GE Fanuc Automation
Computer Numerical Control Products
Alpha Series AC Servo Motor
Maintenance Manual
GFZ-65165E/02 June 2000
GFL-001
Warnings, Cautions, and Notes as Used in this Publication
Warning 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 Caution notices are used where equipment might be damaged if care is not taken.
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 2000 GE Fanuc Automation North America, Inc.
All Rights Reserved.
GE Fanuc Automation
Computer Numerical Control Products
αα Series Control Motor
Maintenance Manual
GFZ-65165E/01 April 1994
B-65165E/02 SAFETY PRECAUTIONS
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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.
Contents 1 DEFINITION OF WARNING, CAUTION, AND NOTE ---- s-2 2 FANUC SERVO MOTOR series ---------------------------------- s-3
2.1 WARNING -------------------------------------------------------- s-4 2.2 CAUTION --------------------------------------------------------- s-7 2.3 NOTE--------------------------------------------------------------- s-8
3 FANUC SERVO AMPLIFIER series----------------------------- s-11 3.1 WARNINGS AND CAUTIONS RELATING
TO MOUNTING ------------------------------------------------- s-12 3.1.1 WARNING ------------------------------------------------ s-12 3.1.2 CAUTION ------------------------------------------------- s-14 3.1.3 NOTE------------------------------------------------------- s-16
3.2 WARNINGS AND CAUTIONS RELATING TO A PILOT RUN---------------------------------------------------- s-17 3.2.1 WARNING ------------------------------------------------ s-17 3.2.2 CAUTION ------------------------------------------------- s-18
3.3 WARNINGS AND CAUTIONS RELATING TO MAINTENANCE ------------------------------------------- s-19 3.3.1 WARNING ------------------------------------------------ s-19 3.3.2 CAUTION ------------------------------------------------- s-21 3.3.3 NOTE------------------------------------------------------- s-22
1. DEFINITION OF WARNING, CAUTION, AND NOTE SAFETY PRECAUTIONS B-65165E/02
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1 DEFINITION OF WARNING, CAUTION, AND NOTE This manual includes safety precautions for protecting the user and preventing damage to the machine. Precautions are classified into Warning and Caution according to their bearing on safety. Also, supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly before attempting to use the machine.
WARNING Applied when there is a danger of the user being injured or when there is a damage of both the user being injured and the equipment being damaged if the approved procedure is not observed.
CAUTION Applied when there is a danger of the equipment being damaged, if the approved procedure is not observed.
NOTE The Note is used to indicate supplementary information other than Warning and Caution.
* Read this manual carefully, and store it in a safe place.
B-65165E/02 SAFETY PRECAUTIONS 2.FANUC SERVO MOTOR series
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2 FANUC SERVO MOTOR series
2.FANUC SERVO MOTOR series SAFETY PRECAUTIONS B-65165E/02
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2.1 WARNING - Be safely dressed when handling a motor.
Wear safety shoes or gloves when handling a motor as you may get hurt on any edge or protrusion on it or electric shocks.
- Use a crane or lift to move a motor from one place to another. 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.
- Do not touch a motor with a wet hand. A failure to observe this caution is vary dangerous because you may get electric shocks.
- Before 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.
- 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.
- Be sure to ground a motor frame. To avoid electric shocks, be sure to connect the grounding terminal in the terminal box to the grounding terminal of the machine.
- Do not ground a motor power wire terminal or short-circuit it to another power wire terminal. A failure to observe this caution may cause electric shocks or a burned wiring. (*) Some motors require a special connection such as a winding
changeover. Refer to their respective motor specification manuals for details.
B-65165E/02 SAFETY PRECAUTIONS 2.FANUC SERVO MOTOR series
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- 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.
- Do not supply the power to the motor while any terminal is exposed. A failure to observe this caution is very dangerous because you may get electric shocks if your body or any conductive stuff touches an exposed terminal.
- Do not 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.
- Before touching a motor, shut off the power to it. Even if a motor is not rotating, there may be a voltage across the terminals of the motor. Especially before touching a power supply connection, take sufficient precautions. Otherwise you may get electric shocks.
- Do not touch any terminal of a motor for a while (at least 5 minutes) after the power to the motor is shut off.  So, do not touch any terminal or connect it to any other equipment. Otherwise, you may get electric shocks or the motor and/or equipment may get damaged.
- To drive a motor, use a specified amplifier and parameters. 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.
- Do not touch a motor when it is running or immediately after it stops. A motor may get hot when it is running. Do not touch the motor before it gets cool enough. Otherwise, you may get burned.
- Ensure that motors and related components are mounted securely. If a motor or its component slips out of place or comes off when the motor is running, it is very dangerous.
2.FANUC SERVO MOTOR series SAFETY PRECAUTIONS B-65165E/02
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- 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.
B-65165E/02 SAFETY PRECAUTIONS 2.FANUC SERVO MOTOR series
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2.2 CAUTION - FANUC motors are designed for use with machines. Do not
use them for any other purpose. If a FANUC motor is used for an unintended purpose, it may cause an unexpected symptom or trouble. If you want to use a motor for an unintended purpose, previously consult with FANUC.
- Ensure that a base or frame on which a motor is mounted is strong enough. Motors are heavy. If a base or frame on which a motor is mounted is not strong enough, it is impossible to achieve the required precision.
- Be sure to connect motor cables correctly. An incorrect connection of a cable cause abnormal heat generation, equipment malfunction, or failure. Always use a cable with an appropriate current carrying capacity (or thickness). For how to connect cables to motors, refer to their respective specification manuals.
- Ensure that motors are cooled if they are those that require forcible cooling. If a motor that requires forcible cooling is not cooled normally, it may cause a failure or trouble. For a fan-cooled motor, ensure that it is not clogged or blocked with dust and dirt. For a liquid-cooled motor, ensure that the amount of the liquid is appropriate and that the liquid piping is not clogged. For both types, perform regular cleaning and inspection.
- When attaching a component having inertia, such as a pulley, to a motor, ensure that any imbalance between the motor and component is minimized. If there is a large imbalance, the motor may vibrates abnormally, resulting in the motor being broken.
- Be sure to attach a key to a motor with a keyed shaft. If a motor with a keyed shaft runs with no key attached, it may impair torque transmission or cause imbalance, resulting in the motor being broken.
2.FANUC SERVO MOTOR series SAFETY PRECAUTIONS B-65165E/02
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2.3 NOTE - Do not step or sit on a motor.
If you step or sit on a motor, it may get deformed or broken. Do not put a motor on another unless they are in packages.
- When storing a motor, put it in a dry (non-condensing) place at room temperature (0 to 40 5C). If a motor is stored in a humid or hot place, its components may get damaged or deteriorated. In addition, keep a motor in such a position that its shaft is held horizontal and its terminal box is at the top.
- Do not remove a nameplate from a motor. If a nameplate comes off, be careful not to lose it. If the nameplate is lost, the motor becomes unidentifiable, resulting in maintenance becoming impossible. For a nameplate for a built-in spindle motor, keep the nameplate with the spindle.
- Do not apply shocks to a motor or cause scratches to it. If a motor is subjected to shocks or is scratched, its components may be adversely affected, resulting in normal operation being impaired. Be very careful when handling plastic portions, sensors, and windings, because they are very liable to break. Especially, avoid lifting a motor by pulling its plastic portion, winding, or power cable.
- Do not conduct dielectric strength or insulation test for a detector. Such a test can damage elements in the detector.
- When testing the winding or insulation resistance of a motor, satisfy the conditions stipulated in IEC34. Testing a motor under a condition severer than those specified in IEC34 may damage the motor.
- Do not disassemble a motor. Disassembling a motor may cause a failure or trouble in it. If disassembly is in need because of maintenance or repair, please contact a service representative of FANUC.
- Do not modify a motor. Do not modify a motor unless directed by FANUC. Modifying a motor may cause a failure or trouble in it.
B-65165E/02 SAFETY PRECAUTIONS 2.FANUC SERVO MOTOR series
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- Use a motor under an appropriate environmental condition. Using a motor in an adverse environment may cause a failure or trouble in it. Refer to their respective specification manuals for details of the operating and environmental conditions for motors.
- Do not apply a commercial power source voltage directly to a motor. Applying a commercial power source voltage directly to a motor may result in its windings being burned. Be sure to use a specified amplifier for supplying voltage to the motor.
- For a motor with a terminal box, make a conduit hole for the terminal box in a specified position. When making a conduit hole, be careful not to break or damage unspecified portions. Refer to an applicable specification manual.
- Before using a motor, measure its winding and insulation resistances, and make sure they are normal. Especially for a motor that has been stored for a prolonged period of time, conduct these checks. A motor may deteriorate depending on the condition under which it is stored or the time during which it is stored. For the winding resistances of motors, refer to their respective specification manuals, or ask FANUC. For insulation resistances, see the following table.
- To use a motor as long as possible, perform periodic maintenance and inspection for it, and check its winding and insulation resistances. Note that extremely severe inspections (such as dielectric strength tests) of a motor may damage its windings. For the winding resistances of motors, refer to their respective specification manuals, or ask FANUC. For insulation resistances, see the following table.
2.FANUC SERVO MOTOR series SAFETY PRECAUTIONS B-65165E/02
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MOTOR INSULATION RESISTANCE MEASUREMENT Measure an insulation resistance between each winding and motor frame using an insulation resistance meter (500 VDC). Judge the measurements according to the following table.
Insulation resistance
Judgment
100MΩ or higher
Acceptable
10 to 100 MΩ The winding has begun deteriorating. There is no problem with the performance at present. Be sure to perform periodic inspection.
1 to 10 MΩ The winding has considerably deteriorated. Special care is in need. Be sure to perform periodic inspection.
Lower than 1 MΩ
Unacceptable. Replace the motor.
3. FANUC SERVO AMPLIFIER B-65165E/02 SAFETY PRECAUTIONS series
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3 FANUC SERVO AMPLIFIER series
3. FANUC SERVO AMPLIFIER series SAFETY PRECAUTIONS B-65165E/02
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3.1 WARNINGS AND CAUTIONS RELATING TO MOUNTING 3.1.1 WARNING
- Check the specification code of the amplifier. Check that the delivered amplifier is as originally ordered.
- Mount a ground fault interrupter. To guard against fire and electric shock, fit the factory power supply or machine with a ground fault interrupter (designed for use with an inverter).
- Securely ground the amplifier. Securely connect the ground terminal and metal frame of the amplifier and motor to a common ground plate of the power magnetics cabinet.
- Be aware of the weight of the amplifier and other components. Control motor amplifiers and AC reactors are heavy. When transporting them or mounting them in the cabinet, therefore, be careful not to injured yourself or damage the equipment. Be particularly carefull not to jam your fingers between the cabinet and amplifier.
- Never ground or short-circuit either the power supply lines or power lines. Protect the lines from any stress such as bending. Handle the ends appropriately.
- Ensure that the power supply lines, power lines, and signal lines are securely connected.
- Insulate all exposed parts that are charged.
- Never touch the regenerative discharge resistor or radiator directly. The surface of the radiator and regenerative discharge unit become extremely hot. Never touch them directly. An appropriate structure should also be considered.
- Close the amplifier cover after completing the wiring. Leaving the cover open presents a danger of electric shock.
- Do not disassemble the amplifier.
3. FANUC SERVO AMPLIFIER B-65165E/02 SAFETY PRECAUTIONS series
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- Ensure that the cables used for the power supply lines and power lines are of the appropriate diameter and temperature ratings.
- Do not apply an excessively large force to plastic parts. If a plastic section breaks, it may cause internal damage, thus interfering with normal operation. The edge of a broken section is likely to be sharp and, therefore, presents a risk of injury.
3. FANUC SERVO AMPLIFIER series SAFETY PRECAUTIONS B-65165E/02
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3.1.2 CAUTION
- Do not step or sit on the amplifier. Also, do not stack unpacked amplifiers on top of each other.
- Use the amplifier in an appropriate environment. See the allowable ambient temperatures and other requirements, given in the corresponding descriptions.
- Protect the amplifier from corrosive or conductive mist or drops of water. Use a filter if necessary.
- Protect the amplifier from impact. Do not place anything on the amplifier.
- Do not block the air inlet to the radiator. A deposit of coolant, oil mist, or chips on the air inlet will result in a reduction in the cooling efficiency. In some cases, the required efficiency cannot be achieved. The deposit may also lead to a reduction in the useful life of the semiconductors. Especially, when outside air is drawn in, mount filters on both the air inlet and outlet. These filters must be replaced regularly. So, an easy-to-replace type of filter should be used.
- Before connecting the power supply wiring, check the supply voltage. Check that the supply voltage is within the range specified in this manual, then connect the power supply lines.
- Ensure that the combination of motor and amplifier is appropriate.
- Ensure that valid parameters are specified. Specifying an invalid parameter for the combination of motor and amplifier may not only prevent normal operation of the motor but also result in damage to the amplifier.
- Ensure that the amplifier and peripheral equipment are securely connected. Check that the magnetic contactor, circuit breaker, and other devices mounted outside the amplifier are securely connected to each other and that those devices are securely connected to the amplifier.
- 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.
3. FANUC SERVO AMPLIFIER B-65165E/02 SAFETY PRECAUTIONS series
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- 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.
3. FANUC SERVO AMPLIFIER series SAFETY PRECAUTIONS B-65165E/02
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3.1.3 NOTE
- Keep the nameplate clearly visible.
- Keep the legend on the nameplate clearly visible.
- After unpacking the amplifier, carefully check for any damage.
- Mount the amplifier in a location where it can be easily accessed periodic inspection and daily maintenance.
- Leave sufficient space around the machine to enable maintenance to be performed easily. Do not place any heavy objects such that they would interfere with the opening of the doors.
- Keep the parameter table and spare parts at hand. Also, keep the specifications at hand. These items must be stored in a location where they can be retrieved immediately.
- Provide adequate shielding. A cable to be shielded must be securely connected to the ground plate, using a cable clamp or the like.
3. FANUC SERVO AMPLIFIER B-65165E/02 SAFETY PRECAUTIONS series
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3.2 WARNINGS AND CAUTIONS RELATING TO A PILOT RUN 3.2.1 WARNING
- Before turning on the power, check that the cables connected to the power magnetics cabinet and amplifier, as well as the power lines and power supply lines, are securely connected. Also, check that no lines are slack.
- Before turning on the power, ensure that the power magnetics cabinet is securely grounded.
- Before turning on the power, check that the door of the power magnetics cabinet and all other doors are closed. Ensure that the door of the power magnetics cabinet containing the amplifier, and all other doors, are securely closed. During operation, all doors must be closed and locked.
- Apply extreme caution if the door of the power magnetics cabinet or another door must be opened. Only a person trained in the maintenance of the corresponding machine or equipment should open the door, and only after shutting off the power supply to the power magnetics cabinet (by opening both the input circuit breaker of the power magnetics cabinet and the factory switch used to supply power to the cabinet). If the machine must be operated with the door open to enable adjustment or for some other purpose, the operator must keep his or her hands and tools well away from any dangerous voltages. Such work must be done only by a person trained in the maintenance of the machine or equipment.
