DEFINITION OF WARNING, CAUTION, AND NOTE

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2 B 6515E/3 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

3 B 6515E/3 Table of Contents DEFINITION OF WARNING, CAUTION, AND NOTE s 1 1. OVERVIEW SETTING α SERIES SERVO PARAMETERS INITIALIZING SERVO PARAMETERS Before Servo Parameter Initialization Servo Parameter Initialization Procedure Initialization Flow of Parameters Actions for Invalid Servo Parameter Setting Alarms α SERIES PARAMETER ADJUSTMENT SERVO ADJUSTMENT SCREEN VIBRATION DURING STOP VIBRATION DURING TRAVEL VIBRATION DURING TRAVEL (FULL CLOSED SYSTEM) CUMULATIVE FEED OVERSHOOT A QUADRANT PROTRUSION OCCURS SHORTENING THE CYCLE TIME FOR HIGH SPEED POSITION SERVO FUNCTION DETAILS SERVO FUNCTIONS LIST VIBRATION SUPPRESSION AT STOP N Pulse Suppression Function Function for Changing the Proportional Gain in the Stop State High speed Velocity Loop Proportional Processing Function MACHINE RESONANCE SUPPRESSION FUNCTION µsec Acceleration Feedback Function Machine Speed Feedback Function Observer Function Torque Command Filter Dual Position Feedback Function Vibration damping Control Function Notch Filter OVERSHOOT COMPENSATION SHAPE ERROR SUPPRESSION FUNCTION Feed forward Function Advanced Preview Feed forward Function RISC Feed Forward Function (Type 2) Backlash Acceleration Function New Backlash Acceleration Function Two stage Backlash Acceleration Function Static Friction Compensation Function DUMMY SERIAL FEEDBACK FUNCTION c 1

4 TABLE OF CONTENTS B 6515E/3 4.7 STOP DISTANCE REDUCTION FUNCTION BRAKE CONTROL FUNCTION HIGH SPEED POSITIONING FUNCTION Position Gain Switch Function Low speed Integration Function Fine Acceleration/Deceleration (FAD) Function ABNORMAL LOAD DETECTION FUNCTION Abnormal Load Detection Performed Separately for Cutting and Rapid Traverse USE OF THE SERVO CHECK BOARD LINEAR MOTOR PARAMETER SETTING Procedure for Setting the Initial Parameters of Linear Motors Linear Motor Thrust Ripple Correction Linear Motor Torque Ripple Correction USING THE SERVO SOFTWARE FOR ULTRAHIGH PRECISION MACHINING TORQUE CONTROL FUNCTION FUNCTION FOR OBTAINING CURRENT OFFSETS AT EMERGENCY STOP ACTUAL CURRENT DISPLAY PEAK HOLD FUNCTION HRV CONTROL CURRENT LOOP 125µSEC FUNCTION AUTOMATIC SERVO ADJUSTMENT FUNCTION TANDEM CONTROL FUNCTION Preload Function Damping Compensation Function Velocity Feedback Averaging Function Servo Alarm 2 axis Monitor Function Full Preload Function Position Feedback Switching Function Velocity Command Tandem Control Motor Feedback Sharing Function Adjustment Notes on Tandem Control Block Diagrams DIFFERENCES BETWEEN THE PARAMETERS FOR THE FANUC Series 15 A AND 15 B DETAILS OF PARAMETERS DETAILS OF Series C AND 15 A SERVO PARAMETERS (941, 946 SERIES) DETAILS OF THE SERVO PARAMETERS FOR Series 15 B, 16, 18, 2, 21, Power Mate, Power Mate E (SERIES 96, 964, 965, 966, 97, 98, AND 981) PARAMETER LIST FOR SERIES C, 15 A FOR Series 15 B, 16, 18, 2, 21, Power Mate AND Power Mate E PARAMETERS FOR HRV CONTROL c 2

5 B 6515E/3 NO TAG. OVERVIEW 1 OVERVIEW Servo software and modules supported by each NC model This manual describes the servo parameters of the following NC models using an servo system. The descriptions include the servo parameter start up and adjustment procedures. The meaning of each parameter is also explained. NC product name Series and edition of applicable servo software Module FANUC Series MODEL C FANUC Series 15 MODEL A FANUC Series 15 MODEL B (Note 2) FANUC Series 16 MODEL A FANUC Series 18 MODEL A FANUC Series 2 MODEL A FANUC Series 21 MODEL A FANUC Series 21 MODEL B FANUC Power Mate MODEL D FANUC Power Mate MODEL F FANUC Power Mate MODEL H FANUC Power Mate MODEL I FANUC Series 15 MODEL B (Note 2) FANUC Series 16 MODEL B FANUC Series 18 MODEL B FANUC Series 16 MODEL C FANUC Series 18 MODEL C FANUC Series 15 MODEL B (Note 2) FANUC Series 16 MODEL C FANUC Series 18 MODEL C FANUC Power Mate MODEL E Series 946/1A and subsequent editions (Supporting standard and high speed positioning) Series 941/1A and subsequent editions (Supporting dual position feedback) Series 96/1J and subsequent editions Series 96/1J and subsequent editions (Supporting standard and high speed positioning) Series 966/1F and subsequent editions (Supporting FAD & HRV control) (Note 1) Series 97/1A and subsequent editions Series 98/1E and subsequent editions (Supporting FAD & HRV control and linear motor) Series 981/1A and subsequent editions (Supporting ultrahigh precision machining) Series 964/1E and subsequent editions (Standard) Series 965/1A and subsequent editions (Supporting HRV control) Serial axis board 32C25 module 32C25 module 32C51 module 32C52 module 32C25 module NOTE 1 For the Series 21, Power Mate D, and Power Mate F, the NC software and servo software are integrated. The NC software of the following series and editions includes servo software supporting the α servo motor. Series 21 Power Mate D Power Mate F Series 8866/1B and subsequent editions Series 8831/1A and subsequent editions Series 8836/1A and subsequent editions Series 887/1A and subsequent editions 1

