GE β Servo Motor Maintenance Manual
GE Fanuc Automation
Computer Numerical Control Products
Series Servo Motor
ββββ
I/O Link Option
Maintenance Manual
GFZ-65245EN/02 October 1999
Warnings, Cautions, and Notes
as Used in this Publication
Warning notices are used in this publication to emphasize that hazardous voltages, currents,
temperatures, or other conditions that could cause personal injury exist in this equipment or may
be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment, a
Warning notice is used.
Caution notices are used where equipment might be damaged if care is not taken.
GFL-001
Warning
Caution
Note
Notes merely call attention to information that is especially significant to understanding and
operating the equipment.
This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein which
are not present in all hardware and software systems. GE Fanuc Automation assumes no
obligation of notice to holders of this document with respect to changes subsequently made.
GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory
with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.
©Copyright 1999 GE Fanuc Automation North America, Inc.
All Rights Reserved.
FANUC SERVO MOTOR series
FANUC SERVO MOTOR AMPLIFIER series
SAFETY PRECAUTIONS
This ”Safety Precautions” section describes the precautions which must be observed to ensure safety when using
FANUC servo motors (including spindle motors) and servo amplifiers (including spindle amplifiers). 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.
SAFETY PRECAUTIONS
Contents
DEFINITION OF WARNING, CAUTION, AND NOTE s–3. . . . . . . . . . . . . . . . . . . . . . . . . .
I. FANUC SER VO MOTOR series s–5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1. WARNING s–7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. CAUTION s–10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. NOTE s–11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II. FANUC SERVO MOTOR AMPLIFIER series s–15. . . . . . . . . . . . . . . . . . . . . . . . . . .
1. WARNINGS AND CAUTIONS RELATING TO MOUNTING s–17. . . . . . . . . . . . . . . .
2. WARNINGS AND CAUTIONS RELATING TO A PILOT RUN s–22. . . . . . . . . . . . . . .
3. WARNINGS AND CAUTIONS RELATING TO MAINTENANCE s–24. . . . . . . . . . . . .
s–1
B–65245EN/02
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 W arning 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–3
I. FANUC SERVO MOTOR series
s–5
B–65245EN/02
1
SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series)
WARNING
WARNING
F Be safely dressed when handling a motor.
W ear safety shoes or gloves when handling a motor as you may get hurt on any edge or protrusion
on it or electric shocks.
F Use a crane or lift to move a motor from one place to another.
Motors are heavy . When moving them, use a crane or lift as required. (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. When moving a motor, be careful not to apply excessive force to its windings
as the windings may break and/or their insulation may deteriorate.
F Do not touch a motor with a wet hand.
A failure to observe this caution is vary dangerous because you may get electric shocks.
F 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.
F 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.
F 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.
F 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–7
SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series)
B–65245EN/02
WARNING
F Connect power wires securely so that they will not get loose.
A failure to observe this caution may cause a wire to be disconnected, resulting in a ground fault,
short circuit, or electric shock.
F 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.
F Do not get close to a rotary section of a motor when it is rotating.
A rotating part may catch your cloths or fingers. Before starting a motor, ensure that there is no
stuff that can fly away (such as a key) on the motor.
F 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.
F 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.
F To drive a motor, use a specified amplifier and parameters.
An incorrect combination of a motor, amplifier , and parameters may cause the motor to behave
unexpectedly. This is dangerous, and the motor may get damaged.
F 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.
F 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.
F Ensure that motors and related components are mounted securely.
If a motor or its component slips out of place or comes off when the motor is running, it is very
dangerous.
s–8
B–65245EN/02
SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series)
WARNING
F Do not touch the regenerative discharge unit for a while (30 minutes or
more) after power–off.
The regenerative discharge unit may be heated due to heat dissipation during operation.
Touching the regenerative discharge unit before it is sufficiently cooled can cause a burn.
s–9
2
SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series)
B–65245EN/02
CAUTION
CAUTION
F 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.
F 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.
F 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.
F 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.
F 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.
F 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–10
B–65245EN/02
3
SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series)
NOTE
NOTE
F 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.
F 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.
F 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.
F 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.
F Do not conduct dielectric strength or insulation test for a detector.
Such a test can damage elements in the detector.
