FANUC SERVO MOTOR αi PARAMETER MANUAL
FANUC AC SERVO MOTOR @* series
FANUC AC SERVO MOTOR #
PARAMETER MANUAL
* series
B-65270EN/05
• No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without notice.
In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be
done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in this manual should be
regarded as ”impossible”.
This manual contains the program names or device names of other companies, some of
which are registered trademarks of respective owners. However, these names are not
followed by or in the main body.
B-65270EN/05 DEFINITION OF WARNING, CAUTION, AND NOTE
DEFINITION OF WARNING, CAUTION, AND NOTE
This manual includes safety precautions for protecting the user and
preventing damage to the machine. Precautions are classified into
Warning and Caution according to their bearing on safety. Also,
supplementary information is described as a Note. Read the Warning,
Caution, and Note thoroughly before attempting to use the machine.
WARNING
Applied when there is a danger of the user being
injured or when there is a damage of both the user
being injured and the equipment being damaged if
the approved procedure is not observed.
CAUTION
Applied when there is a danger of the equipment
being damaged, if the approved procedure is not
observed.
NOTE
The Note is used to indicate supplementary
information other than Warning and Caution.
- Read this manual carefully, and store it in a safe place.
s-1
B-65270EN/05 TABLE OF CONTENTS
TABLE OF CONTENTS
DEFINITION OF WARNING, CAUTION, AND NOTE .................................s-1
1 OVERVIEW .............................................................................................1
1.1 SERVO SOFTWARE AND SERVO CARDS SUPPORTED BY EACH NC
MODEL.......................................................................................................... 2
1.2 ABBREVIATIONS OF THE NC MODELS COVERED BY THIS MANUAL .... 4
1.3 RELATED MANUALS.................................................................................... 5
2 SETTING αiS/αiF/βiS SERIES SERVO PARAMETERS ....................7
2.1 INITIALIZING SERVO PARAMETERS.......................................................... 8
2.1.1 Before Servo Parameter Initialization ......................................................................8
2.1.2 Parameter Initialization Flow ...................................................................................9
2.1.3 Servo Parameter Initialization Procedure...............................................................10
2.1.4 Setting Servo Parameters when a Separate Detector for the Serial Interface is
used ......................................................................................................................25
2.1.5 Setting Servo Parameters when an Analog Input Separate Interface Unit is used .36
2.1.6 Setting Parameters When a CZi Sensor is used......................................................38
2.1.7 Setting Parameters when the PWM Distribution Module is used ..........................42
2.1.8 Actions for Illegal Servo Parameter Setting Alarms ..............................................45
3 αiS/αiF/βiS SERIES PARAMETER ADJUSTMENT .........................56
3.1 SERVO TUNING SCREEN.......................................................................... 57
3.2 ACTIONS FOR ALARMS ............................................................................ 60
3.3 ADJUSTING PARAMETERS FOR HIGH-SPEED AND HIGH-PRECISION
MACHINING ................................................................................................ 68
3.3.1 Servo HRV Control Adjustment Procedure ...........................................................68
3.3.2 High-Speed Positioning Adjustment Procedure.....................................................91
3.3.3 Rapid Traverse Positioning Adjustment Procedure................................................94
3.3.4 Vibration in the Stop State .....................................................................................99
3.3.5 Vibration during Travel........................................................................................101
3.3.6 Stick Slip ..............................................................................................................104
3.3.7 Overshoot .............................................................................................................105
4 SERVO FUNCTION DETAILS ............................................................106
4.1 SERVO HRV CONTROL ........................................................................... 107
c-1
TABLE OF CONTENTS B-65270EN/05
4.1.1 Servo HRV2 Ccontrol ..........................................................................................110
4.2 HIGH-SPEED HRV CURRENT CONTROL............................................... 114
4.2.1 Servo HRV3 Control ............................................................................................114
4.2.2 Servo HRV4 Control ............................................................................................120
4.2.3 High-speed HRV Current Control........................................................................124
4.3 CUTTING/RAPID SWITCHING FUNCTION.............................................. 125
4.4 VIBRATION SUPPRESSION IN THE STOP STATE................................. 131
4.4.1 Velocity Loop High Cycle Management Function ..............................................131
4.4.2 Acceleration Feedback Function ..........................................................................133
4.4.3 Variable Proportional Gain Function in the Stop State ........................................135
4.4.4 N Pulses Suppression Function ............................................................................139
4.5 MACHINE RESONANCE ELIMINATION FUNCTION ...............................141
4.5.1 Torque Command Filter (Middle-Frequency Resonance Elimination Filter) ......141
4.5.2 Resonance Elimination Filter Function (High-Frequency Resonance
Elimination Filter) ................................................................................................143
4.5.3 Disturbance Elimination Filter Function (Low-Frequency Resonance
Elimination Filter) ................................................................................................149
4.5.4 Observer Function ................................................................................................153
4.5.5 Current Loop 1/2 PI Control Function .................................................................157
4.5.6 Vibration Damping Control Function ..................................................................159
4.5.7 Dual Position Feedback Function (Optional function) ........................................161
4.5.8 Machine Speed Feedback Function......................................................................166
4.6 CONTOUR ERROR SUPPRESSION FUNCTION ....................................169
4.6.1 Feed-forward Function .........................................................................................169
4.6.2 Advanced Preview Feed-forward Function..........................................................173
4.6.3 RISC Feed-forward Function ...............................................................................176
4.6.4 Cutting/Rapid Feed-forward Switching Function ................................................178
4.6.5 Feed-forward Timing Adjustment Function.........................................................180
4.6.6 Backlash Acceleration Function...........................................................................182
4.6.7 Two-stage Backlash Acceleration Function.........................................................188
4.6.8 Static Friction Compensation Function................................................................204