- When operating the machine for the first time, check that the machine operates as instructed. To check whether the machine operates as instructed, first specify a small value for the motor, then increase the value gradually. If the motor operates abnormally, perform an emergency stop immediately.
- After turning on the power, check the operation of the emergency stop circuit. Press the emergency stop button to check that the motor stops immediately, and that the power being supplied to the amplifier is shut off by the magnetic contactor.
- 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.
3. FANUC SERVO AMPLIFIER series SAFETY PRECAUTIONS B-65165E/02
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3.2.2 CAUTION
- Note whether an alarm status relative to the amplifier is displayed at power-up or during operation. If an alarm is displayed, take appropriate action as explained in the maintenance manual. If the work to be done requires that the door of the power magnetics cabinet be left open, the work must be carried out by a person trained in the maintenance of the machine or equipment. Note that if some alarms are forcibly reset to enable operation to continue, the amplifier may be damaged. Take appropriate action according to the contents of the alarm.
- Before operating the motor for the first time, mount and adjust the position and speed 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.
- If the motor makes any abnormal noise or vibration while operating, stop it immediately. Note that if operation is continued in spite of there being some abnormal noise or vibration, the amplifier may be damaged. Take appropriate corrective action, then resume operation.
- Observe the ambient temperature and output rating requirements. The continuous output rating or continuous operation period of some amplifiers may fall as the ambient temperature increases. If the amplifier is used continuously with an excessive load applied, the amplifier may be damaged.
3. FANUC SERVO AMPLIFIER B-65165E/02 SAFETY PRECAUTIONS series
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3.3 WARNINGS AND CAUTIONS RELATING TO MAINTENANCE 3.3.1 WARNING
- Read the maintenance manual carefully and ensure that you are totally familiar with its contents. The maintenance manual describes daily maintenance and the procedures to be followed in the event of an alarm being issued. The operator must be familiar with these descriptions.
- Notes on replacing a fuse or PC board 1) Before starting the replacement work, ensure that the circuit
breaker protecting the power magnetics cabinet is open. 2) Check that the red LED that indicates that charging is in
progress is not lit. The position of the charging LED on each model of amplifier is given in this manual. While the LED is lit, hazardous voltages are present inside the unit, and thus there is a danger of electric shock.
3) Some PC board components become extremely hot. Be careful not to touch these components.
4) Ensure that a fuse having an appropriate rating is used. 5) Check the specification code of a PC board to be replaced. If
a modification drawing number is indicated, contact FANUC before replacing the PC board. Also, before and after replacing a PC board, check its pin settings.
6) After replacing the fuse, ensure that the screws are firmly tightened. For a socket-type fuse, ensure that the fuse is inserted correctly.
7) After replacing the PC board, ensure that it is securely connected.
8) Ensure that all power lines, power supply lines, and connectors are securely connected.
- Take care not to lose any screws. When removing the case or PC board, take care not to lose any screws. If a screw is lost inside the nit and the power is turned on, the machine may be damaged.
3. FANUC SERVO AMPLIFIER series SAFETY PRECAUTIONS B-65165E/02
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- Notes on replacing the battery of the absolute pulse coder Replace the battery only while the power is on. If the battery is replaced while the power is turned off, the stored absolute positioning data will be lost. Some series servo amplifier modules have batteries in their servo amplifiers. To replace the battery of any of those models, observe the following procedure: Open the door of the power magnetics cabinet; Leave the control power of the power supply module on; Place the machine in the emergency stop state so that the power being input to the amplifier is shut off; Then, replace the battery. Replacement work should be done only by a person who is trained in the related maintenance and safety requirements. The power magnetics cabinet in which the servo amplifier is mounted has a high-voltage section. This section presents a severe risk of electric shock.
- Check the number of any alarm. If the machine stops upon an alarm being issued, check the alarm number. Some alarms indicate that a component must be replaced. If the power is reconnected without first replacing the failed component, another component may be damaged, making it difficult to locate the original cause of the alarm.
- Before resetting an alarm, ensure that the original cause of the alarm has been removed.
- Contact FANUC whenever a question relating to maintenance arises.
 Be careful not to jam your fingers between the power magnetics cabinet and amplifier.
3. FANUC SERVO AMPLIFIER B-65165E/02 SAFETY PRECAUTIONS series
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3.3.2 CAUTION
- Ensure that all required components are mounted. When replacing a component or PC board, check that all components, including the snubber capacitor, are correctly mounted. If the snubber capacitor is not mounted, for example, the IPM will be damaged.
- Tighten all screws firmly.
- Check the specification code of the fuse, PC board, and other components. When replacing a fuse or PC board, first check the specification code of the fuse or PC board, then mount it in the correct position. The machine will not operate normally if a fuse or PC board having other than the correct specification code is mounted, or if a fuse or PC board is mounted in the wrong position.
- Mount the correct cover. The cover on the front of the amplifier carries a label indicating a specification code. When mounting a previously removed front cover, take care to mount it on the unit from which it was removed.
- Notes on cleaning the heat sink and fan 1) A dirty heat sink or fan results in reduced semiconductor
cooling efficiency, which degrades reliability. Periodic cleaning is necessary.
2) Using compressed air for cleaning scatters the dust. A deposit of conductive dust on the amplifier or peripheral equipment will result in a failure.
3) To clean the heat sink, do so only after turning the power off and ensuring that the heat sink has cooled to room temperature. The heat sink becomes extremely hot, such that touching it during operation or immediately after power-off is likely to cause a burn. Be extremely careful when touching the heat sink.
3. FANUC SERVO AMPLIFIER series SAFETY PRECAUTIONS B-65165E/02
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3.3.3 NOTE
- Ensure that the battery connector is correctly inserted. If the power is shut off while the battery connector is not connected correctly, the absolute position data for the machine will be lost.
- Store the manuals in a safe place. The manuals should be stored in a location where they can be accessed immediately it so required during maintenance work.
- Notes on contacting FANUC Inform FANUC of the details of an alarm and the specification code of the amplifier so that any components required for maintenance can be quickly secured, and any other necessary action can be taken without delay.
B-65165E/02 PREFACE
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PREFACE
Organization of Parts I and II
This manual describes information necessary to maintain FANUC servo amplifier α series products, such as a power supply module, servo amplifier module, and spindle amplifier module. Part I explains the start-up procedure, and part II focuses on troubleshooting.
The abbreviations listed below are used in this manual.
Product name Abbreviations FANUC Series 0-TC FS0-TC FANUC Series 0-MC FS0-MC FANUC Series 15i, 15 FS15i, FS15 FANUC Series 16i, 16 FS16i, FS16 FANUC Series 18i, 18 FS18i, FS18 FANUC Series 20 FS20 FANUC Series 21i, 21 FS21i, FS21 FANUC Power Mate-MODEL E PM-E FANUC Power Mate-MODEL D PM-D FANUC Power Mate-MODEL F PM-F Power Supply Module PSM Servo Amplifier Module SVM Spindle Amplifier Module SPM
* In this manual, the parameter numbers of servo parameters are sometimes indicated without CNC product names as follows:
Series 16i, 18i, 21i, 16, 18, 20, 21 Power Mate MODEL D, F
1877 8x62 Overload protection coefficient (OVC1)
2062 1062
Series 0C Servo parameter function name or bit
Power Mate MODEL E
Series 15i, 15
* The manuals shown below provide information related to this manual. This manual may refer you to these manuals.
1) FANUC SERVO AMPLIFIER α series Descriptions B-65162E
2) FANUC AC SERVO MOTOR α series Parameter Manual B-65150E
3) FANUC AC SPINDLE MOTOR α series Parameter Manual B-65160E
B-65165E/02 Table of Contents
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Table of Contents
SAFETY PRECAUTIONS.................................................................. s - 1
PREFACE ......................................................................................... p - 1
I. START-UP PROCEDURE
1 OVERVIEW...................................................................................................................3
2 CONFIGURATIONS......................................................................................................4
2.1 CONFIGURATIONS......................................................................................................................... 5
2.2 MAJOR COMPONENTS.................................................................................................................. 7
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3 START-UP PROCEDURE ..........................................................................................23
3.1 START-UP PROCEDURE (OVERVIEW) ...................................................................................... 24
3.2 CONNECTING THE POWER........................................................................................................ 25
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3.3 SETTING THE PRINTED-CIRCUIT BOARD................................................................................. 27
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3.4 INITIALIZING SERVO PARAMETERS.......................................................................................... 31
4 CONFIRMATION OF THE OPERATION ....................................................................32
4.1 POWER SUPPLY MODULE.......................................................................................................... 33
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Table of Contents B-65165E/02
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4.2 SERVO AMPLIFIER MODULE ...................................................................................................... 40
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4.3 SPINDLE AMPLIFIER MODULE ................................................................................................... 49
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B-65165E/02 Table of Contents
����#
5 PERIODIC MAINTENANCE OF SERVO AMPLIFIER ................................................84
5.1 BATTERY FOR THE ABSOLUTE PULSE CODER....................................................................... 85
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II.  MOTOR MAINTENANCE
1 AC SERVO MOTOR MAINTENANCE ......................................................................209
1.1 RECEIVING AND KEEPING AC SERVO MOTORS ................................................................... 210
1.2 DAILY INSPECTION OF AC SERVO MOTORS ......................................................................... 211
1.3 PERIODIC INSPECTION OF AC SERVO MOTORS .................................................................. 213
1.4 REPLACING THE PULSE CODER ............................................................................................. 216
1.5 SPECIFICATION NUMBERS OF REPLACEMENT PARTS ....................................................... 225
2 SPINDLE MOTOR MAINTENANCE .........................................................................227
2.1 PREVENTIVE MAINTENANCE ................................................................................................... 228
2.2 MAINTENANCE PARTS.............................................................................................................. 232
2.3 PERMISSIBLE RADIAL LOAD..................................................................................................... 236
I. START-UP PROCEDURE
B-65165E/02 START-UP PROCEDURE 1. OVERVIEW
- 3 -
1 OVERVIEW This part describes the units and components of the FANUC servo amplifier α series. It also explains the following information necessary to start up the control motor amplifier: • Connecting the power • Setting the printed-circuit board • Initializing the parameter • Confirmation of the operation
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 4 -
2 CONFIGURATIONS
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 5 -
2.1 CONFIGURATIONS The FANUC servo amplifier α series consists of the units and components listed below: (1) Power supply module (PSM) (basic) (2) Servo amplifier module (SVM) (basic) (3) Spindle amplifier module (SPM) (basic) (4) AC reactor (basic) (5) Connectors (for connecting cables) (basic) (6) Fuses (basic) (7) Power transformer (option) (8) Fan adaptor (option)
The diagram below shows an example of a basic configuration of the FANUC servo amplifier α series system. The basic configuration consists of two two-axis servo amplifier modules and one spindle amplifier module.
: Standard
: Optional
: Units prepared by the machine tool builder
Power supply module
Spindle amplifier module
Servo amplifier module (2-axis)
Servo amplifier module (2-axis)
P
N
DC link (300 VDC)
PSM SPM SVM SVM
200R, 200S, PE
L1 L2 L3 PE U V W PE UL VL WL PE
UM VM WM PE
UL VL WL PE
UM VM WM
AC input for control power supply
1
1
Circuit breaker 2
(380VAC)
(415VAC)
(460VAC)
200 VAC
220 VAC
230 VAC
Power transformer
3
3
Circuit breaker
1
Magnetic contactor
AC reactor
Circuit breaker 3
Fan
Spindle motor
Servo motor
Servo motor
Servo motor
Servo motor
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 6 -
NOTE 1 Refer to the Servo Amplifier α series Descriptions
(B-65162E) for combinations of the power supply module, servo amplifier module, and spindle amplifier module.
2 Always use the circuit breakers, magnetic contactor, and AC reactor.
3 Install a surge suppressor between the power lines and between each power line and a ground at the input of the power magnetics cabinet to protect the system from lightning surge.
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 7 -
2.2 MAJOR COMPONENTS
2.2.1 Power Supply Modules
<IP_ADDRESS> α series power supply modules
(1) Power supply modules (PSM) (200 VAC input, power regeneration type), CE-marked products
Model Order specification Unit
specification Wiring board specification
Printed circuit board
specification
Driver board specification
Connector board
specification
A06B-6077-H106 (Revision B or later)
A16B-2202-0420 (Revision 05D or later)PSM-5.5
A06B-6077-H106#BM
A06B-6077- C106 (Revision B or later) A16B-2202-0423
A06B-6077-H111 (Revision B or later)
A16B-2202-0420 (Revision 05D or later)PSM-11
A06B-6077-H111#BM
A06B-6077- C111 (Revision B or later)
A16B-2202-0661
A16B-2202-0423
A06B-6087-H115 (Revision B or later)
A16B-2202-0421 (Revision 05D or later)PSM-15
A06B-6087-H115#BM
A06B-6087- C115 (Revision B or later)
A20B-1006-0470
A16B-2202-0424
A06B-6087-H126 (Revision B or later)
A16B-2202-0421 (Revision 05D or later)PSM-26
A06B-6087-H126#BM
A06B-6087- C126 (Revision B or later)
A20B-1006-0471
A16B-2202-0424
A06B-6087-H130 (Revision B or later)
A16B-2202-0421 (Revision 05D or later)PSM-30
A06B-6087-H130#BM
A06B-6087- C130 (Revision B or later) A16B-2202-0424
A06B-6087-H137 A16B-2202-0421 PSM-37
A06B-6087-H137#BM A06B-6087- C137
A20B-1006-0472
A16B-2202-0424
A20B-2902- 0390
A20B-1006-0680 A06B-6087-H145
A20B-1007-0650 A16B-2202-0421
A20B-1006-0680 PSM-45
A06B-6087-H145#BM
A06B-6087- C145
A20B-1007-0650 A16B-2202-0424
A06B-6087-H155 A16B-2202-0421 PSM-55
A06B-6087-H155#BM
A06B-6087- C155
A20B-1007-0650 A16B-2202-0424
A20B-2002- 0080
* The PSM-45 has been replaced by the PSM-55 (as of August 1999).