F When testing the winding or insulation resistance of a motor, satisfy the
conditions stipulated in IEC34.
T esting a motor under a condition severer than those specified in IEC34 may damage the motor .
F 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.
F Do not modify a motor.
Do not modify a motor unless directed by F ANUC. Modifying a motor may cause a failure or
trouble in it.
s–11
SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series)
B–65245EN/02
NOTE
F 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.
F 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.
F 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.
F 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.
F 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.
s–12
B–65245EN/02
SAFETY PRECAUTIONS (FANUC AC SERVO MOTOR series)
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
100 MΩ 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–13
II. F ANUC SERVO MOTOR AMPLIFIER series
s–15
B–65245EN/02
1
SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series)
W ARNINGS AND CAUTIONS RELATING TO MOUNTING
WARNING
F Check the specification code of the amplifier.
Check that the delivered amplifier is as originally ordered.
F Mount a ground fault interrupter.
T o guard against fire and electric shock, fit the factory power supply or machine with a ground
fault interrupter (designed for use with an inverter).
F 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.
F 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.
F 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.
F 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.
F Insulate all exposed parts that are charged.
F Never touch the regenerative discharge unit 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.
F Close the amplifier cover after completing the wiring.
Leaving the cover open presents a danger of electric shock.
s–17
SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series)
B–65245EN/02
WARNING
F Do not disassemble the amplifier.
F Ensure that the cables used for the power supply lines and power lines are
of the appropriate diameter and temperature ratings.
F 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–18
B–65245EN/02
SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series)
CAUTION
F Do not step or sit on the amplifier.
Also, do not stack unpacked amplifiers on top of each other.
F Use the amplifier in an appropriate environment.
See the allowable ambient temperatures and other requirements, given in the corresponding
descriptions.
F Protect the amplifier from corrosive or conductive mist or drops of water.
Use a filter if necessary.
F Protect the amplifier from impact.
Do not place anything on the amplifier.
F 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.
F 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.
F Ensure that the combination of motor and amplifier is appropriate.
F 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.
F 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.
F 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.
s–19
SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series)
B–65245EN/02
CAUTION
F 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–20
B–65245EN/02
SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series)
NOTE
F Keep the nameplate clearly visible.
F Keep the legend on the nameplate clearly visible.
F After unpacking the amplifier, carefully check for any damage.
F Mount the amplifier in a location where it can be easily accessed to allow
periodic inspection and daily maintenance.
F 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.
F 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.
F Provide adequate shielding.
A cable to be shielded must be securely connected to the ground plate, using a cable clamp or
the like.
s–21
2
SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series)
B–65245EN/02
W ARNINGS AND CAUTIONS RELATING TO A PILOT RUN
WARNING
F 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.
F Before turning on the power, ensure that the power magnetics cabinet is
securely grounded.
F 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.
F 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.
F 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.
F 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.
F 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–22
B–65245EN/02
SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series)
CAUTION
F 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.
F Before operating the motor for the first time, mount and adjust the position
and speed detectors.
Following the instructions given in the maintenance manual, adjust the position and speed
detectors for the spindle so that an appropriate waveform is obtained. If the detectors are not
properly adjusted, the motor may not rotate normally or the spindle may fail to stop as desired.
F 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.
F 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.
s–23
3
SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series)
B–65245EN/02
W ARNINGS AND CAUTIONS RELATING TO MAINTENANCE
WARNING
F 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.
F 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.
F 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.
F 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.
s–24
B–65245EN/02
SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series)
WARNING
F 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.
F Before resetting an alarm, ensure that the original cause of the alarm has
been removed.
F Contact FANUC whenever a question relating to maintenance arises.
F Notes on removing the amplifier
Before removing the amplifier, first ensure that the power is shut of f. Be careful not to jam your
fingers between the power magnetics cabinet and amplifier.
s–25
SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series)
B–65245EN/02
CAUTION
F 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.
F Tighten all screws firmly.
F 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.
F 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.
F 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) T o 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–26
B–65245EN/02
SAFETY PRECAUTIONS (FANUC SERVO MOTOR AMPLIFIER series)
NOTE
F 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.
F 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.