6 NO TAG. OVERVIEW B 6515E/3 NOTE 2 The servo software series of the Series 15 B depends on the incorporated servo module, as shown below: Servo software CNC CPU Servo module Series C25 module Series C51 module Series 98 Series C52 module Explanations The models covered by this manual, and their abbreviations are : NC product name Abbreviations FANUC Series MODEL C Series C Series FANUC Series 15 MODEL A Series 15 A FANUC Series 15 MODEL B Series 15 B Series 15 FANUC Series 16 MODEL A Series 16 A FANUC Series 16 MODEL B Series 16 B Series 16 FANUC Series 16 MODEL C Series 16 C FANUC Series 18 MODEL A Series 18 A FANUC Series 18 MODEL B Series 18 B Series 18 FANUC Series 18 MODEL C Series 18 C FANUC Series 2 MODEL A Series 2 A Series 2 FANUC Series 21 MODEL A Series 21 A FANUC Series 21 MODEL B Series 21 B Series 21 FANUC Power Mate MODEL D Power Mate D FANUC Power Mate MODEL F Power Mate F FANUC Power Mate MODEL H Power Mate H Power Mate FANUC Power Mate MODEL I Power Mate I FANUC Power Mate MODEL E Power Mate E Power Mate E (Note 1) (Note 1) (Note 1) (Note 1) (Note 2) (Note 2) NOTE 1 In this manual, a reference to the Series 15, 16, 18, or 21, without a specific model name refers to all the models of the series. 2 In this manual, Power Mate refers to the Power Mate D, Power Mate F, Power Mate H, and Power Mate I. The Power Mate E, which uses different servo software and different parameter numbers, is designated by its full name or as Power Mate E. 2

7 B 6515E/3 NO TAG. OVERVIEW Related manuals The following ten kinds of manuals are available for FANUC SERVO MOTOR α/β series. In the table, this manual is marked with an asterisk (*). Document name Document number Major contents Major usage FANUC AC SERVO MOTOR α series DESCRIPTIONS FANUC AC SERVO MOTOR β series DESCRIPTIONS FANUC AC SPINDLE MOTOR α series DESCRIPTIONS B 65142E B 65232EN B 65152E Specification Characteristics External dimensions Connections Selection of motor Connection of motor FANUC CONTROL MOTOR AMPLIFIER α series DESCRIPTIONS FANUC CONTROL MOTOR AMPLIFIER α series (SERVO AMPLIFIER UNIT) DESCRIPTIONS B 65162E B 65192EN Specifications and functions Installation External dimensions and maintenance area Connections Selection of amplifier Connection of amplifier FANUC CONTROL MOTOR α series MAINTENANCE MANUAL B 65165E Start up procedure Troubleshooting Maintenance of motor Start up the system (Hardware) Troubleshooting Maintenance of motor FANUC CONTROL MOTOR AMPLIFIER α series (SERVO AMPLIFIER UNIT) MAINTENANCE MANUAL B 65195EN Start up procedure Troubleshooting Start up the system (Hardware) Troubleshooting FANUC SERVO MOTOR β series MAINTENANCE MANUAL B 65235EN Start up procedure Troubleshooting Maintenance of motor Start up the system (Hardware) Troubleshooting Maintenance of motor FANUC AC SERVO MOTOR α series PARAMETER MANUAL FANUC AC SPINDLE MOTOR α series PARAMETER MANUAL B 6515E B 6516E Initial setting Setting parameters Description of parameters Start up the system (Software) Turning the system (Parameters) * 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. * 486SX and 486DX2 are registered trademarks of Intel corporation. All other product names identified throughout this manual are trademarks or registered trademarks of their respective companies. 3

8 NO TAG. OVERVIEW B 6515E/3 In this manual, the servo parameters are explained using the following notation: (Example) Series 15 Series C No.1875 No.221 No.8X21 No.121 Servo parameter function name Load inertia ratio Series 16, 18, 2, 21 Power Mate Power Mate E The α servo motor can take either of the following configurations: α motor α pulse coder α motor Serial pulse coder A.1 m control Used under high speed, high precision control The following pulse coders are available. Pulse coder name Resolution Type αa8 8,192 pulse/rev Absolute αa32 32,768 pulse/rev Absolute αa64 65,536 pulse/rev Absolute αa1 1,, pulse/rev Absolute αi8 8,192 pulse/rev Incremental αi32 32,768 pulse/rev Incremental αi64 65,536 pulse/rev Incremental 4

9 B 6515E/3 2 SETTING 2. SETTING SERIES SERVO PARAMETERS SERIES SERVO PARAMETERS 5

10 2. SETTING SERIES SERVO PARAMETERS B 6515E/3 2.1 INITIALIZING SERVO PARAMETERS Before Servo Parameter Initialization Before starting servo parameter initialization, confirm the following: (1)NC model (ex.: Series 15 B) (2)Servo motor model (ex.: 6/2) (3)Pulse coder built in a motor (ex.: A1) (4)Is the separate position detector used? (ex.: Not used) (5)Distance the machine tool moves per revolution of the motor (ex.: 1 mm per one revolution) (6)Machine detection unit (ex.:.1 mm) (7)NC command unit (ex.:.1 mm) Servo Parameter Initialization Procedure (1)Switch on the NC in an emergency stop state. Enable parameter writing (PWE = 1). (2)Initialize servo parameters on the servo setting screen. For a Power Mate with no CRT, specify a value for an item number on the servo setting screen. See Fig To display the servo setting screen, follow the procedure below, using the key on the NC. Series C Press the PARAM key several times, and the servo setting screen will appear. 389 #7 If no servo screen appears, set the following parameter as shown, and switch the NC off and on again. #6 #5 #4 #3 #2 #1 # SVS SVS (#) = (to display the servo screen) Series 15 Press the key several times, and the servo setting screen will appear. SERVICE Series 16,18,2,21 SYSTEM [SYSTEM] [ ] [SV PRM] If no servo screen appears, set the following parameter as shown, and switch the NC off and on again. 6