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 8 -
(2) Power supply modules (PSMR) (200 VAC input, resistance discharge type), CE-marked products
Model Order specification Unit specification Wiring board specification
Printed circuit board specification
PSMR-3 A06B-6081-H103 (Revision C or later)
A06B-6081-C103 A16B-2202-0542 (Revision 06B or later)
A16B-2001-0890
PSMR-5.5 A06B-6081-H106 (Revision C or later)
A06B-6081-C106 A16B-2202-0541 (Revision 06B or later)
A16B-2001-0890
(3) Power supply modules (PSM) (200 VAC input, power regeneration type), CE-marked products
Model Order
specification Unit
specification Wiring board specification
Printed circuit board
specification
Driver board specification
Connector board
specification A16B-2202-0460
PSM-5.5 A06B-6077-H106 (Revision A)
A06B-6077-C106 (Revision A) A16B-2202-0461
PSM-11 A06B-6077-H111 (Revision A)
A06B-6077-C111 (Revision A)
A16B-2202-0461
A16B-2202-0420 (Revision 04C or earlier)
A06B-6077-H115 A06B-6071-C112 A20B-1005-0591 A16B-2202-0080 A20B-2001- 0011
A20B-2001- 0130
PSM-15 A06B-6087-H115 (Revision A)
A06B-6087-C115 (Revision A)
A20B-1006-0160 A16B-2202-0421 (Revision 04C or earlier)
A20B-2902- 0280
A06B-6077-H126 A06B-6071-C122 A20B-1005-0590 A16B-2202-0080 A20B-2001- 0011
A20B-2001- 0130
PSM-26 A06B-6087-H126 (Revision B or earlier)
A06B-6087-C126 (Revision B or earlier)
A20B-1006-0161 A16B-2202-0421 (Revision 04C or earlier)
A20B-2902- 0280
A06B-6077-H130 A06B-6071-C126 A20B-1005-0592 A16B-2202-0080 A20B-2001- 0011
A20B-2001- 0130
PSM-30 A06B-6087-H130 (Revision B or earlier)
A06B-6087-C130 (Revision B or earlier)
A20B-1006-0162 A16B-2202-0421 (Revision 04C or earlier)
A20B-2902- 0280
(4) Power supply modules (PSMR) (200 VAC input, resistance discharge type), CE-marked products
Model Order specification Unit specification Wiring board specification
Printed circuit board specification
PSMR-3 A06B-6081-H103 (Revision B or earlier)
A06B-6081-C103 (Revision B or earlier)
A16B-2202-0542 (Revision 05A or earlier)
A16B-2300-0100
PSMR-5.5 A06B-6081-H106 (Revision B or earlier)
A06B-6081-C106 (Revision B or earlier)
A16B-2202-0541 (Revision 05A or earlier)
A16B-2300-0100
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 9 -
<IP_ADDRESS> α (HV) series power supply modules
(1) Power supply modules (PSM-HV) (400 VAC input, power regeneration type)
Model Order specification Unit specification Wiring board specification
Driver board specification
Printed circuit board
specification
PSM-18HV A06B-6091-H118 A06B-6091-C118 A20B-1006-0611
PSM-30HV A06B-6091-H130 A06B-6091-C130 A20B-1006-0610 PSM-45HV A06B-6091-H145 A06B-6091-C145 A20B-1006-0612
A20B-1006-0681 PSM-75HV A06B-6091-H175 A06B-6091-C175
A20B-1007-0651
A20B-2002-0080 A16B-2202-0422
(2) Capacitor modules (PSMC-HV) (for the PSM-HV series)
Model Order specification Unit specification Capacitor specification
PSMC-18HV A06B-6083-H218 A06B-6083-C218 A42L-0001-0340 (× 2) PSMC-30HV A06B-6083-H230 A06B-6083-C230 A42L-0001-0314 (× 2) PSMC-45HV A06B-6083-H245 A06B-6083-C245 A42L-0001-0322 (× 2)
(3) Power supply module (PSMV-HV) (400 VAC input, 300 VDC output, power regeneration type)
Model Order specification Unit specification Wiring board specification
Driver board specification
Printed circuit board
specification
PSMV-11HV A06B-6098-H111 A06B-6098-C111 A20B-1007-0200 A20B-2002-0530 A16B-2203-0220
(4) AC reactor unit (PSMV-HV)
Order specification Unit specification AC reactor Fuse
A06B-6098-H001 A06B-6098-C001 A81L-0001-0144 A60L-0001-0362#100U
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 10 -
2.2.2 Servo Amplifier Modules
<IP_ADDRESS> 200-V input series
(1) Single-axis servo amplifier modules (interface: Type A/B)
Model Order
specification Wiring board specification
Printed circuit board
specification Remarks
SVM1-2 A06B-6079-H121 A16B-2202-0742
SVM1-4 A06B-6079-H122 A16B-2202-0743
SVM1-12 A06B-6079-H101 A16B-2202-0740
SVM1-20 A06B-6079-H102 A16B-2202-0741
SVM1-40S A06B-6079-H103 A16B-2203-0450 (A16B-2202-0760)
Enclosed in parentheses are the drawing numbers of the old specifications.
SVM1-40L A06B-6079-H104 A16B-2203-0451 (A16B-2202-0761)
SVM1-80 A06B-6079-H105 A16B-2203-0452 (A16B-2202-0762)
A20B-2001-0930
SVM1-130 A06B-6079-H106 A16B-2203-0454 (A16B-2202-0790)
A20B-2001-0932
SVM1-240 A06B-6079-H107 A20B-1006-0485 A16B-2202-0990
SVM1-360 A06B-6079-H108 A20B-1006-0485 A16B-2202-0991
(2) Two-axis servo amplifier modules (interface: Type A/B)
Model Order
specification Wiring board specification
Printed circuit board
specification Remarks
SVM2-3/3 A06B-6079-H291 A16B-2202-0753
SVM2-12/12 A06B-6079-H201 A16B-2202-0750
SVM2-12/20 A06B-6079-H202 A16B-2202-0751
SVM2-20/20 A06B-6079-H203 A16B-2202-0752
SVM2-12/40 A06B-6079-H204 A16B-2203-0590 (A16B-2202-0770)
Enclosed in parentheses are the drawing numbers of the old specifications.
SVM2-20/40 A06B-6079-H205 A16B-2203-0591 (A16B-2202-0771)
SVM2-40/40 A06B-6079-H206 A16B-2203-0592 (A16B-2202-0772)
A20B-2001-0931
SVM2-40/80 A06B-6079-H207 A16B-2203-0593 (A16B-2202-0773)
SVM2-80/80 A06B-6079-H208 A16B-2203-0594 (A16B-2202-0774)
SVM2-40L/40L A06B-6079-H209 A16B-2203-0595 (A16B-2202-0775)
A20B-2001-0933
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 11 -
(3) Three-axis servo amplifier modules (interface: Type A)
Model Order
specification Wiring board specification
Printed circuit board
specification Remarks
SVM3-12/12/12 A06B-6079-H301 A16B-2202-0780
SVM3-12/12/20 A06B-6079-H302 A16B-2202-0781
SVM3-12/20/20 A06B-6079-H303 A16B-2202-0782
SVM3-20/20/20 A06B-6079-H304 A16B-2202-0783
SVM3-12/12/40 A06B-6079-H305 A16B-2202-0784
SVM3-12/20/40 A06B-6079-H306 A16B-2202-0785
SVM3-20/20/40 A06B-6079-H307 A16B-2202-0786
A20B-2001-0940
(4) Three-axis servo amplifier modules (interface: Type B)
Model Order
specification Wiring board specification
Printed circuit board
specification Remarks
SVM3-12/12/12 A06B-6080-H301 A16B-2202-0780
SVM3-12/12/20 A06B-6080-H302 A16B-2202-0781
SVM3-12/20/20 A06B-6080-H303 A16B-2202-0782
SVM3-20/20/20 A06B-6080-H304 A16B-2202-0783
SVM3-12/12/40 A06B-6080-H305 A16B-2202-0784
SVM3-12/20/40 A06B-6080-H306 A16B-2202-0785
SVM3-20/20/40 A06B-6080-H307 A16B-2202-0786
A20B-2001-0950
(5) Single-axis servo amplifier module (interface: FSSB)
Model Order
specification Wiring board specification
Printed circuit board
specification Remarks
SVM1-2 A06B-6096-H121 A16B-2202-0742
SVM1-4 A06B-6096-H122 A16B-2202-0743
SVM1-12 A06B-6096-H101 A16B-2202-0740
SVM1-20 A06B-6096-H102 A16B-2202-0741
A20B-2100-0540 (A20B-2100-0250)
When using HRV3, use the following boards together: Wiring board: A16B-2202-074X Printed circuit board:
A20B-2100-054X
SVM1-40S A06B-6096-H103 A16B-2203-0450 (A16B-2202-0760)
SVM1-40L A06B-6096-H104 A16B-2203-0451 (A16B-2202-0761)
SVM1-80 A06B-6096-H105 A16B-2203-0452 (A16B-2202-0762)
SVM1-130S A06B-6096-H116 A16B-2203-0453
A20B-2100-0540 (A20B-2100-0250)
SVM1-130 A06B-6096-H106 A16B-2203-0454 (A16B-2202-0790)
A20B-2100-0542 (A20B-2100-0252)
When using HRV3, use the following boards together: Wiring board: A16B-2203-045X Printed circuit board:
A20B-2100-054X
SVM1-240 A06B-6096-H107 A20B-1006-0485 A16B-2203-0300
SVM1-360 A06B-6096-H108 A20B-1006-0485 A16B-2203-0301
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 12 -
(6) Two-axis servo amplifier modules (interface: FSSB)
Model Order
specification Wiring board specification
Printed circuit board
specification Remarks
SVM2-3/3 A06B-6096-H291 A16B-2202-0753
SVM2-12/12 A06B-6096-H201 A16B-2202-0750
SVM2-12/20 A06B-6096-H202 A16B-2202-0751
SVM2-20/20 A06B-6096-H203 A16B-2202-0752
A20B-2100-0541 (A20B-2100-0251)
When using HRV3, use the following boards together: Wiring board: A16B-2202-075X Printed circuit board:
A20B-2100-054X
SVM2-12/40 A06B-6096-H204 A16B-2203-0590 (A16B-2202-0770)
SVM2-20/40 A06B-6096-H205 A16B-2203-0591 (A16B-2202-0771)
SVM2-40/40 A06B-6096-H206 A16B-2203-0592 (A16B-2202-0772)
A20B-2100-0541 (A20B-2100-0251)
SVM2-40/80 A06B-6096-H207 A16B-2203-0593 (A16B-2202-0773)
SVM2-80/80 A06B-6096-H208 A16B-2203-0594 (A16B-2202-0774)
SVM2-40L/40L A06B-6096-H209 A16B-2203-0595 (A16B-2202-0775)
A20B-2100-0543 (A20B-2100-0253)
When using HRV3, use the following boards together: Wiring board: A16B-2203-059X Printed circuit board:
A20B-2100-054X
(7) Three-axis servo amplifier modules (interface: FSSB)
Model Order
specification Wiring board specification
Printed circuit board
specification Remarks
SVM3-12/12/12 A06B-6096-H301 A16B-2202-0780
SVM3-12/12/20 A06B-6096-H302 A16B-2202-0781
SVM3-12/20/20 A06B-6096-H303 A16B-2202-0782
SVM3-20/20/20 A06B-6096-H304 A16B-2202-0783
SVM3-12/12/40 A06B-6096-H305 A16B-2202-0784
SVM3-12/20/40 A06B-6096-H306 A16B-2202-0785
SVM3-20/20/40 A06B-6096-H307 A16B-2202-0786
A20B-2100-0260
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 13 -
<IP_ADDRESS> 400-V input series
(1) Single-axis servo amplifier modules (interface: Type A/B)
Model Order
specification Wiring board specification
Printed circuit board
specification Remarks
SVM1-20HV A06B-6085-H102 A16B-2202-0800
SVM1-40HV A06B-6085-H103 A16B-2202-0801
SVM1-60HV A06B-6085-H104 A16B-2202-0802
A20B-2001-0932
(2) Two-axis servo amplifier modules (interface: Type A/B)
Model Order
specification Wiring board specification
Printed circuit board
specification Remarks
SVM2-20/20HV A06B-6085-H201 A16B-2203-0210
SVM2-20/40HV A06B-6085-H202 A16B-2203-0211
SVM2-20/60HV A06B-6085-H203 A16B-2203-0212
SVM2-40/40HV A06B-6085-H204 A16B-2203-0213
SVM2-40/60HV A06B-6085-H205 A16B-2203-0214
SVM2-60/60HV A06B-6085-H206 A16B-2203-0215
A20B-2001-0933
(3) Single-axis servo amplifier modules (interface: FSSB)
Model Order
specification Wiring board specification
Printed circuit board
specification Remarks
SVM1-20HV A06B-6097-H102 A16B-2202-0800
SVM1-40HV A06B-6097-H103 A16B-2202-0801
SVM1-60HV A06B-6097-H104 A16B-2202-0802 Enclosed in parentheses is the drawing number of the old specification.
SVM1-80HV A06B-6097-H105 A16B-2202-0803
A20B-2100-0542 (A20B-2100-0252)
SVM1-320HV A06B-6097-H107 A20B-1007-0592 A16B-2203-0301
(4) Two-axis servo amplifier modules (interface: FSSB)
Model Order
specification Wiring board specification
Printed circuit board
specification Remarks
SVM2-20/20HV A06B-6097-H201 A16B-2203-0210
SVM2-20/40HV A06B-6097-H202 A16B-2203-0211
SVM2-20/60HV A06B-6097-H203 A16B-2203-0212
SVM2-40/40HV A06B-6097-H204 A16B-2203-0213 Enclosed in parentheses is the drawing number of the old specification.
SVM2-40/60HV A06B-6097-H205 A16B-2203-0214
SVM2-60/60HV A06B-6097-H206 A16B-2203-0215
A20B-2100-0543 (A20B-2100-0253)
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 14 -
2.2.3 Spindle Amplifier Modules
<IP_ADDRESS> α series spindle amplifier modules
The order specification varies according to the detector (function) used.