F 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–27
B–65245EN/02
PREFACE
PREFACE
The FANUC servo motor amplifier β series is available in two types: a
PWM interface version and an I/O link interface version. This manual
covers those points related to the maintenance of the F ANUC servo motor
amplifier β series (I/O link option) (hereinafter referred to as the servo
amplifier unit).
For an explanation of the maintenance of the PWM interface type, refer
to the ”FANUC SERVO MOT OR β series MAINTENANCE MANUAL
(B–65235EN).”
Only one type of servo amplifier unit is used:
Ordering code Remarks
A06B–6093–H*** Conforming to VDE0160, UL, and CSA
Part I describes the start–up procedure. Part II describes specification
from the host controller . Part III describes the troubleshooting procedure.
This manual may use the following abbreviation:
Abbreviation Model name
A06B–6093–H*** SVU
In addition, the following manuals are available for the FANUC servo
motor amplifier
β series (servo amplifier unit):
(1) FANUC SERVO MOTOR β series DESCRIPTIONS (B–65232EN)
(2) FANUC AC SERVO MOTOR α series DESCRIPTIONS
(B–65142E)
(3) FANUC SERVO MOTOR β series MAINTENANCE MANUAL
(B–65235EN)
WARNING
Before starting servo amplifier unit maintenance and
inspection, turn off the power, and check that the LED (red)
on the front of the servo amplifier unit, which indicates
charging in progress, is off. (See Appendix A.)
p–1
B–65245EN/02
Table of Contents
SAFETY PRECAUTIONS s–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PREFACE p–1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
I. START–UP PROCEDURE
1. OVERVIEW 3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. CONFIGURATION 4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 BASIC CONFIGURATION 5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 MAJOR COMPONENTS 6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3. START–UP PROCEDURE 7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 START–UP PROCEDURE (SUMMARY) 8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 POWER SUPPLY CONNECTION 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Checking the Power Supply Voltage and Capacity 9. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 Leakage Current and Ground Fault Interrupter 10. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 CONNECTION OF THE SEPARATE REGENERATIVE DISCHARGE UNIT 11. . . . . . . . . . . . . . . .
3.3.1 SVU–12/20 11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2 SVU–40/80 13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 PARAMETER INITIALIZATION 19. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. OPERATION CHECK METHOD 23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 CHECK PROCEDURE 24. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
II. HANDLING
1. OVERVIEW 29. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 SERVO AMPLIFIER UNIT INTERFACE 30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 FANUC I/O Link INTERFACE AREA 31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 INTERFACE 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1 Peripheral Equipment Control Interface 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.2 Direct Command Interface 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.3 Interface Switching 32. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 CAUTIONS ON USING THE POWER MATE CNC 33. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. SIGNAL DESCRIPTIONS 34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 DO/DO SIGNALS 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.1 Peripheral Equipment Control Interface 35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.2 Direct Command Interface 37. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2 SIGNALS (LISTED IN GROUPS) 39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 SIGNAL DETAILS 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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TABLE OF CONTENTS
2.3.1 Preparation Completion 41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.2 Reset and Emergency Stop 42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.3 Alarm 43. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.4 Mode Selection 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.5 Jog Feed 44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.6 Status Signals 45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.7 Feedrate 48. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.8 Interlock 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.9 Reference Position Return 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.10 Automatic Operation 50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.11 Clamp and Unclamp (for the Peripheral Equipment Control Interface Only) 52. . . . . . . . . . . . . .
2.3.12 Servo–off 53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.13 Peripheral Equipment Control Function Code and Related Information 54. . . . . . . . . . . . . . . . . .
2.3.14 Direct Command Function Code and Related Information 57. . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.15 Direct Input Signals 63. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B–65245EN/02
3. PERIPHERAL EQUIPMENT CONTROL 65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 COMMAND FORMAT FOR PERIPHERAL EQUIPMENT CONTROL 66. . . . . . . . . . . . . . . . . . . . .
