Parameter Manual: Fanuc Ac Spindle Motor @ Series Fanuc Ac Spindle Motor # Series
Parameter Manual: Fanuc Ac Spindle Motor @ Series Fanuc Ac Spindle Motor # Series
PARAMETER MANUAL
B-65280EN/08
• No part of this manual may be reproduced in any form.
• All specifications and designs are subject to change without notice.
The products in this manual are controlled based on Japan’s “Foreign Exchange and
Foreign Trade Law”. The export from Japan may be subject to an export license by the
government of Japan.
Further, re-export to another country may be subject to the license of the government of
the country from where the product is re-exported. Furthermore, the product may also be
controlled by re-export regulations of the United States government.
Should you wish to export or re-export these products, please contact FANUC for advice.
In this manual we have tried as much as possible to describe all the various matters.
However, we cannot describe all the matters which must not be done, or which cannot be
done, because there are so many possibilities.
Therefore, matters which are not especially described as possible in this manual should be
regarded as “impossible”.
This manual contains the program names or device names of other companies, some of
which are registered trademarks of respective owners. However, these names are not
followed by ® or ™ in the main body.
The parameters described in this manual must be set correctly according to the relevant
descriptions. If the parameters are not set correctly, vibrations and unpredictable motions
can occur. When setting and updating the parameters, place top priority on safety in
operation by taking actions, such as heightening the speed step by step and performing an
operation so that an emergency stop can be initiated immediately, until the settings are
confirmed to be appropriate.
• When an abnormality such as an alarm or a hardware failure occurs, the operations
described in the specifications are not guaranteed unless otherwise specifically noted.
When action corresponding to the abnormality is specifically described, take the action.
When no action is described, please contact FANUC.
• Generally, safety functions represent functions that protect the operators from machine
danger. The signals and functions described in the specifications cannot be used
separately for the safety functions unless otherwise described as being usable for the
safety functions. Their specifications are not assumed to be used as the safety functions
in this case, an unexpected danger may be caused. For information about the safety
functions, please contact FANUC.
• A wrong device connection or setting can lead to unpredictable operation. When starting
to operate the machine for the first time after assembling the machine, replacing
components, or modifying parameter settings, exercise the greater care.
B-65280EN/08 DEFINITION OF WARNING, CAUTION, AND NOTE
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.
Even those matters described under "CAUTION" may lead to serious consequences depending on the
situation. Thus, be sure to observe the approved procedure.
s-1
B-65280EN/08 PREFACE
PREFACE
This manual describes the parameters and functions of the FANUC servo amplifier αi/βi series spindle.
This manual is divided into five parts and appendix. This manual includes Part I, which provides a
description related to the αi series spindle and BiI series spindle, Part II, which provides a description
related to the βi series spindle, Part III, which provides a description related to the αCi series spindle, Part
IV, which provides a description related to the BiS series spindle, and Part V, which provides a
description related to the βiIc series spindle.
Unless otherwise noted, the parameter numbers for FANUC Series 16i are used in the text. When using
any other model, reference the corresponding parameter numbers.
The table below indicates the abbreviated model names used with the parameter numbers.
Product name Abbreviated model name in text Abbreviated model name in table
FANUC Series 30i Series 30i
FANUC Series 31i Series 31i
30i
FANUC Series 32i Series 32i
FANUC Series 0i-MODEL D Series 0i-D
FANUC Series 16i Series 16i
FANUC Series 18i Series 18i
16i
FANUC Series 21i Series 21i
FANUC Series 0i-MODEL C Series 0i-C
FANUC Series 15i Series 15i 15i
For detailed information indicating which model each function described in this manual can be used with,
refer to the manual of each CNC. For the package specifications, in particular, refer to the CNC manual.
The manuals related to the αi/βi series spindle are listed below.
(1) FANUC AC SPINDLE MOTOR αi series DESCRIPTIONS (B-65272EN)
(2) FANUC AC SPINDLE MOTOR αCi series DESCRIPTIONS (B-65372EN)
(3) FANUC AC SPINDLE MOTOR βi series DESCRIPTIONS (B-65312EN)
(4) FANUC SERVO AMPLIFIER αi series DESCRIPTIONS (B-65282EN)
(5) FANUC SERVO AMPLIFIER βi series DESCRIPTIONS (B-65322EN)
(6) FANUC AC SERVO MOTOR αis series,
FANUC AC SERVO MOTOR αi series,
FANUC AC SPINDLE MOTOR αi series,
FANUC SERVO AMPLIFIER αi series MAINTENANCE MANUAL (B-65285EN)
(7) FANUC AC SERVO MOTOR βis series,
FANUC AC SPINDLE MOTOR βi series,
FANUC SERVO AMPLIFIER βi series MAINTENANCE MANUAL (B-65325EN)
(8) FANUC AC SPINDLE MOTOR αi series
FANUC AC SPINDLE MOTOR βi series
FANUC BUILT-IN SPINDLE MOTOR Bi series PARAMETER MANUAL (B-65280EN)
(9) FANUC BUILT-IN SPINDLE MOTOR BiI series DESCRIPTIONS (B-65292EN)
(10) FANUC SYNCHRONOUS BUILT-IN SPINDLE MOTOR BiS series
DESCRIPTIONS (B-65342EN)
p-1
B-65280EN/08 TABLE OF CONTENTS
TABLE OF CONTENTS
DEFINITION OF WARNING, CAUTION, AND NOTE .................................s-1
PREFACE ....................................................................................................p-1
c-14
B-65280EN/08 TABLE OF CONTENTS
APPENDIX
A SPINDLE PARAMETER TABLE......................................................... 663
A.1 αi SERIES SPINDLE PARAMETER TABLE ............................................. 663
A.2 αCi SERIES SPINDLE PARAMETER TABLE ........................................... 679
A.3 BiS SERIES SPINDLE PARAMETER TABLE ........................................... 683
A.4 βiIc SERIES SPINDLE PARAMETER TABLE........................................... 690
c-16
B-65280EN/08 TABLE OF CONTENTS
c-17
I. FANUC AC SPINDLE MOTOR αi series
FANUC BUILT-IN SPINDLE MOTOR BiI
series
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 1.START-UP
1 START-UP
1.1 START-UP PROCEDURE
A. Check the spindle-related specifications.
- CNC model
- Spindle motor
- Power supply (PS)
- Spindle amplifier
- Detector system
E. Perform automatic αi series (Serial) spindle parameter H. When using a machine in a system
initialization. (See Subsection 1.2.2.) that has already been started, load all
- Set a motor model code and the parameter enabling use CNC parameters for the machine.
of the automatic parameter initialization function, then turn
the CNC off and then on again.
-3-
FANUC AC SPINDLE MOTOR αi series
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Parameter No.
15i 16i 30i Description
NOTE
To use the spindle serial interface, the CNC software option is required.
-4-
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 1.START-UP
<1> Set the model code for the desired motor for automatic parameter initialization.
Parameter No.
15i 16i 30i Description
NOTE
1 The control method usable with the αi series spindle is spindle HRV control only.
The conventional control method is not supported.
2 When using a spindle motor that has no model code, set model code “300” (“400”
for a spindle motor with speed range switching control) for automatic parameter
setting, then manually input data according to the parameter table for each motor
model.
<2> Set the relevant parameter to enable automatic spindle parameter initialization.
Parameter No.
15i 16i 30i Description
⎯ 4019#7 4019#7 1
5607#0 ⎯ ⎯ 0
NOTE
This bit is reset to its original value after automatic parameter initialization.
<3> Turn the CNC off, then on again. Then, the spindle parameters specified with a model code are
automatically initialized.
For the power supply (PS) for the 30i-B series, control is now performed by software. On the CNC, this
allows you to know power information. Since the PS cannot communicate with the CNC directly, power
information is transferred to the CNC through an SV or SP called a PS control axis.
-5-
FANUC AC SPINDLE MOTOR αi series
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(The PS control axis refers to an SV or SP connected in the closest vicinity of the PS in the amplifier
connection using CXA2x connectors.)
Power電源情報
information Power information
電源情報
Common C C Servo/ C C C C
共通 X X サーボ/
spindle X X Servo/
サーボ/ X X Servo/
サーボ/
power
電源
A
2
A
2
amplifier
スピンドル A
2
A
2 スピンドル
spindle
A
2
A
2 スピンドル
spindle
PS control
supply
(PS) A B アンプ
axis
A B アンプ
amplifier
A B アンプ
amplifier
(PS) PS管理軸
Amplifier group
アンプグループ "1" "1"
Power電源情報
information Power information
電源情報
Common C C Servo/ C C C C
共通 X X サーボ/
spindle X X Servo/
サーボ/ X X Servo/
サーボ/
power A A
スピンドル A A
スピンドル A A
スピンドル
電源
supply
2 2
amplifier
PSアンプ
control
2 2 spindle 2 2 spindle C
(PS) A B A B アンプ A B アンプ
(PS)
axis amplifier amplifier N
PS管理軸
C
Amplifier group
アンプグループ "2" "2"
Power電源情報
information Power電源情報
information
Common C C Servo/ C C C C
共通 X X サーボ/
spindle X X サーボ/
Servo/ X X Servo/
サーボ/
power
電源
A A
スピンドル
amplifier A A
スピンドル A A
スピンドル
2 2
PS control
2 2 spindle 2 2 spindle
supply
(PS) A B アンプ A B アンプ A B アンプ
axis amplifier amplifier
(PS) PS管理軸
Amplifier
アンプグループ group "N"
"N"
To enable the CNC software to recognize the PS control axis, an amplifier group number must be set in
one of the following parameters:
Parameter No. 2557 when the PS control axis is an SV
Parameter No. 4657 when the PS control axis is an SP
The parameters can be set automatically by following the procedure below.
* If the amplifier configuration is changed, an invalid PS control axis specification alarm occurs
immediately after CNC start-up. Perform automatic setting again.
<1> Set the relevant parameter to enable automatic PS control axis setting.
Parameter No.
30i-B Description
11549#0 1
NOTE
This bit is reset to its original value after automatic setting.
<2> Turn the CNC off, then on again. Then, the PS control axis parameter is automatically set.
-6-
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 1.START-UP
1.2.5 Alarm
This subsection provides a list of the alarms related to spindle serial output only. For details of each alarm,
refer to the Connection Manual (Function) of each CNC.
-8-
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 1.START-UP
-9-
FANUC AC SPINDLE MOTOR αi series
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Parameter No.
Description
15i 16i 30i
3356 4356 4356 Motor sensor signal phase difference compensation
3357 4357 4357 Spindle sensor signal amplitude ratio compensation
3358 4358 4358 Spindle sensor signal phase difference compensation
3361 4361 4361 Arbitrary number of spindle sensor teeth
Denominator of arbitrary gear ratio between spindle sensor and
3500 4500 4500
spindle
3502 4502 4502
(This data is selected by spindle control input signal CTH1A.)
3501 4501 4501 Numerator of arbitrary gear ratio between spindle sensor and spindle
3503 4503 4503 (This data is selected by spindle control input signal CTH1A.)
ROTA1 Indicates the relationship between the rotation directions of spindle and spindle motor.
0 : Rotates the spindle and spindle motor in the same direction.
1 : Rotates the spindle and spindle motor in the reverse direction.
- 10 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 1.START-UP
NOTE
1 When using a rectangular wave phase A/B, 1024-p/rev position
coder, set the same settings as for the αi position coder (0,0,1,0).
2 It is not possible to use the αiCZ sensor (serial) as both motor
sensor and spindle sensor.
3 When this setting is made in combination with the setting for
detecting the one-rotation signal regardless of the spindle speed
(bit 2 of parameter No. 4394 =1), the one-rotation signal can be
detected at less than 10 min-1.
However, the position at which to detect the one-rotation signal
varies with a change in the temperature of the sensor. Usually, set
0,0,1,1. Refer to “FANUC SERVO AMPLIFIER αi series
Descriptions” (B-65282EN) for information about the extent to
which the position at which to detect the one-rotation signal varies.
PCPL2, PCPL1, PCPL0, PCTYPE Gear teeth number setting of the spindle sensor
This parameter sets the number of teeth of a separate detector to be attached to the spindle
(detector to be connected to connector JYA3 or JYA4).
- 11 -
FANUC AC SPINDLE MOTOR αi series
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
1 Set “0, 0, 0, 0” when using an αi position coder (bits 3, 2, 1, 0 of No.
4002 = 0, 0, 1, 0) or an α position coder S (bits 3, 2, 1, 0 of No.
4002 = 0, 1, 0, 0).
2 When the motor sensor is used for position feedback (bits 3, 2, 1, 0
of No. 4002 = 0, 0, 0, 1), this parameter need not be set.
3 When the number of αi BZ sensor teeth is 96 λ/rev, 192 λ/rev, 640
λ/rev, 768 λ/rev, or 1024 λ/rev, set 0,0,0 in this parameter, and set
the number of teeth in the parameter specifying an arbitrary number
of spindle sensor teeth (parameter No. 4361).
Parameter No.
Description
15i 16i 30i
3056 to 3059 4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data
NOTE
Usually, use the 1/100 unit (setting “0”).
NOTE
1 Usually, set “0”.
2 When adjusting the waveform of a motor/spindle sensor feedback
signal, set “1” temporarily to disable disconnection detection. After
completion of adjustment, be sure to return the setting to “0”
to enable disconnection detection.
3 If dual check safety function is enabled, this parameter is invalid
and disconnection detection is performed.
4 Set it to "0" when using the αiCZ sensor (serial). Setting it to "1"
results in a spindle state error (error 43).
PCALCH Determines whether to use alarms related to position feedback signals (on non-Cs
contouring control mode).
0 : Detects alarms.
1 : Does not detect alarms.
When this bit is set to “0”, spindle alarms 41, 42, 47, 81, 82, 83, 85, 86, and 87 are
checked.
NOTE
Set it to "0" when using the αiCZ sensor (serial). Setting it to "1"
results in a spindle state error (error 43).
- 13 -
FANUC AC SPINDLE MOTOR αi series
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
1 It is not possible to use the αiCZ sensor (serial) as both motor
sensor and spindle sensor.
2 If the αiCZ sensor (serial) is used as the motor sensor, it is not
possible to use the following:
- αi position coder
- External one-rotation signal (proximity switch)
3 When this setting is made in combination with the setting for
detecting the one-rotation signal regardless of the spindle speed (bit
2 of parameter No. 4394 =1), the one-rotation signal can be
detected at less than 10 min-1.
However, the position at which to detect the one-rotation signal
varies with a change in the temperature of the sensor. Usually, set
0,0,1. Refer to “FANUC SERVO AMPLIFIER αi series Descriptions”
(B-65282EN) for information about the extent to which the position
at which to detect the one-rotation signal varies.
NOTE
1 When using a sensor with αiCZ sensor (analog, serial) 768 λ/rev or
1024 λ/rev, set 0,0,0 in this parameter, and set 768 or 1024 in the
parameter specifying an arbitrary number of motor sensor teeth
(parameter No. 4334).
2 When the number of αi BZ sensor teeth is 96 λ/rev, 640 λ/rev, 768
λ/rev, or 1024 λ/rev, set 0,0,0 in this parameter, and set the
number of teeth in the parameter specifying an arbitrary number of
motor sensor teeth (parameter No. 4334).
- 14 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 1.START-UP
WARNING
If the gear tooth number setting of the motor sensor is not correct,
the spindle motor may rotate at a high speed above the specified
speed. Check the gear tooth number of the motor sensor and set it
correctly.
RFCHK1 Determines whether to detect alarms related to position feedback (in Cs contouring
control mode).
0 : Does not detect alarms.
1 : Detects alarms.
When this bit is set to “1”, Spindle alarms 81, 82, 85, and 86 are checked.
NOTE
Set it to "0" when using the αiCZ sensor (serial). Setting it to "1"
results in a spindle state error (error 43).
RFCHK2 Determines whether to detect the alarm related to threading position detection signal
feedback (spindle alarm 46).
0 : Does not detect alarms.
1 : Detects alarms.
NOTE
Set it to "0" when using the αiCZ sensor (serial). Setting it to "1"
results in a spindle state error (error 43).
RFCHK3 Setting of the function of detecting the one-rotation signal again each time position
control mode is set.
0 : The one-rotation signal is not detected each time the operating mode changes.
Once the one-rotation signal has been detected, it is not detected again until the
power goes off.
1 : The one-rotation signal is detected each time the operating mode changes.
NOTE
If the αiCZ sensor (serial) is used, this parameter is invalid.
- 15 -
FANUC AC SPINDLE MOTOR αi series
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
1 This parameter is valid with 9D50 series E (05) edition or later,
9D70 series A (01) edition or later, 9D80 series A (01) edition or
later, 9D90 series A (01) edition or later, and 9DA0 series A (01)
edition or later.
2 This parameter is enabled when the spindle sensor is an αi position
coder or α position coder S.
3 When the spindle sensor is the αiMZ, αiBZ, or αiCZ sensor
(analog), and if the sensor type (bits 2, 1, 0 of parameter No. 4010 =
1, 1, 1 for the motor sensor or bits 3, 2, 1, 0 of parameter No. 4002
= 1, 1, 1, 0 for the spindle sensor) is set in combination with this
parameter, the one-rotation signal is detected regardless of the
spindle speed.
4 When the spindle sensor is the αiCZ sensor (serial), the
one-rotation signal is detected regardless of the setting of this
parameter and the spindle speed.
A21DEN Whether to detect the spindle sensor polarity erroneous setting alarm (spindle alarm 21).
0 : The spindle sensor polarity erroneous setting alarm is detected.
1 : The spindle sensor polarity erroneous setting alarm is not detected.
When the spindle sensor polarity erroneous setting alarm is incorrectly detected due to
the following reasons, set this bit to disable the alarm detection.
- When the spindle is mechanically separated from the motor.
- When the belt between the spindle and the motor slips.
NOTE
This parameter is valid with 9D50 series E (05) edition or later,
9D70 series A (01) edition or later, 9D80 series A (01) edition or
later, 9D90 series A (01) edition or later, and 9DA0 series A (01)
edition or later.
- 16 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 1.START-UP
NOTE
When an improper value is set in these parameters, an unexpected
operation can occur. For example, the spindle can continue rotating
without stopping at the time of orientation. So, be sure to set a
proper gear ratio.
Unit of data : 1min-1 (Unit of 10 min-1 when bit 2 (SPDUNT) of parameter No. 4006 = 1)
Valid data range : 0 to 32767
Standard setting : 0
This parameter sets a maximum spindle speed that enables the detection of a
motor/spindle sensor feedback signal.
When “0” is set in this parameter, up to the maximum motor speed can be detected.
NOTE
1 Usually, set “0”.
2 If the αiCZ sensor (serial) is used, this parameter is invalid.
Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
These parameters set conversion coefficients (numerator, denominator) for using the
detection arbitrary gear ratio function (DMR function) by multiplying a motor sensor
(αiM or αiMZ sensor) feedback signal by a gear ratio to produce a spindle position
feedback signal.
When the spindle rotates Q times while the motor shaft rotates P times (there is no
common divisor other than 1 for P and Q), settings are:
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4174 when CTH1A = 1) = Q
When one of these parameters is set to “0”, it is assumed to be “1”.
NOTE
1 When using the external one-rotation signal (proximity switch), use
the detection arbitrary gear ratio function (DMR function) by setting
an arbitrary gear ratio between the motor sensor and spindle in this
parameter.
2 If the αi CZ sensor (serial) is used, this parameter is invalid.
- 17 -
FANUC AC SPINDLE MOTOR αi series
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
WARNING
If the gear tooth number setting of the motor sensor is not correct,
the spindle motor may rotate at a high speed above the specified
speed. Check the gear tooth number of the motor sensor and set it
correctly.
Unit of data : 1%
Valid data range : -8 to 8
Standard setting : 0
These parameters set an amplitude ratio compensation value for the sensor feedback
signal (phase A/B of the sinusoidal wave).
For details, refer to Section 4.3, “AMPLITUDE RATIO/PHASE DIFFERENCE
COMPENSATION FUNCTION” in Part I.
NOTE
If the αi CZ sensor (serial) is used, this parameter is invalid.
Unit of data : 1%
Valid data range : -4 to 4
Standard setting : 0
These parameters set a phase difference compensation value for the sensor signal (phase
A/B of the sinusoidal wave).
For details, refer to Section 4.3, “AMPLITUDE RATIO/PHASE DIFFERENCE
COMPENSATION FUNCTION” in Part I.
NOTE
If the αi CZ sensor (serial) is used, this parameter is invalid.
When “0” is set in this parameter, the setting of bits 7, 6, 5, 4 (PCPL2, PCPL1, PCPL0,
PCTYPE) of parameter No. 4003 is valid.
Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
These parameters set conversion coefficients (numerator, denominator) for using the
detection arbitrary gear ratio function (DMR function) by multiplying a spindle sensor
(αi position coder, α position coder S, separate αiBZ sensor, or separate αiCZ sensor
(analog) ) feedback signal by a gear ratio to produce a spindle position feedback signal.
When the spindle rotates Q times while the motor shaft rotates P times (there is no
common divisor other than 1 for P and Q), settings are:
No. 4500 (No. 4502 when CTH1A = 1) = P
No. 4501 (No. 4503 when CTH1A = 1) = Q
When one of these parameters is set to “0”, it is assumed to be “1”.
NOTE
1 This parameter is valid with 9D50 series F (06) edition or later,
9D70 series A (01) edition or later, 9D80 series A (01) edition or
later, 9D90 series A (01) edition or later, and 9DA0 series A (01)
edition or later.
2 When this parameter is used in a configuration having no external
one-rotation signal (proximity switch), set the following parameters.
No.4007#6=1 : Alarms related to positional feedback signals (in
non-Cs mode) are not detected.
No.4016#5=0 : Alarms related to positional feedback signals (in Cs
mode) are not detected.
3 If the αi CZ sensor (serial) is used, this parameter is invalid.
- 19 -
FANUC AC SPINDLE MOTOR αi series
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
JYA2 Spindle
SP
TYPE A
JYA2 Spindle
αi position coder
SP
TYPE A
JYA3
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
- 20 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 1.START-UP
JYA2 Spindle
α position coder S
SP
TYPE B
JYA4
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
SP
Spindle
TYPE A
Spindle +
built-in motor
JYA2
SP
TYPE A
- 21 -
FANUC AC SPINDLE MOTOR αi series
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
JYA2 Spindle
SP
TYPE A
Thermistor
- 22 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 1.START-UP
NOTE
When using the αiCZ sensor (serial), use spindle software of the following series
and editions:
- 9D80 series E (05) edition or later, 9D90 series A (01) edition or later, or 9DA0
series A (01) edition or later when the number of teeth is 512 λ or 1024 λ
- 9D80 series F (06) edition or later, 9D90 series A (01) edition or later, or 9DA0
series A (01) edition or later when the number of teeth is 768 λ
(6) When the separate type αiBZ sensor or separate type αiCZ sensor
(analog) is used
[Sample system configuration]
Spindle motor with built-in αiM
sensor (or αiMZ sensor)
JYA2 Spindle
SP
TYPE B
- 23 -
FANUC AC SPINDLE MOTOR αi series
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
JYA2
SP
TYPE A
Detection
Spindle
circuit
JYA3
NOTE
When using the αiCZ sensor (serial), use spindle software of the following series
and editions:
- 9D80 series E (05) edition or later, 9D90 series A (01) edition or later, or 9DA0
series A (01) edition or later when the number of teeth is 512 λ or 1024 λ
- 9D80 series F (06) edition or later, 9D90 series A (01) edition or later, or 9DA0
series A (01) edition or later when the number of teeth is 768 λ
- 24 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 1.START-UP
Spindle
JYA2
SP External one-rotation
TYPE A signal (proximity switch)
(9) When the axis on which the spindle sensor is mounted is not the spindle
[Sample system configuration]
Spindle motor with built-in
αiM sensor
Gear or
timing belt
JYA2 Medial
axis
SP αi position coder
TYPE A
NOTE
Those functions such as the orientation function that require a one-rotation signal
cannot be used.
- 26 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
2.1.2 Overview
The velocity control mode is a function for exercising velocity control to rotate the spindle motor
according to a velocity command from the CNC.
NOTE
On a CNC screen (such as the spindle monitor screen and the adjustment
screen), the velocity control mode is indicated as “NORMAL OPERATION
MODE”.
- 27 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
For details of the I/O signals common to the CNCs, see Chapter 3, “I/O SIGNALS (CNC↔PMC)”, in
Part I.
1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
NOTE
1 These signals are valid in multi-spindle control.
1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
NOTE
1 These signals are valid in multi-spindle control.
- 28 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B
NOTE
1 These signals are valid with the M series only.
- 29 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
1 These signals are valid with the M series only.
1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B
1st- F11 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B
1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B
1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B
1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B
1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B
- 30 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
- 31 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Parameter No.
Description
15i 16i 30i
3352#1 4352#1 4352#1 Sets the peak hold function for load meter output.
3020 4020 4020 Maximum motor speed
3022 4022 4022 Speed arrival detection level
3023 4023 4023 Speed detection level
3024 4024 4024 Speed zero detection level
3025 4025 4025 Torque limitation value
3026 4026 4026 Load detection level 1
3027 4027 4027 Load detection level 2
3028 4028 4028 Output limitation pattern
3029 4029 4029 Output limitation value
3030 4030 4030 Soft start/stop setting time
3040 4040 4040 Velocity loop proportional gain on the velocity control mode
3041 4041 4041 (A parameter is selected by the PMC input signal CTH1A.)
3048 4048 4048 Velocity loop integral gain on the velocity control mode
3049 4049 4049 (A parameter is selected by the PMC input signal CTH1A.)
3056 to Spindle and motor gear ratio data
4056 to 4059 4056 to 4059
3059 (A parameter is selected by the PMC input signals CTH1A and CTH2A.)
3081 4081 4081 Delay time until the motor power is turned off
3082 4082 4082 Acceleration/deceleration time
3083 4083 4083 Motor voltage on the velocity control mode
3136 4136 4136 Motor voltage on the velocity control mode (for low-speed characteristics)
Denominator of an arbitrary gear ratio between the motor sensor and
3171 4171 4171
spindle
3173 4173 4173
(A parameter is selected by the input signal CTH1A.)
3172 4172 4172 Numerator of an arbitrary gear ratio between the motor sensor and spindle
3174 4174 4174 (A parameter is selected by the input signal CTH1A.)
3399#2 4399#2 4399#2 Specifies whether to enable the soft start/stop function when emergency
stop operation is performed.
3508 4508 4508 Rate of change in acceleration at soft start/stop
NOTE
1 For the detector-related parameters, see Section 1.3, “PARAMETERS RELATED
TO DETECTORS”, in Part I.
2 For velocity loop proportional/integral gain adjustment, see Section 4.1,
“VELOCITY LOOP GAIN ADJUSTMENT”, in Part I.
- 32 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
LDTOUT Whether to output the load detection signals (LDT1 and LDT2) during
acceleration/deceleration
0 : Not output during acceleration/deceleration. (standard setting value)
1 : Output (at all times) during acceleration/deceleration if the parameter-set level is
exceeded.
NOTE
The control method usable with the αi series spindle is spindle HRV
control only. The conventional control method is not supported.
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4019 4019 PRLOAD
- 33 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
With FS15i, the parameter address of this function is different,
namely, bit 0 of No. 5607 is used. Moreover, note that the meanings
of settings are reversed as follows.
0 : Performs automatic parameter setting.
1 : Does not perform automatic parameter setting.
In this case, set a model code in parameter No. 3133.
PKHALW Sets the peak hold function for load meter output.
0 : Does not use the peak hold function. (standard setting value)
1 : Uses the peak hold function.
Unit of data : 1min-1 (Unit of 10 min-1 when bit 2 (SPDUNT) of parameter No. 4006 = 1)
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
This parameter sets a maximum spindle motor speed.
WARNING
The spindle motor may rotate at the maximum spindle motor speed
specified by this parameter. Therefore, this parameter must not be
set to a value greater than the maximum rotation speed indicated
by the specification of the spindle motor.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 50
This parameter sets a torque limitation value to be applied when the torque limitation
command HIGH (TLMHA) or the torque limitation command LOW (TLMLA) is
specified.
The data indicates limitation values when the maximum torque is 100%.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 83
This parameter sets a load detection signal 1 (LDT1A) detection range.
When the output of the spindle motor is (setting data)% of the maximum output or more,
load detection signal 1 (LDT1A) is set to 1.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 95
This parameter sets a load detection signal 2 (LDT2A) detection range.
When the output of the spindle motor is (setting data)% of the maximum output or more,
load detection signal 2 (LDT2A) is set to 1.
Unit of data :
Valid data range : 0 to 9
Standard setting value : 0
Select an appropriate pattern from the following:
- 35 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
A : Output is limited only at acceleration time and deceleration time for gradual
acceleration/deceleration, and the rated output is used for steady-state rotation.
(Setting data: 1, 4, or 7)
(Function similar to soft start/stop)
B : Maximum output is used at acceleration time and deceleration time, and output is
limited in steady-state rotation. (Setting data: 2, 5, or 8)
C : Using the same motor and amplifier, a machine with a different output specification
is produced. (Setting data: 3, 6, or 9)
Setting data
Description
Pattern 1 Pattern 2 Pattern 3
No output limitation is imposed. 0 0 0
A. Output is limited only at acceleration time and
1 4 7
deceleration time.
B. Output is not limited at acceleration time and
deceleration time, but output is limited in 2 5 8
steady-state rotation.
C. Output is limited in all operations. 3 6 9
Pm Catalog value
0 Speed
0 Nb Nm
Pm Catalog value
0 Speed
0 Nb Nm
- 36 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
Pm Catalog value
Limit value
0 Speed
0 Nb Nout Nm
100
Nout = × Nb
Setting in parameter No. 4029
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 100
This parameter sets a desired limitation value, with the maximum output (overload
tolerance) being 100%.
This setting becomes valid when output is limited by setting parameter No. 4028.
Unit of data : 1min-1/sec (Unit of 10min-1/sec when bit 2 (SPDUNT) of parameter No. 4006 = 1)
Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets an acceleration value (speed change rate) when the soft start/stop
function is enabled (when the soft start/stop signal SOCNA = 1).
NOTE
When 0 is set, the soft start/stop function is disabled.
Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This data is used to set the velocity loop proportional gain on velocity control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
- 37 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This data is used to set the velocity loop integral gain on velocity control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
NOTE
When an improper value is set in these parameters, an unexpected
operation can occur. For example, the spindle can continue rotating
without stopping at the time of orientation. So, be sure to set a
proper gear ratio.
NOTE
When a small value is set in this parameter, the motor can coast
after the power to the motor is turned off.
- 38 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
This parameter sets a period of time in which alarm detection is disabled by assuming that
the spindle motor is being accelerated or decelerated even if the velocity error exceeds the
velocity error excess alarm (spindle alarm 02) level after start of acceleration/deceleration
on the velocity control mode.
In the velocity control mode, a step-by-step speed command is specified. So, the spindle
motor cannot follow up the command immediately after start of acceleration/deceleration,
and the velocity error exceeds the velocity error excess alarm level. This parameter is
used to prevent the velocity error excess alarm (spindle alarm 02) from being detected
incorrectly immediately after start of acceleration/deceleration.
NOTE
With a machine tool such as a lathe that has a large load inertia, the
acceleration/deceleration time becomes longer. In such a case, set
the value corresponding to the acceleration/deceleration time of the
machine in this parameter.
3136 4136 4136 Motor voltage setting on velocity control mode (for low-speed characteristics)
Unit of data : 1%
Valid data range : 0 to 100
Standard setting : Depends on the motor model.
This parameter sets the motor voltage under the no-load condition in velocity control
mode.
The motor voltage to be set depends the motor model, the most usual setting is 30.
If an abrupt application of a heavy load in the no-load condition lowers the motor speed,
adjust this parameter to around 50 to 70 to improve the torque response characteristic.
Note that, however, setting a large value causes heating and large activation sound during
no-load motor operation.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
These parameters set conversion coefficients (numerator, denominator) for using the
detection arbitrary gear ratio function (DMR function) by multiplying a motor sensor
(αiM sensor) feedback signal by a gear ratio to produce a spindle position feedback
signal.
When the spindle rotates Q times while the motor shaft rotates P times (there is no
common divisor other than 1 for P and Q), the settings are:
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4173 when CTH1A = 1) = Q
When 0 is set in any of these parameters, the setting of 1 is assumed.
- 39 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
1 When performing feed per revolution with the detection arbitrary
gear ratio function (DMR function), set an arbitrary gear ratio
between the motor sensor and spindle in this parameter.
2 Threading using the detection arbitrary gear ratio function (DMR
function) is not supported.
When this bit is 1 and the acceleration setting for soft start/stop is valid (parameter No.
4030 ≠ 0 and SOCNA = 1), deceleration is performed at the acceleration for soft
start/stop (parameter No. 4030) if the motor rotation operation is quitted by an emergency
stop or the like.
*) “Quitting the motor rotation operation” refers to any of the following operations:
- Input of emergency stop signal
- Input of external reset signal
- Input of reset and rewind signal
- In put of reset signal from MDI
- Release of axis selection signal
NOTE
1 This parameter is valid with 9D50 series O (15) edition or later,
9D70 series F (06) edition or later, 9D80 series A (01) edition or
later, 9D90 series A (01) edition or later, and 9DA0 series A (01)
edition or later.
2 Quitting a reference position return operation for Cs contouring
control or rigid tapping is supported in 9D5A series J (10) edition or
later, 9D53 series W (23) edition or later, 9D70 series X (24) edition
or later, 9D80 series U (21) edition or later, 9D90 series F (06)
edition or later, and 9DA0 series I (09) edition or later.
- 40 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
Acceleration
-1
in velocity command
(min /sec)
Increase in
acceleration
Initial
acceleration
Time(sec)
T
Starts changing velocity command
issued from CNC at this point.
NOTE
1 This parameter is valid with 9D50 series G (07) edition or later,
9D70 series A (01) edition or later, 9D80 series A (01) edition or
later, 9D90 series A (01) edition or later, and 9DA0 series A (01)
edition or later.
2 If 0 is set, a liner type velocity command is observed when the soft
start/stop function is enabled.
2.1.7 Troubleshooting
If the spindle motor does not operate normally, take an action by referencing the items listed below
according to the state of trouble.
For an action to be taken when an alarm is issued, refer to the maintenance manual.
State of trouble
(i) When the motor does not rotate
(ii) When the motor does not rotate at a specified speed
(iii) When the motor vibrates and makes an abnormal sound when rotating
(iv) When an overshoot or hunting occurs
(v) When the cutting capability is degraded
(vi) When the acceleration/deceleration time is long
- 41 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
- 42 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
(b) Detector-related parameter data (Refer to Subsection 1.3.2, “Details of Parameters for
Detectors”, in Part I)
(c) Setting of a maximum motor speed
(iii) When the motor vibrates and makes an abnormal sound when rotating
(1) Check the feedback signal.
(a) Feedback signal level (Refer to Maintenance Manual.)
(b) Shielding and grounding (Refer to Descriptions.)
- 43 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
If vibration and sound produced when the motor coasts are extremely smaller than those produced
when the motor is driven, the control circuit is faulty. If sound produced remains unchanged, the
motor or the machine may be faulty. If the feedback signal cable from the motor is disconnected
during motor rotation, an alarm is issued, and the motor coasts. Before performing the coasting of
the motor, consult with the machine tool builder for confirmation. Depending on the sequence, the
brake may be applied.
(c) Regenerative power limitation (Check if the same value as in the parameter table for each
motor model is set.)
15i 16i 30i Description
3080 4080 4080 Regenerative power limitation
- 44 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
- 45 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
2.2.2 Overview
Unlike a function for stopping the spindle at a predetermined position mechanically, for example, by
using a stopper, the spindle orientation function stops the spindle at a predetermined position by directly
reading the position feedback signal from a position detector attached to the spindle of the machine.
Furthermore, by applying the optimum orientation function, the spindle acceleration command is
automatically optimized. This is expected to reduce the positioning time required by conventional method
orientation. It is, therefore, recommended to apply the optimum orientation function.
NOTE
1 To use this function, the CNC software option is required.
2 For an explanation of the changes that must be made to parameters to migrate
from conventional method orientation to optimum orientation, see Subsection
2.2.3, "Migration from Conventional Method Orientation to Optimum Orientation",
in Part I.
3 Optimum orientation function can be used with
9D50 series S (19) edition, 9D70 series I (09) edition, 9D80 series C (03)
edition, 9D90 series A (01) edition, and 9DA0 series A (01) edition or later.
4 For an explanation of conventional method orientation, see Section 5.4,
"CONVENTIONAL METHOD ORIENTATION", in Part I.
5 If using the output switching function together, do not change the motor winding
during spindle orientation (input signal: ORCMA = 1).
6 If using the spindle switching function together, use this function on both MAIN
and SUB sides.
- 46 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
NOTE
1 Usually, this operation alone successfully performs the migration. If adjustment
is necessary, see Subsection 2.2.13, "Tuning Procedure".
2 When the external one-rotation signal (proximity switch) is used, select
"SP"-"Orientation"-"Optimum orientation" and set the one-rotation signal
detection speed (50 to 100 min-1) according to the sensor specifications.
3 If setting parameters from the "SYSTEM>parameter screen" of the CNC, see
Subsection 2.2.13, "Tuning Procedure".
4 Optimum orientation parameter setting using the parameter window can be used
with the SERVO GUIDE Ver5.00 or later.
2.2.4 Feature
(1) Elimination of a mechanical section used for stopping at a predetermined position
Only a position detector needs to be connected to the spindle. A mechanical section (such as a
stopper and pin) used to mechanically stop the spindle at a predetermined position for spindle
orientation is unnecessary.
(2) Reduction in orientation time
A spindle motor attached to the spindle is used. So, orientation is enabled directly at high speed,
independently of gear shifting, thus resulting in a remarkable reduction in orientation time.
Furthermore, by applying the optimum orientation function, the spindle acceleration command is
automatically optimized, which can reduce the positioning time required by conventional method
orientation.
(3) Simplified power magnetic sequence
The required sequence consists of only a command for stopping at a predetermined position,
completion signal, and clutch/gear signal. No other signals are required. Sequences for an orientation
speed command and torque limitation command are unnecessary.
(4) Reliability
This function is based on a purely electric method. So, an external shock does not damage the
mechanical section, thus improving reliability.
(5) High precision and high rigidity
The precision and rigidity of the spindle stopping at a predetermined position are sufficiently high
for tool change operation (ATC).
(6) Workpiece positioning
On a lathe, a workpiece can be positioned to align the workpiece attachment/detachment direction.
(7) Reduction in the number of processes in boring
When a boring process ends, the workpiece can be positioned in the same direction as the direction
of spindle rotation. So, the workpiece is not damaged by the tool tip.
Moreover, the tool tip can be attached or detached in a constant direction relative to the workpiece,
so that a program can be created easily.
- 47 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
αs βs
Σ
+ Velocity loop +
PG controller
- No.4060 - P:No.4042/43
~No.4063 I :No.4050/51
JYA2 Spindle
αi position coder
SP
TYPE A
JYA3
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
- 48 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
JYA2 Spindle
α position coder S
SP
TYPE B
JYA4
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
(3) When the built-in motor (αiBZ sensor, αiCZ sensor (analog)) is used
αiBZ sensor or αiCZ sensor (analog)
Spindle+
Built-in motor
JYA2
SP
TYPE A
SP
TYPE A
Spindle+
Detection Built-in motor
JYA3 circuit
Thermistor
- 49 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(5) When the spindle motor with built-in αiMZ sensor is used
Spindle motor with built-in
αiMZ sensor
JYA2 Spindle
SP
TYPE A
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
(6) When the separate type αiBZ sensor or the separate type αiCZ sensor
(analog) is used
Spindle motor with built-in αiM
sensor (or αiMZ sensor)
JYA2 Spindle
SP
TYPE B
JYA2
SP
TYPE A
Detection
Spindle
circuit
JYA3
- 50 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
Spindle
JYA2
SP
External one-rotation
TYPE A
signal switch (proximity
switch)
Gear or timing belt
JYA3
NOTE
1 To detect the one-rotation signal securely, fix the direction (bits 3 and 2 of
parameter No. 4003) in which the spindle rotates during spindle orientation to one
direction.
2 Specify the type (bits 3 and 2 of parameter No. 4004) of an external one-rotation
signal (proximity switch).
3 To detect the one-rotation signal securely, set the spindle orientation speed
(parameter No. 4038) to a value between 50 and 100 min-1 according to the
specification of the external one-rotation signal (proximity switch).
4 A sequence for detecting the one-rotation signal is started after the orientation
speed has been reached.
5 Specify the denominator/numerator parameters (Nos. 4171 to 4174) of an
arbitrary gear ratio between the motor sensor and spindle.
(9) System in which the turret and the motor with a built-in αiMZ sensor are linked
with gears and a clutch (for turret indexing)
Spindle motor with built-in
αiMZ sensor
Spindle
Turret (tool post)
JYA2
SP
TYPE A
- 51 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
1st SP G230 G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd SP G238 G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00
CAUTION
Do not change status of following signals during spindle orientation command is
active (i.e. ORCMA=1)
CTH1A, CTH2A: Clutch / gear signals
RSLA: Output switching request signal
(ii) Make settings as indicated in the table below according to the state of the clutch or gear. The names
such as HIGH GEAR are given for convenience, and the correspondence to the actual gears is free.
CTH1A CTH2A
0 0 HIGH GEAR
0 1 MEDIUM HIGH GEAR
1 0 MEDIUM LOW GEAR
1 1 LOW GEAR
CAUTION
Do not change status of following signals during spindle orientation command is
active (i.e. ORCMA=1)
CTH1A, CTH2A: Clutch / gear signals
(e) Spindle orientation stop position change rotation direction command (ROTAA)
(i) This signal is used to specify a rotation direction when the orientation position is successively
changed to another orientation position after a spindle orientation operation.
When this signal is set to 0, the spindle rotates CCW and stops.
When this signal is set to 1, the spindle rotates CW and stops.
(ii) This signal is valid when the spindle orientation stop position change shortcut command (NRROA)
is set to 0.
- 53 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Chattering
Orientation completion
signal ORARA
(iv) This signal is set to 0, for example, when the spindle is moved out of the neighborhood of a
predetermined stop position as in a case where an external force is applied. In this case, use a
sequence that stops tool change operation. However, do not cancel the orientation command, but
execute a tool change operation after the orientation completion signal is set to 1 again.
(v) If the ATC of the machine has a structure that can cause a serious accident such as destruction due to
a circuit failure, create a signal for indicating an automatic tool change enable area by using a
proximity switch to make a double safety check with a power magnetic sequence before changing
the tool.
- 54 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
Stop
Stop
CW direction
Motor speed
CCW direction Note
Orientation completion
signal
ATC
operation
ATC operation
Start Completion
NOTE
The rotation direction of the spindle motor can be selected by parameter settings.
By default, the spindle rotates in the direction specified before the orientation
command signal is issued and then it stops at a predetermined position.
Orientation command
High-speed Deceleration
CW direction
Stop
Motor speed
CCW direction
ATC operation
Start Completion
- 55 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Spindle orientation
stop position
command SHA00-11
Spindle orientation
completion signal
ORARA
Note) Set t = 50 msec or more.
Stop <1>
• Predetermined stop position based on the normal orientation command
• The rotation direction of the spindle motor is determined by parameter setting.
• After the power is turned on, the spindle rotates at the orientation speed and seizes the one-rotation
signal before stopping at a predetermined position for the first time. After the first stop, the spindle
stops at a predetermined position within one rotation.
• When the stop position external setting type spindle orientation function is used, the spindle stops at
a predetermined position after shifting by the stop position data read on the rising edge of the spindle
orientation command signal if the data of the spindle orientation stop position command
SHA00-SHA11 is set after the first stop.
NOTE
The spindle orientation stop position change command INDXA is valid only when
the spindle orientation command ORCMA is set to 1.
- 56 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
(1) Starting spindle orientation when the spindle is rotating at or faster than
the orientation speed upper limit
(a) (b) (c)
Orientation
command
ORCMA
Orientation
completion siganl
ORARA
Orientation speed
upper limit
Detection of
acceleration Acceleration command (i.e. the
slope of motion command) is
automatically calculated based on
spindle acceleration in block (a).
(a) Spindle amplifier decelerates spindle to the speed specified in parameter No. 4038 (upper limit of
orientation speed) and detects spindle acceleration. The one-rotation signal is also detected in case of
the first-time orientation after power-on.
(b) Optimum motion command based on spindle acceleration detected in block (a) is calculated and
spindle position control is performed.
(c) Spindle orientation completion signal (ORARA) is output when motion command distribution is
finished and position error become less than or equal to the number of pulses specified in parameter
No. 4075 (orientation completion signal detection level).
- 57 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(2) Starting spindle orientation when the spindle is rotating at or slower than
the orientation speed upper limit
(a) (b) (c)
Orientation
command
ORCMA
Orientation
completion signal
ORARA
Spindle speed is limited
Detection of by upper limit of
acceleration orientation speed.
Orientation speed
upper limit
(a) Spindle amplifier accelerates spindle until the time specified in parameter No.4076 [high byte]
(delay time for acceleration detection) passed and detects spindle acceleration. The one-rotation
signal is also detected in case of the first-time orientation after power-on.
(b) Optimum motion command based on spindle acceleration detected in block (a) is calculated and
spindle position control is performed.
(c) Spindle orientation completion signal (ORARA) is output when motion command distribution is
finished and position error become less than or equal to the number of pulses specified in parameter
No. 4075 (orientation completion signal detection level).
- 58 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
(3) Starting spindle orientation when the spindle is in the zero-speed state
(Zero-speed detection signal SSTA = 1)
(a) (b)
Orientation
command
ORCMA
Orientation
Spindle speed is limited completion signal
by upper limit of ORARA
orientation speed.
Orientation speed
upper limit
Acceleration command
(i.e. the slope of motion
command) is set by
parameter Nos. 4320 and
4321.
0min-1
Spindle speed
(a) Spindle amplifier calculates optimum motion command based on spindle acceleration command
specified in parameters Nos. 4320 and 4321 and performs spindle position control. In case of the
first-time after power-on, the same operation as that described in (2) is performed.
(b) Spindle orientation completion signal (ORARA) is output when motion command distribution is
finished and position error become less than or equal to the number of pulses specified in parameter
No. 4075 (orientation completion signal detection level).
Parameter No.
Description
15i 16i 30i
3038 4038 4038 Optimum orientation: Orientation speed upper limit
3042 4042 4042 Velocity loop proportional gain for orientation
3043 4043 4043 (A parameter is selected by the CTH1A input signal.)
3050 4050 4050 Velocity loop integral gain for orientation
3051 4051 4051 (A parameter is selected by the CTH1A input signal.)
3056 to 4056 to 4056 to Spindle-to-motor gear ratio
3059 4059 4059 (A parameter is selected by the CTH1A and CTH2A input signals.)
3060 to 4060 to 4060 to Position gain for orientation
3063 4063 4063 (A parameter is selected by the CTH1A and CTH2A input signals.)
3064 4064 4064 Rate of change in the position gain upon completion of spindle orientation
3075 4075 4075 Detection level for the spindle orientation completion signal
3076 4076 4076 Speed limit ratio for spindle orientation
3077 4077 4077 Spindle orientation stop position shift
3084 4084 4084 Motor voltage for spindle orientation
3320 4320 4320 Optimum orientation: Spindle acceleration command
3321 4321 4321 (These parameters are selected by the input signal CTH1A)
3324 4324 4324 Optimum orientation: One-rotation signal detection speed
Optimum orientation: Limit ratio for acceleration command /
3326 4326 4326
Optimum orientation: Time constant for overshoot compensation
3327 4327 4327
(These parameters are selected by the input signal CTH1A)
3328 4328 4328 Command multiplier for orientation
3370 4370 4370 Filter time constant for spindle acceleration detection
4590
- - Orientation speed limit ratio 1/orientation speed limit ratio 2
4591
- - 4607 Motor voltage after completion of optimum orientation
NOTE
1 For the parameters related to detectors, see the Section 1.3, “PARAMETERS
RELATED TO DETECTORS” in the Part I.
2 For velocity loop proportional/integral gain adjustment, see Section 4.1,
"VELOCITY LOOP GAIN ADJUSTMENT", in Part I.
3 When using the external one-rotation signal (proximity switch), fix the
orientation-time rotation direction (bits 3 and 2 of No. 4003) at one direction.
4 When using the external one-rotation signal (proximity switch), set the type of
the external one-rotation signal (bits 3 and 2 of No. 4004).
5 When using the external one-rotation signal (proximity switch), set an orientation
speed from 50 to 100 min-1 (No. 4038) according to the specification of the used
external one-rotation signal.
6 When using the external one-rotation signal (proximity switch), set the
numerator/denominator of an arbitrary gear ratio between the motor sensor and
spindle (No. 4171 to No. 4174).
- 60 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
16bit data
Example:
When No. 4076[L] : Bell shaped acc./dec time constant = 100
No. 4076[H] : Delay time for acceleration detection = 25
the setting value of parameter No. 4076 is as follows:
No.4076 = 25×256+100 = 6500
ORIENT: Whether to use the spindle orientation function (The CNC software option is required.)
0: Does not use the spindle orientation function.
1: Use the spindle orientation function.
Set 1.
NOTE
When using the external one-rotation signal (proximity switch), fix
the orientation-time rotation direction at CCW or CW for stable
detection of the one-rotation signal.
(Bits 3, 2 of No. 4003) = 1, 0 or 1, 1)
NRROEN Specifies whether to use the shortcut function when orientation is specified in the stop
state.
0 : Does not use the function.
- 61 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
When an improper value is set in any of parameters Nos. 4056 to
4059, the upper limit of the orientation speed is not calculated
correctly and unexpected operation can occur.
Be sure to set proper gear ratios in parameters Nos. 4056 to 4059.
- 62 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
This data is used to set the velocity loop proportional gain on orientation.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
This data is used to specify a velocity loop integral gain for spindle orientation.
- 63 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 100
This parameter is used to set position feedforward coefficient.
Normally, set 100.
Initial
Speed command
Spindle speed
command
Move
command
Initial
Position error pulse
Position error
- 64 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
Move command
(After Bell-shaped
acceleration/deceleration)
Setting in
Move command parameter(ms)
(Before Bell-shaped
acceleration/deceleration)
Unit of data : 1%
Valid data range : 0 to 100
Standard setting : The value may vary, however, depending on the motor model.
This parameter sets the motor voltage for orientation.
Normally, set 100.
- 65 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Unit of data : 1min-1 (10 min-1 when bit 2 (SPDUNT) of parameter No. 4006 =1)
Valid data range : 0 to 32767
Standard setting value : 0
In case of the first-time orientation command (ORCMA) after power-on, the spindle
accelerates or decelerates toward the speed set by this parameter and detects one-rotation
signal.
If the setting is "0", setting value of parameter No. 4038 (upper limit of orientation speed)
is assumed to be set in the parameter.
If the external one-rotation signal (proximity switch) is used, setting this parameter and
the upper limit of orientation speed separately can reduce orientation time of second-time
or later after power-on.
When one-rotation signal detection speed is equal to upper limit of orientation speed (No. 4324 = 0)
First-time Second-time
orientation Orientation
after power-on
Spindle
speed : Position loop
is closed
Upper limit of
-1 orientation speed
0min
(=One-rotation signal
One-rotation detection speed)
signal detection
- 66 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
When one-rotation signal detection speed is different from upper limit of orientation speed (No. 4324 ≠ 0)
First-time Second-time
orientation Orientation
after power-on
Spindle
speed : Position loop
is closed
Upper limit of
orientation speed
(=One-rotation signal
detection speed)
-1
0min
One-rotation
signal detection
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 0
This parameter is used to set limit ratio for acceleration command.
If the setting is “0”, “95”(=95%) is assumed to be set in the parameter.
Usually, specify “0”.
Detection of
acceleration
Acceleration command
(= The slope of motion command)
= Detected acceleration
× setting value of this parameter × 1/100
Motion
Command
Motion command distribution
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
Set a command multiplier for the orientation function with an externally set incremental
command.
If this parameter is set to "0", the multiplier is automatically assumed to be "1" (= ×1).
If this parameter is set to a value other than "0", the incremental command is
"Incremental command data (SHA11 to SHA00) × setting of this parameter"
To use spindle rotation speed control, set this parameter to "4096", because the resolution
commanded for orientation is 4096 pulses per spindle rotation.
NOTE
1 For an explanation of the incremental command type spindle
orientation function, see Section 5.3, "INCREMENTAL COMMAND
TYPE SPINDLE ORIENTATION (SPINDLE ROTATION SPEED
CONTROL)", in Part I.
2 In case of optimum orientation, the maximum number of revolution
(incremental command) that can be specified is
30000 revolution (= 30000 × 4096 pulses).
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 0
- 68 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
These parameters are used to set orientation speeds, in conjunction with parameter No.
4038 for setting the orientation speed upper limit. Normally, set “0” in these parameters
because they need not be adjusted.
[Reference]
When an orientation operation is started at a speed near the orientation speed upper limit
(parameter No. 4038), the orientation time may be reduced by limiting the orientation
speed with these parameters.
Orientation speed limit ratio 1, ORSCF1, is used to define orientation speed lower limit,
ORSPDL, as shown below:
100 − ORSCF1
ORSPDL = × ORSPDU
100
Then, the following can be used to calculate orientation speed, ORSPD, as shown below:
・Spindle speed for the orientation command : ORSINI
・Orientation speed upper limit (set in parameter No. 4038): ORSPDU
・Orientation speed lower limit : ORSPDL
・Orientation speed limit ratio 2 : ORSCF2
ORSCF2 100-ORSCF2
ORSPD = × ORSINI+ × ORSPDL
100 100
(Clamping is performed so that ORSPDL ≤ ORSPD ≤ ORSPDU.)
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 0
This parameter is used to set a motor voltage after completion of optimum orientation.
The rigidity at the orientation stop can be increased by adjusting this parameter setting.
Normally, set “0” in this parameter because it need not be adjusted.
- 69 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
- 70 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
- 71 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
- 72 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
- 73 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(B) If making settings from the SYSTEM> parameter screen of the CNC
Initialize the parameters as listed below.
Orientation may work well with following settings. Tune parameters if necessary.
- 74 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
NOTE
1 Fix the rotation direction at one direction when the external one-rotation signal
(proximity switch) is used.
2 Set upper limit if it is necessary to specify the maximum speed of spindle during
position control.
3 Set 50 to 100 min-1 according to the specification of the sensor when the
external one-rotation signal (proximity switch) is used.
- 75 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
TCSAT TCSAT
SPSPD SPSPD
D D
(d) Tuning the bell-shaped acc./dec. time constant (No. 4076)
If the time from the end of motion command distribution to orientation completion (Section E:
ORSEQ = 4) is long, increase the bell-shaped acc./dec. time constant (No. 4076) in steps of 4 ms
from the initial value of 32 ms.
SPSPD : Spindle speed SPSPD : Spindle speed
ORSEQ : Orientation sequence data ORSEQ : Orientation sequence data
SPSPD SPSPD
ORSEQ ORSEQ
- 76 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
SPSPD
Maximum acceleration
at acceleration (min-1/s)
TCSAT TCSAT
D D
(e) Tuning the bell-shaped acc./dec. time constant (No. 4076)
Tune the bell-shaped acc./dec. time constant (No. 4076) in the same way as that described in (2).
- 77 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
[Example]
NOTE
1 The display function of diagnosis screen No. 445 is a maintenance function. After
completion of adjustment, return the setting of bit 1 of parameter No. 3117 to "0".
2 The FS15i does not have the spindle position data display function.
- 78 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
NOTE
Use the optimum orientation function for both MAIN spindle and SUB spindle
when the spindle switching control function is used concurrently.
- 79 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Conv. Conv.
Data Kind Unit Shift Notet
Coef. Base
Spindle speed SPSPD 1/min 1 1 -12
Spindle acceleration*1 SPACC ⎯ 10 1 0 Unit:1min-1/sec
Orientation sequence
ORSEQ ⎯ 1 1 0
data*2
Position error at
ORERR pulse 0.25 1 -10 4096 pulses/rev
orientation
Torque command TCMD % 100 16384 0
Torque command
SFLG1#12 0:TCMD isn’t saturated
status*3 ⎯ 1 1 0
(TCSAT) 1:TCMD is saturated
(bit12 of spindle flag 1)
NOTE
1 If the SERVO GUIDE is of Version 4.10 or later.
For an earlier version, make the following settings on the channel setting screen
of the graph window.
A B C D E F
- 80 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
NOTE
3 To display the torque command status decision flag, set spindle flag 1 on the
channel setting screen of the graph window, and make the following settings on
the GraphSetting screen.
- 81 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
2.3.2 Overview
Rigid tapping is a function for performing high-precision tapping by exercising position control so that
the spindle rotation is synchronized with tapping axis feed at all times.
This Subsection describes the specifications of the rigid tapping function related to the serial spindle.
NOTE
To use this function, the CNC software option is required.
However, FSSB high-speed rigid tapping cannot be used for the following:
・ Rigid tapping through spindle control by an analog spindle or servo motor
・ Rigid tapping with two or more spindles and one servo axis through spindle command
synchronization
- 82 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
・ Rigid tapping with two or more servo axes simultaneously used for one spindle
JYA2 Spindle
αi position coder
SP
TYPE A
JYA3
Directly connected or connected with
a gear or timing belt at a ratio of 1:1
JYA2 Spindle
α position coder S
SP
TYPE B
JYA4
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
- 83 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(3) When the built-in motor (αiBZ sensor or αiCZ sensor (analog)) is used
αiBZ sensor or αiCZ sensor (analog)
Spindle+
Built-in motor
JYA2
SP
TYPE A
Thermistor
(5) When the spindle motor with built-in αiM sensor (or αiMZ sensor) is used
Spindle motor with built-in
αiM sensor (or αiMZ sensor)
JYA2 Spindle
SP
TYPE A
Directly connected at a ratio of 1:1
or
connected with a gear or timing belt at a ratio of m:n
- 84 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
NOTE
1 When performing rigid tapping by using a signal from the sensor built into the
motor as a position feedback signal, use one of the following functions if the gear
ratio between the motor and spindle is other than 1:1
(a) Detection arbitrary gear ratio function (DMR function)
(b) Command arbitrary gear ratio function (CMR function)
2 When using the detection arbitrary gear ratio function (DMR function), set the
following:
- Parameters (No. 4171 to No. 4174) for the numerator/denominator of an
arbitrary gear ratio between the motor sensor and spindle
3 When using the detection arbitrary gear ratio function (DMR function) with a
motor containing a built-in αiMZ sensor, set bit 6 of No. 4007 to 1 so that the
alarms related to the position feedback signal (when non-Cs contouring control is
exercised) are not detected.
4 When using the command arbitrary gear ratio function (CMR function) with
FS16i, set the following:
- Enable the setting of an arbitrary gear ratio between the spindle and position
coder (bit 1 of No. 5200 = 1).
- Enable the setting of the command arbitrary gear ratio function (CMR) on rigid
tapping (bit 7 of No. 4006 = 1).
- Set the parameters for specifying the number of gear teeth on the spindle side
(No. 5221 to No. 5224).
- Set the parameters for specifying the number of gear teeth on the position
coder side (No. 5231 to No. 5234).
5 Reference position return can be performed when a motor with a built-in αiMZ
sensor is used and the spindle is directly connected to the motor or the spindle is
connected to the motor at a ratio of 1:1.
(6) When the separate type αiBZ sensor or separate type αiCZ sensor
(analog) is used
Spindle motor with built-in αiM
sensor (or αiMZ sensor)
JYA2 Spindle
SP
TYPE B
- 85 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
JYA2
SP
TYPE A
Detection
Spindle
circuit
JYA3
Spindle
JYA2
SP External one-rotation
TYPE A signal switch (proximity
switch)
Gear or timing belt
JYA3
NOTE
1 When using the external one-rotation signal (proximity switch), use the detection
arbitrary gear ratio function (DMR function).
2 When using the detection arbitrary gear ratio function (DMR function), set the
following:
- Parameters (No. 4171 to No. 4174) for the numerator/denominator of an
arbitrary gear ratio between the motor sensor and spindle
3 Set the type of the external one-rotation signal (proximity switch) (bits 3 and 2 of
No. 4004).
4 For stable detection of the one-rotation signal, set a reference position return
speed (No. 4074) from 50 to 100 min-1 according to the specification of the used
external one-rotation signal (proximity switch).
5 When orientation based on the external one-rotation signal is used together,
match the reference position return speed and direction with the orientation
speed and direction.
- 86 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
For details of the I/O signals common to the CNCs, see Chapter 3, “I/O SIGNALS (CNC↔PMC)”, in
Part I.
NOTE
1 The rigid tapping of the second spindle is available by the
multi-spindle control function.
When SWS1 is set to 1 (regardless of whether SWS2 is set to 0 or
1), rigid tapping is performed using the 1st spindle. When SWS1 is
set to 0, and SWS2 is set to 1, rigid tapping is performed using the
2nd spindle.
2 This signal is used when the rigid tapping of the second spindle.
According to the GR21 signal, the individual gear parameters for
gear 1 or 2, also used for the 1st spindle, are selected.
- 87 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
1 The rigid tapping of the second spindle is available by the
multi-spindle control function.
When SWS1 is set to 1 (regardless of whether SWS2 is set to 0 or
1), rigid tapping is performed using the 1st spindle. When SWS1 is
set to 0, and SWS2 is set to 1, rigid tapping is performed using the
2nd spindle.
2 This signal is used when the rigid tapping of the second spindle.
NOTE
1 These signals are effective when M series.
NOTE
1 These signals are effective when M series.
- 88 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
2.3.6 Sequence
For a rigid tapping sequence, refer to the Connection Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.11, “RIGID TAPPING.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.11, “RIGID TAPPING.”
(c) For Series 15i
“FANUC Series 15i-MODEL B CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.8, “RIGID TAPPING.”
(d) For Series 0i
“FANUC Series 0i-MODEL C CONNECTION MANUAL (FUNCTION) : B-64113EN-1
Refer to Section 9.10, “RIGID TAPPING.”
(e) For Series 30i/31i/32i-B
“FANUC Series 30i/31i/32i-MODEL B CONNECTION MANUAL (FUNCTION) : B-64483EN-1
Refer to Section 11.12, “RIGID TAPPING.”
(f) For Series 0i-D
“FANUC Series 0i-MODEL D CONNECTION MANUAL (FUNCTION) : B-64303EN-1
Refer to Section 10.13, “RIGID TAPPING.”
- 89 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Parameter No.
Description
15i 16i 30i
5605#2 - -
5757 - -
Spindle speed for determining an acceleration value for cutting feed on
5886 - -
rigid tapping
5889 - -
5892 - -
5605#2
5261 5261
5751
5262 5262
5886 Acc/Dec time constant (16i/30i: No. 5264 is used for the T series only.)
5263 5263
5889
5264 5264
5892
5605#2
- -
5752
- -
5885 FL speed for spindle and drilling axis acceleration/deceleration on rigid
- -
5888 tapping
- -
5891
- -
5894
- 5200#4 5200#4 Override selection at extracting
5883 5211 5211 Override value at extracting
5201#2 5201#2
- Time constant at extracting (No. 5274 is used for the T series only.)
5271 to 5274 5271 to 5274
- - 5203#2 Feed-forward function at rigid tapping
1827 5300 5300 In-position width of tapping axis
5875 5301 5301 In-position width of spindle
5310
1837 5310 Allowable level of position error of tapping axis at moving
5341
5876 5311 5311 Allowable level of position error of spindle at moving
1829 5312 5312 Allowable level of position error of tapping axis at stop
5877 5313 5313 Allowable level of position error of spindle at stop
5853
Backlash of spindle
5856
5321 to 5324 5321 to 5324 (16i: No. 5322 and No. 5324 are used for the T series only.
5859
30i: No. 5324 is used for the T series only.)
5862
Selection of the bell-shaped acceleration/deceleration function for rigid
- 5203#5 5203#5 tapping (the CNC software option (bell-shaped
acceleration/deceleration for rigid tapping) is required.)
- 5365
5365 Bell-shaped acceleration/deceleration time constant for rigid tapping
- 5366
5366 (For the 16i, the relevant parameters are valid with the M series only.
- 5367
5367 For the 30i, parameter No. 5368 is valid with the T series only.)
- 5368
3000#4 4000#4 4000#4 Reference position return direction on servo mode
Whether to enable the rotation direction signal (SFR/SRV) on servo
3002#5 4002#5 4002#5
mode
Setting of the command arbitrary gear ratio function (CMR) on rigid
3006#7 4006#7 4006#7
tapping
Setting related to the motor voltage control characteristics on Cs
3016#4 4016#4 4016#4
contouring control or servo mode
3017#7 4017#7 4017#7 Shortcut function when orientation is specified in stop state
- - 4037 Velocity loop feed-forward coefficient
3044 4044 4044 Velocity loop proportional gain on servo mode/spindle synchronous
3045 4045 4045 control (It is selected by input signal CTH1A/B.)
3052 4052 4052 Velocity loop integral gain on servo mode/spindle synchronous control
3053 4053 4053 (It is selected by input signal CTH1A/B.)
3056 to Gear ratio between spindle and motor
4056 to 4059 4056 to 4059
3059 (It is selected by input signal CTH1A or CTH2A)
- 90 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
Parameter No.
Description
15i 16i 30i
3065 to Spindle position gain on servo mode/spindle synchronous control
4065 to 4068 4065 to 4068
3068 (It is selected by input signal CTH1A or CTH2A)
3073 4073 4073 Grid shift amount on servo mode
3074 4074 4074 Reference position return speed on Cs contouring control/servo mode
Position gain change ratio at reference position return time on servo
3091 4091 4091
mode
Motor voltage (for high-speed characteristics) on servo mode/spindle
3085 4085 4085
synchronous control
Motor voltage (for low-speed characteristics) on servo mode/spindle
3137 4137 4137
synchronous control
3099 4099 4099 Delay time for stable motor excitation
3171 4171 4171 Denominator of an arbitrary gear ratio between the motor sensor and
3173 4173 4173 spindle (A parameter is selected by the input signal CTH1A.)
3172 4172 4172 Numerator of an arbitrary gear ratio between the motor sensor and
3174 4174 4174 spindle (A parameter is selected by the input signal CTH1A.)
- - 4344 Advanced preview feed-forward coefficient
Acceleration/deceleration time constant for Cs contouring control/servo
3406 4406 4406
mode
- 4540#1 Setting related to motor voltage control characteristics on servo mode
- - 4549#1 Setting for FSSB high-speed rigid tapping
NOTE
1 For the parameters related to detectors, see Section 1.3, “PARAMETERS
RELATED TO DETECTORS” in the Part I.
2 For velocity loop proportional/integral gain adjustment, see Section 4.1,
“VELOCITY LOOP GAIN ADJUSTMENT”, in Part I.
- 91 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
RETSV Reference position return direction on servo mode (rigid tapping/spindle positioning)
0 : The spindle performs a reference position return operation in the
CCW(counterclockwise) direction.
1 : The spindle performs a reference position return operation in the CW(clockwise)
direction.
SVMDRT Whether to enable the rotation direction signal (SFR/SRV) function on servo mode (rigid
tapping/spindle positioning)
0 : Enables the rotation direction function.
If a move command from the CNC is positive (+),
(a) The spindle rotates in the CCW direction when the input signal SFR (bit 5 of
G70) = 1.
(b) The spindle rotates in the CW direction when the input signal SRV (bit 4 of
G70) = 1.
1 : Disables the rotation direction function.
If a move command from the CNC is positive (+), the spindle rotates in the CCW
direction when the input signal SFR = 1 or SRV = 1.
RGTCMR Sets the command arbitrary gear ratio function (CMR) on rigid tapping.
0 : Disables the command arbitrary gear ratio function.
1 : Enables the specified arbitrary gear ratio function.
Set this parameter to 1 when rigid tapping is performed using a signal from the sensor
built-into the motor as a position feedback signal and the gear ratio between the motor
and spindle is other than 1:1.
When using the command arbitrary gear ratio function (CMR function), set the following
as well:
• Enabling an arbitrary gear ratio between the spindle and position coder (bit 1 of No.
5200 = 1)
• Parameters for the number of gear teeth on the spindle side (No. 5221 to No. 5224)
• Parameters for the number of gear teeth on the position coder side (No. 5231 to No.
5234)
IDLPTN Setting related to the motor voltage control characteristics on Cs contouring control or
servo mode (rigid tapping)
Set this bit to 1 when setting a value less than 100 as the motor voltage on Cs contouring
control (No. 4086) or as the motor voltage on servo mode (No. 4085).
NRROEN Specifies whether to use the shortcut function when orientation is specified in the stop
state.
- 92 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
- - 30i
- - 4037 Velocity loop feed-forward coefficient
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets a velocity loop feed-forward coefficient for using feed-forward
control. Set the result of calculation of the following expression:
[spindle inertia + rotor inertia](kg⋅m2)
Setting = 214466 ×
Maximum motor torque (N⋅m)
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
These parameters set a velocity loop proportional gain on servo mode (rigid
tapping/spindle positioning) or spindle synchronous control.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
These parameters set a velocity loop integral gain on servo mode (rigid tapping/spindle
positioning) or spindle synchronous control.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
NOTE
When an improper value is set in these parameters, an unexpected
operation can occur. For example, the spindle can continue rotating
without stopping at the time of orientation. So, be sure to set a
proper gear ratio.
- 94 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
The value set in this parameter is used as a reference position return speed on servo
mode (rigid tapping/spindle positioning).
NOTE
When using an external one-rotation signal (proximity switch), for
stable detection of the one-rotation signal, set a reference position
return speed (parameter No. 4074) from 50 to 100 min-1 according
to the specification of the external one-rotation signal (proximity
switch) you want to use.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : Depends on the motor model.
These parameters set a motor voltage on servo mode (rigid tapping, spindle positioning,
and so forth) and spindle synchronous control.
When performing rigid tapping, set "100" usually.
When the maximum speed for rigid tapping (in terms of motor axis) is higher than the
base speed of the spindle motor (No. 4100 for high-speed characteristics and No. 4138 for
low-speed characteristics), set a value less than "100" as the motor voltage for rigid
tapping (No. 4085 for high-speed characteristics and No. 4137 for low-speed
characteristics), according to the following expression:
Spindle motor base speed
Motor voltage (%)= 100×
Maximum speed for rigid tapping (in terms of motor axis)
In this case, set "1" for the setting related to the motor voltage control characteristics (bit
4 of parameter No. 4016) or the setting related to the motor voltage control characteristics
on servo mode (bit 1 of parameter No. 4540).
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 100
This parameter sets a position gain change ratio at reference position return time on servo
mode (rigid tapping, spindle positioning, and so forth).
NOTE
An overshoot can occur at reference position return time for a cause
such as an excessively high reference position return speed and an
excessively large spindle inertia. In this case, an overshoot can be
avoided by setting a small value in this parameter.
This parameter sets a period of time required until motor excitation becomes stable at the
time of switching to rigid tapping or Cs contouring control.
NOTE
In switching from the velocity control mode to rigid tapping mode,
the stop time excessive error alarm can be issued intermittently.
This is because the excitation state of the spindle motor changes
abruptly, and therefore a transient state occurs in the motor, thus
moving the motor shaft slightly.
In such a case, set this parameter. In general, set a value from
about 300 to 400 (300 to 400 msec).
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
These parameters set conversion coefficients (numerator, denominator) for using the
detection arbitrary gear ratio function (DMR function) by multiplying a motor sensor
(αiM sensor or αiMZ sensor) feedback signal by a gear ratio to produce a spindle
position feedback signal.
When the spindle rotates Q times while the motor shaft rotates P times (there is no
common divisor other than 1 for P and Q), the settings are:
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4174 when CTH1A = 1) = Q
When 0 is set in any of these parameters, the setting of 1 is assumed.
NOTE
When using the external one-rotation signal (proximity switch), use
the detection arbitrary gear ratio function (DMR function) by setting
an arbitrary gear ratio between the motor sensor and spindle with
this parameter.
- 96 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
Reference
position return
speed-1
(min )
Setting in Setting in
parameter parameter
No. 4406 No. 4406
(msec) (msec)
NOTE
1 When 0 is set in this parameter, a velocity command is assumed as
follows.
• Before detecting the one-rotation signal: Reference position
return speed (step-type velocity command)
• After detecting the one-rotation signal:
Distance to the reference position × Position gain
2 This parameter is enabled when soft start/stop signal SOCNA is 1.
EXPTRG Setting related to the motor voltage control characteristics on servo mode (rigid tapping)
Set this bit to 1 when setting a value less than 100 as the motor voltage on servo mode
(parameter No. 4085).
This bit is valid only for the setting for the motor voltage on servo mode (parameter No.
4085).
- 97 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Motor
Spindle +
built-in motor
Spindle
αiBZ sensor
(directly connected to the spindle)
αi position coder
(connected to the spindle at a ratio of 1:1)
Spindle
Position feedback
NOTE
This system configuration also enables the detection arbitrary gear ratio function
(DMR function) to be used.