(1) α series spindle amplifier modules (SPM) type 1 (standard specification)
New specification (supporting spindle HRV control), CE-marked products
Model Order specification Unit specification Wiring board specification
Printed circuit board
specification ROM (series)
SPM-2.2 A06B-6102-H202#H520 A06B-6102-H202 A16B-2202-0680 A16B-2203-0500 SPM-5.5 A06B-6102-H206#H520 A06B-6102-H206 A16B-2202-0681 SPM-11 A06B-6102-H211#H520 A06B-6102-H211 A16B-2202-0682
A16B-2203-0501
SPM-15 A06B-6102-H215#H520 A06B-6102-H215 A20B-1006-0486 A20B-2902-0390
SPM-22 A06B-6102-H222#H520 A06B-6102-H222 A20B-1006-0487 A20B-2902-0390
SPM-26 A06B-6102-H226#H520 A06B-6102-H226 A20B-1006-0488 A20B-2902-0390
SPM-30 A06B-6102-H230#H520 A06B-6102-H230 A20B-1006-0489 A20B-2902-0390
SPM-45 A06B-6102-H245#H520 A06B-6102-H245 A20B-1007-0591 A20B-2002-0080
SPM-55 A06B-6102-H255#H520 A06B-6102-H255 A20B-1007-0590 A20B-2002-0081
A16B-2203-0502
A06B-6102-H520 (9D20)
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 15 -
CE-marked products
Model Order specification Unit specification Wiring board
specification(*1)
Printed circuit board
specification(*1) ROM (series)
SPM-2.2 A06B-6078-H202#H500 A06B-6078-H202 A16B-2202-0680 A16B-2203-0330 (A16B-2202-0430)
SPM-5.5 A06B-6078-H206#H500 A06B-6078-H206 A16B-2202-0681 SPM-11 A06B-6078-H211#H500 A06B-6078-H211 A16B-2202-0682
A16B-2203-0331 (A16B-2202-0431)
SPM-15 A06B-6088-H215#H500 A06B-6088-H215 A20B-1006-0486 (A20B-1006-0480) A20B-2902-0390
SPM-22 A06B-6088-H222#H500 A06B-6088-H222 A20B-1006-0487 (A20B-1006-0481) A20B-2902-0390
SPM-26 A06B-6088-H226#H500 A06B-6088-H226 A20B-1006-0488 (A20B-1006-0482) A20B-2902-0390
SPM-30 A06B-6088-H230#H500 A06B-6088-H230 A20B-1006-0489 (A20B-1006-0483) A20B-2902-0390
SPM-45 A06B-6088-H245#H500 A06B-6088-H245 A20B-1007-0591 (A20B-1006-0690) A20B-2002-0080
A16B-2203-0332 (A16B-2202-0432)
A06B-6072-H500 (9D00, 9D0A)
*1 Enclosed in parentheses are the drawing numbers of the old specifications.
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 16 -
Non-CE-marked products
Model Order specification Unit specification Wiring board specification
Printed circuit board
specification(*1) ROM (series)
SPM-2.2 A06B-6078-H202#H500 A06B-6078-H202 A16B-2202-0470 A16B-2203-0330 (A16B-2202-0430)
SPM-5.5 A06B-6078-H206#H500 A06B-6078-H206 A16B-2202-0471 SPM-11 A06B-6078-H211#H500 A06B-6078-H211 A16B-2202-0472
A16B-2203-0331 (A16B-2202-0431)
SPM-15 A06B-6088-H215#H500 A06B-6088-H215 A20B-1006-0170 A20B-2902-0280
SPM-22 A06B-6088-H222#H500 A06B-6088-H222 A20B-1006-0171 A20B-2902-0280
SPM-26 A06B-6088-H226#H500 A06B-6088-H226 A20B-1006-0172 A20B-2902-0280
A16B-2203-0332 (A16B-2202-0432)
A06B-6072-H500 (9D00, 9D0A)
Non-CE-marked products (old specifications)
Model Order specification Unit specification Wiring board specification
Printed circuit board
specification ROM (series)
SPM-15 A06B-6078-H215#H500 A06B-6078-H215 A20B-1005-0572 A20B-2001-0010
SPM-22 A06B-6078-H222#H500 A06B-6078-H222 A20B-1005-0571 A20B-2001-0010
SPM-26 A06B-6078-H226#H500 A06B-6078-H226 A20B-1005-0570 A20B-2001-0010
SPM-30 A06B-6078-H230#H500 A06B-6078-H230 A20B-1005-0575 A20B-2001-0010
A16B-2202-0070 A20B-2001-0150 A20B-2901-0851
A06B-6072-H500 (9D00, 9D0A)
Applicable detectors <1> M sensor (pulse generator), position coder, magnetic sensor <2> MZ sensor (sensor built into a motor)
*1 Enclosed in parentheses are the drawing numbers of the old specifications.
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 17 -
(2) α series spindle amplifier modules (SPM), type 2 (Cs contour control/BZ sensor (separate built-in sensor) specification)
CE-marked products
Model Order specification Unit specification Wiring board
specification(*1)
Printed circuit board
specification ROM (series)
SPM-2.2 A06B-6078-H302#H500 A06B-6078-H302 A16B-2202-0680 A16B-2202-0433 A20B-2901-0851
SPM-5.5 A06B-6078-H306#H500 A06B-6078-H306 A16B-2202-0681 SPM-11 A06B-6078-H311#H500 A06B-6078-H311 A16B-2202-0682
A16B-2202-0434 A20B-2901-0851
SPM-15 A06B-6088-H315#H500 A06B-6088-H315 A20B-1006-0486 (A20B-1006-0480) A20B-2902-0390
SPM-22 A06B-6088-H322#H500 A06B-6088-H322 A20B-1006-0487 (A20B-1006-0481) A20B-2902-0390
SPM-26 A06B-6088-H326#H500 A06B-6088-H326 A20B-1006-0488 (A20B-1006-0482) A20B-2902-0390
SPM-30 A06B-6088-H330#H500 A06B-6088-H330 A20B-1006-0489 (A20B-1006-0483) A20B-2902-0390
SPM-45 A06B-6088-H345#H500 A06B-6088-H345 A20B-1007-0591 (A20B-1006-0690) A20B-2002-0080
A16B-2202-0435 A20B-2901-0851
A06B-6072-H500 (9D00, 9D0A)
Non-CE-marked products
Model Order specification Unit specification Wiring board specification
Printed circuit board
specification ROM (series)
SPM-2.2 A06B-6078-H302#H500 A06B-6078-H302 A16B-2202-0470 A16B-2202-0433 A20B-2901-0851
SPM-5.5 A06B-6078-H306#H500 A06B-6078-H306 A16B-2202-0471 SPM-11 A06B-6078-H311#H500 A06B-6078-H311 A16B-2202-0472
A16B-2202-0434 A20B-2901-0851
SPM-15 A06B-6088-H315#H500 A06B-6088-H315 A20B-1006-0170 A20B-2902-0280
SPM-22 A06B-6088-H322#H500 A06B-6088-H322 A20B-1006-0171 A20B-2902-0280
SPM-26 A06B-6088-H326#H500 A06B-6088-H326 A20B-1006-0172 A20B-2902-0280
A16B-2202-0435 A20B-2901-0851
A06B-6072-H500 (9D00, 9D0A)
*1 Enclosed in parentheses are the drawing numbers of the old specifications.
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 18 -
Non-CE-marked products (old specification)
Model Order specification Unit specification Wiring board specification
Printed circuit board
specification ROM (series)
SPM-15 A06B-6078-H315#H500 A06B-6078-H315 A20B-1005-0572 A20B-2001-0010
SPM-22 A06B-6078-H322#H500 A06B-6078-H322 A20B-1005-0571 A20B-2001-0010
SPM-26 A06B-6078-H326#H500 A06B-6078-H326 A20B-1005-0570 A20B-2001-0010
SPM-30 A06B-6078-H230#H500 A06B-6078-H330 A20B-1005-0575 A20B-2001-0010
A16B-2202-0160 A20B-2001-0140 A20B-2901-0851
A06B-6072-H500 (9D00, 9D0A)
Applicable detectors <1> M sensor (pulse generator) + BZ sensor (separate built-in
sensor) (use of position coder signals only) <2> High-resolution magnetic pulse coder (for motor only) <3> High-resolution magnetic pulse coder (for motor and
spindle) <4> High-resolution position coder + high-resolution magnetic
pulse coder (for motor only)
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 19 -
(3) α series spindle amplifier modules (SPM), type 3 (spindle switching control/differential speed control specification)
CE-marked products
Model Order specification Unit specification Wiring board
specification(*1)
Printed circuit board
specification ROM (series)
SPM-11 A06B-6088-H411#H500 A06B-6088-H411 A20B-1006-0484 A20B-2902-0390
SPM-15 A06B-6088-H415#H500 A06B-6088-H415 A20B-1006-0486 (A20B-1006-0480) A20B-2902-0390
SPM-22 A06B-6088-H422#H500 A06B-6088-H422 A20B-1006-0487 (A20B-1006-0481) A20B-2902-0390
SPM-26 A06B-6088-H426#H500 A06B-6088-H426 A20B-1006-0488 (A20B-1006-0482) A20B-2902-0390
SPM-30 A06B-6088-H430#H500 A06B-6088-H430 A20B-1006-0489 (A20B-1006-0483) A20B-2902-0390
SPM-45 A06B-6088-H445#H500 A06B-6088-H445 A20B-1007-0591 (A20B-1006-0690) A20B-2002-0080
A16B-2202-0440 A20B-2001-0700 A20B-2901-0851
A06B-6072-H500 (9D00, 9D0A)
Non-CE-marked products
Model Order specification Unit specification Wiring board specification
Printed circuit board
specification ROM (series)
SPM-11 A06B-6078-H411#H500 A06B-6078-H411 A20B-1005-0574 A20B-2001-0010
SPM-15 A06B-6078-H415#H500 A06B-6078-H415 A20B-1005-0572 A20B-2001-0010
SPM-22 A06B-6078-H422#H500 A06B-6078-H422 A20B-1005-0571 A20B-2001-0010
SPM-26 A06B-6078-H426#H500 A06B-6078-H426 A20B-1005-0570 A20B-2001-0010
SPM-30 A06B-6078-H430#H500 A06B-6078-H430 A20B-1005-0575 A20B-2001-0010
A16B-2202-0160 A20B-2001-0140 A20B-2901-0851
A06B-6072-H500 (9D00, 9D0A)
Applicable functions <1> Spindle switching control (switching of speed only or
switching of speed and position) <2> Spindle switching control (switching of MZ sensor (built-in
sensor)) <3> Differential speed control (position coder signal input
circuit)
*1 Enclosed in parentheses are the drawing numbers of the old specifications.
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 20 -
(4) α series spindle amplifier modules (SPM), type 4 (α sensor Cs contour control)
New specification (supporting spindle HRV control), CE-marked products
Model Order specification Unit specification Wiring board specification
Printed circuit board
specification ROM (series)
SPM-2.2 A06B-6102-H102#H520 A06B-6102-H102 A16B-2202-0680 A16B-2203-0503 A20B-2902-0620
SPM-5.5 A06B-6102-H106#H520 A06B-6102-H106 A16B-2202-0681 SPM-11 A06B-6102-H111#H520 A06B-6102-H111 A16B-2202-0682
A16B-2203-0504 A20B-2902-0620
SPM-15 A06B-6102-H115#H520 A06B-6102-H115 A20B-1006-0486 A20B-2902-0390
SPM-22 A06B-6102-H122#H520 A06B-6102-H122 A20B-1006-0487 A20B-2902-0390
SPM-26 A06B-6102-H126#H520 A06B-6102-H126 A20B-1006-0488 A20B-2902-0390
SPM-30 A06B-6102-H130#H520 A06B-6102-H130 A20B-1006-0489 A20B-2902-0390
SPM-45 A06B-6102-H145#H520 A06B-6102-H145 A20B-1007-0591 A20B-2002-0080
SPM-55 A06B-6102-H155#H520 A06B-6102-H155 A20B-1007-0590 A20B-2002-0081
A16B-2203-0505 A20B-2902-0620
A06B-6102-H520 (9D20)
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 21 -
CE-marked products
Model Order specification Unit specification Wiring board
specification(*1)
Printed circuit board
specification(*1) ROM (series)
SPM-2.2 A06B-6078-H102#H500 A06B-6078-H102 A16B-2202-0680
A16B-2202-0433 Overall revision 16E or later A20B-2902-0620 (A20B-2902-0610)
SPM-5.5 A06B-6078-H106#H500 A06B-6078-H106 A16B-2202-0681
SPM-11 A06B-6078-H111#H500 A06B-6078-H111 A16B-2202-0682
A16B-2202-0434 Overall revision 16E or later A20B-2902-0620 (A20B-2902-0610)
SPM-15 A06B-6088-H115#H500 A06B-6088-H115 A20B-1006-0486 (A20B-1006-0480) A20B-2902-0390
SPM-22 A06B-6088-H122#H500 A06B-6088-H122 A20B-1006-0487 (A20B-1006-0481) A20B-2902-0390
SPM-26 A06B-6088-H126#H500 A06B-6088-H126 A20B-1006-0488 (A20B-1006-0482) A20B-2902-0390
SPM-30 A06B-6088-H130#H500 A06B-6088-H130 A20B-1006-0489 (A20B-1006-0483) A20B-2902-0390
SPM-45 A06B-6088-H145#H500 A06B-6088-H145 A20B-1007-0591 (A20B-1006-0690) A20B-2002-0080
A16B-2202-0435 Overall revision 13C or later A20B-2902-0620 (A20B-2902-0610)
A06B-6072-H500 (9D00, 9D0A)
Applicable detectors <1> MZ sensor (sensor built into a motor) <2> MZ sensor (sensor built into a motor) + BZ sensor (separate
built-in sensor)
*1 Enclosed in parentheses are the drawing numbers of the old specifications.
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
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2.2.4 Power-Failure Backup Modules
(1) Power-failure backup modules
Order specification Wiring board specification
Printed circuit board specification
Remarks
A06B-6077-H001 A16B-2203-0360 A20B-2002-0790 Without the control power supply backup function
A06B-6077-H002 A16B-2203-0510 A20B-2003-0020 With the control power supply backup function
(2) Sub-module C (auxiliary capacitor unit)
Order specification Unit specification Capacitor specification
A06B-6077-H010 A06B-6077-C010 A42L-0001-0375 (× 2)
B-65165E/02 START-UP PROCEDURE 3. START-UP PROCEDURE
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3 START-UP PROCEDURE
3. START-UP PROCEDURE START-UP PROCEDURE B-65165E/02
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3.1 START-UP PROCEDURE (OVERVIEW) Make sure that the specifications of the CNC, servo motors, servo amplifiers, and other units you received are exactly what you ordered, and these units are connected correctly. Then, turn on the power.
(1) Before turning on the circuit breaker, check the power supply voltage connected. → See Section 3.2.
(2) Some types of PSM, SVM, and SPM require settings before the system can be used. So check whether you must make settings. → See Section 3.3.
(3) Turn on the power, and set initial parameters on the CNC.
For the initialization of servo parameters, refer to the following manual: FANUC AC SERVO MOTOR α series Parameter Manual (B-65150E)
For the initialization of spindle parameters, refer to the following manual: FANUC AD SPINDLE MOTOR α series Parameter Manual (B-65160E)
(4) For start-up adjustment and troubleshooting, see Chapter 4. • Method of using optional wiring boards for adjustment of the
PSM, SVM, and SPM • Spindle sensor adjustment values
B-65165E/02 START-UP PROCEDURE 3. START-UP PROCEDURE
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3.2 CONNECTING THE POWER
3.2.1 Checking The Voltage And Capacity Of The Power
Before connecting the power, you should measure the AC power voltage.
Table 3.2.1(1) Action for the AC power (200-V input type)
AC power voltage
Nominal voltage
Action
170 to 220 V 210 to 253 V
200 V 230 V
These power lines can be connected directly to the system. Note) If the voltage is below the rated value, the
rated output may not be obtained. 254 V or more
380 to 550 V This power line must be connected through an insulation transformer to step down the voltage to 200 V.