11 B 6515E/3 2. SETTING SERIES SERVO PARAMETERS 3111 #7 #6 #5 #4 #3 #2 #1 # SVS SVS (#) = 1 (to display the servo screen) When the following screen appears, move the cursor to the item you want to specify, and enter the value directly. Servo set 1 N X axis Z axis INITIAL SET BITS Motor ID No AMR CMR 2 2 Feed gear N 1 1 (N / M) M 1 1 Direction Set Velocity Pulse No Position Pulse No Ref. counter 1 1 (Value SETTING) Power Mate No Power Mate E No Fig Servo setting menu Correspondence of Power Mate (3)Start initialization. INITIAL SET BIT #7 #6 #5 #4 #3 PRMC (Note) #2 #1 DGPR # PLCO Start initialization (Keep the NC power on until step (11).) DGPR (#1) = Automatically set to 1 after initialization. NOTE Once initialization has been completed, the Series C and Series 15 A automatically set bit 3 (PRMC) for initialization to, while other NC models set the bit to 1. Note that the bit 3 (PRMC) bit must be set to for the Series C and Series 15 A. (4)Specify the motor ID No. Select the motor ID No. of the servo motor to be used, according to the motor model and drawing number (the middle four digits of A6B XXXX BXXX) listed in the tables on subsequent pages. 7

12 2. SETTING SERIES SERVO PARAMETERS B 6515E/3 series servo motor Motor model.5 1/3 2/2 2.5/3 3/3 Motor specification Motor type No Motor model 6/2 6/3 12/2 12/3 22/15 Motor specification Motor type No Motor model 22/2 22/3 3/12 3/2 3/3 Motor specification Motor type No Motor model 4/FAN 4/ Motor specification Motor type No L series servo motor Motor model L3/3 L6/2 L9/3 L25/3 L5/2 Motor specification Motor type No. 56 or or or C series servo motor Motor model C3/2 C6/2 C12/2 C22/15 Motor specification Motor type No HV series servo motor Motor model 3HV 6HV 12HV 22HV 3HV Motor specification Motor type No

13 B 6515E/3 2. SETTING SERIES SERVO PARAMETERS E, series servo motor Motor model.5 1/3 E1/3 2/3 E2/3 3/3 E3/3 6/2 E6/2 Motor specification Motor type No M series servo motor Motor model M2/3 M2.5/3 M3/3 M6/3 M9/3 Motor specification Motor type No Motor model M22/3 M3/3 M5/3 Motor specification Motor type No Motor model M6HV M9HV M22HV M3HV Motor specification Motor type No Linear motor Motor model 15A 3B 6B 9B Motor specification Motor type No

14 2. SETTING SERIES SERVO PARAMETERS B 6515E/3 These motor type Nos. may not be supported depending on the servo software being used. The following lists the motor type Nos. together with the applicable servo software series and editions. series servo motor Servo software series Motor model and motor type number /3 13 A B M A C A C E A 1/3 61 A B M A C A C E A 2/2 46 A B M A C A C E A 2/3 62 A B M A C A C E A 2.5/3 84 A B M A C A C E A 3/3 15 A B M A C A C E A 6/2 16 A B M A C A C E A 6/3 17 A B M A C A C E A 12/2 18 A B M A C A C E A 12/3 19 A B M A C A C E A 22/15 27 A B M A C A C E A 22/2 2 A B M A C A C E A 22/3 21 A B M A C A C E A 3/12 28 A B M A C A C E A 3/2 22 A B M A C A C E A 3/3 23 A B M A C A C E A 4/FAN 29 A B M A C A C E A 4/2 3 A B M A C A C E A A B M A C A C E A 1 4 A B M A C A C E A A B M A C A C E A 1

15 B 6515E/3 2. SETTING SERIES SERVO PARAMETERS L series servo motor Servo software series Motor model and motor type number L3/ A B M A I C A K C E E A L6/ A B M A I C A K C E E A L9/ A B M A I C A K C E E A L25/3 59 A B M A C A C E A L5/3 6 A B M A C A C E A C series servo motor Servo software series Motor model and motor type number C3/2 7 A B M A C A C E A C6/2 8 A B M A C A C E A C12/2 9 A B M A C A C E A C22/15 1 A B M A C A C E A HV series servo motor Servo software series Motor model and motor type number HV 3 A B M A C A C E A 22HV 4 A B M A C A C E A 3HV 5 A B M A C A C E A 11