- 98 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
(b) To use the command arbitrary gear ratio (CMR), set the following parameters:
15i 16i 30i Setting data
3006#7 4006#7 4006#7 1
0: The command arbitrary gear ratio (CMR) is not used.
1: Rigid tapping is performed using the command arbitrary gear ratio (CMR) with the sensor built into
the motor.
(c) Set the parameters to enable the command arbitrary gear ratio (arbitrary gear
ratio between the spindle and position coder).
15i 16i 30i Setting data
- 5200#1 - 1
(d) Set the parameter “the arbitrary gear ratio between the spindle and the position
coder” according to each CNC.
[Series 16i]
(1) Set the gear teeth number of the spindle side.
Each parameter is selected according to the gear selection signal.
Standard machining [M series] : GR3O, GR2O, GR1O
Turning [T series] and machining [M series] with surface speed constant option : GR2, GR1
Second spindle of turning [T series] : GR21 (Multi-spindle control option is needed)
(2) Set the gear teeth number of the position coder side.
Each parameter is selected according to the gear selection signal.
Standard machining [M series]: GR3O, GR2O, GR1O
Turning [T series] and machining[M series] with surface speed constant option : GR2, GR1
Second spindle of turning [T series] : GR21 (Multi- spindle control option is needed)
- 99 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
[Series 30i]
(1) Set the gear teeth number of the spindle side.
Each parameter is selected according to the gear selection signal.
Standard machining [M series] : GR3O, GR2O, GR1O
Turning [T series] and machining [M series] with surface speed constant option : GR2, GR1
Second spindle : GR21, GR21 (Multi-spindle control option is needed)
(2) Set the gear teeth number of the position coder side.
Each parameter is selected according to the gear selection signal.
Standard machining [M series]: GR3O, GR2O, GR1O
Turning [T series] and machining[M series] with surface speed constant option: GR2, GR1
Second spindle : GR21, GR21
(Multi-spindle control option is needed)
[Series 15i]
Gear signal Parameter No.
Gear teeth number of position coder
CTH1A CTH2A Gear teeth number of spindle side
side
0 0 5852 5851
0 1 5855 5854
1 0 5858 5857
1 1 5861 5860
- 100 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
[1st. sp]
Gear signal Parameter No.
CTH1A CTH2A 15i 16i 30i
0 0 3056 (S1) 4056 (S1) 4056 (S1)
0 1 3057 (S1) 4057 (S1) 4057 (S1)
1 0 3058 (S1) 4058 (S1) 4058 (S1)
1 1 3059 (S1) 4059 (S1) 4059 (S1)
[2nd. sp]
Gear signal Parameter No.
CTH1B CTH2B 15i 16i 30i
0 0 3056 (S2) 4056 (S2) 4056 (S2)
0 1 3057 (S2) 4057 (S2) 4057 (S2)
1 0 3058 (S2) 4058 (S2) 4058 (S2)
1 1 3059 (S2) 4059 (S2) 4059 (S2)
[Series 16i]
The position gain parameter of the tapping axis in the rigid tapping is selected as follows according to the
gear selection signal.
Standard machining [M series]: GR3O, GR2O, GR1O
Turning [T series] and machining [M series] with surface speed constant option : GR2, GR1
Second spindle of turning [T series]: GR21 (Multi-spindle control option is needed)
NOTE
1 When this parameter is “0”, each gear parameter becomes valid.
When this parameter is not “0”, each gear parameter becomes invalid, and this
parameter is always used.
The position gain parameter of the spindle in the rigid tapping is selected as follows according to the gear
selection signal (CTH1A/B, CTH2A/B). (This is common T series and M series)
- 101 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
CAUTION
Take care to input the gear selection signal GR1, GR2, GR21, GR1O, GR2O,
GR3O and CTH1A/B, CTH2A/B according to the real gear state in order to get
the same position gain of the tapping axis and that of the spindle, because GR1,
GR2, GR21, GR1O, GR2O, GR3O and CTH1A/B, CTH2A/B are inputted
independently.
[Series 30i]
The position gain parameter of the tapping axis in the rigid tapping is selected as follows according to the
gear selection signal.
Standard machining [M series]: GR3O, GR2O, GR1O
Turning [T series] and machining [M series] with surface speed constant option : GR2, GR1
Second spindle : GR22, GR21(Multi-spindle control option is needed)
NOTE
1 When this parameter is “0”, each gear parameter becomes valid.
When this parameter is not “0”, each gear parameter becomes invalid, and this
parameter is always used.
The position gain parameter of the spindle in the rigid tapping is selected as follows according to the gear
selection signal (CTH1A/B, CTH2A/B). (This is common T series and M series)
- 102 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
CAUTION
Take care to input the gear selection signal GR1, GR2, GR21, GR22, GR1O,
GR2O, GR3O and CTH1A/B, CTH2A/B according to the real gear state in order
to get the same position gain of the tapping axis and that of the spindle, because
GR1, GR2, GR21, GR22, GR1O, GR2O, GR3O and CTH1A/B, CTH2A/B are
inputted independently.
[Series 15i]
In the rigid tapping, the same parameter address data is used for the position gain of the tapping axis and
the spindle.
Each position gain is selected as follows according to the gear selection signal (CTH1A, CTH2A).
Gear signal
Parameter No.
CTH1A CTH2A
0 0 3065
0 1 3066
1 0 3067
1 1 3068
5201 #2 0 : The same time constant between cutting in and out. (No. 5261 to 5264)
- 103 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
1 This is not available for Machining (M series).
[Series 30i]
(1) Each parameter can be set for each gear and is selected according to the gear selection signal.
By setting the following parameter, the different time constant between the cutting in and cutting out
(extracting) becomes available.
5201 #2 0 : The same time constant between cutting in and out. (No. 5261 to 5264)
NOTE
1 This is not available for Machining (M series).
- 104 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
[Series 15i]
(1) Acc/Dec type
5605 #1 0 : Exponential type Acc/Dec
1 : Linear type Acc/Dec
NOTE
Usually, linear type acceleration/deceleration (bit 1 of No. 5605 = 1) is used.
(2) Set Acc/Dec the time constant of the rigid tapping mode.
<1> The time constant is a fixed value if bit 2 of parameter No. 5605 = 0.
<2> When bit 2 of parameter No.5605 is set to 1, one of the four acceleration/deceleration time
constants is selected, depending on the spindle speed.
(2) Initialization
Before adjustment, initialize the parameters related to rigid tapping with a spindle motor.
Parameter No.
Initial setting
(FS16i,30i)
5241~5244 Set the maximum spindle speed on rigid tapping.
- 105 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Set them with either of the methods <1> and <2> below.
<1> Method to set parameters from the spindle acceleration time
In velocity control mode, measure the acceleration time [ms] required to achieve the maximum
spindle speed on rigid tapping (Nos. 5241 to 5244), and set the value equal to the acceleration
time multiplied by 1.5 to 2.
<2> Method to set the acceleration/deceleration constant from an expression
Jm[ kgm 2 ] + JL[kgm 2 ] 2π
tr[ms] = × × Nr[min −1 ] × Gear × 1000 × 1.2
5261~5264 T max( Nr )[ Nm] 60
tr [ms] : Acceleration/deceleration time constant on rigid tapping (Nos. 5261 to 5264)
Nr [min-1] : Maximum spindle speed on rigid tapping (Nos. 5241 to 5244)
Gear : Gear ratio data between spindle and motor
(motor speed per one spindle rotation)
Tmax(Nr) [Nm] : Maximum torque of the spindle motor at Nr
Jm [kgm2] : Rotor inertia of the spindle motor
JL [kgm2] : Spindle load inertia (converted for the motor shaft)
5280~5284 3000
4065~4068 3000
4044~4045 10
4052~4053 10
100
When the maximum speed for rigid tapping (in terms of motor axis) is higher than the base speed
of the spindle motor (No. 4100 for high-speed characteristics), set the value calculated from the
4085
following expression:
Spindle motor base speed (No.4100)
Motor voltage (%)= 100×
Maximum speed for rigid tapping (in terms of motor axis)
100
When the maximum speed for rigid tapping (in terms of motor axis) is higher than the base speed
of the spindle motor (No. 4138 for low-speed characteristics), set the value calculated from the
4137
following expression:
Spindle motor base speed (No.4138)
Motor voltage (%)= 100×
Maximum speed for rigid tapping (in terms of motor axis)
0
4016#4
Set this bit to 1 when setting parameter No. 4085 or 4137 to a value less than 100.
4099 300
0
4540#1
Set this bit to 1 when setting parameter No. 4085 or 4137 to a value less than 100.
- 106 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
NOTE
When observing the synchronous error of Series 16i, set the following
parameters:
No. 3700, #7 = 1:
Uses the synchronous error output (maintenance function).
(Return the setting to 0 after the observation is completed.)
No. 5203, #7 = 1 :
Sets a synchronous error update cycle.
(Return the setting to 0 after the observation is completed.)
No. 5204, #0 = 0 :
Displays the synchronous error on the diagnosis screen.
- 107 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
ta
In this example, the maximum rigid tapping speed Nr is set to 4000 min-1. To determine the
acceleration/deceleration time constant, the motor velocity waveform in acceleration up to 4000 min-1 is
observed. If the acceleration is performed with the maximum motor torque at 4000 min-1, the acceleration
time ta needed to attain 4000 min-1 is about 400 ms, as shown above. This is the minimum value of
acceleration/deceleration time constant tr, which can be specified without consideration of cutting load. A
time constant that can be specified in consideration of cutting load is usually about 1.2 to 1.5 times this
value. As a provisional value for gain adjustment, approximately double (800 ms) is specified here.
(b) Specifying a value calculated from the relationship between the maximum
torque and spindle inertia
Specify an acceleration/deceleration time constant calculated from the following expression:
Jm[ kgm2 ] + JL [ kgm2 ] 2π
tr [ms] = × × Nr [min −1 ] × GR × 1000 × 2
T max(Nr )[Nm] 60
tr[ms] : Acceleration/deceleration time constant on rigid tapping (No. 5261 to 5264)
Nr[min-1] : Maximum spindle speed on rigid tapping (No. 5241 to 5244)
GR : Spindle-motor gear ratio (Motor rotation per spindle rotation)
Tmax(Nr) [Nm]: Maximum torque of spindle motor at Nr
Jm[kgm2] : Rotor inertia of spindle motor
JL[kgm2] : Spindle load inertia(converted for the motor shaft)
If the gear ratio is 1:1 at Nr=4000 min-1 and PG=3000 (30 sec-1), the position error in stable rigid tapping
at Nr is calculated as follows:
4000 1
Perr (Nr ) = × 4096 × = 9102[ pulse ]
60 30
- 108 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
(a) Waveform before adjustment (No. 4044 = (b) Waveform after adjustment (No. 4044 =
10, No. 4052 = 10) 20, No. 4052 = 60)
(a) Waveform before adjustment (No. 5261 = 800) (b) Waveform after adjustment (No. 5261 = 480)
- 109 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
- 110 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
Note
Note the following data:
0455: Difference of move command converted for the spindle (instantaneous)
0456: Difference of position error converted for the spindle (instantaneous)
0457: (In terms of spindle) Width of synchronous error (maximum)
The data is displayed only when bit 0 (DGN) of parameter No. 5204 is set to 0.
Usually, set 0.
2.3.12 Alarm
This Subsection provides a list of the alarms related to rigid tapping only. For details, refer to the
Connection Manual (Function) of each CNC.
- 111 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
- 112 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
When the feedrate instruction contains valid data below the decimal point, the alarm is set and the
PS0531
F code contains valid data below the decimal point.
When the feedrate instruction contains valid data below the decimal point, the alarm is set and the
PS0532
E code contains valid data below the decimal point.
The feedrate for the hole drilling axis calculated from the F and S codes is too slow in the feed per
PS0533
single rotation mode (G95).
The feedrate for the hole drilling axis calculated from the F and S codes is too fast in the feed per
PS0534
rotation mode (G95).
The feedrate for the hole drilling axis calculated from the E and S codes is too slow in the feed per
PS0535
rotation mode (G95).
The feedrate for the hole drilling axis calculated from the E and S codes is too fast in the feed per
PS0536
rotation mode (G95).
PS0537 The speed obtained by applying override to the F instruction is too slow.
PS0538 The speed obtained by applying override to the F instruction is too fast.
PS0539 The speed obtained by applying override to the E instruction is too slow.
PS0540 The speed obtained by applying override to the E instruction is too fast.
PS0541 “0” has been instructed as the S code.
PS0542 “0” has been instructed as the feedrate (E code).
The gear ratio between the spindle and position coder, or the set position coder number of pulses
PS0543
is illegal in the spindle position function and the rigid tapping function.
PS0544 The value specified with the S command exceeds the maximum spindle speed.
- 113 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
B. Prepare and check the ladder program for the Cs contouring control
function.
2.4.2 Overview
Cs contouring control is a function for exercising position control by handling the spindle as a CNC
controlled axis with an αiMZ sensor, αiBZ sensor, αiCZ sensor (analog, serial), or α position coder S.
This function enables positioning and interpolation with another servo axis. This means that linear
interpolation, circular interpolation, and so forth can be specified between the spindle and a servo axis.
- 114 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
NOTE
To use this function, the CNC software option is required.
JYA2 Spindle
α position coder S
SP
TYPE B
JYA4
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
(2) When the built-in motor (αiBZ sensor, αiCZ sensor (analog)) is used
αiBZ sensor or αiCZ sensor (analog)
Spindle+
Built-in motor
JYA2
SP
TYPE A
SP
TYPE A
Spindle+
Detection Built-in motor
JYA3 circuit
Thermistor
- 115 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
In a configuration in which the αiCZ sensor (serial) is used as a motor sensor, to
start Cs contouring control immediately after the power on, use spindle software
9D80 series H (08) edition or later, 9D90 series A (01) edition or later, or 9DA0
edition A (01) or later.
(4) When the spindle motor with built-in αiMZ sensor is used
Spindle motor with built-in
αiMZ sensor
JYA2 Spindle
SP
TYPE A
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
(5) When the separate type αiBZ sensor or separate type αiCZ sensor
(analog) is used
Spindle motor with built-in αiM
sensor (or αiMZ sensor)
JYA2
Spindle
SP
TYPE B
- 116 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
JYA2
SP
TYPE A
Detection
Spindle
circuit
JYA3
NOTE
In a configuration in which the αiCZ sensor (serial) is used as a spindle sensor, to
start Cs contouring control immediately after the power on, use spindle software
9D80 series H (08) edition or later, 9D90 series A (01) edition or later, or 9DA0
edition A (01) or later.
For details of the I/O signals common to the CNCs, see Chapter 3, “I/O SIGNALS (CNC↔PMC)”, in
Part I.
- 117 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
1 These signals are valid with the M series only.
NOTE
1 These signals are valid with the M series only.
- 118 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
ON(1)
Spindle rotation
command
(SFR/SRV) OFF(0) OFF(0)
Sxxxxx(≠0)
( 1)
Spindle speed command *
S0
ON(1)
Cs contouring control mode state
FS16i/30i : FSCSL
FS15i : MSCNTRx OFF(0) OFF(0)
Spindle clamp
( 2)
Spindle clamped *
ON(1)
Velocity integral control signal (*2)
(INTGA) OFF(0) OFF(0)
NOTE
1 In Cs contouring control mode, reset the spindle speed command (specify S0) for
safety.
2 When the spindle is clamped to perform machining such as drilling after
positioning based on Cs contouring control, the spindle may be clamped at a
position slighted shifted from the specified position. In such a case, the velocity
loop integral function attempts to move the spindle to the specified position, so
that an excessively high current can flow through the motor.
To prevent this, turn on (set to 1) the velocity integral control signal (INTGA) to
disable the velocity loop integral function, or turn off the power to the motor with
the servo-off signal.
3 In Cs contouring control, do not perform spindle gear switching. Be sure to
perform spindle gear switching, if needed, on the velocity control mode.
4 For Cs contouring control, use either of the SFR and SRV signals.
5 In the Cs contouring control mode, do not change the SFR (SRV) signal.
- 119 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
1
Spindle alarm reset signal
(ARSTA) 0 0
Remove cause
of alarm
Motor speed
Decelerated
and stopped
NOTE
1 If a spindle alarm is issued, release the Cs contouring control mode. Resetting
the alarm without releasing the mode and restarting operation may cause a miss
positioning.
2 With the following series and editions, the alarm reset signal is valid only in the
velocity control mode (in other modes, inputting the alarm reset signal does not
release the alarm):
9D50 series P (16) edition or later
9D70 series G (07) edition or later
9D80 series A (01) edition or later
9D90 series A (01) edition or later
9DA0 series A (01) edition or later
- 120 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
No.4342(CTH1A=0)
No.4343(CTH1A=1)
Override
No.4046(CTH1A=0)
Velocity command No.4047(CTH1A=1) Torque command
+ +
Position Proportional gain
control - +
Normal No.4054(CTH1A=0)
Velocity position No.4055(CTH1A=1)
+
feedback Integral gain 1/S
+
No.4162(CTH1A=0)
No.4163(CTH1A=1)
Cs cutting feed mode and
No.4162(CTH1A=0) ≠0 Integral gain for
or No.4163(CTH1A=1) ≠ 0 cutting feed
NOTE
The override function is effective only for Cs contouring control mode (override
fixed at 100% for the other modes).
- 121 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Parameter No.
Description
15i 16i 30i
5880 1828 1828 Position error limit during movement
5881 1829 1829 Position error limit when stopped
5882 - - Position error limit when the servo system is off
Sets a position gain for a servo axis subject to interpolation with the Cs
5609#0 - - contouring control axis.
(“0”: Automatically set, “1”: Not automatically set. Usually, set “0”.)
3900 3900
3910 3910
Servo axis number subject to interpolation with the Cs contouring control
- 3920 3920
axis
3930 3930
3940 3940
3901 to 3901 to
3904 3904
3911 to 3911 to
3914 3914
3921 to 3921 to Position gain of a servo axis subject to interpolation with the Cs contouring
-
3924 3924 control axis
3931 to 3931 to
3934 3934
3941 to 3941 to
3944 3944
5843 - - Number of pulses of position detector for Cs contouring control
Spindle rotation direction for a positive motion command on Cs contouring
3000#1 4000#1 4000#1
control mode
Direction of reference position return when the system enters Cs
3000#3 4000#3 4000#3
contouring control mode
Whether to use the rotation direction signal (SFR/SRV) function on Cs
3002#4 4002#4 4002#4
contouring control
3005#0 4005#0 4005#0 Sets the detection unit for Cs contouring control.
3016#3 4016#3 4016#3 Sets the smoothing function in feed-forward control.
Setting related to the motor voltage control characteristics on Cs
3016#4 4016#4 4016#4
contouring control or servo mode
3021 4021 4021 Maximum spindle speed on Cs contouring control mode
3036 4036 - Feed-forward coefficient
3037 4037 4037 Velocity loop feed-forward coefficient
3046 4046 4046 Velocity loop proportional gain on Cs contouring control mode
3047 4047 4047 (A parameter is selected by the CTH1A input signal sent from the PMC.)
3054 4054 4054 Velocity loop integral gain on Cs contouring control mode
3055 4055 4055 (A parameter is selected by the CTH1A input signal sent from the PMC.)
Spindle-to-motor gear ratio
4056 to 4056 to
3056 to 3059 (A parameter is selected by the CTH1A and CTH2A input signals sent
4059 4059
from the PMC.)
4069 to 4069 to Position gain for axes subject to Cs contouring control
3069 to 3072
4072 4072 (A parameter is selected by the CTH1A input signal sent from the PMC.)
Feedrate for reference position return on Cs contouring control mode or
3074 4074 4074
servo mode
3086 4086 4086 Motor voltage on Cs contouring control mode
Rate of change in the position gain when reference position return is
3092 4092 4092
performed on Cs contouring control mode
3094 4094 4094 Disturbance torque compensating constant (acceleration feedback gain)
3097 4097 4097 Spindle speed feedback gain
3099 4099 4099 Motor excitation delay
3131 4131 4131 Velocity detection filter time constant (on Cs contouring control)
3135 4135 4135 Grid shift on Cs contouring control mode
- 122 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
Parameter No.
Description
15i 16i 30i
3162 4162 4162 Velocity loop integral gain for cutting feed on Cs contouring control
3163 4163 4163 (A parameter is selected by the PMC input signal CTH1A.)
3342 4342 4342 Velocity loop gain override in Cs contouring control.
3343 4343 4343 (These parameters are selected by the input signal CTH1A of PMC.)
- - 4344 Advanced preview feed-forward coefficient
- 4353#5 4353#5 Sets the Cs axis position data transfer function.
Acceleration/deceleration time constant at return to the reference position
3406 4406 4406
in Cs contouring control/servo mode
Setting related to motor voltage control characteristics on Cs contouring
- - 4540#0
control
Variable proportional gain function in the stop state for Cs control:
- - 4598
magnification in the stop state
Variable proportional gain function in the stop state for Cs control:
- - 4599
judgment level for the stop state
NOTE
1 For the detector-related parameters, see Section 1.3, “PARAMETERS RELATED
TO DETECTORS”, in Part I.
2 For velocity loop proportional/integral gain adjustment, see Section 4.1,
“VELOCITY LOOP GAIN ADJUSTMENT”, in Part I.
ROTA2 Indicates the spindle direction by the move command (+). (Only effective on Cs
contouring control)
- 123 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
0: When the value of a move command from the CNC is positive (+), the spindle
rotates in the CCW direction.
1 : When the value of a move command from the CNC is positive (+), the spindle
rotates in the CW direction.
Change the setting of this parameter when changing the rotation direction of the spindle
on Cs contouring control.
CSDRCT Whether to use the rotation direction signal (SFR/SRV) on Cs contouring control
0 : Rotation direction function enabled
(1) When bit 1 (ROTA2) of No. 4000 = 0, and the value of a move command from
the CNC is positive (+)
(a) The spindle rotates counterclockwise when input signal SFR(G70#5) is set
to 1.
(b) The spindle rotates clockwise when input signal SRV(G70#4) is set to 1.
(2) When bit 1 (ROTA2) of No. 4000 = 1, and the value of a move command from
the CNC is positive (+)
(a) The spindle rotates clockwise when input signal SFR(G70#5) is set to 1.
(b) The spindle rotates counterclockwise when input signal SRV(G70#4) is set
to 1.
1 : Rotation direction function disabled
The rotation direction function of the SFR/SRV signal is disabled. Only the function
for enabling spindle motor excitation is available.
(1) When bit 1 (ROTA2) of parameter No. 4000 is set to 0
When the value of a move command from the CNC is positive (+), and
SFR/SRV = 1, the spindle rotates in the CCW direction.
(2) When bit 1 (ROTA2) of parameter No. 4000 is set to 1
When the value of a move command from the CNC is positive (+), and
SFR/SRV = 1, the spindle rotates in the CW direction.
FFSMTH Specifies whether to use the smoothing function under feed-forward control.
0 : Don’t use the smoothing function.
1 : Uses the smoothing function.
- 124 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
This bit specifies whether to use the smoothing function under feed-forward control on
Cs contouring control mode.
IDLPTN Setting related to the motor voltage control characteristics on Cs contouring control or
servo mode (rigid tapping)
Set this bit to 1 when setting a value less than 100 as the motor voltage on Cs contouring
control (No. 4086) or as the motor voltage on servo mode (No. 4085).
Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 0
Set the feed-forward coefficient when feed-forward control is executed on Cs contouring
control.
Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
Set a velocity loop feed-forward coefficient when feed-forward control is executed on Cs
contouring control. Use the following expression to determine a value to be set:
[spindle inertia + rotor inertia](kg⋅m2)
Setting = 214466 ×
Maximum motor torque (N⋅m)
Unit of data :
Valid data range : 0 to 32767
Standard setting : 30
These parameters specify the proportional gains of the velocity loop on Cs contouring
control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
- 125 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Unit of data :
Valid data range : 0 to 32767
Standard setting : 50
These parameters specify the integral gains of the velocity loop for Cs contouring control
mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
NOTE
When an improper value is set in these parameters, an unexpected
operation can occur. For example, the spindle does not stop but
keeps rotating at the time of orientation. So, be sure to set a proper
gear ratio.
Standard setting : 0
• When 0 is set
The value set in No. 4021 (maximum spindle speed) is used as a reference position
return speed on Cs contouring control.
• When a value other than 0 is set
The value set in this parameter is used as a reference position return speed on Cs
contouring control.
NOTE
An overshoot can occur at reference position return time for a cause
such as an excessively high reference position return speed by
setting the parameter No. 4021 (maximum spindle speed on Cs
contouring control mode). In this case, set this parameter.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 100
Set the motor voltage to “100”, when Cs contouring control is in operation.
NOTE
When the maximum speed for Cs contouring control (in terms of motor axis) is
higher than the base speed of the spindle motor (No. 4100 for high-speed
characteristics and No. 4138 for low-speed characteristics), set a value less than
"100" in this parameter.
Spindle motor base speed
Motor voltage (%)=100×
Maximum speed in Cs contouring control
(in terms of motor shaft)
In this case, also set bit 4 of parameter No. 4016 to "1" as the
setting related to motor voltage control characteristics on Cs
contouring control.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 100
This parameter specifies a rate of change in the position gain used for reference position
return on Cs contouring control mode.
NOTE
An overshoot can occur at reference position return time for a cause
such as an excessively high reference position return speed and an
excessively large spindle inertia. In this case, an overshoot can be
avoided by setting a small value in this parameter.
- 127 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
This parameter specifies the constant for compensating for a disturbance torque on Cs
contouring control mode.
NOTE
By setting this parameter, stability in cutting can be improved.
In this parameter, set a value from 500 to 2000.
Do not set a value exceeding 4000.
Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
This parameter is set to feed back spindle speed and compensate for torque disturbance
on Cs contouring control in systems where spindles and spindle motors are linked by
gears or belts.
NOTE
When a belt is used to connect the spindle with the motor, control
stability may be improved by feeding back the spindle speed.
In this parameter, set about the same value (10 to 50) as specified
in parameter No. 4046 (velocity loop proportional gain), or a smaller
value.
NOTE
At the time of switching from the velocity control mode to Cs
contouring control mode, the stop time excessive error alarm can be
issued intermittently.
This is because the excitation state of the spindle motor changes
abruptly, and therefore a transient state occurs in the motor, thus
moving the motor shaft slightly.
In such a case, set this parameter. In general, set a value from
about 300 to 400 (300 to 400 msec).
- 128 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
Unit of data : 1 pulse unit (=0.001°) (0.0001° when bit 0 (CS360M) of parameter No. 4005 is set to 1)
Valid data range : -360000 to +360000
(-3,600,000 to +3,600,000 when bit 0 (CS360M) of parameter No. 4005 is set to 1)
Standard setting value : 0
Use this parameter to shift the machine reference position on Cs contouring control.
The machine reference position of the spindle shifts by the set number of pulses in the
CCW direction.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
These parameters set a velocity loop integral gain for cutting feed (G01, G02, G03) on Cs
contouring control.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
NOTE
When 0 is set in these parameters, the values set in No. 4054 and
No. 4055 (velocity loop integral gain on Cs contouring control) are
valid.
Unit of data : 1%
Valid data range : 0 to 3000
Standard setting value : 0
These parameters specify override of velocity loop proportional gain and integral gain for
Cs contouring control mode.
If the set value is "0", it is treated as "100".
- 129 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
This parameter is valid with
9D50 series S (19) edition or later
9D70 series I (09) edition or later
9D80 series C (03) edition or later
9D90 series A (01) edition or later
9DA0 series A (01) edition or later.
NOTE
This parameter is valid with 9D50 series G (07) edition or later,
9D70 series A (01) edition or later, 9D80 series A (01) edition or
later, 9D90 series A (01) edition or later, and 9DA0 series A (01)
edition or later.
- 130 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
One-rotation signal detected
Reference
position return
speed-1
(min )
Setting in Setting in
parameter parameter
No. 4406 No. 4406
(msec) (msec)
NOTE
1 When 0 is set in this parameter, a velocity command is assumed as
follows.
• Before detecting the one-rotation signal: Reference position
return speed (step-type velocity command)
• After detecting the one-rotation signal:
Distance to the reference position × Position gain
2 This parameter is enabled when soft start/stop signal SOCNA is 1.
Unit of data : 1%
Valid data range : 0~100 (0 means that the function is disabled.)
After a stop is checked in the Cs contouring control state, the variable proportional gain
function in the stop state for Cs control suppresses vibration in the stop state by
decreasing the velocity loop proportional gain to the level specified with the relevant
parameter. In this parameter, set a magnification of the gain to be applied in the stop state.
The function is enabled when a value other than 0 is set in this parameter.
Unit of data : Detection unit (0.001° (when bit 0 of parameter No. 4005 = 0), 0.0001° (when bit 0 of
parameter No. 4005 = 1))
Valid data range : 0 to 32767
Standard setting : 0
- 131 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
This parameter is used for stop state judgment in the Cs control state. After a move
command for the Cs axis has become 0 and the time five times the reciprocal of the set
position gain has elapsed, the spindle is regarded as being stopped when the position error
becomes lower than or equal to the level set in this parameter.
Setting example) In parameter No. 4599, set a value larger than the absolute value of the
position error of vibration in the stop state, and in parameter No. 4598, adjust a
magnification in the stop state in a range of 25% to 90%.
αiSP
Spindle+
Detection Built-in motor
JYA3
circuit
Thermistor
(1) Before adjusting the velocity loop gains, change the torque command filter setting.
Torque command filter
Velocity
command Proportional
Motor
gain +
+
- +
Integral
gain 1/s
Velocity feedback
- 132 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
When automatic setting is performed, 5 is set in the parameter of the torque command
filter time constant. The standard value of 5 is set assuming that a low-resolution sensor is
used.
When using a high-resolution spindle sensor such as the αiCZ sensor, change this value,
with 2 as a guideline, to improve the responsiveness of the velocity loop.
After changing this value, operate the axis and check to see if an abnormality such as an
unusual sound occurs.
Velocity feedback
Set the motor model-specific standard values for the velocity loop proportional and
integral gains. (For an explanation of the motor model-specific standard parameters, see
Subsection 2.4.9.3.)
The velocity loop gain override is a parameter that should basically be set according to
the load inertial value.
JL [kgm2 ]
Vovr [%] = ( + 1 ) ×100
Jm [kgm2 ]
Vovr [%] :Velocity loop gain override
JL [kgm2] :Spindle load inertia (converted for the motor shaft)
Jm [kgm2] :Rotor inertia of spindle motor
Since this parameter serves as a magnification for both velocity loop proportional and
integral gains, however, set this parameter value as large as possible in order to improve
the responsiveness of the entire velocity loop. Be sure to adjust the final setting to
approximately 80% of the oscillation limit.
- 133 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
When the values calculated from the above expression are set, and if any of the following
oscillations occurs because, for example, the rigidity of the spindle is low, decrease the
override to a value with a margin.
・ The vibration sound of spindle occurs.
・ Vibration of a torque command becomes large.
・ Vibration of position error becomes large in the stop state.
When you can use the SERVO GUIDE, you should measure velocity loop frequency
response, and make adjustments to increase the gains while observing the response.
Basically, increase the velocity loop gain override to increase the response band. If there
is a rise in the gain characteristic at a frequency near 40 to 70 Hz, however, make an
adjustment to decrease the velocity loop integral gain slightly. The guideline for a rise is
approximately 5 dB.
Example) Rise in the gain characteristic
When you can use the SERVO GUIDE, you can measure velocity loop frequency response, check
the cut-off frequency, and know the guideline for the position gain setting from that frequency.
In the Bode diagram, the cut-off frequency is a frequency with a phase of -90°.
When a built-in spindle motor is used and the cut-off frequency is F (Hz), the guideline for the
position gain limit value is F (s-1) or greater.
- 134 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
In the above example, the cut-off frequency is 100 Hz, and it is therefore likely that a position
gain of 100 s-1 or greater can be ensured.
- 136 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
- 137 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
- 138 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
- 139 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
2.4.11 Alarm
This Subsection provides a list of the alarms related to Cs contouring control only. For details of alarms,
refer to the Connection Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.9, “Cs CONTOUR CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.9, “Cs CONTOUR CONTROL.”
(c) For Series 15i
“FANUC Series 15i-MODEL B CONNECTION MANUAL (FUNCTION) : B-63783EN-1
Refer to Section 9.7, “Cs CONTOUR CONTROL.”
(d) For Series 0i
- 140 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
- 141 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
B. Prepare and check the ladder programs for the spindle synchronous
control function.
G. Check that errors such as overshoot or hunting do not occur before the
spindle achieves the maximum speed for synchronization.
- Position gain for spindle synchronous control
- Acceleration/deceleration time constant used for spindle synchronous
control control
H. Check that the error pulse difference between the spindles is within ±5
pulses.
- Position gain for spindle synchronous control
- Spindle-to-motor gear ratio data
- Velocity loop proportional gain for spindle synchronous control
- Velocity loop integral gain for spindle synchronous control
- Incomplete integration coefficient
- Bell-shaped acceleration/deceleration time constant for spindle
synchronous control
- Motor voltage for spindle synchronous control
2.5.2 Overview
When, on a machine (such as a lathe) that has two facing spindles, workpiece seizure is to be switched
from the first spindle to the second spindle during spindle rotation, or acceleration/deceleration is
- 142 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
performed while the first spindle and second spindle hold a workpiece, the two spindles must rotate at the
same speed.
When the seizure of a uniquely shaped workpiece is to be switched from one spindle to the other, the two
spindles must have the same spindle rotation phase (angular displacement).
The spindle synchronous control function exercises synchronous control between two spindles in these
cases.
CAUTION
1 To use this function, the CNC software option is required.
2 This function cannot be used with FANUC Series 15i.
NOTE
1 Spindle synchronous control between spindles each having a different detector
configuration is possible.
2 Spindle synchronous control between different path is possible. For details, see
below:
Section 9.12, “SPINDLE SYNCHRONOUS CONTROL”, in FANUC Series
16i/18i/21i –MODEL B CONNECTION MANUAL (FUNCTION) (B-63523EN-1)
Section 11.13, “SPINDLE SYNCHRONOUS CONTROL”, in FANUC Series
30i/31i/32i –MODEL A CONNECTION MANUAL (FUNCTION) (B-63943EN-1)
- 143 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
1t spindle
Spindle motor with built-in αiM sensor
CNC (or αiMZ sensor)
JA7B Spindle
JYA2 αi position coder
SP
TYPE A
JYA3
JA7A
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
2nd spindle
Spindle motor with built-in αiM sensor
(or αiMZ sensor)
JA7B Spindle
JYA2 αi position coder
SP
TYPE A
JYA3
- 144 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
1st spindle
Spindle motor with built-in αiM sensor
CNC (or αiMZ sensor)
JA7B Spindle
JYA2 α position coder S
SP
TYPE B
JYA4
JA7A
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
2nd spindle
Spindle motor with built-in αiM sensor
(or αiMZ sensor)
JA7B Spindle
JYA2
α position coder S
SP
TYPE B
JYA4
- 145 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(3) When the built-in motor (αiBZ sensor, αiCZ sensor (analog)) is used
JA7B
JYA2
SP
TYPE A
JA7A
Spindle +
Built-in motor
JA7B
JYA2
SP
TYPE A
- 146 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
CNC
1st spindle
JA7B
Thermistor
2nd spindle
JA7B
Thermistor
- 147 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(5) When the spindle motor with built-in αiMZ sensor is used
1st spindle
Spindle motor with built-in αiMZ sensor
CNC
JA7B Spindle
JYA2
SP
TYPE A
2nd spindle
Spindle motor with built-in αiMZ sensor
JA7B Spindle
JYA2
SP
TYPE A
- 148 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
(6) When the separate type αiBZ sensor or separate type αiCZ sensor
(analog) is used
1st spindle
Spindle motor with built-in αiM sensor
(or αiMZ sensor)
CNC
JA7B Spindle
JYA2
SP
TYPE B
JYA4
JA7A αiBZ sensor or αiCZ sensor (analog)
2nd spindle
Spindle motor with built-in αiM sensor
(or αiMZ sensor)
JA7B Spindle
JYA2
SP
TYPE B
JYA4
αiBZ sensor or αiCZ sensor (analog)
- 149 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
1st spindle
CNC
Spindle motor with built-in αiM sensor
(or αiMZ sensor)
JA7B
JYA2
SP
TYPE A
Detection
JYA3 Spindle
circuit
JA7A
2nd spindle
Spindle motor with built-in αiM sensor
(or αiMZ sensor)
JA7B
JYA2
SP
TYPE A
JYA3 Detection Spindle
circuit
- 150 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
1st spindle
Spindle motor with built-in αiM sensor
(or αiMZ sensor)
CNC
Spindle
JA7B
JYA2
External one-rotation
SP
signal switch (proximity
TYPE A
switch)
JYA3 Gear or timing belt
JA7A
2nd spindle
Spindle motor with built-in αiM sensor
(or αiMZ sensor)
Spindle
JA7B
JYA2
External one-rotation
SP
signal switch (proximity
TYPE A
switch)
JYA3 Gear or timing belt
NOTE
1 When using the external one-rotation signal (proximity switch), use the detection
arbitrary gear ratio function (DMR function).
2 When using the detection arbitrary gear ratio function (DMR function), set the
following:
- Parameters (No. 4171 to No. 4174) for the numerator/denominator of an
arbitrary gear ratio between the motor sensor and spindle
3 Set the type of the external one-rotation signal (proximity switch) (bits 3 and 2 of
No. 4004).
4 For stable detection of the one-rotation signal, detect the one-rotation signal by
performing spindle orientation before entering spindle synchronous control mode.
For orientation based on the external one-rotation signal, see Section 2.2,
“POSITION CODER METHOD ORIENTATION”, in Part I.
- 151 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
For details, see below:
Section 9.12, “SPINDLE SYNCHRONOUS CONTROL”, in FANUC Series
16i/18i/21i -MODEL B CONNECTION MANUAL (FUNCTION) (B-63523EN-1).
Section 11.13, “SPINDLE SYNCHRONOUS CONTROL”, in FANUC Series
30i/31i/32i –MODEL A CONNECTION MANUAL (FUNCTION) (B-63943EN-1)
Section 9.11, “SPINDLE SYNCHRONOUS CONTROL”, in FANUC Series 0i
-MODEL C CONNECTION MANUAL (FUNCTION) (B-64113EN-1).
- 152 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
- 153 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
1 When the two spindles seize the same workpiece, a spindle may be fixed at a
position slightly displaced from the specified position because the two spindles
are mechanically connected.
In this case, an excessively high current can flow because the velocity loop
integral function attempts to return the spindle to the specified position.
To prevent this, turn on (set to 1) the velocity integral control signal INTGA to
disable the velocity loop integral function if the two spindles are mechanically
connected.
2 When the velocity integral control signal INTGA is turned on (set to 1), the
velocity loop integral function is disabled. So, an increased synchronous error can
occur. When the two spindles do not seize the same workpiece, turn off (set to 0)
the velocity integral control signal INTGA to enable the velocity loop integral
function.
NOTE
Even if this signal is set to 1 once, this signal is set to 0 when the speed
difference becomes equal to or greater than the value set in parameter No. 4033
for a cause such as cutting load variation.
- 154 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
(i)This signal is output when phase matching is completed with the spindle phase
synchronous control signal (the error pulse difference between the two spindles is equal to
or less than the value set in parameter No. 4810) after the two spindles have reached the
speed corresponding to a specified spindle synchronous speed on spindle synchronous
control mode.
This signal is set to 0 when any of the following conditions is satisfied:
(i) Phase matching between the two spindles is not completed on spindle synchronous control
mode. The error pulse difference between the two spindles is greater than the value set in
parameter No. 4810 on spindle synchronous control mode.
(ii) Spindle phase synchronous control mode is not set.
NOTE
Even if this signal is set to 1 once, this signal is set to 0 when the speed
difference becomes equal to or greater than the value set in parameter No. 4033
for a cause such as cutting load variation.
NOTE
Use this signal to take an action if an error such as an excessive synchronous
error occurs for a cause on spindle synchronous control mode.
- 155 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Synchronous
speed B
Spindle 2
Time
First spindle forward 1
rotation command
SFRA (Note 2) 0
Second spindle forward 1
rotation command
SFRB (Note 2) 0
(i)
Spindle synchronous
control signal
SPSYC
Spindle synchronous Speed A
speed command signal Speed B
R12I-R01I
(iii)
Spindle phase synchronous
control signal
SPPHS
(ii)
Spindle synchronous speed
control completion signal
FSPSY (Note 1)
(iv)
Spindle synchronous speed
control completion signal
FSPPH
(i) The spindle synchronous speed command signal is input to set the spindle synchronous control
signal SPSYC to 1.
(ii) The spindle synchronous speed control completion signal FSPSY set to 1 is awaited.
(iii) The spindle phase synchronous control signal SPPHS is set to 1.
(iv) The spindle phase synchronous control completion signal FSPPH set to 1 is awaited.
NOTE
1 When the spindle phase synchronous control signal is input, the spindle
synchronous speed control completion signal is once set to 0, then is set to 1
again upon completion of phase synchronization.
2 Set the spindle forward rotation command SFR (or the spindle reverse rotation
command SRV) to 1 at all times during spindle synchronous control.
- 156 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
(2) Spindle 1 and spindle 2 perform phase matching in stop state, then are
accelerated in synchronism.
Next, spindle 1 and spindle 2 are decelerated to a stop in synchronism.
Speed
Synchronous Spindle 1, 2
speed Acceleration/deceleration
Phase matching
synchronization
(Note)
Time
First spindle forward
rotation command
SFRA
Second spindle forward
rotation command
SFRB
Spindle synchronous (i) (viii)
control signal
SPSYC
Spindle synchronous (v) (vi)
speed command signal
R12I-R01I
(iii)
Spindle phase
synchronous control signal
SPPHS
Spindle synchronous speed (ii)
control completion signal
FSPSY
(iv)
Spindle synchronous speed
control completion signal
FSPPH
(i) The spindle synchronous speed command signal is set to 0, and the spindle synchronous control
signal SPSYC is set to 1.
(ii) The spindle synchronous speed control completion signal FSPSY set to 1 is awaited.
(iii) The spindle phase synchronous control signal SPPHS is set to 1.
(iv) The spindle phase synchronous control completion signal FSPPH set to 1 is awaited.
(v) The spindle synchronous speed command signal is input.
(vi) The spindle synchronous speed command signal is set to 0.
(vii) The speed zero detection signal of both spindles set to 1 is awaited.
(viii) The spindle phase synchronous control signal SPPHS is set to 0 and the spindle synchronous control
signal SPSYC is set to 0, then the forward rotation command SFR of both spindles is set to 0.
- 157 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
If the mode is switched to the spindle synchronous control mode when a
one-rotation signal is undetected, a one-rotation signal detection operation is
automatically performed. So, the spindle automatically makes 2 to 3 turns even if
such turns are not attempted. If both spindles are mechanically connected with
each other and one-rotation signal detection operation is disabled, or spindle
phase synchronous control is not exercised, automatic detection can be disabled
by setting bit 3 of parameter No. 4006.
Speed Spindle 1
Phase matching
Synchronous
speed
Spindle 2
Spindle synchronous
control signal
SPSYC
Spindle synchronous
speed command signal
R12I-R01I
NOTE
Turn on (set to 1) the velocity integral control signal INTGA only when the two
spindles are seizing the same workpiece. If the signal is turned on (set to 1) in
other cases, the velocity loop integral function is disabled. So, an increased
synchronous error can result.
- 158 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
(i) When a spindle synchronous command is input, the one-rotation signal detection operation is not
performed, and the spindle is stopped.
(ii) During rotation at a speed of several ten min-1 or higher, the one-rotation signal is detected
automatically, and the position coder one-rotation signal detection status signal is set to 1.
(iii) Before inputting the phase synchronous command, check that the position coder one-rotation signal
detection status signals of both spindles have been set to 1.
- 159 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Parameter No.
Description
16i 30i
Error pulse difference between the two spindles for which to output the phase
4811 4811
synchronous error monitor signal (SYCAL)
Whether to enable the rotation direction signal (SFR/SRV) function on spindle
4002#6 4002#6
synchronous control
4001 4001 Lower limit setting of the acceleration for polygon machining with two spindles
4006#1 4006#1 Gear ratio increment system
Setting for disabling automatic one-rotation signal detection at spindle synchronous
4006#3 4006#3
control mode switching time
- 4540#3 Setting related to motor voltage control characteristics on spindle synchronous control
Acceleration used for spindle synchronous control
4032 4032
(The same value must be set for both the 1st and 2nd spindles.)
4033 4033 Spindle synchronous speed arrival level
4034 4034 Shift amount for spindle phase synchronous control
4035 4035 Compensation data for spindle phase synchronous control
Velocity loop proportional gain for spindle synchronous control
4044
4044 (A parameter is selected by the CTH1A PMC input signal.)
4045
4045 * When parameter No. 4550 ≠ 0 (No. 4551 ≠ 0), parameter No. 4550 (No. 4551) is
(*)
valid.
Velocity loop integral gain for spindle synchronous control
4052
4052 (A parameter is selected by the CTH1A PMC input signal.)
4053
4053 * When parameter No. 4552 ≠ 0 (No. 4553 ≠ 0), parameter No. 4552 (No. 4553) is
(*)
valid.
Spindle-to-motor gear ratio data
4056 to 4059 4056 to 4059
(A parameter is selected by the CTH1A and CTH2A PMC input signals.)
Position gain for spindle synchronous control
4065 to 4068 (The same value must be specified for both the 1st and 2nd spindles.)
4065 to 4068
(*) (A parameter is selected by the CTH1A and CTH2A PMC input signals.)
* When parameters Nos. 4554 to 4557 ≠ 0, parameters Nos. 4554 to 4557 are valid.
Motor voltage for spindle synchronous control (for high-speed characteristics)
4085 4085 (*)
* When parameter No. 4558 ≠ 0, parameter No. 4558 is valid.
4137 4137 (*) Motor voltage for spindle synchronous control (for low-speed characteristics)
* When parameter No. 4559 ≠ 0, parameter No. 4559 is valid.
4171 4171 Denominator of arbitrary gear ratio between motor sensor and spindle
4173 4173 (This data is selected by spindle control input signals CTH1A.)
4172 4172 Numerator of arbitrary gear ratio between motor sensor and spindle
4174 4174 (This data is selected by spindle control input signals CTH1A.)
Magnetic flux switching point used for calculating an acceleration/deceleration time
4336 4336 constant used for spindle synchronous control
(The same value must be specified for both the 1st and 2nd spindles.)
Bell-shaped acceleration/deceleration time constant for spindle synchronous control
4340 4340
(The same value must be specified for both the first and second spindles.)
4346 4346 Incomplete integration coefficient
4515 4515 Excessive speed deviation alarm detection level on spindle synchronous control
4516 4516 Excessive positional deviation alarm detection level on spindle synchronous control
4550 Velocity loop proportional gain for spindle synchronous control
-
4551 (A parameter is selected by the CTH1A PMC input signal.)
4552 Velocity loop integral gain for spindle synchronous control
-
4553 (A parameter is selected by the CTH1A PMC input signal.)
Position gain for spindle synchronous control
- 4554~4557 (The same value must be specified for both the 1st and 2nd spindles.)
(A parameter is selected by the CTH1A and CTH2A PMC input signals.)
- 4558 Motor voltage for spindle synchronous control (for high-speed characteristics)
- 4559 Motor voltage for spindle synchronous control (for low-speed characteristics)
- 160 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
NOTE
1 For the detector-related parameters, see Section 1.3, “PARAMETERS RELATED
TO DETECTORS”, in Part I.
2 For velocity loop proportional/integral gain adjustment, see Section 4.1,
“VELOCITY LOOP GAIN ADJUSTMENT”, in Part I.
- 161 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4001 4001 POLYM
POLYM The lower limit setting of the acceleration (parameter No. 4032) for polygon machining
with two spindles is:
0 : Normal setting
For FS30i : 916
For FS16i : 229
1 : Extended setting
For FS30i : 1
For FS16i : 1
NOTE
1. This parameter is valid with 9D5A series D (04) edition or later,
9D53 series R (18) edition or later, 9D70 series R (18) edition or
later, 9D80 series N (14) edition or later, 9D90 series B (02) edition
or later, and 9DA0 series A (01) edition or later.
2. Use this bit only when spindle software of any of the above series
and editions is applied to both spindle amplifiers for polygon
machining with two spindles. Do not set this bit to 1 if the software is
not applied.
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4002 4002 SYCDRT
SYCDRT Whether to enable the rotation direction signal (SFR/SRV) function on spindle
synchronous control
0 : Enables the rotation direction function.
If a move command from the CNC is positive (+),
(a) The spindle rotates in the CCW (counterclockwise) direction when the input
signal SFR (bit 5 of G70) = 1.
(b) The spindle rotates in the CW (clockwise) direction when the input signal SRV
(bit 4 of G70) = 1.
1 : Disables the rotation direction function.
If a move command from the CNC is positive (+), the spindle rotates in the CCW
(counterclockwise) direction when the input signal SFR = 1 or SRV = 1.
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4006 4006 SYCREF GRUNIT
(a) Resolution based on motor speed increased by a factor of 100 relative to one spindle
rotation
(b) Resolution based on motor speed increased by a factor of 1000 relative to one
spindle rotation
Depending on the setting of this parameter, the increment system of the parameters
indicated in the table below changes.
Parameter No.
Description
16i 30i
4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data
NOTE
1 Usually, use the 1/100 unit (setting “0”).
2 When the 1/100 unit is set as the gear ratio setting resolution (with
the bit set to 0), a steady-state synchronous error may be indicated
due to the fraction of the gear ratio.
In such a case, the synchronous error can be improved when the
1/1000 unit is set as the gear ratio setting resolution (with the bit
set to 1).
SYCREF Setting for function performing automatic detection of the one-rotation signal on spindle
synchronous control
0 : Automatic detection of the one-rotation signal carried out
1 : Automatic detection of the one-rotation signal not carried out. (When spindle phase
synchronous control is not carried out)
When the mode is switched to spindle synchronous control mode after power-on, the two
spindles automatically perform a one-rotation signal detection operation. So, the spindles
automatically make two to three turns even if such turns are not intended.
This operation is required because the one-rotation signal must be detected to enable
spindle phase synchronous control.
If the two spindles are mechanically connected to disable each spindle from performing a
one-rotation signal detection operation, or if spindle phase synchronous control is not
exercised, the operation above can be disabled by setting this bit to 1.
When this parameter is set to “1”, check that the one-rotation signal has been detected for
both spindles (output signal PC1DTA = 1) before applying the spindle phase synchronous
control signal (SPPHS).
If the one-rotation signal is not detected, specify a speed of several ten min-1 or higher in
spindle synchronous control mode, and wait until the one-rotation signal is detected. (See
sequence example (4).)
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
- 4540 EXPTSY
EXPTSY (#3) Setting related to motor voltage control characteristics on spindle synchronous control
Set this bit to 1 when setting a value less than 100 as the motor voltage on spindle
synchronous control (parameter No. 4085 (for high-speed winding) or No. 4137 (for
low-speed winding)).
This parameter is valid only when bit 4 of parameter No. 4016 = 0.
16i 30i
4032 4032 Acceleration at spindle synchronous control
- 163 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Data range
Spindle 0~32767
synchronous
control
Polygon POLYM =0 POLYM=1
machining FS16i, FS0i-D FS30i
with two SPDUNT=0 SPDUNT=1 SPDUNT=0 SPDUNT=1 0~32767
spindles 0, 229~32767 0, 23~32767 0, 916~32767 0, 92~32767
NOTE
1 Set exactly the same data for 1st spindle and 2nd spindle. When
different data is set, synchronization between the two spindles is not
guaranteed.
2 When this parameter is set to 0, motor doesn’t
accelerate/decelerate, so, be sure to set proper value in this
parameter.
16i 30i
4033 4033 Spindle synchronous speed arrival level
16i 30i
4034 4034 Shift amount at spindle phase synchronous control
16i 30i
4035 4035 Spindle phase synchronous compensation data
- 164 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
When this parameter is “0”, since the phase alignment amount is only issued once, the
position error quickly becomes large, and there are large speed changes on phase
alignment.
It is possible to perform smooth phase alignments through issuing separate commands for
phase alignment amounts for the number of 2 msec pulses set in this parameter.
16i 30i
Velocity loop proportional gain on spindle synchronous control (HIGH)
4044 4044 CTH1A=0
Velocity loop proportional gain on spindle synchronous control (LOW)
4045 4045 CTH1A=1
Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This sets velocity loop proportional gain on spindle synchronous control.
It is selected HIGH when CTH1A=0 of input signal, and It is selected LOW when
CTH1A=1 of input signal.
NOTE
When parameters Nos. 4550 and 4551 are set to values other than
0, the values set in parameters Nos. 4550 and 4551 are valid.
16i 30i
4052 4052 Velocity loop integral gain on spindle synchronous control (HIGH) CTH1A=0
4053 4053 Velocity loop integral gain on spindle synchronous control (LOW) CTH1A=1
Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This sets velocity loop integral gain on spindle synchronous control. It is selected HIGH
when CTH1A=0 of input signal, and It is selected LOW when CTH1A=1 of input signal.
NOTE
When parameters Nos. 4552 and 4553 are set to values other than
0, the values set in parameters Nos. 4552 and 4553 are valid.
16i 30i
4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1
- 165 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
When an improper value is set in these parameters, an unexpected
operation can occur. For example, the spindle does not stop but
keeps rotating at the time of orientation. So, be sure to set a proper
gear ratio.
16i 30i
4065 4065 Position gain on synchronous control (HIGH) CTH1A=0, CTH2A=0
4066 4066 Position gain on synchronous control (MEDIUM HIGH) CTH1A=0, CTH2A=1
4067 4067 Position gain on synchronous control (MEDIUM LOW) CTH1A=1, CTH2A=0
4068 4068 Position gain on synchronous control (LOW) CTH1A=1, CTH2A=1
NOTE
When parameters Nos. 4554, 4555, 4556, and 4557 are set to
values other than 0, the values set in parameters Nos. 4554, 4555,
4556, and 4557 are valid.
16i 30i
4085 4085 Motor voltage setting on spindle synchronous control (for high-speed
characteristics)
4137 4137 Motor voltage setting on spindle synchronous control (for low-speed
characteristics)
Unit of data : 1%
Valid data range : 0 to 100
Standard setting : Depend on motor model.
Set a motor voltage for spindle synchronous control.
NOTE
1 Usually, set the same value as for the setting of a motor voltage
(No. 4083) on the velocity control mode.
2 When parameters Nos. 4558 and 4559 are set to values other than
0, the values set in parameters Nos. 4558 and 4559 are valid.
16i 30i
Denominator of arbitrary gear ratio between motor sensor and spindle (HIGH)
4171 4171
CTH1A=0
Numerator of arbitrary gear ratio between motor sensor and spindle (HIGH)
4172 4172 CTH1A=0
Denominator of arbitrary gear ratio between motor sensor and spindle (LOW)
4173 4173 CTH1A=1
Numerator of arbitrary gear ratio between motor sensor and spindle (LOW)
4174 4174 CTH1A=1
Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
- 166 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
These parameters set conversion coefficients (numerator, denominator) for using the
detection arbitrary gear ratio function (DMR function) by multiplying a motor sensor
(αiM or αiMZ sensor) feedback signal by a gear ratio to produce a spindle position
feedback signal.
When the spindle rotates Q times while the motor shaft rotates P times (there is no
common divisor other than 1 for P and Q), settings are:
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4174 when CTH1A = 1) = Q
When 0 is set in any of these parameters, the setting of 1 is assumed.
NOTE
When using the external one-rotation signal (proximity switch), set
the detection arbitrary gear ratio (DMR) between the motor sensor
and spindle by using this parameter.
16i 30i
4336 4336 Acceleration switch point on spindle synchronous control
NOTE
1 Set the same data for the first spindle and second spindle. If
different data is set, synchronization between the two spindles is not
guaranteed.
2 When this parameter is set to 0, linear acceleration/deceleration
(constant acceleration) is performed.
16i 30i
Bell-shaped acceleration/deceleration time constant for spindle synchronous
4340 4340 control
- 167 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
Set the same data for the first spindle and second spindle. If
different data is set, synchronization between the two spindles is not
guaranteed.
16i 30i
4346 4346 Incomplete integration coefficient
Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
Set this parameter to use incomplete integration for velocity loop integration control.
NOTE
Usually, this parameter need not be adjusted.
16i 30i
4515 4515 Excessive speed deviation alarm detection level on spindle synchronous
control
Unit of data : 1min-1 (10min-1 when bit 2 (SPDUNT) of parameter No. 4006 is set to 1)
Valid data range : 0 to 32767
Standard setting : 0
This parameter sets a level for detecting the excessive speed deviation alarm under
spindle synchronous control.
If the positional deviation (position error) or the difference between the speed command
for the spindle end calculated from the position gain and the actual spindle speed exceeds
the value set in this parameter in the spindle synchronous control mode, the excessive
speed deviation alarm under spindle synchronous control (spindle alarm C8) is detected.
When this parameter is set to 0, alarm detection is disabled.
If the speed integration control signal (INTG) is used, the speed deviation increases for a
cause such as acceleration/deceleration and cutting load. The spindle speed deviation that
causes torque command saturation is indicated below. Set an alarm level by using a
calculated value as a guideline. (During spindle synchronous control, ensure that torque
command saturation does not take place.)
- 168 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
NOTE
This parameter is valid with
9D50 series N (14) edition or later
9D70 series D (04) edition or later
9D80 series A (01) edition or later
9D90 series A (01) edition or later
9DA0 series A (01) edition or later.
16i 30i
Excessive positional deviation alarm detection level on spindle synchronous
4516 4516 control
NOTE
This parameter is valid with
9D50 series N (14) edition or later
9D70 series D (04) edition or later
9D80 series A (01) edition or later
9D90 series A (01) edition or later
9DA0 series A (01) edition or later.
16i 30i
‐ 4550 Velocity loop proportional gain on spindle synchronous control (HIGH)
CTH1A=0
‐ 4551 Velocity loop proportional gain on spindle synchronous control (LOW)
CTH1A=1
Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This sets velocity loop proportional gain on spindle synchronous control.
It is selected HIGH when CTH1A=0 of input signal, and It is selected LOW when
CTH1A=1 of input signal.
- 169 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
1 This parameter is valid with 9D70 series O (15) edition or later,
9D80 series K (11) edition or later, 9D90 series A (01) edition or
later, and 9DA0 series A (01) edition or later.
2 When parameters Nos. 4550 and 4551 are set to 0, the values set
in parameters Nos. 4044 and 4045 are valid.
16i 30i
‐ 4552 Velocity loop integral gain on spindle synchronous control (HIGH) CTH1A=0
‐ 4553 Velocity loop integral gain on spindle synchronous control (LOW) CTH1A=1
Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This sets velocity loop integral gain on spindle synchronous control. It is selected HIGH
when CTH1A=0 of input signal, and It is selected LOW when CTH1A=1 of input signal.
NOTE
1 This parameter is valid with 9D70 series O (15) edition or later,
9D80 series K (11) edition or later, 9D90 series A (01) edition or
later, and 9DA0 series A (01) edition or later.
2 When parameters Nos. 4552 and 4553 are set to 0, the values set
in parameters Nos. 4052 and 4053 are valid.
16i 30i
‐ 4554 Position gain on synchronous control (HIGH) CTH1A=0, CTH2A=0
‐ 4555 Position gain on synchronous control (MEDIUM HIGH) CTH1A=0, CTH2A=1
‐ 4556 Position gain on synchronous control (MEDIUM LOW) CTH1A=1, CTH2A=0
‐ 4557 Position gain on synchronous control (LOW) CTH1A=1, CTH2A=1
NOTE
1 This parameter is valid with 9D70 series O (15) edition or later,
9D80 series K (11) edition or later, 9D90 series A (01) edition or
later, and 9DA0 series A (01) edition or later.
2 When parameters Nos. 4554, 4555, 4556, and 4557 are set to 0,
the values set in parameters Nos. 4056, 4057, 4058, and 4059 are
valid.
16i 30i
‐ 4558 Motor voltage setting on spindle synchronous control (for high-speed
characteristics of speed range switching)
‐ 4559 Motor voltage setting on spindle synchronous control (for low-speed
characteristics of speed range switching)
Unit of data : 1%
Valid data range : 0 to 100
- 170 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
NOTE
1 This parameter is valid with 9D70 series O (15) edition or later,
9D80 series K (11) edition or later, 9D90 series A (01) edition or
later, and 9DA0 series A (01) edition or later.
2 Usually, set the same value as for the setting of a motor voltage
(No. 4083) on the velocity control mode.
3 When parameters Nos. 4558 and 4559 are set to 0, the values set
in parameters Nos. 4085 and 4137 are valid.
NOTE
When the 1/100 unit is set as the gear ratio setting resolution (with bit 1 of No.
4006 set to 0), the actual number of error pulses may differ from the calculated
value by several pulses due to the fraction of the gear ratio.
In such a case, the difference between the actual number of error pulses and the
calculated value can be decreased when the 1/1000 unit is set as the gear ratio
setting resolution (with bit 1 of No. 4006 set to 1).
- 171 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(1) Apply synchronous control of the spindle phase by setting the following:
(a) SFR (or SRV)=1 for the 1st and 2nd spindles : M03 (M04)
(b) Spindle synchronous speed command = 0 min-1 : S0
(c) For the 1st and 2nd spindles, set 0 in the parameter (No.4034) for the shift amount for spindle
phase synchronous control.
(2) After establishing spindle phase synchronization, set SFR/SRV for the 2nd spindle to 0 (to
deactivate the motor).
The motor for the 2nd spindle is placed in power-off state at this time, so that the 2nd spindle can be
rotated manually.
(3) Rotate the 2nd spindle manually from the position of (1) to the position for spindle phase
synchronization, then check the number of error pulses between the spindles (No. 416) on the
diagnosis (diagnosis screen).
This value serves as data to be set in the parameter for the shift amount used for spindle phase
synchronous control.
(4) Set the number of pulses found by (3) as shift amount parameter data (No. 4034) for spindle phase
synchronous control of the 2nd spindle.
In general, set 0 in the parameter for the shift amount for spindle phase synchronous control for the
1st spindle.
(5) After canceling the spindle synchronous control command, perform another spindle phase
synchronization operation, according to the following settings, to check that phase synchronization
has been established as expected:
(a) SFR (or SRV)=1 for the 1st and 2nd spindles : M03 (M04)
(b) Spindle synchronous speed command = 0 min-1 : S0
2.5.13 Alarm
This Subsection provides a list of the alarms related to spindle synchronous control only. For details of
alarms, refer to the Connection Manual (Function) of each CNC.
(a) For Series 16i/18i/21i
“FANUC Series 16i/18i/21i-MODEL B CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 9.12, “SPINDLE SYNCHRONOUS CONTROL.”
(b) For Series 30i/31i/32i
“FANUC Series 30i/31i/32i-MODEL A CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 11.13, “SPINDLE SYNCHRONOUS CONTROL.”
(c) For Series 0i
- 172 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
2.6.1 Overview
This section describes the I/O signals (CNC↔PMC), parameters, diagnosis signals, and alarms common
to all operation modes.
For details of the I/O signals common to the CNCs, see Chapter 3, “I/O SIGNALS (CNC↔PMC)”, in
Part I.
- 173 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
NOTE
1 These signals are valid in multi-spindle control.
1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
NOTE
1 These signals are valid in multi-spindle control.
1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B
- 174 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
NOTE
1 These signals are valid with the M series only.
NOTE
1 These signals are valid with the M series only.
- 175 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B
1st- F11 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B
1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B
1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B
1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B
1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B
2.6.3 Parameters
This Subsection describes those parameters that are common to all operation modes by dividing them into
several types.
NOTE
For the detector-related parameters, see Section 1.3, “PARAMETERS RELATED
TO DETECTORS”, in Part I.
- 176 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
Parameter No.
Description
15i 16i 30i
3006#2 4006#2 4006#2 Sets the unit of speed.
3008#4 4008#4 4008#4 Sets the method of output control.
3011#3 4011#3 4011#3 Sets the number of motor poles.
3011#4 4011#4 4011#4 Sets a maximum output for acceleration/deceleration.
3011#7 4011#7 4011#7 Sets the number of motor poles.
3012#2,#1,#0 4012#2,#1,#0 4012#2,#1,#0 Sets a PWM carrier frequency.
3012#7 4012#7 4012#7 Sets the spindle HRV function.
3013#6 to #2 4013#6 to #2 4013#6 to #2 Sets current dead-band data.
Sets a PWM carrier frequency in low-speed characteristics area of
3013#7 4013#7 4013#7
speed range switching.
3020 4020 4020 Maximum motor speed
3039 4039 4039 Slip compensation coefficient
3080 4080 4080 High-speed area regenerative power limit/regenerative power limit
3083 4083 4083 Motor voltage on velocity control
3084 4084 4084 Motor voltage on orientation
3085 4085 4085 Motor voltage on servo mode/spindle synchronous control
3086 4086 4086 Motor voltage on Cs contouring control
3100 4100 4100 Base speed for motor output specification
3101 4101 4101 Torque limitation value for motor output specification
3102 4102 4102 Excitation voltage saturation speed with no load
3103 4103 4103 Base speed limit ratio
3104 4104 4104 Current loop proportional gain
3106 4106 4106 Current loop integral gain
3108 4108 4108 Current loop integral gain zero speed
3109 4109 4109 Filter time constant in voltage command saturation processing
3110 4110 4110 Current conversion constant
3111 4111 4111 Secondary current coefficient
Voltage command saturation decision level/PWM command clamp
3112 4112 4112
value
3113 4113 4113 Slip constant
Slip compensation coefficient for a high-speed area/slip compensation
3114 4114 4114
coefficient at deceleration time
3115 4115 4115 PWM command clamp value at deceleration time
3116 4116 4116 Motor leakage constraint
Voltage compensation coefficient for a high-speed area in steady
3117 4117 4117
state/motor voltage coefficient in steady state
Voltage compensation coefficient for a high-speed area at
3118 4118 4118
deceleration time/motor voltage coefficient at deceleration time
Time constant for excitation current change at deceleration time/time
3119 4119 4119
constant for excitation current change
3120 4120 4120 Dead-band rectangular wave component zero voltage/dead-band data
3127 4127 4127 Load meter indication value at maximum output time
Compensation coefficient between the specification and true
3128 4128 4128
base/maximum torque curve compensation coefficient
3129 4129 4129 Secondary current coefficient on rigid tapping
Current loop proportional gain velocity coefficient/current phase delay
3130 4130 4130
compensation constant
- 177 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Parameter No.
Description
15i 16i 30i
3133 4133 4133 Motor model code
3134 4134 4134 Motor overheat level (2 words)
3169 4169 4169 Temperature monitoring time constant
3362 4362 4362 Load meter compensation 1
3363 4363 4363 Load meter compensation 2
3364 4364 4364 Load meter compensation 3
Parameter No.
Description
15i 16i 30i
3009#2 4009#2 4009#2 Motor power turn-off method when spindle alarm 24 (serial data
transfer error) is issued
3087 4087 4087 Overspeed level
3088 4088 4088 Velocity error excess detection level when the motor is bound
3089 4089 4089 Velocity error excess detection level when the motor is rotating
3090 4090 4090 Overload detection level
3123 4123 4123 Short-time overload detection period
3464 4464 4464 Velocity command-dependent over speed (spindle alarm 92)
detection offset level
3465 4465 4465 Excessive speed deviation level 2
3466 4466 4466 Excessive speed deviation detection time 2
3527 4527 4527 Temperature difference between warning level and alarm level
Parameter No.
Description
15i 16i 30i
⎯ 3706#1,0 - Gear ratio between the spindle and position coder (cases of ×1, ×2, ×4, ×8)
5602#3 ⎯ ⎯ Whether to indicate an alarm detected by the spindle amplifier (Usually, set 0.)
5807#0 ⎯ ⎯ Enables/disables the spindle alarms (SPxxxx) of all spindles. (Usually, set 0.)
5842 ⎯ 3720 Number of position coder pulses
5850 ⎯ ⎯ Spindle number selected at power-on/reset time
3001#0 4001#0 4001#0 Whether to use the MRDY signal (machine ready signal)
3006#1 4006#1 4006#1 Gear ratio increment system
3006#2 4006#2 4006#2 Sets the unit of speed.
3009#0 4009#0 4009#0 Velocity loop gain increment system
Whether to output the load detection signals (LDT1, LDT2) during
3009#4 4009#4 4009#4
acceleration/deceleration
3012#7 4012#7 4012#7 Sets the spindle HRV function
3019#2 4019#2 4019#2 Whether to perform torque clamping when the speed is zero
3019#7 4019#7 4019#7 Automatic parameter setting function
3352#1 4352#1 4352#1 Sets the peak hold function for load meter output.
3395#3 4395#3 4395#3 Sets parameter transfer from the CNC to spindle software.
3020 4020 4020 Maximum motor speed
3022 4022 4022 Speed arrival detection signal
3023 4023 4023 Speed detection level
3024 4024 4024 Speed zero detection level
3025 4025 4025 Torque limitation value.
- 178 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
Parameter No.
Description
15i 16i 30i
3026 4026 4026 Load detection level 1
3027 4027 4027 Load detection level 2
3056 4056 4056 Gear ratio (High)
3057 4057 4057 Gear ratio (Medium High)
3058 4058 4058 Gear ratio (Medium Low)
3059 4059 4059 Gear ratio (Low)
3095 4095 4095 Speedometer output voltage adjustment value
3096 4096 4096 Load meter output voltage adjustment value
3122 4122 4122 Speed detection filter time constant
3170 4170 4170 Overload current alarm detection level
3345 4345 4345 Detection level of the spindle motor speed command
3346 4346 4346 Incomplete integral coefficient
3351 4351 4351 Current detection offset compensation
ALSP Motor power turn-off method when spindle alarm 24 (serial data transfer error) is issued
0 : Turns off the power after the motor is decelerated and stopped.
1 : Turns off the power to the motor immediately.
- 179 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Set this parameter to 1 to turn off the power to the motor immediately when any spindle
alarm is issued
Unit of data : 1%
Valid data range : 0 to 115
Standard setting value : 115
This parameter sets an overspeed level.
When the speed exceeds [maximum motor speed (No. 4020) × setting data (%)], the
overspeed alarm (spindle alarm 07) is issued.
WARNING
Make sure this parameter is set to the standard setting value. Do
not change the value.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 90
This parameter sets a condition for detecting the short-time overload alarm (spindle alarm
29).
If the state where a load equal to or greater than setting data (%) (maximum motor output
[load meter full scale] = 100%) is imposed on the spindle motor lasts for a specified
period (set in No. 4123) or more, the short-time overload alarm (spindle alarm 29) is
issued.
NOTE
This parameter is valid with
9D50 series R (18) edition or later
9D70 series H (08) edition or later
9D80 series B (02) edition or later
9D90 series A (01) edition or later
9DA0 series A (01) edition or later.
- 181 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
This parameter is valid with
9D50 series S (19) edition or later
9D70 series I (09) edition or later
9D80 series C (03) edition or later.
If the motor speed deviation goes below the alarm level within the period of time set in
this parameter, the period of time is reset.
NOTE
This parameter is valid with
9D50 series S (19) edition or later
9D70 series I (09) edition or later
9D80 series C (03) edition or later
9D90 series A (01) edition or later
9DA0 series A (01) edition or later.
Unit of data : 1K
Valid data range : 0 to 50
Standard setting value : 0
This parameter sets the difference between motor overheat alarm detection temperature
and the warning detection temperature. If the parameter setting is 0, the spindle motor
overheat warning function is disabled.
While the motor temperature exceeds the warning detection temperature, the motor
overheat warning (warning number 01) is issued.
Motor temperature
Parameter No.4527
- 182 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
Parameter No.
Description
15i 16i 30i
3056 to 3059 4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data
NOTE
Usually, use the 1/100 unit (setting “0”).
- 183 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Increment system of
Parameter No.
parameter
Description
1 min-1 10 min-1
15i 16i 30i
unit unit
3020 4020 4020Maximum motor speed 1min-1 10min-1
Maximum spindle speed on Cs contouring
3021 4021 4021 1min-1 10min-1
control
3030 4030 4030 Soft start/stop setting time 1min-1/sec 10min-1/sec
3032 4032 4032 Acceleration on spindle synchronous control 1min-1/sec 10min-1/sec
3033 4033 4033 Spindle synchronous speed arrival level 1min-1 10min-1
Reference position return speed on Cs
3074 4074 4074 1min-1 10min-1
contouring control/servo mode
Maximum speed for position feedback signal
3098 4098 4098 1min-1 10min-1
detection
3100 4100 4100 Base speed for motor output specification 1min-1 10min-1
-1
3102 4102 4102 Excitation voltage saturation speed with no load 1min 10min-1
-1
3108 4108 4108 Current loop integral gain zero speed 1min 10min-1
Low-speed characteristics parameters (when the speed range switching control function is used)
3108 4108 4108 Current loop integral gain zero speed 1min-1 10min-1
-1
3138 4138 4138 Base speed for motor output specification 1min 10min-1
3140 4140 4140 Excitation voltage saturation speed with no load 1min-1 10min-1
-1
3144 4144 4144 Current loop integral gain zero speed 1min 10min-1
-1
3160 4160 4160 Speed detection level hysteresis 1min 10min-1
NOTE
1 Usually, set the 1 min-1 unit (by setting the parameter to 0).
2 After changing the setting of this parameter, turn the CNC off, then on
again.