4.6.9 Torsion Preview Control Function .......................................................................206
4.7 OVERSHOOT COMPENSATION FUNCTION ..........................................216
4.8 HIGH-SPEED POSITIONING FUNCTION ................................................ 223
4.8.1 Position Gain Switching Function........................................................................223
4.8.2 Low-speed Integral Function................................................................................227
4.8.3 Fine Acceleration/Deceleration (FAD) Function .................................................229
c-2
B-65270EN/05 TABLE OF CONTENTS
4.9 SERIAL FEEDBACK DUMMY FUNCTIONS .............................................238
4.9.1 Serial Feedback Dummy Functions......................................................................238
4.9.2 How to Use the Dummy Feedback Functions for a Multiaxis Servo Amplifiers
When an Axis Is Not in Use.................................................................................240
4.10 BRAKE CONTROL FUNCTION................................................................. 241
4.11 QUICK STOP FUNCTION ......................................................................... 245
4.11.1 Quick Stop Type 1 at Emergency Stop ................................................................245
4.11.2 Quick Stop Type 2 at Emergency Stop ................................................................247
4.11.3 Lifting Function Against Gravity at Emergency Stop..........................................248
4.11.4 Quick Stop Function for Hardware Disconnection of Separate Detector.............253
4.11.5 Quick Stop Function at OVL and OVC Alarm ....................................................255
4.11.6 Overall Use of the Quick Stop Functions.............................................................256
4.12 UNEXPECTED DISTURBANCE TORQUE DETECTION FUNCTION
(Optional function) .....................................................................................257
4.12.1 Unexpected Disturbance Torque Detection Function ..........................................257
4.12.2 Cutting/Rapid Unexpected Disturbance Torque Detection Switching Function..268
4.13 FUNCTION FOR OBTAINING CURRENT OFFSETS AT EMERGENCY
STOP......................................................................................................... 270
4.14 LINEAR MOTOR PARAMETER SETTING................................................ 271
4.14.1 Procedure for Setting the Initial Parameters of Linear Motors ............................271
4.14.2 Detection of an Overheat Alarm by Servo Software When a Linear Motor
and a Synchronous Built-in Servo Motor are Used..............................................297
4.14.3 Smoothing Compensation for Linear Motor ........................................................300
4.15 TORQUE CONTROL FUNCTION .............................................................310
4.16 TANDEM DISTURBANCE ELIMINATION CONTROL
(POSITION TANDEM) (Optional function)................................................. 313
4.17 SYNCHRONOUS AXES AUTOMATIC COMPENSATION........................ 321
4.18 TORQUE TANDEM CONTROL FUNCTION (Optional function) ............... 325
4.18.1 Preload Function ..................................................................................................331
4.18.2 Damping Compensation Function........................................................................334
4.18.3 Velocity Feedback Average Function ..................................................................337
4.18.4 Servo Alarm 2-axis Simultaneous Monitor Function...........................................337
4.18.5 Motor Feedback Sharing Function .......................................................................338
4.18.6 Full Preload Function ...........................................................................................339
4.18.7 Position Feedback Switching Function ................................................................344
4.18.8 Adjustment ...........................................................................................................347
4.18.9 Cautions for Controlling One Axis with Two Motors..........................................351
c-3
TABLE OF CONTENTS B-65270EN/05
4.18.10 Block Diagrams....................................................................................................353
4.19 SERVO TUNING TOOL SERVO GUIDE................................................... 355
4.19.1 SERVO GUIDE ...................................................................................................355
5 DETAILS OF PARAMETERS .............................................................367
5.1 DETAILS OF THE SERVO PARAMETERS FOR Series 30i, 31i, 32i, 15i,
16i, 18i, 21i, 0i, 20i, Power Mate i (SERIES 90D0, 90E0, 90B0, 90B1,
90B6, 90B5, AND 9096) ............................................................................ 368
6 PARAMETER LIST ............................................................................. 392
6.1 PARAMETERS FOR HRV1 CONTROL .................................................... 393
6.2 PARAMETERS FOR HRV2 CONTROL .................................................... 402
6.3 PARAMETERS FOR HRV1 CONTROL (FOR Series 0i-A)....................... 414
APPENDIX
A ANALOG SERVO INTERFACE SETTING PROCEDURE.................. 419
B PARAMETERS SET WITH VALUES IN DETECTION UNITS ............ 428
B.1 PARAMETERS FOR Series 15i ................................................................ 429
B.2 PARAMETERS FOR Series 16i, 18i, AND 21i .......................................... 431
B.3 PARAMETERS FOR THE Power Mate i ................................................... 433
B.4 PARAMETERS FOR Series 30i, 31i, AND 32i .......................................... 435
C FUNCTION-SPECIFIC SERVO PARAMETERS ................................. 437
D PARAMETERS RELATED TO HIGH-SPEED AND
HIGH-PRECISION OPERATIONS ......................................................445
D.1 MODEL-SPECIFIC INFORMATION ..........................................................446
D.1.1 Series 15i-MB.......................................................................................................446
D.1.2 Series 16i/18i/21i/0i/0i Mate-MB, 0i/0i Mate-MC/20i-FB ..................................449
D.1.3 Series 30i/31i/32i-A, 31i-A5 ................................................................................459
D.2 SERVO PARAMETERS RELATED TO HIGH-SPEED AND
HIGH PRECISION OPERATIONS............................................................. 462
E VELOCITY LIMIT VALUES IN SERVO SOFTWARE .........................469
F SERVO FUNCTIONS .......................................................................... 472
G PARAMETERS FOR α AND OTHER SERIES ...................................475
G.1 MOTOR NUMBERS OF α SERIES MOTORS .......................................... 476
G.2 MOTOR NUMBERS OF β SERIES MOTORS........................................... 478
G.3 MOTOR NUMBERS OF CONVENTIONAL LINEAR MOTORS................. 479
G.4 PARAMETERS FOR SERVO HRV2 CONTROL ....................................... 480
c-4
B-65270EN/05 TABLE OF CONTENTS
G.5 HRV1 CONTROL PARAMETERS FOR α SERIES, β SERIES, AND
CONVENTIONAL LINEAR MOTORS........................................................ 481
G.6 HRV2 CONTROL PARAMETERS FOR βM SERIES MOTORS................ 490
H DETAILS OF HIGH-SPEED AND HIGH-PRECISION
ADJUSTMENT .................................................................................... 492
I SERVO CHECK BOARD OPERATING PROCEDURE ...................... 517
c-5
B-65270EN/05 1.OVERVIEW
1 OVERVIEW
This manual describes the servo parameters of the following NC
models using an FANUC AC SERVO MOTOR α
descriptions include the servo parameter start-up and adjustment
procedures. The meaning of each parameter is also explained.