16 2. SETTING SERIES SERVO PARAMETERS B 6515E/3 E, series servo motor Servo software series Motor model and motor type number /3 13 A B M A C A C E A E1/3 1/3 E2/3 2/ A B M A C A C E A 36 A B M A C A C E A 3/3 33 G W B H A C F A E6/2 6/2 34 A B M A C A C E A M series servo motor Servo software series Motor model and motor type number M2/3 98 I K E M2.5/3 99 I K E M3/3 24 A B M A C A C E A M6/3 25 A B M A C A C E A M9/3 26 A B M A C A C E A M22/3 1 I K E M3/3 11 I K E M5/3 18 I K E M6HV 14 I K E M9HV 15 I K E M22HV 16 I K E M3HV 17 I K E NOTE If your servo software is obsolete, obtain the new edition, or enter standard parameter values using the following procedure: 1) Specify 48 as the motor ID No., and follow the procedure up to step (11). 2) Enter the standard parameter of chapter 7 parameter table directly except for the initialization bit 1 (DGPR) and motor ID No. If you are using 96 or 97 Series, and the standard parameter POA1 (No. 1859, 247) takes a negative value, set it as POA1 ( 1). 12

17 B 6515E/3 2. SETTING SERIES SERVO PARAMETERS (5)Set AMR as described below: pulse coder or serial pulse coder A (6)Set CMR 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, CMR = 1, so specify 2. (7)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 pulse coder or separate detector. Setting for the pulse coder and serial pulse coder A in the semi closed mode F FG numerator ( 32767) (Note 1) F FG denominator ( 32767) Necessary position feedback pulses per motor revolution = (as irreducible fraction) 1,, (Note 2) NOTE 1 For both F FG numerator and denominator, the maximum setting value (after reduced) is α pulse coders 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, such as when a rack and pinion are used, assume to be approximately 355/113. Example of setting For detection in 1 µm units, specify as follows: Ball screw lead (mm/rev) Number of necessary position pulses (pulses/rev) F FG 1/1 2/1 or 1/5 3/1 13

18 2. SETTING SERIES SERVO PARAMETERS B 6515E/3 Example of setting If the machine is set to detection in 1, degree units with a gear reduction ratio of 1:1 for the rotation axis, the table rotates by 36/1 degrees each time the motor makes one turn. 1 position pulses are necessary for the table to rotate through one degree. The number of position pulses necessary for the motor to make one turn is: 36/1 1 = 36 (with reference counter = 36 at (1)) F FG numerator F FG denominator = ,, = 1 Setting for use of a separate detector (full closed) F FG numerator ( 32767) F FG denominator ( 32767) Number of position pulses corresponding to a predetermined amount of travel = (as irreducible fraction) Number of position pulses corresponding to a predetermined amount of travel from a separate detector DMR can also be used with the separate position detector, provided that F FG =. Example of setting To detect a distance of 1 m using a.5 m scale, set the following: Numerator of F FG Denominator of F FG = L/1 L/.5 = 1 2 (8)Specify the direction in which the motor rotates. 111 Clockwise as viewed from the pulse coder 111 Counterclockwise as viewed from the pulse coder (9) Specify the number of velocity pulses and the number of position pulses. Full closed Semi closed Parallel type Serial liner scale Serial rotary scale Command unit ( m) Initialization bit Number of velocity pulses Number of position pulses #= #=1 #= #= #=1 #= #=1 #= #= Ns Ns/1 Ns Ns/

19 B 6515E/3 2. SETTING SERIES SERVO PARAMETERS 37 #7 Ns : Number of position pulses from the separate detector when the motor makes one turn (Value after multiplication by four, where DMR and the flexible feed gear are not considered) Conventionally, the initialization bit, bit, was changed according to the command unit. This relationship between the command unit and initialization bit has been eliminated in all CNCs except the Series C and Series 15 A. Of course, the conventional setting method may also be used. For easier setting, however, set the bit as follows: Semi closed:initialization bit bit = Full closed: Initialization bit bit = 1 Only when the number of position pulses exceeds In the above table, the number of position pulses is likely to exceed when the command unit is.1 m in full closed mode. When using a separate detector (full closed mode), also specify the following parameters: Series C #6 #5 STP8 #4 STP7 #3 STP4 #2 STPZ #1 STPY # STPX STPX to 8 The separate position detector is: : Not used for the X axis, Y axis, Z axis, fourth axis, seventh axis, or eighth axis 1 : Used for the X axis, Y axis, Z axis, fourth axis, seventh axis, and eighth axis Series 15, 16, 18, 2, 21, Power Mate 187 #7 #6 #5 #4 #3 PFSE #2 #1 # Must be specified only for Series 15 PFSE (#3) The separate position detector is: : Not used 1 : Used CAUTION This parameter is used only for Series #7 #6 #5 #4 #3 #2 #1 OPTX # Must be specified for all NCs. OPTX (#1) The separate position detector is: : Not used 1 : Used 15

20 2. SETTING SERIES SERVO PARAMETERS B 6515E/3 NOTE For Series 16, 18, 2, and 21, setting this parameter causes bit 3 of parameter No. 22 to be set to 1 automatically. 12 #7 GRSL Power Mate E #6 #5 #4 #3 PFSE #2 #1 # GRSL (#7), PFSE (#3) The separate position detector is: : Not used 1 : Used Specify the same value for both GRSL and PFSE. (1) Specify the reference counter. The reference counter is used in making a return to the reference position by a grid method. Semi closed loop Count on the reference counter = Number of position pulses corresponding to a single motor revolution or the same number divided by an integer value Example of setting α pulse coder and semi closed loop (1 m detection) Ball screw lead (mm/revolution) Necessary number of position pulses (pulse/revolution) Reference counter Grid width (mm) When the number of position pulses corresponding to a single motor revolution does not agree with the reference counter setting, the position of the zero point depends on the start point. Should this occur, eliminate the difference by changing the detection unit. Example of setting System using a detection unit of 1 m, a ball screw lead of 2 mm/revolution, a gear reduction ratio of 1/17, the number of position pulses corresponding to a single motor revolution set to , and the reference counter set to