NOTE
Usually, set this parameter to 0.
LDTOUT Whether to output the load detection signals (LDT1, LDT2) during
acceleration/deceleration
0 : Does not output the load detection signals during acceleration/ deceleration
(standard setting value).
1 : Outputs the load detection signals during acceleration/ deceleration (at all times)
when the parameter-set level is exceeded.
- 184 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
NOTE
The control method usable with the αi series spindle is spindle HRV
control only.
The conventional control method is not supported.
NOTE
Usually, set this parameter to 1 not to perform clamping.
NOTE
With FS15i, the parameter address of this function is different,
namely, bit 0 of No. 5607 is used. Moreover, note that the meanings
of settings are reversed as follows.
0: Performs automatic parameter setting.
1: Does not perform automatic parameter setting.
In this case, set a model code in parameter No. 3133.
PKHALW Sets the peak hold function for load meter output.
0 : Does not use the peak hold function. (standard setting value)
1 : Uses the peak hold function.
- 185 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
This parameter is valid with 9D50 series F (06) edition or later,
9D70 series A (01) edition or later, 9D80 series A (01) edition or
later, 9D90 A (01) edition or later, and 9DA0 series A (01) edition or
later.
Unit of data : 1min-1 (Unit of 10 min-1 when bit 2 (SPDUNT) of parameter No. 4006 = 1)
Valid data range : 0 to 32767
Standard setting value :Depends on the motor model.
This parameter sets a maximum spindle motor speed.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value :50
This parameter sets a torque limitation value to be applied when the torque limitation
command HIGH (TLMHA) or the torque limitation command LOW (TLMLA) is
specified.
- 186 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
The data indicates limitation values when the maximum torque is 100%.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value :83
This parameter sets a load detection signal 1 (LDT1A) detection range. When the output
of the spindle motor is (setting data)% of the maximum output or more, load detection
signal 1 (LDT1A) is set to 1.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value :95
This parameter sets a load detection signal 2 (LDT2A) detection range. When the output
of the spindle motor is (setting data)% of the maximum output or more, load detection
signal 2 (LDT2A) is set to 1.
NOTE
When an improper value is set in these parameters, an unexpected
operation can occur. For example, the spindle can continue rotating
without stopping at the time of orientation. So, be sure to set a
proper gear ratio.
- 187 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
Usually, this parameter need not be adjusted.
NOTE
Usually, this parameter need not be adjusted.
NOTE
Usually, this parameter need not be adjusted.
Unit of data :
Valid data range : 0 to 32767
Standard setting value :Depends on the motor model.
NOTE
Usually, this parameter need not be adjusted.
- 188 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 2.EXPLANATION OF OPERATION MODES
This parameter sets the detection level of the spindle motor speed detection function. If
the specified spindle motor speed is greater than the set value, the level of the speed
specification detection signal output from the spindle amplifier to the CNC becomes 1.
If the set value is 0, the level of the speed specification detection signal is always 0.
Unit of data :
Valid data range : 0 to 32767
Standard setting value :0
Set this parameter to use incomplete integral function for velocity loop integral control.
NOTE
Usually, this parameter need not be adjusted.
Unit of data :
Valid data range : 0 to ±32767
Standard setting value :0
NOTE
Usually, this parameter need not be adjusted.
- 189 -
FANUC AC SPINDLE MOTOR αi series
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Address Description
401 Serial spindle alarm state of the first spindle
402 Serial spindle alarm state of the second spindle
403 First spindle motor temperature [°C] (*1)
404 Second spindle motor temperature [°C] (*1)
408 Information related to spindle serial output interface communication errors
409 Information related to spindle serial output interface activation
410 Load meter indication for the first spindle [%]
411 Speedometer indication for the first spindle [min-1]
412 Load meter indication for the second spindle [%]
413 Speedometer indication for the second spindle [min-1]
417 Position coder feedback signal for the first spindle [pulse]
419 Position coder feedback signal for the second spindle [pulse]
445 First spindle position data
446 Second spindle position data
710 First spindle error state (*1)
711 Second spindle error state (*1)
712 First spindle warning state (*1)
713 Second spindle warning state (*1)
NOTE
1 The indications are provided only when the MODEL B CNC is combined with the
αi spindle.
NOTE
1 The indications are provided only when the MODEL B CNC is combined with the
αi spindle.
- 190 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 3.I/O SIGNALS (CNC↔PMC)
WARNING
1 Operation of each signal described in this chapter is not guaranteed if an alarm
is issued or if a hardware failure or abnormal operation occurs.
2 A signal described in this chapter can be used as a safety function only when it
is described that “the signal can be used as a safety function”.
CAUTION
Each signal described in this chapter is disabled and its operation is not
guaranteed after power-on until the parameters have been transferred from the
CNC to the spindle amplifier. After checking spindle operation ready signal
SRSRDY and other signals (refer to the Connection Manual for the relevant
CNC) to see the ready status, use the signals described in this chapter.
1st- G226 G071 G071 RCHA RSLA INTGA SOCNA MCFNA SPSLA *ESPA ARSTA
2nd- G234 G075 G075 RCHB RSLB INTGB SOCNB MCFNB SPSLB *ESPB ARSTB
1st- G229 G072 G072 RCHHGA MFNHGA INCMDA OVRA DEFMDA NRROA ROTAA INDXA
2nd- G237 G076 G076 RCHHGB MFNHGB INCMDB OVRB DEFMDB NRROB ROTAB INDXB
- 192 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 3.I/O SIGNALS (CNC↔PMC)
- 193 -
FANUC AC SPINDLE MOTOR αi series
3.I/O SIGNALS (CNC↔PMC) FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
- 194 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 3.I/O SIGNALS (CNC↔PMC)
Zero-speed
detection signal “0” “1” SSTA
Signals for Speed detection ON when the speed is not
spindle signal higher than a certain level
amplifier Rotated slowly in the torque
limitation state
* If the above conditions are hard to satisfy, employ purely electrical spindle orientation (a CNC
software option is required), which does not use the stopper.
CTH1A CTH2A
0 0 HIGH GEAR
0 1 MEDIUM HIGH GEAR
1 0 MEDIUM LOW GEAR
1 1 LOW GEAR
(c) Forward rotation command signal (SFRA) and reverse rotation command
signal (SRVA)
(1) When the following four conditions are satisfied, the spindle motor starts forward or reverse rotation
according to the speed command (a positive value):
<1> Emergency stop signal *ESPA is set to 1.
<2> Machine ready signal MRDYA is set to 1.
<3> Forward rotation command signal SFRA or reverse rotation command signal SRVA is 1.
<4> The contact signal between ESP and 24 V (CX4 of the common power supply (PS)) is ON
(closed).
(2) While SFRA is 1, the spindle motor rotates counterclockwise as viewed from the shaft side at a
specified speed (a positive value).
While SRVA is 1, the spindle motor rotates clockwise as viewed from the shaft side according to the
speed command (a positive value).
- 195 -
FANUC AC SPINDLE MOTOR αi series
3.I/O SIGNALS (CNC↔PMC) FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
CAUTION
This signal is disabled while the spindle motor is rotating in the free-running
(coast) mode. The spindle motor is not stopped with control even if this signal is
set to 0 and it does not rotate at the specified speed even if the signal is set to
1.
NOTE
If the forward rotation command signal (SFRA) and reverse rotation command
signal (SRVA) are specified at the same time, the spindle status error (error 14)
occurs, and the spindle motor is stopped.
(2) Mode A
Mode A is used to minimize input signals.
(3) Mode B
<1> In a machine in which the spindle motor is clamped by the tool unclamp signal during an
orientation operation for automatic tool change (ATC), a slight displacement from the
orientation stop position may increase the load meter indication, allowing a large motor current
to flow.
To prevent this, set MRDYA to 0 to release the orientation state while the tool unclamp state is
present. At the end of the tool unclamp state, setting MRDYA to 1 can restore the orientation
state.
<2> In the application explained <1> above, if the orientation command signal ORCMA is kept 1,
setting MRDYA to 0/1 causes a movement just by the amount of the displacement from the
- 196 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 3.I/O SIGNALS (CNC↔PMC)
stop position, so another one-rotation operation and orientation operation need not be
performed.
Timing chart (mode B)
1
Orientation 0
d ORCMA 1
Orientation 0
completion signal
ORARA Detach Mount
Leaving
new
Tool change operation Move OFF
Hold tool tool
tool
Spindle unclamp OFF ON
Machine ready signal
MRDYA 0 1
NOTE
With the following series and editions, the alarm reset signal is valid only in the
velocity control mode (in other modes, inputting the alarm reset signal does not
release the alarm):
Series 9D50 P (16) and subsequent editions
Series 9D70 G (07) and subsequent editions
Series 9D80 A (01) and subsequent editions
Series 9D90 A (01) and subsequent editions
Series 9DA0 A (01) and subsequent editions
(3) When *ESPA is set to 1 again, the spindle motor becomes ready for rotation, so the spindle motor
will start rotating as soon as a rotation command is issued. Therefore, when inputting the emergency
stop signal, reset the command signals (speed command, forward and reverse rotation commands) to
the spindle amplifier at the same time.
(4) This signal (*ESPA) and the emergency stop signal (connector CX4) of the common power supply
(PS) function as signals having the same meaning for the spindle amplifier (SP).
WARNING
1 The spindle motor runs freely (coasts) due to a power failure, alarm, or
command from the ladder program (MPOFA signal). While the spindle motor
runs in the free-running mode, it does not stop even when the emergency stop
signal is input.
2 When the power is off, the spindle motor may also run freely.
3 The emergency stop signal receive circuit in the amplifier is an electronic circuit.
For this reason, the motor may not stop due to a failure in the electronic circuit
even when the emergency stop signal is input to the amplifier.
(2) The soft start/stop function is valid in the velocity control mode. This signal is also used for enabling
the acceleration/deceleration time constant at return to the reference position in Cs contouring
control or rigid tapping (parameter No. 4406), however.
(3) When emergency stop signal *ESPA or machine ready signal MRDYA is set to 0, the soft start/stop
function is disabled automatically.
- 198 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 3.I/O SIGNALS (CNC↔PMC)
NOTE
With the following series and editions, setting the relevant parameter (bit 2 of
parameter No. 4399 to 1) enables the soft start/stop function even when the
spindle motor is being decelerated according to *ESPA = 0 or MRDYA = 0:
Series 9D50 O (15) and subsequent editions
Series 9D70 F (06) and subsequent editions
Series 9D80 A (01) and subsequent editions
Series 9D90 A (01) and subsequent editions
Series 9DA0 A (01) and subsequent editions
(4) The speed command change rate is set in parameter No. 4030. When 0 is set in the parameter, the
soft start/stop function is disabled.
(5) When the rate of the change in acceleration command (parameter No. 4508) is set, a quadratic
function type speed command can be given in the spindle amplifier (quadratic function type soft
start/stop function).
Use this function when you want to reduce the shock due to a change in speed specified at the start
of acceleration/deceleration.
In this case, the internal speed command of the spindle amplifier changes as follows:
NOTE
With the following series and editions, the quadratic function type soft start/stop
function can be used:
Series 9D50 G (07) and subsequent editions
Series 9D70 A (01) and subsequent editions
Series 9D80 A (01) and subsequent editions
Series 9D90 A (01) and subsequent editions
Series 9DA0 A (01) and subsequent editions
- 199 -
FANUC AC SPINDLE MOTOR αi series
3.I/O SIGNALS (CNC↔PMC) FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Spindle position
Spindle clamping
(2) Also when two spindles are used to hold a workpiece in spindle synchronous control, a minute
synchronous error generated at the time of the hold operation may cause velocity integral control to
attempt to eliminate the error to zero, and as a result, an excessively large current may flow into the
motor.
In this case, this signal can be used to disable velocity integral control and prevent an excessively
large current from flowing into the motor even when a minute synchronous error occurs.
(k) Speed range switching request signal (RSLA), magnetic contactor status
signal for low-speed characteristics (RCHA), and magnetic contactor
status signal for high-speed characteristics (RCHHGA)
For details of these signals, see Section 5.1, “SPEED RANGE SWITCHING CONTROL”, in Part I.
- 200 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 3.I/O SIGNALS (CNC↔PMC)
The upper limit of analog override input voltages is +4.5 V. When the speed command value
obtained by multiplication by the override value exceeds the parameter-set maximum speed, the
speed is clamped at the maximum speed.
(4) The override type is parameter-set as follows:
Parameter No.
Description
FS15i FS16i FS30i
Sets the override type.
3009 #6 4009 #6 4009 #6 0: Linear function type override
1: Quadratic function type override
<1> Linear function type override
The override value actually used corresponds to the input override value on a one-to-one basis.
OVROUT = OVRIN
<2> Quadratic function type override
The override value actually used corresponds to the input override value in the quadratic
function manner.
When compared with the linear function type, the quadratic function type has rougher speed
resolution for the input override in the high-speed region and has a finer speed resolution in the
low-speed region.
2
⎛ OVRIN ⎞
OVROUT = OVR MAX × ⎜ ⎟
⎝ OVR MAX ⎠
Output
override
OVROUT
(5) The following shows the system configuration when attention is focused on the analog override
function:
Override analog
input
Machine
Spindle
operator's Override enable/
panel disable signal amplifier
Speed
Override
PMC
CNC Speed command
ladder
value
(6) The analog override input is connected as shown in the figure below. The input voltage equivalent to
the upper override limit (100% or 120%) to OVR2 is 4.5 V. Override values are set in steps of 1%.
- 201 -
FANUC AC SPINDLE MOTOR αi series
3.I/O SIGNALS (CNC↔PMC) FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
JY1
1
Reference voltage OVR1
2 Variable resistor
Analog input OVR2 VR
20
0V 0V
Resistor R1
Reference voltage output
value 4.75±0.25V
(Spindle amplifier) Shield wire (Machine operator's panel)
Use resistors so that the total resistance of VR and R1 ranges from 2 KΩ to 10 KΩ.
(7) Because the hysteresis characteristic is provided to prevent override fluctuation, an override of 0% is
not set even when the input voltage is 0 V.
(8) When a signal for enabling or disabling the status of the analog override function is issued, or the
setting of the upper override limit parameter is changed, the motor speed may change largely. So,
before changing the status or setting, stop the motor.
- 202 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 3.I/O SIGNALS (CNC↔PMC)
Motor speed
–1
0min
Motor power
ON
OFF
Zero speed detection
signal SSTA
1
0
Motor power turn-off
signal MPOFA
1
Operation mode SFRA, 0
etc.
ON
OFF
(6) If bit 2 of parameter No. 4009 is set to 1, the motor power can be turned off immediately when
spindle alarm 24 (serial transfer data error) occurs. Normally, when spindle alarm 24 occurs, the
spindle motor is decelerated then stopped.
SPM
Feedback
JYA2 Motor
Power line
(2) When this signal is used to detach the feedback signal, motor overheat and the issuance of a
feedback signal disconnection alarm can be prevented.
(3) A motor excitation OFF state confirmation signal (EXOFA) is provided to confirm that the motor is
not excited before the connected power line is detached.
(4) Before setting this signal to 1 and disconnecting the feedback signals and power line, set all the
SFRA, SRVA, ORCMA, MRDYA, and *ESPA commands to 0, and confirm that the motor
excitation OFF state confirmation signal (EXOFA) has been set to 1. After completing re-connection,
reset this signal to 0.
- 203 -
FANUC AC SPINDLE MOTOR αi series
3.I/O SIGNALS (CNC↔PMC) FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Sample sequence
Motor speed
0 min-1
SFRA,SRVA,ORCMA, 1
MRDYA,*ESPA
0
1
SSTA
0
1
EXOFA
0
1
DSCNA
0
Disconnection
Connection Disconnected
status Connection
CAUTION
When this signal is set to 1, a motor overheat or feedback signal error is not
detected, and a status signal related to a feedback signal may not be output
correctly. When the motor is driven, be sure to set this signal to 0.
NOTE
1 When the dual check safety function is enabled, this signal is disabled.
When the αiCZ sensor (serial) is used, this signal is disabled.
- 204 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 3.I/O SIGNALS (CNC↔PMC)
- 205 -
FANUC AC SPINDLE MOTOR αi series
3.I/O SIGNALS (CNC↔PMC) FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Remove cause
Motor speed of alarm
Decelerated and
Stopped
Motor
speed
Zero-speed detection
range (standard
setting: ±0.75% of the
1 maximum speed) 1
SSTA 0
(2) The zero-speed detection point is 0.75% (initial standard setting in the parameter) of the maximum
speed. For a motor of which maximum speed is 6000 min-1, for example, the zero-speed detection
point is 45 min-1.
(3) When the above condition is satisfied, this signal is output regardless of the rotation command (SFR,
SRV).
(4) The minimum pulse width of this signal is approximately 40 ms.
CAUTION
1 If a motor feedback signal disconnection alarm (spindle alarm 73) is issued, the
status of this signal is undefined.
2 When bit 5 of parameter No. 4007 is set to "1", the detection operation of the
feedback signal disconnection alarm is not performed.
Set the parameter to "0" when not required, to enable alarm detection.
3 If an error which cannot be detected in the motor free-running (coast) state
occurs in the motor feedback system, this signal may not be output correctly in
the motor free-running mode after an alarm is reset.
- 207 -
FANUC AC SPINDLE MOTOR αi series
3.I/O SIGNALS (CNC↔PMC) FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
SDTA
1 0 1
(3) This signal is output regardless of the rotation command (SFR, SRV).
<Reference> Gear shift sequence
In CNC machine tools, gear shift, which is one of sequence controls, causes a shift of the gear
section of a spindle, which is an important component of a machine. In this case, to perform gear
change safely, it is necessary to confirm that the spindle motor is rotated at a low speed.
A sample gear shift sequence using the speed detection signal (gear change enable signal) is given
below. Please use this sample as a reference material when designing gear shift power magnetic
sequence.
Move shifter
To perform a gear change safely, confirm that the spindle motor speed is low by using the speed
detection signal before moving the shifter. When the zero-speed detection signal is also used,
duplicate checking for safety can be made.
(Why the confirmation is required) If the shifter moves while the spindle motor rotates, the gear is
damaged.
- 208 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 3.I/O SIGNALS (CNC↔PMC)
-1
0min
Spindle motor speed
(low speed) at gear
Shifter movement shift
1
0 1
CAUTION
1 If a motor feedback signal disconnection alarm (spindle alarm 73) is issued, the
status of this signal is undefined.
2 When bit 5 of parameter No. 4007 is set to "1", the detection operation of the
feedback signal disconnection alarm is not performed.
Set the parameter to "0" when not required, to enable alarm detection.
3 If an error which cannot be detected in the motor free-running (coast) state
occurs in the motor feedback system, this signal may not be output correctly in
the motor free-running mode after an alarm is reset.
Specified speed
0
Motor speed
1
SARA 0
Specified speed 2
Detection range
Specified speed 1 (see (2) and (3))
Motor speed
1 0 1
SARA
- 209 -
FANUC AC SPINDLE MOTOR αi series
3.I/O SIGNALS (CNC↔PMC) FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(2) The setting range is ±1 to 100% of a specified speed. When a speed not higher than 10% of the
maximum rotation speed is specified, however, the detection range is wider than the set range.
(3) The standard setting is ±15%. The detection range of this speed arrival signal widens for low speeds
as shown below.
signal
Detection range (%) of speed arrival
177%(at 80min–1)
23%(at 80min–1)
(%) –1
333 1000 min
Speed command
1
SSTA (zero-speed detection) 0
SARA (speed arrival) Minimum
Approx. pulse
τ1 width
ON 40 ms Note) There is a delay of
τ1 = 40ms τ1 until the SARA signal is
OFF set to 0.
Forward rotation
Motor
speed
0 Zero-speed detection range
Reverse rotation
Speed arrival
detection range
When a reserve rotation command is issued, the spindle motor starts decelerating, and 40 ms later
the speed arrival signal is set to 0. Then, after the speed reaches zero, the speed arrival signal being
set to 1 is detected. This completes the reverse spindle rotation command.
(6) This signal is used as a confirmation signal (FIN signal) for forward rotation (M03) and reverse
rotation (M04) commands.
- 210 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 3.I/O SIGNALS (CNC↔PMC)
CAUTION
When a spindle alarm is issued, this signal is disabled.
LDT2A level
LDT1A level
LDT1A
LDT2A
(5) The above shows an example of control using two levels. When the feed motor is to be stopped
immediately by using just one level, control must be provided according to the machine
specification.
(6) By default, these signals are not output in 10 seconds (set in parameter No. 4082) after the status of
the speed command signal changes. They are always output when the value on the load meter
exceeds the set level according to the parameter setting (bit 4 of parameter No. 4009 to 1), however.
(h) Power line switching signal (CHPA) and spindle switching completion
signal (CFINA)
For details of these signals, see Section 5.2, “SPINDLE SWITCHING CONTROL”, in Part I.
(i) Power line switching signal (RCHPA) and speed range switching
completion signal (RCFNA)
For details of these signals, see Section 5.1, “SPEED RANGE SWITCHING CONTROL”, in Part I.
- 211 -
FANUC AC SPINDLE MOTOR αi series
3.I/O SIGNALS (CNC↔PMC) FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
With the following series and editions, this signal can be used:
Series 9D50 G (07) and subsequent editions
Series 9D70 A (01) and subsequent editions
Series 9D80 A (01) and subsequent editions
Series 9D90 A (01) and subsequent editions
Series 9DA0 A (01) and subsequent editions
- 212 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 4.ADJUSTMENT
4 ADJUSTMENT
4.1 VELOCITY LOOP GAIN ADJUSTMENT
4.1.1 Overview
Optimum adjustment of the velocity loop gain increases the position loop gain, therefore significantly
enhancing disturbance suppression performance, positioning speed and accuracy. So, the adjustment of
the velocity loop gain is very important in servo adjustments, and it should be performed first. This
section explains the parameters for velocity loop gain adjustment and the adjustment procedure.
4.1.2 Parameters
There are five operation modes in spindle control: velocity control mode, orientation, servo mode (rigid
tapping and spindle positioning), spindle synchronous control, and Cs contour control. There are
parameters corresponding to each operation mode and to the clutch/gear signals (CTH1A and CTH2A).
The following shows the parameters for each operation mode.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
(2) Orientation
15i 16i 30i
3042 4042 4042 Velocity loop proportional gain on orientation (HIGH) CTH1A=0
3043 4043 4043 Velocity loop proportional gain on orientation (LOW) CTH1A=1
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
Unit of data :
Valid data range : 0 to 32767
- 213 -
FANUC AC SPINDLE MOTOR αi series
4.ADJUSTMENT FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
Unit of data :
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
- 214 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 4.ADJUSTMENT
NOTE
Parameters Nos. 4550, 4551, 4552, and 4553 are valid with 9D70 series O (15)
edition or later, 9D80 series K (11) edition or later, 9D90 series A (01) edition or
later, and 9DA0 series A (01) edition or later.
When parameters Nos. 4550, 4551, 4552, and 4553 are set to 0, parameters
Nos. 4044, 4045, 4052, and 4053 are valid.
Parameters Nos. 4044, 4045, 4052, and 4053 are common to spindle
synchronous control and servo mode.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 30
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 50
NOTE
When a motor with a large torque-to-inertia ratio (for example, low-speed winding
of a motor with an speed range switching function) is used, or when the rigidity of
the spindle is low, the standard setting of the velocity loop gain may be so high
that oscillation can occur. In such a case, decrease the velocity loop gain.
(2) Adjustment
When adjusting the velocity loop gain, check the operation mode and clutch/gear signal, and modify
corresponding parameters. Follow the steps below to adjust the parameters:
gradually, the symptoms below start to appear at a certain setting level. The settings at this level are
determined to be the oscillation limit:
- The machine vibrates or produces large sound.
- Vibration of a torque command becomes large.
- Position errors at stop time vary largely.
NOTE
The oscillation limit varies with the spindle inertia. In a machine in which the
inertia varies largely according to the tool and workpiece used, adjustment must
be made in the smallest inertia state.
(3) Details
Fig. 4.2.1 shows a velocity loop configuration including the torque command filter.
When the machine system has a high resonance frequency, the speed feedback may include a resonance
component, and this component may be amplified by the proportional gain (Kp).
The torque command filter prevents machine resonance by applying a primary low-path filter to the
proportional of the torque command to remove high-frequency components of the torque command.
- 216 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 4.ADJUSTMENT
Velocity
command + +
KP Kt/Jm⋅s
- +
Motor
Torque command filter
KI/s
Velocity feedback
Fig. 4.2.1 velocity loop configuration including the torque command filter
NOTE
For machines in which the rigidity of the part connecting the spindle and motor is
considered to change with time, or for machines whose spindle inertia changes
largely depending on the tool or workpiece used, do not use the resonance
elimination filter.
* When the resonance elimination filter disable signal is used, the following spindle and CNC software
products must be used.
- 217 -
FANUC AC SPINDLE MOTOR αi series
4.ADJUSTMENT FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Spindle software
Series Edition Usable CNC
9D50 W (23) edition or later
9D70 L (12) edition or later
9D80 H (08) edition or later
9D90 A (08) edition or later
9DA0 A (08) edition or later
(3) Details
Fig. 4.2.2 shows the resonance elimination filter configuration.
The resonance elimination filter is applied to the proportional (the value immediately after the torque
command filter in Fig. 4.2.1) of the torque command after the command is passed through the torque
command filter. The resonance elimination filter attenuates signals in a set frequency band to avoid
machine resonance.
Four filter stages in total can be applied. For each stage, filter characteristics are set by using three
parameters including the center frequency, band width, and damping.
Torque command
(proportional) + To motor
Torque
command
Resonance elimination filter (integral term)
- 218 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 4.ADJUSTMENT
CAUTION
When motor excitation is in progress (motor excitation off state signal: EXOFx =
0), do not change the status of the following signals:
HF1x, HF2x, HF3x, and HF4x
- 219 -
FANUC AC SPINDLE MOTOR αi series
4.ADJUSTMENT FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Motor excitation
off status
signal EXOFA
HRV filter
disable signal
HF1A
Attenuation bandwidth :
Unit of data : 1Hz
Valid data range : 10 to 3000
Standard setting value : 0
Damping :
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 0
For each filter stage, set three parameters including the attenuation center frequency,
attenuation bandwidth, and damping. When a filter stage is not to be used, set 0 (standard
- 220 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 4.ADJUSTMENT
setting) in all the three parameters. When input signal HFx (x: 1 to 4) is set to 1, the
resonance elimination filter x is disabled.
(6) Adjustment
The disturbance input function (see Subsection 4.2.3, “Disturbance Input Function”) is used for
adjustment. After increasing the velocity loop gain until oscillation disappears, use the disturbance input
function to observe the frequency (FNCFRQ) and gain (TFUNCG: ratio of the amplitude of the torque
command before disturbance application to the amplitude of the disturbance torque command). When
there is strong resonance, the gain near the resonance point increases abruptly. So, set the frequency
around the peak as the attenuation center frequency, and adjust the attenuation bandwidth and damping.
To minimize influences on other bands, make adjustments and set an attenuation bandwidth value as
small as possible and a damping value as large as possible.
An example for adjusting the resonance elimination filter using the disturbance input function is given
below.
A spindle check board and oscilloscope are required for the adjustment.
CH2:Gain
625mV (168.7.0.1, 50%/div)
1sec
CH2:Gain
625mV (168.7.0.1,50%/div)
1. The motor may accelerate to a speed higher than the specified one with an acceleration/deceleration
function depending on the degree of oscillation. Before using the resonance elimination filter, fully
consider the following points and adjust the parameters:
The use of the resonance elimination filter is allowed when the center frequency is 200 Hz or higher.
2. The standard attenuation bandwith is up to 30% of the center frequency. Set as small a value as
possible.
3. Set as large a damping coefficient as possible.
4. When the center frequency of machine resonance is 200 Hz or lower, adjust the parameters with
observing the instructions described in items (2) and (3) while checking that no torque command
causes abnormal oscillation.
5. When you do not use the resonance elimination filter, set all three parameters (attenuation center
frequency, attenuation bandwidth, and damping) for resonance elimination filters 1 to 4 to “0.”
(3) Details
Fig. 4.2.3 (a) shows the configuration of the disturbance input function.
A disturbance torque command (DTQCMD) in form of a sine wave is applied to the torque command
(TQCMDB), which is the output of the velocity loop controller (including filtering), and the input
frequency is increased step by step. While the frequency of the disturbance torque command is being
increased, the frequency and the ratio of the amplitude of the torque command to the amplitude of the
disturbance torque command (TQCMDB/DTQCMD) (the gain) are observed simultaneously. By doing
this, the gain of the frequency response of the torque command to the disturbance torque command can be
measured.
If there is strong resonance, an abrupt increase in the gain is observed near the resonance frequency. So,
by observing this phenomenon, the resonance elimination filter can be adjusted easily.
Disturbance
Didturbance torque
command
DTQCMD
Velocity Velocity loop + -
command + controller
Kt/Jm⋅s
Torque
- command TQCMDF
Motor
TQCMDB
Speed feedback
- 222 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 4.ADJUSTMENT
Unit of data : 1min-1 (Unit of 10min-1 when bit 2 (SPDUNT) of parameter No. 4006 = 1)
Valid data range : -32768 to +32767
Standard setting value : 0
Set the motor speed command at measurement time.
The speed is clamped at the maximum speed of the motor.
Unit of data : 1min-1/sec (Unit of 10min-1/sec when bit 2 (SPDUNT) of parameter No. 4006 = 1)
Valid data range : 0 to +32767
Standard setting value : 0
When a non-zero value is to be set as the motor speed command at measurement time, set
the change rate of the motor speed command to prevent abrupt acceleration/deceleration.
When the disturbance input function is disabled (DTQFNC = 0), this parameter is used as
the soft start/stop setting time. So, after the measurements, restore the original value.
- 224 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 4.ADJUSTMENT
CH1:FNCFRQ
(167.0.0.1, 64Hz/div)
2.5V
Resonance point :
600Hz
1sec
Resonance
CH2:TFUNCG
625mV
(168.7.0.1, 50%/div)
* The data shows that strong resonance is present at about 600 Hz.
(3) Details
(1) This function enables searches for resonance frequency changes for:
• Individual differences in machines
• Secular changes in machines
• Individual differences in workpieces
- 225 -
FANUC AC SPINDLE MOTOR αi series
4.ADJUSTMENT FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(2) When the search mode signal is input, a search for machine resonance is started within a set search
range. Of the frequencies that exceed a set detection level, the one with the largest amplitude is
detected as a resonance frequency. The detected frequency is set as a center frequency for resonance
elimination filter 1.
(3) While the search mode signal is being input, a search for machine resonance is made continuously.
If a different frequency is detected, the setting of the center frequency for resonance elimination
filter 1 is updated with the detected frequency.
(4) The detected frequency can be checked on the diagnosis screen.
NOTE
・ This function is enabled only for resonance elimination filter 1 (parameters Nos.
4391, 4392, and 4393).
・ This function is enabled when excitation is on.
・ This function is disabled when the resonance elimination filter 1 disable signal is
input (bit 0 of G305 = 1).
・ The center frequency parameter for resonance elimination filter 1 cannot be
updated automatically.
・ When the spindle adjustment function of the SERVO GUIDE is used, turn off the
search mode signal.
FRFSMA : Adaptive resonance elimination filter search mode signal (for 1st spindle)
FRFSMB : Adaptive resonance elimination filter search mode signal (for 2nd spindle)
0 : Stops (disables) the search mode.
1 : Starts the search mode.
When the FRFSM signal is set to 1, a search for a resonance frequency is started.
While the signal is being input, the search is continued even after search completion
signal FRDTE becomes 1. If another vibration frequency is detected, the internally set
center frequency for resonance elimination filter 1 is updated with the detected frequency.
NOTE
Even when the FRFSM signal is input, searches cannot be made in any of
the following cases:
1 Resonance elimination filter 1 disable signal HF1 (bit 0 of G305) is 1.
2 Excitation is off.
3 The polarity is not detected (for synchronous spindle motor drive).
- 226 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 4.ADJUSTMENT
30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G305 HF1A
2nd- G309 HF1B
FRDTEA : Adaptive resonance elimination filter search completion signal (for 1st spindle)
FRDTEB : Adaptive resonance elimination filter search completion signal (for 2nd spindle)
0 : Uncompleted state
1 : Completed state
Once search start signal FRFSM has been input, and when two searches have been
finished in the search range specified with the relevant parameters (search start frequency
(= parameter No. 4391 - parameter No. 4561) to search end frequency (= parameter No.
4391 + parameter No. 4561) ≤ 2000 Hz), the FRDTE signal becomes 1.
NOTE
The FRDTE signal is cleared in any of the following cases:
1 Resonance elimination filter 1 disable signal HF1 (bit 0 of G305) is 1
(disabled).
2 The adaptive resonance elimination filter is disabled (bit 3 of parameter
No. 4396 = 0).
3 The center frequency (parameter No. 4391) for resonance elimination
filter 1 is rewritten.
4 Search start signal FRFSM (bit 7 of G304) rises from 0 to 1.
- 227 -
FANUC AC SPINDLE MOTOR αi series
4.ADJUSTMENT FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
f2 (detected
frequency)
f0 (No. 4391)
Applied resonance f1 (detected frequency)
elimination filter frequency
Search
Search
stop
start
FRDTE (search
completion signal)
f2 (detected
f1 (detected frequency)
f0 (No.4391)
Applied resonance frequency)
elimination filter frequency
Search
Search suspension Search suspension
start
FRDTE (search completion
signal)
Change
Workpiece change
Set this bit to 1 to use the adaptive resonance elimination filter function. This function
works for resonance elimination filter 1.
NOTE
This function is enabled only for resonance elimination filter 1. The
function is disabled for the other resonance elimination filters
(resonance elimination filter 2 (parameters Nos. 4416, 4417, and
4418), resonance elimination filter 3 (parameters Nos. 4419, 4420,
and 4421), and resonance elimination filter 4 (parameters Nos.
4422, 4423, and 4424)).
30i
4391 Resonance elimination filter 1: center frequency
30i
4392 Resonance elimination filter 1: band
NOTE
When this parameter is 0, the filter function itself is disabled, but
searches for resonance frequencies can be made, and search
results can be checked on the diagnosis screen.
30i
4393 Resonance elimination filter 1: attenuation rate
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 0
30i
4560 Adaptive resonance elimination filter: detection level
- 229 -
FANUC AC SPINDLE MOTOR αi series
4.ADJUSTMENT FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
If a small value is set, frequencies may not be detected correctly
due to the effect of noise. When applying this parameter, be sure to
use the actual machine to check that proper follow-up is performed.
30i
4561 Adaptive resonance elimination filter: search range
Frequency Hz
30i
4532 Arbitrary data output function number
Unit of data :
Valid data range : 0 to +32767
Standard setting value : 0
When this parameter is set to 6, the following data for which search processing is
performed can be checked on the CNC diagnosis screen display. When diagnosis 722 = 1,
the value displayed in diagnosis 720 is the center frequency that has been found.
Diagnosis 720: Displays the center frequency (search result) for resonance elimination
filter 1 that has been found and internally set.
Diagnosis 722: Displays the state of search completion signal FRDTE, 0 (search
completed state) or 1 (search uncompleted state).
NOTE
When the αiCZ sensor (serial) is used, this function cannot be used.
(3) Details
The feedback signals from the αiM sensor, αiMZ sensor, αiBZ sensor, and αiCZ sensor (analog) are used
for speed or position detection in the spindle amplifier, and they are two sine wave signals (phase A/B)
having the same amplitude and a phase difference of 90°. Based on these phase A/B signals, the detection
circuit of the spindle amplifier generates feedback data used for speed and position detection. If the
feedback signals are in the ideal state (having the same amplitude and a phase difference of 90°), accurate
feedback data is generated. Actually, however, the amplitude and phase difference are slightly deviated
from the ideal state. This deviation causes a feedback data error, which lowers the accuracy of speed and
position detection.
When the feedback data has an error due to the deviation in amplitude and phase difference of the
feedback signals as described above, this function performs compensation of feedback data generation
processing (interpolation processing) of the detection circuit by setting compensation data for the
detection circuit to minimize the error.
Use of this function improves the accuracy in speed and position detection. As a result, positioning and
feed accuracy can be improved, and also improvement in rigidity can be expected because of the increase
in velocity loop gain and position loop gain.
NOTE
This function does not simplify sensor installation work by directly performing
compensation of the feedback signals. The sensor signals must satisfy the
specification. So, before using this function, check that the feedback signals
satisfy the specification.
Unit of data : 1%
Valid data range : -8 to +8
Standard setting value : 0
Unit of data : 1°
Valid data range : -4 to +4
Standard setting value : 0
Unit of data : 1%
Valid data range : -8 to +8
Standard setting value : 0
- 231 -
FANUC AC SPINDLE MOTOR αi series
4.ADJUSTMENT FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Unit of data : 1°
Valid data range : -4 to +4
Standard setting value : 0
When compensation of the feedback signal of the motor sensor connected to spindle
amplifier JYA2 is performed, the settings of parameter Nos. 4355 and 4356 are adjusted.
When compensation of the feedback signal of the spindle sensor connected to JYA4 is
performed, the settings of parameter Nos. 4357 and 4358 are adjusted.
When as with a built-in motor the speed sensor and position sensor are the same (the
feedback signal of JYA2 is used for speed detection and position detection),
compensation is performed for JYA2 only. When the speed sensor and position sensor are
provided separately (the feedback signal of JYA2 is used for speed detection, and the
feedback signal of JYA4 is used for position detection), compensation is performed for
both JYA2 and JYA4.
Channel 1: Connected to the CH1 pin of the check board (0.5 to 1 V/div)
Channel 2: Connected to the CH2 pin of the check board (5 V/div)
Measurement time range: 5 to 10 ms/div
Trigger setting: Falling edge of channel 2
Number of averaging times: About 16 to 64 times
NOTE
Note that the αi series does not have the adjustment function using the spindle
check board.
CH1:(313.4.0.1)
Feedback increment
0.5V/div
CH2:(231.8.0.0)
Feedback data
5V/div
CH1:(313.4.0.1)
Feedback increment
0.5V/div
1.05V
CH2:(231.8.0.0)
Feedback data
5V/div
- 233 -
FANUC AC SPINDLE MOTOR αi series
4.ADJUSTMENT FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
CH1:(313.4.0.1)
Feedback increment
0.57V
0.5V/div
CH2:(231.8.0.0)
Feedback data
5V/div
CH1:(313.4.0.1)
CH2:(231.8.0.0)
Feedback data
5V/div
Fig. 4.3 (d) After amplitude ratio (and phase difference) compensation
NOTE
Whichever compensation, amplitude ratio compensation or phase difference
compensation, may be adjusted first, the same adjustment result can be
obtained. So, steps <3> and <4> may be performed in reverse order.
- 234 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
5 FUNCTION DESCRIPTIONS
5.1 SPEED RANGE SWITCHING CONTROL (OPTIONAL
FUNCTION)
5.1.1 Overview
Speed range switching control switches the output characteristic (winding) of a spindle motor (motor
designed for speed range switching control) that has two types of windings (winding with low-speed
output characteristic and winding with high-speed output characteristic).
NOTE
Using this function requires the CNC software option.
5.1.3 Configuration
Shown below is a machine configuration for using speed range switching control.
This function requires the following items in addition to a spindle amplifier (SP).
• Switching unit (a magnetic contactor and a relay for driving it are included)
• Signals between the PMC and switching unit
Refer to “FANUC SERVO AMPLIFIER αi series Descriptions” (B-65282EN) for the specification of the
switching unit and detailed descriptions about their connection.
Spindle motor
PMC CNC SP with speed range
Power line switching control
Switching unit
Feedback signal
- 235 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
With the method that switches the winding based on the velocity command, the winding is selected based
on the specified speed while the spindle is stopped and then the spindle is accelerated, as shown in the
figure below. Generally, this method enables a short acceleration time before reaching the maximum
speed and a smooth acceleration operation. The method is also advantageous in terms of the contact life
of the magnetic contactor.
Speed
Time
If the velocity command specifies the high-speed If the velocity command specifies the low-speed
winding range, the high-speed winding is selected winding range, the low-speed winding is selected
before the spindle is accelerated or decelerated. before the spindle is accelerated or decelerated.
(a) Method that switches the winding based on the velocity command
This method references the spindle velocity command (S command) and switches the winding by judging
whether the specified speed is the low-speed winding range or high-speed winding range. Determine the
winding to be selected, by using the S code output (S31 to S00) or S12 bit code output (R12O to R01O).
- 236 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
<1> Reference the spindle velocity command (S command) and switch to the low-speed winding if
the specified speed is the low-speed winding range or to the high-speed winding if the specified
speed is the high-speed winding. If the desired winding is already selected, the switching is not
necessary and the time is reduced.
<2> Rotate the spindle after the switching is completed.
<3> When stopping the spindle, stop it with the winding that is selected while it is rotating.
Velocity <1>
command
(S command) 0 0
Motor speed
0 0
<1> Reference the spindle velocity command (S command) and start the switching to the
low-speed winding if the specified speed is the low-speed winding range.
<2> If the motor decelerates to the set speed level, the speed detection signal (SDT) is set to 1
and the switching operation is performed.
<3> After the switching is completed, the motor decelerates further to the specified speed.
- 237 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Rotation
command 1 1
(SFR/SRV)
<5>
Motor speed <3>
0
(b) Method that switches the winding based on the actual motor speed
This method switches the winding when the motor reaches the switching speed. Switch the winding when
the speed detection signal (SDT) changes. The speed detection signal is set to 1 when the speed level
specified by the parameter is lower than the actual motor speed or to 0 when the speed level is higher. Set
the detection level (parameter No. 4023) to the switching speed.
<1>
Velocity
command
(S command) 0
Rotation
command 0 1
(SFR/SRV)
<2> <3>
Motor speed
0
Speed detection
signal (SDT)
1 0 1
Rotation
command
1 1
(SFR/SRV)
<3> <6>
Motor speed
0
<5>
<2>
Speed detection 0 1 0
signal (SDT)
(c) Cautions
While speed range switching control can be performed regardless of whether the motor is stopped or
rotating, it should not be performed during cutting or position control. Since the motor current control is
stopped during the switching operation, the motor does not generate torque. For this reason, the motor
may become unable to cut or rotate as specified, thus causing an alarm.
Be sure to select the winding before the motor enters any of the following control modes in order to
prevent the switching operation from being performed while the motor is operating in one of these modes.
• Spindle orientation (lower than or equal to the orientation speed)
• Rigid tapping
• Cs contouring control
• Spindle synchronous control
• Spindle positioning
The speed detection signal (SDT) may change in the cases described below. Avoid using the SDT signal
in these cases.
In constant surface speed control, the spindle speed becomes high to reach the detection level of the SDT
signal.
(When performing constant surface speed control with the low-speed winding, it is possible to prevent the
speed from reaching the detection level of the SDT signal by clamping the maximum speed using the
spindle maximum speed clamp command (G92 and G50).)
During cutting, the cutting load causes a speed fluctuation and the speed reaches the detection level of the
SDT signal.
Note that the SDT signal may change when the speed is changed by spindle override.
- 239 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
- 240 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
(3) If bit 3 of parameter No. 4014 = 0, the RCHA signal is used as a confirmation signal for the status of
the power line. So, specify the selected status of the magnetic contactor for switching the output
characteristic of the spindle motor.
0: The high-speed characteristic is selected.
1: The low-speed characteristic is selected.
To switch from low-speed characteristic to high-speed characteristic, after making sure that the
low-speed characteristic magnetic contactor is switched off and the high-speed characteristic
magnetic contactor is switched on, change this signal from 1 to 0. Similarly, to switch from
high-speed characteristic to low-speed characteristic, after making sure that the high-speed
characteristic magnetic contactor is switched off and the low-speed characteristic magnetic contactor
is switched on, change this signal from 0 to 1.
(2) After making sure that the speed range switching request signal (RSLA) has changed and the
RCFNA signal matches the RSLA, go to the next operation.
5.1.6 Sequence
(1)Performing speed range switching by checking the status of both contacts
of the low-speed characteristic magnetic contactor status signal (RCHA)
and high-speed characteristic magnetic contactor status signal (RCHHGA)
(bit 3 of parameter No. 4014 = 1)
(a) Switching from low-speed characteristic to high-speed characteristic
Speed range switching request
signal (RSLA) Low speed (= 1) High speed (= 0)
PMC→CNC
Power line switching signal
(RCHPA) Low speed (= 1) High speed (= 0)
CNC→PMC
Clutch/gear signal
(CTH1A, 2A) PMC→CNC Low speed (= 1) High speed (= 0)
Low-speed characteristic
magnetic contactor Closed Open
Low-speed characteristic
magnetic contactor status signal Closed (=1) Open (=0)
(RCHA) PMC→CNC
- 242 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Low-speed characteristic
magnetic contactor Open Closed
Low-speed characteristic
magnetic contactor status signal Open (=0) Closed (=1)
(RCHA) PMC→CNC
High-speed characteristic Open
Closed
magnetic contactor
High-speed characteristic
magnetic contactor status signal Closed (=1) Open (=0)
(RCHHGA) PMC→CNC
Speed range switching
High speed (=0) Low speed (=1)
completion signal (RCFNA)
CNC→PMC
(2)Performing speed range switching by checking only the power line status
confirmation signal (RCHA) (bit 3 of parameter No. 4014 = 0)
(a) Switching from low-speed characteristic to high-speed characteristic
Speed range switching request
signal (RSLA) Low speed (= 1) High speed (= 0)
PMC→CNC
Power line switching signal
(RCHPA) Low speed (= 1) High speed (= 0)
CNC→PMC
Clutch/gear signal
(CTH1A, 2A) PMC→CNC Low speed (= 1) High speed (= 0)
Low-speed characteristic
magnetic contactor Closed Open
High-speed characteristic
Open Closed
magnetic contactor
- 243 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Low-speed characteristic
magnetic contactor Open Closed
High-speed characteristic
Closed Open
magnetic contactor
NOTE
1 A parameter can specify that switching from high-speed output characteristic to
low-speed output characteristic be not performed at a speed higher than or equal
to the switching speed (speed detection signal SDTA = 0) even if a switching
request is issued.
2 Switch the clutch/gear signals (CTH1A and CTH2A) in such a way that the
velocity loop gain can be specified for low- and high-speed characteristics
separately.
3 Spindle alarm 15 is issued unless the magnetic contactor status signal is input
within one second after the power line switching signal is output. So, input the
magnetic contactor status signal within one second after the power line switching
signal is output.
4 If you want to check the selection status of magnetic contactors MCC1 and
MCC2 only with the auxiliary contact of magnetic contactor MCC1, allow a delay
time of at least 50 ms between the instant when switching between MCC1 and
MCC2 is performed with the power line switching signal (RCHPA) and the instant
when the power line status confirmation signal (RCHA) changes, because a
delay occurs in the operation of the magnetic contactors.
- 244 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
SPDSW Presence of speed range switching function (To use this function, the CNC software
option is required.)
0 : Without speed range switching function
1 : With speed range switching function (To be set to “1”)
CHGSLT Function of checking the both magnetic contactor contacts for high-/low-speed
characteristics in speed range switching
0: A check is made, using the power line status confirmation signal (RCH).
1: The contacts of both high- and low-speed characteristic magnetic contactors are
checked.
SDTCHG Specifies whether to switch from high-speed range to low-speed range, upon the speed
detection signal (SDT) being set to “1”, when speed range switching is used.
0 : Switches from the high-speed to low-speed range regardless of the speed detection
signal (SDT).
1 : Switches from the high-speed to low-speed range after the SDT signal has changed
to “1”.
If this data is “0”, switching from high-speed characteristic to low-speed characteristic
occurs no matter what the status of the speed detection signal (SDT) is.
If this data is “1”, switching from high-speed characteristic to low-speed characteristic
does not occur when the speed detected signal (SDT) is “0”. The switching occurs only
after the SDT signal has changed to “1”.
To make switching to low-speed characteristic occur securely at or near the switching
speed, set the speed detection level (parameter No. 4023) to a level slightly higher than
the switching speed level.
The speed detection signal (SDT) changes from 1 to 0 with the set speed detection level +
hysteresis motor speed, and changes from 0 to 1 with the set speed detection level motor
speed. If this data is set to 20 min-1 or less, the hysteresis is automatically set to 20 min-1.
If the speed detection signal (SDT) is used in speed range switching control, increase the
data setting in situations where the switching circuit is likely to cause chattering close to
the motor speed for the speed detection level.
Set the hysteresis width to a speed change measured during switching with a margin
(about twice the measured speed change).
A rough estimate of the hysteresis width can be obtained from the following expression
(on the assumption that the motor load torque at switching is 20% of the maximum output
torque):
3044 4044 4044 Velocity loop proportional gain on servo mode (HIGH)
3046 4046 4046 Velocity loop proportional gain on Cs contouring control (HIGH)
3048 4048 4048 Velocity loop integral gain on the velocity control mode (HIGH)
3052 4052 4052 Velocity loop integral gain on servo mode (HIGH)
3054 4054 4054 Velocity loop integral gain on Cs contouring control (HIGH)
- 246 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
(b) When the low-speed output characteristic winding is selected (CTH1A = 1 and CTH2A = 1)
15i 16i 30i
3041 4041 4041 Velocity loop proportional gain on the velocity control mode (LOW)
3045 4045 4045 Velocity loop proportional gain on servo mode (LOW)
304 4047 4047 Velocity loop proportional gain on Cs contouring control (LOW)
3049 4049 4049 Velocity loop integral gain on the velocity control mode (LOW)
3053 4053 4053 Velocity loop integral gain on servo mode (LOW)
3055 4055 4055 Velocity loop integral gain on Cs contouring control (LOW)
(3) Cautions
Keep in mind that the clutch/gear signals (CTH1A and CTH2A) are used to select also parameters
for rigid tapping, feed axis position gain under Cs contouring control, the number of teeth of
arbitrary gears, time constants, and backlash in the Series 15i.
5.2.1 Overview
Spindle switching control is a function that drives two spindle motors with a single spindle amplifier, one
at a time by switching them. The function is suitable for a machine in which two spindle motors are not
driven simultaneously.
- 247 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
When the αiCZ sensor (serial) is used, this function cannot be used.
5.2.3 Configuration
Shown below is a machine configuration for using spindle switching control.
The following items are required for spindle switching control in addition to a spindle amplifier (SP) and
two spindle motors:
• Sub module SW (SSW)
• Switching unit (a magnetic contactor and a relay for driving it are included)
• Signals between the PMC and switching unit
Refer to “FANUC SERVO AMPLIFIER αi series Descriptions” (B-65282EN) for the specification of the
submodule SW (hereafter SSW), switching unit, and detailed descriptions about their connection.
Feedback signal
- 248 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
5.2.5 Restrictions
(1) Stop position external setting type orientation can be used only for the main spindle.
(2) Spindle synchronous control can be used only for the main spindle.
(3) Spindle positioning can be used only for the main spindle.
(4) Cs contouring control can be used only for the main spindle.
(5) For the sub-spindle motor, up to two gear switching stages can be specified using a parameter.
(6) The dual position feedback function can be used on the main side only.
- 249 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
- 250 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
(2) The motor must be at a halt during spindle switching. Use the SSTA signal to check that that the
motor is at a halt.
5.2.7 Sequence
(1)Performing spindle switching by checking the status of both contacts of
the sub-spindle motor magnetic contactor status signal (MCFNA) and main
spindle motor magnetic contactor status signal (MFNHGA) (bit 2 of
parameter No. 4014 = 1)
NOTE
Spindle alarm 15 is issued unless the main spindle motor status signal
(MFNHGA) and sub-spindle motor status signal (MCFNA) change within one
second after the switching request signal (SPSLA) signal has changed.
- 251 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(2)Performing spindle switching by checking only with the power line status
signal (MCFNA) (bit 2 of parameter No. 4014 = 0)
NOTE
1 When checking the selection status of magnetic contactors MCC1 and MCC2
only with the auxiliary contact of magnetic contactor MCC1, allow a delay time of
at least 50 ms between the instant when switching between MCC1 and MCC2 is
performed with the power line switching signal (CHPA) and the instant when the
power line status confirmation signal (MCFN) changes, because a delay occurs
in the operation of the magnetic contactors.
2 Spindle alarm 15 is issued unless the power line magnetic contactor status signal
(MCFNA) changes within one second after the switching request signal (SPSLA)
has changed.
- 252 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Parameter No.
Description
15i 16i 30i
3024 4024 4024 Speed zero detecting level (MAIN)
3110 4110 4110 Current conversion constant (MAIN/high-speed characteristic)
3146 4146 4146 Current conversion constant (MAIN/low-speed characteristic)
3189 4189 4189
Current dead-band data (SUB)
#6 to #2 #6 to #2 #6 to #2
3199 4199 4199 Zero-speed detection level (SUB)
3264 4264 4264 Current conversion constant (SUB/high-speed characteristic)
3294 4294 4294 Current conversion constant (SUB/low-speed characteristic)
NOTE
In the FS15i, the parameter automatic setting function is common to the main
and sub-spindle motors.
AXSLCT Function of checking the contents of both the main spindle and sub-spindle motor
magnetic contactor contacts in spindle switching
0: The check is based on the power line status signal (MCFN)
1: The check is made on the contacts (MCFN and MFNHG) of both the main and
sub-spindle motor magnetic contactors.
■αiSP(A06B-6111(6112,6121,6122)-Hxxx#H550(H553,H570))
Amplifier model Parameter setting
200V-input 400V-input DS5 DS4 DS3 DS2 DS1
αiSP2.2 to 15 αiSP5.5HV to 15HV 0 0 0 1 1
αiSP22 to 37 αiSP30HV to 45HV 1 0 1 0 0
αiSP45 to 55 αiSP75HV to 100HV 0 0 1 1 0
■αiSP(A06B-6141(6142,6151,6152)-Hxxx#H580, A06B-6144(6154)-Hxxx#H590)
Amplifier model Parameter setting
200V-input 400V-input DS5 DS4 DS3 DS2 DS1
αiSP2.2~55 αiSP5.5HV~100HV 0 0 0 1 1
- 253 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
Be careful when no correct data is specified, because it is likely that switching
elements in the power circuit may break down.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : This parameter is intended to specify a current detection weight that varies
depending on the motor model to be used.
If a motor and a spindle amplifier are in a combination that is not originally intended, it is
necessary to change the setting according to the spindle amplifier to be used. Use the
following conversion formula to determine a value to be specified in the parameter.
G1
ICONV 2 = ICONV 1×
G2
ICONV1 : Current conversion constant before change
ICONV2 : Current conversion constant after change
G1 : Current detection gain for the spindle amplifier initially intended for the motor
G2 : Current detection gain for the spindle amplifier to be used in spindle switching
The current detection gains (G1 and G2) vary from one amplifier model to another. The
following table lists the current detection gains that correspond to each amplifier model.
- 254 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
NOTE
If no correct data is specified, the motor fails to deliver the rated
power, and it is likely that switching elements in the power circuit
may break down.
NOTE
In the FS15i, a parameter for the parameter automatic setting function is common
to the main and sub-spindle motors. Keep in mind that parameter automatic
setting occurs for the main and sub-spindle motors simultaneously.
For the parameter numbers for the main spindle and sub-spindle, see Appendix B, “LIST OF
SPINDLE PARAMETER NUMBERS.”
(2) The following table lists the motor-specific parameter numbers for the main spindle and those for the
sub-spindle.
Set a motor-specific parameter for the sub-spindle according to the table below.
Parameter No.
15i 16i 30i Description
MAIN SUB MAIN SUB MAIN SUB
3007 3183 4007 4183 4007 4183 Bit type parameter
3008 3184 4008 4184 4008 4184 Bit type parameter
3009 3185 4009 4185 4009 4185 Bit type parameter
3010 3186 4010 4186 4010 4186 Bit type parameter
3011 3187 4011 4187 4011 4187 Bit type parameter
3012 3188 4012 4188 4012 4188 Bit type parameter
3013 3189 4013 4189 4013 4189 Bit type parameter
3019 3195 4019 4195 4019 4195 Bit type parameter
3020 3196 4020 4196 4020 4196 Maximum motor speed
3023 3198 4023 4198 4023 4198 Speed detection level
Slip compensation gain
3039 3254 4039 4254 4039 4254
[for high-speed characteristics of speed range switching]
Regenerative power limit for high-speed zone/regenerative power limit
3080 3231 4080 4231 4080 4231
[for high-speed characteristics of speed range switching]
Motor voltage on velocity control mode
3083 3236 4083 4236 4083 4236
[for high-speed characteristics of speed range switching]
Value displayed on load meter at maximum output
3093 3279 4093 4279 4093 4279
[for low-speed characteristics of speed range switching]
Base speed of motor output specifications
3100 3256 4100 4256 4100 4256
[for high-speed characteristics of speed range switching]
Output limit for motor output specifications
3101 3257 4101 4257 4101 4257
[for high-speed characteristics of speed range switching]
Excitation voltage saturation speed at no-load
3102 3258 4102 4258 4102 4258
[for high-speed characteristics of speed range switching]
Base speed limit ratio
3103 3259 4103 4259 4103 4259
[for high-speed characteristics of speed range switching]
Current loop proportional gain
3104 3260 4104 4260 4104 4260
[for high-speed characteristics of speed range switching]
Current loop integral gain
3106 3261 4106 4261 4106 4261
[for high-speed characteristics of speed range switching]
Velocity at which the current loop integral gain is zero
3108 3262 4108 4262 4108 4262
[for high-speed characteristics of speed range switching]
Filter time constant for processing saturation related to the voltage command
3109 3263 4109 4263 4109 4263
[for high-speed characteristics of speed range switching]
Current conversion constant
3110 3264 4110 4264 4110 4264
[for high-speed characteristics of speed range switching]
Secondary current coefficient
3111 3265 4111 4265 4111 4265
[for high-speed characteristics of speed range switching]
Criterion level for saturation related to the voltage command/PWM command
3112 3266 4112 4266 4112 4266
clamp value [for high-speed characteristics of speed range switching]
3113 3267 4113 4267 4113 4267 Slip constant [for high-speed characteristics of speed range switching]
Slip compensation coefficient for a high-speed zone/slip compensation
3114 3268 4114 4268 4114 4268 coefficient at deceleration
[for high-speed characteristics of speed range switching]
PWM command clamp value at deceleration
3115 3269 4115 4269 4115 4269
[for high-speed characteristics of speed range switching]
- 256 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Parameter No.
15i 16i 30i Description
MAIN SUB MAIN SUB MAIN SUB
Motor leakage constant
3116 3270 4116 4270 4116 4270
[for high-speed characteristics of speed range switching]
Regular-time voltage compensation coefficient for high-speed
3117 3271 4117 4271 4117 4271 zone/regular-time motor voltage coefficient
[for high-speed characteristics of speed range switching]
Acceleration-time voltage compensation coefficient for high-speed
3118 3272 4118 4272 4118 4272 zone/acceleration-time motor voltage coefficient
[for high-speed characteristics of speed range switching]
Deceleration-time excitation current change time constant/excitation current
3119 3280 4119 4280 4119 4280 change time constant
[for high-speed characteristics of speed range switching]
Value displayed on load meter at maximum output
3127 3274 4127 4274 4127 4274
[for high-speed characteristics of speed range switching]
Compensation coefficient between the specification and true base/maximum
3128 3275 4128 4275 4128 4275 torque curve compensation coefficient
[for high-speed characteristics of speed range switching]
Secondary current coefficient for rigid tapping
3129 3276 4129 4276 4129 4276
[for high-speed characteristics of speed range switching]
Current loop proportional gain speed coefficient/current phase delay
3130 3277 4130 4277 4130 4277 compensation coefficient
[for high-speed characteristics of speed range switching]
3134 3310 4134 4310 4134 4310 Motor overheat detect level
Motor voltage on velocity control mode
3136 3284 4136 4284 4136 4284
[for low-speed characteristics of speed range switching]
Base speed of motor output specifications
3138 3286 4138 4286 4138 4286
[for low-speed characteristics of speed range switching]
Output limit for motor output specifications
3139 3287 4139 4287 4139 4287
[for low-speed characteristics of speed range switching]
Excitation voltage saturation speed at no-load
3140 3288 4140 4288 4140 4288
[for low-speed characteristics of speed range switching]
Base speed limit ratio
3141 3289 4141 4289 4141 4289
[for low-speed characteristics of speed range switching]
Current loop proportional gain
3142 3290 4142 4290 4142 4290
[for low-speed characteristics of speed range switching]
Current loop integral gain
3143 3291 4143 4291 4143 4291
[for low-speed characteristics of speed range switching]
Velocity at which the current loop integral gain is zero
3144 3292 4144 4292 4144 4292
[for low-speed characteristics of speed range switching]
Filter time constant for processing saturation related to the voltage command
3145 3293 4145 4293 4145 4293
[for low-speed characteristics of speed range switching]
Current conversion constant
3146 3294 4146 4294 4146 4294
[for low-speed characteristics of speed range switching]
Secondary current coefficient
3147 3295 4147 4295 4147 4295
[for low-speed characteristics of speed range switching]
Criterion level for saturation related to the voltage command/PWM command
3148 3296 4148 4296 4148 4296
clamp value [for low-speed characteristics of speed range switching]
3149 3297 4149 4297 4149 4297 Slip constant [for low-speed characteristics of speed range switching]
Slip compensation coefficient for a high-speed zone/slip compensation
3150 3298 4150 4298 4150 4298 coefficient at deceleration
[for low-speed characteristics of speed range switching]
PWM command clamp value at deceleration
3151 3299 4151 4299 4151 4299
[for low-speed characteristics of speed range switching]
- 257 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Parameter No.
15i 16i 30i Description
MAIN SUB MAIN SUB MAIN SUB
Motor leakage constant
3152 3300 4152 4300 4152 4300
[for low-speed characteristics of speed range switching]
Regular-time voltage compensation coefficient for high-speed
3153 3301 4153 4301 4153 4301 zone/regular-time motor voltage coefficient
[for low-speed characteristics of speed range switching]
Acceleration-time voltage compensation coefficient for high-speed
3154 3302 4154 4302 4154 4302 zone/acceleration-time motor voltage coefficient
[for low-speed characteristics of speed range switching]
Slip compensation gain
3156 3255 4156 4255 4156 4255
[for low-speed characteristics of speed range switching]
Compensation coefficient between the specification and true base/maximum
3158 3304 4158 4304 4158 4304 torque curve compensation coefficient
[for low-speed characteristics of speed range switching]
Secondary current coefficient for rigid tapping
3159 3305 4159 4305 4159 4305
[for low-speed characteristics of speed range switching]
Current loop proportional gain speed coefficient/current phase delay
3161 3306 4161 4306 4161 4306 compensation coefficient
[for low-speed characteristics of speed range switching]
Deceleration-time excitation current change time constant/excitation current
3165 3308 4165 4308 4165 4308 change time constant
[for low-speed characteristics of speed range switching]
Regenerative power limit for high-speed zone/regenerative power limit
3166 3307 4166 4307 4166 4307
[for low-speed characteristics of speed range switching]
3169 3349 4169 4349 4169 4349 Temperature monitoring time constant
(3) The following parameters are common to the main and sub-spindle motors. They cannot be specified
separately for these motors.
Parameter No.
Description
15i 16i 30i
3027 4027 4027 Load detecting level 2
3030 4030 4030 Soft start/stop setting time
3087 4087 4087 Overspeed level
3088 4088 4088 Velocity error excess detecting level on motor shaft lock condition
3089 4089 4089 Velocity error excess detecting level on motor rotation
3090 4090 4090 Overload detecting level
3095 4095 4095 Adjustment of speedometer output voltage
3096 4096 4096 The adjustment of load meter output voltage
3098 4098 4098 Maximum speed of position feedback signal detection
3099 4099 4099 Delay time for motor excitation
3123 4123 4123 Setting the overload detection time
3260 4260 4260 Speed detection level hysteresis
3341 4341 4341 Unexpected disturbance torque detection level
3344 4344 4344 Advanced feed-forward coefficient
3346 4346 4346 Incomplete integration coefficient
(4) For the sub-spindle motor, up to two gear switching stages can be specified. The input signal
CTH1A is used to select one of the gear stages. (For the main spindle motor, up to four gear
switching stages can be specified, using CTH1A and CTH2A.)
Parameter No.
Description CTH1A
15i 16i 30i
3216 4216 4216 Gear ratio(SUB side/HIGH) 0
3217 4217 4217 Gear ratio(SUB side /LOW) 1
- 258 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Parameter No.
Description CTH1A
15i 16i 30i
3218 4218 4218 Position gain on orientation(SUB side/HIGH) 0
3219 4219 4219 Position gain on orientation(SUB side/LOW) 1
3221 4221 4221 Position gain on servo mode(SUB side/HIGH) 0
3222 4222 4222 Position gain on servo mode(SUB side/LOW) 1
(5) For the sub-spindle motor, only one velocity integral gain stage can be specified. The CTH1A signal
cannot be used for switching.
Parameter No.
Description
15i 16i 30i
3212 4212 4212 Velocity loop integral gain on the velocity control mode (SUB side)
3213 4213 4213 Velocity loop integral gain on orientation (SUB side)
3214 4214 4214 Velocity loop integral gain on servo mode (SUB side)
5.3.1 Overview
Incremental command type spindle orientation is a function that expands the spindle orientation in which
a stop position is specified externally using a position coder.
This function is intended to move the spindle from the position where it was when a spindle orientation
command was input to a position specified incrementally. It positions the spindle as follows:
The spindle rotates from the position where it was when a spindle orientation command was input
through an incremental angle specified from the PMC via the CNC. When the spindle orientation is
completed, a completion signal is sent to the PMC via the CNC.
Using the function enables:
(i) Spindle motor-based turret indexing
(ii) Spindle rotation speed control if a command multiplier value (parameter-specified value) is set to
“4096”
NOTE
1 Using this function requires the spindle orientation CNC software option.
2 The maximum spindle speed that can be specified is shown below:
9D50 series N edition or earlier, 9D70 series E edition or earlier: 120 rotations
9D50 series O edition or later, 9D70 series F edition or later, 9D80 series A
edition or later: 30000 rotations
- 259 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
JYA2 Spindle
αi position coder
SP
TYPE A
JYA3
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
JYA2 Spindle
α position coder S
SP
TYPE B
JYA4
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
(3) When the built-in motor (αiBZ sensor, αiCZ sensor (analog)) is used
αiBZ sensor or αiCZ sensor (analog)
Spindle+
Built-in motor
JYA2
SP
TYPE A
- 260 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
SP
TYPE A
Spindle+
Detection Built-in motor
JYA3 circuit
Thermistor
(5) When the spindle motor with built-in αiMZ sensor is used
Spindle motor with built-in
αiMZ sensor
JYA2 Spindle
SP
TYPE A
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
(6) When the separate type αiBZ sensor or the separate type αiCZ sensor
(analog) is used
Spindle motor with built-in αiM
sensor (or αiMZ sensor)
JYA2 Spindle
SP
TYPE B
- 261 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
JYA2
SP
TYPE A
Detection
Spindle
circuit
JYA3
Spindle
JYA2
SP
External one-rotation
TYPE A
signal switch (proximity
switch)
Gear or timing belt
JYA3
NOTE
1 To detect the one-rotation signal securely, fix the direction (bits 3 and 2 of
parameter No. 4003) in which the spindle rotates during spindle orientation to one
direction.
2 Specify the type (bits 3 and 2 of parameter No. 4004) of an external one-rotation
signal (proximity switch).
3 To detect the one-rotation signal securely, set the spindle orientation speed
(parameter No. 4038) to a value between 50 and 100 min-1 according to the
specification of the external one-rotation signal (proximity switch).
4 A sequence for detecting the one-rotation signal is started after the orientation
speed has been reached.
5 Specify the denominator/numerator parameters (Nos. 4171 to 4174) of an
arbitrary gear ratio between the motor sensor and spindle.
- 262 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
(9) System in which the turret and the motor with a built-in αiMZ sensor are linked
with gears and a clutch (for turret indexing)
Spindle motor with built-in
αiMZ sensor
Spindle
SP
TYPE A
1st- G230 G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G238 G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00
(b) Short-cut command for spindle orientation stop position change (NRROA)
The NRROA signal is disabled if incremental command type spindle orientation is enabled (INCMDA =
1).
- 263 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
- 264 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
SHA00-SHA11
(Spindle orientation stop position
command)
<1> <2> <3>
INDXA
(Spindle orientation stop position
change command)
INCMDA
(Stop position/incremental command
data selection command)
ROTAA
(Rotation direction command for stop
position change)
Spindle position
Motor speed
<4> <4>
ORARA
(Spindle orientation completion signal)
NOTE
Set time t to 50 ms or over so that each signal can be confirmed.
<1> The SHA00 to SHA11 data is read as incremental command data if ORCMA rises under the
condition of INCMDA = “1” when the spindle is at a halt (zero-speed detection signal SSTA = “1”).
The spindle rotates through the specified incremental angle, starting from the position where it rested,
and then stops. Its rotation direction is determined by ROTAA.
<2> If incremental operation is continued, the SHA00 to SHA11 data is read as incremental command
data if INDXA falls under the condition of ORCMA = “1” and INCMDA = “1”. The spindle rotates
through the specified incremental angle, starting from the position where it rested, and then stops. Its
rotation direction is determined by ROTAA.
<3> Incremental command data is specified in pulse units in a range from 0 to +4095 pulses.
The rotation direction of the spindle is determined by ROTAA.
If the command multiplier parameter (No. 4328) is specified, the spindle rotates through [command
multiplier parameter] × [incremental command data] and then stops. The rotation direction parameter
NRROA (bits 2 and 3 of parameter No. 4003) is disabled during incremental operation.
<4> When the position error gets in a parameter-specified range, the completion signal ORARA is
output.
- 265 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
SHA00-11
(Spindle orientation stop position
command)
<1> <2> <3>
INDXA
(Spindle orientation stop position
change command)
INCMDA
(Stop position/incremental
command data selection
command)
ROTAA
(Rotation direction command for
stop position change)
NRROA
(Short-cut command for stop
position change)
Spindle position
Motor speed
<4> <4>
ORARA
(spindle orientation completion
signal)
NOTE
Set time t to 50 ms or over so that each signal can be confirmed.
<1> Stop at a fixed position as directed with an ordinary spindle orientation command
• In the first-time orientation after the power is switched on, the spindle rotates at the orientation
speed. After detecting a one-rotation signal, it stops at a fixed position. In the second- and
subsequent-time spindle orientation, the spindle stops at a fixed position within one rotation.
• The direction in which the spindle motor rotates depends on the setting of the rotation direction
parameter (bits 2 and 3 of parameter No. 4003).
• The SHA00 to SHA11 data is read as stop position command data if ORCMA rises under the
condition of INCMDA = “0”. The spindle rotates through the angle determined by [SHA00 to
SHA11 value] + [value specified in the orientation stop position shift amount parameter (No.
4077)], and then stops there.
<2> Stop at a fixed position as directed with an incremental command
• See the previous page for incremental operations.
• If the command multiplier parameter (No. 4328) = 4096, spindle rotation speed control can be
performed.
<3> Fixed position specified with fixed position stop external setting
- 266 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
• The SHA00 to SHA11 data is read as stop position command data if INDXA falls under the
condition of ORCMA = “1” and INCMDA = “0”, the spindle rotates to a specified position and
then stops there.
• The direction in which the spindle rotates is determined by NRROA and ROTAA.
If NRROA = “1”, the spindle rotates from the current stop position to a specified stop position
through the shorter route (within ±180°).
If NRROA = “0”, the direction in which the spindle rotates is determined by ROTAA.
<4> If the position error gets in a parameter-specified range, the completion signal ORARA is output.
NOTE
This subsection describes only the parameters specific to incremental command
type spindle orientation. See Section 2.2, “POSITION CODER METHOD
SPINDLE ORIENTATION” in Part I, for parameters related to other types of
spindle orientation.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
Set a command multiplier for the spindle orientation function with an externally set
incremental command.
If this data is “0”, the multiplier is automatically assumed to be 1.
Incremental command = incremental command data (SHA11 to SHA00) × data
(multiplier) specified in this parameter
To use spindle rotation speed control, set this parameter to “4096”, because one rotation
of the spindle corresponds to 4096 pulses.