i or βi series. The
- 1 -
1.OVERVIEW B-65270EN/05
1.1 SERVO SOFTWARE AND SERVO CARDS SUPPORTED
BY EACH NC MODEL
NC product name Series and edition of applicable servo software Servo card
Series 21i-MODEL B (Note1)
Series 0i-MODEL B (Note1)
Series 0i Mate-MODEL B (Note1)
Power Mate i-MODEL D (Note1)
Power Mate i-MODEL H (Note1)
Series 15i-MODEL B
Series 16i-MODEL B
Series 18i-MODEL B
Series 0i-MODEL C
Series 0i Mate-MODEL C
Series 20i-MODEL B
Series 30i-MODEL A
Series 31i-MODEL A
Series 32i-MODEL A
Series 9096/A(01) and subsequent editions
(Supporting i series CNC and SERVO HRV1 control) (Note2)
Series 90B0/H(08) and subsequent editions
Series 90B6/A(01) and subsequent editions
(Supporting i series CNC and SERVO HRV1, 2, and 3 control)
(Note3)
Series 90B1/A(01) and subsequent editions (Note3)
Series 90B5/A(01) and subsequent editions
(Supporting i series CNC and SERVO HRV1, 2, and 3 control)
(Note4)
Series 90D0/A(01) and subsequent editions
(Supporting i series CNC and SERVO HRV4 control)
(Note5, Note6)
Series 90E0/A(01) and subsequent editions
(Supporting i series CNC and SERVO HRV2 and 3 control)
(Note6)
320C52 servo card
320C5410 servo card
320C5410 servo card
Servo card for FS30i
servo HRV4 control
Servo card for FS30i
servo HRV2 and 3
control
NOTE
1 The servo software series of the Series
21i-MODEL B, 0i-MODEL B, 0i Mate MODEL B, or
Power Mate i-MODEL D/H depends on the
incorporated servo card, as shown below:
Servo software Servo card
Series 9096 320C52 servo card
Series 90B0 or Series 90B6 320C5410 servo card
- 2 -
B-65270EN/05 1.OVERVIEW
NOTE
2 The servo software Series 9096 is compatible with
the conventional servo software Series 9090
except for the following function:
- Electric gear box (EGB) function can not be used.
3 The servo software Series 90B0 is upwardly
compatible with the conventional servo software
Series 90A0. Series 90B6 is a successor of Series
90B0. Series 90B1 is a special series compatible
with Series 90B0 and is required when a PWM
distribution module or pulse input DSA is used.
4 Servo software Series 90B5, which is a successor
of Series 90B0 and supports the same functions as
Series 90B6, is used in the Series 0i-MODEL C, 0i
Mate-MODEL C, and 20i-MODEL B.
5 When servo HRV4 control is used in the Series
30i-MODEL A and 31i-MODEL A, the servo
software series to be used is changed.
6 Servo software Series 90D0 and 90E0 is upwardly
compatible with conventional servo software Series
90B0 except the following functions:
- Fine Acc./Dec. (FAD) function can not be used.
- HRV1 control can not be used.
- 3 -
1.OVERVIEW B-65270EN/05
1.2 ABBREVIATIONS OF THE NC MODELS COVERED BY
THIS MANUAL
In this manual, the NC product names are abbreviated as follows.
NC product name Abbreviations
FANUC Series 30i-MODEL A Series 30i-A Series 30i
FANUC Series 31i-MODEL A Series 31i-A Series 31i
FANUC Series 32i-MODEL A Series 32i-A Series 32i
FANUC Series 15i-MODEL B Series 15i-B Series 15i
FANUC Series 16i-MODEL B Series 16i-B Series 16i
FANUC Series 18i-MODEL B Series 18i-B Series 18i
FANUC Series 20i-MODEL B Series 20i-B
FANUC Series 21i-MODEL B Series 21i-B Series 21i
FANUC Series 0i-MODEL C Series 0i-C
FANUC Series 0i Mate-MODEL C Series 0i Mate-C
FANUC Series 0i-MODEL B Series 0i-B
FANUC Series 0i Mate-MODEL B Series 0i Mate-B
FANUC Power Mate i-MODEL D
FANUC Power Mate i-MODEL H
Power Mate i-D
PMi-D
Power Mate i-H
PMi-H
Series 20i
FS20i
Series 0i
FS0i
Power Mate i
Power Mate i-D,-H
NOTE
In this manual, Power Mate i refers to the Power
Mate i-D, and Power Mate i-H.