3.2 PERIPHERAL EQUIPMENT CONTROL PROCEDURE 67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.1 Specifying Operation Using a Function Code 67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 Receiving Response Data 67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 FUNCTION CODES 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.1 Function Codes 68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4 DETAILS OF FUNCTION CODES 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.1 ATC/Turret Control 70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.2 Point Positioning Control 72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.3 Reference Position Return 74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.4 Reference Position Setting (when the Reference Position External
Setting Function is Used) 76. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.5 Positioning Control (Absolute/Incremental Specification) 78. . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.6 Speed Control 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.6.1 Overview 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.6.2 System configuration 80. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.6.3 Peripheral equipment control command format 81. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.6.4 Command timing chart 82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.6.5 Parameter 83. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.6.6 Signal 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.6.7 Alarm 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.6.8 Others 85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.7 Coordinate System Setting 87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.8 Rewriting of Parameters 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.8.1 Overview 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.8.2 System configuration 88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.8.3 Peripheral equipment control command format 89. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.8.4 Command timing chart 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.8.5 Alarm 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.8.6 Parameter 90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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3.5 REFERENCE POSITION RETURN FUNCTION WITH DOGS 93. . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6 UPGRADING OF THE ROTATION AXIS CONTROL FUNCTION 97. . . . . . . . . . . . . . . . . . . . . . . .
3.7 UPGRADING OF THE CLAMP/UNCLAMP CONTROL FUNCTION 99. . . . . . . . . . . . . . . . . . . . . .
3.8 UPGRADING OF THE RESPONSE DATA READ FUNCTION 100. . . . . . . . . . . . . . . . . . . . . . . . . .
TABLE OF CONTENTS
3.4.9 Control of the Point Data External Setting Function 91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.4.10 Teaching–based Data Setting Control 92. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1 Explanation of Function 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1.1 Reference position return operation (grid method) 93. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1.2 Deceleration limit switch installation condition 94. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.1.3 Tip 95. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.5.2 Parameter 96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.1 Function for Specifying the Direction of Rotation Axis High–Speed
Reference Position Return 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.1.1 Explanation of function 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.1.2 Parameter 97. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.2 Rotation Axis Rotation Direction Sign Specification Function 98. . . . . . . . . . . . . . . . . . . . . . . . .
3.6.2.1 Explanation of function 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.2.2 Example of program 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.6.2.3 Parameter 98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.1 Start of the Timer Counting Until Servo–off in Clamp Processing 99. . . . . . . . . . . . . . . . . . . . . .
3.7.1.1 Explanation of function 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.1.2 Parameter 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.2 Disabling of Clamp Processing When Jog Operation is Stopped 99. . . . . . . . . . . . . . . . . . . . . . .
3.7.2.1 Explanation of function 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.7.2.2 Parameter 99. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.1 Overview 100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.2 Details of Function 100. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.3 DI/DO Signals 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.3.1 Response data write completion signal ABSWT 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.3.2 Response data read completion signal ABSRD 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.3.3 Response data check signals DSP1, DSP2 101. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.4 Parameter 102. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.8.5 Notes 103. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4. DIRECT COMMANDS 104. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 DIRECT COMMAND FORMAT 105. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 DIRECT COMMAND CONTROL PROCEDURE 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.1 Direct Command Control Procedure 107. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.2 Instruction Command Control (EBUF, EBSY, and ECNT) 107. . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.3 Response Command Control (EOREND, EOSTB, EOPC, USR1, and ECONT) 108. . . . . . . . . .
4.2.4 Command Completion Notification (ECF) 108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.5 Alarm (DAL) 109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2.6 Direct Command Execution Result 109. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 DIRECT COMMANDS 110. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4 DETAILS OF DIRECT COMMAND FUNCTIONS 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.1 Signal Operation Commands 111. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.2 Parameters 112. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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4.4.3 Status Read 115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4.4 Axis Movement Commands 125. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5 THIRTY–TWO–BLOCK BUFFERING OPERATION 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.1 Outline 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.2 Memory Registration Procedure 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5.3 Operation Procedure 131. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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5. EXTERNAL PULSE INPUT FUNCTION 132. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 OUTLINE 133. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 DETAILED DESCRIPTION 134. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
III. TROUBLESHOOTING AND COUNTERMEASURES
1. OVERVIEW 137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. ALARM DISPLAY AND CORRESPONDING COUNTERMEASURES 138. . . . . . . . . . . . .