21 B 6515E/3 2. SETTING SERIES SERVO PARAMETERS Make the following modifications and set the detection unit to 1/17 m: Parameter modification Series C Series 15, 16, 18, 2, 21, Power Mate Power Mate E F FG 17 CMR 17 Reference counter 17 Effective area 17 Position error limit in traveling 17 Position error limit in the stop state 17 Backlash 17 Servo screen Servo screen Servo screen Parameters 5 to 53 Parameters 54 to 57 Parameters 593 to 596 Parameters 535 to 538 Servo screen Servo screen Servo screen Parameters 1826, 1827 Parameter 1828 Parameter 1829 Parameter 1851, 1852 Parameters 184, 185 Parameter 1 Parameter 324 Parameter 2 Parameter 22 Parameter 231 Parameter 221 (All other CNC parameters set in detection units, such as the amount of grid shift and pitch error compensation magnification, are also multiplied by 17.) Making these modifications eliminates the difference between the number of position pulses corresponding to a single motor revolution and the reference counter setting. Number of position pulses corresponding to a single motor revolution = 2 Reference counter setting = 2 NOTE In rotation axis control for the Series 16, 18, and Power Mate, continuous revolution in the same direction will result in an error if the result of the following calculation is other than an integer, even if the reference counter setting is an integer. Therefore, set parameter No. 126 so that the result of the calculation is an integer. (Amount of travel per rotation of the rotation axis (parameter No. 126)) CMR (reciprocal of flexible feed gear) 2 21 /1 6 Full closed loop Reference counter setting = Z phase (reference position) interval divided by the detection unit, or this value sub divided by an integer value Example of setting Example 1) When the Z phase interval is 5 mm and the detection unit is 1 m: Reference counter setting = 5,/1 = 5, Example 2) When a rotation axis is used and the detection unit is.1 : Reference counter setting = 36/.1 = 36, Example 3) When a linear scale is used and a single Z phase exists Set the reference counter to 1, 5, or another round number. 17

22 2. SETTING SERIES SERVO PARAMETERS B 6515E/3 (11) When using an S series amplifier, set the following parameters: X4 #7 #6 14 DLY1 DLY #5 TIB1 #4 TIB2 #3 TRW1 #2 TRW #1 TIB ( S series amplifier) # TIA X Current dead band compensation (PDDP) Set value 3787 (S series amplifier) (12) Switch the NC off and on again. This completes servo parameter initialization. If an invalid servo parameter setting alarm occurs, go to Subsec If a servo alarm related to pulse coders occurs for an axis for which a servo motor or amplifier is not connected, specify the following parameter. A feedback connector is used in conventional Series C and 15 A models. However it cannot be used in a system designed for operation with an pulse coder. This parameter should be specified instead of the dummy connector X9 #7 #6 #5 #4 #3 #2 #1 # 19 SERD SERD (#) The dummy serial feedback function is: (See 4.6 for function detail) : Not used 1 : Used 21 #7 (13) When you are going to use an pulse coder as an absolute pulse coder, use the following procedure. This procedure is somewhat different from one for conventional pulse coders. (Steps 3 to 5 have been added.) 1 Specify the following parameter, then switch the NC off. Series C #6 #5 APC8 #4 APC7 #3 APC4 #2 APCZ #1 APCY # APCX APCX to 8(# to #5) The absolute position detector is: : Not used for the X axis, Y axis, Z axis, fourth axis, seventh axis, or eighth axis. 1 : Used for the X axis, Y axis, Z axis, fourth axis, seventh axis, and eighth axis. Series 15, 16, 18, 2, 21, Power Mate 1815 #7 #6 #5 APCX #4 #3 #2 #1 # APCX (#5) The position detector to be used is: : Other than an absolute position detector 1 : Absolute position detector 18

23 B 6515E/3 2. SETTING SERIES SERVO PARAMETERS 17 #7 Power Mate E #6 #5 #4 #3 #2 #1 # APCX APCX (#) An absolute position detector is: : Not used 1 : Used 2 After making sure that the battery for the pulse coder is connected, switch the NC on. 3 A request to return to the reference position is displayed. 4 Cause the motor to make one turn by jogging. 5 Turn off and on the CNC. These steps were added for the pulse coder. 6 A request to return to the reference position is displayed. 7 Do the zero return. 19

24 2. SETTING SERIES SERVO PARAMETERS B 6515E/ Initialization Flow of Parameters Initialization flow of Series C servo parameters (1 µm input increment, α pulse coder, α or C series amplifier used) Emergency stop state: NC power is turned on. Setting 2 (for next page).1 µm Is the minimum input increment.1 µm? 1 µm No. 8X 8X2 8X1 1 to 13 8X22 57 to 573 8X21 Bit for initialization Motor No. AMR CMR Direction of travel Reference counter Load inertia ratio See (4) in Subsec See (6) in Subsec (Clockwise revolution as viewed from the detector) 111 (Counterclockwise revolution as viewed from the detector) See (1) in Subsec Leave the value set to zero when the inertia of the machine is not known. Closed loop Set 1 in bits to 3 of parameter 37 if the bit corresponds to an axis having a separate detector. Which system is being used? See (7) in Subsec Semi closed loop Set F FG. Parameter 8X84 (N) Numerator of DMR Parameter 8X85 (M) Denominator of DMR Set the conventional DMR or F FG. No. 8X23 8X24 Number of velocity pulses Number of position pulses No. 8X23 8X24 Number of velocity pulses Number of position pulses 8192 Ns Ns: Number of feedback pulses per motor revolution from a separate detector Power off/on Change the following parameters for an S series amplifier. End of parameter setting No. 8X4 8X