(Note 1)
Series 30i
FS30i
Series 15i
FS15i
Series 16i and so on
Series 16i etc.
FS16i and so on
FS16i etc.
- 4 -
B-65270EN/05 1.OVERVIEW
1.3 RELATED MANUALS
The following seven kinds of manuals are available for FANUC AC
Table 1.3 Related manuals of SERVO MOTOR αi/βi series
Document name
FANUC AC SERVO MOTOR αis series
FANUC AC SERVO MOTOR αi series
DESCRIPTIONS
FANUC AC SERVO MOTOR βis series
DESCRIPTIONS
FANUC LINEAR MOTOR series
DESCRIPTIONS
FANUC SERVO AMPLIFIER αi series
DESCRIPTIONS
FANUC SERVO AMPLIFIER βi series
DESCRIPTIONS
FANUC AC SERVO MOTOR αis series
FANUC AC SERVO MOTOR αi series
FANUC AC SPINDLE MOTOR αi series
FANUC SERVO AMPLIFIER αi series
MAINTENANCE MANUAL
FANUC AC SERVO MOTOR βis series
FANUC AC SPINDLE MOTOR βi series
FANUC SERVO AMPLIFIER βi series
MAINTENANCE MANUAL
FANUC AC SERVO MOTOR αi series
FANUC AC SERVO MOTOR β
PARAMETER MANUAL
FANUC AC SPINDLE MOTOR αi series
FANUC AC SPINDLE MOTOR βi series
PARAMETER MANUAL
i series
SERVO MOTOR α
In the table, this manual is marked with an asterisk (*).
Document
number
B-65262EN
B-65302EN
B-65222EN
B-65282EN
B-65322EN
B-65285EN
B-65325EN
B-65270EN *
B-65280EN
i or βi series.
Major contents Major usage
• Specification
• Characteristics
• External dimensions
• Connections
• Specifications and functions
• Installation
• External dimensions and
maintenance area
• Connections
• Start up procedure
• Troubleshooting
• Maintenance of motor
• Initial setting
• Setting parameters
• Description of parameters
• Selection of motor
• Connection of motor
• Selection of amplifier
• Connection of
amplifier
• Start up the system
(Hardware)
• Troubleshooting
• Maintenance of
motor
• Start up the system
(Software)
• Turning the system
(Parameters)
- 5 -
1.OVERVIEW B-65270EN/05
Other manufactures’ products referred to in this manual
* IBM is registered trademark of International Business Machines
Corporation.
* MS-DOS and Windows are registered trademarks of Microsoft
Corporation.
All other product names identified throughout this manual are
trademarks or registered trademarks of their respective companies.
In this manual, the servo parameters are explained using the following
notation:
(Example)
Series 15i Servo parameter function name
No.1875(FS15i)
No.2021(FS30i, 16i)
Series 30i, 31i, 32i, 16i, 18i, 21i, 0i, Power Mate i
The following α
i/βi Pulsecoders are available.
Pulsecoder name Resolution Type
αiA1000
αiI1000
αiA16000
βiA128
βiA64
1,000,000 pulse/rev Absolute
1,000,000 pulse/rev Incremental
16,000,000 pulse/rev Absolute
131,072 pulse/rev Absolute
65,536 pulse/rev Absolute
When parameters are set, these pulse coders are all assumed to have a
resolution of 1,000,000 pulses per motor revolution.
NOTE
Load inertia ratio
The effect of α
iA16000 can be increased when
used together with AI nano contour control.
- 6 -
B-65270EN/05 2. SETTING αiS/αiF/βiS SERIES SERVO PARAMETERS
2 SETTING αiS/αiF/βiS SERIES SERVO
PARAMETERS
- 7 -
2. SETTING αiS/αiF/βiS SERIES SERVO PARAMETERS B-65270EN/05
2.1 INITIALIZING SERVO PARAMETERS
2.1.1 Before Servo Parameter Initialization
Before starting servo parameter initialization, confirm the following:
<1> NC model (ex.: Series 16i-B)
<2> Servo motor model (ex.: α
<3> Pulsecoder built in a motor (ex.:
<4> Is the separate position detector used? (ex.: Not used)
<5> Distance the machine tool moves per revolution of the motor
(ex.:10 mm per one revolution)
<6> Machine detection unit (ex.:0.001 mm)
<7> NC command unit (ex.:0.001 mm)
iF8/3000)
αiA1000)
- 8 -
B-65270EN/05 2. SETTING αiS/αiF/βiS SERIES SERVO PARAMETERS
A
)
2.1.2 Parameter Initialization Flow
On the servo setting and servo adjustment screens, set the following:
In emergency stop state, switch on NC.
Initialization bits
Motor No.
MR
CMR
Move direction
Reference counter
Velocity gain
Make settings for using separate detector.
No. 1807#3 = 1, 1815#1 = 1 (Series 15i)
No. 1815#1 = 1 (Series 30i, Series 16i and so on)
Set flexible feed gear.
Number of velocity pulses
8192
00000000 See (2) and (8)-(b)-3 in Subsec. 2.1.3.
See (3) in Subsec. 2.1.3.
See (4) in Subsec. 2.1.3.
See (5) in Subsec. 2.1.3.
See (7) in Subsec. 2.1.3.
See (9) in Subsec. 2.1.3.
Set 150% if the machine inertia is unknown.
(Equivalent to load inertia ratio parameter)
Semi-closed loop Closed loop
Which system is being used?