Table 3.2.1(2) Action for the AC power (400-V input type)
AC power voltage
Nominal voltage
Action
340 to 440 V 391 to 506 V
400 V 460 V
These power lines can be connected directly to the system. Note) If the voltage is below the rated value, the
rated output may not be obtained. 507 V or more
480 to 550 V This power line must be connected through an insulation transformer to step down the voltage to 400 V.
Table 3.2.1 (3) to (5) list the input power specification for the power supply module. Use a power source with sufficient capacity so that the system will not malfunction due to a voltage drop even at a time of peak load. Make sure that the AC power voltage value including voltage fluctuation at a time of peak load is within the range specified in the above table.
Table 3.2.1 (3) AC power voltage specifications
Model PSMR
-3 PSMR
-5.5 PSM -5.5
PSM -11
PSM -15
PSM -26
PSM -30
PSM -37
PSM -45
PSM -55
Nominal voltage rating 200/220/230 VAC -15%, +10% Power source frequency 50/60 Hz ±1 Hz
Power source capacity (for the main circuit) [kVA]
5 12 9 17 22 37 44 53 64 79
Power source capacity (for the control circuit) [kVA]
0.5 0.7
3. START-UP PROCEDURE START-UP PROCEDURE B-65165E/02
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Table 3.2.1 (4) AC power voltage specifications (for the main circuit)
Model PSMV-11HV PSM-18HV PSM-30HV PSM-45HV PSM-75HV Nominal voltage rating 400/460 VAC -15%, +10%
Power source frequency 50/60 Hz ±1 Hz Power source capacity
[kVA] 31 26 44 64 107
Table 3.2.1 (5) AC power voltage specifications (for the control circuit)
Model PSMV-11HV PSM-18HV PSM-30HV PSM-45HV PSM-75HV Nominal voltage rating 200/220/230 VAC -15%, +10%
Power source frequency 50/60 Hz ±1 Hz Power source capacity
[kVA] 0.7
3.2.2 Connecting A Protective Ground
Refer to the items in Chapter 5, "Installation," in "FANUC SERVO AMPLIFIER α series Descriptions" B-65162E, and check that the protective ground line is connected correctly.
3.2.3 Selecting The Ground Fault Interrupter That Matches The Leakage Current
Refer to the items in Chapter 5, "Installation," in "FANUC SERVO AMPLIFIER α series Descriptions" B-65162E, and check that a correct ground fault interrupter is selected.
B-65165E/02 START-UP PROCEDURE 3. START-UP PROCEDURE
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3.3 SETTING THE PRINTED-CIRCUIT BOARD Before supplying power, set the printed-circuit board as listed below.
3.3.1 Power Supply Module
Checking the DIP switch setting (1) CE-marked products
Model DIP switch Position Description S1 SHORTPSM-5.5 to 11 S2 OPEN(*1) S1 SHORTPSM-15 to 55 S2 OPEN S1 SHORTPSM-18HV to
75HV S2 OPEN
Do not change the setting of the DIP switches because they were already set at the factory.
*1 This setting has been made in shipments after January, 2000. In earlier products, this switch was factory-set to SHORT.
(2) Non-CE-marked products
Model DIP switch Position Description S1 SHORTPSM-5.5 to 11 S2 OPEN S1 SHORTPSM-15 to 30 S2 OPEN
Do not change the setting of the DIP switches because they were already set at the factory.
3. START-UP PROCEDURE START-UP PROCEDURE B-65165E/02
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3.3.2 Servo Amplifier Module (1) Checking the jumper plug setting (for SVM1 and SVM2)
Set the servo amplifier module to either interface type A or B with the jumper plugs.
Move the jumper plugs as required. If you cannot pull out a jumper plug with your thumb and finger, use long-nose pliers or the like.
FANUC
S1
S2
FUSE
Jumper plug S1 S2
Description
SHORT OPEN With this setting, the servo amplifier module can operate with the CNC (such as FS0, FS15, FS16, FS18, or PM- D) designed for operation with interface type A. In this case the JV*B connector is used.
OPEN SHORT With this setting, the servo amplifier module can operate with the CNC (such as FS20 or FS21-G) designed for operation with interface type B. In this case the JS*B and JF* connectors are used.
NOTE There is no jumper plug or DIP switch on the three- axis servo amplifier module. The specification of the servo amplifier module determines the type (A or B) of the interface with which it can operate.
(2) Mounting the batteries for the ABS pulse coder
See Sec. I.5.1.
B-65165E/02 START-UP PROCEDURE 3. START-UP PROCEDURE
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3.3.3 Spindle Amplifier Module
<IP_ADDRESS> α series spindle amplifier module (SPM)
This type of modules do not have a DIP switch except the modules of which specification drawing numbers are A06B-6072-H***#00xx (D series spindle amplifier modules) and A06B-6078-H***#H5xx (non- CE-marked α series spindle amplifier modules).
Location of the DIP switch
DIP switch S7
SW
S1
F2 5A
DIP switch
Switch setting (factory-set to the
underlined position) Description
ONS1 OFF
If two SPMs are connected to one serial interface cable, S1 is set to ON in one SPM, and to OFF in the other.
ONS2 OFF
If an analog filter is used at the load meter output, S2 is set to ON. If not, it is set to OFF.
ONS3 OFF
If an analog filter is used at the speedometer output, S3 is set to ON. If not, it is set to OFF.
S4:ON, S5:OFF Reference switch of NPN type (pull up)
S4:OFF, S5:OFF Reference switch of PNP type (pull down)
S4 S5
S4:OFF, S5:OFF The external reference signal receive function.
Reference switch (external reference signal receive function) setting for the main spindle
S6:ON, S7:OFF Reference switch of NPN type (pull up)
S6:OFF, S7:OFF Reference switch of PNP type (pull down)
S6 S7
S6:OFF, S7:OFF The external reference signal receive function is not used.
Reference switch (external reference signal receive function) setting for the sub-spindle
3. START-UP PROCEDURE START-UP PROCEDURE B-65165E/02
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<IP_ADDRESS> α (HV) series spindle amplifier module (SPM-HV)
This module does not have a DIP switch.
<IP_ADDRESS> αC series spindle amplifier module (SPMC)
This module does not have a DIP switch.
B-65165E/02 START-UP PROCEDURE 3. START-UP PROCEDURE
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3.4 INITIALIZING SERVO PARAMETERS (1) Servo amplifier module
For the initialization of servo parameters, refer to the following manual: FANUC AC SERVO MOTOR α series Parameter Manual (B-65150E)
(2) Spindle amplifier module For the initialization of spindle parameters, refer to the following manual: FANUC AC SPINDLE MOTOR α series Parameter Manual (B-65160E)
4. CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65165E/02
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4 CONFIRMATION OF THE OPERATION
4. CONFIRMATION OF B-65165E/02 START-UP PROCEDURE THE OPERATION
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4.1 POWER SUPPLY MODULE Check each item according to the procedure described below.
5. Check the operation of the servo and spindle motors.
See Subsec. 4.1.5.
OK NG
4. Make sure that the MCC is turned on.
3. Release the system from emergency stop state.
OK Alarm occurs.
See Section 3.1 of Part II.
2. Check the STATUS LEDs. See Section 4.1.3.
1. Supply control power (200 VAC) to the power supply module.
4. CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65165E/02
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4.1.1 Check Terminal On The Printed-circuit Board
<IP_ADDRESS> PSM, PSM-HV
Location of the check terminal
IR IS +24V +5V 0V
Table <IP_ADDRESS> Check terminal
Check terminal
Description
The current is positive when it is input to the amplifier.
IR Phase L1 (phase R) current
Model Amount of current PSM-5.5 37.5A/1V PSM-11 37.5A/1V PSM-15 50A/1V PSM-26 75A/1V PSM-30 100A/1V PSM-37 100A/1V PSM-45 150A/1V PSM-55 150A/1V PSM-18HV 37.5A/1V PSM-30HV 50A/1V PSM-45HV 75A/1V PSM-75HV 100A/1V
IS Phase L2 (phase S)
current
+24V +5V 0V
Control power
4. CONFIRMATION OF B-65165E/02 START-UP PROCEDURE THE OPERATION
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<IP_ADDRESS> PSMV-HV
Location of check terminals
IDC VDC +24V +5V 0V
Table <IP_ADDRESS> Check terminals
Check terminal
Description
Model Amount of current
PSMV-11HV 50 A/1 V
IDC DC link current
Model Amount of voltage PSMV-11HV 100 V/1 V
VDC DC link voltage
+24V +5V 0V
Control power
4.1.2 Checking The Power Supply Voltages
Table 4.1.2 Checking the power supply voltages
Measurement item Check method AC power line
voltage Check on L1, L2, and L3 at terminal board TB2. See Section 3.2.1. Check on the check terminals.
Check terminal Rating +24V - 0V 24 V ±5%
+5V - 0V 5 V ±5%
Control power voltage
4. CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65165E/02
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4.1.3 Checking The Status Leds
<IP_ADDRESS> PSM, PSM-HV, and PSMV-HV
Position of the STATUS LEDs
STATUS
PIL
ALM
STATUS LEDs
No.
The LED that is on is indicated in black.
Description
1 The PIL LED (power ON indicator) is off. Control power has not been supplied. The control power circuit is defective. See Section 4.1.2.
2 PSM not ready The main circuit is not supplied with power (MCC OFF). Emergency stop state
3 PSM ready The main circuit is supplied with power (MCC ON). The PSM is operable.
4
Alarm code 01 or above is indicated.
Alarm state The PSM is not operable. See Section 3.1 of Part II.
On
Off
PIL
ALM
PIL
ALM
PIL
ALM
PIL
ALM
4. CONFIRMATION OF B-65165E/02 START-UP PROCEDURE THE OPERATION
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<IP_ADDRESS> PSMR
Position of the STATUS LEDs
STATUS
No. STATUS LEDs Description 1 The STATUS display LED is off.
Control power has not been supplied. The control power circuit is defective. See Section 4.1.2.
2 PSMR not ready The main circuit is not supplied with power (MCC OFF). Emergency stop state
3 PSMR ready The main circuit is supplied with power (MCC ON). The PSMR is operable.
4
Alarm code 02 or above is indicated.
Alarm state The PSMR is not operable. See Section 3.1.3 of Part II.
4. CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65165E/02
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4.1.4 The PIL LED (power ON indicator) Is Off.
Table 4.1.4 Check method and action
No. Cause of trouble Check method Action 1 AC power for the
control circuit not supplied
Check that power is connected to connector CX1A.
2 Blown fuse in the control circuit
Check whether F1 or F2 has blown. (PSM, PSM- HV) Check whether FU1 or FU2 has blown. (PSMV-HV) For details on how to replace fuses, see Chapter 4 of Part II.
(1) If the AC power input for control is connected to connector CX1B by mistake, F2 (FU2) may blow. Connect the AC power input to CX1A.
(2) Replace the fuse. If the fuse blows again after the replacement, replace the printed circuit board.
3 Incorrect wiring Check whether the 24-V power output is short- circuited and whether a load exceeding the rating is connected.
4 Faulty power supply circuit on the printed circuit board
The power-on LED indicator PIL operates on the +5-V power supply. See Subsection 4.1.2 to check the control power voltage.
(1) Replace the PSM. (2) Replace the printed
circuit board, driver board, or power distribution board.
4. CONFIRMATION OF B-65165E/02 START-UP PROCEDURE THE OPERATION
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4.1.5 Checking For What Keeps The Mcc From Being Switched On
(1) The system is still in an emergency stop status. → Check the connection to make sure that the emergency stop
signal connected to the PSM connector CX4 and the emergency stop signal (such as *ESP) input to the CNC are both released.
(2) There is a connector problem. (a) No terminating connector is attached.
→ Check whether a terminating connector is attached to JX1B of the SVM or SPM at the end of the connection chain.
(b) The interface cable between JX1B of the power supply module and JX1A of the SVM or SPM is defective. → Check whether the interface cable is faulty.
(3) The power for driving the magnetic contactor is not supplied. → Check the voltage across the both ends of the coil of the
magnetic contactor.
(4) The relay for driving the magnetic contactor is defective. → Check that a circuit between pins <1> and <3> of connector
CX3 is closed and opened.
PSM, PSMR PSM-HV PSMV-HV
MCC driving relay
CX3-<1>
CX3-<3>
Make sure that the contact
is closed and opened.
4. CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65165E/02
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4.2 SERVO AMPLIFIER MODULE Check each item according to the procedure described below.
Alarm occurs.
See Section 3.2 of Part II.
2. Check the STATUS LEDs. See Section 4.2.2.
1. Check the connection, and supply control power (200 VAC) to the power supply module.
3. Check the CNC parameters (including servo parameters), and reset emergency stop state.
Alarm occurs.
See Section 3.2 of Part II.
4. Check the operation of the servo motor.
Abnormal operation
Refer to the FANUC AC SERVO MOTOR
α series Parameter Manual (B-65150E).
4. CONFIRMATION OF B-65165E/02 START-UP PROCEDURE THE OPERATION
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4.2.1 Check Pin Board
Use of the check pin board allows you to observe the signals inside the servo amplifier.
(1) Specifications
Order specification Component Remarks Printed circuit board: A20B-1005-0340 Printed circuit board with check pinsA06B-6071-K290 Cable : A660-2042-T031#L200R0 20-conductor cable with a one-to-one
correspondence. Length: 200 mm
Printed circuit board: A20B-1005-0340
A20B-1005-0340 • <5> • <4> • <3> • <2> • <1> • <10> • <9> • <8> • <7> • <6> • <15> • <14> • <13> • <12> • <11> • <20> • <19> • <18> • <17> • <16>
100 mm
34 mm
CN1 CN2
Cable: A660-2042-T031#L200R0
Approx. 200 mm
CN1 and CN2 are wired with a one-to-one correspondence. The connector pin numbers correspond to the check pin numbers.
(2) Connection Attach the cable to connector JX5 that is located on the front of the SVM.
SVM
JX5
A20B-1005-0340
CN1 CN2
4. CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65165E/02
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(3) Signal output
SVM designed for operation with the FSSB interface
Signal name Pin No.
SVM1 SVM2 SVM3 Remarks
<1> CLR CLR CLR Clear signal of the control circuit(Note) <2> +3.3V +3.3V +3.3V +3.3-V power (Variations in voltage level
within ±5% are regarded as normal.) <3> IRL IRL IRL Phase R motor current for the L axis <4> ISL ISL ISL Phase S motor current for the L axis <5> IRM IRM Phase R motor current for the M axis <6> ISM ISM Phase S motor current for the M axis
0V 0V Reference voltage<7> IRN Phase R motor current for the N axis
0V 0V Reference voltage<8> ISN Phase S motor current for the N axis
<9> 0V 0V 0V Reference voltage <10> <11> +24V +24V +24V +24-V power <12> +15V +15V +15V +15-V power <13> -15V -15V -15V -15-V power <14> +5V +5V +5V +5-V power <15> ITL ITL ITL Phase T motor current for the L axis <16> <17> ITM ITM Phase T motor current for the M axis <18>
0V 0V Reference voltage<19> ITN Phase T motor current for the N axis
<20>
NOTE Do not touch the clear signal of the control circuit; otherwise, the servo amplifier may malfunction.