- 267 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
The maximum speed (incremental command) that can be specified
is:
120 rotations (= 120 × 4096 pulses)
9D50/N edition or earlier, 9D70/E edition or earlier
30000 rotations (= 30000 × 4096 pulses)
9D50/O edition or later, 9D70/F edition or later, 9D80 series
5.4.1 Overview
Conventional method orientation is a function for stopping the spindle at a specified position by
controlling the position using the spindle sensor signal at up to a certain spindle speed.
NOTE
*1 To use this function, the CNC software option is required.
*2 by applying the optimum orientation function, the spindle acceleration command
is automatically optimized. This is expected to reduce the positioning time
required by conventional method orientation. It is, therefore, recommended to
apply the optimum orientation function.
For an explanation of the optimum orientation function, see Section 2.2,
"POSITION CODER METHOD SPINDLE ORIENTATION (OPTIMUM
ORIENTATION)", in Part I.
- 268 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
5.4.3 Configuration
Explained below is a system configuration in which the conventional orientation function is usable.
JYA2 Spindle
αi position coder
SP
TYPE A
JYA3
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
JYA2 Spindle
αi position coder S
SP
TYPE B
JYA4
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
(3) When the built-in motor (αiBZ sensor, αiCZ sensor (analog)) is used
αiBZ sensor or αiCZ sensor (analog)
Spindle+
Built-in motor
JYA2
SP
TYPE A
- 269 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Thermistor
(5) When the spindle motor with built-in αiMZ sensor is used
Spindle motor with built-in
αiMZ sensor
JYA2 Spindle
SP
TYPE A
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
(6) When the separate type αiBZ sensor or the separate type αiCZ sensor
(analog) is used
Spindle motor with built-in αiM
sensor (or αiMZ sensor)
JYA2 Spindle
SP
TYPE B
- 270 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
JYA2
SP
TYPE A
Detection
Spindle
circuit
JYA3
Spindle
JYA2
SP
External one-rotation
TYPE A
signal switch (proximity
switch)
Gear or timing belt
JYA3
NOTE
1 For stable detection of the one-rotation signal, fix the rotation direction (bits 3 and
2 of No. 4003) for orientation at one direction.
2 Set the type (bits 3 and 2 of No. 4004) of the external one-rotation signal
(proximity switch).
3 For stable detection of the one-rotation signal, set an orientation speed (No.
4038) from 50 to 100 min-1 according to the specification of the external
one-rotation signal (proximity switch).
4 The detection of the one-rotation signal starts after the orientation speed is
reached.
5 Set the parameters (No. 4171 to No. 4174) for the numerator/denominator of an
arbitrary gear ratio between the motor sensor and spindle.
- 271 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
1st- G230 G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G238 G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00
- 272 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
5.4.5 Sequence
For this subsection, see Sections 2.2, "POSITION CODER METHOD SPINDLE ORIENTATION
(OPTIMUM ORIENTATION)", and 5.3, "INCREMENTAL COMMAND TYPE SPINDLE
ORIENTATION (SPINDLE ROTATION SPEED CONTROL)" in Part I.
- 273 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
1 For the parameters related to detectors, see the Section 1.3, “PARAMETERS
RELATED TO DETECTORS” in the Part I.
2 For velocity loop proportional/integral gain adjustment, see Section 4.1,
"VELOCITY LOOP GAIN ADJUSTMENT", in Part I.
3 When using the external one-rotation signal (proximity switch), fix the
orientation-time rotation direction (bits 3 and 2 of No. 4003) at one direction.
4 When using the external one-rotation signal (proximity switch), set the type of
the external one-rotation signal (bits 3 and 2 of No. 4004).
5 When using the external one-rotation signal (proximity switch), set an orientation
speed from 50 to 100 min-1 (No. 4038) according to the specification of the used
external one-rotation signal.
6 When using the external one-rotation signal (proximity switch), set the
numerator/denominator of an arbitrary gear ratio between the motor sensor and
spindle (No. 4171 to No. 4174).
NOTE
When using the external one-rotation signal (proximity switch), fix
the orientation-time rotation direction at CCW or CW for stable
detection of the one-rotation signal.
(Bits 3, 2 of No. 4003) = 1, 0 or 1, 1)
- 274 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
NOTE
When using the external one-rotation signal (proximity switch), set
the type of the external one-rotation signal (proximity switch) by
using this parameter.
NRROEN Specifies whether to use the shortcut function when orientation is specified in the stop
state.
0 : Does not use the function.
1 : Uses the function.
When this bit is set to 1, short cut operation is performed when the following conditions
are satisfied:
• Bit 7 of parameter No. 4016 (RFCHK3) is set to 0.
• Zero speed detection output signal SST is set to 1.
• Shortcut command input signal NRROA is set to 1.
- 275 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
When using the external one-rotation signal (proximity switch), set
an orientation speed from 50 to 100 min-1 according to the
specification of the used external one-rotation signal (proximity
switch) for stable detection of the one-rotation signal.
Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This parameter sets the velocity loop proportional gain for spindle orientation.
When the CTH1A input signal is set to 0, proportional gain for the HIGH gear is selected.
When the CTH1A input signal is set to 1, proportional gain for the LOW gear is selected.
Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This parameter sets the velocity loop integral gain for spindle orientation.
When the CTH1A input signal is set to 0, integral gain for the HIGH gear is selected.
When the CTH1A input signal is set to 1, integral gain for the LOW gear is selected.
- 276 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Unit of data : 1%
Valid data range : 0 to 799
Standard setting : 100
This data is used to set the modification rate of position gain on spindle orientation completion.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 33
This data is used to set motor speed limit ratio on orientation.
The value calculated from the position gain (No. 4060 to No. 4063) and this parameter as
indicated below is used as an orientation speed and reference position return speed on
servo mode (rigid tapping/spindle positioning).
Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 30
This parameter sets the motor voltage for orientation. Usually, set 30. The value may vary,
however, depending on the motor model.
Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
These parameters set conversion coefficients (numerator, denominator) for using the
detection arbitrary gear ratio function (DMR function) by multiplying a motor sensor
(αiM or αiMZ sensor) feedback signal by a gear ratio to produce a spindle position
feedback signal.
When the spindle rotates Q times while the motor shaft rotates P times (there is no
common divisor other than 1 for P and Q), settings are:
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4174 when CTH1A = 1) = Q
When 0 is set in any of these parameters, the setting of 1 is assumed.
NOTE
When using the external one-rotation signal (proximity switch), set
an arbitrary gear ratio between the motor sensor and spindle by
using this parameter.
- 278 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
(2) The position gain for spindle orientation is obtained using the following expression:
⎛ Tm ⎞
PG ≤ ⎜⎜ ⎟⎟
⎝ 2 π × (Jm + Jl ) × Rori × GEAR ⎠
where, PG : Position gain for orientation [sec-1] (parameter Nos. 4060 to 4063)
Tm : 30-min rated torque for the motor when rotating at Nori [min-1] [Nm]
Jm : Rotor inertia [kgm2]
Jl : Load inertia converted to motor shaft inertia [kgm2]
Rori : Motor speed limit ratio for orientation (parameter No. 4076)
GEAR : Spindle-to-motor gear ratio (parameter Nos. 4056 to 4059)
(3) Calculation example when motor model αiI6 is being used alone
7500[ W ]
Tm = = 47.8[ Nm]
1500[min −1 ] × 0.1047
Jm = 0.0179[kgm 2]
Rori = 33[%]
⎛ 47.8 ⎞
∴ PG ≤ ⎜ ⎟ = 35.9[sec−1 ]
⎝ 2π × 0.0179 × 0.33 ⎠
(1) Before the one-rotation signal has first been detected (first orientation)
The time, from the input of an orientation command until orientation stops, is divided into four
periods.
In the following figure, A indicates that the motor in the stop state starts rotating and is accelerated
to the orientation speed. B indicates that the already rotating motor is decelerated to the orientation
speed.
Motor speed
Time
Nori = PG × 60 × Rori
(b) t2 is the time required for the motor to rotate one to two turns at orientation speed Nori [min-1].
1 × 60 2 × 60
≤ t2 ≤
Nori Nori
1 2
∴ ≤ t2 ≤
PG × Rori PG × Rori
(c) t3 is the time required for the motor to rotate zero to one turn at orientation speed Nori [min-1].
0 × 60 1 × 60
≤ t3 ≤
Nori Nori
1
∴0 ≤ t3 ≤
PG × Rori
(d) t4 is the time from the start of deceleration until orientation has been completed.
Let the orientation completion width be within ±10 pulses. Then, t4 can be calculated as
follows:
1 4096 × Rori
t4 = × ln
PG 10
(2) Once the one-rotation signal has been detected (second and subsequent orientations)
(a) Once the one-rotation signal has been detected, the time required to detect the signal is no
longer necessary.
Therefore, when orientation is started from the rotating state, orientation time t [sec] (= t1 + t3 +
t4) is expressed as follows:
1 4096 × Rori 1 1 4096 × Rori
t1 + ln ≤ t ≤ t1 + + ln
PG 10 PG × Rori PG 10
(b) Whenever orientation is started from the stop state, orientation must be completed and the
motor must enter the stop state within one-rotation. In this case, orientation time t [sec] is
expressed as follows:
1 − Rori 1 4096 × Rori
0≤t≤ + ln
PG × Rori PG 10
(a) Orientation time before the one-rotation signal has been detected
1 1 4096 × 0.33 3
0 .5 + + × ln ≤ t ≤ 0 .5 +
20 × 0.33 20 10 20 × 0.33
1 4096 × 0.33
+ × ln
20 10
∴ 0.896[sec] ≤ t ≤ 1.196[sec]
(b) Orientation time when orientation is started from the rotating state (once the one-rotation signal
has been detected)
- 280 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
1 4096 × 0.33 1 1
0 .5 + × ln ≤ t ≤ 0 .5 + +
20 10 20 × 0.33 20
4096 × 0.33
× ln
10
∴ 0.746[sec] ≤ t ≤ 0.896[sec]
(c) Orientation time when orientation is started from the stop state (once the one-rotation signal has
been detected)
1 − 0.33 1 4096 × 0.33
0≤t≤ + ln
20 × 0.33 20 10
∴ 0[sec] ≤ t ≤ 0.346[sec]
5.5.1 Overview
This function performs orientation stop operation (orientation during spindle synchronous control) in the
direction/stop position specified externally while keeping synchronization between spindles during
spindle synchronous control.
Using spindle orientation during spindle synchronous control (hereafter simply called synchronous
orientation) enables the following operations:
• Loading/unloading of an irregular-shape workpiece during spindle synchronous control
• Side-facing of a workpiece that must be held at both ends (such as a long workpiece) after it is
indexed
NOTE
1 Using this function requires the CNC software option for spindle synchronous
control.
2 This function is an add-on to the spindle synchronous control function. This
section focuses on the add-on.
3 Using this function requires the enabling of the stop position externally setting
spindle orientation function.
4 Some parameter specifications related to the αi series spindle amplifiers differ
from those related to the α series. See Subsection 5.5.7, “Details of Related
Parameters”.
- 281 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
5.5.3 Specification
Synchronous orientation
During spindle synchronous control, inputting the synchronous orientation command (SPPHS rising edge
when SORENA = 1) can stop spindle orientation with two spindles kept in synchronization.
NOTE
1 If bell-shaped Acc./Dec. is already enabled, it is kept enabled during
synchronous orientation.
2 If you changed parameters or sequences, disconnect each spindle for safety
purposes, and then run the machine to check carefully the direction in which
each spindle rotates, the position where each spindle stops, and whether a
synchronous error occurs.
NOTE
1 Before inputting the spindle phase synchronous control command (SPPHS),
make sure that both the spindles are rotating at the synchronous speed and they
remain synchronized (FSPSY = 1). If the synchronous control command is
issued before the spindles start rotating at the synchronous speed, they get out
of phase.
2 In addition, before inputting the phase synchronous command, disconnect both
spindles.
- 282 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
NOTE
1 Be sure to specify the same reference position for both the spindles. If you fail to
specify the same spindle position, it is impossible to maintain spindle
synchronization.
2 Also specify the direction in which each spindle rotates during synchronous
orientation, using ROTAA. The direction in which each spindle must rotate to
keep itself in synchronization with the other spindle varies depending on the
machine configuration. Be sure to specify the correct direction according to the
machine condition so that the spindles are maintained in synchronization. If you
fail to specify the correct direction, it is impossible to maintain spindle
synchronization.
3 Keep these signals (SHA11 to SHA00 and ROTAA) in the stated status until
synchronous orientation is completed.
1st- G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00
1st- G1078 G1078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G1080 G1080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00
- 283 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Assert the ROTAA signals at least 50 ms before the synchronous orientation command is input, and keep
it asserted until synchronous orientation is completed.
• The synchronous error between the spindles is smaller than the value specified in parameter No.
4810.
• The position error between the spindles is smaller than the value specified in parameter No.
4075.
5.5.5 Sequence
Shown below is an example of a sequence in which synchronous orientation is used. In this example
sequence, the first and second spindles are put under spindle synchronous control to perform the
machining described below.
(1) The spindle synchronous control command is issued with the first spindle rotating and the second at
rest.
(2) Upon completion of spindle synchronization, synchronous speed command = “0” is specified.
(3) The spindle phase synchronous control command is issued for reference position setting.
(4) Upon completion of spindle phase synchronization, a workpiece is loaded.
(5) The workpiece is machined by running the spindles under spindle synchronous control.
(6) The spindles are stopped at a fixed position, using synchronous orientation.
(7) Upon completion of synchronous orientation, the workpiece is unloaded.
(8) Synchronous orientation is released.
(9) Spindle synchronous control is released.
- 286 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
First-spindle speed
-1
0min
Second-spindle speed
(5)
Load Unload
NOTE
Set time t to at least 50 ms so that each signal can be asserted securely.
- 287 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
1 See Section 1.3, “PARAMETERS RELATED TO DETECTORS”, in Part I for
parameters related to detectors.
2 See Section 4.1, “VELOCITY LOOP GAIN ADJUSTMENT”, in Part I for velocity
loop proportional/integral gain tuning.
3 See “Function Description: Spindle Synchronous Control” for parameters related
to the spindle synchronous control function.
- 288 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
OR1 The stop position external setting-type spindle orientation function (for the first spindle)
is:
0 : Disabled
1 : Enabled
Set to “1”.
OR2 The stop position external setting-type spindle orientation function (for the second
spindle) is:
0 : Disabled
1 : Enabled
Set to “1”.
- 30i #7 #6 #5 #4 #3 #2 #1 #0
- 3729 ORTS
ORTS The stop position external setting-type spindle orientation function is:
0 : Disabled
1 : Enabled
Set to “1”.
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4014 4014 SYCORI
16i 30i
4075 4075 Orientation completion signal detection level
16i 30i
4369 4369 Synchronous orientation deceleration coefficient
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 0
This parameter is used to specify a change that occurs in the spindle speed during
synchronous orientation as a ratio to the acceleration during spindle synchronous control
(parameter No. 4032). If the setting is “0”, it is assumed to be 100%. (The change ratio
specified in parameter No. 4032 is used without modification.)
Specify the same value for both the spindles.
- 289 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
5.6.1 Overview
The spindle fine Acc./Dec. (FAD) function realizes smooth acceleration/deceleration during rigid tapping
and Cs contouring control by performing acceleration/deceleration processing with spindle software. It
can reduce mechanical shocks that may accompany acceleration/deceleration.
NOTE
1 This function is usable in a combination of the αi spindle amplifier and the
FANUC Series 16i/18i/21i-MODEL B CNC.
2 This function cannot be used with the FANUC Series 15i MODEL B.
3 This function cannot be used with the FANUC Series 30i /31i /32i.
4 This function cannot be used together with the spindle EGB function.
CNC software
Series Edition Remark
B0H1 M (13) edition or later For the FANUC Series 16i/160i/160is-MB
BDH1 M (13) edition or later For the FANUC Series 18i/180i/180is-MB
BDH5 C (03) edition or later For the FANUC Series 18i/180i/180is-MB5
DDH1 M (13) edition or later For the FANUC Series 21i/210i/210is-MB
B1H1 M (13) edition or later For the FANUC Series 16i/160i/160is-TB
BEH1 M (13) edition or later For the FANUC Series 18i/180i/180is-TB
DEH1 M (13) edition or later For the FANUC Series 21i/210i/210is-TB
- 290 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
CNC SPINDLE
Acceleration/deceleration type
(bit 4 of parameter No. 4394) Coefficient α Coefficient β
FAD time constant (parameter (parameter No. 4344) (parameter No. 4037)
No. 4408) Position Velocity
Linear-/bell-sha feed-forward feed-forward
ped smoothing
(Regular)
position ON:1 FAD position
+ error + + Spindle
+ error Position Speed
FAD ON/OFF + + +
Move command control and
(No.4394#3) control
- + - - detector
OFF:0
Velocity feedback
Position feedback
5.6.4 Parameters
(1) List of Related Parameters
Parameter No.
Description
16i
5205 #7 Setting of fine Acc./Dec. during rigid tapping
4394#3 Spindle fine Acc./Dec. function bit
4394#4 Acceleration/deceleration type during spindle fine Acc./Dec.
4344 Feed-forward coefficient during fine Acc./Dec.
4037 Velocity loop feed-forward coefficient during fine Acc./Dec.
4408 Fine Acc./Dec. time constant
4409 Feed-forward timing adjustment coefficient
- 291 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Specify the same acceleration/deceleration type as for the servo axis for which
interpolation is performed simultaneously with this function.
16i
4344 Feed-forward coefficient during fine Acc./Dec.
16i
4037 Velocity loop feed-forward coefficient during fine Acc./Dec.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
This parameter is used to specify the velocity loop feed-forward coefficient during fine
Acc./Dec. (FAD). Determine what to specify according to the following calculation.
16i
4408 Fine Acc./Dec. time constant
16i
4409 Feed-forward timing adjustment coefficient
- 292 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
5.6.7 Cautions
(1) Cautions for using the synchronization and fine Acc./Dec. (FAD) functions
simultaneously between the servo axis and spindle axis
The following restrictions are placed on the simultaneous use of the synchronization and fine Acc./Dec.
(FAD) functions between the servo axis (hereafter SV axis) and spindle axis (hereafter SP axis).
- 293 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
(*) If the SP-axis FAD is disabled, set bit 3 of parameter No. 2209 to 1, or set
parameter Nos. 5280 to 5284 with a value 1 ms higher than otherwise.
If the SP-axis FAD is enabled, reset bit 3 of parameter No. 2209 to 0 and set
parameter Nos. 5280 to 5284 with the same value as for the spindle axis.
Refer to the “FANUC AC SERVO MOTOR αis/αi/βis series Parameter Manual
(B-65270EN)” for details.
NOTE
The (regular) position error becomes larger by the amount of an influence of fine
Acc./Dec. (FAD) smoothing. So, include this amount when specifying
excessive-error and in-position check levels.
An increase in the position error caused by fine Acc./Dec. (FAD) is obtained by:
[When the linear type is used.]
Increase in FAD time
pos. error =
detection feedrate (min-1)
× × constant (ms) +1
unit +1
(pulses) 60×1000 2
- 294 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
5.7.1 Overview
The unexpected disturbance torque detection function is intended to monitor friction torque components
and those needed in machining by extracting them from the torque output from the spindle motor and
eliminating the torque needed in acceleration/deceleration. It can be used to detect a broken tool and to
manage the tools for service life.
NOTE
1 Using this function requires the CNC software option for the unexpected
disturbance torque detection function.
2 A broken or worn tool may or may not be able to be detected depending on the
machine condition.
15i
F155 AQSP2 AQSP1
F154 AQSP4 AQSP3
Torque constant for spindle load torque monitoring (for low-speed output switching
3281 4281 4281 characteristics)
Unit of data :
Valid data range : 0 to 32767
Standard setting value :
Specify the torque constant Kt for calculating the spindle load torque, using the following
calculation:
- 296 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
T max
Kt = × 4.889
Jm + Jl
Tmax : Motor maximum output torque [Nm] (Use 120% of the 30-minute rated torque as
a rough standard.)
Jm : Motor rotor inertia [kgm2]
Jl : Spindle inertia (in terms of motor axis inertia) [kgm2]
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 500
Specify the gain (usually “500”) for the spindle load torque estimation observer.
T max
Kt = × 4.889
Jm + Jl
Tmax : Motor maximum output torque [Nm] (Use 120% of the 30-minute rated torque as a rough
standard.)
Jm : Motor rotor inertia [kgm2]
- 297 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Fig. <1>: Parameter No. 4248 = 10000 Fig. <2>: Parameter No. 4248 = 15000
- 298 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
-1
Motor speed (4096min /div)
Spindle load
torque (20%/div)
5.8.1 Overview
The spindle EGB function is intended to use one of spindles in a pair as a tool axis (master axis) and the
other as a workpiece axis (slave axis) and cause the slave axis to rotate in synchronization with the master
axis at a specified synchronous ratio. Refer to an applicable CNC Connection Manual (Function) for
details of this function.
(a) For Series 16i/18i
“FANUC Series 16i/18i/21i-MODEL B CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 1.14.2, “Spindle Electronic Gear Box (M series).”
(b) For Series 30i-A/31i-A5/31i-A
“FANUC Series 30i/31i/32i-MODEL A CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 1.10.2, “Spindle Electronic Gear Box.”
(c) For Series 30i-B/31i-B5/31i-B
“FANUC Series 30i/31i/32i-MODEL B CONNECTION MANUAL (FUNCTION) : B-64483EN-1
Refer to Section 1.10.2, “Spindle Electronic Gear Box.”
NOTE
1 Using this function requires the CNC software option.
2 Using this function requires SP TYPE B for both the master and slave axes.
3 For the master and slave axes, use the spindle software of the same series and
edition.
4 This function cannot be used together with the spindle fine Acc./Dec. (FAD)
function.
5 This function cannot be used together with the toque tandem control function.
6 This function cannot be used with the FANUC Series 15i-MODEL B.
7 This function cannot be used with the FANUC Series 32i.
8 There are no limitations on the assignment of the master and slave axes.
For descriptive purposes, this specification assumes:
Master spindle amplifier: 1st spindle
Slave spindle amplifier: 2nd spindle
- 299 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
When using the αiCZ sensor (serial) as the motor or spindle sensor, use 9D80
series H (08) edition.
CNC software
Series Edition Remark
B0H1 A (01) edition or later For FANUC Series 16i/160i/160is-MB
BDH1 A (01) edition or later For FANUC Series 18i/180i/180is-MB
BDH5 A (01) edition or later For FANUC Series 18i/180i/180is-MB5
G003/G013/
G023/G033/
28 edition or later
G00C/G01C
For FANUC Series 30i/300i/300is-A
G02C/G03C
G004/G014
01 edition or later
G024/G034
G123/G133
28 edition or later
G12C/G13C For FANUC Series 31i/310i/310is-A5
G124/G134 01 edition or later
G103/G113 28 edition or later
For FANUC Series 31i/310i/310is-A
G104/G114 01 edition or later
NOTE
The spindle EGB function is usable between spindles having a different detector
configuration.
- 300 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
JA7A
JX4
Speed/position
sensor
Spindle
amplifier - to - Built-in spindle motor
spindle
amplifier
communication
JX4
JA7B JYA2
SP
TYPE B
Second axis
(slave axis)
NOTE
When using the αiCZ sensor (serial) as the speed/position sensor, connect the
feedback cable to JYA3.
- 301 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Spindle
motor
CNC First spindle
(master axis)
Series
16i/160i/160is
JA7B JYA2 Spindle
18i/180i/180is
MODEL B
SP Separate
TYPE B position sensor
JA7A JYA4
JX4
Speed sensor
Spindle
amplifier - to -
spindle Spindle
amplifier motor
communication
JX4
JA7B JYA2 Spindle
SP
TYPE B Separate
position sensor
JYA4
Second spindle
(slave axis)
NOTE
When using the αiCZ sensor (serial) as the separate position sensor, connect the
feedback cable to JYA3.
- 302 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Spindle
motor
CNC First axis
(master axis)
Series
16i/160i/160is
JA7B JYA2 Spindle
18i/180i/180is
MODEL B External one-rotation
SP signal (proximity
TYPE B switch)
JA7A JYA3
JX4
Speed/position
sensor
Spindle
amplifier - to -
spindle Spindle
amplifier motor
communication
JX4
JA7B JYA2 Spindle
SP External one-rotation
TYPE B signal (proximity
switch)
JYA3
Second axis
(slave axis)
- 303 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Position feedback
Velocity feedback
- - Slave
Helical gear + + Position + Velocity spindle &
control (gain control detector
compensation Kp2)
command + +
No.4069 to 4072
Feed-forward
No.4036
K2 Synchronous ratio
K1 No.4387,4388
Position feedback
Velocity feedback
- - Master
+ Position + Velocity spindle &
Cs command control (gain control detector
Kp1)
+
No.4069 to 4072
Feed-forward
(coefficient α1)
No.4036
1st spindle
NOTE
1 It is possible to drive the master axis (first spindle) on the velocity control mode.
2 To drive the master axis at a constant speed in the Cs contouring control mode,
use the position control function for the PMC axis control constant-speed
command.
- 304 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Parameter No.
Description
16i 30i
- 8007#2 Setting for the velocity command for PMC axis control
16i: Time constant for linear-shaped Acc./Dec. in speed command-based continuous feed
for each axis in PMC-based axis control
8028 8028
30i: Time for calculating the acceleration and deceleration for the velocity command for
PMC axis control
- 8032 Feedrate for calculating the acceleration rate for the velocity command for PMC axis control
Number of pulses the position sensor generates at each rotation of the spindle on a
8040 8040 PMC-controlled axis
(Specify 360,000 for the IS-B.)
4016#3 4016#3 Setting for the feed-forward smoothing function
4352#4 4352#4 Feed-forward setting
4352#6 4352#6 Inter-spindle amplifier communication slave axis setting
4352#7 4352#7 Inter-spindle amplifier communication master axis setting
4036 4036 Feed forward coefficient
4037 4037 Velocity loop feed forward coefficient
4046 4046 Velocity proportional gain on Cs contouring control
4047 4047 (This parameter is selected with the PMC input signal CTH1A.)
4054 4054 Velocity integral gain on Cs contouring control
4055 4055 (This parameter is selected with the PMC input signal CTH1A.)
NOTE
1 See Section 1.3, “PARAMETERS RELATED TO DETECTORS”, in Part I for
parameters related to detectors.
2 See Section 4.1, “VELOCITY LOOP GAIN ADJUSTMENT”, in Part I for velocity
loop proportional/integral gain tuning.
(1) Summary of parameters related to the position control function for the
PMC axis control constant-speed command
This paragraph summarizes parameters related to the position control function for the PMC axis control
constant-speed command. Refer to an applicable CNC manual for details of this function and PMC axis
control.
NOTE
To drive the master axis at a constant speed in the Cs contouring control mode,
use the position control function for the PMC axis control constant-speed
command.
16i-B 30i-A #7 #6 #5 #4 #3 #2 #1 #0
8005 8005 PMCPOS
PMCPOS Setting for the type of the PMC axis control constant-speed command function
0 : Velocity control
1 : Position control
To be set to “1”
30i-A #7 #6 #5 #4 #3 #2 #1 #0
8007 VCP
16i-B
8028 Time constant for linear-shaped Acc./Dec. in speed command-based
continuous feed for each axis in PMC-based axis control
30i-A
8028 Time for calculating the acceleration and deceleration for the velocity
command for PMC axis control
- 307 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
30i-A
8032 Feedrate for calculating the acceleration and deceleration for the velocity
command for PMC axis control
16i-B 30i-A
8040 8040 Number of pulses the position sensor generates at each rotation of the spindle
on a PMC-controlled axis
16i-B 30i-A #7 #6 #5 #4 #3 #2 #1 #0
4016 4016 FFSMTH
16i-B 30i-A #7 #6 #5 #4 #3 #2 #1 #0
4352 4352 MASTER SLAVE FFALWS
Set 0 for the spindle EGB master axis (first spindle) and 1 for the slave axis (second
spindle).
16i-B 30i-A
4036 4036 Feed-forward coefficient
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 0
Set the feed forward coefficient when feed forward control is executed on Cs contouring
control.
Set 100 for the spindle EGB slave axis (second spindle).
16i-B 30i-A
4037 4037 Velocity loop feed forward coefficient
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
Set the velocity loop feed forward coefficient when feed forward control is executed on
Cs contouring control. Set the following calculation equation.
16i-B 30i-A
4386 4386 Number of master-axis spindle sensor teeth
NOTE
This parameter is valid only for the slave axis (second spindle).
16i-B 30i-A
4387 4387 Synchronous ratio numerator
NOTE
This parameter is valid only for the slave axis (second spindle).
16i-B 30i-A
4388 4388 Synchronous ratio denominator
- 309 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
This parameter is valid only for the slave axis (second spindle).
16i-B 30i-A
4498 4498 Denominator of the master-axis motor sensor-to-spindle arbitrary gear ratio
4499 4499 Numerator of the master-axis motor sensor-to-spindle arbitrary gear ratio
NOTE
This parameter is valid only for the slave axis (second spindle).
16i-B 30i-A #7 #6 #5 #4 #3 #2 #1 #0
4396 4396 EGBRNX
EGBRNX Setting for on-off switching of the EGB command on Cs contouring control
0 : Does not carry the remainder of the EGB move command that is produced when the
EGB mode is turned off to the next time.
1 : Carries the remainder of the EGB move command that is produced when the EGB
mode is turned off to the next time.
Specifies whether to reflect the remaining data of the EGB move command (=
synchronous ratio × travel distance along the master axis) that is produced when the EGB
mode is turned off to the next time when the EGB mode is turned on.
Set "1" when repeatedly turning the spindle EGB mode on and off while Cs contouring
control is kept on.
NOTE
*1 This parameter is valid only for the slave axis (second spindle).
*2 This parameter is valid with 9D50 series X (24) edition or later,
9D70 series M (13) edition or later, 9D80 series I (09) edition or
later, 9D90 series A (01) edition or later, and 9DA0 series B (02)
edition or later.
- 310 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
NOTE
1 Displaying this data on the CNC diagnosis screen requires the αi SP TYPE B and
the i series MODEL B CNC.
2 Displaying this data on the CNC diagnosis screen requires the following CNC
software series/editions.
FS16i/160i/160is-MB :B0H1 series R(18) edition or later
FS18i/180i/180is-MB : BDH1 series R(18) edition or later
FS18i/180i/180is-MB5 : BDH5 series H(08) edition or later
5.8.11 Alarms
(1) Spindle alarm
Error No. Description Measure
An error occurred in inter-spindle amplifier
66 Check the connection of the cable (JX4).
communication.
An alarm was issued on the destination
Correct the cause of the alarm on the destination
80 amplifier of inter-spindle amplifier
spindle amplifier.
communication.
5.9.1 Overview
The differential spindle speed control function controls the velocity of one spindle (slave axis) relative to
the velocity of the other of spindle (master axis).
Applying this function to rigid tapping enables tapping the center of a workpiece while rotating a spindle
(master axis) that holds a workpiece at a constant speed. Therefore, the time required for stopping the
workpiece axis (master axis) can be reduced.
NOTE
When the αiCZ sensor (serial) is used, this function cannot be used.
5.9.3 Configuration
The following figure shows an example of a configuration used for differential spindle speed control.
- 312 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Master side
spindle
Slave side
spindle
Directly connected or
connected with a gear or
timing belt at a ratio of 1:1
JX4 JX4
JYA2 JYA2 JYA2M
JYA3 JYA3 JYA3M
JYA4 JYA3S
NOTE
1 The sub module SW (SSW) is required in addition to the spindle amplifier to
receive the position coder signal from the master side.
2 When the position coder output of connector JX4 is used, spindle amplifier (SP)
TYPE B is used (The maximum speed available for the position coder output is
20000 min-1).
5.9.4 Description
(1) The position coder must be connected to the master side spindle at the ratio of 1:1.
(2) The position coder signal from the master side received by the sub module SW is output from JX4.
(3) Differential spindle speed control can be used only during speed control mode or rigid tapping. It
cannot be used during Cs contouring control, spindle synchronous control, or spindle orientation.
(4) When differential spindle speed control is applied to rigid tapping (Differential speed rigid tapping),
sum of the velocity of master spindle and the velocity command of rigid tapping for slave spindle
must not exceed the maximum speed of slave spindle.
(5) The master side spindle must be kept at a constant speed during rigid tapping. Acceleration or
deceleration cannot be performed.
(6) Since the output torque of the motor is normally reduced in high-speed rotation areas, the rigid
tapping acceleration/deceleration constant must be set to a greater value.
- 313 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
While this signal is set to 1, the spindle is controlled in differential spindle speed mode.
The velocity of the slave axis in differential spindle speed mode is controlled by the sum of the velocity
of the master spindle and the velocity command of the slave spindle.
- 314 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
ENB
(CNC→PMC)
SFRA
(PMC→CNC)
SARA
(CNC→PMC) <2>
DEFMDA
(PMC→CNC)
RGTAP
(PMC→CNC)
FIN
(PMC→CNC)
Position loop
Master axis
rotation speed (on
the workpiece
side)
<3>
Slave axis
rotation speed
(on the tool <4>
side) 0min-1 <1>
DEFDRT Setting of the direction for differential spindle speed control(feedback polarity on the
master side)
0 : Direction same as the feedback signal
- 315 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
VINTDC This parameter sets speed integration operation when differential spindle speed control is
exercised.
Set this parameter to 1.
NOTE
This parameter is valid with 9D50 series M (13) edition or later,
9D70 series C (03) edition or later, and 9D80 series A (01) edition
or later.
5.10.1 Overview
When position control is performed by Cs contouring control or rigid tapping with a machine having a
large backlash, vibration can be generated in closed loop mode while stable operation is possible in
semi-closed loop mode. For such a machine system, the dual position feedback function provides stable
control equivalent to control in semi-closed loop mode.
NOTE
1 To use this function, a CNC software option for Cs contouring control or rigid
tapping is required.
2 Here, the semi-closed loop refers to positional control by motor sensor, and the
closed loop refers to positional control by spindle sensor.
3 The dual position feedback function cannot be used on the spindle switch control
SUB side.
- 316 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
ER2
+ - Primary delay time
Σ constant
- +
As shown in the above diagram, error counter ER1 in the semi-closed loop and error counter ER2 in the
closed loop are prepared. The primary delay time constant is expressed as follows:
Primary delay time constant = (1 + τ s)-1
Here, consider actual error ER by time constant.
(1) When time constant τ = 0: (1 + τ s)-1 = 1
ER = ER1 + (ER2 - ER1) = ER2 (error counter in the closed loop)
(2) When time constant τ = ∞: (1 + τ s)-1 = 0
ER = ER1 (error counter in the semi-closed loop)
From the primary delay time constant, control can be provided in the semi-closed loop when a transition
state is present, and control can be provided in the closed loop when positioning is performed. According
- 317 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
to this principle, vibration during movement can be suppressed to a level equivalent to the level obtained
in the semi-closed loop.
NOTE
1 This subsection lists only those parameters that are specific to dual position
feedback. For parameters related to Cs contouring control, see Section 2.4, “Cs
CONTOURING CONTROL”, in Part I. For parameters related to rigid tapping,
see Section 2.3, “RIGID TAPPING”, in Part I.
2 The dual position feedback function (FS16i: No. 4520 to No. 4522) in the servo
mode (rigid tapping/spindle positioning) is usable with the following series and
editions:
9D50 series M edition (13 edition) or later
9D70 series C edition (03 edition) or later
9D80 series A edition (01 edition) or later
9D90 series A edition (01 edition) or later
9DA0 series A edition (01 edition) or later
- 318 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
These parameters are used to obtain the feedback amount for one rotation of the spindle
from the position feedback signal in the semi-closed loop (the position feedback signal
from the motor sensor) when the spindle rotates one turn.
When the spindle rotates Q turns while the motor shaft rotates P turns (P and Q are
mutually prime integers), the parameters are set as follows:
No. 4171 (No. 4173 if CTH1A = 1) = P
No. 4172 (No. 4174 if CTH1A = 1) = Q
If these parameters are set to “0”, “1” is assumed to be set in the parameters.
- 319 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Set “0” first, and if an unstable condition is observed when the machine is stopped,
increase the setting.
NOTE
This parameter is valid with 9D50 series M (13) edition or later,
9D70 series C (03) edition or later, and 9D80 series A (01) edition
or later.
NOTE
This parameter is valid with 9D50 series M (13) edition or later,
9D70 series C (03) edition or later, and 9D80 series A (01) edition
or later.
- 320 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
NOTE
This parameter is valid with 9D50 series M (13) edition or later,
9D70 series C (03) edition or later, and 9D80 series A (01) edition
or later.
NOTE
This parameter is valid with 9D50 series M (13) edition or later,
9D70 series C (03) edition or later, and 9D80 series A (01) edition
or later.
- 321 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
5.11.1 Overview
Spindle tandem control is a function that drives the spindle with two motors to provide a large output that
cannot be obtained with one motor. The following two types are available:
(1) Velocity tandem control
(2) Torque tandem control (induction spindle motor only)
While velocity control is disabled on the slave side in torque tandem control, it is enabled in velocity
tandem control. For this reason, velocity tandem control offers greater slave axis stability. Therefore,
when applying spindle tandem control, select velocity tandem control under normal circumstances.
Note that, in cases where you do not want the slave axis to exert velocity control (you want both axes to
have the same torque although they widely differ in speed), as in wheel lathing, you need to adopt torque
tandem control.
The velocity tandem control function drives two spindle motors connected to the spindle using the same
velocity command.
- 322 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
NOTE
1 This function has been added to spindle tandem control, which is a CNC
software option.
2 When the NC is 30i-B, the spindle tandem control function is included in the
spindle synchronous control option.
3 To use this function, SP TYPE B is required.
4 For the master and slave axes, use the spindle software of the same series and
edition.
5 The motors of both axes must be of the same model (both must be induction
spindle motors or synchronous spindle motors).
6 Position and velocity control is exerted by the master axis, and the velocity
command and the torque command for the velocity integral term of the master
axis are passed to the slave axis. The slave axis outputs the torque of obtaining
by adding the velocity integral term and the velocity-controlled velocity
proportional term.
7 If the gear ratio to the spindle differs between the two axes, the velocity
command that the slave axis receives from the master axis is used by converting
it with the gear ratio set for it.
8 The effect of backlash between gears can be reduced by combining the master
and slave axes with preloads applied on them.
9 The slave axis preload can be scaled in case the characteristics of the two axes
are different.
10 This function can be enabled or disabled by turning on or off the PMC signal to
the master and slave axes. When the function is disabled, each motor can be
operated individually.
11 This function can be used in velocity control mode, spindle orientation, rigid
tapping mode, or Cs contour control.
12 Make sure that the motors of both axes are stopped when performing the speed
range switching operation.
13 This function cannot be used together with the following functions:
・Spindle synchronous control function
・Spindle switching function
・Position coder signal output function
・Spindle EGB function
・Spindle leaning control function
14 This function cannot be used for twin drives (two-winding motors and induction
machines only).
15 No limitation is imposed on master and slave axis assignment.
In the descriptions herein, the following assignment is used for convenience:
Master spindle amplifier: First spindle
Slave spindle amplifier: Second spindle
16 Depending on the type of spindle sensor in use, there may be a limitation on the
detection speed for a one-rotation signal.
- 323 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
To use the αiCZ sensor (serial), the 9D90 series G (07) edition or later or the
9DA0 series I (09) edition or later is required.
(1) Sample configuration 1: System where the master spindle and slave
spindle are mechanically connected or disconnected when a workpiece is
attached or detached
Spindle motor
(master)
αiM/αiMZ sensor
1st spindle
(master)
SP TYPE B
JA7A
Chuck
JX4
JX4
JA7B JYA2 Chuck
2nd spindle
(slave)
SP TYPE B
αiM/αiMZ sensor
Spindle motor
(slave)
NOTE
1 When the master and slave are mechanically disconnected, velocity tandem
control cannot be used. In this case, cancel the tandem operation mode.
2 When a synchronous spindle motor is used, the power line between the amplifier
and the motor needs to be connected via the sub module SM (SSM).
3 To perform pole detection when a synchronous spindle motor is used, release the
mechanical connection to free the synchronous spindle motor.
- 324 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
(2) Sample configuration 2: System where the table axis is driven by two
motors
Spindle motor
(master)
CNC JA7B JYA2 αiM sensor
1st spindle
(master)
SP Type B Gear
JA7A JYA4
JX4
αiBZ sensor
Spindle
Inter-spindle
amplifier connection
JX4
JA7B JYA2 αiM sensor
Spindle motor
(slave)
NOTE
The synchronous spindle motor BiS series is a built-in motor and cannot be used
for a system such as the above one.
- 325 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
In the case of velocity tandem control, note the following:
1 In the velocity tandem control mode, the gear signal
(CTH1/CTH2)m for the master axis takes effect for both the master
and slave axes. This means that the gear signal for the slave axis
is internally linked with the gear signal for the master axis (to
prevent the input of the wrong gear signal).
2 For the reason mentioned above, make sure that the numbers of
the parameters selected by the gear signal in the velocity tandem
control mode are the same for both the master and slave axes.
3 In the normal operation (the velocity tandem control mode is off),
the respective gear signals (CTH1/CTH2)m and (CTH1/CTH2)s
take effect individually for the master and slave axes.
4 In the velocity tandem control mode, the gear signal for the slave
axis (CTH1/CTH2)s does not take effect but may be input in the
same way as the gear signal for the master axis (CTH1/CTH2)m.
5 The value of bit 2 of parameter No. 4006 for setting the speed unit
needs to be the same for both the master and slave axes.
30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G071 SOCNA
2nd- G075 SOCNB
NOTE
1 When using the soft start/stop function, set the acceleration rate in
parameter No. 4030.
30i #7 #6 #5 #4 #3 #2 #1 #0
1st- G073 MPOFA SLVA
2nd- G077 MPOFB SLVB
NOTE
1 Both of the master and slave must be stopped before these signals
can be switched.
During rotation, these signals cannot be accepted.
2 Switch these signals in the velocity control mode. In a mode other
than the velocity control mode, these signals cannot be accepted.
3 When the master and slave are mechanically disconnected with
each other, do not set these signals to 1.
4 To input the SLV signal when a synchronous spindle motor is used,
make sure that the pole detection complete state EPFIXx is set to 1
for the motors of both axes (first spindle: F048#7 and second
spindle: F052#7). Turn off the SLV signal when the pole detection
incomplete state is set.
NOTE
1 If any abnormality, such as an excessive master-slave speed
difference, is detected when the velocity tandem operation is
enabled, the power to both the master and slave motors needs to
be turned off in order to minimize mechanical damage.
Turn off the power to the motors by using these signals.
2 When a synchronous spindle motor is used, the motors decelerate
to a stop using the SSM, rather than coast to a stop, even if these
signals are input.
- 327 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F046 SLVSA
2nd- F050 SLVSB
30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F047 MSOVRA
2nd- F051 MSOVRB
CAUTION
1 If a motor feedback signal disconnection alarm (spindle alarm 73) is
issued, the status of this signal is undefined.
2 When bit 5 of parameter No. 4007 is set to "1", the detection
operation of the feedback signal disconnection alarm is not
performed.
Set the parameter to "0" when not required, to enable alarm
detection.
NOTE
Monitor the states of these signals on the PMC. Ensure that an
alarm is issued if an error occurs (for example, if the state of 1 lasts
for a certain period of time).
- 328 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Tandem operation
command
SLVA&SLVB
Motor speed
- 329 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Tandem operation
command
SLVA&SLVB
300ms or more
Tandem operation
state
SLVSA&SLVSB
Sxxxx (≠0)
Spindle speed
command
S code S0
Master spindle
amplifier spindle
rotation command
SFRA&SRVA
Master spindle
amplifier orientation
command ORCMA
Master spindle
amplifier orientation
completion signal
ORARA
Motor speed
- 330 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Tandem operation
command 300ms or
SLVA&SLVB more
Tandem operation
state
SLVSA&SLVSB
Master spindle
amplifier spindle
rotation command
SFRA&SRV
Rigid tapping
command
M29 Sxxxx
G84 Zyyyy . . .
Motor speed
- 331 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Tandem operation
command
SLVA&SLVB 300ms or more
Tandem operation
state
SLVSA&SLVSB
Sxxxx (≠0)
Spindle speed
command
S code S0
Master spindle
amplifier spindle
rotation command
SFRA&SRVA
Cs contouring control
command
G00 C0.
G01 Cxxxx . . .
Motor speed
5.11.6 Parameters
(1) Cautions
For the master spindle amplifier and slave spindle amplifier, set the same parameters except for the
following specific parameters:
Parameter No.
Description Master setting Slave setting
30i
Depending on the Depending on the
4002#3 to 0 Spindle sensor type
spindle configuration spindle configuration
Relationship of master/slave motor rotation Depending on the
4353#2 0
directions in tandem operation spindle configuration
Inter-spindle amplifier communication
4352#7,6 1, 0 0, 1
setting
Machine by machine
4360 Preload value 0
(adjustment value)
Machine by machine
4606 Preload constant 0
(adjustment value)
- 332 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Parameter No.
Description
30i
4352#7,6 Inter-spindle amplifier communication setting
4353#1 Velocity feedback signal setting in tandem operation
4353#2 Relationship of master/slave motor rotation directions in tandem operation
4398#3 Whether to use the twin drive function
4398#4 Whether to use the velocity tandem function
4398#5 Whether to use the velocity integrator copy function
4398#6 Whether to detect a speed polarity error (spindle alarm d0) in tandem operation
4402#3 Whether to use the torque tandem function (for 30i-B)
4347 Output value for the master-slave speed difference state signal
4360 Preload value
4606 Preload constant
4541#3 Scaling function for the slave axis preload during velocity tandem control
4541#4 Scaling function for the slave axis velocity command during velocity tandem control
4541#5 Tandem command SLV acceptance condition setting
4541#6 Master/slave motor rotation direction relationship for the extended integral copy
4597 Setting for the extended integral copy
ALSP Motor power turn-off method when spindle alarm 24 (serial data transfer error) is issued
0 : Turns off the power after the motor is decelerated to a stop.
1 : Turns off the power immediately. (Set this parameter to 1.)
NOTE
If an alarm is issued during tandem operation, the power to both of
the master motor and slave motor must be turned off
simultaneously to prevent the machine from being damaged. When
using the tandem function, be sure to set this parameter to 1 to turn
off the power to the motors immediately if a CNC-SP
communication error occurs.
30i #7 #6 #5 #4 #3 #2 #1 #0
4015 SPDTDM
SPDTDM Whether to use the spindle tandem function (The CNC software option is required.)
0 : Does not use the spindle tandem function.
1 : Uses the spindle tandem function.
NOTE
If this bit is set to 0, the tandem function does not operate normally.
When this bit is set to 0, check the software option.
30i #7 #6 #5 #4 #3 #2 #1 #0
4352 MASTER SLAVE
30i #7 #6 #5 #4 #3 #2 #1 #0
4353 RVSVC2 VFBAV
NOTE
1 This parameter need not be set for the slave spindle amplifier side.
(The setting for the master spindle amplifier is transferred to the
slave spindle amplifier by inter-spindle amplifier communication.)
2 If the setting of this parameter is improper, the tandem function
does not operate normally.
If the spindle is rotated in this state, the speed polarity error alarm
(spindle alarm d0) is issued in tandem operation.
30i #7 #6 #5 #4 #3 #2 #1 #0
4398 A130DN WSVCP VTAN WNDTDM
NOTE
If this bit is set to 1, the torque tandem function does not operate
normally. Be sure to set this bit to 0.
- 334 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
When using the velocity tandem function, set WSVCP and VTAN to 0 and 1 (velocity
tandem control only) or 1 and 1 (velocity tandem control + velocity integrator copy
function), respectively.
A130DN Whether to detect the speed polarity error (spindle alarm d0) during tandem control
0 : Detects the error.
1 : Does not detect the error.
30i #7 #6 #5 #4 #3 #2 #1 #0
4402 TRQTDM
NOTE
1 While this bit is valid when the NC is 30i-B, set it to "0" also when
the NC is 30i-A.
2 When this bit is set to "1", the velocity tandem function does not
work normally. Be sure to set it to "0".
30i
4347 Master-slave speed difference state signal output setting
Unit of data : 1min-1 *(10min-1 when bit 2 (SPDUNT) of parameter No. 4006 is set to 1)
Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets a level for detecting the master-slave speed difference state signal
(MSOVRA:F47#2, MSOVRB:F51#2).
If this parameter is set to 0, the setting of 100 is assumed.
30i
4360 Preload value
- 335 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
1 When "0" is set for the slave axis, the value set for the master axis is used as the
slave axis preload. Note that its polarity is determined by the polarity set by
N4360 for the master axis and N4353#2.
2 When a value other than "0" is set for the slave axis, the value set for the slave
axis is used as the slave axis preload.
Since the preload torque is always added to the torque command, as shown in
the block diagram of Subsection 5.11.7, set the preload values depending on the
motor rotation directions of the master and slave axes, as follows.
When the rotation directions are the same: The values set for the master and
slave axes have different signs.
When the rotation directions are different: The values set for the master and
slave axes have the same sign.
3 When two motors having different characteristics are used, set the slave axis,
taking into consideration the ratio of the maximum torque Tmax of the motor of
the master axis to that of the slave axis.
Absolute value set for the slave axis = (Master axis Tmax/slave axis Tmax)・
Absolute value set for the master axis
30i #7 #6 #5 #4 #3 #2 #1 #0
4541 NSSTTD DIFRED DIFMTC
DIFMTC Scaling function for the slave axis preload during velocity tandem control
0 : Disables the scaling function for the slave axis preload.
1 : Enables the scaling function for the slave axis preload.
When the motors of the two axes have different characteristics, the preload data of the
slave axis is scaled based on the difference in the base speed so that the actual preload
values of both axes become equal. To use this function, set "1" for the slave axis.
NOTE
1 When using this function, be sure to set a preload value for the
slave axis as well by using N4360.
2 Refer to "Additional information 1: When using two motors having
different gear ratios or different characteristics" in this section.
DIFRED Scaling function for the slave axis velocity command during velocity tandem control
0 : Disables the scaling function for the slave axis velocity command.
1 : Enables the scaling function for the slave axis velocity command.
By setting "1" for both axes when the gear ratio between the motor and spindle is
different for the two axes, the gear ratio is taken into consideration for the velocity
command for the slave axis during velocity tandem control.
NOTE
1 Refer to "Additional information 1: When using two motors having
different gear ratios or different characteristics" in this section.
- 336 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
1: Accepts the SLV signal even when the speed is not 0 (the SLV signal can be
accepted even when the motor is rotating).
30i
4606 Preload time constant
NOTE
1 If a preload value (No. 4360) is set when spindle tandem control is
exerted, a mechanical shock may occur when the preload torque
rises after excitation. Setting a larger value in this parameter helps
mitigate this mechanical shock.
The following parameter needs to be set when an integral copy is made between two axes that are driven
by spindle simple synchronous control during tandem drive using four or more spindle motors (extended
integral copy). For information about this setting, see also "Additional information 2: Spindle drive using
four or more spindle motors" in Subsection 5.11.9, "Additional Information".
30i #7 #6 #5 #4 #3 #2 #1 #0
4541 RVDPOL
RVDPOL Master/slave motor rotation direction relationship for the extended integral copy
0 : The rotation directions of the master and slave motors are the same during spindle
rotation (when viewed from the motor shaft).
1 : The rotation directions of the master and slave motors are opposite during spindle
rotation (when viewed from the motor shaft).
Set this parameter for the slave axis for the extended integral copy function.
30i
4597 Setting for the extended integral copy
NOTE
If an invalid value is set in this parameter or a spindle amplifier not
supported for this parameter is used, the following alarm occurs:
SP1252 Invalid spindle parameter setting (tandem)
- 337 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(*) In the torque command, [%] represents the torque in percentage with the maximum torque of
the master and slave motors being 100%.
- 338 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
A tandem operation command is input even if Tandem control requires the CNC software
23
the option is not specified. option. Check the option.
- Parameters related to inter-spindle amplifier
communication are not set correctly.
38 Check the parameters.
- Functions that cannot be used together with
the torque tandem function are set.
Velocity feedback
Velocity Master axis
command - Torque
+ command [%]
Velocity loop Torque
Position Motor
P/I + limit
command Position
Velocity Velocity +
loop
+ command integral term (I)
-
Determination of polarity (N4353#2) Preload
Velocity + +
command
+
Velocity loop + Torque
Motor
+ P only limit
Torque
- command [%]
Velocity feedback
(*) In the torque command, [%] represents the torque in percentage with the maximum torque of
the master and slave motors being 100%.
(1) The velocity command and speed integral term are passed from the master axis to the slave axis.
The velocity loop of the slave axis is processed only for the proportional term, and the velocity
integral term and preload value received from the master axis are added to create a torque command.
The polarity of the velocity command and velocity integral term passed to the slave axis is
determined by bit 2 of parameter N4353 of the master axis.
(2) If the gear ratio for the spindle differs between the two axes, the scale of the velocity command to be
used and the actual speed of the other side can be converted as follows, by enabling the velocity
command scaling function. The subscripts m and s represent the master axis and slave axis,
respectively.
[Velocity command scaling equation] (Velocity command)s = (Gear ratio)s × (Velocity
command)m/(Gear ratio)m
- 339 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
The gear ratios used in the above equation are the parameter values that the master and slave
axes select from their respective gear ratio parameters N4056 to N4059. Note that, in this case,
the gear signals CTH1 and CTH2 of the master axis are copied as the internal gear signals CTH1 and
CTH2 of the slave axis, as shown in the following figure. Therefore, the slave axis selects gear ratios
according to the gear signals of the master axis.
Master axis gear signals CTH1 & 2 Slave axis gear signals CTH1 & 2
NOTE
When using the velocity command scaling function, note the following:
1 Since the gear signals CTH1 and CTH2 of the master axis take effect for both
the master and slave axes, the gear ratio parameter (N4056 to N4059) for each
axis is selected according to the gear signals of the master axis.
2 By using the gear ratio parameters selected as described above, the two axes
perform their respective shares of the processing. The sending side carries out
the spindle-end conversion of the velocity command (or actual speed) and sends
the result and the receiving side carries out the motor-end conversion of the
received value, in order to obtain the values appropriate for the two axis ends.
Because of this processing, a slight error may occur for the velocity command to
be used by the slave axis.
3 If the calculated velocity command exceeds the maximum spindle speed of the
slave axis, it is clamped to the maximum spindle speed.
4 The value of bit 2 of parameter N4006 for setting the speed unit needs to be the
same for both axes.
(3) When velocity tandem control is used for two motors having different gear ratios or different
characteristics, use a slave motor whose maximum torque below the base speed is equal to or smaller
than that of the master motor.
(4) The following figure shows a conceptual diagram of the motor output and total output in this case.
NOTE
The following conceptual diagram (Fig. 1) shows how the torques of two motors
are totaled. In reality, the total value needs to be estimated at a smaller value
according to the efficiency η (0% to 100%) of each machine.
- 340 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Torque
Total output torque
η・(Mmax + Smax)
Mmax: Master axis maximum torque (acceleration maximum torque)
Master axis ωmb: Base speed at master axis maximum torque
Mmax torque Smax: Slave axis maximum torque (acceleration maximum torque)
ωsb: Base speed at slave axis maximum torque
Slave axis
torque
Smax
[Fig.1]
ωsb ωmb Speed
(5) The ratio of the maximum torque and the continuous rated torque is assumed to be the same for both
axes (Fig. 2). Therefore, if this torque ratio is widely different, the sharing of motor output may
become unbalanced relative to the continuous rated torque.
Note that, even when the torque ratio is the same as shown in Fig. 2, the actual torque of the motor of
each axis becomes different as shown in Fig. 3, if the base speeds of the two axes are different. In this
case, the total torque characteristics are as shown in Fig. 1, while the output characteristics are as
shown in Fig. 4.
Torque command
Maximum output torque command 100% [Master axis output] [Slave axis output]
Continuous 30kW(67%)
[Fig.2] A B A B
Speed
Actual torque Continuous Max. [Total output]
Master axis
Max. torque Slave axis Max. 135kW
100%
Cont.rated torque
at const.torque Continuous 90kW
range [Fig.4]
A(=ωsb: Slave axis base speed)
B(=ωmb: Master axis base speed)
[Fig.3] ωsb ωmb Speed
A B
(6) The preload is a function that combines the master and slave axes with an offset applied in the
direction opposite to that of the motor of each axis in relation to the torque to be controlled so as to
reduce the effect of the backlash between the master and slave axes.
- 341 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Spindle
+Pm -Ps
rotation
Drive direction Drive
torque (move torque
(+)direction)
The relationship of the preload, drive torque, and move direction are
as shown in this figure. For an illustrative diagram depicting this
relationship in a horizontal dimension, see Fig. 6 on the next page.
For example, when the preload for the master axis is +Pm and that for the slave axis is −Ps, torque is
generated as shown in Fig. 5.
When a large torque is necessary in cases such as during acceleration or deceleration, the two motors
generate torque in the same direction (load sharing mode).
When almost no torque is necessary in cases such as when the motors are stopped, the motors pull
each other (anti-backlash mode).
The preload cannot be used when the anti-backlash mode is always desired.
スレーブ軸
Slave axis マスタ軸
Master axis
-Ps +Pm
Stop
停止時 主軸
Spindle
Slave axis
スレーブ軸 Drive
駆動トルク torque マスタ軸
Master Drive torque
axis 駆動トルク
-Ps +Pm
加速時
Accelerate
主軸
Spindle
Move direction
移動方向
Slave axis
スレーブ軸 マスタ軸
Master axis
Drive
駆動トルクtorque Drive torque
駆動トルク
-Ps +Pm
Constant
一定速
speed 主軸
Spindle
摩擦負荷<プリロードトルクの場合
Friction load < preload torque 移動方向
Move direction
Spindle
主軸
摩擦負荷>プリロードトルクの場合移動方向
Move direction when friction load > preload torque Move direction
移動方向
-Ps +Pm
Decelerate
減速時 主軸
Spindle
移動方向
Move direction
[Fig. 5: Pattern Diagram of Torque Change When Preload Is Used]
(7) Regarding the setting of the preload, it is necessary to note the following:
Since the actual torque needs to be the same for the preload, it is necessary to take into consideration
the ratio of the maximum torques of the two axes when setting the preload. Therefore, set the
preload such that the following relationship is established. The subscripts m and s represent the
master axis and slave axis, respectively.
(Preload %)m・(Maximum torque Nm)m=(Preload %)s・(Maximum torque Nm)s
- 342 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
(8) If the base speeds of the two axes are different, the slave axis can perform scaling to adjust the
difference. See Fig. 6.
- 343 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(2) Additional information 2: Spindle drive using four or more spindle motors
A function called velocity tandem control is available that drives the spindle with two spindle motors to
gain a large output. If the output from two motors is insufficient, it is necessary to drive a single spindle
with multiple velocity tandems. In this case, the master axis of each velocity tandem is controlled by
"spindle simple synchronous control (or spindle command synchronous control in the case of 30i-B)".
This section contains information necessary to control a machine that drives the spindle with multiple
velocity tandems using spindle simple synchronous control.
When using this function, also refer to Section 11.17, "Spindle Simple Synchronous Control" of
B-63943EN (FS30i-A Connection Manual) and Section 11.17, "Spindle Command Synchronous Control"
of B64483EN (FS30i-B Connection Manual).
NOTE
1 To use this function, the CNC software options "spindle tandem control" and
"spindle simple synchronous control" are required.
2 When the CNC is FS30i –B, these two functions are included in the CNC
software option "spindle synchronous control".
3 To use this function, all the motors to be used need to be of the same
specifications.
4 To use this function, the spindle amplifier needs to be of TYPE B because
inter-spindle amplifier communication is used.
5 For the master and slave axes, use the spindle software of the same series and
edition.
- 344 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
CNC タンデム
Tandem 11
Velocity
速度指令 command (*1)
SP-1 Motor
モータ
sensor Motor
モータ 1
(Master)
(マスタ) センサ
SP-1
積分項
Integral Velocity
速度タンデム tandem
term
&積分コピー
& integral copy
(*1)
SP-2 Motor
モータ
sensor Motor
モータ 2
(Slave)
(スレーブ) センサ
(*2)Signal
(*2) 信号 (*3)
branching (*3)主軸
Spindle Spindle
分岐アダ 主軸
adapter センサ
sensor
プタ
Tandem 22
タンデム
SP-4 Motor
モータ Motor 4
sensor モータ 4
(スレーブ )
(Slave) センサ
(*1)
- 345 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
<1> The velocity command from the CNC are passed to SP1 and SP3. The soft start/stop function limits
the specified acceleration rate to reduce the mechanical shock, and SP1 and SP3 pass the limited
command to SP2 and SP4, respectively. Then, each motor exerts velocity control.
<2> SP2 and SP3 receive the integral term from SP1, and SP4 receives the integral term from SP3. They
add the received integral term to the proportional term to create a torque command.
<3> Each SP adds the set preload value to this torque command to create a final torque command.
Velocity feedback
(CNC) (SP1)
SOCNA=1 - Torque
Velocity command command [%]
soft start/stop + Velocity loop Torque
N4030 limit Motor
P/I + モータ
+
Velocity Velocity integral
command term (I)
Determination of polarity (N4353#2) SLVA
& SLVB
Amplifier - to – amplifier
communication
Velocity + +
command Preload
ESSYC3 ESSYC3 N4360
& SLVA SLVA
SLVA & SLVB
& SLVC & SLVB +
Velocity loop + トルク
Torque
Motor
P only limit
リミット モータ
Spindle simple synchronous control
+
Extended integral copy
Torque
- command [%]
Velocity feedback
Spindle
Velocity feedback
(SP3)
SOCNC=1
- Torque
soft start/stop + command [%]
N4030
Velocity loop Torque
P only Motor
limit
+
Determination of +
polarity(N4541#6) Velocity Velocity integral
command term (I) Preload
SLVC
N4360
Determination of polarity (N4353#2)
& SLVD
Amplifier - to – amplifier
communication
Velocity + + Preload
command N4360
SLVC
& SLVD
SLVC +
& SLVD
Velocity loop + Torque
Motor
P only limit
+ Torque
- command [%]
Velocity feedback
- 346 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
NOTE
1 When switching these signals, make sure that the four spindles are
stopped. When the spindles are rotating, a request to switch these
signals cannot be accepted.
2 Switch these signals in the velocity control mode. In a mode other
than the velocity control mode, these signals cannot be accepted.
3 When the four spindles are mechanically disconnected with each
other, do not set these signals to "1".
30i #7 #6 #5 #4 #3 #2 #1 #0
Gn064 ESRSYC
ESRSYC Spindle simple synchronous control signal (when spindle simple synchronous control is
exerted by the first and second spindles)
0 : Makes a request to disable spindle simple synchronous control.
1 : Makes a request to enable spindle simple synchronous control.
When "1" is set in this signal, the spindle simple synchronous control mode is enabled,
and the second spindle operates as the slave axis of the first spindle.
NOTE
This signal is valid when "0" is set in bit 5 (SSY) of parameter No.
3704.
30i #7 #6 #5 #4 #3 #2 #1 #0
Gn264 ESSYC4 ESSYC3 ESSYC2 ESSYC1
ESSYCx Spindle simple synchronous control signal for each individual spindle
0 : Makes a request to disable spindle simple synchronous control.
1 : Makes a request to enable spindle simple synchronous control.
When "1" is set in any of these signals, the spindle corresponding to that signal operates
as the slave axis for spindle simple synchronous control.
NOTE
1 These signals are valid when "1" is set in bit 5 (SSY) of parameter
No. 3704.
2 The master axis with which the slave axis is to be synchronized is
defined by parameter No. 4821.
- 347 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 SP F046 SLVSA
nd
2 SP F050 SLVSB
rd
3 SP F169 SLVSC
th
4 SP F267 SLVSD
SLVSx Tandem operation state signal for each individual spindle
0 : Disables tandem operation.
1 : Enables tandem operation.
Before specifying spindle simple synchronous control for the spindle amplifier that is to
operate as the slave axis for spindle simple synchronous control, make sure that "1" is set
in the signals for all the four spindles.
- 348 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
SSTB
SSTC
SSTD
SLVB
SLVC
SLVSB
SLVSC
SLVSD
After all spindles enter the tandem state, After all spindles enter the speed zero
specify spindle simple synchronous state (SST=1), turn off spindle simple
Spindle simple synchronous
control. synchronous control.
control command
ESSYC3
T1(msec) T2(msec)
Driven by four spindle motor axes Make sure that T1 and T2 are both 30 msec
or longer, and then perform the processing
of the next stages.
- 349 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
CNC Tandem
タンデム11
Velocity
速度指令command (*1) Motor
SP-1 モータ Motor 1
(Master) sensor モータ 1
(マスタ) センサ
SP-1 Velocity tandem
速度タンデム
Integral
積分項
& integral copy
&積分コピー
term (*1)
SP-2 Motor
モータ Motor 2
sensor モータ 2
(Slave)
(スレーブ) センサ
(*2) Signal
(*2)信号分
branching
Tandem
タンデム 22 岐アダプタ
adapter
(*1)
SP-3 Motor
モータ Motor 3
sensor モータ 3
(Master)
(マスタ) センサ
Spindle simple synchronous control
Velocity
速度タンデム tandem
& integral copy
&積分コピー
Extended integral copy
主 拡 (*1)
軸 SP-4 Motor
モータ Motor 4
張 sensor モータ 4
((Slave)
スレーブ) センサ
簡 積
易 分 Signal branching
同 コ 信号分岐回路 Spindle sensor
circuit 主軸センサ Spindle
期 (ハイデンハイン (Heidenhain) 主軸
ピ (Heidenhain (ハイデンハイン)
制 IBV606)
ー Tandem IBV606)
御 タンデム33
(*1)
SP-5 Motor
モータ Motor 5
sensor モータ 5
(Master)
(マスタ) センサ
Velocity
速度タンデム tandem
& integral copy
&積分コピー
(*1)
SP-6 Motor
モータ Motor 6
(Slave) sensor モータ 6
(スレーブ) センサ
(*2) Signal
(*2)信号分
branching
Tandem
タンデム 44 岐アダプタ
adapter
(*1)
SP-7 Motor
モータ Motor 7
sensor モータ 7
(Master)
(マスタ) センサ
速度タンデム
Velocity tandem
&積分コピー
& integral copy
(*1)
SP-8 Motor
モータ Motor 8
((Slave) sensor モータ 8
スレーブ) センサ
(*1)
(*1)適用可能アンプ : A06B-6154-Hxxx#H590
Applicable amplifier: A06B-6154-Hxxx#H590
Spindle amplifier - to - spindle
スピンドルアンプ間通信
amplifier communication (*2) Signal branching: A06B-6111-H405
(*2)信号分岐アダプタ adapter: A06B-6111-H405
- 350 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Spindle orientation can be used in spindle tandem control four, six, or eight spindle motors. The
following options are required:
・ Spindle orientation
・ Spindle orientation extension
The valid spindle orientation command signal (ORCM) and spindle orientation stop position change
command signal (INDX) are the signals of the master axis for which the parameter No. 4597 is set to -1.
The signals of the slave axis are ignored. The method of setting the stop position for position coder
method spindle orientation can be selected using bit 0 (ORT) of parameter No. 3729. In bit 0 (ORT) of
parameter No. 3729, set the same value for all the spindles used for spindle tandem control. Set the stop
position as follows.
・ For orientation with a fixed stop position (bit 0 (ORT) of parameter No. 3729 = 0)
Set the stop position in parameter Nos. 4031 and 4077. Set the same value for all the spindles used
for spindle tandem control.
・ For orientation with an externally set stop position (bit 0 (ORT) of parameter No. 3729 = 1)
Set the stop position using the spindle orientation external stop position command signals (SH00 to
SH11). Set the stop position in the signals of the master axis for which the parameter No. 4597 is set
to -1. The signals of the slave axis are ignored.
NOTE
Arrange that a one-rotation signal is detected regardless of the spindle speed.
If the spindle sensor is a Heidenhain-made 1Vpp encoder, set the parameters as
follows:
Bits 3, 2, 1, and 0 of parameter No.4002 = 1, 1, 1, and 0
Bit 2 of parameter No. 4394 = 1
5.12.1 Overview
This function suppresses the vibration caused by the interference between the master and slave axes when
the axes use position tandem (spindle simple synchronous) or velocity tandem control.
The function remains in effect only when the PMC signal indicating whether the two axes are
mechanically connected is set to 1 (connected). Note that the function requires the inter-spindle amplifier
communication function.
- 351 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
1 To use this function, the CNC software option "tandem disturbance elimination
control" is required.
2 To use this function, SP TYPE B is required.
3 This function can be used together with velocity tandem control.
4 This function cannot be used together with the spindle EGB.
5 This function cannot be used for twin drives (two-winding motors and induction
machines only).
6 This function can be used between a pair of a master and a slave axis
connected via inter-spindle amplifier communication.
7 Since inter-spindle amplifier communication is used, prepare SP TYPE B and
inter-spindle amplifier communication cables.
8 This function needs to be disabled when the master and slave axes are not
mechanically connected. In this case, turn off the machine connection
notification signal (tandem command signal) SLV for both axes.
- 352 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Spindle motor
(master)
αiM/αiMZ sensor
1st spindle
(master)
SP TYPE B
JA7A
Chuck
JX4
JX4
Chuck
JA7B JYA2
2nd spindle
(slave)
SP TYPE B
αiM/αiMZ sensor
Spindle motor
(slave)
NOTE
1 When the master and slave are mechanically disconnected with each other,
cancel the tandem operation mode.
2 When the motor to be used is a synchronous spindle motor of the BiS series, the
power line between the amplifier and the motor needs to be connected via the
sub module SM (SSM).
3 To perform pole detection when the motor to be used is a synchronous spindle
motor of the BiS series, release the mechanical connection to free the
synchronous spindle motor. In this case, cancel the tandem operation mode as
well.
- 353 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
While these signals are operation command signals for the tandem
function, they are also used for tandem disturbance elimination
control.
(1) Before setting SLVx to 1 for the two spindles, set "0" in the position command or
velocity command for both spindles to stop them and check that SSTx is set to 1
(speed zero) as well as that the two spindles are mechanically connected.
(2) Before setting SLVx to 0 for the two spindles, set "0" in the position command or
velocity command for both spindles to stop them and check that SSTx is set to 1
(speed zero). Then, disconnect the machine.
NOTE
1 When the two spindles are mechanically disconnected with each
other, do not set these signals to 1.
2 When using a synchronous spindle motor, specify the commands
with pole detection completed for both axes.
3 Before changing the spindle connection state notification signal
SLVx, check that "0" is set in the position command or velocity
command (position control/velocity control mode) and SSTx is set
to 1 (speed zero state) for both spindles.
4 To return the axes to the origin in position tandem (spindle simple
synchronous control), turn off these signals (SLVx = 0) and return
each axis to the origin individually.
5 To use the parking signal in position tandem (spindle simple
synchronous control), turn off these signals and disable tandem
disturbance elimination control.
NOTE
1 If any abnormality, such as an excessive master-slave speed
difference, is detected when tandem disturbance elimination control
is enabled, turn off the power to the motors of both the master and
slave axes by using these signals in order to minimize mechanical
damage.
2 When a synchronous spindle motor is used, the motors decelerate
to a stop using the SSM, rather than coast to a stop, even if these
signals are input.
- 354 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Check that these signals are set to "1" for both the master and slave axes, before the
switching the mechanical connection notification signal SLVx.
If these signals are set to "0", a request to change the switching the mechanical
connection notification signal SLVx cannot be accepted.
30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F046 SLVSA
2nd- F050 SLVSB
NOTE
While these signals are operation command signals for the tandem
function, they are also used for tandem disturbance elimination
control.
30i #7 #6 #5 #4 #3 #2 #1 #0
1st- F047 MSOVRA
2nd- F051 MSOVRB
CAUTION
1 If a motor feedback signal disconnection alarm (spindle alarm 73)
is issued, the status of this signal is undefined.
2 When bit 5 of parameter No. 4007 is set to "1", the detection
operation of the feedback signal disconnection alarm is not
performed.
Set "0" in principle to enable alarm detection.
NOTE
Monitor the states of these signals on the PMC. Ensure that an
alarm is issued if an error occurs (for example, if the state of 1 lasts
for a certain period of time).
- 355 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
- 356 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
<1>
<2>
Master axis
SST
Slave axis command
<1>
<2>
Slave axis
SST
<3> After checking SST is set to 1 for both axes,
Master axis specify SLV = 1 for both axes.
SLV
<5> After checking SST is set to 1 for both
Slave axis axes, specify SLV = 0 for both axes.
SLV
Master axis
SLVS
<4> Specify after checking SLVS is set to 1 for both axes.
Slave axis
SLVS
- 357 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
5.12.6 Parameters
Details of the parameters related to tandem disturbance elimination control are given below.