← See (6) in Subsec. 2.1.3. →
Number of velocity pulses
Set flexible feed gear.
8192
Number of position pulses
Ns (Note 1
Number of position pulses
Turn power off then on.
End of parameter setting
12500
NOTE
1 When a separate detector of A/B phase parallel type and a serial linear scale are
used, Ns indicates the number of feedback pulses per motor revolution, sent from
the separate detector.
When a serial rotary scale is used, the number of pulses is calculated using
following expression: 12500 × (gear reduction ratio between the motor and table)
See (8)-(b)-2 in Subsec. 2.1.3.
- 9 -
2. SETTING αiS/αiF/βiS SERIES SERVO PARAMETERS B-65270EN/05
2.1.3 Servo Parameter Initialization Procedure
(1) Preparation
Switch on the NC in an emergency stop state.
Enable parameter writing (PWE = 1).
Initialize servo parameters on the servo setting screen.
For a Power Mate i with no CRT, specify a value for an item number
on the servo setting screen. See Fig. 2.1.3.
To display the servo setting screen, follow the procedure below, using
the key on the NC.
- Series 15i
Press the
SYSTEM
key several times, and the servo setting screen will
appear.
- Series30i,31i,32i,16i,18i,21i,20i,0i
→ [SYSTEM] → [ ] → [SV-PRM]
If no servo screen appears, set the following parameter as shown, and
switch the NC off and on again.
#7 #6 #5 #4 #3 #2 #1 #0
3111 SVS
SVS (#0) 1: Displays the servo screen.
When the following screen appears, move the cursor to the item you
want to specify, and enter the value directly.
Power Mate
No.2000
No.2020
No.2001
No.1820
No.2084
No.2085
No.2022
No.2023
No.2024
No.1821
X axis
16
2
1
100
111
8192
12500
10000
01000 N0000
Z axis
00001010
16
00000000
2
1
100
111
8192
12500
10000
Servo set
INITIAL SET BITS
Motor ID No.
AMR
CMR
Feed gear N
(N/M) M
Direction Set
Velocity Pulse No.
Position Pulse No.
Ref. counter
Fig. 2.1.3 Servo setting screen Correspondence of Power Mate i
00001010
00000000
- 10 -
B-65270EN/05 2. SETTING αiS/αiF/βiS SERIES SERVO PARAMETERS
(2) Initialization
Start initialization.
Do not power off the NC until step (11).
#7 #6 #5 #4 #3 #2 #1 #0
INITIAL SET BIT PRMC DGPR PLC0
( Note)
Reset initialization bit 1 to 0.
DGPR(#1)=0
After initialization is completed, DGPR (#1) is set to 1.
NOTE
Once initialization has been completed, bit 3
(PRMC) for initialization automatically set to 1.
(Except Series 30i)
(3) Motor ID No. setting
Specify the motor ID number.
Select the motor ID number of a motor to be used according to the
motor model and motor specification (the middle four digits in
A06B-****
When using servo HRV3 or HRV4 control, perform loading by using
the motor ID number for servo HRV2 control. Loading is possible
with the series and editions listed in the table and later editions.
The mark "x" indicates a value that varies depending on the options
used.
The mark "-" indicates that automatic loading of standard parameters
is not supported as of February, 2005.
NOTE
• Series 30i
Specify the motor ID number for servo HRV2 control.
• Other than the Series 30i
When a pair of the values set in parameter No. 1023 (servo axis number) are
consecutive odd and even numbers, set motor ID numbers for servo HRV control of
the same type.
(Correct examples)
Servo axes when parameter No.1023= 1,2: Motor ID number for servo HRV2 control
Servo axes when parameter No.1023= 3,4: Motor ID number for servo HRV1 control
(Wrong examples)
Servo axes when parameter No.1023= 1: Motor ID number for servo HRV2 control
Servo axes when parameter No.1023= 2,3: Motor ID number for servo HRV1 control
-B***) listed in the following tables.
- 11 -
2. SETTING αiS/αiF/βiS SERIES SERVO PARAMETERS B-65270EN/05
αiS series servo motor
Motor model
αiS2/
5000
αiS
2/6000
αiS4
/5000
αiS
8/4000
αiS
8/6000
αiS
12/4000
αiS
22/4000
αiS
30/4000
αiS
40/4000
αiS5
0/3000
αiS
50/3000 FAN
αiS
100/2500
αiS
200/2500
αiS
300/2000
αiS
500/2000
Motor
specification
0212 162 262 A H A A A
0218 - 284 G - B B -
0215 165 265 A H A A A
0235 185 285 A H A A A
0232 - 290 G - B B -
0238 188 288 A H A A A
0265 215 315 A H A A A
0268 218 318 A H A A A
0272 222 322 A H A A A
0274 224 324 B V A A F
0275-Bx1x 225 325 A N A A D
0285 235 335 A T A A F
0288 238 338 A T A A F
0292 - 342 B V A A -
0295 245 345 A T A A F
Motor ID No.
HRV1 HRV2
90D0
90E0
90B0
90B5
90B6
90B1 9096
Motor model
αiF1/5000
αiF2/5000
αiF4/4000
αiF8/3000
αiF12/3000
αiF22/3000
αiF30/3000
αiF40/3000
αiF40/3000
FAN
αiF series servo motor
Motor
specification
0202 152 252 A H A A A
0205 155 255 A H A A A
0223 173 273 A H A A A
0227 177 277 A H A A A
0243 193 293 A H A A A
0247 197 297 A H A A A
0253 203 303 A H A A A
0257 207 307 A H A A A
0258-Bx1x 208 308 A I A A C
Motor ID No.