4. CONFIRMATION OF B-65165E/02 START-UP PROCEDURE THE OPERATION
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SVM designed for operation with the type A/B interface
Signal name Pin No.
SVM1 SVM2 SVM3 Remarks
<1> CLR CLR CLR Clear signal of the control circuit(Note 1) <2> 0V 0V 0V Reference voltage <3> IRL IRL IRL Phase R motor current for the L axis <4> ISL ISL ISL Phase S motor current for the L axis <5> IRM IRM Phase R motor current for the M axis <6> ISM ISM Phase S motor current for the M axis
0V 0V Reference voltage<7> IRN Phase R motor current for the N axis
0V 0V Reference voltage<8> ISN Phase S motor current for the N axis
<9> 0V 0V 0V Reference voltage <10> 0V 0V 0V Reference voltage <11> +24V +24V +24V +24-V power <12> +15V +15V +15V +15-V power <13> -15V -15V -15V -15-V power <14> +5V +5V +5V +5-V power <15> ITL ITL ITL Phase T motor current for the L axis <16> <17> ITM ITM Phase T motor current for the M axis <18>
0V 0V Reference voltage<19> ITN Phase T motor current for the N axis
<20>
NOTE 1 Do not touch the clear signal of the control circuit;
otherwise, the servo amplifier may malfunction. 2 Part of the signal may not be output depending on
the revision of the printed circuit board.
4. CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65165E/02
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(4) Observing the motor current You can observe an instantaneous motor current value by observing the voltage across a reference voltage (0 V) check pin and a motor current check pin with an oscilloscope. Note that you cannot use a device such as a multimeter to observe correct values.
(Instantaneous motor current value) = (voltage at motor current check pin) × (factor for calculating motor current)
Calculation example: When the voltage at a motor current check pin is 3.2 V, and the factor for calculation is 3 A/V: Actual motor current (A) = 3.2 V × 3 A/V = 9.6 A
Limit of instantaneous motor current value [A](Note 1)
Factor for calculating motor current [A/V](Note 2)
2 0.5 4 1
12 3 20 5 40 10 60 15 80 20
130 32.5 240 60 320 80 360 90
NOTE 1 Limit of instantaneous motor current value
Values in � in servo amplifier names indicate the limits of instantaneous motor current values.
Single-axis amplifier: SVM1-
M axis
L axis
N axis
M axis
L axis
Double-axis amplifier: SVM2-
Triple-axis amplifier: SVM3-
2 The factor for calculating the motor current of an SVM not listed in the above table can be obtained from the model name of the servo amplifier as follows: Factor for calculating the motor current = (limit of instantaneous motor current value) ÷ 4 V
4. CONFIRMATION OF B-65165E/02 START-UP PROCEDURE THE OPERATION
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(4) Checking the power supply voltage You can measure the voltage across a reference voltage (0V) check pin and a power check pin with a multimeter, oscilloscope, or the like to observe the power supply voltage for the control circuit inside the servo amplifier. If the measured voltage is within ±5% relative to the nominal voltage, the measured voltage can be considered to be acceptable.
Check pin Nominal voltage +3.3V +3.3-V power +24V +24-V power +15V +15-V power -15V -15-V power +5V +5-V power
4. CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65165E/02
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4.2.2 Checking The STATUS Display
The STATUS display (a 7-segment LED) on the front of the SVM indicates the operation status.
STATUS
STATUS display Description • The STATUS display LED is not on.
<1> Power is not turned on. <2> Poor cable connection
Check the cable. <3> The servo amplifier is defective.
Replace the fuse (F1) or servo amplifier. • The control power supply is waiting for a ready signal.
• The servo amplifier is ready to operate. The servo motor is supplied with power.
• Alarm state If an alarm is issued in the servo amplifier, a value other than "0" and "-" is indicated on the STATUS display LED. See Section 3.2 of Part II.
4. CONFIRMATION OF B-65165E/02 START-UP PROCEDURE THE OPERATION
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4.2.3 VRDY-OFF Alarm Indicated on the CNC Screen
When the VRDY-OFF alarm is indicated on the CNC, check the items listed below. In addition to these causes, there are other possible causes of VRDY-OFF. If the problem still exists after the following items are checked, contact your FANUC service representative.
(1) Interface between modules (a) Is a terminating dummy connector for the interface between
modules (JX1A, JX1B) attached to JX1B of the module (an SVM or SPM) at the end of the connection chain?
(2) Emergency stop signal (ESP) (a) Has the emergency stop signal (connector: CX4) applied to
the PSM been released? Alternatively, is the signal connected correctly?
(b) Is the emergency stop signal line (pin 3 of connectors CX2A and CX2B) between the PSM and SVM or SPM connected correctly?
(3) MCON signal (a) Has the ready command signal MCON been sent from the
CNC to SVM? • Check for poor contact in the command cable between the
CNC and SVM. • Use the servo check pin board to check the signal level.
(b) For the multi-axis amplifier, is the MCON signal sent to all axes?
(4) External MCC (a) Is the external MCC connected correctly and is there any
problem in the external MCC itself?
(5) Timing of turning on the power to the CNC (200 VAC, single phase) and the PSM control power (200 VAC, single phase) (a) Was the power to the CNC turned on at the same time when,
or after, the power for PSM control was turned on?
(6) Is there an unused axis in a multi-axis amplifier? (a) Is a dummy connector inserted in the amplifier? (b) Are CNC parameters set correctly?
4. CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65165E/02
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4.2.4 Servo Check Board
The servo check board receives the digital value used for control inside the digital servo as numerical data and converts it to an analog form.
For details on how to connect and use the servo check board, refer to the following: FANUC AC SERVO MOTOR α series Parameter Manual B- 65150E/04 or later editions
4. CONFIRMATION OF B-65165E/02 START-UP PROCEDURE THE OPERATION
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4.3 SPINDLE AMPLIFIER MODULE Check each item according to the procedure described below.
9. Check the operation in normal operation mode (S command).
8. Make sure that the magnetic contactor for PSM input is turned on. See Section 4.1.
7. Release the system from the emergency stop state.
6. Check the waveform on the detector. See Subsection 4.3.4.
5. Set and check spindle-related parameters. (The parameter manual is required.)
No Yes
4. Prepare and check a PMC ladder. (The descriptions manual is required.)
3. Has the system been used with this connection status?
OK Alarm issued.
See Section 3.4 of Part II.
2. Check the STATUS display. See Subsection 4.3.1.
1. Supply control power (200 VAC) to the PSM, and turn on the power to the CNC.
4. CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65165E/02
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4.3.1 STATUS Display
PIL
ALM
ERR
STATUS
No. ALM ERR STATUS Description 1. No
indication The PIL LED (power ON indicator) is off.
The control power supply has not been switched on. The power supply circuit is defective. See Section 3.1.2.
2. 20
↓
For about 1.0 s after the control power supply is switched on, the lower two digits of the ROM series No. are indicated.
Example) 20: ROM series No. 9D20 3. 04 The ROM edition number is displayed for
about 1.0 s. 01, 02, 03, and so on correspond to A, B, C, and so on, respectively.
Example) 04: ROM edition D 4. --
Blinking The CNC has not been switched on.
The machine is waiting for serial communication and parameter loading to end.
5. -- Lighting
Parameter loading has ended. The motor is not supplied with power.
6. 00 The motor is supplied with power. 7. Lighting 01 or
above is displayed.
Alarm state The SPM is not operable. See Section 3.4 of Part II.
8. Lighting 01 or above is
displayed.
Error state Incorrect parameter setting or improper sequence. See Section 4.3.3 of Part II.
The PIL lamp is always on while the control power is being supplied.
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4.3.2 Troubleshooting at Startup
<IP_ADDRESS> The PIL LED (power-on indicator) is off.
(1) When the PIL LED on the spindle amplifier module does not come on after the main circuit breaker is turned on
No. Cause of trouble Check method Action 1 The 200-V control power is not
supplied. The PSM PIL lamp is off. Check the cable attached to
CX1A of PSM. 2 The cable attached to
connector CX2A/B is defective.
The PSM PIL lamp is on. Check the cabling.
3 The power is externally connected to 0 V, GND, or the like.
When all connectors except connector CX2A/B are detached, the PIL lamp is on.
Replace or repair the cable.
4 There is a blown fuse on the printed circuit board. (A06B-6102-Hxxx, 6104-Hxxx)
If the fuse blows, the printed circuit board may be faulty. Replace the SPM.
5 The printed circuit board is defective.
Even when all cables except the cable attached to connector CX2A/B are detached, the PIL lamp does not come on.
Replace the SPM.
<IP_ADDRESS> The STATUS display is blinking with "--."
(1) When no spindle communication alarm message is indicated on the CNC Check whether the CNC software option setting or bit setting is correct.
(2) When a communication alarm message is indicated on the CNC
No. Cause of trouble Check method Action 1 The SPM switch setting is
incorrect. For A06B-6072-Hxxx, A06B- 6078-H215 to H230, and A06B-6078-H315 to H330 only
When a second SPM is connected, switch S1 is set to ON. When no other SPM is connected, switch S1 is set to OFF.
Correct the switch setting.
2 The cable is incorrect. Note that the cable used for connecting an electric/optical adapter and the cable connected directly to the CNC differ in specifications.
Replace the cable with a correct cable.
3 The cable is defective. Check whether the cable is broken. Check for short-circuit in the connector.
Repair or replace the cable.
4 The printed circuit board is defective.
Replace the SPM.
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<IP_ADDRESS> The motor does not turn.
(1) When "--" is indicated on the STATUS display of the SPM Check whether spindle control signals are input. (An example for the first spindle is given below.)
FS0 FS15 FS16 #7 #6 #5 #4 #3 #2 #1 #0 G229 G227 G070 MRDYA SFRA SRVA G230 G226 G071 *ESPA
(2) When "00" is indicated on the STATUS display of the SPM No spindle speed command is input.
Refer to "FANUC AC SPINDLE MOTOR α series Parameter Manual," and check related parameters.
(3) When an alarm number is indicated on the SPM See the description of the alarm number in Section 3.4 of Part II.
<IP_ADDRESS> A specified speed cannot be obtained.
(1) When the speed always differs from a specified speed Check parameters.
Refer to "FANUC AC SPINDLE MOTOR α series Parameter Manual," and check related parameters.
(2) When an alarm number is indicated on the SPM See the description of the alarm number in Section 3.4 of Part II.
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<IP_ADDRESS> When cutting is not performed, the spindle vibrates, making noise.
(1) The spindle vibrates only when the spindle speed has reached or is at a particular speed level.
Check whether the spindle also vibrates when the motor is turning by inertia. If noise is unchanged, investigate the source of mechanical vibration. There are several methods to turn the spindle by inertia as explained below. Because these methods involve machine sequences, consult with the machine tool builder.
A. Setting spindle control signal MPOF (FS16 for the first spindle: G73#2, FS15 for the first spindle: G228#2) to 1 immediately causes the spindle to turn by inertia.
B. Set ALSP (FS16: bit 2 of parameter No. 4009, FS15 for the first spindle: bit 2 of parameter No. 3009) to 1. Then, when the power to the CNC is turned off during spindle rotation, the spindle turns by inertia. (On the spindle amplifier module, alarm 24 is indicated.)
(2) When noise is generated at the time the motor is stopped or at any time
A. See Subsection 4.3.4 of this part, and check and adjust the waveform of the spindle sensor.
B. Check that the motor part number matches its parameters. For details, refer to "FANUC AC SPINDLE MOTOR α series Parameter Manual."
C. Adjust the velocity loop gain and so forth. For details, refer to "FANUC AC SPINDLE MOTOR α series Parameter Manual."
<IP_ADDRESS> An overshoot or hunting occurs.
Refer to "FANUC AC SPINDLE MOTOR α series Parameter Manual," and adjust parameters.
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<IP_ADDRESS> Cutting power weakens or acceleration/deceleration slows down.
(1) When the load meter does not indicate the maximum output
A. A mechanical element such as a belt slip may occur.
(2) When the load meter indicates the maximum output
A. Check whether the torque limit signal is input incorrectly. (An example for the first spindle is given below.)
FS0 FS15 FS16 #7 #6 #5 #4 #3 #2 #1 #0 G229 G227 G070 TLMHA TLMLA
B. Check that the motor part number matches its parameters. For details, refer to "FANUC AC SPINDLE MOTOR α series Parameter Manual."
C. Check whether the output limit pattern is set incorrectly. For details, refer to "FANUC AC SPINDLE MOTOR α series Parameter Manual."
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4.3.3 Status Error Indication Function
When there is a sequence or parameter error, the error LED (yellow) in the display section of the spindle amplifier module (SPM) goes on with an error code displayed. This can ease troubleshooting at the time of machine startup.
The error LED (yellow) lights.
An error code is indicated. (from 01)
status
When the spindle amplifier module does not operate for a certain function, check whether the status error is indicated. The status error number does not appear on the CNC screen.
No. Description Action 01 Although neither *ESP (emergency
stop signal) (there are two types of signals, a PMC signal and PSM contact signal) nor MRDY (machine ready signal) has been input, SFR (forward rotation signal), SRV (reverse rotation signal), or ORCM (orientation command) is input.
Check the *ESP and MRDY sequences. (For MRDY, pay attention to the parameter that specifies whether to use the MRDY signal (FS16i: bit 0 of parameter No. 4001).)
02 When the spindle motor is equipped with a high-resolution magnetic pulse coder (Cs sensor) (FS16i: bits 6 and 5 of parameter No.4001 = 0, 1), 128 λ/rev must be set for the speed detector (FS16i: bits 2, 1, and 0 of parameter No. 4011 = 0, 0, 1). However, other than 128 λ/rev is set. In this case, the motor is not activated.
Check the speed detector parameter of the spindle motor (FS16i: bits 2, 1, and 0 of parameter No. 4011).
03 Although the use of a high-resolution magnetic pulse coder (FS16i: bit 5 of parameter No. 4001 = 1) or the use of the Cs contour control function by the α sensor (FS16i: bit 4 of parameter No. 4018 = 1) is not specified, a Cs control command is input. In this case, the motor is not activated.
Check the parameters of the detector for Cs contour control (FS16i: bit 5 of parameter No. 4001 and bit 4 of parameter No. 4018).
04 Although the parameter for using the position coder signal (FS16i: bit 2 of parameter No. 4001 = 1) is not set, a command for servo mode (rigid tapping or spindle positioning) or spindle synchronization is input. In this case, the motor is not activated.