25 B 6515E/3 2. SETTING SERIES SERVO PARAMETERS Initialization flow of Series C servo parameters (.1 µm input increment, α pulse coder, α or C series amplifier used) Setting 2 Emergency stop state: NC power is turned on. No. 8X 8X2 8X1 1 to 13 8X22 57 to 573 8X21 Bit for initialization Motor No. AMR CMR Direction of travel Reference counter Load inertia ratio 1 See (4) in Subsec See (6) in Subsec (Clockwise revolution as viewed from the detector) 111 (Counterclockwise revolution as viewed from the detector) Set the reference counter value, multiplied by.1. See (1) in Subsec Leave the value set to zero when the inertia of the machine is not known. Closed loop Set 1 in bits to 3 of parameter 37 if the bit corresponds to an axis having a separate detector. Which system is being used? See (7) in Subsec Semi closed loop Set F FG. Parameter 8X84 (N) Numerator of DMR Parameter 8X85 (M) Denominator of DMR Set the conventional DMR or F FG. No. 8X23 8X24 Number of velocity pulses Number of position pulses No. 8X23 8X24 Number of velocity pulses Number of position pulses 819 Ns/1 Ns: Number of feedback pulses per motor revolution from a separate detector Power off/on Change the following parameters for an S series amplifier. End of parameter setting No. 8X4 8X

26 2. SETTING SERIES SERVO PARAMETERS B 6515E/3 Initialization flow of Series 15 servo parameters (1 µm input increment, α pulse coder, α or C series amplifier used) Emergency stop state: NC power is turned on. Setting 2 (for next page).1 µm Is the minimum input increment.1 µm? 1 µm No Bit for initialization Motor No. AMR CMR Direction of travel Reference counter Load inertia ratio See (4) in Subsec See (6) in Subsec (Clockwise revolution as viewed from the detector) 111 (Counterclockwise revolution as viewed from the detector) See (1) in Subsec Leave the value set to zero when the inertia of the machine is not known. Closed loop Semi closed loop Which system is being used? No bit 3 = 1 bit 1 = 1 See (7) in Subsec Set F FG. Parameter 1977 (N) Numerator of DMR Parameter 1978 (M) Denominator of DMR Set the conventional DMR or F FG. No Number of velocity pulses Number of position pulses No Number of velocity pulses Number of position pulses 8192 Ns For serial rotary scale Ns: 125 For parallel encoder, parallel scale, and serial linear scale Ns:The number of feedback pulses, received from the separate detector, corresponding to a single motor revolution Power off/on End of parameter setting Change the following parameters for an S series amplifier. No

27 B 6515E/3 2. SETTING SERIES SERVO PARAMETERS Initialization flow of Series 15 servo parameters (.1 µm input increment, α pulse coder, α or C series amplifier used) Setting 2 Emergency stop state: NC power is turned on. No Bit for initialization Motor No. AMR CMR Direction of travel Reference counter Load inertia ratio 1 See (4) in Subsec See (6) in Subsec (Clockwise revolution as viewed from the detector) 111 (Counterclockwise revolution as viewed from the detector) Set the reference counter value, multiplied by.1. (Series 15 A) Set the reference counter value. (Series 15 B) See (1) in Subsec Leave the value set to zero when the inertia of the machine is not known. Closed loop Semi closed loop Which system is being used? No bit 3 = 1 bit 1 = 1 See (7) in Subsec Set F FG. Parameter 1977 (N) Numerator of DMR Parameter 1978 (M) Denominator of DMR Set the conventional DMR or F FG. No Number of velocity pulses Number of position pulses No Number of velocity pulses Number of position pulses 819 Ns/1 For serial rotary scale Ns: 125 For parallel encoder, parallel scale, and serial linear scale Ns:The number of feedback pulses, received from the separate detector, corresponding to a single motor revolution Power off/on End of parameter setting Change the following parameters for an S series amplifier. No

28 2. SETTING SERIES SERVO PARAMETERS B 6515E/3 Initialization flow of Series 16, 18, 2, 21, Power Mate servo parameters (1 µm input increment, α pulse coder, α or C series amplifier used) Emergency stop state: NC power is turned on. Setting 2 (for next page).1 µm Is the minimum input increment.1 µm? 1 µm No Bit for initialization Motor No. AMR CMR Direction of travel Reference counter Load inertia ratio See (4) in Subsec See (6) in Subsec (Clockwise revolution as viewed from the detector) 111 (Counterclockwise revolution as viewed from the detector) See (1) in Subsec Leave the value set to zero when the inertia of the machine is not known. Closed loop Which system is being used? Semi closed loop No bit 1 = 1 See (7) in Subsec Set F FG. Parameter 284 (N) Numerator of DMR Parameter 285 (M) Denominator of DMR Set the conventional DMR or F FG. No Number of velocity pulses Number of position pulses No Number of velocity pulses Number of position pulses 8192 Ns For serial rotary scale Ns: 125 For parallel encoder, parallel scale, and serial linear scale Ns:The number of feedback pulses, received from the separate detector, corresponding to a single motor revolution Power off/on End of parameter setting Change the following parameters for an S series amplifier. No

29 B 6515E/3 2. SETTING SERIES SERVO PARAMETERS Initialization flow of Series 16, 18, 2, 21, Power Mate servo parameters (.1 µm input increment, α pulse coder, α or C series amplifier used) Setting 2 Emergency stop state: NC power is turned on. No Bit for initialization Motor No. AMR CMR Direction of travel Reference counter Load inertia ratio 1 See (4) in Subsec See (6) in Subsec (Clockwise revolution as viewed from the detector) 111 (Counterclockwise revolution as viewed from the detector) See (1) in Subsec Leave the value set to zero when the inertia of the machine is not known. Closed loop Which system is being used? Semi closed loop No bit 1 = 1 See (7) in Subsec Set F FG. Parameter 284 (N) Numerator of DMR Parameter 285 (M) Denominator of DMR Set the conventional DMR or F FG. No Number of velocity pulses Number of position pulses No Number of velocity pulses Number of position pulses 819 Ns/1 For serial rotary scale Ns: 125 For parallel encoder, parallel scale, and serial linear scale Ns:The number of feedback pulses, received from the separate detector, corresponding to a single motor revolution Power off/on End of parameter setting Change the following parameters for an S series amplifier. No