HRV1 HRV2
90D0
90E0
90B0
90B5
90B6
90B1 9096
- 12 -
B-65270EN/05 2. SETTING αiS/αiF/βiS SERIES SERVO PARAMETERS
αiS(HV) series servo motor
Motor model
αiS2/
5000HV
αiS
2/6000HV
αiS
4/5000HV
αiS
8/4000HV
αiS
8/6000HV
αiS
12/4000HV
αiS
22/4000HV
αiS
30/4000HV
αiS
40/4000HV
αiS
50/3000HV FAN
αiS
50/3000HV
αiS
100/2500HV
αiS
200/2500HV
αiS
300/2000HV
αiS
500/2000HV
αiS
1000/2000HV
αiS
2000/2000HV
Motor
specification
0213 163 263 A Q A A D
0219 - 287 G - B B -
0216 166 266 A Q A A D
0236 186 286 A N A A D
0233 - 292 G - B B -
0239 189 289 A N A A D
0266 216 316 A N A A D
0269 219 319 A N A A D
0273 223 323 A N A A D
0276-Bx1x 226 326 A N A A D
0277 227 327 B V A A F
0286 236 336 B V A A F
0289 239 339 B V A A F
0293 243 343 B V A A F
0296 246 346 B V A A F
0298 248 348 B V A A F
0091 - 340 - - - B -
Motor ID No.
HRV1 HRV2
90D0
90E0
90B0
90B5
90B6
90B1 9096
Motor model
αiF
4/4000HV
αiF
8/3000HV
αiF
12/3000HV
αiF
22/3000HV
Motor model
αC4/3000i
αC8/2000i
αC12/2000i
αC22/2000i
αC30/1500i
αiF(HV) series servo motor
Motor
specification
0225 175 275 A Q A A E
0229 179 279 A Q A A E
0245 195 295 A Q A A E
0249 199 299 A Q A A E
Motor ID No.
HRV1 HRV2
90D0
90E0
90B0
90B5
90B6
90B1 9096
αCi series servo motor
Motor
specification
0221 171 271 A H A A A
0226 176 276 A H A A A
0241 191 291 A H A A A
0246 196 296 A H A A A
0251 201 301 A H A A A
Motor ID No.
HRV1 HRV2
90D0
90E0
90B0
90B5
90B6
90B1 9096
- 13 -
2. SETTING αiS/αiF/βiS SERIES SERVO PARAMETERS B-65270EN/05
A
A
βiS series servo motor
Motor model
βiS0.2/
5000
βiS0.3/
5000
βiS0.4/
5000
βiS0.5/
5000
βiS0.5/
6000
βiS1/
5000
βiS1/
6000
βiS2/
4000
βiS4/
4000
βiS8/
3000
βiS12/
3000
βiS22/
2000
Motor
specification
0111 4A - 260 A N A A
0112 4A - 261 A N A A
0114 20A - 280 A N A A
0115 20A 181 281 A N A A D
0115 20A 181 281 G - B B -
0116 20A 182 282 A N A A D
0116 20A 182 282 G - B B -
0061
0063
0075
0078 40A 172 272 B V A A F
0085 40A 174 274 B V A A F
mplifier
driving
20A 153 253 B V A A F
40A 154 254 B V A A F
20A 156 256 B V A A F
40A 157 257 B V A A F
20A 158 258 B V A A F
40A 159 259 B V A A F
Motor ID No.
HRV1 HRV2
90D0
90E0
90B0
90B5
90B6
90B1 9096
＊
＊
＊
Motor model
βiS2/
4000HV
βiS4/4
000HV
βiS8/3000HV
βiS12/
3000HV
βiS22/
2000HV
With the βiS0.2/5000, βiS0.3/5000, and βiS0.4/5000, HRV1 control
cannot be used. Therefore, it cannot be used with Series 9096.
βiS(HV) series servo motor
Motor
specification
0062 10A 151 251 - - B - -
0064 10A 164 264 - - B - -
0076 10A 167 267 - - B - -
0079 20A 170 270 - - B - -
0086 20A 178 278 - - B - -
mplifier
driving
Motor ID No.
HRV1 HRV2
90D0
90E0
90B0
90B5
90B6
90B1 9096
The mark "-" indicates that automatic loading of standard parameters
is not supported as of February, 2005.
- 14 -
B-65270EN/05 2. SETTING αiS/αiF/βiS SERIES SERVO PARAMETERS
Linear motor
Linear motor parameters for servo HRV2 control
Note: The following linear motors are driven by 200V.
Motor model
LiS300A1/4
LiS600A1/4
LiS900A1/4
LiS1500B1/4
LiS3000B2/2
LiS3000B2/4
LiS4500B2/2
LiS6000B2/2
LiS6000B2/4
LiS7500B2/2
LiS7500B2/4
LiS9000B2/2
LiS9000B2/4
LiS3300C1/2
LiS9000C2/2
LiS11000C2/2
LiS15000C2/2
LiS15000C2/3
LiS10000C3/2
LiS17000C3/2
Motor
specification
0441-B200 351 G - B B 0442-B200 353 G - B B 0443-B200 355 G - B B 0444-B210 357 G - B B 0445-B110 360 G - B B 0445-B210 362 G - B B 0446-B110 364 G - B B 0447-B110 368 G - B B 0447-B210 370 G - B B 0448-B110 372 G - B B 0448-B210 374 G B B 0449-B110 376 G - B B 0449-B210 378 G - B B
0451-B110 380 G - B B 0454-B110 384 G - B B 0455-B110 388 G - B B 0456-B110 392 G - B B 0456-B210 394 G - B B 0457-B110 396 G - B B 0459-B110 400 G - B B -
Motor ID No.