Check the parameter of the position coder signal (FS16i: bit 2 of parameter No. 4001).
05 Although no orientation option is set, an orientation command (ORCM) is input.
Check the software option for orientation.
(Continued)
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No. Description Action 06 Although no output switching option is
set, low-speed winding is selected (RCH = 1).
Check the software option for spindle output switching and the power line status signal (RCH).
07 Although Cs contour control mode is specified, neither SFR nor SRV is input.
Check the sequence (CON, SFR, and SRV).
08 Although servo mode (rigid tapping or spindle positioning) is specified, neither SFR nor SRV is input.
Check the sequence (SFR and SRV).
09 Although spindle synchronization mode is specified, neither SFR nor SRV is input.
Check the sequence (SPSYC, SFR, and SRV).
10 In Cs contour control mode, another operation mode (servo mode, spindle synchronization, or orientation) is specified.
Do not specify another operation mode during execution of the Cs contour control command. Before entering another mode, cancel the Cs contour control command.
11 In servo mode (rigid tapping or spindle positioning), another operation mode (Cs contour control, spindle synchronization, or orientation) is specified.
Do not specify another operation mode during execution of the servo mode command. Before entering another mode, cancel servo mode.
12 During spindle synchronization, another operation mode (Cs contour control, servo mode, or orientation) is specified.
Do not specify another operation mode during execution of the spindle synchronization command. Before entering another mode, cancel the spindle synchronization command.
13 When an orientation specification is specified, another operation mode (Cs contour control, servo mode, or synchronization control) is specified.
Do not specify another operation mode during execution of the orientation command. Before entering another mode, cancel the orientation command.
14 The SFR signal and SRV signal are input at the same time.
Input one of the SFR and SRV signals.
15 Although the parameter to use the differential mode function (FS16i: bit 5 of parameter No. 4000 = 1) is set, Cs axis contour control is specified.
Check the setting of the parameter (FS16i: bit 5 of parameter No. 4000) and the PMC signal (CON).
16 Although the parameter not to use the differential mode function (FS16i: bit 5 of parameter No. 4000 = 0) is set, a differential speed mode command (DEFMD) is input.
Check the setting of the parameter (FS16i: bit 5 of parameter No. 4000) and the PMC signal (DEFMD).
17 The parameter settings for the speed detector (FS16i: bits 2, 1, and 0 of parameter No. 4011) are invalid. (There is no speed detector that matches the settings.)
Check the parameter settings (FS16i: bits 2, 1, and 0 of parameter No. 4011).
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(Continued)
No. Description Action 18 Although the parameter not to use the
position coder signal (FS16i: bit 2 of parameter No. 4001 = 0) is set, a position coder orientation command (ORCMA) is input.
Check the parameter setting (FS16i: bit 2 of parameter No. 4001) and the PMC signal (ORCM).
19 During magnetic sensor orientation, another operation mode is specified.
Do not specify another operation mode during execution of the orientation command. Before entering another mode, cancel the orientation command.
20 When the use of the slave operation mode function (FS16i: bit 5 of parameter No. 4014 = 1) is set, the use of a high-resolution magnetic pulse coder (FS16i: bit 5 of parameter No. 4001 = 1) or the use of the Cs contour control function by the α sensor (FS16i: bit 4 of parameter No. 4018 = 1) is set. These settings cannot be made at the same time.
Check the parameter settings (FS16i: bit 5 of parameter No. 4001, bit 5 of parameter No. 4014, and bit 4 of parameter No. 4018).
21 During position control (such as servo mode and orientation), a slave operation mode command (SLV) is input.
Input the slave operation mode command (SLV) in normal operation mode.
22 In slave operation mode (SLVS = 1), a position control command (such as servo mode and orientation) is input.
Input the position control command in normal operation mode.
23 Although the parameter not to use the slave operation mode function (FS16i: bit 5 of parameter No. 4014 = 0) is set, the slave operation mode command (SLV) is input.
Check the parameter setting (FS16i: bit 5 of parameter No. 4014) and the PMC signal (SLV).
24 After orientation is performed in incremental mode (INCMD = 1) first, an absolute position command (INCMD = 0) is input next.
Check the PMC signal (INCMD). Perform an absolute position command orientation first.
25 Although the spindle amplifier is not SPM type 4, the use of the Cs contour control function by the α sensor (FS16i: bit 4 of parameter No. 4018 = 1) is set.
Check the spindle amplifier specification and parameter setting (FS16i: bit 4 of parameter No. 4018).
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4.3.4 Checking The Feedback Signal Waveform First, refer to Subsection 9.2.3 of "FANUC SERVO AMPLIFIER α series Descriptions" (B-65162E), and make sure that the spindle sensors and other detectors are connected at the correct points. Next, see the table given below to find the corresponding check terminal names on the check board from the sensor connector connection points. Do not observe feedback signals before the parameters for the detectors that are set. Phase A, B, and Z signals may not be output correctly until the parameters are loaded from the CNC.
Signals input to the SPM and corresponding check terminals on the check board (1) SPM type 1, type 2, and type 4
SPM input connector
Connector pin signal
Check terminal name
Main sensors Remarks
Phase A: pin 5, 6 Phase B: pin 7, 8
PA1 PB1
M, MZ, and BZ sensors Low resolution side of the high-resolution magnetic pulse coder (128 to 384 λ)
Phase A: pin 3, 4 Phase B: pin 17, 19
PA4 PB4
High resolution side of the high-resolution magnetic pulse coder (1000 to 3000 λ)
For type 2 only
JY2
Phase Z: pin 1, 2 PS1 MZ and BZ sensors (one-rotation signal) pin 18 EXTSC1 Proximity switch (external one-rotation signal) pin 1, 3 LSA1 Magnetic sensor (LSA signal)
JY3
pin 5, 14 MSA1 Magnetic sensor (MSA signal) *1 Phase A: pin 5, 6 Phase B: pin 7, 8
PAD PBD
α position coder (1024 p) Low resolution side of the high-resolution position coder (1024 p)
Parameter setting
Phase A: pin 3, 4 Phase B: pin 17, 19
PA3 PB3
High resolution side of the high-resolution position coder (3000 λ)
For type 2 only
JY4
Phase Z: pin 1, 2 PSD α position coder (one-rotation signal) High-resolution position coder (one-rotation signal)
Parameter setting
Phase A: pin 5, 6 Phase B: pin 7, 8
PA2 PB2
M, MZ, and BZ sensors Low resolution side of a high-resolution magnetic pulse coder (128 to 384 λ) α position coder S (1024 λ)
For types 2 and 4 only
Phase A: pin 3, 4 Phase B: pin 17, 19
PA3 PB3
High resolution side of a high-resolution magnetic pulse coder (1000 to 3000 λ)
For type 2 only
Phase Z: pin 1, 2 PS2 MZ and BZ sensors (one-rotation signal) For type 4 only
JY5
Phase Z: pin 1, 2 PSD α position coder S (one-rotation signal) High-resolution magnetic pulse coder (one- rotation signal)
Parameter setting
*1 This check terminal is provided for A20B-1005-0740 only. With A20B-2001-0830, MSA is observed on CH1 or CH2.
Only for SMPs of which the specification is A06B-6078-H315 to 330
JY6 Phase A: pin 5, 6 Phase B: pin 7, 8
PA2 PB2
M, MZ, and BZ sensors For type 2 only
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(2) SPM type 3
SPM input connector
Connector pin signal
Check terminal name
Main sensors Remarks
Phase A: pin 5, 6 Phase B: pin 7, 8
PA1 PB1
M, MZ, and BZ sensors Main sideJY2
Phase Z: pin 1, 2 PS1 MZ and BZ sensors (one-rotation signal) Main side Phase A: pin 5, 6 Phase B: pin 7, 8
PA2 PB2
M, MZ, and BZ sensors Sub sideJY6
Phase Z: pin 1, 2 PS2 MZ and BZ sensors (one-rotation signal) Sub side Phase A: pin 5, 6 Phase B: pin 7, 8 and Phase A: pin 5, 6 Phase B: pin 7, 8
PAD PBD
α position coder (1024 p) When the main side is selected by spindle switching control, signals are output on JY4. When the sub side is selected, signals are output on JY8. Parameters must be set correctly.
JY4 or JY8
Phase Z: pin 1, 2 and Phase Z: pin 1, 2
PSD α position coder (one-rotation signal) When the main side is selected by spindle switching control, signals are output on JY4. When the sub side is selected, signals are output on JY8. Parameters must be set correctly.
pin 18 EXTSC1 Proximity switch (external one-rotation signal) Main side pin 1, 3 LSA1 Magnetic sensor (LSA signal) Main side
JY3
pin 5, 14 MSA1 Magnetic sensor (MSA signal) Main side(*1) For A20B-1005- 0740 only
pin 18 EXTSC2 Proximity switch (external one-rotation signal) Sub side pin 1, 3 LSA2 Magnetic sensor (LSA signal) Sub side
JY7
pin 5, 14 MSA2 Magnetic sensor (MSA signal) Sub side(*1) For A20B-1005- 0740 only
*1 With A20B-2001-0830, MSA is observed on CH1 or CH2.
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<IP_ADDRESS> M sensor
Measurement location
Measurement condition
Sample waveform
Input on JY2 side PA1, PB1
For sub side selected by spindle switching: Input on JY6 side PA2, PB2
The speed must be 1500 min-1 or less. PA1 (PA2)
PB1 (PB2)
Vpp
Voffs
0 V
Waveforms of phase A and phase B
For the SPM type 4 or SPM of which the specification is A06B-6102-Hxxx#H520 or A06B-6104-Hxxx#H520
Measurement item Specification Measurement method Adjustment method Vpp 0.36 to 0.50 Vp-p Adjustment is normally unnecessary. Voffs 2.5 V ±100 mV Use the DC range of a digital
voltmeter. Level check is possible, but adjustment is not possible.
For SPMs other than the above
Measurement item Specification Measurement method Adjustment method Vpp 0.64 to 0.90 Vp-p Adjustment is normally unnecessary. Voffs 2.5 V ±90 mV Use the DC range of a digital
voltmeter. Level check is possible, but adjustment is not possible.
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<IP_ADDRESS> MZ and BZ sensors
Measurement location
Measurement condition
Sample waveform
Input on JY2 side PA1, PB1
For SPM type 4: Input on JY5 side PA2, PB2
For sub side selected by spindle switching: Input on JY6 side PA2, PB2
The speed must be 1500 min-1 or less.
Rotation direction: CW Detection gear
Motor
CW
PA1 (PA2)
PB1 (PB2)
Vpp
Vphase Voffs
0 V
Waveforms of phase A and phase B
Vrip
PA1, PB1 (PA2, PB2)
Ripples of phase A and phase B
(Z - *Z)
Voffz
0 V
Vpz
Waveform of phase Z
For the SPM type 4 or SPM of which the specification is A06B-6102-Hxxx#H520 or A06B-6104-Hxxx#H520
Measurement item Specification Measurement method Adjustment method Vpp 0.5 to 1.2 Vp-p Voffs, Voffz 2.5 V ±100 mV Use the DC range of a digital
voltmeter. Vphase 90 ±3° Vrip < 70 mV Vpz > 1.0 V
Normally, the MZ sensor need not be adjusted. For Voffs and Voffz, only level check is possible, but adjustment is not possible.
For SPMs other than the above
Measurement item Specification Measurement method Adjustment method Vpp 0.66 to 0.93 Vp-p Voffs, Voffz 2.5 V ±272 mV Use the DC range of a digital
voltmeter. Vphase 90 ±3° Vrip < 70 mV Vpz > 1.0 V
Normally, the MZ sensor need not be adjusted. For Voffs and Voffz, only level check is possible, but adjustment is not possible.
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<IP_ADDRESS> MZ sensor for α 0.5 (A06B-0866-B390) (old specification)
Measurement location
Measurement condition
Sample waveform
Input on JY2 side PA1, PB1
For sub side selected by spindle switching: Input on JY6 side PA2, PB2
The speed must be 1500 min-1 or less.
Rotation direction: CW Detection gear
Motor
CW
PA1 (PA2)
PB1 (PB2)
Vpp
Vphase Voffs
0 V
Waveforms of phase A and phase B
(Z - *Z)
Voffz
0 V
Vpz
Waveform of phase Z
For the SPM type 4 or SPM of which the specification is A06B-6102-Hxxx#H520 or A06B-6104-Hxxx#H520
Measurement item Specification Measurement method Adjustment method Vpp 0.5 to 1.2 Vp-p Voffs,Voffz 2.5 V ±100 mV Use the DC range of a digital
voltmeter. Vphase 90 ±3° Vpz > 1.0 V
Normally, the MZ sensor need not be adjusted. For Voffs and Voffz, only level check is possible, but adjustment is not possible.
For SPMs other than the above
Measurement item Specification Measurement method Adjustment method Vpp 0.50 to 1.45 Vp-p Voffs 2.5 V ±295 mV Use the DC range of a digital
voltmeter. Voffz 2.5 V ±500 mV Use the DC range of a digital
voltmeter. Vphase 90 ±3° Vpz > 2.0 V
Normally, the MZ sensor need not be adjusted. For Voffs and Voffz, only level check is possible, but adjustment is not possible.
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<IP_ADDRESS> High-resolution magnetic pulse coder
After mounting a high-resolution magnetic pulse coder on the machine, check waveforms. If a measurement value exceeds the specified range, adjustment is required. After mounting the sensor, you should check waveforms before installing components such as a pulley, drawbar, and brake to make adjustment easier.
(1) Adjusting check pins on the preamplifier Signal on the low-resolution side 128 to 384 λ
Measurement location
Measurement condition
Sample waveform
Check pins A3 and B3 on the preamplifier
The speed must be 500 min-1 or less.
Rotation direction: CW Detection gear
Motor
CW
A3
B3
Vpp
Voffs
0 V
Waveforms of phase A and phase B
Signal on the high-resolution side 1000 to 3000 λ Measurement
location Measurement
condition Sample waveform
Check pins A1 and B1 on the preamplifier
The speed must be 500 min-1 or less.
Rotation direction: CW Detection gear
Motor
CW
A1
B1
Vpp2
Voffs2
0 V
Waveforms of phase A and phase B
Measurement item Specification Measurement method Adjustment method Vpp 0.36 to 0.50 Vp-p Adjust potentiometers A3G and B3G
on the preamplifier. Vpp2 0.80 to 1.0 Vp-p Adjust potentiometers A1G and B1G
on the preamplifier. Voffs 2.5 V ±50 mV Use the DC range of a digital
voltmeter. Adjust potentiometers A3O and B3O on the preamplifier.
Voffs2 2.5 V ±10 mV Use the DC range of a digital voltmeter.
Adjust potentiometers A1O and B1O on the preamplifier.
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One-rotation signal
Measurement location
Measurement condition
Sample waveform
Check pin Z on the preamplifier
The speed must be 500 min-1 or less.