3. ACTION AGAINST NOISE 144. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
IV. MAINTENANCE OF SERVO AMPLIFIER UNIT
1. REPLACING BATTERY OF THE ABSOLUTE PULSE CODER 153. . . . . . . . . . . . . . . . . .
2. REPLACING FAN MOTOR 158. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 FOR SERVO AMPLIFIER UNITS OF THE 12A AND 20A TYPES 159. . . . . . . . . . . . . . . . . . . . . . .
2.2 FOR SERVO AMPLIFIER UNITS OF THE 40A AND 80A TYPES 160. . . . . . . . . . . . . . . . . . . . . . .
3. REPLACING FUSE 161. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 REPLACING THE FUSE IN THE SERVO AMPLIFIER UNITS
OF THE 12A AND 20A TYPES 162. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 REPLACING THE FUSE IN THE SERVO AMPLIFIER UNITS
OF THE 40A AND 80A TYPES 163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 SPECIFICATIONS OF THE FUSES FOR SERVO AMPLIFIER UNITS 164. . . . . . . . . . . . . . . . . . . .
V. MAINTENANCE OF SER VO MOTOR
1. MAINTENANCE OF SERVO MOTOR 167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 ACCEPTANCE INSPECTION AND SERVO MOTOR STORAGE 168. . . . . . . . . . . . . . . . . . . . . . . .
1.2 ROUTINE CHECK OF SERVO MOTOR 169. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3 PERIODIC CHECK OF SERVO MOTOR 171. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 ORDER CODES OF REPLACEMENT COMPONENTS 173. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
APPENDIXES
A. SERVO AMPLIFIER UNIT FRONT VIEW 177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B. PARAMETERS 179. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.1 CONTROLLED–AXIS PARAMETERS 181. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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B.2 COORDINATE SYSTEM AND STROKE LIMIT PARAMETERS 182. . . . . . . . . . . . . . . . . . . . . . . .
B.3 FEEDRATE PARAMETERS 185. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.4 ACCELERATION/DECELERATION CONTROL PARAMETERS 187. . . . . . . . . . . . . . . . . . . . . . . .
B.5 INPUT/OUTPUT SIGNALS PARAMETERS 189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.6 SERVO PARAMETERS 195. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
B.7 DIGITAL SERVO STANDARD PARAMETER TABLE 210. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
TABLE OF CONTENTS
C. DIAGNOSIS LISTS 213. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1 SIGNALS SENT FROM CNC (HOST) TO SERVO AMPLIFIER UNIT 214. . . . . . . . . . . . . . . . . . . .
C.1.1 Peripheral Equipment Control Interface (DRC = 0) 214. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.1.2 Direct Command Interface (DRC = 1) 215. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.2 SIGNALS SENT FROM SERVO AMPLIFIER UNIT TO CNC (HOST) 216. . . . . . . . . . . . . . . . . . . .
C.2.1 Peripheral Equipment Control Interface (DRC = 0) 216. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.2.2 Direct Command Interface (DRC = 1) 217. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
C.3 SERVO POSITIONAL DEVIATION AMOUNT (SERVO AMPLIFIER UNIT) 218. . . . . . . . . . . . . . .
C.4 ACCELERATION/DECELERATION DELAY AMOUNT (SERVO AMPLIFIER UNIT) 218. . . . . . .
D. POWER MATE CNC MANAGER FUNCTIONS 219. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.1 OVERVIEW 220. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.2 I/O LINK CONNECTION 221. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.3 FUNCTION SELECTION AND TERMINATION 222. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.3.1 Selection 222. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.3.2 Function Selection Soft Key 222. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.3.3 Termination 222. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.3.4 Disabling the Power Mate CNC Manager Functions 223. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.3.5 Parameter Setting 223. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.3.6 Restriction 223. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.4 FUNCTION OVERVIEW 224. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.4.1 Soft Key Status Transition Diagram 224. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.4.2 Screen Configuration 225. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.4.3 Operations of an Active Slave 227. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.5 FUNCTION DETAILS 228. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.5.1 System Configuration 228. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.5.2 Parameters 229. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.5.3 Diagnosis 231. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.5.4 Absolute Coordinate 231. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.5.5 Machine Coordinates 232. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.5.6 Alarms 232. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
D.6 ALARM DISPLAY ON THE POWER MATE CNC MANAGER 233. . . . . . . . . . . . . . . . . . . . . . . . . .
E. SERVO CHECK BOARD 234. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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