30i #7 #6 #5 #4 #3 #2 #1 #0
4015 SPDTDM
SPDTDM Whether to use the spindle tandem control option (Since this parameter is automatically
set, it cannot be set manually; it is only allowed to reference the parameter.)
NOTE
To use tandem disturbance elimination control for velocity tandem
control, the spindle tandem control option is required (SPDTDM
needs to be set to 1). If SPDTDM is set to 0, check the software
option.
30i #7 #6 #5 #4 #3 #2 #1 #0
4403 TDEOPT
TDEOPT Whether to use the tandem disturbance elimination control option (Since this parameter is
automatically set, it cannot be set manually; it is only allowed to reference the parameter.)
NOTE
When this bit is set to "0", tandem disturbance elimination control is
disabled. If the bit is set to "0", check the software option.
30i #7 #6 #5 #4 #3 #2 #1 #0
4540 TANDMP
30i #7 #6 #5 #4 #3 #2 #1 #0
4398 WSVCP VTAN WNDTDM
WNDTDM Whether to use the twin drive function (two-winding motor drive and induction machine
only)
VTAN Whether to use the velocity tandem function
WSVCP Whether to use the velocity integrator copy function
By combining these bit parameters as shown on the next page, tandem disturbance
elimination control can be used.
The settings (1) and (2) are intended for speed tandem operation, and the settings (3) and
(4) are intended for position tandem (spindle simple synchronous control) operation.
- 358 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
30i #7 #6 #5 #4 #3 #2 #1 #0
4402 TRQTDM
NOTE
*1 While this bit assumes the NC for FS30i-B, set "0" for 30i-A as well.
*2 When this bit is set to "1", tandem disturbance elimination control
does not work normally. Be sure to set "0".
30i #7 #6 #5 #4 #3 #2 #1 #0
4352 MASTER SLAVE
NOTE
1 For inter-spindle amplifier communication, set
(MASTER,SLAVE)=1,0 for the master axis and
(MASTER,SLAVE)=0,1 for the slave axis.
2 Setting (MASTER,SLAVE)=1,1 causes the state error "38".
30i #7 #6 #5 #4 #3 #2 #1 #0
4353 RVSVC2
RVSVC2 Relationship of master/slave motor rotation directions when the spindles are connected
0 : The master motor and slave motor rotate in the same direction (when viewed from
the motor shaft).
1 : The master motor and slave motor rotate in the opposite directions (when viewed
from the motor shaft).
This parameter determines the polarity of the actual motor speed that one spindle receives
from the other.
- 359 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
1 Set this parameter on the master side. The value set on the master
side (the spindle for which bit 7 of parameter No. 4352 is set to 1)
is transferred to the slave side via inter-spindle amplifier
communication.
2 If this parameter is not set properly, tandem disturbance elimination
control does not work normally.
30i
4601 Tandem disturbance elimination control Proportional gain Kp
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
While this parameter may be used for a machine generating much friction, it is generally
not used.
30i
4602 Tandem disturbance elimination control Integral gain Ki
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
This parameter compensates the spring element of the machine. When stiffness is high,
the value becomes large (torque/inertia).
The larger the ratio, the smaller the value.
30i
4603 Tandem disturbance elimination control Phase compensation α
Unit of data :
Valid data range : 0, 51 to 512(0.1<α<1)
Standard setting value : 0
This parameter is used with coefficient Τ below to compensate for the delay of
adjustment.
When the parameter is set to 0, the value is internally handled as 512 (α = 1).
When α is 1, phase compensation is not done.
30i
4604 Tandem disturbance elimination control Phase compensationT
30i
4605 Tandem disturbance elimination control Incomplete integral time constant ⎮
Unit of data :
- 360 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
- 361 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
The block diagram for tandem disturbance elimination control is as shown below.
<1> Calculate the deviation from the local velocity and the other-end velocity.
<2> Calculate the proportional integral for the calculated deviation.
<3> Perform phase compensation for the result of the proportional integral calculation and add the
amount of torque compensation to the torque command for each axis.
Tandem
disturbance
elimination +
[Master axis] control -
- + Motor
+ Velocity +
loop Torque command
Tandem disturbance
elimination control
Kp
Tandem +
disturbance 1+TS
elimination control 1+αTS + +
output Ki -
S
Other-end velocity
- 362 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
5.12.8 Adjustment
• Check the torque command (or motor speed) of the two axes by using the servo guide.
• If the waveforms of the two axes have opposite phases (in the case of forward connection) or the
same phase (in the case of backward connection), it is likely that interference (vibration) is occurring
due to the spring element between the axes.
• Enable tandem disturbance elimination control, and adjust integral gain Ki for tandem disturbance
elimination control.
• Increment the value of integral gain Ki gradually starting from "0" (set the same value for both axes),
and check how the interference (vibration) changes. There should be an optimum value of Ki.
Setting too large a value may increase the interference (vibration).
• Since changing the velocity loop gain changes the frequency of the vibration, change Ki to make the
vibration weaker.
• If the vibration frequency exceeds 100 Hz, the effect of tandem disturbance elimination control
becomes small. This may be improved by setting the phase compensation coefficients, α and Τ, of
the two axes (set the same value for both axes).
- 363 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Slave axis TCMD&SPEED Ki = 150 (for both axes) when master axis is vibrated
Slave axis TCMD&SPEED Ki=150 a=102 T = 3 (for both axes) when master axis is vibrated
5.13.1 Overview
Spindle tandem control is a function that drives the spindle with two motors to provide a large output that
cannot be obtained with one motor. The following two types are available:
(1) Velocity tandem control
(2) Torque tandem control (induction spindle motor only)
While speed control is disabled on the slave side in torque tandem control, it is enabled in velocity
tandem control. For this reason, velocity tandem control offers greater slave axis stability. Therefore,
when employing spindle tandem control, select velocity tandem control under normal circumstances.
Note that, in cases where you do not want the slave axis to exert speed control (you want both axes to
have the same torque although they widely differ in speed), as in wheel lathing, you need to adopt torque
tandem control.
- 364 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
The torque tandem control function controls two mechanically connected spindle motors by using the
same torque command.
NOTE
1 To use this function, the CNC software option (spindle tandem control) is
required.
2 When the NC is 30i-B, the spindle tandem control function is included in the
spindle synchronous control option.
3 To use this function, SP TYPE B is required.
4 When this function is used, the spindle amplifiers and spindle motors of the
master and slave must be of the same model.
5 For the master and slave axes, use the spindle software of the same series and
edition.
6 This function cannot be used together with the following functions:
- Spindle synchronous control function
- Speed range switching function
- Spindle switching function
- Position coder signal output function
- Spindle EGB function
- Spindle leaning control function
- Synchronous built-in spindle motor driving
7 No limitation is imposed on master and slave axis assignment.
In the descriptions below, the following assignment is used for convenience:
Master spindle amplifier: First spindle
Slave spindle amplifier: Second spindle
NOTE
To use the αiCZ sensor (serial), the 9D90 series G (07) edition or later or the
9DA0 series I (09) edition or later is required.
This function cannot be used with the 9D50, 9D70, or 9D80 series.
- 365 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(1) Sample configuration 1: System where the master spindle and slave
spindle are mechanically connected or disconnected when a workpiece is
attached or detached
Spindle motor
(master)
αiM/αiMZ sensor
1st spindle
(master)
SP TYPE B
JA7A
Chuck
JX4
JX4
JA7B JYA2 Chuck
2nd spindle
(slave)
SP TYPE B
αiM/αiMZ sensor
Spindle motor
(slave)
NOTE
When the master and slave are mechanically disconnected, torque tandem
control cannot be used. In this case, cancel the tandem operation mode.
- 366 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
(2) Sample configuration 2: System where the table axis is driven by two
motors
Spindle motor
(master)
CNC JA7B JYA2 αiM sensor
1st spindle
(master)
SP Type B Gear
JA7A JYA4
JX4
αiBZ sensor
Spindle
Inter-spindle
amplifier connection
JX4
JA7B JYA2 αiM sensor
Spindle motor
(slave)
During tandem operation (SLVx = 1), the signals need not be input to the slave spindle
amplifier.
NOTE
1 Both of the master and slave must be stopped before these signals
can be switched.
During rotation, these signals cannot be accepted.
2 Switch these signals in the speed control mode. In a mode other
than the speed control mode, these signals cannot be accepted.
3 When the master and slave are mechanically disconnected with
each other, do not set these signals to 1.
NOTE
If an error such as an excessive master-slave speed difference is
detected when torque tandem operation is enabled, the power to
both of the master motor and slave motor must be turned off
simultaneously to minimize damage to the machine. In such a case,
be sure to turn off the power to both motors by using these signals.
- 368 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
CAUTION
1 If a motor feedback signal disconnection alarm (spindle alarm 73)
is issued, the status of this signal is undefined.
2 When bit 5 of parameter No. 4007 is set to "1", the detection
operation of the feedback signal disconnection alarm is not
performed.
Set the parameter to "0" when not required, to enable alarm
detection.
NOTE
Monitor the states of these signals on the PMC. Ensure that an
alarm is issued if an error occurs (for example, if the state of 1 lasts
for a certain period of time).
- 369 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Tandem operation
command
SLVA&SLVB
Motor speed
- 370 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Tandem operation
command
SLVA&SLVB
300ms or more
Tandem operation
state
SLVSA&SLVSB
Sxxxx (≠0)
Spindle speed
command
S code S0
Master spindle
amplifier spindle
rotation command
SFRA&SRVA
Master spindle
amplifier orientation
command ORCMA
Master spindle
amplifier orientation
completion signal
ORARA
Motor speed
- 371 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Tandem operation
command 300ms or
SLVA&SLVB more
Tandem operation
state
SLVSA&SLVSB
Master spindle
amplifier spindle
rotation command
SFRA&SRV
Rigid tapping
command
M29 Sxxxx
G84 Zyyyy . . .
Motor speed
- 372 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Tandem operation
command
SLVA&SLVB 300ms or more
Tandem operation
state
SLVSA&SLVSB
Sxxxx(≠0)
Spindle speed
command S0
S code
Master spindle
amplifier spindle
rotation command
SFRA&SRVA
Cs contouring control
mode command
CON
Cs contouring control
mode state
FSCSL
Cs contouring control
command
G00 C0.
G01 Cxxxx . . .
Motor speed
5.13.6 Parameters
(1) Cautions
For the master spindle amplifier and slave spindle amplifier, set the same parameters except for the
following specific parameters:
Parameter No.
Description Master setting Slave setting
15i 16i 30i
Depending on the Depending on
3002 4002 4002
Spindle sensor type spindle the spindle
#3 to #0 #3 to #0 #3 to #0
configuration configuration
Relationship of master/slave Depending on the
3353#2 4353#2 4353#2 motor rotation directions in torque spindle 0
tandem operation configuration
- 373 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Parameter No.
Description Master setting Slave setting
15i 16i 30i
Inter-spindle amplifier
3352#7,#6 4352#7,#6 4352#7,#6 1, 0 0, 1
communication setting
Machine by
machine
3360 4360 4360 Preload value 0
(adjustment
value)
ALSP Motor power turn-off method when spindle alarm 24 (serial data transfer error) is issued
0 : Turns off the power after the motor is decelerated to a stop.
1 : Turns off the power immediately. (Set this parameter to 1.)
NOTE
If an alarm is issued during torque tandem operation, the power to
both of the master motor and slave motor must be turned off
simultaneously to prevent the machine from being damaged. When
using the torque tandem function, be sure to set this parameter to 1
to turn off the power to the motors immediately if a CNC-SP
communication error occurs.
SPDTDM Whether to use the spindle tandem function (The CNC software option is required.)
0 : Does not use the spindle tandem function.
1 : Uses the spindle tandem function.
- 374 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
NOTE
If this bit is set to 0, the torque tandem function does not operate
normally. When this bit is set to 0, check the software option.
NOTE
1 This parameter need not be set for the slave spindle amplifier side.
(The setting for the master spindle amplifier is transferred to the
slave spindle amplifier by inter-spindle amplifier communication.)
2 If the setting of this parameter is improper, the torque tandem
function does not operate normally.
If the spindle is rotated in this state, the speed polarity error alarm
(spindle alarm d0) is issued in torque tandem operation.
- 375 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
NOTE
If "1" is set in these bits, the torque tandem function does not work
normally. Be sure to set "0,0,0".
A130DN Whether to detect a speed polarity error (spindle alarm d0) in torque tandem operation
0 : Detects the error.
1 : Does not detect the error.
30i #7 #6 #5 #4 #3 #2 #1 #0
4402 TRQTDM
NOTE
This bit is valid when the NC is FS30i-B. Set it to "0" when the NC
is FS30i-A.
Unit of data : 1min-1 *(10min-1 when bit 2 (SPDUNT) of parameter No. 4006 is set to 1)
Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets a level for detecting the master-slave speed difference state signal
(MSOVRA:F47#2, MSOVRB:F51#2).
If this parameter is set to 0, the setting of 100 is assumed.
NOTE
This parameter need not be set for the slave spindle amplifier side.
(The setting for the master spindle amplifier is transferred to the
slave spindle amplifier by inter-spindle amplifier communication.)
- 376 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
5.14.1 Overview
Magnetic sensor method spindle orientation is a function for stopping the spindle at a specified position
by receiving a position feedback signal from a magnetic sensor directly attached to the spindle of the
machine.
NOTE
1 To use this function, the CNC software option (spindle orientation) is required.
2 To use this function, SP TYPE B is required.
- 377 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Spindle
JYA2
Magnet (directly
attached)
SP
TYPE B magnetic
sensor Magnetic sensor
signal Amplifier head
JYA4 conversion
JYA4 adaptor JY3
Magnetic sensor
NOTE
For the hardware specifications of the magnetic sensor and magnetic sensor
signal conversion adaptor and connection details of each cable, refer to “FANUC
SERVO AMPLIFIER αi series DESCRIPTIONS (B-65282EN)”.
5.14.6 Parameters
(1) List of parameters
Parameter No.
Description
15i 16i 30i
Whether the spindle orientation function is available (to be set to “1”)
3015 #0 4015 #0 4015 #0
(The CNC software option is required.)
3001 #3 4001 #3 4001 #3 Magnetic sensor attachment direction
Whether to use the position coder method spindle orientation function or
3003 #0 4003 #0 4003 #0 magnetic sensor method spindle orientation function (to be set to 1 to
use the magnetic sensor method)
- 378 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Parameter No.
Description
15i 16i 30i
3003 #3,#2 4003 #3,#2 4003 #3,#2 Rotation direction for spindle orientation
3042 4042 4042 Velocity proportional gain on orientation
3043 4043 4043 (These parameters are selected with the input signal CTH1A.)
3050 4050 4050 Velocity integral gain on orientation
3051 4051 4051 (These parameters are selected with the input signal CTH1A.)
Gear ratio data between spindle and motor
3056 to 4056 to 4056 to
(These parameters are selected with the input signals CTH1A and
3059 4059 4059
CTH2A.)
Position gain on orientation
3060 to 4060 to 4060 to
(These parameters are selected with the input signals CTH1A and
3063 4063 4063
CTH2A.)
3064 4064 4064 Ratio of position gain change upon completion of spindle orientation
3075 4075 4075 Orientation completion signal detection level
3076 4076 4076 Spindle orientation speed limit ratio
3077 4077 4077 Orientation stop position shift value
3078 4078 4078 MS signal constant
3079 4079 4079 MS signal gain adjustment
3084 4084 4084 Motor voltage on spindle orientation
3038 4038 4038 Spindle orientation speed
Rotation
direction
NOTE
Note that the specification of this parameter is different from the α
series.
Unit of data : 1min-1 (*10min-1 when bit 2 (SPDUNT) of parameter No. 4006 is set to 1)
Valid data range : 0 to 32767
Standard setting value : 0
This data is used to set an orientation speed at the spindle end.
If this data is set to 0, an orientation speed is determined from the position gain and the
motor speed limit ratio in orientation.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
This data is used to set the velocity loop proportional gain on spindle orientation.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
This data is used to specify a velocity loop integral gain for spindle orientation.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
For example, if the motor makes 2.5 rotations while the spindle makes 1 rotation, set 250
in this parameter.
A parameter is selected according to the values of the input signals CTH1A and CTH2A.
Ensure that the state of the gear or clutch corresponds to the values of CTH1A and
CTH2A.
NOTE
If an improper value is set in these parameters, an unexpected
operation such as endless spindle rotation at orientation time can
result.
So, be sure to set a proper gear ratio.
Unit of data : 1%
Valid data range : 0 to 1000
Standard setting value : 100
This data is used to set a position gain change ratio upon completion of orientation.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 33
This data is used to set an orientation speed limit ratio.
Orientation speed Position gain Speed limit ratio
= 60 × × gear ratio × [min-1]
(motor speed) 100 100
- 381 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Unit of data :
Valid data range : 81 to 1000
Standard setting value : 200
This data is used to set a value calculated from the expression below.
L 1
Settings = × × 4096
2 2π × H
where
L : Magnet length [mm]
H : Distance from the spindle center to magnet [mm]
Example When H = 100 mm and L = 50 mm
(50/2)
MS signal constant = × 4096 163
2π × 100
Unit of data :
Valid data range : -128 to 127
Standard setting value : 0
This data is used to adjust the amplitude of the MS signal. Usually, use the values
indicated in the table below as standard values.
Magnet
Specification MS signal
Name Length
drawing number Type gain
[mm]
Not specified.
A57L-0001-0037 0
Standard
Standard (TYPE II) 50
Magnetic
A57L-0001-0037/N 0
sensor N
Magnetic Compact type (TYPE III)
A57L-0001-0037/P 50 -20
sensor P
Magnetic Cylinder type with diameter of
A57L-0001-0037/Q 31 70
sensor Q φ40 (TYPE IV)
Magnetic Cylinder type with diameter of
A57L-0001-0037/R 37 50
sensor R φ50 (TYPEV)
Magnetic Cylinder type with diameter of
A57L-0001-0037/S 43 70
sensor S φ60 (TYPEVI)
Magnetic Cylinder type with diameter of
A57L-0001-0037/T 49 40
sensor T φ70 (TYPEVII)
- 382 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 30
This data is used to specify the motor voltage for spindle orientation.
Depending on the motor model, set 30 usually.
5.15.1 Overview
The spindle backlash acceleration function improves a figure error caused by the delayed reversal along
the Cs contouring control axis.
NOTE
1 To use this function, the CNC software option (Cs contouring control) is required.
2 This function is valid for advanced preview feed-forward in the Cs contouring
control mode.
3 This function is unavailable for the sub-spindle for spindle switching.
4 This function cannot be used together with the spindle EGB function.
Backlash acceleration
compensation calculation
Backlash acceleration ON/OFF
Backlash acceleration: Compensation (P4455) (P4402#0)
Backlash acceleration: Stop timing (P4456)
- 383 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
5.15.4 Parameters
(1) List of parameters
Parameter No.
Description
15i 16i 30i
3402#0 4402#0 4402#0 Whether to enable the backlash acceleration function
Setting of the feed-forward coefficient when the backlash acceleration
3402#1 4402#1 4402#1
function is enabled.
3455 4455 4455 Backlash acceleration: Compensation
3456 4456 4456 Backlash acceleration: Stop timing
MDLINF Sets the advanced preview feed-forward coefficient when the backlash acceleration
function is enabled.
Set “0” when the advanced preview feed-forward coefficient is less than 100% (parameter
No. 4344 is not 10000) or
“1” when the coefficient is 100% (parameter No. 4344 is 10000).
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets the backlash acceleration compensation.
- 384 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Imaginary C-axis
15mm 20mm
X-axis
G90 ← Absolute
G04 X5. ← Dwell. Press the “origin” button (see Item (3)).
- 385 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
15 2 + 0 2 = 15(mm )
- 386 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
XTYT mode
NORMAL mode
XTYT mode
POLAR mode
CIRCLE mode
POLAR mode
Projection in quadrants
caused by delayed reversal
along the Cs axis
(4) Adjustment
Follow the adjustment steps below while observing the arc figure in the CIRCLE mode in the graph
window:
(a) Set the initial values listed below for compensation (parameter No. 4455) and stop timing (parameter
No. 4456):
Backlash acceleration compensation (parameter No. 4455): 5
Backlash acceleration stop timing (parameter No. 4456): 100
(b) Increase the compensation value (parameter No. 4455) to minimize the peak value of the projection
in each quadrant. If the waveform cuts into the circle, decrease the setting.
(c) Increase the stop timing to minimize the peak value of the projection in each quadrant.
If the waveform cuts into the circle, decrease the setting.
- 387 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
After adjustment
Before adjustment
5.16.1 Overview
This high-speed spindle orientation function shortens the time required for spindle orientation of the
spindle by:
<1> Making the most of the ability of the motor to decelerate
<2> Increasing the gain of the position loop
NOTE
1 Using this function requires the CNC software option for spindle orientation.
2 This function cannot be used for spindle orientation during spindle synchronous
control.
3 This function does not support the speed unit 10 min-1 (FS16i: Bit 2 of No. 4006
= 1).
- 388 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
NOTE
This function cannot be used in an external one-rotation signal-based spindle
orientation system in which a proximity switch is used.
JYA2 Spindle
αi position coder
SP
TYPE A
JYA3
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
JYA2 Spindle
α position coder S
SP
TYPE B
JYA4
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
- 389 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
(3) When the built-in motor (αiBZ sensor, αiCZ sensor (analog)) is used
αiBZ sensor or αiCZ sensor (analog)
Spindle+
Built-in motor
JYA2
SP
TYPE A
Thermistor
(5) When the spindle motor with built-in αiMZ sensor is used
Spindle motor with built-in
αiMZ sensor
JYA2 Spindle
SP
TYPE A
Directly connected or connected with a gear or
timing belt at a ratio of 1:1
- 390 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
(6) When the separate type αiBZ sensor or separate type αiCZ sensor
(analog) is used
Spindle motor with built-in αiM
sensor (or αiMZ sensor)
JYA2 Spindle
SP
TYPE B
JYA2
SP
TYPE A
Detection
Spindle
ciruit
JYA3
1st- G230 G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G238 G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00
- 391 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
The functions of the input signals ORCMA, CTH1A, CTH2A, INDXA, ROTAA, NRROA, INCMDA,
and SHA11 to SHA00 are the same as for position coder-method spindle orientation and incremental
command type spindle orientation. See Sections 2.2, "POSITION CODER-METHOD SPINDLE
ORIENTATION," and 5.3, "INCREMENTAL COMMAND TYPE SPINDLE ORIENTATION" in Part I.
5.16.5 Sequence
This subsection describes the operations of high-speed spindle orientation. See Sections 2.2, "POSITION
CODER-BASED SPINDLE ORIENTATION," and 5.3, "INCREMENTAL COMMAND TYPE
SPINDLE ORIENTATION" in Part I, for concrete examples of sequences
(1) Starting spindle orientation when the spindle is rotating at or faster than
the orientation speed upper limit
- 392 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
<3>
<4> <5>
<1> If the spindle orientation command (ORCMA) is input when the spindle is rotating at or faster than
the orientation speed upper limit specified in parameter No. 4038, the spindle is decelerated to the
orientation speed upper limit.
<2> A one-rotation signal is detected (only at the first-time spindle orientation after the power is switched
on).
<3> The spindle decelerates at the acceleration specified as an acceleration during motor deceleration in
parameter Nos. 4320 to 4323.
<4> When the spindle speed becomes lower than or equal to the value calculated within the software, the
position loop is controlled at the position gain specified as a spindle orientation position gain in
parameter Nos. 4060 to 4063.
<5> When the position error becomes lower than or equal to the number of pulses specified as a spindle
orientation completion signal level in parameter No. 4075, the spindle orientation completion signal
(ORARA) is output.
- 393 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
<1>
Motor speed
<2>
<3> <4>
<1> If the spindle orientation command (ORCMA) is input when the spindle is rotating at a speed
between the orientation speed upper limit specified in parameter No. 4038 and the orientation speed
lower limit (calculated within the software), a one-rotation signal is detected (only at the first-time
spindle orientation after the power is switched on).
<2> The spindle decelerates at the acceleration specified as an acceleration during motor deceleration in
parameter Nos. 4320 to 4323.
<3> When the spindle speed becomes lower than or equal to the value calculated within the software, the
position loop is controlled at the position gain specified as a spindle orientation position gain in
parameter Nos. 4060 to 4063.
<4> When the position error becomes lower than or equal to the number of pulses specified as a spindle
orientation completion signal level in parameter No. 4075, the spindle orientation completion signal
(ORARA) is output.
(3) Starting spindle orientation when the spindle is rotating at or slower than
the orientation speed lower limit
- 394 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
<2>
<1>
Motor speed
<3>
<4>
<5>
<1> If the spindle orientation command (ORCMA) is input when the spindle is rotating at or slower than
the orientation speed lower limit (calculated within the software), a one-rotation signal is detected
(only at the first-time spindle orientation after the power is switched on).
<2> The spindle accelerates at the acceleration specified as an acceleration during motor deceleration in
parameter Nos. 4320 to 4323.
<3> The spindle decelerates at the acceleration specified as an acceleration during motor deceleration in
parameter Nos. 4320 to 4323.
<4> When the spindle speed becomes lower than or equal to the value calculated within the software, the
position loop is controlled at the position gain specified as a spindle orientation position gain in
parameter Nos. 4060 to 4063.
<5> When the position error becomes lower than or equal to the number of pulses specified as a spindle
orientation completion signal level in parameter No. 4075, the spindle orientation completion signal
(ORARA) is output.
- 395 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Parameter No.
Description
15i 16i 30i
Spindle orientation stop position
3031 4031 4031
(This parameter is invalid for stop position external setting type and
incremental command external setting type.)
3038 4038 4038 Orientation speed upper limit
3042 4042 4042 Velocity proportional gain on orientation
3043 4043 4043 (These parameters are selected with the input signal CTH1A.)
3050 4050 4050 Velocity integral gain on orientation
3051 4051 4051 (These parameters are selected with the input signal CTH1A.)
Gear ratio data between spindle and motor
3056 to 3059 4056 to 4059 4056 to 4059 (These parameters are selected with the input signals CTH1A and
CTH2A.)
Position gain on orientation
3060 to 3063 4060 to 4063 4060 to 4063 (These parameters are selected with the input signals CTH1A and
CTH2A.)
3064 4064 4064 Percentage limit to an acceleration during deceleration
3075 4075 4075 Orientation completion signal detection level
3077 4077 4077 Orientation stop position shift value
3084 4084 4084 Motor voltage on orientation
Acceleration during motor deceleration
3320 to 3223 4320 to 4323 4320 to 4323 (These parameters are selected with the input signals CTH1A and
CTH2A.)
3326 4326 4326 Acceleration limitation start speed during deceleration
3330 4330 4330 (These parameters are selected with the input signal CTH1A.)
3328 4328 4328 Command multiplier for orientation
NOTE
1 See Section 1.3, "PARAMETERS RELATED TO DETECTORS" in Part I, for
parameters related to detectors.
2 See Section 4.1, "VELOCITY LOOP GAIN ADJUSTMENT" in Part I, for velocity
loop proportional/integral gain tuning.
3 When using the high-speed spindle orientation function, set the parameters (bits
3 and 2 or parameter No. 4003) for rotation direction for spindle orientation with
the previous rotation direction (0, 0 or 0, 1).
NOTE
When using the high-speed spindle orientation function, specify the rotation
direction for spindle orientation to be the previous rotation direction (bits 3 and 2
of parameter No. 4003 = 0 and 0 or 0 and 1).
NRROEN The short-cut function when spindle orientation from stopped state is specified is:
0: Unavailable
1: Available
If the setting is "1", a short-cut is made provided that the following conditions are
satisfied.
i) Bit 7 of parameter No. 4016 (RFCHK3) = 0
ii) Zero-speed detection signal (output signal) SST = 1
iii) Short-cut command (input signal) NRROA = 1
- 397 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
This data is used to specify the upper limit to the orientation speed of an spindle end. If
the setting is "0", the parameter is assumed to be set with a value converted for the
spindle from the excitation voltage saturation speed with no load on the motor (parameter
No. 4102, low-speed characteristic parameter No. 4140).
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
This data is used to set the velocity loop proportional gain on orientation.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
This data is used to specify a velocity loop integral gain for spindle orientation.
NOTE
The range of gear ratios supported by this function is:
1:30 to 30:1
- 398 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 100
This data is used to specify the percentage limit to an acceleration during deceleration if
spindle orientation is started when the spindle speed is lower than or equal to the
limitation start seed for an acceleration during deceleration (parameter Nos. 4326 and
4330). Usually, specify "100".
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : Depends on the motor model.
This data is used to specify the motor voltage for spindle orientation. For high-speed
spindle orientation, usually specify "100".
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
Set a command multiplier for the spindle orientation function with an externally set
incremental command.
When 0 is set in this parameter, 1 is assumed to have been specified.
(1) Motor speed (data No. 19) and motor speed command (data No. 16)
These are spindle motor speed data and speed command data. The following table lists the relationships
between the shift amount and the check board output value (if shift direction 0 and offset 1 are specified).
Shift amount 15 16 17 18 19 20
Output value (min-1/5V) 1024 2048 4096 8192 16384 32768
- 400 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Shift amount 0 1 2 3 4 5
Output value (pulses/5 V) 128 256 512 1024 2048 4096
The position error data is output only in sequence intervals C, D, and E. It is 0 in the other intervals.
NOTE
1 Spindle alarm 21 is issued if the relation (bit 0 of parameter No. 4000) between
the spindle and motor rotation direction and/or the setting of the spindle sensor
mounting direction (bit 4 of parameter No. 4001) is incorrect.
2 The time required for spindle orientation may get abnormally long if the gear ratio
resolution (bit 1 of parameter No. 4006) setting and/or gear ratio (parameter Nos.
4056 to 4059) setting is incorrect.
3 To switch the winding of the spindle motor with speed range switching control
from high-speed winding to low-speed winding during spindle orientation
command-specified deceleration, set the orientation speed upper limit (parameter
No. 4038) to the base speed of the low-speed winding or lower.
In the sequence enters interval C (where linear deceleration takes place with a
parameter-specified time constant), the time required for spindle orientation may
get abnormally long.
(2) Initial setting of the acceleration during deceleration (parameter Nos. 4320
to 4323)
Run a real machine on the velocity control mode (regular operation mode), and decelerate it from the base
speed ωB (see the following expression).
Base speed ωB = parameter No. 4102 × parameter No. 4117/100 (if parameter No. 4038 = 0), or
= parameter No. 4038 (if parameter No. 4038 ≠ 0)
Then, measure the time the real machine takes to decelerate, set up the initial acceleration during
deceleration Tc from the measured deceleration time according to the following expression (see the figure
below):
Acceleration during deceleration = base speed/time taken to decelerate from the base speed to a halt/10
(in 10 min-1/s)
- 402 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
Base speed
Time taken to decelerate from the Motor speed (data
base speed to a halt No. 19)
Motor speed command
(data No. 16)
(3) Tuning the velocity loop proportional gain (parameter Nos. 4042 and 4043)
and integral gain (parameter Nos. 4050 and 4051)
Tune the velocity loop proportional/integral gain while referencing Section 4.1, "VELOCITY LOOP
GAIN ADJUSTMENT" in Part I.
(5) Tuning the acceleration during deceleration (parameter Nos. 4320 to 4323)
Start spindle orientation when the spindle is running at the spindle maximum rotation speed, and tune the
acceleration during deceleration so that the torque command will not be saturated when the motor starts
linear deceleration (the beginning of interval C in the sequence). (See the following figure.)
C C
B B
A E E
Spindle orientation sequence
(data No. 298)
Enlarged
25%
OK.
Torque command
(data No. 90)
- 403 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Enlarged
N.G.
D
C
B
A
Spindle orientation sequence E
(data No. 298)
25%
Torque command
(data No. 90)
Not saturated
Saturated
- 404 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
D
C
B
A E
Spindle orientation
sequence (data No. 298)
25%
Torque command
(data No. 90)
NG. OK.
OK.
(a) Deciding whether or not to tune the acceleration limitation start speed during
deceleration
Start spindle orientation when the spindle is running at 10 min-1 + acceleration limitation start speed
during deceleration ωLS, which is an initial setting used when the percentage limit to an acceleration
during deceleration is tuned. (See the following figure.) In this case, it is necessary to tune the percentage
limit to an acceleration during deceleration if the torque command is saturated in sequence interval C or
D.
If the torque command is not saturated, stop tuning the spindle orientation.
- 405 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Case in which parameter tuning is necessary Case in which parameter tuning is unnecessary
D
C
B
A E
Spindle orientation
sequence (data No. 298)
OK. NG.
- 406 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
5.17.1 Overview
An induction motor generates a magnetic flux by causing an excitation current to flow. Normally, when
no load is applied by the speed mode, the excitation current is kept below the rated level to reduce heat
generation. In this case, the magnetic flux is also reduced to below the rated level. To restore the magnetic
flux to its rated value takes a certain amount of time. Before changing to a mode in which torque
responsiveness is required (rigid tapping, spindle positioning, or Cs contour control mode), the time to
restore the magnetic flux to its rated value is necessary No.3099 for 15i or No.4099 for 16i and 30i;
typically 300 to 400 ms).
The magnetic flux boost function reduces the time it takes to restore the magnetic flux to its rated value
when a changed is made from the speed control mode to rigid tapping (spindle positioning or Cs contour
control mode).
1
[Example: Rigid tapping] Forward/reverse signal (SFR/SRV)
1
* Time reduction by magnetic
Rigid tapping mode
flux boost function
Magnetic flux
ON
Position loop
Movement command
Spindle speed
- 407 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
Set the parameters for using the magnetic flux boost function.
For information about the values to be set, see Subsection 5.15.7, "Adjustment
Procedure".
NOTE
Even when you are setting this for using the magnetic flux boost
function, specify an appropriate value (typically, 300 to 400 (msec)).
- 408 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
⎝ ⎠
is not involved)
2 If the vibration of the spindle during magnetic flux boost bothers you, try reducing the values of
parameter Nos. 4124 and No.4155 in step of 10 (the lower limit is 24420).
●Parameter Table of Magnetic Flux Boost Coefficient and Magnetic Flux Boost
Completion Level by Motor Model
a. SPINDLE MOTOR αiI (200V)
Magnetic flux boost coefficient
/magnetic flux boost completion level
Motor model Applicable amplifier
No.4124 No.4155
(High-speed winding) (Low-speed winding)
αiI 0.5/10000 αiSP2.2 24570 0
αiI 1/10000 αiSP2.2 24448 0
αiI 1.5/10000 αiSP5.5 24535 0
αiI 2/10000 αiSP5.5 24501 0
αiI 3/10000 αiSP5.5 24521 0
αiI 6/10000 αiSP11 24570 0
αiI 8/8000 αiSP11 24497 0
αiI 12/7000 αiSP15 24499 0
αiI 15/7000 αiSP22 24556 0
αiI 18/7000 αiSP22 24575 0
αiI 22/7000 αiSP26 24564 0
αiI 30/6000 αiSP45 24575 0
αiI 40/6000 αiSP45 24575 0
αiI 50/4500 αiSP55 24575 0
αiI 1.5/15000 αiSP15 24505 0
αiI 2/15000 αiSP22 24501 0
αiI 3/12000 αiSP11 24513 0
αiI 6/12000 αiSP11 24464 24570
αiI 8/10000 αiSP11 24493 24497
αiI 12/10000 αiSP15 24499 24499
αiI 15/10000 αiSP22 24515 24556
αiI 18/10000 αiSP22 24570 24575
αiI 22/10000 αiSP26 24477 24531
- 409 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
- 410 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
- 411 -
FANUC AC SPINDLE MOTOR αi series
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiI series B-65280EN/08
- 412 -
FANUC AC SPINDLE MOTOR αi series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiI series 5.FUNCTION DESCRIPTIONS
- 413 -
II. FANUC AC SPINDLE MOTOR βi series
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 1.START-UP
1 START-UP
1.1 START-UP PROCEDURE
For this subsection, see Section 1.1, “START-UP PROCEDURE”, in Part I.
NOTE
The CNC applicable to the βi SVSP is the 0i /0i Mate-MODEL B, 0i /0i
Mate-MODEL C or 0i /0i Mate-MODEL D.
<1> Set the model code for the desired motor for automatic parameter initialization.
NOTE
When using a spindle motor that has no model code, set model code “300” for
automatic parameter setting, then manually input data according to the
model-by-model parameter list.
<2> Set the relevant parameter to enable automatic spindle parameter initialization.
NOTE
This bit is reset to its original value after automatic parameter initialization.
<3> Turn off then turn on again the power to the CNC. The spindle parameter data set with the model
code is automatically initialized.
- 417 -
1.START-UP FANUC AC SPINDLE MOTOR βi series B-65280EN/08
<5> In parameter No. 4090 (overload detection level), set the standard value of the βi series spindle
motor.
1.2.4 Alarm
For this subsection, see Subsection 1.2.5, “Alarm”, in Part I.
NOTE
1 Because of the difference in amplifier hardware specifications, the detector
configurations that can be used with the βi SVSP are limited.
2 Only a position coder or external one-rotation signal can be used as the spindle
sensor for the SVSP. (The spindle sensor refers to the detector connected to
connector JYA3.)
- 418 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 1.START-UP
JYA2 Spindle
SVSP
(TYPE A,D)
JYA2 Spindle
αi position coder
SVSP
(TYPE A,D)
JYA3
Directly connected or connected with a
gear or timing belt at a ratio of 1:1
- 419 -
1.START-UP FANUC AC SPINDLE MOTOR βi series B-65280EN/08
SVSP Spindle
(TYPE A,D)
JYA2 Spindle
SVSP
(TYPE A,D)
JYA2 Spindle
βiSVSP(6164)
- 420 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 1.START-UP
Spindle
JYA2
SVSP
(TYPE A,D) External one-rotation
signal (proximity switch)
Gear or timing belt
JYA3
- 421 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/08
2.1.2 Overview
For this subsection, see Subsection 2.1.2, “Overview”, in Part I.
2.1.7 Troubleshooting
For this subsection, see Subsection 2.1.7, “Troubleshooting”, in Part I.
2.2.2 Overview
For this subsection, see Subsection 2.2.2, “Overview”, in Part I.
- 422 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES
2.2.4 Feature
For this subsection, see Subsection 2.2.4, “Feature”, in Part I.
JYA2 Spindle
αi position coder
SVSP
(TYPE A,D)
JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
SVSP Spindle
(TYPE A,D)
- 423 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/08
JYA2 Spindle
SVSP
(TYPE A,D)
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
JYA2 Spindle
βiSVSP(6164)
Spindle
JYA2
- 424 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES
NOTE
1 For stable detection of the one-rotation signal, fix the rotation direction (bits 3 and
2 of No. 4003) for orientation at one direction.
2 Set the type (bits 3 and 2 of No. 4004) of the external one-rotation signal
(proximity switch).
3 For stable detection of the one-rotation signal, set an orientation speed (No.
4038) from 50 to 100 min-1 according to the specification of the external
one-rotation signal (proximity switch).
4 The detection of the one-rotation signal starts after the orientation speed is
reached.
5 Set the parameters (No. 4171 to No. 4174) for the numerator/denominator of an
arbitrary gear ratio between the motor sensor and spindle.
- 425 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/08
2.3.2 Overview
For this subsection, see Subsection 2.3.2, “Overview”, in Part I.
JYA2 Spindle
αi position coder
SVSP
(TYPE A,D)
JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
(2) When the spindle motor with built-in αiM sensor (or αiMZ sensor) is used
[Sample system configuration 1]
Spindle motor with built-in
JYA2 αiM sensor (or αiMZ sensor)
SVSP Spindle
(TYPE A,D)
- 426 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES
JYA2 Spindle
SVSP
(TYPE A,D)
Directly connected at a ratio of 1:1
or
connected with a gear or timing belt at a ratio of m:n
NOTE
1 When performing rigid tapping by using a signal from the sensor built into the
motor as a position feedback signal, use one of the following functions if the gear
ratio between the motor and spindle is other than 1:1
(a) Detection arbitrary gear ratio function (DMR function)
(b) Command arbitrary gear ratio function (CMR function)
2 When using the detection arbitrary gear ratio function (DMR function), set the
following:
- Parameters (No. 4171 to No. 4174) for the numerator/denominator of an
arbitrary gear ratio between the motor sensor and spindle
3 When using the detection arbitrary gear ratio function (DMR function) with a
motor containing a built-in αiMZ sensor, set bit 6 of No. 4007 to 1 so that the
alarms related to the position feedback signal (when non-Cs contouring control is
exercised) are not detected.
4 When using the command arbitrary gear ratio function (CMR function) with
FS16i, set the following:
- Enable the setting of an arbitrary gear ratio between the spindle and position
coder (bit 1 of No. 5200 = 1).
- Enable the setting of the command arbitrary gear ratio function (CMR) on rigid
tapping (bit 7 of No. 4006 = 1).
- Set the parameters for specifying the number of gear teeth on the spindle side
(No. 5221 to No. 5224).
- Set the parameters for specifying the number of gear teeth on the position
coder side (No. 5231 to No. 5234).
5 Reference position return can be performed when a motor with a built-in αiMZ
sensor is used and the spindle is directly connected to the motor or the spindle is
connected to the motor at a ratio of 1:1.
- 427 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/08
JYA2 Spindle
βiSVSP(6164)
Spindle
JYA2
SVSP
External one-rotation
(TYPE A,D)
signal (proximity switch)
NOTE
1 When using the external one-rotation signal (proximity switch), use the detection
arbitrary gear ratio function (DMR function).
2 When using the detection arbitrary gear ratio function (DMR function), set the
following:
- Parameters (No. 4171 to No. 4174) for the numerator/denominator of an
arbitrary gear ratio between the motor sensor and spindle
3 Set the type of the external one-rotation signal (proximity switch) (bits 3 and 2 of
No. 4004).
4 For stable detection of the one-rotation signal, set a reference position return
speed (No. 4074) from 50 to 100 min-1 according to the specification of the used
external one-rotation signal (proximity switch).
5 When orientation based on the external one-rotation signal is used together,
match the reference position return speed and direction with the orientation
speed and direction.
2.3.5 Sequence
For this subsection, see Subsection 2.3.5, “Sequence”, in Part I.
2.3.11 Alarm
For this subsection, see Subsection 2.3.11, “Alarm”, in Part I.
2.4.2 Overview
For this subsection, see Subsection 2.4.2, “Overview”, in Part I.
- 429 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/08
JYA2 Spindle
SVSP
(TYPE A,D)
JYA2 Spindle
αi position coder
SVSP
(TYPE A,D)
JYA3
Directly connected or connected with a
gear or timing belt at a ratio of 1:1
- 430 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES
JYA2 Spindle
βiSVSP(6164)
- 431 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/08
The βi series spindle motor, however, enables Cs contouring control in a system where an αi position
coder is used as the position sensor. In such a case, control improvements such as smooth low-speed feed
can be made by using the position coder feedback interpolation function set with the parameter below.
0i #7 #6 #5 #4 #3 #2 #1 #0
4398 PCCSCM
NOTE
1 This parameter is valid with 9D50 series H (08) edition or later.
2 When Cs contouring control is exercised in a system where an αi
position coder is used as the position sensor, the position feedback
resolution is 0.088 deg. In this case, the position error may not
converge to 0, depending on the specified position. So, a value
greater than 88 pulses (0.088 deg) must be set as the effective area
(No. 1826).
0i
Denominator of an arbitrary gear ratio between the motor sensor and spindle
4171 (HIGH) CTH1A=0
Numerator of an arbitrary gear ratio between the motor sensor and spindle
4172 (HIGH) CTH1A=0
Denominator of an arbitrary gear ratio between the motor sensor and spindle
4173 (LOW) CTH1A=1
Numerator of an arbitrary gear ratio between the motor sensor and spindle
4174 (LOW) CTH1A=1
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
These parameters set conversion coefficients (numerator, denominator) for using the
detection arbitrary gear ratio function (DMR function) by multiplying a motor sensor
(αiM sensor) feedback signal by a gear ratio to produce a spindle position feedback
signal.
When the spindle rotates Q times while the motor shaft rotates P times (there is no
common divisor other than 1 for P and Q), the settings are:
No. 4171 (No. 4173 when CTH1A = 1) = P
No. 4172 (No. 4173 when CTH1A = 1) = Q
When 0 is set in any of these parameters, the setting of 1 is assumed.
- 432 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES
NOTE
Note that if an improper value is set in this parameter, the position
coder feedback interpolation function does not function normally.
2.4.10 Alarm
For this subsection, see Subsection 2.4.10, “Alarm”, in Part I.
2.5.2 Overview
For this subsection, see Subsection 2.5.2, “Overview”, in Part I.
NOTE
Spindle synchronous control between spindles each having a different detector
configuration is possible.
- 433 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/08
JA7B Spindle
JYA2 αi position coder
SVSP
(TYPE A,D)
JYA3
JA7A
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
2nd spindle
Spindle motor with built-in αiM sensor
(or αiMZ sensor)
JA7B Spindle
JYA2 αi position coder
SVSP
(TYPE A,D)
JYA3
- 434 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES
(2) When the spindle motor with built-in αiMZ sensor is used
1st spindle
Spindle motor with built-in αiMZ sensor
CNC
JA7B Spindle
JYA2
SVSP
(TYPE A,D)
2nd spindle
Spindle motor with built-in αiMZ sensor
JA7B Spindle
JYA2
SVSP
(TYPE A,D)
- 435 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/08
JA7B Spindle
JYA2
βiSVSP
(6164)
JYA4
JA7A αiBZ sensor or αiCZ sensor (analog)
2nd spindle
Spindle motor with built-in αiM sensor
(or αiMZ sensor)
JA7B Spindle
JYA2
βiSVSP
(6164)
JYA4
αiBZ sensor or αiCZ sensor (analog)
- 436 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES
Spindle
JA7B
JYA2
External one-rotation
SVSP
signal switch (proximity
(TYPE A,D)
switch)
JYA3 Gear or timing belt
JA7A
2nd spindle
Spindle motor with built-in αiM sensor
(or αiMZ sensor)
Spindle
JA7B
JYA2
External one-rotation
SVSP
signal switch (proximity
(TYPE A,D)
switch)
JYA3 Gear or timing belt
NOTE
1 When using the external one-rotation signal (proximity switch), use the detection
arbitrary gear ratio function (DMR function).
2 When using the detection arbitrary gear ratio function (DMR function), set the
following:
- Parameters (No. 4171 to No. 4174) for the numerator/denominator of an
arbitrary gear ratio between the motor sensor and spindle
3 Set the type of the external one-rotation signal (proximity switch) (bits 3 and 2 of
No. 4004).
4 For stable detection of the one-rotation signal, detect the one-rotation signal by
performing spindle orientation before entering spindle synchronous control mode.
For orientation based on the external one-rotation signal, see Section 2.2,
“POSITION CODER METHOD ORIENTATION”, in Part I.
- 437 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βi series B-65280EN/08
2.5.12 Alarm
For this subsection, see Subsection 2.5.12, “Alarm”, in Part I.
2.6.1 Overview
For this subsection, see Subsection 2.6.1, “Overview”, in Part I.
2.6.3 Parameters
For this subsection, see Subsection 2.6.3, “Parameters”, in Part I.
- 438 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 2.EXPLANATION OF OPERATION MODES
Note that, however, the standard setting value of the following parameter differs among the βi series
spindle motors:
0i
4090 Overload detection level
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 95
This parameter sets the condition for detecting a short-time overload alarm (spindle alarm
29).
If a load more than the set percentage (maximum motor output [load meter full scale] =
100%) is applied to the spindle motor for a predetermined time period (set by parameter
No. 4123), a short-time overload alarm (spindle alarm 29) is issued.
- 439 -
3.I/O SIGNALS (CNC↔PMC) FANUC AC SPINDLE MOTOR βi series B-65280EN/08
- 440 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 3.I/O SIGNALS (CNC↔PMC)
- 441 -
4.ADJUSTMENT FANUC AC SPINDLE MOTOR βi series B-65280EN/07
4 ADJUSTMENT
4.1 VELOCITY LOOP GAIN ADJUSTMENT
4.1.1 Overview
For this subsection, see Subsection 4.1.1, “Overview”, in Part I.
4.1.2 Parameters
For this subsection, see Subsection 4.1.2, “Parameters”, in Part I.
- 442 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 5.FUNCTION DESCRIPTIONS
5 FUNCTION DESCRIPTIONS
5.1 INCRMENTAL COMMAND TYPE SPINDLE ORIENTATION
(SPINDLE ROTATION SPEED CONTROL) (OPTIONAL
FUNCTION)
5.1.1 Overview
For this subsection, see Subsection 5.3.1, “Overview”, in Part I.
JYA2 Spindle
αi position coder
SVSP
(TYPE A,D)
JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
(2) When the spindle motor with built-in αiMZ sensor is used
[Sample system configuration 1]
JYA2 Spindle motor with built-in αiMZ
sensor
SVSP
(TYPE A,D) Spindle
- 443 -
5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR βi series B-65280EN/08
JYA2 Spindle
SVSP
(TYPE A,D)
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
JYA2 Spindle
βiSVSP(6164)
- 444 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 5.FUNCTION DESCRIPTIONS
Spindle
JYA2
SVSP
(TYPE A,D) External one-rotation
signal (proximity switch)
Gear or timing belt
JYA3
NOTE
1 To detect the one-rotation signal securely, fix the direction (bits 3 and 2 of
parameter No. 4003) in which the spindle rotates during spindle orientation to one
direction.
2 Specify the type (bits 3 and 2 of parameter No. 4004) of an external one-rotation
signal (proximity switch).
3 To detect the one-rotation signal securely, set the spindle orientation speed
(parameter No. 4038) to a value between 50 and 100 min-1 according to the
specification of the external one-rotation signal (proximity switch).
4 A sequence for detecting the one-rotation signal is started after the orientation
speed has been reached.
5 Specify the denominator/numerator parameters (Nos. 4171 to 4174) of an
arbitrary gear ratio between the motor sensor and spindle.
1st- G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00
- 445 -
5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR βi series B-65280EN/08
NOTE
This subsection describes only the parameters specific to incremental command
type spindle orientation. See Section 2.2, “POSITION CODER METHOD
SPINDLE ORIENTATION” in Part I, for parameters related to other types of
spindle orientation.
5.2.1 Overview
For this subsection, see Subsection 5.4.1, “Overview”, in Part I.
- 446 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 5.FUNCTION DESCRIPTIONS
JYA2 Spindle
αi position coder
SVSP
(TYPE A,D)
JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
(2) When the spindle motor with built-in αiMZ sensor is used
[Sample system configuration 1]
JYA2 Spindle motor with built-in αiMZ
sensor
SVSP Spindle
(TYPE A,D)
JYA2 Spindle
SVSP
(TYPE A,D)
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
- 447 -
5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR βi series B-65280EN/08
JYA2 Spindle
βiSVSP(6164)
Spindle
JYA2
External one-rotation
SVSP signal (proximity switch)
(TYPE A,D) Gear or timing belt
JYA3
- 448 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 5.FUNCTION DESCRIPTIONS
NOTE
1 To detect the one-rotation signal securely, fix the direction in which the spindle
rotates during spindle orientation (bits 3 and 2 of parameter No. 4003) to one
direction.
2 Specify the type of external one-rotation signal (proximity switch) (bits 3 and 2 of
parameter No. 4004).
3 To detect the one-rotation signal securely, set the spindle orientation speed
(parameter No. 4038) to a value between 50 and 100 min-1 according to the
specification of the external one-rotation signal (proximity switch) you use.
4 A sequence for detecting the one-rotation signal is started after the orientation
speed has been reached.
5 Specify the denominator/numerator parameters of an arbitrary gear ratio between
the motor sensor and spindle (Nos. 4171 to 4174).
5.2.4 Sequence
For this subsection, see Subsection 5.4.5, “Sequence”, in Part I.
- 449 -
5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR βi series B-65280EN/08
5.3.1 Overview
The spindle fine Acc./Dec. (FAD) function realizes smooth acceleration/deceleration during rigid tapping
and Cs contouring control by performing acceleration/deceleration processing with spindle software. It
can reduce mechanical shocks that may accompany acceleration/deceleration.
NOTE
This function is usable in a combination of the βi SVSP and the FANUC Series 0i
/ 0i Mate-MODEL B or FANUC Series 0i / 0i Mate-MODEL C CNC.
CNC software
Series Edition Remark
D4A1 A(01) edition or later For the FANUC Series 0i-MB
D501 A(01) edition or later For the FANUC Series 0i Mate-MB
D6A1 A(01) edition or later For the FANUC Series 0i-TB
D701 A(01) edition or later For the FANUC Series 0i Mate-TB
D4B1 A(01) edition or later For the FANUC Series 0i-MC
D511 A(01) edition or later For the FANUC Series 0i Mate-MC
D6B1 A(01) edition or later For the FANUC Series 0i-TC
D711 A(01) edition or later For the FANUC Series 0i Mate-TC
5.3.4 Parameters
(1) List of Related Parameters
Parameter No.
Description
0i
5205 #7 Setting of fine Acc./Dec. during rigid tapping
4394#3 Spindle fine Acc./Dec. function bit
4394#4 Acceleration/deceleration type during spindle fine Acc./Dec.
4344 Feed-forward coefficient during fine Acc./Dec.
4037 Velocity loop feed-forward coefficient during fine Acc./Dec.
4408 Fine Acc./Dec. time constant
- 450 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 5.FUNCTION DESCRIPTIONS
5.3.7 Cautions
For this subsection, see Subsection 5.6.7, “Cautions”, in Part I.
5.4.1 Overview
For this subsection, see Subsection 5.7.1, “Overview”, in Part I.
- 451 -
5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR βi series B-65280EN/08
5.5.1 Overview
For this subsection, see Subsection 5.14.1, “Overview”, in Part I.
NOTE
This function cannot be used in an orientation system based on an external
one-rotation signal in which a proximity switch is used.
JYA2 Spindle
αi position coder
SVSP
(TYPE A,D)
JYA3
Directly connected or connected with a
gear or timing belt at a ratio of 1:1
- 452 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βi series 5.FUNCTION DESCRIPTIONS
SVSP
Spindle
(TYPE A,D)
JYA2 Spindle
SVSP
(TYPE A,D)
JYA2 Spindle
βiSVSP(6164)
- 453 -
5.FUNCTION DESCRIPTIONS FANUC AC SPINDLE MOTOR βi series B-65280EN/08
5.5.4 Sequence
For this subsection, see Subsection 5.14.5, “Sequence”, in Part I.
- 454 -
III. FANUC AC SPINDLE MOTOR αCi
series
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 1.START-UP
1 START-UP
1.1 START-UP PROCEDURE
A. Check the spindle-related specifications.
- CNC model
- Spindle motor
- Common power supply (PS)
- Spindle amplifier
- Detector system
D. Check the CNC parameter setting for using the αCi series
(Serial) spindle. (See Subsection 1.2.1.)
<1> Set the model code for the desired motor for automatic parameter initialization.
Parameter No.
Description
15i 16i 30i
3133 4133 4133 Model code
NOTE
When using a spindle motor that has no model code, set model code “240” for
automatic parameter setting, then manually input data according to the
model-by-model parameter list.
<2> Set the relevant parameter to 1 to enable automatic spindle parameter initialization.
Parameter No.
Description
15i 16i 30i
⎯ 4019#7 4019#7 1
5607#0 ⎯ ⎯ 0
NOTE
This bit is reset to its original value after automatic parameter initialization.
<3> Turn the CNC off, then on again. Then, the spindle parameters specified with a model code are
automatically initialized.
1.2.4 Alarm
For this subsection, see Subsection 1.2.4, “Alarm”, in Part I.
- 458 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 1.START-UP
Parameter No.
Description
15i 16i 30i
3001 #4 4001 #4 4001 #4 Spindle sensor (position coder) mounting direction
3002 4002 4002
Spindle sensor type setting (whether to use a position coder)
#3,#2,#1,#0 #3,#2,#1,#0 #3,#2,#1,#0
3003 4003 4003 Setting of the number of spindle sensor (position coder) gear teeth
#7,#6,#5,#4 #7,#6,#5,#4 #7,#6,#5,#4 (Set to 0,0,0,0.)
3005 #0 4005 #0 4005 #0 Setting of the velocity feedback method
3006#1 4006#1 4006#1 Gear ratio increment system
3007 #5 4007 #5 4007 #5 Whether to detect disconnection of feedback signals
3007 #6 4007 #6 4007 #6 Whether to detect alarms related to position feedback signals
3016 #6 4016 #6 4016 #6 Whether to detect alarms related to threading feedback
Setting of the function of detecting the one-rotation signal again
3016 #7 4016 #7 4016 #7
each time position control mode is set.
Spindle-to-motor gear ratio data (This data is selected by spindle
3056 to 3059 4056 to 4059 4056 to 4059
control input signals CTH1A and CTH2A.)
3098 4098 4098 Maximum speed for position feedback signal detection
ROTA1 Indicates the relationship between the rotation directions of spindle and spindle motor.
0 : Rotates the spindle and spindle motor in the same direction.
1 : Rotates the spindle and spindle motor in the reverse direction.
NOTE
When using a position coder, be sure to set this parameter. If this
parameter is not set correctly, the velocity error excess alarm
(spindle alarm 02), motor binding alarm (spindle alarm 31), or gear
ratio parameter setting error alarm (spindle alarm 35) may be
detected.
NOTE
When using a position coder, be sure to set this parameter. If this
parameter is not set correctly, the velocity error excess alarm
(spindle alarm 02), motor binding alarm (spindle alarm 31), or gear
ratio parameter setting error alarm (spindle alarm 35) may be
detected.
- 459 -
1.START-UP FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
This parameter sets the type of a separate detector to be attached to the spindle (detector
to be connected to connector JYA3).
The separate detector usable with the αCi series spindle is a position coder only.
NOTE
1 The feature may not be fully utilized, depending on the connection
ratio between the spindle and spindle motor or between the spindle
and position coder, the rigidity of the connection, the precision of
position coder attachment, and so forth.
2 When this bit is set to 1 with a spindle that has a gear switch
mechanism, the torque limitation command signal (TLMLA) must be
input at the start of gear switching. For details, see Chapter 3, “I/O
SIGNALS (CNC↔PMC)”, in Part III.
- 460 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 1.START-UP
Parameter No.
Description
15i 16i 30i
3056~3059 4056~4059 4056~4059 Spindle-to-motor gear ratio data
NOTE
Usually, use the 1/100 unit (setting “0”).
NOTE
Usually, set “0”.
RFCHK2 Determines whether to detect the alarm related to threading position detection signal
feedback (spindle alarm 46).
0 : Does not detect alarms.
1 : Detects alarms.
RFCHK3 Setting of the function of detecting the one-rotation signal again each time position
control mode is set.
0 : The one-rotation signal is not detected each time the operating mode changes.
Once the one-rotation signal has been detected, it is not detected again until the
power goes off.
1 : The one-rotation signal is detected each time the operating mode changes.
The gear or clutch status must correspond to the status of the CTH1A and CTH2A input
signals.
NOTE
1 When using a position coder, be sure to set these parameters. If
these parameters are not set correctly, the velocity error excess
alarm (spindle alarm 02), motor binding alarm (spindle alarm 31),
or gear ratio parameter setting error alarm (spindle alarm 35) may
be detected.
2 When an improper value is set in these parameters, an unexpected
operation can occur. For example, the spindle can continue rotating
without stopping at the time of orientation. So, be sure to set a
proper gear ratio.
NOTE
Usually, set “0”.
JYA2 Spindle
SPMC
- 462 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 1.START-UP
αCi
spindle
motor
JYA2 Spindle
αi position coder
SPMC
JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
- 463 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
2.1.2 Overview
The velocity control mode is a function for exercising velocity control to rotate the spindle motor
according to a velocity command from the CNC.
NOTE
On a CNC screen (such as the spindle monitor screen and the adjustment
screen), the velocity control mode is indicated as “NORMAL OPERATION
MODE”.
- 464 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
For details of the I/O signals common to the CNCs, see Chapter 3, “I/O SIGNALS (CNC↔PMC)”, in
Part I.
1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
NOTE
1 These signals are valid in multi-spindle control.
1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
NOTE
1 These signals are valid in multi-spindle control.
- 465 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B
NOTE
1 These signals are valid with the M series only.
- 466 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
NOTE
1 These signals are valid with the M series only.
1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B
1st- F11 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B
1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B
1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B
1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B
1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B
- 467 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
- 468 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
Parameter No.
Description
15i 16i 30i
3020 4020 4020 Maximum motor speed
3040 4040 4040 Velocity loop proportional gain on the velocity control mode
3041 4041 4041 (A parameter is selected by the PMC input signal CTH1A.)
3048 4048 4048 Velocity loop integral gain on the velocity control mode
3049 4049 4049 (A parameter is selected by the PMC input signal CTH1A.)
Spindle and motor gear ratio data
3056 to 3059 4056 to 4059 4056 to 4059
(A parameter is selected by the PMC input signals CTH1A and CTH2A.)
Acceleration/deceleration constant
3069 to 3072 4069 to 4072 4069 to 4072
(A parameter is selected by the PMC input signals CTH1A and CTH2A.)
3081 4081 4081 Delay time until the motor power is turned off
3082 4082 4082 Sets an acceleration/deceleration time.
3083 4083 4083 Motor voltage on the velocity control mode
NOTE
1 For the detector-related parameters, see Section 1.3, “PARAMETERS RELATED
TO DETECTORS”, in Part III.
2 For velocity loop proportional/integral gain adjustment, see Section 4.1,
“VELOCITY LOOP GAIN ADJUSTMENT”, in Part III.
LDTOUT Whether to output the load detection signal (LDT1A) during acceleration/deceleration
0 : Not output during acceleration/deceleration. (standard setting value)
1 : Output (at all times) during acceleration/deceleration if the parameter-set level is
exceeded.
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4019 4019 PRLOAD
- 469 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
After setting a desired motor model code in parameter No. 4133 and setting this bit to 1,
turn off the power to the CNC, then turn on the power to the CNC again. The parameters
(No. 4000 to No. 4175) for the αCi series spindle corresponding to the model code are
automatically initialized. Upon completion of automatic setting, this bit is automatically
set to “0”.
NOTE
With FS15i, the parameter address of this function is different,
namely, bit 0 of No. 5607 is used. Moreover, note that the meanings
of settings are reversed as follows.
0 : Performs automatic parameter setting.
1 : Does not perform automatic parameter setting.
In this case, set a model code in parameter No. 3133.
WARNING
The spindle motor may rotate at the maximum spindle motor speed
specified by this parameter. Therefore, this parameter must not be
set to a value greater than the maximum rotation speed indicated
by the specification of the spindle motor.
Unit of data :
Valid data range : 0 to 32767
Standard setting : Depends on the motor model.
This data is used to set the velocity loop proportional gain on velocity control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
Unit of data :
Valid data range : 0 to 32767
Standard setting : Depends on the motor model.
This data is used to set the velocity loop integral gain on velocity control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
- 470 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
NOTE
1 A parameter is selected by the input signals CTH1A and CTH2A.
Ensure that the gear or clutch state corresponds to the input signals
CTH1A and CTH2A. When the signals are not input correctly, the
overcurrent alarm (spindle alarm 12) can be issued.
2 When using a position coder, be sure to set this parameter. If this
parameter is not set correctly, the velocity error excess alarm
(spindle alarm 02), motor binding alarm (spindle alarm 31), or gear
ratio parameter setting error alarm (spindle alarm 35) may be
detected.
3 When an improper value is set in this parameter, an unexpected
operation can occur. For example, the spindle can continue rotating
without stopping at the time of orientation. So, be sure to set a
proper gear ratio.
Tc = T/(Jm+Jl) × (60/2π)
= P/N × (60/2π) /(Jm+Jl) × (60/2π)
= P/N/(Jm+Jl) × (60/2π)2
- 471 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
NOTE
1 The initial setting value satisfies a value calculated with N =
maximum speed and Jl = Jm×3.
2 A maximum specifiable acceleration/deceleration constant is based
on N = base speed.
- 472 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
NOTE
With a machine tool such as a lathe that has a large load inertia, the
acceleration/deceleration time becomes longer. In such a case, set
the value corresponding to the acceleration/deceleration time of the
machine in this parameter.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 60
This parameter is used to set a motor voltage on velocity control mode. Usually, this
parameter need not be adjusted. Use the standard setting.
2.1.7 Troubleshooting
If the spindle motor does not operate normally, take an action by referencing the items listed below
according to the state of trouble.
For an action to be taken when an alarm is issued, refer to the maintenance manual.
State of trouble
(i) When the motor does not rotate
(ii) When the motor does not rotate at a specified speed
(iii) When the motor vibrates and makes an abnormal sound when rotating
(iv) When an overshoot or hunting occurs
(v) When the cutting capability is degraded
(vi) When the acceleration/deceleration time is long
- 473 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
For Series 0i
“FANUC Series 0i-MODEL B
CONNECTION MANUAL (FUNCTION) : B-63833EN-1
Refer to Section 9.3, “SPINDLE SPEED CONTROL.”
(iii) When the motor vibrates and makes an abnormal sound when rotating
(1) Check the connections. (Refer to Descriptions (B-65372EN).)
(a) Connection of the position coder signal cable (shielding, grounding)
- 474 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
(b) The acceleration/deceleration constant may be too large. Adjust the following parameters:
15i 16i 30i Description Setting data
3069 4069 4069 Acceleration/deceleration constant (HIGH)
3070 4070 4070 Acceleration/deceleration constant (MEDIUM HIGH) Decrease the setting
3071 4071 4071 Acceleration/deceleration constant (MEDIUM LOW) values.
3072 4072 4072 Acceleration/deceleration constant (LOW)
(b) The acceleration/deceleration constant may be too small. Adjust the following parameters:
- 475 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
(c) Regenerative power limitation (Check if the same value as in the parameter table for each
motor model is set.)
15i 16i 30i Description
3080 4080 4080 Regenerative power limitation
- 476 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
I. Adjust the orientation stop (to eliminate overshoot and ensure stop-time rigidity).
- Position gain for orientation
- Velocity loop proportional gain for orientation
- Velocity loop integral gain for orientation
- Motor voltage for orientation
- Rate of change in position gain upon orientation completion
2.2.2 Overview
For this subsection, see Subsection 5.4.1, “Overview”, in Part I.
2.2.3 Feature
For this subsection, see Subsection 2.2.4, “ Feature”, in Part I.
- 477 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
αCi
spindle
motor
JYA2 Spindle
αi position coder
SPMC
JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
NOTE
The spindle sensor (separate detector) usable with the αCi series spindle
amplifier is a position coder only.
1st- G230 G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G238 G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00
- 478 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
NOTE
1 For the parameters related to detectors, see Section 1.3, “PARAMETERS
RELATED TO DETECTORS” in the Part III.
2 For velocity loop proportional/integral gain adjustment, see Section 4.1,
“VELOCITY LOOP GAIN ADJUSTMENT”, in Part III.
- 479 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
NRROEN Specifies whether to use the shortcut function when orientation is specified in the stop
state.
0 : Does not use the function.
1 : Uses the function.
When this bit is set to 1, short cut operation is performed when the following conditions
are satisfied:
- Bit 7 of parameter No. 4016 (RFCHK3) is set to 0.
- Zero speed detection output signal SSTA is set to 1.
- Shortcut command input signal NRROA is set to 1.
- 480 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
Unit of data :
Valid data range : 0 to 32767
Standard setting : Depends on the motor model.
This parameter sets the velocity loop proportional gain for spindle orientation.
When the CTH1A input signal is set to 0, proportional gain for the HIGH gear is selected.
When the CTH1A input signal is set to 1, proportional gain for the LOW gear is selected.
Unit of data :
Valid data range : 0 to 32767
Standard setting : Depends on the motor model.
This parameter sets the velocity loop integral gain for spindle orientation.
When the CTH1A input signal is set to 0, integral gain for the HIGH gear is selected.
When the CTH1A input signal is set to 1, integral gain for the LOW gear is selected.
- 481 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
NOTE
1 A parameter is selected by the input signals CTH1A and CTH2A.
Ensure that the gear or clutch state corresponds to the input signals
CTH1A and CTH2A. When the signals are not input correctly, the
overcurrent alarm (spindle alarm 12) can be issued.
2 When using a position coder, be sure to set this parameter. If this
parameter is not set correctly, the velocity error excess alarm
(spindle alarm 02), motor binding alarm (spindle alarm 31), or gear
ratio parameter setting error alarm (spindle alarm 35) may be
detected.
3 When an improper value is set in this parameter, an unexpected
operation can occur. For example, the spindle can continue rotating
without stopping at the time of orientation. So, be sure to set a
proper gear ratio.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 100
Set to 100.
- 482 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
Standard setting : 0
In the position coder method orientation, set this data to shift stop position.
Spindle is shift No. of setting pulse in CCW direction, and stops by data (+).
Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 60
This parameter sets the motor voltage for orientation. Usually, set 60.
3323 4323 4323 Acceleration at orientation deceleration time (LOW) CTH1A=1, CTH2A=1
- 483 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
2.3.2 Overview
For this subsection, see Subsection 2.3.2, “Overview”, in Part I.
αCi
spindle
motor
JYA2 Spindle
αi position coder
SPMC
JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
- 484 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
NOTE
The spindle sensor (separate detector) usable with the αCi series spindle
amplifier is a position coder only.
For details of the I/O signals common to the CNCs, see Chapter 3, “I/O SIGNALS (CNC↔PMC)”, in
Part I.
NOTE
1 The rigid tapping of the 2nd spindle is available by the multi-spindle control
function.
When SWS1 is set to 1 (regardless of whether SWS2 is set to 0 or 1), rigid
tapping is performed using the 1st spindle. When SWS1 is set to 0, and SWS2 is
set to 1, rigid tapping is performed using the 2nd spindle.
2 This signal is used when the rigid tapping of the second spindle.
According to the GR21 signal, the individual gear parameters for gear 1 or 2, also
used for the 1st spindle, are selected.
- 485 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
NOTE
1 The rigid tapping of the 2nd spindle is available by the multi-spindle control
function.
When SWS1 is set to 1 (regardless of whether SWS2 is set to 0 or 1), rigid
tapping is performed using the 1st spindle. When SWS1 is set to 0, and SWS2 is
set to 1, rigid tapping is performed using the 2nd spindle.
2 This signal is used when the rigid tapping of the second spindle.
NOTE
1 These signals are effective when M series.
NOTE
1 These signals are effective when M series.
- 486 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
2.3.5 Sequence
For a rigid tapping sequence, refer to the Connection Manual (Function) of each CNC.
- 487 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
Parameter No.
Description
15i 16i 30i
5605#2
- -
5752
- -
5885 FL speed for spindle and drilling axis acceleration/deceleration
- -
5888 on rigid tapping
- -
5891
- -
5894
- 5200#4 5200#4 Override selection at extracting
5883 5211 5211 Override value at extracting
5201#2 5201#2 Time constant at extracting
-
5271 to 5274 5271 to 5274 (No. 5274 is used for the T series only.)
1827 5300 5300 In-position width of tapping axis
5875 5301 5301 In-position width of spindle
5310
1837 5310 Allowable level of position error of tapping axis at moving
5341
5876 5311 5311 Allowable level of position error of spindle at moving
1829 5312 5312 Allowable level of position error of tapping axis at stop
5877 5313 5313 Allowable level of position error of spindle at stop
5853
Backlash of spindle
5856 5321 5321
(16i: Nos.5322 to 5324, 30i: No. 5324 is used for the T series
5859 5322 to 5324 5322 to 5324
only.)
5862
3000#4 4000#4 4000#4 Reference position return direction on servo mode
Whether to enable the rotation direction signal (SFR/SRV) on
3002#5 4002#5 4002#5
servo mode
3005#0 4005#0 4005#0 Setting of the velocity feedback method (Set to 1.)
Velocity loop proportional gain on servo mode/spindle
3044 4044 4044
synchronous control
3045 4045 4045
(It is selected by input signal CTH1A/B.)
Velocity loop integral gain on servo mode/spindle synchronous
3052 4052 4052
control
3053 4053 4053
(It is selected by input signal CTH1A/B.)
Gear ratio between spindle and motor
3056 to 3059 4056 to 4059 4056 to 4059
(It is selected by input signal CTH1A or CTH2A)
Spindle position gain on servo mode/spindle synchronous control
3065 to 3068 4065 to 4068 4065 to 4068
(It is selected by input signal CTH1A or CTH2A)
3073 4073 4073 Grid shift amount on servo mode
3074 4074 4074 Reference position return speed on servo mode
Position gain change ratio at reference position return time on
3091 4091 4091
servo mode
3085 4085 4085 Motor voltage on servo mode/spindle synchronous control
3099 4099 4099 Delay time for stable motor excitation
NOTE
1 For the parameters related to detectors, see Section 1.3, “PARAMETERS
RELATED TO DETECTORS” in the Part III.