90D0
90E0
90B0
90B5
90B6
90B1 9096
Note: The following linear motors are driven by 400V.
Motor model
LiS1500B1/4
LiS3000B2/2
LiS4500B2/2HV
LiS4500B2/2
LiS6000B2/2HV
LiS6000B2/2
LiS7500B2/2HV
LiS7500B2/2
LiS9000B2/2
LiS3300C1/2
LiS9000C2/2
LiS11000C2/2HV
LiS11000C2/2
LiS15000C2/3HV
LiS10000C3/2
LiS17000C3/2
Motor
specification
0444-B210 358 G - B B 0445-B110 361 G - B B 0446-B010 363 G - B B 0446-B110 365 G - B B 0447-B010 367 G - B B 0447-B110 369 G - B B 0448-B010 371 G - B B 0448-B110 373 G - B B 0449-B110 377 G - B B 0451-B110 381 G - B B 0454-B110 385 G B B
0455-B010 387 G - B B 0455-B110 389 G - B B 0456-B010 391 G - B B 0457-B110 397 G - B B 0459-B110 401 G - B B -
Motor ID No.
90D0
90E0
90B0
90B5
90B6
90B1 9096
- 15 -
2. SETTING αiS/αiF/βiS SERIES SERVO PARAMETERS B-65270EN/05
Linear motor parameters for servo HRV1 control
Motor model
LiS1500B1/4
LiS3000B2/2
LiS6000B2/2
LiS9000B2/2
LiS1500C2/2
LiS3000B2/4
LiS6000B2/4
LiS9000B2/4
LiS15000C2/3
LiS300A1/4
LiS600A1/4
LiS900A1/4
LiS6000B2/4
LiS9000B2/2
LiS9000B2/4
LiS15000C2/2
Motor
specification
0444-B210 90 A A A A A
0445-B110 91 A A A A A
0447-B110 92 A A A A A
0449-B110 93 A A A A A
0456-B110 94 A A A A A
0445-B210 120 A A A A A
0447-B210 121 A A A A A
0449-B210 122 A A A A A
0456-B210 123 A A A A A
0441-B200 124 A A A A A
0442-B200 125 A A A A A
0443-B200 126 A A A A A
0412-B811
0413
0413-B811
0414
Motor ID No.
127
(160-A driving)
128
(160-A driving)
129
(360-A driving)
130
(360-A driving)
90D0
90B0
90E0
A R A A D
A N A A D
A Q A A D
A Q A A D
90B5
90B6
90B1 9096
(Reference)
The parameter table presented in Chapter 6 has two motor ID Nos. for
the same linear motor. One of the two is for driving the α series servo
amplifiers (130A and 240A). Be careful not to use the wrong ID No.
αi servo amplifier driving
Amplifier
maximum
current [A]
Motor ID No.
Motor model
LiS6000B2/4
LiS9000B2/2
LiS9000B2/4
LiS15000C2/2
α servo amplifier driving
Amplifier
maximum
current [A]
240 121 160 127
130 93 160 128
240 122 360 129
240 94 360 130
Motor ID No.
(4) AMR setting
For AMR, set 00000000. When using a linear motor, set AMR
according to the description in Section 4.14, "LINEAR MOTOR
PARAMETER SETTING".
αiS/αiF/βiS motor
00000000
- 16 -
B-65270EN/05 2. SETTING αiS/αiF/βiS SERIES SERVO PARAMETERS
(5) CMR setting
Set CMR, Command Multiply Ratio, it converts the axis movement
command into pulses-
with the scale of a distance the NC instructs the machine to move.
CMR = Command unit / Detection unit
CMR 1/2 to 48 Setting value = CMR × 2
Usually, set CMR with 2, because command unit = detection unit
(CMR = 1).
(6) Flexible feed gear setting
Specify the flexible feed gear (F⋅FG). This function makes it easy to
specify a detection unit for the leads and gear reduction ratios of
various ball screws by changing the number of position feedback
pulses from the Pulsecoder or separate detector. It converts the
incoming number of pulses from the position detector so that it
matches the commanded number of pulses.
(a) Semi-closed feedback loop
Setting for the αi Pulsecoder
(Note 1) Necessary position feedback pulses
F⋅FG numerator (≤ 32767) per motor revolution
= (as irreducible fraction)
F⋅FG denominator (≤ 32767) 1,000,000 (Note 2)
NOTE
1 For both F⋅FG numerator and denominator, the maximum setting
value (after reduced) is 32767.
2 αi Pulsecoders assume one million pulses per motor revolution,
irrespective of resolution, for the flexible feed gear setting.
3 If the calculation of the number of pulses required per motor
revolution involves π, such as when a rack and pinion are used,
assume π to be approximately 355/113.
Example of setting
If the ball screw used in direct coupling has a lead of 5 mm/rev and
the detection unit is 1 µm
The number of pulses generated per motor turn (5 mm) is:
5/0.001 = 5000 (pulses)
Because the αi Pulsecoder feeds back 1000000 pulses per motor turn:
FFG = 5000 / 1000000 = 1 / 200
Other FFG (numerator/denominator) setting examples, where the gear
reduction ratio is assumed to be 1:1
Ball screw lead Detection
unit
1µm 6 / 1000 8 / 1000 10 / 1000 12 / 1000 16 / 1000 20 / 1000
0.5µm 12 / 1000 16 / 1000 20 / 1000 24 / 1000 32 / 1000 40 / 1000
0.1µm 60 / 1000 80 / 1000 100 / 1000 120 / 1000 160 / 1000 200 / 1000
6mm 8mm 10mm 12mm 16mm 20mm
- 17 -
2. SETTING αiS/αiF/βiS SERIES SERVO PARAMETERS B-65270EN/05
r
N
Example of setting
If the gear reduction ratio between the rotation axis motor and table is
10:1 and the detection unit is 1/1000 degrees
The table rotates through 360/10 degrees when the motor makes one
turn.