Z
Z2 2.5 V (VRM)
0 V
Waveform of phase Z
Z1
Measurement item Specification Measurement method Adjustment method Z1, Z2 Z1 > 60 mV
Z2 > 60 mV Adjust potentiometer ZO on the preamplifier so that the value of Z1 and that of Z2 are almost the same.
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(2) Adjusting check pins on the check board For the high-resolution magnetic pulse coder built into the motor, waveforms are factory-adjusted. If a waveform exceeds a specified value, however, adjust potentiometers on the preamplifier.
Signal on the low-resolution side 128 to 384 λ Measurement
location Measurement
condition Sample waveform
Input on JY2 side PA1, PB1
Input on JY5 side PA2, PB2
The speed must be 500 min-1 or less.
Rotation direction: CW Detection gear
Motor
CW
PA2 (PA1)
PB2 (PB1)
Vpp
Voffs
0 V
Waveforms of phase A and phase B
Signal on the high-resolution side 1000 to 3000 λ Measurement
location Measurement
condition Sample waveform
Input on JY2 side PA4, PB4
Input on JY5 side PA3, PB3
The speed must be 500 min-1 or less.
Rotation direction: CW Detection gear
Motor
CW
PA3 (PA4)
PB3 (PB4)
Vpp2
Voffs2
0 V
Waveforms of phase A and phase B
For the SPM type 4 or SPM of which the specification is A06B-6102-Hxxx#H520 or 6104-Hxxx#H520
Measurement item Specification Measurement method Adjustment method Vpp 0.36 to 0.50 Vp-p Adjust potentiometers A3G and B3G
on the preamplifier. Vpp2 0.80 to 1.0 Vp-p Adjust potentiometers A1G and B1G
on the preamplifier.
4. CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65165E/02
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For the SPM type 2
Measurement item Specification Measurement method Adjustment method Vpp 0.86 to 1.20 Vp-p Adjust potentiometers A3G and B3G
on the preamplifier. Vpp2 1.20 to 1.51 Vp-p Adjust potentiometers A1G and B1G
on the preamplifier. Voffs 2.5 V ±24 mV Use the DC range of a digital
voltmeter. Adjust potentiometers A3O and B3O on the preamplifier.
Voffs2 2.5 V ±15 mV Use the DC range of a digital voltmeter.
Adjust potentiometers A1O and B1O on the preamplifier.
NOTE Adjust the one-rotation signal while checking the waveform on the preamplifier.
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4.3.5 Spindle Check Board
When connecting the check board, you can:
<1> Observe signal waveforms.
<2> Observe internal data.
<IP_ADDRESS> Spindle check board specifications
There are two types of spindle check boards: Check boards for the α series and for the D series. These types of check boards are not compatible. Select a spindle check board according to the drawing number of the SPM used. Items that vary depending on the type of check board are described separately by indicating the printed circuit board drawing numbers of check boards.
Table <IP_ADDRESS> Spindle check board specifications
Specification Drawing No. of
printed circuit board Applicable SPM
A06B-6078-H001 A20B-2001-0830 α series (all series after CE-marked products, and part of series before CE-marked products) TYPE1, TYPE4 A06B-6078-H102#H500, -H106#H500, -H111#H500 A06B-6078-H202#H500, -H206#H500, -H211#H500 A06B-6088-H2**#H500, H1**#H500 A06B-6092-H2**#H500, H1**#H500 A06B-6102-H2**#H520, H1**#H520 A06B-6104-H2**#H520, H1**#H520 TYPE2 A06B-6078-H302#H500, -H306#H500, -H311#H500 A06B-6088-H3**#H500 A06B-6092-H3**#H500
TYPE3 A06B-6088-H4**#H500
αC series A06B-6082-Hxxx#H510, 511, 512
A06B-6072-H051 A20B-1005-0740 α series (part of series before CE-marked products) TYPE1 A06B-6078-H215#H500, -H222#H500, -H226#H500, -H230#H500 TYPE2 A06B-6078-H315#H500, -H322#H500, -H326#H500, -H330#H500 TYPE3 A06B-6078-H411#H500, -H415#H500, -H422#H500, -H426#H500, -H430#H500 D series (all series)
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<IP_ADDRESS> Check board connection
(1) A06B-6078-H001 (A20B-2001-0830)
JY1B JX4B
JY1A JX4A
JX4
Spindle check board
A20B-2001-0830
Output equivalent to JX4
Output equivalent to JY1
SPM
JY1 JY1
JY1B JX4B
JY1A JX4A Spindle check board
A20B-2001-0830
Output equivalent to JY1
SPMC
SPM-HV
(2) A06B-6072-H051 (A20B-1005-0740)
JY1B
JY1A JX4A
JX4
Spindle check board
A20B-1005-0740
Output equivalent to JY1
SPM
JY1
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<IP_ADDRESS> Check terminal output signals
(1) A06B-6078-H001 (A20B-2001-0830) check terminal output signals
Check terminal Signal name Check terminal Signal name LM Load meter signal PA1 Phase A sine wave signal 1 SM Speed meter signal PB1 Phase B sine wave signal 1 CH1 Analog output for internal data
observation (Phase U current: IU. See <IP_ADDRESS> (3).)
PS1 Phase Z sine wave signal 1
CH2 Analog output for internal data observation (Motor speed TSA: 1638 min-1/V)
PA2 Phase A sine wave signal 2
CH1D Output for internal data bit observation PB2 Phase B sine wave signal 2 CH2D Output for internal data bit observation PS2 Phase Z sine wave signal 2 VRM Sensor reference voltage PA3 Phase A sine wave signal 3 LSA1 Magnetic sensor output LSA signal
(main) PB3 Phase B sine wave signal 3
EXTSC1 External one-rotation signal (main) PA4 Phase A sine wave signal 4 LSA2 Magnetic sensor output LSA signal (sub) PB4 Phase B sine wave signal 4
EXTSC2 External one-rotation signal (sub) OVR2 Analog override command PAD Phase A of position coder signal output 15V +15 VDC power check PBD Phase B of position coder signal output 5V +5 VDC power check PSD Phase Z of position coder signal output -15V -15 VDC power check
GND 0 V
Check terminal arrangement
LM
LSA2
SM
EXTSC2
VRM
0V
PA2
PB2
PS2
0V
PAD
PBD
PSD
5V
15V
-15V
PIL
Operation
buttons
Display CH1
CH1D
CH2
0V
PA1
PB1
PS1
0V
LSA1
EXTSC1
CH2D
PA3
PB3
PA4
PB4
OVR2
DOWN DATA SET
UPMODE
4. CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65165E/02
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(2) A06B-6072-H051 (A20B-1005-0740) check terminal output signals
Check terminal Signal name Check terminal Signal name LM Load meter signal PA1 Phase A sine wave signal 1 SM Speed meter signal PB1 Phase B sine wave signal 1 IU Phase U current(*1) PS1 Phase Z sine wave signal 1 IV Phase V current(*1) PA2 Phase A sine wave signal 2
VDC DC link voltage PB2 Phase B sine wave signal 2 VRM Sensor reference voltage PS2 Phase Z sine wave signal 2 MSA1 Magnetic sensor output MSA signal
(main) PA3 Phase A sine wave signal 3
LSA1 Magnetic sensor output LSA signal (main)
PB3 Phase B sine wave signal 3
EXTSC1 External one-rotation signal (main) PA4 Phase A sine wave signal 4 MSA2 Magnetic sensor output MSA signal
(sub) PB4 Phase B sine wave signal 4
LSA2 Magnetic sensor output LSA signal (sub) OVR2 Analog override command EXTSC2 External one-rotation signal (sub) 24V +24 VDC power check
PAD Phase A of position coder signal output 15V +15 VDC power check PBD Phase B of position coder signal output 5V 5 VDC power check PSD Phase Z of position coder signal output GND 0 V
Check terminal arrangement
LM
LSA2
SM
MSA2
VRM
0V
PA2
PB2
PS2
0V
EXTSC2
PBA
PBB
PSB
PA4
PB4
PIL
Operation
buttons
Display IU
IV
VDC
0V
PA1
PB1
PS1
0V
LSA1
MSA1
EXTSC1
PA3
PB3
5V
15V
24V
OVR2
DATA SET DOWN
UPMODE
*1 The value measured on the IU pin corresponds to the actual current as follows:
Model Conversion value (A/V)
SPM-15 50
SPM-22 66.7
SPM-26 100
SPM-30 133
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4.3.6 Observing Data Using the Spindle Check Board
<IP_ADDRESS> Overview
By using the check board, you can convert digital signals used for control in the spindle amplifier module to analog voltage, and observe the conversion result with an oscilloscope. The internal data can be indicated also with the five-digit display.
• A20B-2001-0830 This model has two analog output channels (CH1 and CH2) at which the internal data (with output of -5 V to +5 V) can be observed. It also has CH1D and CH2D at which specific bits such as data bits can be observed.
• A20B-1005-0740 This model outputs internal data (output of 0 to 11 V) at terminals LM and SM using the analog output circuit for the load meter (LM) and speedometer (SM).
<IP_ADDRESS> Major characteristics
Item A20B-2001-0830 A20B-1005-0740 Measurement point CH1, CH2 CH1D, CH2D LM, SM Output voltage range
-5 to +5 V H: 2 Vmin L: 0.8 Vmax
0 to 11 V
Resolution About 39 mV (10 V/256)
- About 43 mV(11 V/256)
Output impedance 10 kΩmax 10 kΩmax 10 kΩmax
4. CONFIRMATION OF THE OPERATION START-UP PROCEDURE B-65165E/02
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<IP_ADDRESS> Observation method
By setting data using four DIP switches on the check board, you can output internal data to the five-digit display, analog voltage output circuit, channels 1 and 2 (LM and SM or CH1 and CH2). Data on channels 1 and 2 is the one from an 8-bit D/A convertor. The correspondence between channel 1/2 and the check terminal is listed below.
Check terminal Measurement point
A20B-2001-0830 A20B-1005-0740 Channel 1 CH1
CH1D, data bit 0 LM
Channel 2 CH2 CH2D, data bit 0
SM
NOTE When using printed-circuit board A20B-1005-0740, set DIP switches S2 and S3 on the spindle amplifier module front panel to OFF. After observation, set them to ON. This operation is not necessary when you use printed-circuit board A20B-2001-0830.
DIP switch ON position OFF position S2, S3 Output voltage is
filtered out. Output voltage is not filtered out.
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<IP_ADDRESS> Specifying data to be monitored
<1> Press the four setting switches at the same time for at least a second ."FFFFF" will be displayed on the indicator.
<2> Turn off the switches and press the "MODE" switch. "d-00" will be displayed on the indicator and the system will enter the mode for monitoring internal data. In this mode, the motor can be operated normally.
<3> Press the "UP" or "DOWN" switch while holding down the "MODE" switch. The indicator display will change in the range of "d-00" to "d-12".
<4> The following shows the correspondence between the destinations of the internal data of the serial spindle and addresses d-01 to d-12. d-01 to d-04: Specifies the amount of data to be output to the
indicator, data shift, and output format (decimal or hexadecimal).
d-05 to d-08: Specifies the amount of data to be output to the LM terminal, data shift, and whether an offset is provided.
d-09 to d-12: Specifies the amount of data to be output to the SM terminal, data shift, and whether an offset is provided.
<5> Select address d-xx in the procedure for setting data described in <3>.
<6> Turn off the "MODE" switch. "d-xx" will disappear 0.5 second later, and the data will be displayed for a second. Change the set data using the "UP" or "DOWN" switch within the second the data is displayed.
<7> When more than a second elapses without pressing the "UP" or "DOWN" switch, data cannot be changed. If the "MODE" switch is turned on or off, however, setting can be started from the beginning of the step in item <6>.
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<IP_ADDRESS> Address descriptions and initial values (SPM)
[Output to the indicator]
Address Description Initial value d-01 Specifies a data number. 0 d-02 Shift at data output (0 to 31 bits) 0 d-03 Data shift direction
0 : Data is shifted right. 1 : Data is shifted left.
0
d-04 Display format 0 : Decimal notation 1 : Hexadecimal notation(0 to F)
0
[Output to the channel 1]
Initial value Address Description A20B-2001-0830
(CH1) A20B-1005-0740
(LM) d-05 Specifies a data number 218
(U-phase current) 132
d-06 Shift at data output (0 to 31 bits)
8 0
d-07 Data shift direction 0: Data is shifted right 1: Data is shifted left
0 0
d-08 Offset 0: Not provided 1: Provided
1 0
[Output to the channel 2]
Initial value Address Description A20B-2001-0830
(CH1) A20B-1005-0740
(SM) d-09 Specifies a data number 19
(Motor velocity) 131
d-10 Shift at data output (0 to 31 bits)
18 0
d-11 Data shift direction 0: Data is shifted right 1: Data is shifted left
0 0
d-12 Offset 0: Not provided 1: Provided
1 0
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<IP_ADDRESS> Address descriptions and initial values (SPMC)
[Output to the indicator]
Address Description Initial value d-01 Specifies a data number. 0 d-02 Shift at data output (0 to 31 bits) 0 d-03 Data shift direction
0 : Data is shifted right. 1 : Data is shifted left.
0
d-04 Display format 0 : Decimal notation 1 : Hexadecimal notation(0 to F)
0
[Output to the channel 1]
Initial value Address Description
A20B-2001-0830 (CH1) d-05 Specifies a data number 54 (Spindle load level) d-06 Shift at data output (0 to 31 bits) 6 d-07 Data shift direction
0: Data is shifted right 1: Data is shifted left
0
d-08 Offset 0: Not provided 1: Provided
0
[Output to the channel 2]
Initial value Address Description
A20B-2001-0830 (CH1) d-09 Specifies a data number 34 (U-phase current) d-10 Shift at data output (0 to 31 bits) 8 d-11 Data shift direction
0: Data is shifted right 1: Data is shifted left
0
d-12 Offset 0: Not provided 1: Provided
1
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<IP_ADDRESS> Principles in outputting the internal data of the serial spindle
The length of data is 32 bits (BIT31 TO BIT00) unless it is described as 16 bits.
BIT31 BIT00BIT01BIT02BIT03……
<1> Example of output to the indicator
Example1 Displaying data in decimal When the number of digits to shift data (d-02)=0 and display format (d-04)=0 (decimal notation): The last 16 bits of data (BIT15 to BIT00) are converted into decimal (0 to 65535 max.) and displayed.
BIT15 BIT00BIT01……
16 bits Converted into decimal data and displayed
X X X X XIndicator
Example2 Displaying data in hexadecimal When the number of digits to shift data (d-02)=0 and display format (d-04)=1 (hexadecimal notation): The last 16 bits of data (BIT15 to BIT00) are converted into hexadecimal (0 to FFFFF max.) and displayed.
BIT15 BIT00BIT01……
16 bits Converted into hexadecimal data and displayed
X X X XIndicator (The fifth digit is blank.)