2 For velocity loop proportional/integral gain adjustment, see Section 4.1,
“VELOCITY LOOP GAIN ADJUSTMENT”, in Part III.
- 488 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
RETSV Reference position return direction on servo mode (rigid tapping/spindle positioning)
0 : The spindle performs a reference position return operation in the
CCW(counterclockwise) direction.
1 : The spindle performs a reference position return operation in the CW(clockwise)
direction.
SVMDRT Whether to enable the rotation direction signal (SFR/SRV) function on servo mode (rigid
tapping/spindle positioning)
0 : Enables the rotation direction function.
If a move command from the CNC is positive (+),
(a) The spindle rotates in the CCW direction when the input signal SFR (bit 5 of G70) =
1.
(b) The spindle rotates in the CW direction when the input signal SRV (bit 4 of G70) =
1.
1 : Disables the rotation direction function.
If a move command from the CNC is positive (+), the spindle rotates in the CCW
direction when the input signal SFR = 1 or SRV = 1.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
These parameters set a velocity loop proportional gain on servo mode (rigid
tapping/spindle positioning) or spindle synchronous control.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
- 489 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
These parameters set a velocity loop integral gain on servo mode (rigid tapping/spindle
positioning) or spindle synchronous control.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
NOTE
For velocity loop gain setting on spindle synchronous control and
servo mode, the common parameters are used.
NOTE
1 A parameter is selected by the input signals CTH1A and CTH2A.
Ensure that the gear or clutch state corresponds to the input signals
CTH1A and CTH2A. When the signals are not input correctly, the
overcurrent alarm (spindle alarm 12) can be issued.
2 When using a position coder, be sure to set this parameter. If this
parameter is not set correctly, the velocity error excess alarm
(spindle alarm 02), motor binding alarm (spindle alarm 31), or gear
ratio parameter setting error alarm (spindle alarm 35) may be
detected.
- 490 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
NOTE
For velocity loop gain setting on spindle synchronous control and
servo mode, the common parameters are used.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 60
These parameters set a motor voltage on rigid tapping. Usually, set 60.
Unit of data : 1%
- 491 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
NOTE
An overshoot can occur at reference position return time for a cause
such as an excessively high reference position return speed and an
excessively large spindle inertia. In this case, an overshoot can be
avoided by setting a small value in this parameter.
NOTE
In switching from the velocity control mode to rigid tapping mode,
the stop time excessive error alarm can be issued intermittently.
This is because the excitation state of the spindle motor changes
abruptly, and therefore a transient state occurs in the motor, thus
moving the motor shaft slightly.
In such a case, set this parameter. In general, set a value from
about 300 to 400 (300 to 400 msec).
[Series 16i]
The position gain parameter of the tapping axis in the rigid tapping is selected as follows according to the
gear selection signal.
- 492 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
NOTE
1 When this parameter is “0”, each gear parameter becomes valid.
When this parameter is not “0”, each gear parameter becomes invalid, and this
parameter is always used.
The position gain parameter of the spindle in the rigid tapping is selected as follows according to the gear
selection signal (CTH1A/B, CTH2A/B). (This is common T series and M series)
CAUTION
Take care to input the gear selection signal GR1, GR2, GR21, GR1O, GR2O,
GR3O and CTH1A/B, CTH2A/B according to the real gear state in order to get
the same position gain of the tapping axis and that of the spindle, because GR1,
GR2, GR21, GR1O, GR2O, GR3O and CTH1A/B, CTH2A/B are inputted
independently.
[Series 30i]
The position gain parameter of the tapping axis in the rigid tapping is selected as follows according to the
gear selection signal.
Standard machining[M series]: GR3O, GR2O, GR1O
Turning [T series] and machining [M series] with surface speed constant option : GR2, GR1
Second spindle : GR22, GR21(Multi-spindle control option is needed)
- 493 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
NOTE
*1 When this parameter is “0”, each gear parameter becomes valid.
When this parameter is not “0”, each gear parameter becomes invalid, and this
parameter is always used.
The position gain parameter of the spindle in the rigid tapping is selected as follows according to the gear
selection signal (CTH1A/B, CTH2A/B). (This is common T series and M series)
CAUTION
Take care to input the gear selection signal GR1, GR2, GR21, GR22, GR1O,
GR2O, GR3O and CTH1A/B, CTH2A/B according to the real gear state in order
to get the same position gain of the tapping axis and that of the spindle, because
GR1, GR2, GR21, GR22, GR1O, GR2O, GR3O and CTH1A/B, CTH2A/B are
inputted independently.
[Series 15i]
In the rigid tapping, the same parameter address data is used for the position gain of the tapping axis and
the spindle.
Each position gain is selected as follows according to the gear selection signal (CTH1A, CTH2A).
Gear signal
Parameter No.
CTH1A CTH2A
0 0 3065
0 1 3066
1 0 3067
1 1 3068
- 494 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
5201 #2 0 : The same time constant between cutting in and out. (No. 5261 to 5264)
NOTE
1 This is not available for Machining (M series).
[Series 30i]
(1) Each parameter can be set for each gear and is selected according to the gear selection signal.
By setting the following parameter, the different time constant between the cutting in and cutting out
(extracting) becomes available.
5201 #2 0 : The same time constant between cutting in and out. (No. 5261 to 5264)
- 495 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
NOTE
1 This is not available for Machining (M series).
[Series 15i]
(1) Acc./Dec. type
5605 #1 0 : Exponential type Acc./Dec.
1 : Linear type Acc./Dec. (Standard setting)
NOTE
Usually, linear type acceleration/deceleration (bit 1 of No. 5605 = 1) is used.
(2) Set Acc./Dec. the time constant of the rigid tapping mode.
<i> The time constant is a fixed value if bit 2 of parameter No. 5605 = 0.
Acc./Dec. time constant 5751
Spindle speed 5757
<ii> When bit 2 of parameter No.5605 is set to 1, one of the four acceleration/deceleration time
constants is selected, depending on the spindle speed.
Spindle speed Acc./Dec. time constant
Gear 1 5886 5884
Gear 2 5889 5887
Gear 3 5892 5890
Gear 4 - 5893
- 496 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
2.3.11 Alarm
For this subsection, see Subsection 2.3.11, “Alarm”, in Part I.
- 497 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
B. Prepare and check the ladder programs for the spindle synchronous control function.
F. Check the direction of spindle rotation when spindle synchronous control is applied.
- Direction of spindle motor rotation when spindle synchronous control is applied.
G. Check that errors such as overshoot or hunting do not occur before the spindle achieves the
maximum speed for synchronization.
- Position gain for spindle synchronous control
- Acceleration/deceleration time constant used for spindle synchronous control
H. Check that the error pulse difference between the spindles is within ±5 pulses.
- Position gain for spindle synchronous control
- Spindle-to-motor gear ratio data
- Velocity loop proportional gain for spindle synchronous control
- Velocity loop integral gain for spindle synchronous control
- Bell-shaped acceleration/deceleration time constant for spindle synchronous control
- Motor voltage for spindle synchronous control
2.4.2 Overview
For this subsection, see Subsection 2.5.2, “ Overview “, in Part I.
- 498 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
JA7B Spindle
JYA2 αi position coder
SPMC
JYA3
JA7A
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
2nd spindle
Temperature
sensor αCi spindle motor
JA7B Spindle
JYA2 αi position coder
SPMC
JYA3
NOTE
The spindle sensor (separate detector) usable with the αCi series spindle
amplifier is a position coder only.
- 499 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
Common to all axes G032 G032 R08I R07I R06I R05I R04I R03I R02I R01I
Common to all axes G033 G033 SSGN R12I R11I R10I R09I
- 500 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
Parameter No.
Description
16i 30i
4005#0 4005#0 Setting of the velocity feedback method
4006#1 4006#1 Gear ratio increment system
Setting for disabling automatic one-rotation signal detection at spindle synchronous
4006#3 4006#3
control mode switching time
Acceleration used for spindle synchronous control
4032 4032
(The same value must be set for both the 1st and 2nd spindles.)
4033 4033 Spindle synchronous speed arrival level
4034 4034 Shift amount for spindle phase synchronous control
4035 4035 Compensation data for spindle phase synchronous control
NOTE
1 For the detector-related parameters, see Section 1.3, “PARAMETERS RELATED
TO DETECTORS”, in Part III.
2 For velocity loop proportional/integral gain adjustment, see Section 4.1,
“VELOCITY LOOP GAIN ADJUSTMENT”, in Part III.
- 501 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4002 4002 SYCDRT
SYCDRT Whether to enable the rotation direction signal (SFR/SRV) function on spindle
synchronous control
0 : Enables the rotation direction function.
If a move command from the CNC is positive (+),
(a) The spindle rotates in the CCW direction when the input signal SFR (bit 5 of
G70) = 1.
(b) The spindle rotates in the CW direction when the input signal SRV (bit 4 of
G70) = 1.
1 : Disables the rotation direction function.
If a move command from the CNC is positive (+), the spindle rotates in the CCW
direction when the input signal SFR = 1 or SRV = 1.
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4005 4005 VCTLPC
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4006 4006 SYCREF GRUNIT
Parameter No.
Description
16i 30i
4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data
NOTE
1 Usually, use the 1/100 unit (setting “0”).
2 When the 1/100 unit is set as the gear ratio setting resolution (with
the bit set to 0), a steady-state synchronous error may be indicated
due to the fraction of the gear ratio.
In such a case, the synchronous error can be improved when the
1/1000 unit is set as the gear ratio setting resolution (with the bit
set to 1).
- 502 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
SYCREF Setting for function performing automatic detection of the one-rotation signal on
spindle synchronous control
0 : Automatic detection of the one-rotation signal carried out
1 : Automatic detection of the one-rotation signal not carried out. (When spindle phase
synchronization is not carried out)
When the mode is switched to spindle synchronous control mode after power-on, the two
spindles automatically perform a one-rotation signal detection operation. So, the spindles
automatically make two to three turns even if such turns are not intended.
This operation is required because the one-rotation signal must be detected to enable
spindle phase synchronous control.
If the two spindles are mechanically connected to disable each spindle from performing a
one-rotation signal detection operation, or if spindle phase synchronous control is not
exercised, the operation above can be disabled by setting this bit to 1.
When this parameter is set to 1, check that the one-rotation signal has been detected for
both spindles (output signal PC1DTA = 1) before applying the spindle phase synchronous
control signal (SPPHS).
If the one-rotation signal is not detected, specify a speed of several ten min-1 or higher in
spindle synchronous control mode, and wait until the one-rotation signal is detected. (See
sequence example (4).)
16i 30i
4032 4032 Acceleration at spindle synchronous control
16i 30i
4034 4034 Shift amount at spindle phase synchronous control
- 503 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
16i 30i
4035 4035 Spindle phase synchronous compensation data
16i 30i
Velocity loop proportional gain on servo mode/on spindle synchronous control
4044 4044 (HIGH) CTH1A=0
Velocity loop proportional gain on servo mode/on spindle synchronous control
4045 4045 (LOW) CTH1A=1
Unit of data :
Valid data range : 0 to 32767
Standard setting : Varies with the motor model.
This parameter sets a velocity loop proportional gain on servo mode (rigid
tapping/spindle positioning) or spindle synchronous control.
It is selected HIGH when CTH1A=0 of input signal, and It is selected LOW when
CTH1A=1 of input signal.
16i 30i
Velocity integral gain on servo mode/on spindle synchronous control (HIGH)
4052 4052 CTH1A=0
Unit of data :
Valid data range : 0 to 32767
Standard setting : Depend on motor model.
This parameter sets a velocity loop integral gain on servo mode (rigid tapping/spindle
positioning) or spindle synchronous control.
It is selected HIGH when CTH1A=0 of input signal, and It is selected LOW when
CTH1A=1 of input signal.
NOTE
For velocity loop gain setting on spindle synchronous control and
servo mode, the common parameters are used.
16i 30i
4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1
- 504 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
NOTE
1 A parameter is selected by the input signals CTH1A and CTH2A.
Ensure that the gear or clutch state corresponds to the input signals
CTH1A and CTH2A. When the signals are not input correctly, the
overcurrent alarm (spindle alarm 12) can be issued.
2 When using a position coder, be sure to set this parameter. If this
parameter is not set correctly, the velocity error excess alarm
(spindle alarm 02), motor binding alarm (spindle alarm 31), or gear
ratio parameter setting error alarm (spindle alarm 35) may be
detected.
16i 30i
Position gain on servo mode/on spindle synchronous control (HIGH)
4065 4065 CTH1A=0, CTH2A=0
Position gain on servo mode/on spindle synchronous control (MEDIUM HIGH)
4066 4066 CTH1A=0, CTH2A=1
Position gain on servo mode/on spindle synchronous control (MEDIUM LOW)
4067 4067 CTH1A=1, CTH2A=0
Position gain on servo mode/on spindle synchronous control (LOW)
4068 4068 CTH1A=1, CTH2A=1
NOTE
For velocity loop gain setting on spindle synchronous control and
servo mode, the common parameters are used.
16i 30i
4085 4085 Motor voltage setting on spindle synchronous control
Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 60
Set a motor voltage for spindle synchronous control.
Usually, set to 60.
16i 30i
4336 4336 Acceleration switch point on spindle synchronous control
- 505 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
This parameter sets a switching speed for acceleration on spindle synchronous control.
• Area above the set speed
Linear acceleration/deceleration is performed according to the acceleration value set
in the acceleration parameter (No. 4032) on spindle synchronous control.
• Area below the set speed
Acceleration changes according to the torque characteristics of the spindle motor.
NOTE
1 Set the same data for the first spindle and second spindle. If
different data is set, synchronization between the two spindles is not
guaranteed.
2 When this parameter is set to 0, linear acceleration/deceleration is
performed.
16i 30i
Bell-shaped acceleration/deceleration time constant for spindle synchronous
4340 4340 control
NOTE
Set the same data for the first spindle and second spindle. If
different data is set, synchronization between the two spindles is not
guaranteed.
- 506 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
2.4.12 Alarm
For this subsection, see Subsection 2.5.12, “Alarm “, in Part I.
2.5.1 Overview
This section describes the I/O signals (CNC↔PMC), parameters, diagnosis signals, and alarms common
to all operation modes.
For details of the I/O signals common to the CNCs, see Chapter 3, “I/O SIGNALS (CNC↔PMC)”, in
Part I.
1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
- 507 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
NOTE
1 These signals are valid in multi-spindle control.
1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
NOTE
1 These signals are valid in multi-spindle control.
1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B
- 508 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
NOTE
1 The signal functions of the αCi series differ from those of the αi
series. For details, see Chapter 3, “I/O SIGNALS (CNC↔PMC)”, in
Part III.
NOTE
1 These signals are valid with the M series only.
NOTE
1 These signals are valid with the M series only.
- 509 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B
1st- F11 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B
1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B
1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B
1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B
1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B
2.5.3 Parameters
This subsection describes those parameters that are common to all operation modes by dividing them into
several types.
NOTE
For the detector-related parameters, see Section 1.3, “PARAMETERS RELATED
TO DETECTORS”, in Part III.
- 510 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
Parameter No.
Description
15i 16i 30i
3011#3 4011#3 4011#3 Sets the number of motor polarities.
3011#4 4011#4 4011#4 Sets a maximum output for acceleration/deceleration.
3011#7 4011#7 4011#7 Sets the number of motor polarities.
3012#2,#1,#
4012#2,#1,#0 4012#2,#1,#0 Sets a PWM carrier frequency.
0
3013#6 to #2 4013#6 to #2 4013#6 to #2 Sets current dead-band data.
3020 4020 4020 Maximum motor speed
3080 4080 4080 High-speed area regenerative power limit/regenerative power limit
3083 4083 4083 Motor voltage on velocity control motor
3100 4100 4100 Base speed for motor output specification
3101 4101 4101 Torque limitation value for motor output specification
3102 4102 4102 Excitation voltage saturation speed with no load
3103 4103 4103 Base speed limit ratio
3104 4104 4104 Current loop proportional gain
3105 4105 4105 Current loop integral gain
3106 4106 4106 D-axis current loop gain
3107 4107 4107 Q-axis current loop gain
3108 4108 4108 Q-axis current deviation limitation coefficient
3109 4109 4109 Filter time constant in voltage command saturation processing
3110 4110 4110 Current conversion constant
3111 4111 4111 Secondary current coefficient
3112 4112 4112 Voltage command saturation decision level/PWM command clamp value
3113 4113 4113 Slip constant
3115 4115 4115 PWM command clamp value at deceleration time
3116 4116 4116 Motor leakage constraint
Voltage compensation coefficient for a high-speed area in steady
3117 4117 4117
state/motor voltage coefficient in steady state
Voltage compensation coefficient for a high-speed area at deceleration
3118 4118 4118
time/motor voltage coefficient at deceleration time
Time constant for excitation current change at deceleration time/time
3119 4119 4119
constant for excitation current change
3120 4120 4120 Dead-band compensation data
3127 4127 4127 Load meter indication value at maximum output time
Compensation coefficient between the specification and true
3128 4128 4128
base/maximum torque curve compensation coefficient
Current loop proportional gain velocity coefficient/current phase delay
3130 4130 4130
compensation constant
3131 4131 4131 Dead-band compensation hysteresis
3133 4133 4133 Motor model code
3134 4134 4134 Motor overheat level (2 words)
Parameter No.
Description
15i 16i 30i
Motor power turn-off method when spindle alarm 24 (serial data transfer
3009#2 4009#2 4009#2
error) is issued
Gear ratio parameter setting error alarm (spindle alarm 35) detection
3086 4086 4086
level
3088 4088 4088 Velocity error excess detection level when the motor is bound
- 511 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
Parameter No.
Description
15i 16i 30i
3089 4089 4089 Velocity error excess detection level when the motor is rotating
3090 4090 4090 Overload detection level
3123 4123 4123 Short-time overload detection period
Parameter No.
Description
15i 16i 30i
- 3706#1,#0 - Gear ratio between the spindle and position coder (cases of ×1, ×2, ×4, ×8)
Whether to indicate an alarm detected by the spindle amplifier (Usually, set
5602#3 - -
0.)
5807#0 - - Enables/disables the spindle alarms (SPxxxx) of all spindles. (Usually, set 0.)
5842 - 3720 Number of position coder pulses
5850 - - Spindle number selected at power-on/reset time
3001#0 4001#0 4001#0 Whether to use the MRDY signal (machine ready signal)
3002#4 4002#4 4002#4 SM pin output data selection
3005#0 4005#0 4005#0 Setting of the velocity feedback method
3006#1 4006#1 4006#1 Gear ratio increment system
3006#2 4006#2 4006#2 Sets the unit of speed.
Whether to output the load detection signal (LDT1A) during
3009#4 4009#4 4009#4
acceleration/deceleration
3019#7 4019#7 4019#7 Automatic parameter setting function
3020 4020 4020 Maximum motor speed
3022 4022 4022 Speed arrival detection signal
3023 4023 4023 Speed detection level
3024 4024 4024 Speed zero detection level
3025 4025 4025 Torque limitation value.
3026 4026 4026 Load detection level 1
3056 4056 4056 Gear ratio (High)
3057 4057 4057 Gear ratio (Medium High)
3058 4058 4058 Gear ratio (Medium Low)
3059 4059 4059 Gear ratio (Low)
3078 4078 4078 Gear switch timer
3095 4095 4095 Speedometer output voltage adjustment value
3121 4121 4121 Torque change time constant (torque command filter time constant)
- 512 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
ALSP Motor power turn-off method when serial data transfer error (spindle alarm 24) is issued
0 : Turns off the power after the motor is decelerated and stopped.
1 : Turns off the power to the motor immediately.
Set this parameter to 1 to turn off the power to the motor immediately when any spindle
alarm is issued
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 90
This parameter sets a condition for detecting the short-time overload alarm (spindle alarm
29).
- 513 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
If the state where a load equal to or greater than setting data (%) (maximum motor output
= 100%) is imposed on the spindle motor lasts for a specified period (set in No. 4123) or
more, the short-time overload alarm (spindle alarm 29) is issued.
- 514 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
NOTE
1 The feature may not be fully utilized, depending on the connection
ratio between the spindle and spindle motor or between the spindle
and position coder, the rigidity of the connection, the precision of
position coder attachment, and so forth.
2 When this bit is set to 1 with a spindle that has a gear switch
mechanism, the torque limitation command signal (TLMLA) must be
input at the start of gear switching. For details, see Chapter 3, “I/O
SIGNALS (CNC↔PMC)”, in Part III.
Parameter No.
Description
15i 16i 30i
3056 to 3059 4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data
NOTE
Usually, use the 1/100 unit (setting “0”).
LDTOUT Whether to output the load detection signal (LDT1A) during acceleration/deceleration
0 : Does not output the load detection signals during acceleration/ deceleration
(standard setting value).
1 : Outputs the load detection signals during acceleration/ deceleration (at all times)
when the parameter-set level is exceeded.
- 515 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
NOTE
Usually, set this parameter to 1 not to perform clamping.
NOTE
With FS15i, the parameter address of this function is different,
namely, bit 0 of No. 5607 is used. Moreover, note that the meanings
of settings are reversed as follows.
0: Performs automatic parameter setting.
1: Does not perform automatic parameter setting.
In this case, set a model code in parameter No. 3133.
- 516 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 2.EXPLANATION OF OPERATION MODES
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 50
This parameter sets a torque limitation value to be applied when the torque limitation
command HIGH (TLMHA) is specified.
The data indicates limitation values when the maximum torque is 100%.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 83
This parameter sets a load detection signal 1 (LDT1A) detection range.
When the output of the spindle motor is (setting data)% of the maximum output or more,
load detection signal 1 (LDT1A) is set to 1.
- 517 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
NOTE
1 A parameter is selected by the input signals CTH1A and CTH2A.
Ensure that the gear or clutch state corresponds to the input signals
CTH1A and CTH2A. When the signals are not input correctly, the
overcurrent alarm (spindle alarm 12) can be issued.
2 When using a position coder, be sure to set this parameter. If this
parameter is not set correctly, the velocity error excess alarm
(spindle alarm 02), motor binding alarm (spindle alarm 31), or gear
ratio parameter setting error alarm (spindle alarm 35) may be
detected.
3 When an improper value is set in this parameter, an unexpected
operation can occur. For example, the spindle can continue rotating
without stopping at the time of orientation. So, be sure to set a
proper gear ratio.
NOTE
Usually, this parameter need not be adjusted.
- 518 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 3.I/O SIGNALS (CNC↔PMC)
- 519 -
3.I/O SIGNALS (CNC↔PMC) FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
- 520 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 3.I/O SIGNALS (CNC↔PMC)
LOW
Gear shifter
HIGH
LOW
Gear state
HIGH
Clutch/gear signals 1
(CTH1A,CTH2A) 0
- 521 -
3.I/O SIGNALS (CNC↔PMC) FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
- 522 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 4.ADJUSTMENT
4 ADJUSTMENT
4.1 VELOCITY LOOP GAIN ADJUSTMENT
4.1.1 Overview
Optimum adjustment of the velocity loop gain increases the position loop gain, therefore significantly
enhancing disturbance suppression performance, positioning speed and accuracy. So, the adjustment of
the velocity loop gain is very important in servo adjustments, and it should be performed first. This
section explains the parameters for velocity loop gain adjustment and the adjustment procedure.
To check the waveform of a torque command, position error, or so on, use the spindle check board and an
oscilloscope, or the servo guide (see Appendix F).
4.1.2 Parameters
There are four operation modes in spindle control: velocity control mode, orientation, servo mode (rigid
tapping and spindle positioning), and spindle synchronous control. There are parameters corresponding to
each operation mode and to the clutch/gear signals (CTH1A and CTH2A). The following shows the
parameters for each operation mode.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
(2) Orientation
15i 16i 30i
3042 4042 4042 Velocity loop proportional gain on orientation (HIGH) CTH1A=0
3043 4043 4043 Velocity loop proportional gain on orientation (LOW) CTH1A=1
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
- 523 -
4.ADJUSTMENT FANUC AC SPINDLE MOTOR αCi series B-65280EN/08
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
NOTE
For the velocity loop gain on spindle synchronous control and on the
servo mode, common parameters are used.
- 524 -
B-65280EN/08 FANUC AC SPINDLE MOTOR αCi series 4.ADJUSTMENT
NOTE
When the rigidity of the spindle is low, the standard setting of the velocity loop
gain may be so high that oscillation can occur. In such a case, decrease the
velocity loop gain.
(2) Adjustment
When adjusting the velocity loop gain, check the operation mode and clutch/gear signal, and modify
corresponding parameters. Follow the steps below to adjust the parameters:
NOTE
The oscillation limit varies with the spindle inertia. In a machine in which the
inertia varies largely according to the tool and workpiece used, adjustment must
be made in the smallest inertia state.
- 525 -
IV. FANUC BUILT-IN SPINDLE MOTOR
BiS series
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 1.START-UP
1 START-UP
1.1 START-UP PROCEDURE
A. Check the spindle-related specifications.
- CNC model
- Spindle motor
- Power supply (PS)
- Spindle amplifier
- Sub module SM (SSM)
- Detector system
D. Check the CNC parameter setting for using the BiS series
(Serial) spindle. (See Subsection 1.2.1.)
- 529 -
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
Parameter No.
15i 16i 30i Description
<2> Set the relevant parameter to enable automatic spindle parameter initialization.
Parameter No.
15i 16i 30i Description
- 4019#7 4019#7 1
5607#0 - - 0
NOTE
This bit is reset to its original value after automatic parameter initialization.
<3> Turn off then turn on again the power to the CNC. The spindle parameter data common to each
model is automatically initialized.
<4> Input parameters manually according to the model-by-model parameter list.
<5> Set detector-related parameters according to the detector configuration.
1.2.5 Alarm
For this subsection, see Subsection 1.2.5, “Alarm”, in Part I.
- 530 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 1.START-UP
NOTE
In the sample system configurations below, spindle amplifier (SP) TYPE B is
used, assuming that the sub module SM is connected.
- 531 -
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
JYA2
SP
TYPE B
Thermistor
- 532 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 1.START-UP
NOTE
When using the αiCZ sensor (serial), use spindle software of the following series
and editions:
・9D80/08 edition or later
・9D90/01 edition or later
・9DA0/01 edition or later
1.4.1 Overview
The sub module SM (SSM) protects the amplifier and motor against an overvoltage caused by the motor
counter electromotive voltage of the BiS series spindle (synchronous built-in spindle motor), for example,
when a spindle alarm is issued.
CAUTION
1 This section provides information important to safe use of the BiS series spindle
(synchronous built-in spindle motor). Be sure to read this section.
2 To use the BiS series spindle motor safely, be sure to connect the SSM.
3 Specify the parameter related to the SSM (bit 5 of parameter No. 4008 to 1) and
confirm that the SSM operates securely (see Subsection 1.4.7).
1.4.3 Configuration
The following figure shows the connection of the sub module SM.
For the specifications of the sub module SM and connection details, refer to “FANUC SERVO
AMPLIFIER αi series DESCRIPTIONS (B-65282EN)”.
Speed feedback
SP JYA2 αiBZ / αiCZ BiS series Spindle
TYPE B sensor spindle motor
JYA4 CX31
TB2
or
CZ2
Power line terminal
SSM (sub module SM)
- 533 -
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NOTE
To use the sub module SM, spindle amplifier (SP) TYPE B is required.
SSMUSE This parameter sets whether to use the sub module SM (SSM).
0 : Does not use the sub module SM.
1 : Uses the sub module SM.
To use the synchronous built-in spindle motor safely, connect the SSM securely and set this bit to
"1".
- 534 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 1.START-UP
(Timing chart)
SSMBRK
1.4.7 Caution
CAUTION
This subsection provides notes on using the BiS series spindle safely. Fully
understand the instructions described in this subsection before using the BiS
series spindle.
(1) To check that the SSM operates normally, conduct an SSM self test at least once a day. An SSM self
test is conducted on the rising edge of the emergency stop signal *ESP. The execution time
(corresponding to “t” in the figure below) of the self test is about 450 msec (with 9D53 series H (08)
edition or later, 9D70 series G (07) edition or later, 9D80 series B (02) edition or later; 9D90 series
A (01) edition or later, and 9DA0 series A (01) edition or later about 250 msec with any edition
earlier than the above).
- 535 -
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
MCC t
MCC: The MCC is connected between the power supply and common power
supply (PS), and the MCC switch signal line is connected to the CX3 of the
common power supply (PS). The MCC is turned on/off by the emergency
stop signal *ESP (G071#1).
(2) By conducting the test described below at least once after SSM installation, check that the SSM self
test function operates normally. If this test is not conducted, the function for protecting the SSM
amplifier and motor can be lost, resulting in damage to the amplifier or motor, for example, when a
power failure occurs.
Step 1. Turn off the power to the machine.
Step 2. To prevent the power to the motor from being turned on during testing, detach the CX3
connector on the common power supply (PS) connected to the SSM and also detach the
CX31 connector on the sub module SM.
Step 3. Turn on the power to the machine.
Step 4. After the CNC starts up and the indication of “--” on the spindle amplifier (SP) is turned
on, set the emergency stop signal (*ESP) to 1.
Step 5. The self test function is operating normally if spindle alarm 89 is issued at emergency stop
cancellation time. If the alarm is not issued, the cable, parameter, or spindle amplifier (SP)
is abnormal.
Step 6. Turn off the power to the machine. Be sure to reinstall the CX3 and CX31 connectors.
(3) If a spindle alarm is issued and the spindle amplifier (SP) detects the input of the motor power
turn-off signal (MPOF), the SSM is activated and the motor is decelerated to a stop. This
deceleration differs from ordinary deceleration in that it is dynamic brake operation caused by
short-circuits between motor pins by the SSM, however. If the SSM is faulty at this time, the spindle
amplifier (SP) can be damaged.
(4) After the SSM is activated, the spindle amplifier (SP) ignores any alarm reset unless the speed zero
state (speed zero signal SST = 1) continues for at least 5 sec (with 9D53 series G (07) edition or later,
9D70 series F (06) edition or later, or 9D80 series B (02) edition or later; for at least 120 sec with
any edition earlier than the above). For resetting of the alarm, the speed zero state (SST = 1) needs to
be set.
(5) After the SSM is activated, the SP ignores any alarm reset during the period described in item (4).
When the SSM is active, reset the alarm after the period has elapsed. If the alarm is reset in the state
where a command is input, the motor can abruptly start rotation. So, specify such a sequence that all
commands are cleared when an alarm is issued or MPOF is input, and the cleared commands are
specified again upon completion of alarm resetting.
(6) If the motor power turn-off signal MPOF is input, the SSM is activated. So, a deceleration to a stop
(dynamic brake operation, which differs from ordinary deceleration) occurs instead of a free-run
stop.
(7) When the SSM is faulty, inputting the motor power turn-off signal MPOF may damage the spindle
amplifier (SP). So, ensure that MPOF is not input in a high-speed area where the SSM is needed.
- 536 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 1.START-UP
(8) Do not insert a switch element such as an electromagnetic contactor in the power line between the
spindle amplifier (SP) and synchronous built-in spindle motor. If the power line is broken during
rotation, the amplifier or motor can be damaged.
1.5.1 Overview
To control the synchronous built-in spindle motor, information about the pole position (phase) of the
rotor is needed. Operation for detecting the pole position (phase) of the rotor is referred to as pole
position detection. Immediately after the power is turned on or if pole position information is lost for a
cause such as an alarm, pole position detection needs to be performed before the motor can be driven.
Three pole position detection modes are available:
• Minute moving mode (usable with 9D53 series I edition or later, 9D70 series H edition or later,
9D80 series B edition or later, 9D90 series A edition or later, and 9DA0 series A edition or later)
• Auto select mode (usable with 9D53 series C edition or later, 9D70 series B edition or later, 9D80
series B edition or later, 9D90 series A edition or later, and 9DA0 series A edition or later)
• DC current mode
By setting the phase difference between the pole position (phase) of the rotor and the one-rotation signal
generation position beforehand in a parameter, control can be exercised using a parameter-set offset value
and one-rotation signal position as reference data after one-rotation signal detection (AMR offset
function).
- 537 -
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
WARNING
1. For the BiS series spindle motor, if pole position detection and other basic
parameter settings are inappropriate, the correct pole position cannot be
detected, and the motor may move unpredictably or the maximum motor speed
may be exceeded.
2. To avoid danger due to the above symptom, performing the following action is
recommended until normal spindle motor operation is confirmed:
<1> Specify a value smaller than or equal to 10% of the specified maximum
motor speed for the maximum motor speed parameter (No. 4020 for
FS30i, 16i or No. 3020 for FS15i).
<2> Specify a low torque limitation value to limit the torque (for example,
specify 10% for the torque limitation parameter (No. 4025) and set torque
limitation command signal TLMHA to 1) so that the motor is not
accelerated suddenly.
<3> Be sure to close the protection door during pole position detection and
subsequent command input.
If these conditions are not satisfied and the correct pole position cannot be
detected, the motor may move unpredictably with the maximum torque until the
SP detects an overspeed alarm.
3. Use the pole detection state signals to create the following sequence with the
PMC:
<1> When the protection door is open, starting pole position detection is
prohibited.
<2> If the protection door is opened during pole position detection (from the
start of detection until pole position detection signal EPFIX is set to 1),
pole position detection is stopped.
<3> In the pole position undetected state (when EPFIX is set to 0), no
command is input.
- 538 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 1.START-UP
IINORM
Motor speed
NOTE
In the auto select mode, pole position detection is enabled even when the motor
is locked because the stop mode can be selected. To select the stop mode,
however, the following conditions must be satisfied:
• The saliency of the motor is sufficiently large. (Lq-Ld>1mH)
• At about 70% of the maximum current, a magnetic saturation of 5% or more is
generated (the torque constant decreases by 5% or more.)
If either of the above conditions is not satisfied, the precision of detection may be
degraded or the pole position may be unable to be detected. So, confirm that
operation in the stop mode can be performed normally before using the auto
select mode.
When the minute moving mode or auto select mode is used, the velocity feedback may exceed the value
set in parameter No. 4450 (velocity feedback threshold) due to noise and a symptom such as the
following may occur: Pole position detection is not started or is not completed. In this case, follow the
steps below:
<1> First, check the noise level of the velocity feedback.
<2> When the noise level of the velocity feedback is 5.5 min-1 or less, set the lower two digits (velocity
feedback threshold) of parameter No. 4450 to the standard setting (0: 11 min-1).
<3> When the noise level of the velocity feedback exceeds 5.5 min-1, first reduce the noise by
suppressing it. If the noise cannot be reduced to the allowable level by any means, set the lower two
digits (velocity feedback threshold) of parameter No. 4450 to about double the noise level.
- 539 -
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
Motor speed
Example of pole position detection: DC current mode Example of pole position detection: DC current mode
Parameter No. 4083=5030 Parameter No. 4083=5030
WARNING
1. The AMR offset is a parameter indicating the phase relationships between the
motor magnetic pole position and motor sensor. After the phase relationships
are changed due to a cause such as the replacement of the motor sensor or the
loading of parameters of another machine, the AMR offset must be adjusted
again.
2. If an inappropriate value is set for the AMR offset parameter, after the execution
of the AMR offset, the motor may not recognize the correct magnetic pole
position, may move unpredictably, and may rotate at a speed higher than the
specified speed.
NOTE
This function can be used with 9D53 series C (03) edition or later, 9D70 series B
(02) edition or later, 9D80 series B (02) edition or later, 9D90 series A (01)
edition or later, and 9DA0 series A (01) edition or later.
- 540 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 1.START-UP
Updates estim ated pole position based on Update estim ated pole position based on
P ole position initial phase determ ined by pole position A M R offset (param eter No. 4084) of
detection. one-rotation signal position.
360°
No.4084
(A M R offset)
0°
Tim e
P ole position O ne-rotation
detection com pleted signal detected
<1> After the power is turned on, pole position detection is performed.
“The precision of the estimated pole position” is “the precision of pole position detection.” So, the
width of the error between the estimated and true pole positions is determined depending on the
precision of pole position detection.
<2> When a rotation command is input, the motor rotates and the estimated pole position is updated
using the feedback data of the motor sensor based on the initial pole position determined in step <1>.
So, the error of the initial value determined in step <1> is the error of the estimated pole position
with no change.
<3> When the AMR offset function is enabled (when bit 6 of parameter No. 4008 is 0 and the value of
parameter No. 4084 is the adjustment value and is not 0), the following processing compensates the
displacement of the detected pole position above.
When the motor rotates and the one-rotation signal is detected, the estimated pole position is forcibly
replaced with AMR offset data (parameter No. 4084). AMR offset processing is executed only when
the one-rotation signal is detected for the first time after pole position detection.
(*) Checking the pole position when the one-rotation signal is detected
• On the diagnosis screen :
Set parameter No. 4532 to 2. The pole position is displayed on diagnosis screen No. 720 (1st
spindle). This function may be unavailable depending on the spindle software edition. For
details, see Subsection 1.5.5(2), “Parameters related to AMR offset”.
• On the spindle check board :
Make a setting for display. (d-01=977, d-02=0, d-03=0, d-04=0)
<3> The checked pole position contains the detection error. Check the pole position as described in step
<2> several times and find the average.
<4> Turn motor excitation off, then set the average found in step <3> in parameter No. 4084.
WARNING
If an inappropriate value is set for the AMR offset (parameter No. 4084), after the
execution of the AMR offset, the motor may move unpredictably. So, observe the
following rules strictly when setting the parameter:
- Set the parameter in the emergency stop signal input state.
- Confirm that the setting is the same as the average found in step <3>.
- 541 -
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
<5> Turn the power off, then on again and perform pole position detection. Accelerate and decelerate the
motor with the forward and reverse rotation commands at about 100 min-1, and check whether the
motor rotates normally.
<6> By using the SERVO GUIDE or spindle check board, measure the torque command, actual speed,
and the torque command in a constant rotation when acceleration/deceleration operation is
performed with the forward (SFR) and reverse (SRV) commands at the maximum speed.
<7> Compare the torque command and actual speed during forward rotation with those during reverse
rotation to check whether the AMR offset setting is appropriate. When the acceleration time,
deceleration time, and torque command amplitude during forward rotation are almost the same as
those during reverse rotation, the AMR offset data setting (parameter No. 4084) is appropriate.
<8> If they are not almost the same, the AMR offset data setting (parameter No. 4084) is inappropriate.
In this case, adjust the value of parameter No. 4085 (parameter for checking and fine-adjusting the
AMR offset) so that they are almost the same.
<9> After the completion of adjustment, set the following values in parameters Nos. 4084 and 4085:
No.4084 (new) = No.4084 (old) + No.4085 (old)
No.4085 (new) = 0
WARNING
Observe the following rules strictly when setting the parameters for the same
reasons as described in WARNING in step <4>:
- Set the parameters in the emergency stop signal input state.
- Confirm that the settings are the same as the values in step <9>.
(b) Forward rotation command signal (SFRA) and reverse rotation command
signal (SRVA)
(1) When bit 7 (EPFSIG) of parameter No. 4007 is set to 0:
One of these signals starts pole position detection operation.
- 542 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 1.START-UP
Input one of the signals. The velocity command is ignored while the pole position undetected state
(EPFIX = 0). However, as soon as EPFIX is set to 1 (the pole position detection completed), the
velocity command is accepted to start rotation.
(2) When bit 7 (EPFSIG) of parameter No. 4007 is set to 1:
When this setting is made, these signals operate not as signals for starting pole position detection,
but as those for simply turning excitation on. Before starting pole position detection operation
(EPFSTR = 1), input either signal of SFR and SRV.
The upper two digits (thousands and hundreds) indicate a current ratio in pole position
detection, and the lower two digits (tens and ones) indicate a motor stop confirmation
time.
NOTE
If pole detection position precision is insufficient for a cause such
as friction, the motor output torque may decrease. In such a case,
this parameter needs to be adjusted.
Usually, set this parameter to 1 (auto select or Minute moving mode) to use the function.
NOTE
This parameter is valid with 9D53 series C (03) edition or later,
9D70 series B (02) edition or later, 9D80 series B (02) edition or
later, 9D90 series A (01) edition or later, and 9DA0 series A (01)
edition or later.
- 544 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 1.START-UP
Usually, set this parameter to 1 (minute moving mode) to use the function.
NOTE
This parameter is valid with 9D53 series I (09) edition or later, 9D70
series H (08) edition or later, 9D80 series B (02) edition or later,
9D90 series A (01) edition or later, and 9DA0 series A (01) edition
or later.
The upper three digits (ten thousands, thousands, and hundreds) indicate a direction
detection current, and the lower two digits (tens and ones) indicate a polarity
determination current.
NOTE
This parameter is valid with 9D53 series C (03) edition or later,
9D70 series B (02) edition or later, 9D80 series B (02) edition or
later, 9D90 series A (01) edition or later, and 9DA0 series A (01)
edition or later.
The upper three digits (ten thousands, thousands, and hundreds) indicate a travel distance
allowance magnification, and the lower two digits (tens and ones) indicate a velocity
feedback threshold.
- 545 -
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NOTE
This parameter is valid with 9D53 series C (03) edition or later,
9D70 series B (02) edition or later, 9D80 series B (02) edition or
later, 9D90 series A (01) edition or later, and 9DA0 series A (01)
edition or later.
NEGREF Sets whether to use a one-rotation signal of the motor sensor as reference pole position
data.
0 : Uses the one-rotation signal position of the motor sensor as reference pole position
data.
1 : Does not use the one-rotation signal position of the motor sensor as reference pole
position data.
When this parameter is set to “1,” the spindle amplifier operates based on the initial pole
position detected by pole position detection operation regardless of the one-rotation
signal position of the motor sensor.
Usually, set this parameter to 0 (uses the AMR offset function) to use the spindle
amplifier.
CAUTION
1 This parameter needs to be adjusted for individual motors. If
parameters for another machine are loaded, clear and adjust this
parameter after loading the parameters.
2 This parameter indicates the phase relationships between the
motor and motor sensor. After the phase relationships are changed
due to a cause such as the replacement of the motor sensor, adjust
the AMR offset again.
- 546 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 1.START-UP
NOTE
1 This parameter is valid with 9D53 series C (03) edition or later,
9D70 series B (02) edition or later, 9D80 series B (02) edition or
later, 9D90 series A (01) edition or later, and 9DA0 series A (01)
edition or later.
2 When the spindle software edition is earlier than the editions above,
set this parameter to 0.
CAUTION
1 After the adjustment with this parameter, change the following
parameters in the emergency stop state:
2 Add the adjusted value of parameter No. 4085 to the setting of
parameter No. 4084, and set the obtained value for parameter No.
4084 as the new AMR offset value.
3 After setting parameter No. 4084 again, set parameter No. 4085 to
"0".
4 Turn the power off, then on again.
NOTE
1 This parameter is valid with 9D53 series C (03) edition or later,
9D70 series B (02) edition or later, 9D80 series B (02) edition or
later, 9D90 series A (01) edition or later, and 9DA0 series A (01)
edition or later.
2 When the spindle software edition is earlier than the editions above,
set this parameter to 0.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
Set this parameter to 2 when an AMR offset candidate value is to be checked on the
diagnosis screen of the CNC. An AMR offset candidate value (pole position
corresponding to a one-rotation signal position counted relative to the pole detection
position) can be checked with the following numbers on the diagnosis screen of the CNC:
- 547 -
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NOTE
1 When this function is used, the following combinations of spindle
software and CNC software must be used:
For spindle software 9D53 series F edition or later and 9D80 series
B edition or later
FS16i /160i /160is-TB : B1HA series V (22) edition or later
FS16i /160i /160is-MB : B0HA series P (16) edition or later
FS18i /180i /180is-TB : BEHA series V (22) edition or later
FS18i /180i /160is-MB : BDHA series P (16) edition or later
FS18i /180i /180is-MB5 : BDHE series F (06) edition or later
FS21i /210i /210is-TB : DEHA series V (22) edition or later
FS21i /210i /210is-MB : DDHA series P (16) edition or later
For spindle software 9D70 series E edition or later and 9D80 series
B edition or later
FS30i /300i /300is-A : G002/G012/G022 series F (6.0)
edition or later
FS31i /310i /310is-A5 : G121/G131 series F (6.0) edition or
later
FS31i /310i /310is-A : G101/G111 series F (6.0) edition or
later
FS32i /320i /320is-A : G201 series F (6.0) edition or later
- 548 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 1.START-UP
1.5.6 Sequence
(1) When SFR or SRV is used as a start signal (Parameter No.4007#7:EPFSIG=0)
Power-on 1)
MPOF=0
& EPFSTR=0
MRDY
2)
& *ESP
SFR/SRV
An alarm causing the pole position
to be lost is issued, resulting in
EPFIX = 0.
Speed command
3)
The pole position is lost, so
4) that the speed command is
ignored.
Motor speed
When SFR or SRV is input in the pole position undetected state (EPFIX = 0), pole position detection
starts, ignoring the speed command. The speed command is enabled after pole position detection is
completed (EPFIX = 1). Do not input MPOF (motor power turn-off signal) and EPFSTR (pole position
detection operation start signal).
(1) After turning on the power, the operator is to make a preparation to activate the motor.
(2) Upon completion of preparation, set SFR (or SRV) to 1.
(3) In the pole position undetected state (EPFIX = 0), magnetic pole detection automatically starts.
(4) When pole position detection operation is started, the motor moves to the pole position 0 deg
position then moves to and stops at the pole position 90 deg position (machine angle 90
deg/pole-pair), determining the pole position. (DC current mode)
(5) When the pole position is determined, the motor enters the pole position detection completed state
(EPFIXA = 1), which allows the motor to drive. If a command is kept input during pole position
detection, the motor starts rotating at the same time the pole position is determined. The operator
may feel that this motion is unpredictable. So, provide interlock so that rotation and other commands
cannot be input in the pole position undetected state (EPFIX = 0).
(6) If a spindle alarm that causes the pole position to be lost is issued, the pole position undetected state
(EPFIX = 0) is set. When specifying the next rotation command, start all over again from the
beginning of the sequence.
- 549 -
1.START-UP FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
MPOF=0
MRDY 1)
& *ESP
An alarm causing the pole position to be lost
& SFR/SRV 2)
is issued, resulting in EPFIX = 0.
EPFSTR
5)
Speed command
Pole position
undetected state Pole position detection completed state
The speed The speed command is accepted.
command is 7)
EPFIX ignored.
6)
4)
The pole position is lost, so
that the speed command is
ignored.
3)
Motor speed
It is assumed that the pole position determination state signal EPFIX and the pole position determination
operation start signal EPFSTR correspond to a lamp and button on the operator’s panel. Do not input
MPOF (motor power turn-off signal) during pole position detection operation.
(1) The operator recognizes EPFIX = 0 (the lamp turned off on the operator’s panel) then makes a
preparation for pole position detection operation.
(2) Upon completion of preparation, set EPFSTR = 1 (turn on the button on the operator’s panel) to start
pole position determination operation.
(3) The motor moves to the pole position 0 deg position then moves to and stops at the pole position 90
deg position (machine angle 90 deg/pole-pair), determining the pole position.
(4) Upon pole position determination, EPFIX = 1 is set (the lamp on the operator’s panel is turned on).
(5) The operator recognizes the completion of pole position detection operation and set EPFSTR to 0
(turns the button on the operator’s panel off).
(6) When EPFSTR is set to 0, the speed command can be accepted. Confirm that the spindle amplifier is
in the pole position detection completed state (EPFIX = 1) and EPFSTR is set to 0 before inputting a
rotation or move command.
(7) If a spindle alarm that causes the pole position to be lost is issued, EPFIX = 0 is set (the lamp on the
operator’s panel is turned off). In this case, start all over again from the beginning of the sequence.
- 550 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 1.START-UP
The motor vibrates when it stops. So, if the set value is too small, an incorrect magnetic pole
position is recognized. A sufficiently long time is needed to confirm the stop of the motor.
(4) Motor feedback signal counting is performed incorrectly for a cause such as noise.
(5) The motor is mechanically held and cannot move.
(6) The motor power line is not connected. (Alternatively, the magnetic contactor is off if it is installed
between the spindle amplifier and motor.)
(7) The motor power line phase order does not match the motor feedback signal connection phase order.
1.5.8 Cautions
CAUTION
This subsection provides notes on magnetic pole detection. For safety, carefully
follow the notes described in this subsection.
(1) After the power is turned on or an alarm that causes the pole position to be lost is issued, pole
position detection needs to be performed.
(2) In both the DC current and minute moving modes, the pole position is detected by moving the motor.
For this reason, pole position detection is disabled in the motor locked state. So, perform pole
position detection when the motor can move.
(3) If the precision of pole position detection is poor, the motor output torque is small.
(4) If pole position detection is not completed, all input rotation and move commands are ignored.
However, those commands become valid upon completion of pole position detection. So, if an input
command is left uncleared in the pole position undetected state, the motor abruptly rotates upon
completion of pole position detection, resulting in a dangerous situation. Prepare such a sequence
that commands are input after the pole position determination state signal (F048#7 (EPFIXA)) set to
1 is confirmed.
- 551 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
2.1.2 Overview
For this subsection, see Subsection 2.1.2, “Overview”, in Part I.
Parameter No.
Description
15i 16i 30i
2402#6 - - Sets the S code specified in a block containing G92.
Whether to provide an indication for an alarm detected with the
5602#3 - -
spindle amplifier. (Set “0” usually.)
Number of sampling operations when an average spindle speed is to
5611 - -
be found.
5612 - - Unit of spindle speed output with the DO signal
Enables/disables the spindle alarms (SPxxxx) of all spindles. (Set “0”
5807#0 - -
usually.)
5842 - 3720 Number of position coder pulses
Number of gear teeth on the position coder side on velocity control
5847 - 3721
(for feed per revolution, threading, etc.)
Number of gear teeth on the spindle side on velocity control (for feed
5848 - 3722
per revolution, threading, etc.)
5850 - - Spindle number to be selected at power-on/reset time
5820#4 - - Sets the method of spindle speed calculation.
3006#5 4006#5 4006#5 Sets an analog override range.
Whether to output the load detection signals (LDT1, LDT2) during
3009#4 4009#4 4009#4
acceleration/deceleration
3009#6 4009#6 4009#6 Analog override type
3012#6 4012#6 4012#6 Sets whether to drive the synchronous built-in spindle motor. (Set “1”.)
3012#7 4012#7 4012#7 Sets the spindle HRV function. (Set “1”.)
5607#0 4019#7 4019#7 Automatic spindle parameter setting function
3352#1 4352#1 4352#1 Sets the peak hold function for load meter output.
3020 4020 4020 Maximum motor speed
3022 4022 4022 Speed arrival detection level
3023 4023 4023 Speed detection level
3024 4024 4024 Speed zero detection level
3025 4025 4025 Torque limitation value.
3026 4026 4026 Load detection level 1
3027 4027 4027 Load detection level 2
3030 4030 4030 Soft start/stop setting time
3040 4040 4040 Velocity loop proportional gain on the velocity control mode
3041 4041 4041 (A parameter is selected by the PMC input signal CTH1A.)
3048 4048 4048 Velocity loop integral gain on the velocity control mode
3049 4049 4049 (A parameter is selected by the PMC input signal CTH1A.)
Spindle and motor gear ratio data
3056 to 3059 4056 to 4059 4056 to 4059 (A parameter is selected by the PMC input signals CTH1A and
CTH2A.)
3081 4081 4081 Delay time until the motor power is turned off
3082 4082 4082 Sets an acceleration/deceleration time.
3508 4508 4508 Rate of change in acceleration at soft start/stop
NOTE
1 For the detector-related parameters, see Section 1.3, “PARAMETERS RELATED
TO DETECTORS”, in Part IV.
2 For velocity loop proportional/integral gain adjustment, see Section 4.1,
“VELOCITY LOOP GAIN ADJUSTMENT”, in Part IV.
- 553 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NOTE
To use the BiS series spindle motor safely, be sure to connect the
SSM and set SSMUSE to “1”.
LDTOUT Whether to output the load detection signals (LDT1 and LDT2) during
acceleration/deceleration
0 : Not output during acceleration/deceleration. (standard setting value)
1 : Output (at all times) during acceleration/deceleration if the parameter-set level is
exceeded.
- 554 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
NOTE
When driving the BiS series spindle (synchronous built-in spindle
motor), be sure to set both of the SYSP and SPHRV bits to 1.
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4019 4019 PRLOAD
NOTE
With FS15i, the parameter address of this function is different,
namely, bit 0 of No. 5607 is used. Moreover, note that the meanings
of settings are reversed as follows.
0 : Performs automatic parameter setting.
1 : Does not perform automatic parameter setting.
In this case, set a model code in parameter No. 3133.
PKHALW Sets the peak hold function for load meter output.
0 : Does not use the peak hold function. (standard setting value)
1 : Uses the peak hold function.
- 555 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
WARNING
The spindle motor may rotate at the maximum spindle motor speed
specified by this parameter. Therefore, this parameter must not be
set to a value greater than the maximum rotation speed indicated
by the specification of the spindle motor.
NOTE
If a calculated speed zero detection level exceeds 200 min-1, the
speed zero detection level is clamped to 200 min-1. (9D53 series B
(02) edition or later, 9D70 series A (01) edition or later, 9D80 series
B (02) edition or later, 9D90 series A (01) edition or later, and 9DA0
series A (01) edition or later)
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 50
This parameter sets a torque limitation value to be applied when the torque limitation
command HIGH (TLMHA) or the torque limitation command LOW (TLMLA) is
specified.
The data indicates limitation values when the maximum torque is 100%.
- 556 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 83
This parameter sets a load detection signal 1 (LDT1A) detection range.
When the output of the spindle motor is (setting data)% of the maximum output or more,
load detection signal 1 (LDT1A) is set to 1.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 95
This parameter sets a load detection signal 2 (LDT2A) detection range.
When the output of the spindle motor is (setting data)% of the maximum output or more,
load detection signal 2 (LDT2A) is set to 1.
NOTE
When 0 is set, the soft start/stop function is disabled.
Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This data is used to set the velocity loop proportional gain on velocity control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
- 557 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This data is used to set the velocity loop integral gain on velocity control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
NOTE
When an improper value is set in these parameters, an unexpected
operation can occur. For example, the spindle can continue rotating
without stopping at the time of orientation. So, be sure to set a
proper gear ratio.
NOTE
When a small value is set in this parameter, the motor can coast
after the power to the motor is turned off.
- 558 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
This parameter sets a period of time in which alarm detection is disabled by assuming that
the spindle motor is being accelerated or decelerated even if the velocity error exceeds the
velocity error excess alarm (spindle alarm 02) level after start of acceleration/deceleration
on the velocity control mode.
In the velocity control mode, a step-by-step speed command is specified. So, the spindle
motor cannot follow up the command immediately after start of acceleration/deceleration,
and the velocity error exceeds the velocity error excess alarm level. This parameter is
used to prevent the velocity error excess alarm (spindle alarm 02) from being detected
incorrectly immediately after start of acceleration/deceleration.
NOTE
With a machine tool such as a lathe that has a large load inertia, the
acceleration/deceleration time becomes longer. In such a case, set
the value corresponding to the acceleration/deceleration time of the
machine in this parameter.
Increase in
acceleration
Initial
acceleration
Time(sec)
T
Starts changing velocity command
issued from CNC at this point.
NOTE
1 This parameter is valid with 9D53 series B (02) edition or later, 9D70 series A
(01) edition or later, 9D80 series B (02) edition or later, 9D90 series A (01) edition
or later, and 9DA0 series A (01) edition or later.
2 If 0 is set, a liner type velocity command is observed when the soft start/stop
function is enabled.
- 559 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
2.1.7 Troubleshooting
For this subsection, see Subsection 2.1.7, “Troubleshooting”, in Part I.
2.2.2 Overview
For this subsection, see Subsection 2.2.2, “Overview”, in Part I.
NOTE
*1 When driving the BiS series spindle (synchronous built-in spindle motor),
parameter No.4084
is used for AMR offset function.(The parameter isn’t the motor voltage for spindle
orientation)
Be sure that if an inappropriate value is set for the AMR offset, the motor may
move unpredictably.
*2 For an explanation of AMR offset function, see Subsection 1.5.3, “AMR Offset
Function”, in Part IV.
2.2.4 Feature
For this subsection, see Subsection 2.2.4, “Feature”, in Part I.
- 560 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
Spindle+
Built-in motor
JYA2
SP
TYPE B
Thermistor
- 561 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
2.3.2 Overview
For this subsection, see Subsection 2.3.2, “Overview”, in Part I.
Spindle+
Built-in motor
JYA2
SP
TYPE B
- 562 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
Thermistor
2.3.5 Sequence
For a rigid tapping sequence, refer to the Connection Manual (Function) of each CNC.
- 563 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
Parameter No.
Description
15i 16i 16i
5851 5231 5231
5854 5232 5232 Teeth number of position coder side at arbitrary gear ratio (command)
5857 5233 5233 setting (16i/30i: No. 5234 is used for the T series only.)
5860 5234 5234
3065 to 5280 5280 Position gain of tapping axis at rigid tapping (16i/30i: No. 5284 is used
3068 5281 to 5284 5281 to 5284 for the T series only.)
5605#1 - - Acc./Dec. type (Set to 1.)
5241 5241
5242 5242 Spindle maximum speed at rigid tapping (16i/30i: No. 5244 is used for
5711
5243 5243 the T series only.)
5244 5244
5605#2 - -
5757 - -
Spindle speed for determining an acceleration value for cutting feed on
5886 - -
rigid tapping
5889 - -
5892 - -
5605#2
5261 5261
5751
5262 5262 Acc./Dec. time constant (16i/30i: No. 5264 is used for the T series
5886
5263 5263 only.)
5889
5264 5264
5892
5605#2
- -
5752
- -
5885 FL speed for spindle and drilling axis acceleration/deceleration on rigid
- -
5888 tapping
- -
5891
- -
5894
- 5200#4 5200#4 Override selection at extracting
5883 5211 5211 Override value at extracting
5201#2 5201#2
- Time constant at extracting (No. 5274 is used for the T series only.)
5271 to 5274 5271 to 5274
- - 5203#2 Feed-forward function at rigid tapping
1827 5300 5300 In-position width of tapping axis
5875 5301 5301 In-position width of spindle
5310
1837 5310 Allowable level of position error of tapping axis at moving
5341
5876 5311 5311 Allowable level of position error of spindle at moving
1829 5312 5312 Allowable level of position error of tapping axis at stop
5877 5313 5313 Allowable level of position error of spindle at stop
5853
Backlash of spindle
5856
5321 to 5324 5321 to 5324 (16i: No. 5322 and No. 5324 are used for the T series only.
5859
30i: No. 5324 is used for the T series only.)
5862
3000#4 4000#4 4000#4 Reference position return direction on servo mode
Whether to enable the rotation direction signal (SFR/SRV) on servo
3002#5 4002#5 4002#5
mode
Setting of the command arbitrary gear ratio function (CMR) on rigid
3006#7 4006#7 4006#7
tapping
- - 4037 Velocity loop feed-forward coefficient
Velocity loop proportional gain on servo mode/spindle synchronous
3044 4044 4044
control
3045 4045 4045
(It is selected by input signal CTH1A/B.)
3052 4052 4052 Velocity loop integral gain on servo mode/spindle synchronous control
3053 4053 4053 (It is selected by input signal CTH1A/B.)
- 564 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
Parameter No.
Description
15i 16i 16i
3056 to Gear ratio between spindle and motor
4056 to 4059 4056 to 4059
3059 (It is selected by input signal CTH1A or CTH2A)
3065 to Spindle position gain on servo mode/spindle synchronous control
4065 to 4068 4065 to 4068
3068 (It is selected by input signal CTH1A or CTH2A)
3073 4073 4073 Grid shift amount on servo mode
3074 4074 4074 Reference position return speed on Cs contouring control/servo mode
Position gain change ratio at reference position return time on servo
3091 4091 4091
mode
- - 4344 Advanced preview feed-forward coefficient
Acceleration/deceleration time constant for Cs contouring control/servo
3406 4406 4406
mode
NOTE
1 For the parameters related to detectors, see Section 1.3, “PARAMETERS
RELATED TO DETECTORS” in the Part I.
2 For velocity loop proportional/integral gain adjustment, see Section 4.1,
“VELOCITY LOOP GAIN ADJUSTMENT”, in Part I.
RETSV Reference position return direction on servo mode (rigid tapping/spindle positioning)
0 : The spindle performs a reference position return operation in the
CCW(counterclockwise) direction.
1 : The spindle performs a reference position return operation in the CW(clockwise)
direction.
SVMDRT Whether to enable the rotation direction signal (SFR/SRV) function on servo mode (rigid
tapping/spindle positioning)
- 565 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
RGTCMR Sets the command arbitrary gear ratio function (CMR) on rigid tapping.
0 : Disables the command arbitrary gear ratio function.
1 : Enables the specified arbitrary gear ratio function.
Set this parameter to 1 when rigid tapping is performed using a signal from the sensor
built-into the motor as a position feedback signal and the gear ratio between the motor
and spindle is other than 1:1.
When using the command arbitrary gear ratio function (CMR function), set the following
as well:
• Enabling an arbitrary gear ratio between the spindle and position coder (bit 1 of
No. 5200 = 1)
• Parameters for the number of gear teeth on the spindle side (No. 5221 to No.
5224)
• Parameters for the number of gear teeth on the position coder side (No. 5231 to
No. 5234)
30i
4037 Velocity loop feed-forward coefficient
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
This parameter sets a velocity loop feed-forward coefficient for using feed-forward
control. Set the result of calculation of the following expression:
[spindle inertia + rotor inertia](kg⋅m2)
Setting = 214466 ×
Maximum motor torque (N⋅m)
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
These parameters set a velocity loop proportional gain on servo mode (rigid
tapping/spindle positioning) or spindle synchronous control.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
- 566 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 10
These parameters set a velocity loop integral gain on servo mode (rigid tapping/spindle
positioning) or spindle synchronous control.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
NOTE
When an improper value is set in these parameters, an unexpected
operation can occur. For example, the spindle can continue rotating
without stopping at the time of orientation. So, be sure to set a
proper gear ratio.
- 567 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 100
This parameter sets a position gain change ratio at reference position return time on servo
mode (rigid tapping, spindle positioning, and so forth).
NOTE
An overshoot can occur at reference position return time for a cause
such as an excessively high reference position return speed and an
excessively large spindle inertia. In this case, an overshoot can be
avoided by setting a small value in this parameter.
- 568 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
This parameter sets a reference position return acceleration for Cs contouring control or
servo mode (rigid tapping/spindle positioning). Use of this parameter can reduce the
shock due to acceleration/deceleration during return to the reference position. The spindle
speed command during return to the reference position is then given as follows:
One-rotation signal detected
Reference
position return
speed-1
(min )
Setting in Setting in
parameter parameter
No. 4406 No. 4406
(msec) (msec)
NOTE
1 When 0 is set in this parameter, a velocity command is assumed as follows.
• Before detecting the one-rotation signal: Reference position return speed
(step-type velocity command)
• After detecting the one-rotation signal:
Distance to the reference position × Position gain
2 This parameter is enabled when soft start/stop signal SOCNA is 1.
- 569 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NOTE
When observing the synchronous error of Series 16i, set the following
parameters:
No. 3700, #7 = 1:
Uses the synchronous error output (maintenance function).
(Return the setting to 0 after the observation is completed.)
No. 5203, #7 = 1 :
Sets a synchronous error update cycle.
(Return the setting to 0 after the observation is completed.)
No. 5204, #0 = 0 :
Displays the synchronous error on the diagnosis screen.
- 570 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
ta
In this example, the maximum rigid tapping speed Nr is set to 4000 min-1. To determine the
acceleration/deceleration time constant, the motor velocity waveform in acceleration up to 4000 min-1 is
observed. If the acceleration is performed with the maximum motor torque at 4000 min-1, the acceleration
time ta needed to attain 4000 min-1 is about 400 ms, as shown above. This is the minimum value of
acceleration/deceleration time constant tr, which can be specified without consideration of cutting load. A
time constant that can be specified in consideration of cutting load is usually about 1.2 to 1.5 times this
value. As a provisional value for gain adjustment, approximately double (800 ms) is specified here.
(b) Specifying a value calculated from the relationship between the maximum
torque and spindle inertia
Specify an acceleration/deceleration time constant calculated from the following expression:
Jm[ kgm2 ] + JL [ kgm2 ] 2π
tr [ms] = × × Nr [min −1 ] × GR × 1000 × 2
T max(Nr )[Nm] 60
tr[ms] : Acceleration/deceleration time constant on rigid tapping (No. 5261 to 5264)
Nr[min-1] : Maximum spindle speed on rigid tapping (No. 5241 to 5244)
GR : Spindle-motor gear ratio (Motor rotation per spindle rotation)
Tmax(Nr) [Nm]: Maximum torque of spindle motor at Nr
Jm[kgm2] : Rotor inertia of spindle motor
JL[kgm2] : Spindle load inertia(converted for the motor shaft)
If the gear ratio is 1:1 at Nr=4000 min-1 and PG=3000 (30 sec-1), the position error in stable rigid tapping
at Nr is calculated as follows:
4000 1
Perr (Nr ) = × 4096 × = 9102[ pulse ]
60 30
- 571 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
(a) Waveform before adjustment (No. 4044 = 10, (b) Waveform after adjustment (No. 4044 = 20,
No. 4052 = 10) No. 4052 = 60)
(a) Waveform before adjustment (No. 5261 = 800) (b) Waveform after adjustment (No. 5261 = 480)
- 572 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
2.3.11 Alarm
For this subsection, see Subsection 2.3.12, “Alarm”, in Part I.
2.4.2 Overview
For this subsection, see Subsection 2.4.2, “Overview”, in Part I.
Spindle+
Built-in motor
JYA2
SP
TYPE B
Thermistor
- 573 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NOTE
In a configuration in which the αiCZ sensor (serial) is used as the motor sensor, if
Cs contouring control is to be performed immediately after the power is turned on,
use spindle software 9D80 series H (08) edition or later, 9D90 series A (01)
edition or later, and 9DA0 series A (01) edition or later.
Parameter No.
Description
15i 16i 30i
3900 3900
3910 3910
Servo axis number subject to interpolation with the Cs contouring control
- 3920 3920
axis
3930 3930
3940 3940
3901 to 3901 to
3904 3904
3911 to 3911 to
3914 3914
3921 to 3921 to Position gain of a servo axis subject to interpolation with the Cs
-
3924 3924 contouring control axis
3931 to 3931 to
3934 3934
3941 to 3941 to
3944 3944
5843 - - Number of pulses of position detector for Cs contouring control
Spindle rotation direction for a positive motion command on Cs
3000#1 4000#1 4000#1
contouring control mode
Direction of reference position return when the system enters Cs
3000#3 4000#3 4000#3
contouring control mode
Whether to use the rotation direction signal (SFR/SRV) function on Cs
3002#4 4002#4 4002#4
contouring control
3005#0 4005#0 - Sets the detection unit for Cs contouring control.
3016#3 4016#3 4016#3 Sets the smoothing function in feed-forward control.
3021 4021 4021 Maximum spindle speed on Cs contouring control mode
3036 4036 - Feed-forward coefficient
3037 4037 4037 Velocity loop feed-forward coefficient
3046 4046 4046 Velocity loop proportional gain on Cs contouring control mode
3047 4047 4047 (A parameter is selected by the CTH1A input signal sent from the PMC.)
3054 4054 4054 Velocity loop integral gain on Cs contouring control mode
3055 4055 4055 (A parameter is selected by the CTH1A input signal sent from the PMC.)
Spindle-to-motor gear ratio
4056 to 4056 to
3056 to 3059 (A parameter is selected by the CTH1A and CTH2A input signals sent
4059 4059
from the PMC.)
4069 to 4069 to Position gain for axes subject to Cs contouring control
3069 to 3072
4072 4072 (A parameter is selected by the CTH1A input signal sent from the PMC.)
Feedrate for reference position return on Cs contouring control mode or
3074 4074 4074
servo mode
Rate of change in the position gain when reference position return is
3092 4092 4092
performed on Cs contouring control mode
3094 4094 4094 Disturbance torque compensating constant (acceleration feedback gain)
3131 4131 4131 Velocity detection filter time constant (on Cs contouring control)
3135 4135 4135 Grid shift on Cs contouring control mode
3162 4162 4162 Velocity loop integral gain for cutting feed on Cs contouring control
3163 4163 4163 (A parameter is selected by the PMC input signal CTH1A.)
3342 4342 4342 Velocity loop gain override in Cs contouring control.
3343 4343 4343 (These parameters are selected by the input signal CTH1A of PMC.)
- - 4344 Advanced preview feed-forward coefficient
- 4353#5 4353#5 Sets the Cs axis position data transfer function.
Acceleration/deceleration time constant at return to the reference position
3406 4406 4406
in Cs contouring control/servo mode
- 575 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NOTE
1 For the detector-related parameters, see Section 1.3, “PARAMETERS RELATED
TO DETECTORS”, in Part IV.
2 For velocity loop proportional/integral gain adjustment, see Section 4.1,
“VELOCITY LOOP GAIN ADJUSTMENT”, in Part IV.
ROTA2 Indicates the spindle direction by the move command (+). (Only effective on Cs
contouring control)
0 : When the value of a move command from the CNC is positive (+), the spindle
rotates in the CCW direction.
1 : When the value of a move command from the CNC is positive (+), the spindle
rotates in the CW direction.
Change the setting of this parameter when changing the rotation direction of the spindle
on Cs contouring control.
CSDRCT Whether to use the rotation direction signal (SFR/SRV) on Cs contouring control
0 : Rotation direction function enabled
(1) When bit 1 (ROTA2) of No. 4000 = 0, and the value of a move command from
the CNC is positive (+)
(a) The spindle rotates counterclockwise when input signal SFR(G70#5) is set
to 1.
(b) Tithe spindle rotates clockwise when input signal SRV(G70#4) is set to 1.
- 576 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
(2) When bit 1 (ROTA2) of No. 4000 = 1, and the value of a move command from
the CNC is positive (+)
(a) The spindle rotates clockwise when input signal SFR(G70#5) is set to 1.
(b) The spindle rotates counterclockwise when input signal SRV(G70#4) is set
to 1.
1: Rotation direction function disabled
The rotation direction function of the SFR/SRV signal is disabled. Only the function
for enabling spindle motor excitation is available.
(1) When bit 1 (ROTA2) of parameter No. 4000 is set to 0
When the value of a move command from the CNC is positive (+), and
SFR/SRV = 1, the spindle rotates in the CCW direction.
(2) When bit 1 (ROTA2) of parameter No. 4000 is set to 1
When the value of a move command from the CNC is positive (+), and
SFR/SRV = 1, the spindle rotates in the CW direction.
FFSMTH Specifies whether to use the smoothing function under feed-forward control.
0 : Does not use the smoothing function.
1 : Uses the smoothing function.
This bit specifies whether to use the smoothing function under feed-forward control on
Cs contouring control mode.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 0
Set the feed-forward coefficient when feed-forward control is executed on Cs contouring
control.
- 577 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
15i 16i 30
3037 4037 4037 Velocity loop feed-forward coefficient
Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
Set a velocity loop feed-forward coefficient when feed-forward control is executed on Cs
contouring control. Use the following expression to determine a value to be set:
[spindle inertia + rotor inertia](kg⋅m2)
Setting = 214466 ×
Maximum motor torque (N⋅m)
Unit of data :
Valid data range : 0 to 32767
Standard setting : 30
These parameters specify the proportional gains of the velocity loop on Cs contouring
control mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
Unit of data :
Valid data range : 0 to 32767
Standard setting : 50
These parameters specify the integral gains of the velocity loop for Cs contouring control
mode.
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
- 578 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
NOTE
When an improper value is set in these parameters, an unexpected
operation can occur. For example, the spindle does not stop but
keeps rotating at the time of orientation. So, be sure to set a proper
gear ratio.
NOTE
An overshoot can occur at reference position return time for a cause
such as an excessively high reference position return speed by
setting the parameter No. 4021 (maximum spindle speed on Cs
contouring control mode). In this case, set this parameter.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting : 100
This parameter specifies a rate of change in the position gain used for reference position
return on Cs contouring control mode.
- 579 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NOTE
An overshoot can occur at reference position return time for a cause
such as an excessively high reference position return speed and an
excessively large spindle inertia. In this case, an overshoot can be
avoided by setting a small value in this parameter.
Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
This parameter specifies the constant for compensating for a disturbance torque on Cs
contouring control mode.
NOTE
By setting this parameter, stability in cutting can be improved.
In this parameter, set a value from 500 to 2000.
Do not set a value exceeding 4000.
Unit of data : 1 pulse unit (=0.001°) (0.0001° when bit 0 (CS360M) of parameter No. 4005 is set to 1)
Valid data range : -360000 to +360000
(When parameter No. 4005 #0 (CS360M) is 1, -3,600,000 to +3,600,000)
Standard setting value : 0
Use this parameter to shift the machine reference position on Cs contouring control.
