-K001). If a battery voltage of 0 V is indicated, you need to make a zero point return.

- The service life of the batteries is about two years with αis/αi series servo motors and one year with α series servo motors.

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.

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B-65285EN/03 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER

WARNING

1 When using the built-in batteries (A06B-6073-

K001), do not connect them to the BATL (B3) of connector CXA2A/CXA2B. 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

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

3 Install the battery with correct polarity. If the battery

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

[Installation procedure for the battery] (1) Remove the battery cover from the SVM. (2) Install the battery in the SVM as shown in the figure below. (3) Install the battery cover. (4) Attach the battery connector to CX5X of the SVM.

SVM

Inserting direction

Connector

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.

Cable side

Red: +6 V

Black: 0 V

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5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65285EN/03

[Caution No. 1 for battery replacement]

The Pulsecoder for the α series servo motor is not incorporated with a backup 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 7-segment LED 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.

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.

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B-65285EN/03 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER

[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.

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5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65285EN/03

(2) Detaching the connector

<1> Hold both the sides of

the cable insulator and the cable, and pull them horizontally.

<2>

<3>

Pull out the cable side while raising it slightly.

10 degrees or less

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

5 degrees or less

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B-65285EN/03 START-UP PROCEDURE 5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER

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

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

Inspection

item

Ambient

temperature

Dust

Oil mist

Cooling air

path

Abnormal

vibration and

noise

Power supply

voltage

Magnetic contactor

Ground fault

interrupter

AC reactor O There shall be no hum.

Inspection cycle

Routine Periodic

O The magnetic contactor shall not rattle or chatter.

O The interrupter shall be able to trip.

Criterion Remark

Surroundings of the power magnetics cabinet: 0 to 45°C Inside of power magnetics cabinet: 0 to 55°C

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.

αi seires : Shall be within the rating (200 to 240 V). α(HV)i seires : Shall be within the rating (400 to 480

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).

(*1)

(*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.

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5.PERIODIC MAINTENANCE OF SERVO AMPLIFIER START-UP PROCEDURE B-65285EN/03

Specification number of fan unit

- PSM

PSM name

PSM-5.5i

PSM-11i

PSM-15i PSM-11HVi PSM-18HVi

PSM-26i

PSM-30i

PSM-37i PSM-30HVi PSM-45HVi

PSM-55i PSM-75HVi

PSM-100HVi

- SVM (1) 1-axis (SVM1)

SVM name

SVM1-20i SVM1-40i

SVM1-80i SVM1-160i SVM1-360i

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

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

- A90L-0001-0441/39 - -

- A90L-0001-0441/39 A06B-6110-C603 A90L-0001-0508

- A90L-0001-0441/39 (A06B-6110-C604) A90L-0001-0509

A06B-6110-C607 A90L-0001-0441/39

A90L-0001-0511(*2)

A06B-6110-C607

Two are used.

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

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

A06B-6110-C605 A90L-0001-0510 - A06B-6110-C605 A90L-0001-0510 - A06B-6110-C605 A90L-0001-0510 - A06B-6110-C605 A90L-0001-0510 A06B-6110-C602 A90L-0001-0507/B A06B-6110-C607 A90L-0001-0511 (A06B-6110-C604) A90L-0001-0509

A90L-0001-0441/39

A90L-0001-0511(*2)

(A06B-6110-C604) A90L-0001-0509

(A06B-6110-C604)

Two are used.

A90L-0001-0509

Two are used.

(2) 2-axis (SVM2)

SVM name

SVM2-4/4i SVM2-20/20i SVM2-20/40i SVM2-40/40i SVM2-40/80i SVM2-80/80i

SVM2-80/160i

SVM2-160/160i

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

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

A06B-6110-C605 A90L-0001-0510 - A06B-6110-C605 A90L-0001-0510 - A06B-6110-C605 A90L-0001-0510 - A06B-6110-C605 A90L-0001-0510 A06B-6110-C601 A90L-0001-0507/A A06B-6110-C605 A90L-0001-0510 A06B-6110-C601 A90L-0001-0507/A A06B-6110-C605 A90L-0001-0510 A06B-6110-C601 A90L-0001-0507/A A06B-6110-C606 A90L-0001-0510 A06B-6110-C603 A90L-0001-0508 A06B-6110-C606 A90L-0001-0510 A06B-6110-C603 A90L-0001-0508

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

motor can be replaced separately from the fan unit. The fan unit A06B-6110-C604, enclosed in parentheses, cannot be dismounted from the outside. So replace only the fan motor, which can be dismounted from the outside. (See Section 4.2, "How to Replace the Fan Motor.")

(*2) For A06B-6110-C607

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Fanuc AC SERVO Motor αis, AC SERVO Motor αi, SERVO AMPLIFIER αi, AC Spindle Motor αi Maintenance Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

1.1 DEFINITION OF WARNING, CAUTION, AND NOTE

PREFACE

TABLE OF CONTENTS

I. START-UP PROCEDURE

1 OVERVIEW

2 CONFIGURATIONS

2.1 CONFIGURATIONS

2.2 MAJOR COMPONENTS

2.2.1 Power Supply Modules

2.2.2 Servo Amplifier Modules

2.2.3 Spindle Amplifier Modules

3 START-UP PROCEDURE

3.1 START-UP PROCEDURE (OVERVIEW)

3.2 CONNECTING THE POWER

3.2.1 Checking the Voltage and Capacity of the Power

3.2.2 Connecting a Protective Ground

3.3 INITIALIZING PARAMETERS

4 CONFIRMATION OF THE OPERATION

4.1 POWER SUPPLY MODULE

4.1.1 Checking the Status LEDs

4.1.2 Check Terminal on the Printed-circuit Board

4.1.3 The PIL LED (Power ON Indicator) Is Off.

4.2 SERVO AMPLIFIER MODULE

4.2.1 Checking the STATUS Display

4.2.2 VRDY-OFF Alarm Indicated on the CNC Screen

4.2.3 Method for Observing Motor Current

4.3 SPINDLE AMPLIFIER MODULE

4.3.1 STATUS Display

4.3.2 Troubleshooting at Startup

4.3.2.1 The PIL LED (power-on indicator) is off.

4.3.2.2 The STATUS display is blinking with "--."

4.3.2.3 The motor does not turn.

4.3.2.4 A specified speed cannot be obtained.

4.3.2.6 An overshoot or hunting occurs.

4.3.3 Status Error Indication Function

4.3.4 Checking the Feedback Signal Waveform

α position coder S

4.3.5.1 Spindle check board specifications

4.3.5.2 Check board connection

Spindle check board

4.3.5.3 Check terminal output signals

4.3.6 Observing Data Using the Spindle Check Board

4.3.6.1 Overview

4.3.6.2 Major characteristics

4.3.6.3 Observation method

4.3.6.4 Specifying data to be monitored

4.3.6.5 Address descriptions and initial values (SPM)

4.3.6.6 Principles in outputting the internal data of the serial spindle

4.3.6.7 Data numbers

4.3.6.8 Example of observing data

4.3.7 Checking Parameters Using the Spindle Check Board

4.3.7.1 Overview

4.3.7.2 Checking parameters

4.3.8 Observing Data Using the SERVO GUIDE

4.3.8.1 Overview

4.3.8.2 Usable series and editions

4.3.8.4 About the spindle control and spindle status signals

4.3.8.5 Example of observing data

5.1 BATTERY FOR THE ABSOLUTE PULSECODER

5.2 PERIODIC MAINTENANCE OF SERVO AMPLIFIER