30 2. SETTING SERIES SERVO PARAMETERS B 6515E/3 Initialization flow of Power Mate E servo parameters (α pulse coder used) Emergency stop state: NC power is turned on. No Bit for initialization Motor No. AMR CMR Direction of travel Reference counter Load inertia ratio 11 See (4) in Subsec See (6) in Subsec (Clockwise revolution as viewed from the detector) 111 (Counterclockwise revolution as viewed from the detector) See (1) in Subsec Leave the value set to zero when the inertia of the machine is not known. Closed loop Which system is being used? Semi closed loop No See (7) in Subsec Set F FG. Parameter 184 (N) Numerator of DMR Parameter 185 (M) Denominator of DMR Set the conventional DMR or F FG. No Number of velocity pulses Number of position pulses No Number of velocity pulses Number of position pulses 8192 Ns Ns: Number of feedback pulses per motor revolution from a separate detector Power off/on End of parameter setting 26

31 B 6515E/3 2. SETTING SERIES SERVO PARAMETERS Actions for Invalid Servo Parameter Setting Alarms The following table contains actions to be taken for invalid servo parameter setting alarms. Find the relevant guideline under Decision criterion, and proceed to the corresponding Adjustment item. Alarm Decision criterion Adjustment item POA1 overflow Try resetting POA1 to. Parameter: No. 8X = Adjustment 1 N pulse suppression level overflow Disable the N pulse suppression function. Function bit: No. 8X , B4 = Adjustment 2 Feed forward coefficient overflow Reset the feed forward coefficient to. Parameter: No. 8X = No. 8X (advance) = Position gain overflow Reset the position gain to. Parameter: No = Adjustment 3 Adjustment 4 Number of position pulses overflow Motor ID No. Invalid axis selection parameter setting The number of position pulses is greater than 131 (with initialization bit = 1). Parameter: No. 8X , B Check whether the motor ID No. is correct. Parameter: No. 8X Check whether the setting is correct. Series C: No. 269 to 274 Series 15, 16, 18, 2, 21: No. 123 Adjustment 5 Adjustment 6 Others Number of position pulses Number of velocity pulses Direction of travel = Flexible feed gear numerator <, denominator < For semi closed mode, numerator > denominator The AMR conversion coefficient has not been set when a linear motor is driven. NOTE The parameter numbers in the table are in the following order: No. (Series C) (Series 15) (Series 16, 18, 2, 21, Power Mate) (Power Mate E) 27

32 2. SETTING SERIES SERVO PARAMETERS B 6515E/3 Adjustments Adjustment 1: POA1 overflow (No. 8X ) Use the POA1 setting tenfold function If a negative number is specified for POA1, the internal processing assumes a value 1 times the absolute value of the specified number. If the current setting is a positive number, specify as follows: ( 1) setting value/1 Adjustment 2: N pulse suppression (No ) Reduce the setting value according to the following flowchart. For Series C, however, specify the function bit (bit 4 of parameter No. 8X3) = if an overflow occurs, because the N pulse suppression level parameter is fixed at 4. Is your system a semi closed system using a serial pulse coder A or pulse coder? No Yes N pulse suppression level parameter Number of velocity pulses F FG denominator Number of F FG numerator position pulses 1 8 Reduce the setting value so that the above equation has a value of or less. N pulse suppression level parameter Number of velocity pulses Number of position pulses F FG denominator F FG numerator Reduce the setting value so that the above equation has a value of or less. Number of velocity pulses Number of position pulses F FG numerator F FG denominator (No. 8X ) (No. 8X ) (No. 8X ) (No. 8X ) 28

33 B 6515E/3 2. SETTING SERIES SERVO PARAMETERS Adjustment 3: Feed forward coefficient (No. 8X , No. 8X (advance)) Series 15 B, 16, 18, 2, 21, Power Mate, Power Mate E Specify the position gain setting range expansion function. Function bit: No , bit 4 = 1 Reference The function also expands the feed forward coefficient range. Series C, 15 A If a negative number is specified for the feed forward coefficient, the internal processing assumes a value ten times the absolute number of the specified number. If the calculation result obtained during parameter setting exceeds 32767, specify as follows: ( 1) calculation result/1 Feed forward coefficient overflow check (Series 15 B, 16, 18, 2, 21, Power Mate, Power Mate E) If the result of any of the following calculations exceed 32767, an invalid parameter setting alarm occurs. 496 (Advance) feed forward parameter setting value 4 1 (*) Is exceeded? (1) (1) No Number of velocity pulses Number of position pulses (2) (Advance) feed forward parameter No. 8X No. 8X (advance) Is exceeded? No Is your system a semi closed system with serial pulse coder A or pulse coder? Full closed (2) Semi closed F FG denominator F FG numerator 1 Is F FG in use? (3) 8 Yes No Is exceeded? F FG flexible feed gear (2) F FG denominator F FG numerator (4) (2) 4 DMR (5) Is exceeded? Is exceeded? NOTE If the parameter setting value is 1 or less, use 1 instead of 1 at a term indicated with *. 29