The machine reference position of the spindle shifts by the set number of pulses in the
CCW direction.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
These parameters set a velocity loop integral gain for cutting feed (G01, G02, G03) on Cs
contouring control.
- 580 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
When the input signal CTH1A = 0, (HIGH) is selected. When the input signal CTH1A =
1, (LOW) is selected.
NOTE
When 0 is set in these parameters, the values set in No. 4054 and
No. 4055 (velocity loop integral gain on Cs contouring control) are
valid.
Unit of data : 1%
Valid data range : 0~3000
Standard setting value : 0
These parameters specify override of velocity loop proportional gain and integral gain for
Cs contouring control mode.
If the set value is "0", it is treated as "100".
NOTE
This parameter is valid with
9D53 series J (10) edition or later
9D70 series I (09) edition or later
9D80 series C (03) edition or later.
NOTE
This parameter is valid with
9D53 series B (02) edition or later
9D70 series A (01) edition or later
9D80 series B (02) edition or later.
- 581 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
15i 16i
3406 4406 Acceleration/deceleration time constant for Cs contouring control/servo mode
Reference
position return
speed
(min-1)
Setting in Setting in
parameter No. parameter No.
4406 4406
(msec) (msec)
NOTE
1 When 0 is set in this parameter, a velocity command is assumed as
follows.
• Before detecting the one-rotation signal: Reference position
return speed (step-type velocity command)
• After detecting the one-rotation signal:
Distance to the reference position × Position gain
2 This parameter is enabled when soft start/stop signal SOCNA is 1.
2.4.11 Alarm
For this subsection, see Subsection 2.4.10, “Alarm”, in Part I.
2.5.2 Overview
For this subsection, see Subsection 2.5.2, “Overview”, in Part I.
JA7B
JYA2
SP
TYPE B
JA7A
2nd spindle
αiBZ sensor or αiCZ sensor (analog)
Spindle +
Built-in motor
JA7B
JYA2
SP
TYPE B
- 583 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
CNC
1st spindle
JA7B
Thermistor
2nd spindle
JA7B
Thermistor
- 584 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
NOTE
1 For the detector-related parameters, see Section 1.3, “PARAMETERS RELATED
TO DETECTORS”, in Part IV.
2 For velocity loop proportional/integral gain adjustment, see Section 4.1,
“VELOCITY LOOP GAIN ADJUSTMENT”, in Part IV.
16i 30 #7 #6 #5 #4 #3 #2 #1 #0
4002 4002 SYCDRT
SYCDRT Whether to enable the rotation direction signal (SFR/SRV) function on spindle
synchronous control
0 : Enables the rotation direction function.
If a move command from the CNC is positive (+),
(a) The spindle rotates in the CCW (counterclockwise) direction when the input
signal SFR (bit 5 of G70) = 1.
(b) The spindle rotates in the CW (clockwise) direction when the input signal SRV
(bit 4 of G70) = 1.
1 : Disables the rotation direction function.
If a move command from the CNC is positive (+), the spindle rotates in the CCW
(counterclockwise) direction when the input signal SFR = 1 or SRV = 1.
16i 30i #7 #6 #5 #4 #3 #2 #1 #0
4006 4006 SYCREF GRUNIT
Parameter No.
Description
16i 30i
4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data
NOTE
1 Usually, use the 1/100 unit (setting “0”).
2 When the 1/100 unit is set as the gear ratio setting resolution (with
the bit set to 0), a steady-state synchronous error may be indicated
due to the fraction of the gear ratio.
In such a case, the synchronous error can be improved when the
1/1000 unit is set as the gear ratio setting resolution (with the bit
set to 1).
SYCREF Setting for function performing automatic detection of the one-rotation signal on spindle
synchronous control
- 586 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
16i 30i
4032 4032 Acceleration at spindle synchronous control
NOTE
1 Set exactly the same data for 1st spindle and 2nd spindle. When
different data is set, synchronization between the two spindles is not
guaranteed.
2 When this parameter is set to 0, motor doesn’t
accelerate/decelerate, so, be sure to set proper value in this
parameter.
16i 30i
4033 4033 Spindle synchronous speed arrival level
16i 30i
4034 4034 Shift amount at spindle phase synchronous control
- 587 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
16i 30i
4035 4035 Spindle phase synchronous compensation data
16i 30i
Velocity loop proportional gain on spindle synchronous control (HIGH)
4044 4044 CTH1A=0
Velocity loop proportional gain on spindle synchronous control (LOW)
4045 4045 CTH1A=1
Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This sets velocity loop proportional gain on spindle synchronous control.
It is selected HIGH when CTH1A=0 of input signal, and It is selected LOW when
CTH1A=1 of input signal.
16i 30i
4052 4052 Velocity loop integral gain on spindle synchronous control (HIGH) CTH1A=0
4053 4053 Velocity loop integral gain on spindle synchronous control (LOW) CTH1A=1
Unit of data :
Valid data range : 0 to 32767
Standard setting : 10
This sets velocity loop integral gain on spindle synchronous control. It is selected HIGH
when CTH1A=0 of input signal, and It is selected LOW when CTH1A=1 of input signal.
16i 30i
4056 4056 Gear ratio (HIGH) CTH1A=0, CTH2A=0
4057 4057 Gear ratio (MEDIUM HIGH) CTH1A=0, CTH2A=1
4058 4058 Gear ratio (MEDIUM LOW) CTH1A=1, CTH2A=0
4059 4059 Gear ratio (LOW) CTH1A=1, CTH2A=1
- 588 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
NOTE
When an improper value is set in these parameters, an unexpected
operation can occur. For example, the spindle does not stop but
keeps rotating at the time of orientation. So, be sure to set a proper
gear ratio.
16i 30i
4065 4065 Position gain on spindle synchronous control (HIGH) CTH1A=0, CTH2A=0
Position gain on spindle synchronous control (MEDIUM HIGH)
4066 4066 CTH1A=0, CTH2A=1
Position gain on spindle synchronous control (MEDIUM LOW)
4067 4067 CTH1A=1, CTH2A=0
4068 4068 Position gain on spindle synchronous control (LOW) CTH1A=1, CTH2A=1
16i 30i
4336 4336 Acceleration switch point on spindle synchronous control
NOTE
1 Set the same data for the first spindle and second spindle. If
different data is set, synchronization between the two spindles is not
guaranteed.
2 When this parameter is set to 0, linear acceleration/deceleration
(constant acceleration) is performed.
16i 30i
Bell-shaped acceleration/deceleration time constant for spindle synchronous
4340 4340 control
When this parameter is set, the spindle synchronous speed control completion signal
(FSPSY), output when the synchronous speed is first reached after the spindle
synchronous control mode is entered, is delayed by the set time.
NOTE
Set the same data for the first spindle and second spindle. If
different data is set, synchronization between the two spindles is not
guaranteed.
16i 30i
4346 4346 Incomplete integration coefficient
Unit of data :
Valid data range : 0 to 32767
Standard setting : 0
Set this parameter to use incomplete integration for velocity loop integration control.
NOTE
Usually, this parameter need not be adjusted.
16i 30i
Excessive speed deviation alarm detection level on spindle synchronous
4515 4515 control
If the speed integration control signal (INTG) is used, the speed deviation increases for a
cause such as acceleration/deceleration and cutting load. The spindle speed deviation that
causes torque command saturation is indicated below. Set an alarm level by using a
calculated value as a guideline. (During spindle synchronous control, ensure that torque
command saturation does not take place.)
where
No.4006#1 No.4009#0 A B
0 0 1 100
0 1 16 100
1 0 1 1000
1 1 16 1000
P: Velocity loop proportional gain on spindle synchronous control(No.4044, 4045)
G: Gear ratio (No.4056 to 4059)
- 590 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
NOTE
This parameter is valid with 9D53 series E (05) edition or later,
9D70 series D (04) edition or later, and 9D80 series B (02) edition
or later.
16i 30i
Excessive positional deviation alarm detection level on spindle synchronous
4516 4516 control
As an alarm level, set a value greater than the positional deviation (position error)
equivalent to the spindle speed specified in the spindle synchronous control mode. The
positional deviation equivalent to the spindle speed can be calculated from the following
expression:
NOTE
This parameter is valid with 9D53 series E (05) edition or later,
9D70 series D (04) edition or later, and 9D80 series B (02) edition
or later.
2.5.12 Alarm
For this subsection, see Subsection 2.5.13, “Alarm”, in Part I.
- 591 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
2.6.1 Overview
For this subsection, see Subsection 2.6.1, “Overview”, in Part I.
For details of the I/O signals common to the CNCs, see Chapter 3, “I/O SIGNALS (CNC↔PMC)”, in
Part IV.
1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
NOTE
1 These signals are valid in multi-spindle control.
- 592 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
NOTE
1 These signals are valid in multi-spindle control.
1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B
- 593 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NOTE
1 These signals are valid with the M series only.
NOTE
1 These signals are valid with the M series only.
- 594 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B
1st- F11 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B
1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B
1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B
1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B
1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B
2.6.3 Parameters
This subsection describes those parameters that are common to all operation modes by dividing them into
several types.
NOTE
For the detector-related parameters, see Section 1.3, “PARAMETERS RELATED
TO DETECTORS”, in Part IV.
- 595 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
Parameter No.
Description
15i 16i 30i
3006#4 4006#4 4006#4 Sets the d-phase current command.
3008#3 4008#3 4008#3 Sets the current command.
3008#4 4008#4 4008#4 Sets the method of output control.
3009#5 4009#5 4009#5 Sets base speed (for BiS160L4/6000)
3011#3 4011#3 4011#3 Sets the number of motor poles.
3011#4 4011#4 4011#4 Sets a maximum output for acceleration/deceleration.
3011#7 4011#7 4011#7 Sets the number of motor poles.
3012#2,#1,#0 4012#2,#1,#0 4012#2,#1,#0 Sets a PWM carrier frequency.
3012#6 4012#6 4012#6 Sets whether to drive the synchronous built-in spindle motor.
3012#7 4012#7 4012#7 Sets the spindle HRV function.
3013#6 to #2 4013#6 to #2 4013#6 to #2 Sets current dead-band data.
3020 4020 4020 Maximum motor speed
3080 4080 4080 Limits regenerative power.
Current step selection/activation current ratio/stop confirmation time in
3083 4083 4083
magnetic pole detection
3084 4084 4084 AMR offset
3085 4085 4085 AMR offset fine adjustment
3086 4086 4086 Inductance ratio
3100 4100 4100 Base speed for motor output specification
3101 4101 4101 Torque limitation value for motor output specification
3102 4102 4102 Base speed at maximum load
3103 4103 4103 Magnetic flux reduction start speed / Current pattern switching speed
3104 4104 4104 Current loop proportional gain
3106 4106 4106 Current loop integral gain
3108 4108 4108 Current loop integral gain zero speed
3109 4109 4109 Filter time constant in voltage command saturation processing
3110 4110 4110 Current conversion constant
3111 4111 4111 Maximum current coefficient
Voltage command saturation decision level/PWM command clamp
3112 4112 4112
value
3113 4113 4113 Current coefficient for magnetic flux reduction
3115 4115 4115 PWM command clamp value at deceleration time
3116 4116 4116 Counter electromotive voltage compensation coefficient
3117 4117 4117 Interference voltage compensation coefficient
3119 4119 4119 Interference voltage compensation
Dead-band rectangular wave component zero voltage/dead-band
3120 4120 4120
data
3127 4127 4127 Load meter indication value at maximum output time
3130 4130 4130 Current phase delay compensation constant
3133 4133 4133 Motor model code
3134 4134 4134 Motor overheat level (2 words)
3362 4362 4362 Load meter compensation 1
3363 4363 4363 Load meter compensation 2
3364 4364 4364 Load meter compensation 3
Parameter No.
Description
15i 16i 30i
Motor power turn-off method when spindle alarm 24 (serial data transfer error) is
3009#2 4009#2 4009#2
issued
3087 4087 4087 Overspeed level
3088 4088 4088 Velocity error excess detection level when the motor is bound
3089 4089 4089 Velocity error excess detection level when the motor is rotating
3090 4090 4090 Overload detection level
3123 4123 4123 Short-time overload detection period
3399#5 4399#5 4399#5 Whether to detect magnetic pole position count miss alarm (spindle alarm 91)
3463 4463 4463 Unexpected rotation detection level (spindle Alarm 90)
3464 4464 4464 Velocity command-dependent over speed (spindle alarm 92) detection offset
level
3465 4465 4465 Excessive speed deviation level 2
3466 4466 4466 Excessive speed deviation detection time 2
3527 4527 4527 Temperature difference between warning level and alarm level
Parameter No.
Description
15i 16i 30i
- 3706#1,#0 - Gear ratio between the spindle and position coder (cases of ×1, ×2, ×4, ×8)
5602#3 - - Whether to indicate an alarm detected by the spindle amplifier (Usually, set 0.)
5807#0 - - Enables/disables the spindle alarms (SPxxxx) of all spindles. (Usually, set 0.)
5842 - 3720 Number of position coder pulses
5850 - - Spindle number selected at power-on/reset time
3001#0 4001#0 4001#0 Whether to use the MRDY signal (machine ready signal)
3006#1 4006#1 4006#1 Gear ratio increment system
3009#0 4009#0 4009#0 Velocity loop gain increment system
Whether to output the load detection signals (LDT1, LDT2) during
3009#4 4009#4 4009#4
acceleration/deceleration
3012#6 4012#6 4012#6 Sets whether to drive the synchronous built-in spindle motor.
3012#7 4012#7 4012#7 Sets the spindle HRV function.
3019#2 4019#2 4019#2 Whether to perform torque clamping when the speed is zero
3019#7 4019#7 4019#7 Automatic parameter setting function
3352#1 4352#1 4352#1 Sets the peak hold function for load meter output.
3395#3 4395#3 4395#3 Sets parameter transfer from the CNC to spindle software.
3020 4020 4020 Maximum motor speed
3022 4022 4022 Speed arrival detection signal
3023 4023 4023 Speed detection level
3024 4024 4024 Speed zero detection level
3025 4025 4025 Torque limitation value.
3026 4026 4026 Load detection level 1
3027 4027 4027 Load detection level 2
3056 4056 4056 Gear ratio (High)
3057 4057 4057 Gear ratio (Medium High)
3058 4058 4058 Gear ratio (Medium Low)
3059 4059 4059 Gear ratio (Low)
3095 4095 4095 Speedometer output voltage adjustment value
3096 4096 4096 Load meter output voltage adjustment value
3122 4122 4122 Speed detection filter time constant
- 597 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
Parameter No.
Description
15i 16i 30i
3170 4170 4170 Overload current alarm detection level
3345 4345 4345 Detection level of the spindle motor speed command
3346 4346 4346 Incomplete integral coefficient
3351 4351 4351 Current detection offset compensation
ALSP Motor power turn-off method when spindle alarm 24 (serial data transfer error) is issued
0 : Turns off the power after the motor is decelerated and stopped.
1 : Turns off the power to the motor immediately.
Set this parameter to 1 to turn off the power to the motor immediately when any spindle
alarm is issued
Unit of data : 1%
Valid data range : 0 to 115
Standard setting value : 115
This parameter sets an overspeed level.
When the speed exceeds [maximum motor speed (No. 4020) × setting data (%)], the
overspeed alarm (spindle alarm 07) is issued.
- 598 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
WARNING
Make sure this parameter is set to the standard setting value. Do
not change the value.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 90
This parameter sets a condition for detecting the short-time overload alarm (spindle alarm
29).
If the state where a load equal to or greater than setting data (%) (maximum motor output
[load meter full scale] = 100%) is imposed on the spindle motor lasts for a specified
period (set in No. 4123) or more, the short-time overload alarm (spindle alarm 29) is
issued.
- 599 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NCHAMR Determines whether to detect “pole position count miss alarm (spindle alarm
91)”.
0: Detect alarm 91.
1: Does not detect alarm 91.
When the one-rotation signal is detected, this function monitors the difference between
the initial magnetic pole position estimated by magnetic pole detection and AMR offset
(parameter No. 4084). If the parameter-set threshold is exceeded, alarm 91 is detected.
If spindle alarm 91 must be invalidated temporarily for adjustment and other purposes, set
this parameter to "-1 (alarm 91 is invalid)".
NOTE
1 When the αiCZ sensor (serial) is used, this function cannot be used.
2 This function is valid after executing AMR offset. Therefore,
following parameters are needed to be set.
No.4008#6 = “0 (AMR offset is valid)”
No.4084 = “An adjustment value”
3 The magnetic pole undetected state (EPFIX: F048#7) is reset to 0 if
spindle alarm 91 is issued.
4 This parameter is valid with
9D53 series I (09) edition or later
9D70 series H (08) edition or later
9D80 series B (02) edition or later
9D90 series A (01) edition or later
9DA0 series A (01) edition or later.
- 600 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
NOTE
*1 The magnetic pole undetected state (EPFIX: F048#7) is reset to 0 if
spindle alarm 90 is issued.
*2 This parameter is valid with
9D53 series I (09) edition or later
9D70 series H (08) edition or later
9D80 series B (02) edition or later
9D90 series A (01) edition or later
9DA0 series A (01) edition or later.
NOTE
*1 The magnetic pole undetected state (EPFIX: F048#7) is reset to 0 if
spindle alarm 92 is issued.
*2 This parameter is valid with
9D53 series I (09) edition or later
9D70 series H (08) edition or later
9D80 series B (02) edition or later
9D90 series A (01) edition or later
9DA0 series A (01) edition or later.
- 601 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NOTE
This parameter is valid with
9D53 series J (10) edition or later
9D70 series I (09) edition or later
9D80 series C (03) edition or later
9D90 series A (01) edition or later
9DA0 series A (01) edition or later.
NOTE
This parameter is valid with
9D53 series J (10) edition or later
9D70 series I (09) edition or later
9D80 series C (03) edition or later
9D90 series A (01) edition or later
9DA0 series A (01) edition or later.
Unit of data : 1K
Valid data range : 0~50
Standard setting value : 0
This parameter sets the difference between motor overheat alarm detection temperature
and the warning detection temperature. If the parameter setting is 0, the spindle motor
overheat warning function is disabled.
While the motor temperature exceeds the warning detection temperature, the motor
overheat warning (warning number 01) is issued.
Motor temperature
Parameter No.4527
- 602 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
Parameter No.
Description
15i 16i 30i
3056 to 3059 4056 to 4059 4056 to 4059 Spindle-to-motor gear ratio data
NOTE
Usually, use the 1/100 unit (setting “0”).
NOTE
Usually, set this parameter to 0.
LDTOUT Whether to output the load detection signals (LDT1, LDT2) during
acceleration/deceleration
0 : Does not output the load detection signals during acceleration/ deceleration
(standard setting value).
1 : Outputs the load detection signals during acceleration/ deceleration (at all times)
when the parameter-set level is exceeded.
- 603 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NOTE
When driving the BiS series spindle (synchronous built-in spindle
motor), be sure to set both of the SYSP and SPHRV bits to 1.
NOTE
Usually, set this parameter to 1 not to perform clamping.
NOTE
With FS15i, the parameter address of this function is different,
namely, bit 0 of No. 5607 is used. Moreover, note that the meanings
of settings are reversed as follows.
0: Performs automatic parameter setting.
1: Does not perform automatic parameter setting.
In this case, set a model code in parameter No. 3133.
PKHALW Sets the peak hold function for load meter output.
0 : Does not use the peak hold function. (standard setting value)
1 : Uses the peak hold function.
- 604 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
0 : Regards parameters as valid one second after they are transferred from the CNC.
(Standard setting value)
1 : Regards parameters as valid as soon as they are transferred from the CNC.
NOTE
This parameter is valid with 9D53 series B (02) edition or later,
9D70 series A (01) edition or later, 9D80 series B (02) edition or
later, 9D90 series A (01) edition or later, and 9DA0 series A (01)
edition or later.
- 605 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NOTE
If the calculated speed zero detection level exceeds 200 min-1, it is
clamped at 200 min-1. (9D53 series B (02) edition or later, 9D70
series A (01) edition or later, 9D80 series B (02) edition or later,
9D90 series A (01) edition or later, and 9DA0 series A (01) edition
or later)
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 50
This parameter sets a torque limitation value to be applied when the torque limitation
command HIGH (TLMHA) or the torque limitation command LOW (TLMLA) is
specified.
The data indicates limitation values when the maximum torque is 100%.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 83
This parameter sets a load detection signal 1 (LDT1A) detection range. When the output
of the spindle motor is (setting data)% of the maximum output or more, load detection
signal 1 (LDT1A) is set to 1.
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 95
This parameter sets a load detection signal 2 (LDT2A) detection range. When the output
of the spindle motor is (setting data)% of the maximum output or more, load detection
signal 2 (LDT2A) is set to 1.
- 606 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 2.EXPLANATION OF OPERATION MODES
NOTE
When an improper value is set in these parameters, an unexpected
operation can occur. For example, the spindle can continue rotating
without stopping at the time of orientation. So, be sure to set a
proper gear ratio.
NOTE
Usually, this parameter need not be adjusted.
NOTE
Usually, this parameter need not be adjusted.
NOTE
Usually, this parameter need not be adjusted.
- 607 -
2.EXPLANATION OF OPERATION MODES FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
NOTE
Usually, this parameter need not be adjusted.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : 0
Set this parameter to use incomplete integral function for velocity loop integral control.
NOTE
Usually, this parameter need not be adjusted.
Unit of data :
Valid data range : 0 to ±32767
Standard setting value : 0
NOTE
Usually, this parameter need not be adjusted.
- 608 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 3.I/O SIGNALS (CNC↔PMC)
WARNING
1 Operation of each signal described in this chapter is not guaranteed if an alarm
is issued or if a hardware failure or abnormal operation occurs.
2 A signal described in this chapter can be used as a safety function only when it
is described that “the signal can be used as a safety function”.
CAUTION
Each signal described in this chapter is disabled and its operation is not
guaranteed after power-on until the parameters have been transferred from the
CNC to the spindle amplifier. After checking spindle operation ready signal
SRSRDY and other signals (refer to the Connection Manual for the relevant
CNC) to see the ready status, use the signals described in this chapter.
- 610 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 3.I/O SIGNALS (CNC↔PMC)
32 msec min.
Spindle alarm reset
ARSTA, B signal
“1”
“0” An alarm is reset when the signal status changes from
“1” to “0”.
0: Emergency stop
*ESPA, B Emergency stop signal
1: Normal operation
0: Disables the soft start/stop function.
SOCNA, B Soft start/stop signal
1: Enables the soft start/stop function.
Velocity integral control 0: Enables velocity integral control.
INTGA, B
signal 1: Disables velocity integral control.
“1”
Orientation stop “0”
position change This signal is used in orientation with the stop position set external setting
INDXA, B
command type. When the status of this signal changes from “1” to “0”, new position stop
data is input, and a movement to the new position then a stop take place.
Rotation direction This signal is used in orientation with the stop position set external setting
command at type.
ROTAA, B
orientation stop 0: CCW (counterclockwise)
position change 1: CW (clockwise)
This signal is used in orientation with the stop position set external setting
Shortcut command at
type.
NRROA, B orientation stop
0: The rotation direction depends on the ROTA signal setting.
position change
1: Shortcut control (within ±180°)
Analog override 0: Disables analog override.
OVRA, B
command 1: Enables analog override.
1: Incremental command spindle orientation
INCMDA, B Incremental command
0: Ordinary orientation
Motor power turn-off
MPOFA, B 1: Turns off the motor power.
signal
Synchronous This signal requests a synchronous orientation operation.
SORSLA, B orientation request 0: Cancels synchronous orientation.
command 1: Requests synchronous orientation.
This signal is used to detach the feedback cable between the amplifier and
Disconnection
motor. This signal is disabled in the excitation ON state.
DSCNA, B detection disable
0: Enables disconnection and overheat detection.
signal
1: Disables disconnection and overheat detection.
Magnetic pole Signal for starting magnetic pole detection operation
EPFSTRA, B detection operation 0: Cancels magnetic pole detection operation.
start signal 1: Requests magnetic pole detection operation.
- 611 -
3.I/O SIGNALS (CNC↔PMC) FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
(c) Forward rotation command signal (SFRA) and reverse rotation command
signal (SRVA)
For details of these signals, see Subsection 3.1.2, “Explanation of Input Signals”, in Part I.
For these signals, see also Section 1.5, “MAGNETIC POLE DETECTION”, in Part IV.
NOTE
Some specifications of this signal differ from those with an inductive spindle
motor.
For details of this signal, see Subsection 3.1.2, “Explanation of Input Signals”, in Part I.
Some specifications of this signal differ from those with an inductive spindle motor, so carefully set this
signal for the sub module SM and magnetic pole detection. See Sections 1.4, “SUB MODULE SM,” and
1.5, “MAGNETIC POLE DETECTION,” in Part IV.
- 612 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 3.I/O SIGNALS (CNC↔PMC)
NOTE
1 When the dual check safety function is enabled, this signal is disabled.
2 When the αiCZ sensor (serial) is used, this function cannot be used.
3 The specifications of this signal partly differ from the specifications for the
inductive spindle motor. This signal is disabled in the excitation ON state.
(1) This signal is used when the connection between the spindle amplifier and spindle motor needs to be
disconnected temporarily.
SP
Feedback
JYA2 Motor
Power line
(2) When this signal is used to detach the feedback signal, motor overheat and the issuance of a
feedback signal disconnection alarm can be prevented.
(3) A motor excitation OFF state confirmation signal (EXOFA) is provided to confirm that the motor is
not excited before the connected power line is detached.
(4) Before setting this signal to 1 and disconnecting the feedback signals and power line, set all the
SFRA, SRVA, ORCMA, MRDYA, and *ESPA commands to 0, and confirm that the motor
excitation OFF state confirmation signal (EXOFA) has been set to 1. After completing re-connection,
reset this signal to 0.
(5) With the synchronous built-in spindle motor, the motor sensor disconnection alarm (spindle alarm
73) is issued during activation even if this signal is set to 1.
(6) With the synchronous built-in spindle motor, the motor sensor feedback is monitored for a
disconnection even while this signal is set to 1. When a disconnection is detected, the magnetic pole
position undetected state (EPFIXA = 0) is set. So, while this signal is set to 1 (not during activation,
however,), the motor sensor disconnection alarm (spindle alarm 73) is not detected even if the motor
sensor feedback disconnection state is detected. In this case, however, the magnetic pole position
undetected state is set.
(7) Sample sequence (for the synchronous built-in spindle motor)
- 613 -
3.I/O SIGNALS (CNC↔PMC) FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
Motor speed
Forward rotation
command
SFRA
Speed zero
detection signal
SSTA
Disconnection
detection disable
signal
DSCNA Being
disconnected
Feedback cable
connection state
Connected Connected
Magnetic pole
detection state
signal
EPFIXA
Magnetic pole
Magnetic pole detection
detection operation operation
start signal
EPFSTRA
- 614 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 3.I/O SIGNALS (CNC↔PMC)
- 615 -
3.I/O SIGNALS (CNC↔PMC) FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
CAUTION
1 If a motor feedback signal disconnection alarm (spindle alarm 73) is issued, the
status of this signal is undefined.
2 When bit 5 of parameter No. 4007 is set to "1", the detection operation of the
feedback signal disconnection alarm is not performed.
Set the parameter to "0" when not required, to enable alarm detection.
CAUTION
1 If a motor feedback signal disconnection alarm (spindle alarm 73) is issued, the
status of this signal is undefined.
2 When bit 5 of parameter No. 4007 is set to "1", the detection operation of the
feedback signal disconnection alarm is not performed.
Set the parameter to "0" when not required, to enable alarm detection.
- 617 -
4.ADJUSTMENT FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
4 ADJUSTMENT
4.1 VELOCITY LOOP GAIN ADJUSTMENT
4.1.1 Overview
For this subsection, see Subsection 4.1.1, “Overview”, in Part I.
4.1.2 Parameters
For this subsection, see Subsection 4.1.2, “Parameters”, in Part I.
※When the resonance elimination filter disable signal is used, the following spindle and CNC software
products must be used.
Spindle software
Series Edition Usable CNC
9D53 L (12) edition or later
9D70 L (12) edition or later
9D80 H (08) edition or later
9D90 A (01) edition or later
9DA0 A (01) edition or later
- 618 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 4.ADJUSTMENT
- 619 -
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
5 FUNCTION DESCRIPTIONS
5.1 SPEED RANGE SWITCHING CONTROL (OPTIONAL
FUNCTION)
The BiS series spindle (synchronous built-in spindle motor) does not support this function.
5.3.1 Overview
For this subsection, see Subsection 5.3.1, “Overview”, in Part I.
- 620 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 5.FUNCTION DESCRIPTIONS
Spindle+
Built-in motor
JYA2
SP
TYPE B
SP
TYPE B
Spindle+
Detection Built-in motor
JYA3 circuit
Thermistor
1st- G230 G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G238 G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00
- 621 -
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NOTE
This subsection describes only the parameters specific to incremental command
type spindle orientation. See Section 2.2, “POSITION CODER METHOD
SPINDLE ORIENTATION” in Part I, for parameters related to other types of
spindle orientation.
5.4.1 Overview
For this subsection, see Subsection 5.4.1, “Overview”, in Part I.
- 622 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 5.FUNCTION DESCRIPTIONS
NOTE
1 For the BiS series spindle (synchronous built-in spindle motor),
Parameter No. 4084
is used for the AMR offset function (not for the motor voltage on orientation).
If an inappropriate value is set for the AMR offset, the motor may move
unpredictably.
2 For AMR offset function, see Subsection 1.5.3, “AMR Offset Function”, in Part IV.
Spindle+
Built-in motor
JYA2
SP
TYPE B
Thermistor
- 623 -
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
5.4.5 Sequence
For this subsection, see Subsection 5.4.5, “Sequence”, in Part I.
5.5.1 Overview
For this subsection, see Subsection 5.5.1, “Overview”, in Part I.
- 624 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 5.FUNCTION DESCRIPTIONS
5.5.3 Specification
For this subsection, see Subsection 5.5.3, “Specification”, in Part I.
1st- G078 G078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G080 G080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00
1st- G1078 G1078 SHA07 SHA06 SHA05 SHA04 SHA03 SHA02 SHA01 SHA00
2nd- G1080 G1080 SHB07 SHB06 SHB05 SHB04 SHB03 SHB02 SHB01 SHB00
- 625 -
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
5.5.5 Sequence
For this subsection, see Subsection 5.5.5, “Sequence”, in Part I.
- 626 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 5.FUNCTION DESCRIPTIONS
Parameter No.
Description
16i 30i
4052 4052 Velocity integral gain on spindle synchronous control
4053 4053 (This parameter is selected with the input signal CTH1A.)
4056 to Gear ratio data between spindle and motor
4056 to 4059
4059 (These parameters are selected with the input signals CTH1A and CTH2A.)
Position gain on spindle synchronous control (It is necessary to specify the same
4065 to
4065 to 4068 value for the first and second spindles.)
4068
(These parameters are selected with the input signals CTH1A and CTH2A.)
4075 4075 Orientation completion signal detection level
Acceleration magnetic flux switching point for spindle synchronous control (It is
4336 4336
necessary to specify the same value for the first and second spindles.)
Bell-shaped acceleration/deceleration time constant for spindle synchronous
4340 4340
control (It is necessary to specify the same value for the first and second spindles.)
4369 4369 Synchronous orientation deceleration coefficient
NOTE
1 See Section 1.3, “PARAMETERS RELATED TO DETECTORS”, in Part IV for
parameters related to detectors.
2 See Section 4.1, “VELOCITY LOOP GAIN ADJUSTMENT”, in Part IV for velocity
loop proportional/integral gain tuning.
3 See “Function Description: Spindle Synchronous Control” for parameters related
to the spindle synchronous control function.
5.6.1 Overview
For this subsection, see Subsection 5.6.1, “Overview”, in Part I.
CNC software
Series Edition Remark
B0H1 M (13) edition or later For the FANUC Series 16i/160i/160is-MB
BDH1 M (13) edition or later For the FANUC Series 18i/180i/180is-MB
BDH5 C (03) edition or later For the FANUC Series 18i/180i/180is-MB5
DDH1 M (13) edition or later For the FANUC Series 21i/210i/210is-MB
B1H1 M (13) edition or later For the FANUC Series 16i/160i/160is-TB
BEH1 M (13) edition or later For the FANUC Series 18i/180i/180is-TB
DEH1 M (13) edition or later For the FANUC Series 21i/210i/210is-TB
- 627 -
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
5.6.4 Parameters
For this subsection, see Subsection 5.6.4, “Parameters”, in Part I.
5.6.7 Cautions
For this subsection, see Subsection 5.6.7, “Cautions”, in Part I.
5.7.1 Overview
For this subsection, see Subsection 5.7.1, “Overview”, in Part I.
15i
F155 AQSP2 AQSP1
F154 AQSP4 AQSP3
- 628 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 5.FUNCTION DESCRIPTIONS
- 629 -
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
5.8.1 Overview
The spindle EGB function is intended to use one of spindles in a pair as a tool axis (master axis) and the
other as a workpiece axis (slave axis) and cause the slave axis to rotate in synchronization with the master
axis at a specified synchronous ratio. Refer to an applicable CNC Connection Manual (Function) for
details of this function.
(a) For Series 16i/18i
“FANUC Series 16i/18i/21i-MODEL B CONNECTION MANUAL (FUNCTION) : B-63523EN-1
Refer to Section 1.14.2, “Spindle Electronic Gear Box (M series).”
(b) For Series 30i-A/31i-A5/31i-A
“FANUC Series 30i/31i/32i-MODEL A CONNECTION MANUAL (FUNCTION) : B-63943EN-1
Refer to Section 1.10.2, “Spindle Electronic Gear Box.”
(c) For Series 30i-B/31i-B5/31i-B
“FANUC Series 30i/31i/32i-MODEL B CONNECTION MANUAL (FUNCTION) : B-64483EN-1
Refer to Section 1.10.2, “Spindle Electronic Gear Box.”
NOTE
1 Using this function requires the CNC software option.
2 Using this function requires SP TYPE B for both the master and slave axes.
3 For the master and slave axes, use the spindle software of the same series and
edition.
4 This function cannot be used together with the spindle fine Acc./Dec. (FAD)
function.
5 This function cannot be used together with the spindle tandem control function.
6 This function cannot be used with the FANUC Series 15i-MODEL B.
7 This function cannot be used with the FANUC Series 32i.
8 There are no limitations on the assignment of the master and slave axes.
For descriptive purposes, this specification assumes:
Master spindle amplifier: First spindle
Slave spindle amplifier: Second spindle
NOTE
When using the αiCZ sensor (serial) as the motor or spindle sensor, use 9D80
series H (08) edition.
- 630 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 5.FUNCTION DESCRIPTIONS
CNC software
Series Edition Remark
B0H1 A (01) edition or later For FANUC Series 16i/160i/160is-MB
BDH1 A (01) edition or later For FANUC Series 18i/180i/180is-MB
BDH5 A (01) edition or later For FANUC Series 18i/180i/180is-MB5
G003/G013/
G023/G033/
28 edition or later
G00C/G01C
For FANUC Series 30i/300i /300is-A
G02C/G03C
G004/G014
01 edition or later
G024/G034
G123/G133
28 edition or later
G12C/G13C For FANUC Series 31i/310i /310is-A5
G124/G134 01 edition or later
G103/G113 28 edition or later
For FANUC Series 31i/310i /310is-A
G104/G114 01 edition or later
JA7A
JX4
Speed/position
sensor
SPM-to-SPM
communication Built-in spindle motor
JX4
JA7B JYA2
SP
TYPE B
Second axis
(slave axis)
NOTE
When using the αiCZ sensor (serial) as the motor sensor, connect the feedback
cable to JYA3.
- 631 -
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
- 632 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 5.FUNCTION DESCRIPTIONS
- 633 -
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NOTE
1 See Section 1.3, “PARAMETERS RELATED TO DETECTORS” in Part IV for
parameters related to detectors.
2 See Section 4.1, “VELOCITY LOOP GAIN ADJUSTMENT”, in Part IV for velocity
loop proportional/integral gain tuning.
NOTE
1 Displaying this data on the CNC diagnosis screen requires the αi spindle
amplifier (SP) TYPE B and the i series MODEL B CNC.
2 Displaying this data on the CNC diagnosis screen requires the following CNC
software series/editions.
FS16i/160i/160is-MB : B0H1 series R (18) edition or later
FS18i/180i/180is-MB : BDH1 series R (18) edition or later
FS18i/180i/180is-MB5 : BDH5 series H (08) edition or later
5.8.11 Alarms
For this subsection, see Subsection 5.8.11, “Alarms”, in Part I.
- 634 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 5.FUNCTION DESCRIPTIONS
5.11.1 Overview
For this subsection, see Subsection 5.11.1, “Overview”, in Part I.
For the BiS series spindle (synchronous built-in spindle motor), only speed tandem control is applicable
and torque tandem control cannot be used.
NOTE
When using the αiCZ sensor (serial), 9D90 series G (07) edition or later or 9DA0
series I (09) edition or later is required.
NOTE
For the BiS series spindle (synchronous built-in spindle motor), keep the
following in mind when creating a sequence.
1 In the synchronous spindle motor, magnetic pole detection needs to be
performed after power-on (or after occurrence of an alarm reporting a loss of
the magnetic pole detection state). At this time, disconnect both axes
mechanically to free the motor of each axis and then perform magnetic pole
detection.
2 Before entering the tandem operation command SLVx=1, make sure that
both axes are in the magnetic pole detection completion state
(EPFIXA=1&EPFIXB=1). If the magnetic pole detection incompletion state is
detected, set SLVx = 0.
- 635 -
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
5.11.6 Parameters
For this subsection, see Subsection 5.11.6, “Parameters”, in Part I.
5.12.1 Overview
For this subsection, see Subsection 5.12.1, “Overview”, in Part I.
- 636 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 5.FUNCTION DESCRIPTIONS
NOTE
For the BiS series spindle (synchronous built-in spindle motor), keep the
following in mind when creating a sequence.
1 In the synchronous spindle motor, magnetic pole detection needs to be
performed after power-on (or after occurrence of an alarm reporting a loss of
the magnetic pole detection state). At this time, disconnect both axes
mechanically to free the motor of each axis and then perform magnetic pole
detection.
2 Before entering the tandem operation command SLVx=1, make sure that
both axes are in the magnetic pole detection completion state
(EPFIXA=1&EPFIXB=1). If the magnetic pole detection incompletion state is
detected, set SLVx = 0.
5.12.6 Parameters
For this subsection, see Subsection 5.12.6, “Parameters”, in Part I.
5.12.8 Adjustment
For this subsection, see Subsection 5.12.8, "Adjustment", Part I.
5.15.1 Overview
For this subsection, see Subsection 5.13.1, “Overview”, in Part I.
- 637 -
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
NOTE
When using the αiCZ sensor (serial) as the motor or spindle sensor, use 9D80
series H (08) edition.
5.15.4 Parameters
For this subsection, see Subsection 5.13.4, “Parameters”, in Part I.
5.16.1 Overview
For this subsection, see Subsection 5.14.1, “Overview”, in Part I.
NOTE
1 When driving the BiS series spindle (synchronous built-in spindle motor),
parameter No.4084
is used for AMR offset function.(The parameter isn’t the motor voltage for spindle
orientation)
Be sure that if an inappropriate value is set for the AMR offset, the motor may
move unpredictably.
2 For AMR offset function, see Subsection 1.5.3, “AMR Offset Function”, in Part IV.
- 638 -
B-65280EN/08 FANUC BUILT-IN SPINDLE MOTOR BiS series 5.FUNCTION DESCRIPTIONS
Spindle+
Built-in motor
JYA2
SP
TYPE B
Thermistor
5.16.4 Sequence
For this subsection, see Subsection 5.14.5, “Sequence”, in Part I.
- 639 -
5.FUNCTION DESCRIPTIONS FANUC BUILT-IN SPINDLE MOTOR BiS series B-65280EN/08
- 640 -
V. FANUC SPINDLE MOTOR βiIc series
B-65280EN/08 FANUC AC SPINDLE MOTOR βiIc series 1.START-UP
1 START-UP
1.1 START-UP PROCEDURE
A. Check the spindle-related specifications.
- CNC model
- Spindle motor
- Common power supply (PS)
- Spindle amplifier
- Detector system
D. Check the CNC parameter setting for using the βiIc series
(Serial) spindle. (See Subsection 1.2.1.)
NOTE
The CNC applicable to the βiIc (βiSVSPc) is the 0i Mate-TD.
- 643 -
1.START-UP FANUC AC SPINDLE MOTOR βiIc series B-65280EN/08
<1> Set the model code for the desired motor for automatic parameter initialization.
NOTE
For the spindle motor βiIc, which has no model code, set the model code 270 to
automatically set the parameter, and then input data manually according to the
motor parameter table.
<2> Set the relevant parameter to enable automatic spindle parameter initialization.
NOTE
This bit is reset to its original value after automatic parameter initialization.
<3> Turn the CNC off, then on again. Then, the spindle parameters specified with a model code are
automatically initialized.
1.2.4 Alarm
For this subsection, see Subsection 1.2.5, “Alarm”, in Part I.
- 644 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βiIc series 1.START-UP
βiIc
spindle
motor
JYA2 Spindle
αi position coder
βiSVSPc
JYA3
Directly connected or connected with a gear or timing
belt at a ratio of 1:1
JYA2 Spindle
βiSVSPc
JYA4
αiBZ sensor
- 646 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βiIc series 2.EXPLANATION OF OPERATION MODES
2.1.2 Overview
For this subsection, see Subsection 2.1.2, “Overview”, in Part III.
For details on common input/output signals, see Chapter 3, "I/O SIGNALS (CNC↔PMC)", in Part I.
Common signals G070 MRDYA SFRA SRVA CTH1A CTH2A TLMHA TLMLA
G071 *ESPA
G072 OVRA
- 647 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βiIc series B-65280EN/08
2.1.7 Troubleshooting
For this subsection, see Subsection 2.1.7, “Troubleshooting”, in Part III.
2.2.2 Overview
For this subsection, see Subsection 5.4.1, “Overview”, in Part I.
2.2.3 Feature
For this subsection, see Subsection 2.2.4, “Feature”, in Part I.
- 648 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βiIc series 2.EXPLANATION OF OPERATION MODES
2.3.2 Overview
For this subsection, see Subsection 2.3.2, “Overview”, in Part I.
- 649 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βiIc series B-65280EN/08
For details on common input/output signals, see Chapter 3, "I/O SIGNALS (CNC↔PMC)", in Part I.
Common signals
#7 #6 #5 #4 #3 #2 #1 #0
G070 SFRA SRVA CTH1A CTH2A
2.3.5 Sequence
For the sequence of rigid tapping, see Section 10.13, "Rigid Tapping" in the FANUC Series 0i-MODEL
D Connection Manual (Function) (B-64303EN-1/02).
- 650 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βiIc series 2.EXPLANATION OF OPERATION MODES
2.3.11 Alarm
For this subsection, see Subsection 2.3.11, “Alarm”, in Part I.
2.4.1 Overview
For this subsection, see Subsection 2.5.1, “Overview”, in Part III.
For details on common input/output signals, see Chapter 3, "I/O SIGNALS (CNC↔PMC)", in Part I.
Common signals
#7 #6 #5 #4 #3 #2 #1 #0
TLMLA
G070 MRDYA SFRA SRVA CTH1A CTH2A TLMHA
(*1)
G071 *ESPA ARSTA
G073 MPOFA
NOTE
1 In the βiIC series, the functions of the signals are different from those of the αi
series. For details, see Chapter 3, "I/O SIGNALS (CNC↔PMC) ", in Part III.
- 651 -
2.EXPLANATION OF OPERATION MODES FANUC AC SPINDLE MOTOR βiIc series B-65280EN/08
Common signals #7 #6 #5 #4 #3 #2 #1 #0
F045 TLMA LDT1A SARA SDTA SSTA ALMA
F047 PC1DTA
2.4.3 Parameters
This Subsection describes those parameters that are common to all operation modes by dividing them into
several types.
NOTE
For the detector-related parameters, see Section 1.3, “PARAMETERS RELATED
TO DETECTORS”, in Part V.
- 652 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βiIc series 2.EXPLANATION OF OPERATION MODES
- 654 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βiIc s 3.I/O SIGNALS (CNC(PMC)
See Chapter 10, "SPINDLE FUNCTION" in the FANUC Series 0i MODEL D Connection Manual
(Function) (B-64303EN-1).
See Chapter 10, "SPINDLE FUNCTION" in the FANUC Series 0i MODEL D Connection Manual
(Function) (B-64303EN-1).
- 655 -
3.I/O SIGNALS (CNC(PMC) FANUC AC SPINDLE MOTOR βiIc series B-65280EN/08
LOW
Gear shifter
HIGH
LOW
Gear state
HIGH
Clutch/gear signals 1
(CTH1A,CTH2A) 0
- 656 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βiIc s 3.I/O SIGNALS (CNC(PMC)
Those signals that are not listed in Subsection 3.2.1, “List of Output Signals”, in Part V are not used with the
βiIc series spindle.
- 657 -
4.ADJUSTMENT FANUC AC SPINDLE MOTOR βiIc series B-65280EN/08
4 ADJUSTMENT
4.1 VELOCITY LOOP GAIN ADJUSTMENT
4.1.1 Overview
Optimum adjustment of the velocity loop gain increases the position loop gain, therefore significantly
enhancing disturbance suppression performance, positioning speed and accuracy. So, the adjustment of the
velocity loop gain is very important in servo adjustments, and it should be performed first. This section
explains the parameters for velocity loop gain adjustment and the adjustment procedure.
To check the waveform of a torque command, position error, or so on, use the spindle check board and an
oscilloscope, or the servo guide (see Appendix F).
4.1.2 Parameters
There are four operation modes in spindle control: velocity control mode, orientation, servo mode (rigid
tapping and spindle positioning), and spindle synchronous control. There are parameters corresponding to
each operation mode and to the clutch/gear signals (CTH1A and CTH2A). The following shows the
parameters for each operation mode.
4040 Velocity loop proportional gain on velocity control mode (HIGH) CTH1A=0
4041 Velocity loop proportional gain on velocity control mode (LOW) CTH1A=1
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
4048 Velocity loop integral gain on velocity control mode (HIGH) CTH1A=0
4049 Velocity loop integral gain on velocity control mode (LOW) CTH1A=1
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
(2) Orientation
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
- 658 -
B-65280EN/08 FANUC AC SPINDLE MOTOR βiIc series 4.ADJUSTMENT
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
4044 Velocity loop proportional gain on spindle synchronous control (HIGH) CTH1A=0
4045 Velocity loop proportional gain on spindle synchronous control (LOW) CTH1A=1
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
4052 Velocity loop integral gain on spindle synchronous control (HIGH) CTH1A=0
4053 Velocity loop integral gain on spindle synchronous control (LOW) CTH1A=1
Unit of data :
Valid data range : 0 to 32767
Standard setting value : Depends on the motor model.
NOTE
For the velocity loop gain on spindle synchronous control and on the servo mode,
common parameters are used.
- 659 -
4.ADJUSTMENT FANUC AC SPINDLE MOTOR βiIc series B-65280EN/08
NOTE
When the rigidity of the spindle is low, the standard setting of the velocity loop gain
may be so high that oscillation can occur. In such a case, decrease the velocity loop
gain.
(2) Adjustment
Before adjusting the velocity loop gain, check the operation mode and the clutch/gear signals and then
change the corresponding parameters. Follow the steps below to adjust the parameters:
The velocity loop proportional gain and integral gain are parameters to be set according to the load inertia.
Set the value according to the following equation.
JL [kgm2 ]
[Proportional/integral gain considering load inertia] = ( + 1) × [Initial value of proportional/integral gain]
Jm [kgm2 ]
If vibration as described below occurs when a value calculated by the above expression is set because, for
example, the rigidity of the spindle is low, then set a smaller value (equal to or less than 70% of the
calculated value) by providing a margin.
- The vibration sound of spindle occurs.
- Vibration of a torque command becomes large.
- Vibration caused by position error at a stop becomes large.
- 660 -
APPENDIX
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
- 664 -
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
- 665 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/08
- 666 -
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
- 667 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/08
- 668 -
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
- 669 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/08
- 670 -
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
- 671 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/08
- 672 -
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
- 673 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/08
- 674 -
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
- 675 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/08
- 676 -
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
- 678 -
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
- 679 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/08
- 680 -
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
- 681 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/08
- 682 -
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
- 683 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/08
- 684 -
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
- 685 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/08
- 686 -
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
- 687 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/08
- 688 -
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
Intern
Standard Classi
al data Referenc
initial setting Contents fi-cati
No. 0i Mate-TD bit e item
data on
F-xxx
0H 4000 #0 0 Rotation direction relationship between the spindle and motor A ΙΙΙ-1.3.2
#4 0 Return direction for the reference position on servo mode B ΙΙΙ-2.3.7
0L 4001 #0 1 Whether to use MRDY (machine ready) signal B ΙΙΙ-2.5.4
#4 0 Spindle sensor (position coder) attachment direction A ΙΙΙ-1.3.2
1H 4002 #0 0 Spindle sensor type A ΙΙΙ-1.3.2
#1 0 Spindle sensor type A ΙΙΙ-1.3.2
#2 0 Spindle sensor type A ΙΙΙ-1.3.2
#3 0 Spindle sensor type A ΙΙΙ-1.3.2
#4 0 SM pin output data selection B ΙΙΙ-2.5.4
#5 0 Whether to use the rotation direction signal (SFR/SRV) function on B ΙΙΙ-2.3.7
servo mode
1L 4003 #2 0 Rotation direction during spindle orientation B ΙΙΙ-2.2.9
#3 0 Rotation direction during spindle orientation B ΙΙΙ-2.2.9
#4 0 Teeth number setting of spindle sensor A ΙΙΙ-1.3.2
#5 0 Teeth number setting of spindle sensor A ΙΙΙ-1.3.2
#6 0 Teeth number setting of spindle sensor A ΙΙΙ-1.3.2
#7 0 Teeth number setting of spindle sensor A ΙΙΙ-1.3.2
2L 4005 #0 0 Setting of the velocity feedback method A ΙΙΙ-1.3.2
3H 4006 #1 0 Increment system of gear ratio A ΙΙΙ-1.3.2
#2 0 Increment system of spindle speed C ΙΙΙ-2.5.4
#5 0 Setting of analog override range B ΙΙΙ-2.1.6
3L 4007 #5 0 Whether to detect a feedback signal disconnection A ΙΙΙ-1.3.2
#6 0 Whether to detect the alarms (spindle alarms 41, 42, and 47) related A ΙΙΙ-1.3.2
to the position feedback signal (when non-Cs contouring control
mode is set)
4008 #3 0 Presence or absence of measures against a belt slip C V-2.5.3
4L 4009 #2 0 Motor power turn-off method when spindle alarm 24 (serial data D ΙΙΙ-2.5.4
transfer error) is issued
#4 0 Whether to output the load detection signals (LDT1) during B ΙΙΙ-2.1.6
acceleration/deceleration
#6 0 Analog override type B ΙΙΙ-2.1.6
5L 4011 #3 1 Number of motor poles C ΙΙΙ-2.5.3
#4 Depends on C ΙΙΙ-2.5.3
Setting of maximum output during acceleration/deceleration
the model
#7 0 Number of motor poles C ΙΙΙ-2.5.3
6H 4012 #0 0 Setting of PWM carrier frequency C ΙΙΙ-2.5.3
#1 0 Setting of PWM carrier frequency C ΙΙΙ-2.5.3
#2 0 Setting of PWM carrier frequency C ΙΙΙ-2.5.3
6L 4013 #2 Depends on C ΙΙΙ-2.5.3
Current dead-band data
the model
#3 Depends on C ΙΙΙ-2.5.3
Current dead-band data
the model
#4 Depends on C ΙΙΙ-2.5.3
Current dead-band data
the model
#5 Depends on C ΙΙΙ-2.5.3
Current dead-band data
the model
#6 Depends on C ΙΙΙ-2.5.3
Current dead-band data
the model
7L 4015 #0 0 Whether to use the spindle orientation function B ΙΙΙ-2.2.8
8H 4016 #6 0 Whether to detect the alarm (spindle alarms 46) related to feedback A ΙΙΙ-1.3.2
of the position detection signal for threading
#7 0 Function for newly detecting the one-rotation signal before entering A ΙΙΙ-1.3.2
position control mode
8L 4017 #7 0 Setting of shortcut orientation from stop state in position coder B ΙΙΙ-2.2.9
method spindle orientation
9L 4019 #2 1 Whether to use torque clamp at zero speed B ΙΙΙ-2.5.4
- 691 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/08
Intern
Standard Classi
al data Referenc
initial setting Contents fi-cati
No. 0i Mate-TD bit e item
data on
F-xxx
#7 0 Automatic parameter setting function (16i/30i) B ΙΙΙ-2.1.6
10 4020 6000 Maximum motor speed C ΙΙΙ-2.1.6
12 4022 150 Speed arrival detection level (SAR) B ΙΙΙ-2.5.4
13 4023 30 Speed detection level (SDT) B ΙΙΙ-2.5.4
14 4024 75 Zero speed detection level (SST) B ΙΙΙ-2.5.4
15 4025 50 Limited torque (TLMH) B ΙΙΙ-2.5.4
16 4026 83 Load detection level 1 (LDT1) B ΙΙΙ-2.5.4
21 4031 0 Stop position of position coder method orientation B ΙΙΙ-2.2.9
28 4038 0 Spindle orientation speed B ΙΙΙ-2.2.9
30 4040 Depends on B ΙΙΙ-2.1.6
Velocity loop proportional gain on velocity control mode (High)
the model
31 4041 Depends on B ΙΙΙ-2.1.6
Velocity loop proportional gain on velocity control mode (Low)
the model
32 4042 Depends on B ΙΙΙ-2.2.9
Velocity loop proportional gain on orientation (High)
the model
33 4043 Depends on B ΙΙΙ-2.2.9
Velocity loop proportional gain on orientation (Low)
the model
34 4044 Depends on B ΙΙΙ-2.3.7
Velocity loop proportional gain on servo mode (High)
the model ΙΙΙ-2.4.8
35 4045 Depends on B ΙΙΙ-2.3.7
Velocity loop proportional gain on servo mode (Low)
the model ΙΙΙ-2.4.8
38 4048 Depends on B ΙΙΙ-2.1.6
Velocity loop integral gain on velocity control mode (High)
the model
39 4049 Depends on B ΙΙΙ-2.1.6
Velocity loop integral gain on velocity control mode (Low)
the model
40 4050 Depends on B ΙΙΙ-2.2.9
Velocity loop integral gain on orientation (High)
the model
41 4051 Depends on B ΙΙΙ-2.2.9
Velocity loop integral gain on orientation (Low)
the model
42 4052 Depends on Velocity loop integral gain on servo mode (High) B ΙΙΙ-2.3.7
the model ΙΙΙ-2.4.8
43 4053 Depends on Velocity loop integral gain on servo mode (Low) B ΙΙΙ-2.3.7
the model ΙΙΙ-2.4.8
46 4056 100 Gear ratio (High) A ΙΙΙ-1.3.2
47 4057 100 Gear ratio (Medium High) A ΙΙΙ-1.3.2
48 4058 100 Gear ratio (Medium Low) A ΙΙΙ-1.3.2
49 4059 100 Gear ratio (Low) A ΙΙΙ-1.3.2
50 4060 1000 Position gain on orientation (High) B ΙΙΙ-2.2.9
51 4061 1000 Position gain on orientation (Medium High) B ΙΙΙ-2.2.9
52 4062 1000 Position gain on orientation (Medium Low) B ΙΙΙ-2.2.9
53 4063 1000 Position gain on orientation (Low) B ΙΙΙ-2.2.9
54 4064 100 Acceleration limitation ratio at deceleration time B ΙΙΙ-2.2.9
55 4065 1000 B ΙΙΙ-2.3.7
Position gain on servo mode (High)
ΙΙΙ-2.4.8
56 4066 1000 Position gain on servo mode (Medium High) B ΙΙΙ-2.3.7
ΙΙΙ-2.4.8
57 4067 1000 Position gain on servo mode (Medium Low) B ΙΙΙ-2.3.7
ΙΙΙ-2.4.8
58 4068 1000 B ΙΙΙ-2.3.7
Position gain on servo mode (Low)
ΙΙΙ-2.4.8
59 4069 900 Acceleration/deceleration constant (High) B ΙΙΙ-2.1.6
60 4070 900 Acceleration/deceleration constant (Medium High) B ΙΙΙ-2.1.6
61 4071 900 Acceleration/deceleration constant (Medium Low) B ΙΙΙ-2.1.6
62 4072 900 Acceleration/deceleration constant (Low) B ΙΙΙ-2.1.6
63 4073 0 Grid shift on servo mode B ΙΙΙ-2.3.7
64 4074 0 Reference position return speed on servo mode B ΙΙΙ-2.3.7
65 4075 10 Detection level for orientation completion signal B ΙΙΙ-2.2.9
67 4077 0 Orientation stop position shift B ΙΙΙ-2.2.9
68 4078 0 Gear switch timer B ΙΙΙ-2.5.4
- 692 -
B-65280EN/08 APPENDIX A.SPINDLE PARAMETER TABLE
Intern
Standard Classi
al data Referenc
initial setting Contents fi-cati
No. 0i Mate-TD bit e item
data on
F-xxx
70 4080 Depends on Regenerative power limit for high-speed zone/regenerative power B ΙΙΙ-2.5.3
the model limit
71 4081 20 Delay time until motor power is cut off B ΙΙΙ-2.1.6
72 4082 10 Setting of acceleration/deceleration time B ΙΙΙ-2.1.6
73 4083 60 Motor voltage on velocity control mode C ΙΙΙ-2.1.6
74 4084 60 Motor voltage on orientation C ΙΙΙ-2.2.9
75 4085 60 C ΙΙΙ-2.3.7
Motor voltage on servo mode
ΙΙΙ-2.4.8
76 4086 0 Gear ratio parameter setting error alarm (spindle alarm 35) detection D ΙΙΙ-2.5.4
level
78 4088 75 Level for detecting excess velocity error when motor is restrained D ΙΙΙ-2.5.4
79 4089 200 Level for detecting excess velocity error when motor rotates D ΙΙΙ-2.5.4
80 4090 90 Overload detection level D ΙΙΙ-2.5.4
81 4091 100 Rate of change in position gain during reference position return on B ΙΙΙ-2.3.7
servo mode
85 4095 0 Speedometer pin output voltage adjustment value B ΙΙΙ-2.5.4
88 4098 0 Maximum speed for position coder signal detection A ΙΙΙ-1.3.2
89 4099 0 Delay time for motor excitation B ΙΙΙ-2.3.7
90 4100 Depends on C ΙΙΙ-2.5.3
Base speed of motor output specifications
the model
91 4101 Depends on C ΙΙΙ-2.5.3
Output limit for motor output specifications
the model
92 4102 Depends on C ΙΙΙ-2.5.3
Excitation voltage saturation speed at no-load
the model
93 4103 Depends on C ΙΙΙ-2.5.3
Compensation data for resistance
the model
94 4104 Depends on C ΙΙΙ-2.5.3
Current loop proportional gain
the model
95 4105 Depends on C ΙΙΙ-2.5.3
Current loop integral gain
the model
96 4106 Depends on C ΙΙΙ-2.5.3
D-axis current loop gain
the model
97 4107 Depends on C ΙΙΙ-2.5.3
Q-axis current loop gain
the model
98 4108 Depends on C ΙΙΙ-2.5.3
Q-axis current deviation limitation coefficient
the model
99 4109 Depends on Filter time constant for processing saturation related to the voltage C ΙΙΙ-2.5.3
the model command
100 4110 Depends on C ΙΙΙ-2.5.3
Current conversion constant
the model
101 4111 Depends on C ΙΙΙ-2.5.3
Secondary current coefficient
the model
102 4112 Depends on Criterion level for saturation related to the voltage command/PWM C ΙΙΙ-2.5.3
the model command clamp value
103 4113 Depends on C ΙΙΙ-2.5.3
Slip constant
the model
105 4115 Depends on C ΙΙΙ-2.5.3
PWM command clamp value at deceleration
the model
106 4116 Depends on C ΙΙΙ-2.5.3
Motor leakage constant
the model
107 4117 Depends on Regular-time voltage compensation coefficient for high-speed C ΙΙΙ-2.5.3
the model zone/regular-time motor voltage coefficient
108 4118 Depends on Acceleration-time voltage compensation coefficient for high-speed C ΙΙΙ-2.5.3
the model zone/acceleration-time motor voltage coefficient
109 4119 Depends on Deceleration-time excitation current change time constant/excitation C ΙΙΙ-2.5.3
the model current change time constant
110 4120 Depends on C ΙΙΙ-2.5.3
Dead-band compensation data
the model
111 4121 5 Time constant for changing the torque (TCMD filter time constant) B ΙΙΙ-2.5.4
113 4123 30 Short-time overload detection time D ΙΙΙ-2.5.4
117 4127 Depends on C ΙΙΙ-2.5.3
Value displayed on load meter at maximum output
the model
- 693 -
A.SPINDLE PARAMETER TABLE APPENDIX B-65280EN/08
Intern
Standard Classi
al data Referenc
initial setting Contents fi-cati
No. 0i Mate-TD bit e item
data on
F-xxx
118 4128 Depends on Compensation coefficient between the specification and true C ΙΙΙ-2.5.3
the model base/maximum torque curve compensation coefficient
120 4130 Depends on Current loop proportional gain speed coefficient/current phase delay C ΙΙΙ-2.5.3
the model compensation coefficient
121 4131 Depends on B ΙΙΙ-2.5.3
Dead-band compensation hysteresis
the model
123 4133 Depends on C ΙΙΙ-2.5.3
Motor model code
the model
124 4134 Depends on C ΙΙΙ-2.5.3
125 Motor overheat detect level (2-word)
the model
130 4138 Depends on Primary frequency clamp speed 1 C V-2.5.3
the model
131 4139 Depends on Primary frequency clamp slip frequency 1 C V-2.5.3
the model
132 4140 Depends on Primary frequency clamp speed 2 C V-2.5.3
the model
133 4141 Depends on Primary frequency clamp slip frequency 2 C V-2.5.3
the model
134 4142 Depends on Belt slip state detection coefficient 1 C V-2.5.3
the model
135 4143 Depends on Belt slip state detection coefficient 2 C V-2.5.3
the model
152 4160 0 Hysteresis of speed detection level B Ι-5.1.7
304 4320 0 Acceleration at orientation deceleration time (High) B ΙΙΙ-2.2.9
305 4321 0 Acceleration at orientation deceleration time (Medium High) B ΙΙΙ-2.2.9
306 4322 0 Acceleration at orientation deceleration time (Medium Low) B ΙΙΙ-2.2.9
307 4323 0 Acceleration at orientation deceleration time (Low) B ΙΙΙ-2.2.9
312 4328 0 Command multiplication for spindle orientation by position coder B Ι-5.3.6
345 4362 Depends on C V-2.5.3
Load meter compensation 1
the model
346 4363 Depends on C V-2.5.3
Load meter compensation 2
the model
347 4364 Depends on C V-2.5.3
Load meter compensation 3
the model
- 694 -
B-65280EN/08 APPENDIX B.LIST OF SPINDLE PARAMETER NUMBERS
- 695 -
B.LIST OF SPINDLE PARAMETER NUMBERS APPENDIX B-65280EN/08
- 696 -
B-65280EN/08 APPENDIX B.LIST OF SPINDLE PARAMETER NUMBERS
- 697 -
B.LIST OF SPINDLE PARAMETER NUMBERS APPENDIX B-65280EN/08
- 698 -
B-65280EN/08 APPENDIX B.LIST OF SPINDLE PARAMETER NUMBERS
- 699 -
B.LIST OF SPINDLE PARAMETER NUMBERS APPENDIX B-65280EN/08
- 700 -
B-65280EN/08 APPENDIX B.LIST OF SPINDLE PARAMETER NUMBERS
- 701 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/08
- 702 -
B-65280EN/08 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL
(*1) This setting makes the maximum output during acceleration greater and the acceleration time reduced.
- 703 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/08
Motor model αi I 15/7000 αi I 18/7000 αi I 22/7000 αi I 30/6000 αi I 40/6000 αi I 50/4500 αi I 50/5000 αi I 1/15000
Applicable amplifier αi SP22 αi SP22 αi SP26 αi SP45 αi SP45 αi SP55 αi SP55 αi SP5.5
Model code 316 318 320 322 323 324 - -
Applicable software series and edition 9D50/D 9D50/F 9D50/D 9D50/E 9D50/E 9D50/F - -
Low-speed winding characteristics - - - - - - - -
15/18.5kW 18.5/22kW 22/26kW 30/37kW 37/45kW 45/55kW 45/55kW 1.5/2.2kW
High-speed winding characteristics -1 -1 -1 -1 -1 -1 -1 -1
1500/7000min 1500/7000min 1500/7000min 1150/6000min 1500/6000min 1150/4500min 1150/5000min 3000/15000min
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000001
3011 4011 4011 00011010 00011010 00011010 00011010 00011010 00011010 00011010 00011001
3012 4012 4012 10000010 10000010 10000010 10000010 10000000 10000000 10000000 10000010
3013 4013 4013 01010000 01010000 01010000 00011000 00011000 00011000 00011000 00001100
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 7000 7000 7000 6000 6000 4500 5000 15000
3023 4023 4023
3039 4039 4039 0 0 0 0 0 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
85
3080 4080 4080 20555 11615 80 77 80 80 80
80(*1)
3083 4083 4083 30 30 30 30 30 30 30 30
3093 4093 4093 0 0 0 0 0 0 0 0
3100 4100 4100 1500 1520 1500 1387 1740 1200 1200 3100
3101 4101 4101 95 100 95 100 100 85 85 93
3102 4102 4102 1710 1813 1756 1387 1740 1201 1201 8015
70
3103 4103 4103 0 84 0 0 0 89 89
0(*1)
3104 4104 4104 5500 3000 4500 6000 3000 3000 3000 2000
3105 4105 4105 0 0 0 0 0 0 0 0
3106 4106 4106 5500 10000 4500 6000 3000 4500 4500 7000
3107 4107 4107 0 0 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25 25 25
3110 4110 4110 794 943 924 1145 970 1260 1260 343
3111 4111 4111 243 333 252 286 286 320 320 102
3112 4112 4112 200 200 200 200 200 200 200 200
3113 4113 4113 304 308 290 189 190 170 170 1870
3114 4114 4114 23040 0 0 20480 23040 23040 23040 0
3115 4115 4115 100 100 100 100 100 100 100 100
3116 4116 4116 5177 3600 5564 6071 6128 5800 5800 9669
3117 4117 4117 90 90 29530 90 90 90 90 90
3118 4118 4118 100 100 110 100 100 100 100 100
3119 4119 4119 31 31 29 51 48 56 56 5
3120 4120 4120 0 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0 0
3127 4127 4127 148 143 142 148 146 146 146 176
3128 4128 4128 105 0 105 0 0 114 114 80
3129 4129 4129 0 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 130 130 130 130 130 130 130 110
3136 4136 4136 0 0 0 0 0 0 0 0
3138 4138 4138 0 0 0 0 0 0 0 0
3139 4139 4139 0 0 0 0 0 0 0 0
3140 4140 4140 0 0 0 0 0 0 0 0
3141 4141 4141 0 0 0 0 0 0 0 0
3142 4142 4142 0 0 0 0 0 0 0 0
3143 4143 4143 0 0 0 0 0 0 0 0
3144 4144 4144 0 0 0 0 0 0 0 0
3145 4145 4145 0 0 0 0 0 0 0 0
3146 4146 4146 0 0 0 0 0 0 0 0
3147 4147 4147 0 0 0 0 0 0 0 0
3148 4148 4148 0 0 0 0 0 0 0 0
3149 4149 4149 0 0 0 0 0 0 0 0
3150 4150 4150 0 0 0 0 0 0 0 0
3151 4151 4151 0 0 0 0 0 0 0 0
3152 4152 4152 0 0 0 0 0 0 0 0
3153 4153 4153 0 0 0 0 0 0 0 0
3154 4154 4154 0 0 0 0 0 0 0 0
3155 4155 4155 0 0 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0 0 0
3158 4158 4158 0 0 0 0 0 0 0 0
3159 4159 4159 0 0 0 0 0 0 0 0
3161 4161 4161 0 0 0 0 0 0 0 0
3165 4165 4165 0 0 0 0 0 0 0 0
3166 4166 4166 0 0 0 0 0 0 0 0
3169 4169 4169 0 0 0 0 0 0 0 0
Maximum output during acceleration 22.2kW 26.4kW 31.2kW 44.4kW 54.0kW 66.0KW 66.0kW 5.6kW
(for PS selection) 7.0kW(*1)
Motor model (old name) α15/7000i α18/7000i α22/7000i α30/6000i α40/6000i α50/4500i - α1/15000i
Applicable amplifier (old name) SPM-22i SPM-22i SPM-26i SPM-45i SPM-45i SPM-55i - SPM-5.5i
(*1) This setting makes the maximum output during acceleration greater and the acceleration time reduced.
- 704 -
B-65280EN/08 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL
Motor model αi I 1.5/15000 αi I 1.5/20000 αi I 2/15000 αi I 2/20000 αi I 3/12000 αi I 6/12000 αi I 6/12000(*4)
Applicable amplifier αi SP15 αi SP15 αi SP22 αi SP22 αi SP11 αi SP11 αi SP11
Model code 305 - 307 - 309 401 -
Applicable software series and edition 9D50/I - 9D50/D - 9D50/F 9D50/D -
5.5/7.5kW 5.5/7.5kW
Low-speed winding characteristics - - - - -
1500/12000min 1500/12000min-1
-1
(*1) This setting makes the maximum output during acceleration greater and the acceleration time reduced.
(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*3) Set this value as the initial value of the velocity loop gain for low-speed characteristics of speed range switching.
(*4) This setting is used when only a low-speed winding is connected without the output range being switched in the output range switching motor.
- 705 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/08
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000001 00000000 00000000 00000000 00000000
3011 4011 4011 00011010 00011010 00011010 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000010 10000010 10000010 10000010 10000010
3013 4013 4013 00001100 00001100 00001100 00001100 00001100 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 10000 10000 12000 10000 10000 10000 10000
3023 4023 4023 400(*2) 333(*2) 400(*2) 400(*2)
3039 4039 4039 0 0 0 0 0 0 0
3040 4040 4040 6(*3)
3041 4041 4041 6(*3) 6(*3)
3048 4048 4048 6(*3)
3049 4049 4049 6(*3) 6(*3)
3080 4080 4080 12880 14168 70 75 70 80 20555
3083 4083 4083 30 30 30 30 30 30 30
3093 4093 4093 176 0 176 164 0 148 0
3100 4100 4100 3538 1600 3580 3900 1500 4000 1500
3101 4101 4101 100 100 100 80 100 62 95
3102 4102 4102 3538 1656 3580 3593 1500 3482 1710
3103 4103 4103 0 0 0 90 0 75 70
3104 4104 4104 2200 6000 2300 1800 7000 1700 5500
3105 4105 4105 0 0 0 0 0 0 0
3106 4106 4106 8000 18000 2300 6500 7000 5500 5500
3107 4107 4107 0 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25 25
3110 4110 4110 503 503 421 595 595 575 794
3111 4111 4111 165 170 100 173 173 193 243
3112 4112 4112 200 200 200 200 200 200 200
3113 4113 4113 480 790 980 280 311 275 304
3114 4114 4114 0 19200 0 0 23040 23040 23040
3115 4115 4115 100 100 100 100 100 100 100
3116 4116 4116 5734 8118 11031 5280 5000 5126 5177
3117 4117 4117 100 90 90 90 90 90 90
3118 4118 4118 100 100 100 100 100 90 100
3119 4119 4119 20 12 522 34 31 35 31
3120 4120 4120 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0
3127 4127 4127 176 176 176 164 164 148 148
3128 4128 4128 0 117 0 0 0 0 105
3129 4129 4129 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 130 130 130 130 130 130 130
3136 4136 4136 30 0 30 30 0 30 0
3138 4138 4138 1600 0 1500 1500 0 1500 0
3139 4139 4139 100 0 89 100 0 95 0
3140 4140 4140 1656 0 1642 1500 0 1710 0
3141 4141 4141 0 0 77 0 0 70 0
3142 4142 4142 6000 0 5000 7000 0 5500 0
3143 4143 4143 18000 0 5000 7000 0 5500 0
3144 4144 4144 0 0 0 0 0 0 0
3145 4145 4145 25 0 25 25 0 25 0
3146 4146 4146 503 0 566 595 0 794 0
3147 4147 4147 170 0 162 173 0 243 0
3148 4148 4148 200 0 200 200 0 200 0
3149 4149 4149 790 0 1090 311 0 304 0
3150 4150 4150 19200 0 19200 23040 0 23040 0
3151 4151 4151 100 0 100 100 0 100 0
3152 4152 4152 8118 0 8000 5000 0 5177 0
3153 4153 4153 90 0 90 90 0 90 0
3154 4154 4154 100 0 100 100 0 100 0
3155 4155 4155 0 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0 0
3158 4158 4158 117 0 0 0 0 105 0
3159 4159 4159 0 0 0 0 0 0 0
3161 4161 4161 25700 0 25700 25700 0 25700 0
3165 4165 4165 12 0 521 31 0 31 0
3166 4166 4166 14168 0 49 70 0 20555 0
3169 4169 4169 0 0 0 0 0 0 0
Maximum output during acceleration 13.2kW 13.2kW 13.2kW 18.0kW 18.0kW 22.2kW 22.2kW
(for PS selection)
Motor model (old name) α8/10000i α8/10000i - α12/10000i α12/10000i α15/10000i α15/10000i
Applicable amplifier (old name) SPM-11i SPM-11i - SPM-15i SPM-15i SPM-22i SPM-22i
(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*3) Set this value as the initial value of the velocity loop gain for low-speed characteristics of speed range switching.