The number of position pulses necessary for the motor to make one
turn is:
360/10 ÷ (1/1000) = 36000 pulses
F⋅FG numerato
36,000 36
= =
F⋅FG denominator 1,000,000 1,000
If the gear reduction ratio between the rotation axis motor and table is
300:1 and the detection unit is 1/10000 degrees
The table rotates through 360/300 degrees when the motor makes one
turn.
The number of position pulses necessary for the motor to make one
turn is:
360/300 ÷ (1/1000) = 12000 pulses
F⋅FG numerator 12,000 12
= =
F⋅FG denominator 1,000,000 1000
(b) Full-closed feedback loop
Setting for use of a separate detector (full-closed)
Number of position pulses corresponding
F⋅FG numerator (≤ 32767) to a predetermined amount of travel
= (as irreducible fraction)
F⋅FG denominator (≤ 32767) Number of position pulses corresponding
to a predetermined amount of travel from
a separate detector
Example of setting
To detect a distance of 1-µm using a 0.5-µm scale, set the following:
(L represents a constant distance.)
umerator of F⋅FG L/1 1
= =
Denominator of F⋅FG L/0.5 2
Other FFG (numerator/denominator) setting examples
Detection unit
1µm 1 / 1 1 / 2 1 / 10 1 / 20
0.5µm - 1 / 1 1 / 5 1 / 10
0.1µm - - 1 / 1 1 / 2
1 µm 0.5 µm 0.1 µm 0.05 µm
Scale resolution
- 18 -
B-65270EN/05 2. SETTING αiS/αiF/βiS SERIES SERVO PARAMETERS
(7) Motor rotation direction setting
Set the direction in which the motor is to turn when a positive value is
specified as a move command. For linear motors, set the parameter
according to the description in Section 4.14, "LINEAR MOTOR
PARAMETER SETTING".
111 Clockwise as viewed from the Pulsecoder
−111 Counterclockwise as viewed from the Pulsecoder
Counterclockwise as
viewed from the
Pulsecoder
Set -111.
FANUC
Clockwise as viewed from
the Pulsecoder
Set 111.
(8) Specify the number of velocity pulses and the number of position pulses.
Set the number of velocity pulses and the number of position pulses
according to the connected detector. For linear motors, set these
parameters according to the description in Section 4.14, "LINEAR
MOTOR PARAMETER SETTING".
(a) Number of velocity pulses
Set the number of velocity pulses to 8192.
αiS/αiF/βiS motor
(b) Number of position pulses
(b)-1 Number of position pulses for semi-closed feedback loop
Set the number of position pulses to 12500.
Number of position pulses
(αiS/αiF/βiS motor, semi-closed feedback loop)
(b)-2 Number of position pulses for full-closed feedback loop
(See Subsections 2.1.4 and 2.1.5)
Set the number of position pulses to the number of pulses fed back
from the separate detector when the motor makes one turn. (The
flexible feed gear has nothing to do with the calculation of the number
of position pulses).
Number of position pulses (full-closed
feedback loop)
When using a serial rotary scale with a resolution of 1,000,000 pulses
per revolution, set a value assuming that 12500 is equivalent to
1,000,000 pulses.
Number of position pulses (full-closed
feedback loop)
* 1,000,000 pulses / rev
8192
12500
Number of pulses fed back from the
separate detector when the motor
makes one turn
12,500 ×
(motor-table gear reduction ratio)
- 19 -
2. SETTING αiS/αiF/βiS SERIES SERVO PARAMETERS B-65270EN/05
Example 1:
Parallel type, serial linear scale
If the ball screw used in direct coupling has a lead of 10 mm and
the separate detector used has a resolution of 0.5 µm per pulse
Number of position pulses = 10 / 0.0005 = 20,000
Example 2:
Serial rotary scale
If the motor-table gear reduction ratio is 10:1,
Number of position pulses = 12,500 × (1/10) = 1250
(b)-3 If the setting for the number of position pulses is larger than 32767
Conventionally, initialization bit 0 (high resolution bit) must be
i series CNC,
2628 (FS15i)
2185 (FS30i,16i)
changed according to the command unit. For the current
however, there is no mutual dependence between the command unit
and initialization bit 0.
Of course, the conventional setting method is applicable, but using the
conversion coefficient for the number of position feedback pulses
makes the setting easier.
Conversion coefficient for the number of position feedback pulses
Series 90E0, Series 90D0, Series 90B0, Series 90B5, Series 90B6,
Series 90B1 :
Set the number of position pulses with a product of two
parameters, using the conversion coefficient for the number of
position feedback pulses.
Number of feedback pulses per motor revolution, sent from the
separate detector
＝ Number of position pulses × Conversion coefficient for the
number of position feedback pulses
Series 9096 :
No conversion coefficient for the number of position feedback
pulses can be used. As usual, set the initialization bit 0 to 1, and
set the number of velocity pulses and the number of position
pulses to 1/10 the respective values stated earlier.
Number of feedback pulses per motor revolution, sent from the
separate detector
= Number of position pulses × 10
→ See Supplementary 3 of Subsection 2.1.8.
- 20 -
Loading...