34 2. SETTING SERIES SERVO PARAMETERS B 6515E/3 Adjustment 4: Position gain Use the position gain setting range expansion function. Setting : No. 8X , bit 5 = 1 (Series C) (Series 15 A) Multiply 8X by 8 and re enter it. No , bit 4 = 1 (Series 15 B) (Series 16, 18, 2, Power Mate) (Power Mate E) Set No as it is. If an overflow still occurs: (1) Multiply the value of the flexible feed gear (or DMR) by integer A. (2) Multiply the following setting values by A. Parameter CMR Effective area Limit to a position error during travel Limit to a position error at a halt Backlash Reference counter Grid shift Series C Series 15, 16, 18, 2, 21, Power Mate No. 1 to 13 No to , to to to , to (Series 15) to Power Mate E No (Example) The position gain overflows internally under the following conditions: α pulse coder Reduction gear ratio: 1/2 Ball screw: 1 mm/rev Position gain: 3sec 1 (with 1 m scale) In this case, specify the position gain setting range expansion function. For Series C and 15 A, multiply the number of position pulses by 8. Number of position pulses (No. 8X ) 1/2 = Reduction gear ratio 1 pulses per revolution of ball screw 3

35 B 6515E/3 2. SETTING SERIES SERVO PARAMETERS Reference Position gain overflow check What is your CNC model? Series C, 15 A Series 15 B, 16, 18, 2, 21, Power Mate, Power Mate E 655 Position gain parameter setting value 2 Number of velocity pulses Number of position pulses 4 DMR (1) Is exceeded? No Is F FG in use? No No overflow has occurred. Yes Is you system a semi closed system with serial pulse coder A or pulse coder? Full closed system or serial pulse coder C Yes DMR (1) 4 F FG denominator F FG numerator 1 1 (2) (1) DMR 4 F FG denominator F FG numerator (3) Is exceeded? Is exceeded? F FG flexible feed gear 31

36 2. SETTING SERIES SERVO PARAMETERS B 6515E/3 Series 15 B, 16, 18, 2, 21, Power Mate, Power Mate E 655 Position gain parameter setting value 2 (4) No (4) Number of velocity pulses Number of position pulses (5) Is exceeded? Is exceeded? F FG flexible feed gear No Is F FG in use? No Yes Is you system a semi closed system with serial pulse coder A or α pulse coder? Yes No 4 (5) (6) DMR Is exceeded? No (5) F FG denominator F FG numerator 1 8 (7) (5) F.FG denominator F.FG numerator (8) Is exceeded? No Is exceeded? No No Is (6), (7), or (8) less than or equal to 1? Is (6), (7), or (8) less than or equal to 4? No Yes Yes Is the specified position gain 6253 or greater? Yes Is the specified position gain 2512 or greater? Yes No overflow has occurred. No No To increase precision, the value set for the parameter is multiplied by 16 internally. Restart at using the resulting value. To increase precision, the value set for the parameter is multiplied by 4 internally. Restart at using the resulting value. 32

37 B 6515E/3 2. SETTING SERIES SERVO PARAMETERS Adjustment 5: Number of position pulses Make the changes listed below. Value E must satisfy the following: Number of current position pulses/e < 131 Current setting value/e Series C Series 15 Series 16, 18, 2, 21, Power Mate D, F Power Mate E Change parameter No. 8X23 No No. 223 No. 123 Current value/e 8X Current value/e 8X Current value/e 8X Current value/e 8X Current value E 8X Current value/e 8X Current value/e 8X Current value/e 8X Current value E 8X Current value/e 8X Current value/e 33

38 2. SETTING SERIES SERVO PARAMETERS B 6515E/3 CAUTION 1 In the above table, parameters No and 1869 (Series 15 B), 256 and 257 (Series 16, 18, 2, 21, or Power Mate), or 156 and 157 (Power Mate E) need not be modified if they have been set to negative values. 2 When changing parameter No (Series 15 B), No. 274 (Series 16, 18, 2, 21, Power Mate), or No. 174 (Power Mate E) in the above table, note the following: (a) Check the servo software series/edition. (1) For the following series/editions, the calculation indicated in the table is not needed: Series 965/1A and subsequent editions, Series 966/1F and subsequent editions, Series 98/1E and subsequent editions, Series 981/1C and subsequent editions For details of other servo software series/editions, see (b). (b) Changing the parameter (1) Check the parameter setting. If the setting is 496 or less, perform conversion as indicated in the table. If the setting is 497 or more, go to (2). (2) Convert the setting to a 4 digit hexadecimal number. (3) Convert the lowest three digits of the hexadecimal number back into a decimal number, then divide it by E. (4) Convert the result of (3) into a hexadecimal number. Add the fourth digit of the original hexadecimal number to the 3 digit conversion result, then convert it into a decimal number. (5) The change of the parameter has now been completed. Example: For the 6/2, the setting of parameter No. 274 for the Series 16 is Assume E = 2, then: (1) The setting is 497 or more. (2) When is converted into a hexadecimal number, 3 is obtained. (3) The lower three digits are. When these are converted into a decimal number then divided by 2, the result will be. (4) When decimal is converted into a hexadecimal number, then the fourth digit of the original hexadecimal number is added to the converted hexadecimal number, 3 will be obtained. This is then converted into a decimal number. The result will be Example: For the 12/2, the setting of parameter No. 274 of the Series 16 is Assume E = 2, then: (1) The setting is 497 or more. (2) When is converted into a hexadecimal number, 47d will be obtained. (3) The lower three digits are 7d. When these are converted into a decimal number then divided by 2, the result will be 1. (4) When decimal 1 is converted into a hexadecimal number, then the fourth digit of the original hexadecimal number is added to the converted hexadecimal number, 43E8 will be obtained. Then, it is converted into a decimal number. The result will be