(*4) This setting is used when only a low-speed winding is connected without the output range being switched in the output range switching motor.
- 706 -
B-65280EN/08 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL
Motor model αi I 18/10000 αi I 18/10000(*4) αi I 22/10000 αi I 22/10000(*4)
Applicable amplifier αi SP22 αi SP22 αi SP26 αi SP26
Model code 405 - 406 -
Applicable software series and edition 9D50/F - 9D50/E -
18.5/22kW 18.5/22kW 22/26kW 22/26kW
Low-speed winding characteristics -1 -1 -1 -1
1500/10000min 1500/10000min 1500/10000min 1500/10000min
18.5/22kW 22/26kW
High-speed winding characteristics - -
4000/10000min-1 4000/10000min
-1
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
3007 4007 4007 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000000 00000000
3011 4011 4011 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000010 10000010
3013 4013 4013 01010000 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100
3020 4020 4020 10000 10000 10000 10000
3023 4023 4023 400(*2) 400(*2)
3039 4039 4039 0 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
3080 4080 4080 80 11615 75 56
3083 4083 4083 30 30 30 30
3093 4093 4093 143 0 142 0
3100 4100 4100 4100 1520 4000 1440
3101 4101 4101 100 100 83 96
3102 4102 4102 4582 1813 3504 1709
3103 4103 4103 89 84 0 96
3104 4104 4104 1300 3000 2800 5000
3105 4105 4105 0 0 0 0
3106 4106 4106 5000 10000 2800 5000
3107 4107 4107 0 0 0 0
3108 4108 4108 0 0 0 0
3109 4109 4109 25 25 25 25
3110 4110 4110 754 943 603 823
3111 4111 4111 260 333 143 213
3112 4112 4112 200 200 200 200
3113 4113 4113 319 308 265 300
3114 4114 4114 0 0 24320 19200
3115 4115 4115 100 100 100 100
3116 4116 4116 4100 3600 5523 5593
3117 4117 4117 90 90 90 90
3118 4118 4118 100 100 100 100
3119 4119 4119 30 31 36 341
3120 4120 4120 0 0 0 0
3124 4124 4124 0 0 0 0
3127 4127 4127 143 143 142 142
3128 4128 4128 102 0 0 0
3129 4129 4129 0 0 0 0
3130 4130 4130 25700 25700 25700 25700
3134 4134 4134 130 130 130 130
3136 4136 4136 30 0 30 0
3138 4138 4138 1520 0 1440 0
3139 4139 4139 100 0 96 0
3140 4140 4140 1813 0 1709 0
3141 4141 4141 84 0 96 0
3142 4142 4142 3000 0 5000 0
3143 4143 4143 10000 0 5000 0
3144 4144 4144 0 0 0 0
3145 4145 4145 25 0 25 0
3146 4146 4146 943 0 823 0
3147 4147 4147 333 0 213 0
3148 4148 4148 200 0 200 0
3149 4149 4149 308 0 300 0
3150 4150 4150 0 0 19200 0
3151 4151 4151 100 0 100 0
3152 4152 4152 3600 0 5593 0
3153 4153 4153 90 0 90 0
3154 4154 4154 100 0 100 0
3155 4155 4155 0 0 0 0
3156 4156 4156 0 0 0 0
3158 4158 4158 0 0 0 0
3159 4159 4159 0 0 0 0
3161 4161 4161 25700 0 25700 0
3165 4165 4165 31 0 341 0
3166 4166 4166 11615 0 56 0
3169 4169 4169 0 0 0 0
Maximum output during acceleration 26.4kW 26.4kW 31.2kW 31.2kW
(for PS selection)
Motor model (old name) α18/10000i α18/10000i α22/10000i α22/10000i
Applicable amplifier (old name) SPM-22i SPM-22i SPM-26i SPM-26i
(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*4) This setting is used when only a low-speed winding is connected without the output range being switched in the output range switching motor.
- 707 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/08
(*2) When using the SDT signal, manually change the parameters that were automatically set.
- 708 -
B-65280EN/08 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL
Motor model αi IP 30/6000 αi IP 40/6000 αi IP 50/6000 αi IP 60/4500 αi IP 60/5000
Applicable amplifier αi SP22 αi SP26 αi SP26 αi SP30 αi SP30
Model code 411 412 413 414 -
Applicable software series and edition 9D50/E 9D50/F 9D50/E 9D50/F -
11/18.5kW 13/22kW 22/30kW 18.5/30kW 18.5/30kW
Low-speed winding characteristics -1 -1 -1 -1 -1
400/1500min 400/1500min 575/1500min 400/1500min 400/1500min
15/18.5kW 18.5/22kW 22/30kW 22/30kW 22/30kW
High-speed winding characteristics -1 -1 -1 -1 -1
575/6000min 575/6000min 1200/6000min 750/4500min 750/5000min
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
3007 4007 4007 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000000 00000000 00000000
3011 4011 4011 00011010 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000000 10000010 10000000 10000000
3013 4013 4013 01010000 01010000 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 6000 6000 6000 4500 5000
3023 4023 4023 96(*2) 96(*2) 200(*2) 167(*2) 167(*2)
3039 4039 4039 0 0 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
3080 4080 4080 19280 65 75 75 75
3083 4083 4083 30 30 30 30 30
3093 4093 4093 202 203 164 195 195
3100 4100 4100 590 590 1107 750 750
3101 4101 4101 100 100 100 84 84
3102 4102 4102 889 835 1107 861 861
3103 4103 4103 85 80 0 80 80
3104 4104 4104 10000 3500 8000 5000 5000
3105 4105 4105 0 0 0 0 0
3106 4106 4106 10000 6500 8000 9000 9000
3107 4107 4107 0 0 0 0 0
3108 4108 4108 0 0 0 0 0
3109 4109 4109 25 25 25 25 25
3110 4110 4110 750 1052 686 1018 1018
3111 4111 4111 267 312 175 280 280
3112 4112 4112 150 200 200 200 200
3113 4113 4113 198 170 180 196 196
3114 4114 4114 21760 0 25600 0 0
3115 4115 4115 100 100 100 100 100
3116 4116 4116 6050 4500 6150 5050 5050
3117 4117 4117 90 90 90 90 90
3118 4118 4118 100 100 100 100 100
3119 4119 4119 48 56 53 49 49
3120 4120 4120 0 0 0 0 0
3124 4124 4124 0 0 0 0 0
3127 4127 4127 148 143 164 164 164
3128 4128 4128 105 85 100 0 0
3129 4129 4129 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700
3134 4134 4134 130 130 130 130 130
3136 4136 4136 30 30 30 30 30
3138 4138 4138 400 430 608 420 420
3139 4139 4139 100 100 100 85 85
3140 4140 4140 684 713 608 497 497
3141 4141 4141 0 56 0 0 0
3142 4142 4142 13000 5000 21000 8000 8000
3143 4143 4143 13000 7000 21000 12000 12000
3144 4144 4144 0 0 0 0 0
3145 4145 4145 25 25 25 25 25
3146 4146 4146 2011 2155 1131 1764 1764
3147 4147 4147 733 655 317 510 510
3148 4148 4148 200 200 200 200 200
3149 4149 4149 165 200 195 195 195
3150 4150 4150 0 0 23040 0 0
3151 4151 4151 100 100 100 100 100
3152 4152 4152 6008 5200 6191 5045 5045
3153 4153 4153 28250 90 90 90 90
3154 4154 4154 100 100 100 100 100
3155 4155 4155 0 0 0 0 0
3156 4156 4156 0 0 0 0 0
3158 4158 4158 90 0 110 0 0
3159 4159 4159 0 0 0 0 0
3161 4161 4161 25700 25700 25700 25700 25700
3165 4165 4165 58 48 49 20 20
3166 4166 4166 50 17232 65 45 45
3169 4169 4169 0 0 0 0 0
Maximum output during acceleration 25.0kW 29.0kW 35.4kW 36kW 36.0kW
(for PS selection)
Motor model (old name) α30/6000i P α40/6000i P α50/6000i P α60/4500i P -
Applicable amplifier (old name) SPM-22i SPM-26i SPM-26i SPM-30i -
(*2) When using the SDT signal, manually change the parameters that were automatically set.
- 709 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/08
(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*3) Set this value as the initial value of the velocity loop gain for low-speed characteristics of speed range switching.
(*4) This setting is used when only a low-speed winding is connected without the output range being switched in the output range switching motor.
- 710 -
B-65280EN/08 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL
Motor model αi IT 8/12000 αi IT 8/12000(*4) αi IT 8/15000 αi IT 8/15000(*4) αi IT 15/10000 αi IT 15/10000(*4) αi IT 15/12000 αi IT 15/12000(*4)
Applicable amplifier αi SP15 αi SP15 αi SP26 αi SP26 αi SP22 αi SP22 αi SP30 αi SP30
Model code - - - - - - - -
Applicable software series and edition - - - - - - - -
7.5/11kW 7.5/11kW 7.5/11/15kW 7.5/11/15kW 15/18.5kW 15/18.5kW 15/18.5/22kW 15/18.5/22kW
Low-speed winding characteristics -1 -1 -1 -1 -1 -1 -1 -1
1500/12000min 1500/12000min 1500/4000min 1500/4000min 1500/10000min 1500/10000min 1400/4000min 1400/4000min
7.5/11kW 7.5/11/15kW 15/18.5kW 15/18.5/22kW
High-speed winding characteristics -1 - -1 - -1 - -1 -
4000/12000min 4000/15000min 4000/10000min 5000/12000min
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000001 00000001 00000001 00000001 00000001 00000001 00000001 00000001
3011 4011 4011 00011010 00011010 00011010 00011010 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000010 10000010 10000010 10000010 10000010 10000010
3013 4013 4013 00001100 00001100 01010000 01010000 01010000 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 12000 12000 15000 4000 10000 10000 12000 4000
3023 4023 4023 333(*2) 267(*2) 400(*2) 292(*2)
3039 4039 4039 0 0 0 0 0 0 0 0
3040 4040 4040
3041 4041 4041 6(*3) 4(*3)
3048 4048 4048
3049 4049 4049 6(*3) 4(*3)
3080 4080 4080 70 49 18774 95 80 20555 85 65
3083 4083 4083 30 30 30 30 30 30 30 30
3093 4093 4093 176 0 240 0 148 0 176 0
3100 4100 4100 3580 1500 4040 1570 4000 1500 4500 1450
3101 4101 4101 100 89 84 90 62 95 65 70
3102 4102 4102 3580 1642 5161 2592 3482 1710 5392 1783
3103 4103 4103 0 77 0 0 75 70 82 93
3104 4104 4104 2300 5000 2700 5000 1700 5500 3500 7000
3105 4105 4105 0 0 0 0 0 0 0 0
3106 4106 4106 2300 5000 9200 16000 5500 5500 3500 7000
3107 4107 4107 0 0 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25 25 25
3110 4110 4110 421 566 503 754 575 794 887 2155
3111 4111 4111 100 162 105 192 193 243 255 650
3112 4112 4112 200 200 200 200 200 200 200 200
3113 4113 4113 980 1090 1000 1050 275 304 380 380
3114 4114 4114 0 19200 28160 0 23040 23040 0 0
3115 4115 4115 100 100 100 100 100 100 100 100
3116 4116 4116 11031 8000 10984 11083 5126 5177 9314 2000
3117 4117 4117 90 90 90 90 90 90 90 90
3118 4118 4118 100 100 90 100 90 100 90 90
3119 4119 4119 522 521 10 15 35 31 25 25
3120 4120 4120 0 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0 0
3127 4127 4127 176 176 240 240 148 148 176 176
3128 4128 4128 0 0 0 110 0 105 0 0
3129 4129 4129 0 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 130 130 130 130 130 130 130 130
3136 4136 4136 30 0 30 0 30 0 30 0
3138 4138 4138 1500 0 1570 0 1500 0 1450 0
3139 4139 4139 89 0 90 0 95 0 70 0
3140 4140 4140 1642 0 2592 0 1710 0 1783 0
3141 4141 4141 77 0 0 0 70 0 93 0
3142 4142 4142 5000 0 5000 0 5500 0 7000 0
3143 4143 4143 5000 0 16000 0 5500 0 7000 0
3144 4144 4144 0 0 0 0 0 0 0 0
3145 4145 4145 25 0 25 0 25 0 25 0
3146 4146 4146 566 0 754 0 794 0 2155 0
3147 4147 4147 162 0 192 0 243 0 650 0
3148 4148 4148 200 0 200 0 200 0 200 0
3149 4149 4149 1090 0 1050 0 304 0 380 0
3150 4150 4150 19200 0 0 0 23040 0 0 0
3151 4151 4151 100 0 100 0 100 0 100 0
3152 4152 4152 8000 0 11083 0 5177 0 2000 0
3153 4153 4153 90 0 90 0 90 0 90 0
3154 4154 4154 100 0 100 0 100 0 90 0
3155 4155 4155 0 0 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0 0 0
3158 4158 4158 0 0 110 0 105 0 0 0
3159 4159 4159 0 0 0 0 0 0 0 0
3161 4161 4161 25700 0 25700 0 25700 0 25700 0
3165 4165 4165 521 0 15 0 31 0 25 0
3166 4166 4166 49 0 95 0 20555 0 65 0
3169 4169 4169 0 0 0 0 0 0 0 0
Maximum output during acceleration 13.2kW 13.2kW 28kW 28kW 22.2kW 22.2kW 38kW 38kW
(for PS selection)
Motor model (old name) α8/12000i T α8/12000i T α8/15000i T α8/15000i T α15/10000i T α15/10000i T α15/12000i T α15/12000i T
Applicable amplifier (old name) SPM-15i SPM-15i SPM-26i SPM-26i SPM-22i SPM-22i SPM-30i SPM-30i
(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*3) Set this value as the initial value of the velocity loop gain for low-speed characteristics of speed range switching.
(*4) This setting is used when only a low-speed winding is connected without the output range being switched in the output range switching motor.
- 711 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/08
(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*3) Set this value as the initial value of the velocity loop gain for low-speed characteristics of speed range switching.
(*4) This setting is used when only a low-speed winding is connected without the output range being switched in the output range switching motor.
- 712 -
B-65280EN/08 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL
(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*3) Set this value as the initial value of the velocity loop gain for low-speed characteristics of speed range switching.
- 713 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/08
(*1) This setting makes the maximum output during acceleration greater and the acceleration time reduced.
- 714 -
B-65280EN/08 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL
Motor model αi I 15/7000HV αi I 22/7000HV αi I 30/6000HV αi I 40/6000HV αi I 50/5000HV αi I 60/4500HV αi I 60/5000HV αi I 75/5000HV
Applicable amplifier αi SP30HV αi SP30HV αi SP45HV αi SP45HV αi SP45HV(*5) αi SP75HV αi SP75HV αi SP75HV(*5)
Model code 327 328 329 - - - - -
Applicable software series and edition 9D50/F 9D50/F 9D50/F - - - - -
Low-speed winding characteristics - - - - - - - -
15/18.5kW 22/26kW 30/37kW 37/45 kW 45/55kW 60/75 kW 60/75kW 75/90kW
High-speed winding characteristics -1 -1 -1 -1 -1 -1 -1 -1
1500/7000min 1500/7000min 1150/6000min 1500/6000 min 1150/5000min 1150/4500 min 1150/5000min 1050/5000min
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00010000 00010000 00000000 00000000 00010000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00010001
3011 4011 4011 00011010 00011010 00011010 00001010 00001010 00011010 00011010 00001010
3012 4012 4012 10000010 10000010 10000000 10000000 10000000 10000000 10000000 10000000
3013 4013 4013 01010000 01010000 01010000 01010000 00001100 00011000 00011000 00001100
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 7000 7000 6000 6000 5000 4500 5000 5000
3023 4023 4023
3039 4039 4039 0 0 0 0 0 0 0 0
3040 4040 4040
3041 4041 4041
3048 4048 4048
3049 4049 4049
3080 4080 4080 65 75 98 82 18000 90 90 20560
3083 4083 4083 30 30 30 30 30 30 30 30
3093 4093 4093 0 0 0 0 0 0 0 0
3100 4100 4100 1500 1595 1230 1600 1150 1130 1130 1100
3101 4101 4101 73 100 85 100 85 100 100 100
3102 4102 4102 1972 1595 1617 1940 1175 1491 1491 1254
3103 4103 4103 65 0 55 0 0 85 85 0
3104 4104 4104 4500 5000 2500 2500 4000 3500 3500 2500
3105 4105 4105 0 0 0 0 0 0 0 0
3106 4106 4106 4500 5000 4000 2800 6000 7000 7000 4000
3107 4107 4107 0 0 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25 25 25
3110 4110 4110 1499 838 1257 718 678 1174 1174 887
3111 4111 4111 425 223 455 252 274 345 345 292
3112 4112 4112 200 200 200 200 200 200 200 200
3113 4113 4113 280 325 160 175 194 193 193 180
3114 4114 4114 23040 20480 0 0 0 0 0 0
3115 4115 4115 100 100 100 100 100 100 100 100
3116 4116 4116 5153 5572 5056 6212 5045 5042 5042 4794
3117 4117 4117 90 90 90 90 90 90 90 90
3118 4118 4118 100 100 100 100 100 100 100 100
3119 4119 4119 34 29 60 54 49 49 49 53
3120 4120 4120 0 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0 0
3127 4127 4127 148 142 148 146 147 150 150 144
3128 4128 4128 0 0 110 115 0 0 0 110
3129 4129 4129 0 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 130 130 130 130 130 130 130 130
3136 4136 4136 0 0 0 0 0 0 0 0
3138 4138 4138 0 0 0 0 0 0 0 0
3139 4139 4139 0 0 0 0 0 0 0 0
3140 4140 4140 0 0 0 0 0 0 0 0
3141 4141 4141 0 0 0 0 0 0 0 0
3142 4142 4142 0 0 0 0 0 0 0 0
3143 4143 4143 0 0 0 0 0 0 0 0
3144 4144 4144 0 0 0 0 0 0 0 0
3145 4145 4145 0 0 0 0 0 0 0 0
3146 4146 4146 0 0 0 0 0 0 0 0
3147 4147 4147 0 0 0 0 0 0 0 0
3148 4148 4148 0 0 0 0 0 0 0 0
3149 4149 4149 0 0 0 0 0 0 0 0
3150 4150 4150 0 0 0 0 0 0 0 0
3151 4151 4151 0 0 0 0 0 0 0 0
3152 4152 4152 0 0 0 0 0 0 0 0
3153 4153 4153 0 0 0 0 0 0 0 0
3154 4154 4154 0 0 0 0 0 0 0 0
3155 4155 4155 0 0 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0 0 0
3158 4158 4158 0 0 0 0 0 0 0 0
3159 4159 4159 0 0 0 0 0 0 0 0
3161 4161 4161 0 0 0 0 0 0 0 0
3165 4165 4165 0 0 0 0 0 0 0 0
3166 4166 4166 0 0 0 0 0 0 0 0
3169 4169 4169 0 0 0 0 0 0 0 0
Maximum output during acceleration 22.2kW 31.2kW 44.4kW 54kW 66kW 90kW 90kW 108kW
(for PS selection)
Motor model (old name) α15/7000HVi α22/7000HVi α30/6000HVi α40/6000HVi - α60/4500HVi - -
Applicable amplifier (old name) SPM-30HVi SPM-30HVi SPM-45HVi SPM-45HVi - SPM-75HVi - -
(*5) Spindle amplifiers indicated by A06B-612x-... are not applicable.
- 715 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/08
(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*4) This setting is used when only a low-speed winding is connected without the output range being switched in the output range switching motor.
(*5) Spindle amplifiers indicated by A06B-612x-... are not applicable.
- 716 -
B-65280EN/08 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL
(*2) When using the SDT signal, manually change the parameters that were automatically set.
- 717 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/08
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000001 00000001 00000001 00000001 00000001 00000001 00000001 00000001
3011 4011 4011 00011001 00011001 00011010 00011010 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000010 10000010 10000010 10000010 10000010 10000010
3013 4013 4013 00001100 00001100 00001100 00001100 00001100 00001100 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 15000 12000 12000 12000 12000 12000 15000 4000
3023 4023 4023 333(*2) 333(*2) 267(*2)
3039 4039 4039 0 0 0 0 0 0 0 0
3040 4040 4040 6(*3) 4(*3)
3041 4041 4041 6(*3) 4(*3)
3048 4048 4048 6(*3) 4(*3)
3049 4049 4049 6(*3) 4(*3)
3080 4080 4080 9045 90 96 19807 9050 14938 98 92
3083 4083 4083 10 30 30 30 30 30 30 30
3093 4093 4093 0 0 164 0 176 0 240 0
3100 4100 4100 3500 1550 4030 1570 3750 1550 4000 1630
3101 4101 4101 33 82 51 67 85 84 81 93
3102 4102 4102 7257 2864 4526 2475 3798 1957 5660 2913
3103 4103 4103 80 90 67 68 89 74 86 85
3104 4104 4104 3500 4000 2700 4600 3800 7000 3000 5500
3105 4105 4105 0 0 0 0 0 0 0 0
3106 4106 4106 3500 14000 7000 12000 10000 18000 3000 5500
3107 4107 4107 0 0 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25 25 25
3110 4110 4110 1005 559 862 1508 569 838 646 984
3111 4111 4111 233 190 190 360 100 186 166 282
3112 4112 4112 200 200 200 200 200 200 200 200
3113 4113 4113 2000 850 750 730 950 1000 950 1100
3114 4114 4114 0 0 19200 19200 0 0 0 0
3115 4115 4115 100 100 100 100 100 100 100 100
3116 4116 4116 9815 7377 8202 8202 8736 8737 8703 8708
3117 4117 4117 90 90 90 90 90 90 90 90
3118 4118 4118 100 110 90 100 90 90 90 90
3119 4119 4119 5 11 13 13 10 266 266 9
3120 4120 4120 0 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0 0
3127 4127 4127 176 178 164 164 176 176 240 240
3128 4128 4128 90 0 105 113 0 0 105 106
3129 4129 4129 0 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 110 110 130 130 130 130 130 130
3136 4136 4136 0 0 30 0 30 0 30 0
3138 4138 4138 0 0 1570 0 1550 0 1630 0
3139 4139 4139 0 0 67 0 84 0 93 0
3140 4140 4140 0 0 2475 0 1957 0 2913 0
3141 4141 4141 0 0 68 0 74 0 85 0
3142 4142 4142 0 0 4600 0 7000 0 5500 0
3143 4143 4143 0 0 12000 0 18000 0 5500 0
3144 4144 4144 0 0 0 0 0 0 0 0
3145 4145 4145 0 0 25 0 25 0 25 0
3146 4146 4146 0 0 1508 0 838 0 984 0
3147 4147 4147 0 0 360 0 186 0 282 0
3148 4148 4148 0 0 200 0 200 0 200 0
3149 4149 4149 0 0 730 0 1000 0 1100 0
3150 4150 4150 0 0 19200 0 0 0 0 0
3151 4151 4151 0 0 100 0 100 0 100 0
3152 4152 4152 0 0 8202 0 8737 0 8708 0
3153 4153 4153 0 0 90 0 90 0 90 0
3154 4154 4154 0 0 100 0 90 0 90 0
3155 4155 4155 0 0 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0 0 0
3158 4158 4158 0 0 113 0 0 0 106 0
3159 4159 4159 0 0 0 0 0 0 0 0
3161 4161 4161 0 0 25700 0 25700 0 25700 0
3165 4165 4165 0 0 13 0 266 0 9 0
3166 4166 4166 0 0 19807 0 14938 0 92 0
3169 4169 4169 0 0 0 0 0 0 0 0
Maximum output during acceleration 13kW 13kW 13kW 13kW 13.2kW 13.2kW 28kW 28kW
(for PS selection)
Motor model (old name) α1.5/15000HVi T α3/12000HVi T α6/12000HVi T α6/12000HVi T α8/12000HVi T α8/12000HVi T α8/15000HVi T α8/15000HVi T
Applicable amplifier (old name) SPM-15HVi SPM-11HVi SPM-15HVi SPM-15HVi SPM-15HVi SPM-15HVi SPM-30HVi SPM-30HVi
(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*3) Set this value as the initial value of the velocity loop gain for low-speed characteristics of speed range switching.
(*4) This setting is used when only a low-speed winding is connected without the output range being switched in the output range switching motor.
- 718 -
B-65280EN/08 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL
Motor model αi IT 15/10000HV αi IT 15/10000HV(*4) αi IT 15/12000HV αi IT 15/12000HV(*4) αi IT 15/15000HV αi IT 22/10000HV αi IT 22/10000HV(*4)
Applicable amplifier αi SP30HV αi SP30HV αi SP30HV αi SP30HV αi SP30HV αi SP30HV αi SP30HV
Model code - - - - - - -
Applicable software series and edition - - - - - - -
15/18.5kW 15/18.5kW 15/18.5/22kW 15/18.5/22kW 15/18.5/22kW 22/26kW 22/26kW
Low-speed winding characteristics
1500/10000min-1 1500/10000min-1 1400/4000min-1 1400/4000min-1 1400/4000min-1 1500/10000min-1 1500/10000min-1
15/18.5kW 15/18.5/22kW 15/18.5/22kW 22/26kW
High-speed winding characteristics -1 - -1 - -1 -1 -
4000/10000min 5000/12000min 5000/15000min 4000/10000min
FS30i -A
FS16i -B
FS15i- B FS30i -B
FS0i -C
FS0i -D
3007 4007 4007 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3008 4008 4008 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3009 4009 4009 00000000 00000000 00000000 00000000 00000000 00000000 00000000
3010 4010 4010 00000001 00000001 00000001 00000001 00000001 00000001 00000001
3011 4011 4011 00011010 00011010 00011010 00011010 00011010 00011010 00011010
3012 4012 4012 10000010 10000010 10000000 10000000 10000000 10000010 10000010
3013 4013 4013 01010000 01010000 01010000 01010000 01010000 01010000 01010000
3019 4019 4019 00000100 00000100 00000100 00000100 00000100 00000100 00000100
3020 4020 4020 10000 10000 12000 4000 15000 10000 10000
3023 4023 4023 400(*2) 292(*2) 233(*2) 400(*2)
3039 4039 4039 0 0 0 0 0 0 0
3040 4040 4040
3041 4041 4041 6(*3)
3048 4048 4048
3049 4049 4049 6(*3)
3080 4080 4080 80 65 67 11354 19270 83 18517
3083 4083 4083 30 30 30 30 30 30 30
3093 4093 4093 148 0 176 0 176 142 0
3100 4100 4100 4000 1500 4600 1500 4600 3630 1500
3101 4101 4101 53 73 59 96 59 74 84
3102 4102 4102 3464 1972 4937 2494 4937 3318 1669
3103 4103 4103 70 65 94 0 94 93 82
3104 4104 4104 2800 4500 1800 3600 1800 2100 4000
3105 4105 4105 0 0 0 0 0 0 0
3106 4106 4106 2800 4500 3000 5500 3000 6300 12000
3107 4107 4107 0 0 0 0 0 0 0
3108 4108 4108 0 0 0 0 0 0 0
3109 4109 4109 25 25 25 25 25 25 25
3110 4110 4110 857 1499 870 1331 870 666 984
3111 4111 4111 229 425 295 470 295 160 270
3112 4112 4112 200 200 120 200 120 200 200
3113 4113 4113 280 280 400 440 400 265 275
3114 4114 4114 0 23040 0 0 0 0 0
3115 4115 4115 100 100 100 100 100 100 100
3116 4116 4116 5184 5153 9570 9567 9570 5000 4991
3117 4117 4117 90 90 90 90 90 90 90
3118 4118 4118 100 100 90 90 90 90 90
3119 4119 4119 34 34 1048 22 1048 50 70
3120 4120 4120 0 0 0 0 0 0 0
3124 4124 4124 0 0 0 0 0 0 0
3127 4127 4127 148 148 176 176 176 142 142
3128 4128 4128 0 0 0 0 0 98 103
3129 4129 4129 0 0 0 0 0 0 0
3130 4130 4130 25700 25700 25700 25700 25700 25700 25700
3134 4134 4134 130 130 130 130 130 130 130
3136 4136 4136 30 0 30 0 30 30 0
3138 4138 4138 1500 0 1500 0 1500 1500 0
3139 4139 4139 73 0 96 0 96 84 0
3140 4140 4140 1972 0 2494 0 2494 1669 0
3141 4141 4141 65 0 0 0 0 82 0
3142 4142 4142 4500 0 3600 0 3600 4000 0
3143 4143 4143 4500 0 5500 0 5500 12000 0
3144 4144 4144 0 0 0 0 0 0 0
3145 4145 4145 25 0 25 0 25 25 0
3146 4146 4146 1499 0 1331 0 1331 984 0
3147 4147 4147 425 0 470 0 470 270 0
3148 4148 4148 200 0 200 0 200 200 0
3149 4149 4149 280 0 440 0 440 275 0
3150 4150 4150 23040 0 0 0 0 0 0
3151 4151 4151 100 0 100 0 100 100 0
3152 4152 4152 5153 0 9567 0 9567 4991 0
3153 4153 4153 90 0 90 0 90 90 0
3154 4154 4154 100 0 90 0 90 90 0
3155 4155 4155 0 0 0 0 0 0 0
3156 4156 4156 0 0 0 0 0 0 0
3158 4158 4158 0 0 0 0 0 103 0
3159 4159 4159 0 0 0 0 0 0 0
3161 4161 4161 25700 0 25700 0 25700 25700 0
3165 4165 4165 34 0 22 0 22 70 0
3166 4166 4166 65 0 11354 0 11354 18517 0
3169 4169 4169 0 0 0 0 0 0 0
Maximum output during acceleration 22.2kW 22.2kW 38kW 38kW 38kW 31.2kW 31.2kW
(for PS selection)
Motor model (old name) α15/10000HVi T α15/10000HVi T α15/12000HVi T α15/12000HVi T α15/15000HVi T α22/10000HVi T α22/10000HVi T
Applicable amplifier (old name) SPM-30HVi SPM-30HVi SPM-30HVi SPM-30HVi SPM-30HVi SPM-30HVi SPM-30HVi
(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*3) Set this value as the initial value of the velocity loop gain for low-speed characteristics of speed range switching.
(*4) This setting is used when only a low-speed winding is connected without the output range being switched in the output range switching motor.
- 719 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/08
(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*3) Set this value as the initial value of the velocity loop gain for low-speed characteristics of speed range switching.
- 720 -
B-65280EN/08 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL
- 721 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/08
Motor model βi I 8/8000 βi I 8/8000 βi I 8/8000 βi I 8/10000 βi I 8/10000 βi I 8/10000 βi I 12/7000 βi I 12/7000
βi SVSPx-11 βi SVSPx-15 βi SVSPx-11 βi SVSPx-15 βi SVSPx-15
Applicable amplifier βi SVSPx-18 βi SVSPx-18 βi SVSPx-18
TYPE A,D TYPE A,D TYPE A,D TYPE A,D TYPE A,D
Model code 334 340 - 341 342 - 335 -
Applicable software
9D50/I 9D50/Q - 9D50/Q 9D50/Q - 9D50/I -
series and edition
Continuous rated 7.5kW 7.5kW 7.5kW 7.5kW 7.5kW 7.5kW 11kW 11kW
characteristics 2000/8000min-1 2000/8000min-1 2000/8000min-1 2000/10000min-1 2000/10000min-1 2000/10000min-1 2000/7000min-1 2000/7000min-1
15-min. rated 11kW 11kW 11kW 11kW 11kW 11kW 15kW 15kW
characteristics 1500/8000min-1 1500/8000min-1 1500/8000min-1 1500/10000min-1 1500/10000min-1 1500/10000min-1 1500/7000min-1 1500/7000min-1
FS0i -D
FS0i -C
FS0i Mate-D
4007 4007 00000000 ← ← ← ← ← 00000000 ←
4008 4008 00000000 ← ← ← ← ← 00000000 ←
4009 4009 00000000 ← ← ← ← ← 00000000 ←
4010 4010 00010000 ← ← ← ← ← 00010000 ←
4011 4011 00011010 ← ← ← ← ← 00011010 ←
4012 4012 10000000 ← ← ← ← ← 10000000 ←
4013 4013 00001100 ← ← ← ← ← 00001100 ←
4019 4019 00000100 ← ← ← ← ← 00000100 ←
4020 4020 8000 ← ← 10000 ← ← 7000 ←
4023 4023
4039 4039 0 ← ← ← ← ← 0 ←
4040 4040
4041 4041
4048 4048
4049 4049
4080 4080 75 ← ← ← ← ← 60 ←
4083 4083 30 ← ← ← ← ← 30 ←
4093 4093 0 ← ← ← ← ← 0 ←
4100 4100 1500 ← ← ← ← ← 1550 ←
4101 4101 95 ← ← ← ← ← 82 ←
4102 4102 2602 ← ← ← ← ← 1844 ←
4103 4103 64 ← ← ← ← ← 80 ←
4104 4104 2000 ← ← ← ← ← 3000 ←
4105 4105 0 ← ← ← ← ← 0 ←
4106 4106 6000 ← ← ← ← ← 8000 ←
4107 4107 0 ← ← ← ← ← 0 ←
4108 4108 0 ← ← ← ← ← 0 ←
4109 4109 25 ← ← ← ← ← 25 ←
4110 4110 887 1331 1774 887 1331 1774 1031 1375
4111 4111 381 ← ← ← ← ← 355 ←
4112 4112 200 ← ← ← ← ← 200 ←
4113 4113 500 ← ← ← ← ← 705 ←
4114 4114 0 ← ← ← ← ← 23040 ←
4115 4115 100 ← ← ← ← ← 100 ←
4116 4116 8000 ← ← ← ← ← 6300 ←
4117 4117 90 ← ← ← ← ← 90 ←
4118 4118 100 ← ← ← ← ← 100 ←
4119 4119 19 ← ← ← ← ← 14 ←
4120 4120 0 ← ← ← ← ← 0 ←
4124 4124 0 ← ← ← ← ← 0 ←
4127 4127 161 ← ← ← ← ← 150 ←
4128 4128 78 ← ← ← ← ← 95 ←
4129 4129 0 ← ← ← ← ← 0 ←
4130 4130 25700 ← ← ← ← ← 25700 ←
4134 4134 110 ← ← ← ← ← 110 ←
4136 4136 0 ← ← ← ← ← 0 ←
4138 4138 0 ← ← ← ← ← 0 ←
4139 4139 0 ← ← ← ← ← 0 ←
4140 4140 0 ← ← ← ← ← 0 ←
4141 4141 0 ← ← ← ← ← 0 ←
4142 4142 0 ← ← ← ← ← 0 ←
4143 4143 0 ← ← ← ← ← 0 ←
4144 4144 0 ← ← ← ← ← 0 ←
4145 4145 0 ← ← ← ← ← 0 ←
4146 4146 0 ← ← ← ← ← 0 ←
4147 4147 0 ← ← ← ← ← 0 ←
4148 4148 0 ← ← ← ← ← 0 ←
4149 4149 0 ← ← ← ← ← 0 ←
4150 4150 0 ← ← ← ← ← 0 ←
4151 4151 0 ← ← ← ← ← 0 ←
4152 4152 0 ← ← ← ← ← 0 ←
4153 4153 0 ← ← ← ← ← 0 ←
4154 4154 0 ← ← ← ← ← 0 ←
4155 4155 0 ← ← ← ← ← 0 ←
4156 4156 0 ← ← ← ← ← 0 ←
4158 4158 0 ← ← ← ← ← 0 ←
4159 4159 0 ← ← ← ← ← 0 ←
4161 4161 0 ← ← ← ← ← 0 ←
4165 4165 0 ← ← ← ← ← 0 ←
4166 4166 0 ← ← ← ← ← 0 ←
4169 4169 0 ← ← ← ← ← 0 ←
Maximum output during 12.1kW 12.1kW 12.1kW 12.1kW 12.1kW 12.1kW 16.5kW 16.5kW
Motor model (old name) β8/8000i β8/8000i β8/8000i β8/10000i β8/10000i β8/10000i β12/7000i β12/7000i
Applicable amplifier
SVPMx-11i SVPMx-15i - SVPMx-11i SVPMx-15i SVPMx-15i SVPMx-15i -
(old name)
- 722 -
B-65280EN/08 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL
Motor model βi I 12/8000 βi I 12/8000 βi I 15/7000
βi SVSPx-15
Applicable amplifier βi SVSPx-18 βi SVSPx-18
TYPE A,D
Model code 343 - -
Applicable software
9D50/Q - -
series and edition
Continuous rated 11kW 11kW 15kW
characteristics 2000/8000min-1 2000/8000min-1 2000/7000min-1
15-min. rated 15kW 15kW 18.5kW
characteristics 1500/8000min-1 1500/8000min-1 1500/7000min-1
FS0i -D
FS0i -C
FS0i Mate-D
4007 4007 00000000 ← 00000000
4008 4008 00000000 ← 00000000
4009 4009 00000000 ← 00000000
4010 4010 00010000 ← 00010000
4011 4011 00011010 ← 00011010
4012 4012 10000000 ← 10000000
4013 4013 00001100 ← 00001100
4019 4019 00000100 ← 00000100
4020 4020 8000 ← 7000
4023 4023
4039 4039 0 ← 0
4040 4040
4041 4041
4048 4048
4049 4049
4080 4080 60 ← 15445
4083 4083 30 ← 30
4093 4093 0 ← 0
4100 4100 1550 ← 1550
4101 4101 82 ← 81
4102 4102 1844 ← 1610
4103 4103 80 ← 0
4104 4104 3000 ← 2500
4105 4105 0 ← 0
4106 4106 8000 ← 5000
4107 4107 0 ← 0
4108 4108 0 ← 0
4109 4109 25 ← 25
4110 4110 1031 1375 1426
4111 4111 355 ← 389
4112 4112 200 ← 200
4113 4113 705 ← 298
4114 4114 23040 ← 0
4115 4115 100 ← 100
4116 4116 6300 ← 4344
4117 4117 90 ← 90
4118 4118 100 ← 100
4119 4119 14 ← 32
4120 4120 0 ← 0
4124 4124 0 ← 0
4127 4127 150 ← 148
4128 4128 95 ← 0
4129 4129 0 ← 0
4130 4130 25700 ← 25700
4134 4134 110 ← 130
4136 4136 0 ← 0
4138 4138 0 ← 0
4139 4139 0 ← 0
4140 4140 0 ← 0
4141 4141 0 ← 0
4142 4142 0 ← 0
4143 4143 0 ← 0
4144 4144 0 ← 0
4145 4145 0 ← 0
4146 4146 0 ← 0
4147 4147 0 ← 0
4148 4148 0 ← 0
4149 4149 0 ← 0
4150 4150 0 ← 0
4151 4151 0 ← 0
4152 4152 0 ← 0
4153 4153 0 ← 0
4154 4154 0 ← 0
4155 4155 0 ← 0
4156 4156 0 ← 0
4158 4158 0 ← 0
4159 4159 0 ← 0
4161 4161 0 ← 0
4165 4165 0 ← 0
4166 4166 0 ← 0
4169 4169 0 ← 0
Maximum output during 16.5kW 16.5kW
Motor model (old name) β12/8000i β12/8000i −
Applicable amplifier
SVPMx-15i - -
(old name)
- 723 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/08
- 724 -
B-65280EN/08 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL
Motor model βi IP 22/6000 βi IP 22/6000 βi IP 30/6000
βi SVSPx-15
Applicable amplifier βi SVSPx-18 βi SVSPx-18
TYPE A,D
Model code - - -
Applicable software
- - -
series and edition
Continuous rated 11kW 11kW 15kW
-1 -1
characteristics 1000/6000min 1000/6000min 1000/6000min-1
15-min. rated 15kW 15kW 18.5kW
characteristics 750/6000min-1 750/6000min-1 750/6000min-1
FS0i -D
FS0i -C
FS0i Mate-D
4007 4007 00000000 ← 00000000
4008 4008 00010000 ← 00010000
4009 4009 00000000 ← 00000000
4010 4010 00010000 ← 00010000
4011 4011 00001010 ← 00001010
4012 4012 10000000 ← 10000000
4013 4013 00001100 ← 00001100
4019 4019 00000100 ← 00000100
4020 4020 6000 ← 6000
4023 4023
4039 4039 0 ← 0
4040 4040
4041 4041
4048 4048
4049 4049
4080 4080 19275 ← 16730
4083 4083 30 ← 30
4093 4093 0 ← 0
4100 4100 770 ← 750
4101 4101 100 ← 100
4102 4102 953 ← 1007
4103 4103 0 ← 0
4104 4104 4000 ← 3500
4105 4105 0 ← 0
4106 4106 9000 ← 8000
4107 4107 0 ← 0
4108 4108 0 ← 0
4109 4109 25 ← 25
4110 4110 1077 1436 1143
4111 4111 333 ← 334
4112 4112 200 ← 200
4113 4113 300 ← 300
4114 4114 20480 ← 0
4115 4115 100 ← 100
4116 4116 4408 ← 4298
4117 4117 90 ← 90
4118 4118 100 ← 100
4119 4119 32 ← 32
4120 4120 0 ← 0
4124 4124 0 ← 0
4127 4127 150 ← 136
4128 4128 103 ← 0
4129 4129 0 ← 0
4130 4130 25700 ← 25700
4134 4134 130 ← 130
4136 4136 0 ← 0
4138 4138 0 ← 0
4139 4139 0 ← 0
4140 4140 0 ← 0
4141 4141 0 ← 0
4142 4142 0 ← 0
4143 4143 0 ← 0
4144 4144 0 ← 0
4145 4145 0 ← 0
4146 4146 0 ← 0
4147 4147 0 ← 0
4148 4148 0 ← 0
4149 4149 0 ← 0
4150 4150 0 ← 0
4151 4151 0 ← 0
4152 4152 0 ← 0
4153 4153 0 ← 0
4154 4154 0 ← 0
4155 4155 0 ← 0
4156 4156 0 ← 0
4158 4158 0 ← 0
4159 4159 0 ← 0
4161 4161 0 ← 0
4165 4165 0 ← 0
4166 4166 0 ← 0
4169 4169 0 ← 0
Maximum output during 16.5kW 9.9kW −
Motor model (old name) − − −
Applicable amplifier
(old name) − − −
- 725 -
C.PARAMETER TABLE FOR EACH MOTOR MODEL APPENDIX B-65280EN/08
(*1) This setting is applied to when the position coder is attached to the spindle.
When using the αiBZ sensor, set bits 3, 2, 1, 0 of parameter No. 4002 to 0, 0, 1, 1,
respectively, and set bits 7, 6, 5, 4 of parameter No. 4003 or parameter No. 4361
depending on the number of sensor teeth.
(*2) Since these values are the standard values for the motor alone, they need to be
changed as shown below depending on the load state of an actual machine.
Setting = (machine load inertia/motor inertia + 1) * standard value of motor alone
- 726 -
B-65280EN/08 APPENDIX C.PARAMETER TABLE FOR EACH MOTOR MODEL
- 727 -
D.LISTS OF ALARMS/STATE ERRORS APPENDIX B-65280EN/08
- 728 -
B-65280EN/08 APPENDIX D.LISTS OF ALARMS/STATE ERRORS
- 729 -
D.LISTS OF ALARMS/STATE ERRORS APPENDIX B-65280EN/08
- 730 -
B-65280EN/08 APPENDIX D.LISTS OF ALARMS/STATE ERRORS
Diagnostic number
Content
FS15i FS16i FS30i
710 (1st spindle)
711 (2nd spindle)
1561 710 State error number
730 (3rd spindle)
731 (4th spindle)
When the spindle motor malfunctions, check the error code and take action according to the table below.
- 731 -
D.LISTS OF ALARMS/STATE ERRORS APPENDIX B-65280EN/08
- 732 -
B-65280EN/08 APPENDIX D.LISTS OF ALARMS/STATE ERRORS
- 733 -
D.LISTS OF ALARMS/STATE ERRORS APPENDIX B-65280EN/08
NOTE
1 If state error 43 is displayed, check the following items. The items to be checked
differ depending on the spindle software series and edition.
Series 9D80/E(05), F(06): Items <1> to <12>
Series 9D80/G(07): Items <1> to <9>, <12>, and <13>
Series 9D80/H(08): Items <1> to <9>, <13>, and <14>
Series 9D90/A(01): Items <1> to <9>, <13>, and <14>
Series 9DA0/A(01): Items <1> to <9>, <13>, and <14>
<1> The setting is made so that the αiCZ sensor (serial) is used as both of the
motor and spindle sensors. (No.4010#2,1,0=0,1,0 and
No.4002#3,2,1,0=0,1,1,0)
<2> Spindle HRV control is not set. (No.4012#7=0)
<3> The use of the differential spindle speed control function is set.
(No.4000#5=1)
<4> The use of the spindle switching control function is set. (No.4014#0=1)
<5> The setting is made so that alarms related to position feedback are not
detected. (No.4007#6=1 or No.4016#5=0)
<6> The setting is made so that feedback signal disconnection is not detected.
(No.4007#5=1)
<7> The setting is made so that alarms related to threading position detection
signal feedback are not detected. (No.4016#5=0)
<8> The use of an external one-rotation signal is set. (No.4004#2=1)
<9> The use of a position coder is set. (No.4002#3,2,1,0=0,0,1,0)
<10> The setting is made so that the synchronous built-in spindle motor is
driven. (No.4012#6=1)
<11> The use of inter-spindle amplifier communication is set. (No.4352#7=1 or
No.4352#6=1)
<12> The use of the dual check safety function is set.
<13> The use of the spindle tandem function is set. (No.4015#3=1)
<14> The use of the αiCZ sensor (serial) as the motor sensor is set and the
dual check safety function is enabled.
- 734 -
B-65280EN/08 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL
1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
NOTE
1 These signals are valid in multi-spindle control.
- 735 -
E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/08
1st- G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0
2nd- G376 SOV27 SOV26 SOV25 SOV24 SOV23 SOV22 SOV21 SOV20
3rd- G377 SOV37 SOV36 SOV35 SOV34 SOV33 SOV32 SOV31 SOV30
4th- G378 SOV47 SOV46 SOV45 SOV44 SOV43 SOV42 SOV41 SOV40
1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
3rd- G036 R08I3 R07I3 R06I3 R05I3 R04I3 R03I3 R02I3 R01I3
4th- G272 R08I4 R07I4 R06I4 R05I4 R04I4 R03I4 R02I4 R01I4
1st- G078 SH07A SH06A SH05A SH04A SH03A SH02A SH01A SH00A
1st- G079 SH11A SH10A SH09A SH08A
2nd- G080 SH07B SH06B SH05B SH04B SH03B SH02B SH01B SH00B
2nd- G081 SH11B SH10B SH09B SH08B
3rd- G208 SH07C SH06C SH05C SH04C SH03C SH02C SH01C SH00C
3rd- G209 SH11C SH10C SH09C SH08C
4th- G270 SH07D SH06D SH05D SH04D SH03D SH02D SH01D SH00D
4th- G271 SH11D SH10D SH09D SH08D
NOTE
1 These signals are valid in multi-spindle control.
1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B
- 736 -
B-65280EN/08 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL
2nd- G235 G074 G074 MRDYB ORCMB SFRB SRVB CTH1B CTH2B TLMHB TLMLB
3rd- G204 MRDYC ORCMC SFRC SRVC CTH1C CTH2C TLMHC TLMLC
4th- G266 MRDYD ORCMD SFRD SRVD CTH1D CTH2D TLMHD TLMLD
1st- G226 G071 G071 RCHA RSLA INTGA SOCNA MCFNA SPSLA *ESPA ARSTA
2nd- G234 G075 G075 RCHB RSLB INTGB SOCNB MCFNB SPSLB *ESPB ARSTB
3rd- G205 RCHC RSLC INTGC SOCNC MCFNC SPSLC *ESPC ARSTC
4th- G267 RCHD RSLD INTGD SOCND MCFND SPSLD *ESPD ARSTD
1st- G229 G072 G072 RCHHGA MFNHGA INCMDA OVRA DEFMDA NRROA ROTAA INDXA
2nd- G237 G076 G076 RCHHGB MFNHGB INCMDB OVRB DEFMDB NRROB ROTAB INDXB
3rd- G206 RCHHGC MFNHGC INCMDC OVRC DEFMDC NRROC ROTAC INDXC
4th- G268 RCHHGD MFNHGD INCMDD OVRD DEFMDD NRROD ROTAD INDXD
NOTE
1 These signals are valid with the M series only.
- 737 -
E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/08
1st- F036 R08O R07O R06O R05O R04O R03O R02O R01O
1st- F037 R12O R11O R10O R09O
2nd- F200 R08O2 R07O2 R06O2 R05O2 R04O2 R03O2 R02O2 R01O2
2nd- F201 R12O2 R11O2 R10O2 R09O2
3rd- F204 R08O3 R07O3 R06O3 R05O3 R04O3 R03O3 R02O3 R01O3
3rd- F205 R12O3 R11O3 R10O3 R09O3
4th- F270 R08O4 R07O4 R06O4 R05O4 R04O4 R03O4 R02O4 R01O4
4th- F271 R12O4 R11O4 R10O4 R09O4
1st- F040 AR07 AR06 AR05 AR04 AR03 AR02 AR01 AR00
1st- F041 AR15 AR14 AR13 AR12 AR11 AR10 AR09 AR08
2nd- F202 AR072 AR062 AR052 AR042 AR032 AR022 AR012 AR002
2nd- F203 AR152 AR142 AR132 AR122 AR112 AR102 AR092 AR082
3rd- F206 AR073 AR063 AR053 AR043 AR033 AR023 AR013 AR003
3rd- F207 AR153 AR143 AR133 AR123 AR113 AR103 AR093 AR083
4th- F272 AR074 AR064 AR054 AR044 AR034 AR024 AR014 AR004
4th- F273 AR154 AR144 AR134 AR124 AR114 AR104 AR094 AR084
- 738 -
B-65280EN/08 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL
NOTE
1 These signals are valid with the M series only.
1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B
1st- F011 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B
1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B
1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B
1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B
1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B
- 739 -
E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/08
NOTE
1 These signals are valid in multi-spindle control.
NOTE
1 These signals are valid in multi-spindle control.
- 740 -
B-65280EN/08 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL
G067 SCNTR1
G071 SCNTR2
: :
1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B
NOTE
1 The signal functions of the αCi series differ from those of the αi
series. For details, see Chapter 3, “I/O SIGNALS (CNC↔PMC)”, in
Part III.
- 741 -
E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/08
NOTE
1 These signals are valid with the M series only.
NOTE
1 These signals are valid with the M series only.
1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B
1st- F011 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B
1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B
1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B
- 742 -
B-65280EN/08 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL
#7 #6 #5 #4 #3 #2 #1 #0
1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B
1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B
1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
NOTE
1 These signals are valid in multi-spindle control.
- 743 -
E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/08
1st- G030 SOV7 SOV6 SOV5 SOV4 SOV3 SOV2 SOV1 SOV0
2nd- G376 SOV27 SOV26 SOV25 SOV24 SOV23 SOV22 SOV21 SOV20
3rd- G377 SOV37 SOV36 SOV35 SOV34 SOV33 SOV32 SOV31 SOV30
4th- G378 SOV47 SOV46 SOV45 SOV44 SOV43 SOV42 SOV41 SOV40
1st- G032 R08I R07I R06I R05I R04I R03I R02I R01I
2nd- G034 R08I2 R07I2 R06I2 R05I2 R04I2 R03I2 R02I2 R01I2
3rd- G036 R08I3 R07I3 R06I3 R05I3 R04I3 R03I3 R02I3 R01I3
4th- G272 R08I4 R07I4 R06I4 R05I4 R04I4 R03I4 R02I4 R01I4
1st- G078 SH07A SH06A SH05A SH04A SH03A SH02A SH01A SH00A
1st- G079 SH11A SH10A SH09A SH08A
2nd- G080 SH07B SH06B SH05B SH04B SH03B SH02B SH01B SH00B
2nd- G081 SH11B SH10B SH09B SH08B
3rd- G208 SH07C SH06C SH05C SH04C SH03C SH02C SH01C SH00C
3rd- G209 SH11C SH10C SH09C SH08C
4th- G270 SH07D SH06D SH05D SH04D SH03D SH02D SH01D SH00D
4th- G271 SH11D SH10D SH09D SH08D
NOTE
1 These signals are valid in multi-spindle control.
- 744 -
B-65280EN/08 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL
1st- G024 RI7A RI6A RI5A RI4A RI3A RI2A RI1A RI0A
2nd- G232 RI7B RI6B RI5B RI4B RI3B RI2B RI1B RI0B
1st- G229 G072 G072 INCMDA OVRA DEFMDA NRROA ROTAA INDXA
2nd- G237 G076 G076 INCMDB OVRB DEFMDB NRROB ROTAB INDXB
3rd- G206 INCMDC OVRC DEFMDC NRROC ROTAC INDXC
4th- G268 INCMDD OVRD DEFMDD NRROD ROTAD INDXD
- 745 -
E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/08
RGSPM RGSPP
F065
(*1) (*1)
F076 RTAP
F094 ZP8 ZP7 ZP6 ZP5 ZP4 ZP3 ZP2 ZP1
NOTE
1 These signals are valid with the M series only.
1st- F036 R08O R07O R06O R05O R04O R03O R02O R01O
1st- F037 R12O R11O R10O R09O
2nd- F200 R08O2 R07O2 R06O2 R05O2 R04O2 R03O2 R02O2 R01O2
2nd- F201 R12O2 R11O2 R10O2 R09O2
3rd- F204 R08O3 R07O3 R06O3 R05O3 R04O3 R03O3 R02O3 R01O3
3rd- F205 R12O3 R11O3 R10O3 R09O3
4th- F270 R08O4 R07O4 R06O4 R05O4 R04O4 R03O4 R02O4 R01O4
4th- F271 R12O4 R11O4 R10O4 R09O4
- 746 -
B-65280EN/08 APPENDIX E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL
1st- F040 AR07 AR06 AR05 AR04 AR03 AR02 AR01 AR00
1st- F041 AR15 AR14 AR13 AR12 AR11 AR10 AR09 AR08
2nd- F202 AR072 AR062 AR052 AR042 AR032 AR022 AR012 AR002
2nd- F203 AR152 AR142 AR132 AR122 AR112 AR102 AR092 AR082
3rd- F206 AR073 AR063 AR053 AR043 AR033 AR023 AR013 AR003
3rd- F207 AR153 AR143 AR133 AR123 AR113 AR103 AR093 AR083
4th- F272 AR074 AR064 AR054 AR044 AR034 AR024 AR014 AR004
4th- F273 AR154 AR144 AR134 AR124 AR114 AR104 AR094 AR084
NOTE
1 These signals are valid with the M series only.
1st- F010 RO7A RO6A RO5A RO4A RO3A RO2A RO1A RO0A
2nd- F320 RO7B RO6B RO5B RO4B RO3B RO2B RO1B RO0B
1st- F11 RO15A RO14A RO13A RO12A RO11A RO11A RO10A RO9A
2nd- F321 RO15B RO14B RO13B RO12B RO11B RO11B RO10B RO9B
1st- F014 MR7A MR6A MR5A MR4A MR3A MR2A MR1A MR0A
2nd- F324 MR7B MR6B MR5B MR4B MR3B MR2B MR1B MR0B
1st- F015 MR15A MR14A MR13A MR12A MR11A MR10A MR9A MR8A
2nd- F325 MR15B MR14B MR13B MR12B MR11B MR10B MR9B MR8B
1st- F234 SSPD7A SSPD6A SSPD5A SSPD4A SSPD3A SSPD2A SSPD1A SSPD0A
2nd- F250 SSPD7B SSPD6B SSPD5B SSPD4B SSPD3B SSPD2B SSPD1B SSPD0B
- 747 -
E.TABLE OF I/O SIGNALS RELATED TO SPINDLE CONTROL APPENDIX B-65280EN/08
#7 #6 #5 #4 #3 #2 #1 #0
1st- F235 SSPD15A SSPD14A SSPD13A SSPD12A SSPD11A SSPD10A SSPD9A SSPD8A
2nd- F251 SSPD15B SSPD14B SSPD13B SSPD12B SSPD11B SSPD10B SSPD9B SSPD8B
- 748 -
B-65280EN/08 APPENDIX F.OBSERVING DATA USING THE SERVO GUIDE
- 749 -
F.OBSERVING DATA USING THE SERVO GUIDE APPENDIX B-65280EN/08
Spindle load torque (unexpected disturbance torque detection 9D50 series 11 edition or later
DTRQ *1
function)
Frequency of a disturbance torque command (disturbance input 9D50 series 11 edition or later
FREQ *1
function)
9D50 series 11 edition or later
GAIN Gain (disturbance input function) *1
Feedback differential data on the motor side (for amplitude 9D50 series 11 edition or later
MFBDF *1
ratio/phase difference compensation adjustment)
Feedback differential data on the spindle side (for amplitude 9D50 series 11 edition or later
SFBDF *1
ratio/phase difference compensation adjustment)
9D50 series 11 edition or later
PA1 A/D value of motor sensor phase A *1
NOTE
1 Valid with 9D53 series 03 edition or later, valid with 9D70 series 02 edition or later,
valid with 9D80 series 01 edition or later, valid with 9D90 series 01 edition or later,
and valid with 9DA0 series 01 edition or later
2 Valid with 9D53 series 04 edition or later, valid with 9D70 series 03 edition or later,
valid with 9D80 series 01 edition or later, valid with 9D90 series 01 edition or later,
and valid with 9DA0 series 01 edition or later
3 To observe data marked with *1 and *2, Servo Guide Ver. 3.0 or later is needed.
4 Valid with 9D70 series 10 edition or later, valid with 9D80 series 04 edition or later,
valid with 9D90 series 01 edition or later, and valid with 9DA0 series 01 edition or
later. To observe data, Servo Guide Ver. 4.10 or later is needed.
- 750 -
B-65280EN/08 APPENDIX F.OBSERVING DATA USING THE SERVO GUIDE
F.2.2 About the Spindle Speed Control and Spindle Status Signals
As stated in the previous item, the SERVO GUIDE can be used to observe the PMC signals (spindle
speed control signals 1 and 2 and spindle status signals 1 and 2) used by the spindle.
Listed below is the data configuration for spindle speed control signals 1 and 2 and spindle status signals
1 and 2. Refer to Chapter 3, “I/O SIGNALS (CNC↔PMC)”, in each part for explanations about each
signal.
#7 #6 #5 #4 #3 #2 #1 #0
- 751 -
F.OBSERVING DATA USING THE SERVO GUIDE APPENDIX B-65280EN/08
DRAW1 : SYNC
DRAW2 : SPEED
DRAW1 : SPEED
DRAW2 : ORSEQ
- 752 -
B-65280EN/08 APPENDIX F.OBSERVING DATA USING THE SERVO GUIDE
SPSPD (S1)
SPSPD (S2)
SYNC
DRAW1 : SPEED
DRAW2 : DTRQ
- 753 -
F.OBSERVING DATA USING THE SERVO GUIDE APPENDIX B-65280EN/08
PA2
PB2
SPPOS
SFLG1#0
- 754 -
B-65280EN/08 APPENDIX F.OBSERVING DATA USING THE SERVO GUIDE
SFBDF
SFBDF
- 755 -
F.OBSERVING DATA USING THE SERVO GUIDE APPENDIX B-65280EN/08
GAIN
FREQ
GAIN (%)
FREQ (Hz)
- 756 -
B-65280EN/08 APPENDIX F.OBSERVING DATA USING THE SERVO GUIDE
SST
SDT
SAR
SPEED
- 757 -
G.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE (i SERIES AND (Ci SERIES APPENDIX B-65280EN/08
G PARAMETER SPECIFICATION
DIFFERENCES BETWEEN THE αi SERIES
AND αCi SERIES
This appendix describes the parameter specification differences between the αi series and αCi series.
The specifications of some parameters differ between the αi series and αCi series. For example, some
identical parameter numbers do not specify the same functions. Take care at the time of the parameter
setting.
- 758 -
B-65280EN/08 APPENDIX G.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE (i SERIES AND (Ci SERIES
Contents
15i 16i 30i
αi series αCi series
3027 4027 4027 Load detection level 2 Unused (Set to 0.)
3028 4028 4028 Limited output pattern Unused (Set to 0.)
3029 4029 4029 Output limit Unused (Set to 0.)
3030 4030 4030 Soft start/stop time Unused (Set to 0.)
(*1) (*1)
3038 4038 4038 Spindle orientation speed Spindle orientation speed
3039 4039 4039 Slip compensation gain Unused (Set to 0.)
Velocity loop proportional gain on Cs contouring
3046 4046 4046 Unused (Set to 0.)
control (High)
Velocity loop proportional gain on Cs contouring
3047 4047 4047 Unused (Set to 0.)
control (Low)
Velocity loop integral gain on Cs contouring control
3054 4054 4054 Unused (Set to 0.)
(High)
Velocity loop integral gain on Cs contouring control
3055 4055 4055 Unused (Set to 0.)
(Low)
Rate of change in position gain upon completion of
3064 4064 4064 orientation / Acceleration limitation ratio at Acceleration limitation ratio at deceleration time
deceleration time
3069 4069 4069 Position gain on Cs contouring control (High) Acceleration/deceleration constant (High)
Position gain on Cs contouring control (Medium
3070 4070 4070 Acceleration/deceleration constant (Medium High)
High)
Position gain on Cs contouring control (Medium
3071 4071 4071 Acceleration/deceleration constant (Medium Low)
Low)
3072 4072 4072 Position gain on Cs contouring control (Low) Acceleration/deceleration constant (Low)
3076 4076 4076 Motor speed limit value on orientation Unused (Set to 0.)
3078 4078 4078 Reserved (Set to 200.) Gear switch timer
Gear ratio parameter setting error alarm (SPM
3086 4086 4086 Motor voltage on Cs contouring control
alarm 35) detection level
3087 4087 4087 Overspeed level Unused (Set to 0.)
Rate of change in position gain during reference
3092 4092 4092 Unused (Set to 0.)
position return on Cs contouring control
3093 4093 4093 Value displayed on load meter at maximum output Unused (Set to 0.)
Disturbance torque compensation constant
3094 4094 4094 Unused (Set to 0.)
(acceleration feedback gain)
3096 4096 4096 Adjusted output voltage of load meter Unused (Set to 0.)
3097 4097 4097 Feedback gain of spindle speed Unused (Set to 0.)
3103 4103 4103 Base speed limit ratio Compensation data for resistance
(*1) (*1)
3104 4104 4104 Current loop proportional gain Current loop proportional gain
3105 4105 4105 Unused (Set to 0.) Current loop integral gain
3106 4106 4106 Current loop integral gain D-axis current loop gain
3107 4107 4107 Unused (Set to 0.) Q-axis current loop gain
Velocity at which the current loop integral gain is
3108 4108 4108 Q-axis current deviation limitation coefficient
zero
Slip compensation coefficient for a high-speed
3114 4114 4114 Unused (Set to 0.)
zone/slip compensation coefficient at deceleration
Dead-band rectangular wave component zero
3120 4120 4120 Dead-band compensation data
voltage/dead-band data
3129 4129 4129 Secondary current coefficient for rigid tapping Unused (Set to 0.)
Time constant for velocity detecting filter (on Cs
3131 4131 4131 Dead-band compensation hysteresis
contouring control)
Grid shift during Cs contouring control mode l
3135 4135 4135 Unused (Set to 0.)
(2-word)
3320 4320 4320 Motor acceleration at deceleration time (High) Acceleration at orientation deceleration time (High)
Motor acceleration at deceleration time (Medium Acceleration at orientation deceleration time
3321 4321 4321
High) (Medium High)
Motor acceleration at deceleration time (Medium Acceleration at orientation deceleration time
3322 4322 4322
Low) (Medium Low)
3323 4323 4323 Motor acceleration at deceleration time (Low) Acceleration at orientation deceleration time (Low)
NOTE
1 The name is identical, but the specification differs partly.
- 759 -
H.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE (i SERIES AND BiS SERIES APPENDIX B-65280EN/08
H PARAMETER SPECIFICATION
DIFFERENCES BETWEEN THE αi SERIES
AND BiS SERIES
This appendix describes the parameter specification differences between the αi series and BiS series.
The specifications of some parameters differ between the αi series and BiS series. For example, some
identical parameter numbers do not specify the same functions. Take care at the time of the parameter
setting.
Contents
15i 16i 30i
αi series BiS series
3006#2 4006#2 4006#2 Increment system of spindle speed Unused (Set to 0.)
3006#4 4006#4 4006#4 Reserved Sets the d-phase current command.
(*1) Whether to detect a feedback signal disconnection
3007#5 4007#5 4007#5 Whether to detect a feedback signal disconnection (*1)
3007#7 4007#7 4007#7 Reserved Magnetic pole detection start signal selection
3008#3 4008#3 4008#3 Reserved Sets the current command.
3008#5 4008#5 4008#5 Reserved Setting for using the sub module SM
3008#6 4008#6 4008#6 Reserved Reference magnetic pole position selection
3009#5 4009#5 4009#5 Reserved Setting related to magnetic flux reduction speed
Setting of whether to drive the synchronous built-in
3012#6 4012#6 4012#6 Unused (Set to 0.)
spindle motor
3012#7 4012#7 4012#7 Setting of spindle HRV function Setting of spindle HRV function
Setting of a PWM carrier frequency for low-speed
3013#7 4013#7 4013#7 Unused (Set to 0.)
characteristics area
3014#0 4014#0 4014#0 Whether to use the spindle switch function Unused (Set to 0.)
Whether to check both spindle switch main and sub
3014#2 4014#2 4014#2 Unused (Set to 0.)
magnetic contactor contacts
Whether to check both magnetic contactor contacts for
3014#3 4014#3 4014#3 high-speed /low-speed characteristics in speed range Unused (Set to 0.)
switching
3015#2 4015#2 4015#2 Whether to use the speed range switching function Unused (Set to 0.)
3015#3 4015#3 4015#3 Whether to use the spindle tandem function Unused (Set to 0.)
Setting related to control characteristics on Cs contouring
3016#4 4016#4 4016#4 Unused (Set to 0.)
control/servo mode
This parameter sets speed integration operation when
3017#0 4017#0 4017#0 Unused (Set to 0.)
differential spindle speed control is exercised.
Setting of the function for switching from high-speed
3019#4 4019#4 4019#4 characteristics to low-speed characteristics with the speed Unused (Set to 0.)
detection signal SDT = 1 at speed range switching
(*1)
3024 4024 4024 Zero speed detection level (SST) (*1) Zero speed detection level (SST)
3039 4039 4039 Slip compensation gain Unused (Set to 0.)
Regenerative power limit for high-speed
3080 4080 4080 Regenerative power limit
zone/regenerative power limit
Current ratio/motor stop confirmation time in
3083 4083 4083 Motor voltage on velocity control mode
magnetic pole detection operation
3084 4084 4084 Motor voltage on orientation AMR offset
Motor voltage on servo mode/spindle synchronous control
3085 4085 4085 AMR offset fine adjustment
mode
3086 4086 4086 Motor voltage on Cs contouring control Inductance ratio
3097 4097 4097 Feedback gain of spindle speed Unused (Set to 0.)
- 760 -
B-65280EN/08 APPENDIX H.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE (i SERIES AND BiS SERIES
Contents
15i 16i 30i
αi series BiS series
3102 4102 4102 Excitation voltage saturation speed at no-load Base speed
3103 4103 4103 Base speed limit ratio Magnetic flux reduction speed at maximum load
Filter time constant for processing saturation related to the
3109 4109 4109 Unused (Set to 0.)
voltage command
3111 4111 4111 Secondary current coefficient Maximum current constant
3113 4113 4113 Slip constant Current constant for magnetic flux reduction
Slip compensation coefficient for a high-speed zone/slip
3114 4114 4114 Unused (Set to 0.)
compensation coefficient at deceleration
Counter electromotive voltage compensation
3116 4116 4116 Motor leakage constant constant for magnetic flux reduction speed at
maximum load
Regular-time voltage compensation coefficient for Interference voltage compensation constant for
3117 4117 4117
high-speed zone/regular-time motor voltage coefficient magnetic flux reduction speed at maximum load
Acceleration-time voltage compensation coefficient for
3118 4118 4118 high-speed zone/acceleration-time motor voltage Unused (Set to 0.)
coefficient
Deceleration-time excitation current change time
3119 4119 4119 Interference voltage compensation
constant/excitation current change time constant
Compensation coefficient between the specification and
3128 4128 4128 Unused (Set to 0.)
true base/maximum torque curve compensation coefficient
3129 4129 4129 Secondary current coefficient for rigid tapping Unused (Set to 0.)
Current loop proportional gain speed coefficient/current
3130 4130 4130 Current phase delay compensation coefficient
phase delay compensation coefficient
3136 4136 4136 Motor voltage on velocity control mode Unused (Set to 0.)
Motor voltage on servo mode/spindle synchronous control
3137 4137 4137 Unused (Set to 0.)
mode
3138 4138 4138 Base speed of motor output specifications Unused (Set to 0.)
3139 4139 4139 Output limit for motor output specifications Unused (Set to 0.)
3140 4140 4140 Excitation voltage saturation speed at no-load Unused (Set to 0.)
3141 4141 4141 Base speed limit ratio Unused (Set to 0.)
3142 4142 4142 Current loop proportional gain Unused (Set to 0.)
3143 4143 4143 Current loop integral gain Unused (Set to 0.)
3144 4144 4144 Velocity at which the current loop integral gain is zero Unused (Set to 0.)
Filter time constant for processing saturation related to the
3145 4145 4145 Unused (Set to 0.)
voltage command
3146 4146 4146 Current conversion constant Unused (Set to 0.)
3147 4147 4147 Secondary current coefficient Unused (Set to 0.)
Criterion level for saturation related to the voltage
3148 4148 4148 Unused (Set to 0.)
command/PWM command clamp value
3149 4149 4149 Slip constant Unused (Set to 0.)
Slip compensation coefficient for a high-speed zone/slip
3150 4150 4150 Unused (Set to 0.)
compensation coefficient at deceleration
3151 4151 4151 PWM command clamp value at deceleration Unused (Set to 0.)
3152 4152 4152 Motor leakage constant Unused (Set to 0.)
Regular-time voltage compensation coefficient for
3153 4153 4153 Unused (Set to 0.)
high-speed zone/regular-time motor voltage coefficient
Acceleration-time voltage compensation coefficient for
3154 4154 4154 high-speed zone/acceleration-time motor voltage Unused (Set to 0.)
coefficient
3156 4156 4156 Slip compensation gain Unused (Set to 0.)
Time constant for changing the torque (TCMD filter time
3157 4157 4157 Unused (Set to 0.)
constant)
Compensation coefficient between the specification and
3158 4158 4158 Unused (Set to 0.)
true base/maximum torque curve compensation coefficient
3159 4159 4159 Secondary current coefficient for rigid tapping Unused (Set to 0.)
Current loop proportional gain speed coefficient/current
3161 4161 4161 Unused (Set to 0.)
phase delay compensation coefficient
Integral gain of velocity loop during cutting feed on Cs
3163 4163 4163 Unused (Set to 0.)
contouring control mode (Low)
Deceleration-time excitation current change time
3165 4165 4165 Unused (Set to 0.)
constant/excitation current change time constant
Regenerative power limit for high-speed
3166 4166 4166 Unused (Set to 0.)
zone/regenerative power limit
3168 4168 4168 Current overload alarm detection level Unused (Set to 0.)
- 761 -
H.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE (i SERIES AND BiS SERIES APPENDIX B-65280EN/08
Contents
15i 16i 30i
αi series BiS series
Rotation direction relationship between the spindle and
3176#0 4176#0 4176#0 Unused (Set to 0.)
motor
3176#4 4176#4 4176#4 Return direction for the reference position on servo mode Unused (Set to 0.)
3177#0 4177#0 4177#0 Whether to use MRDY (machine ready) signal Unused (Set to 0.)
3177#3 4177#3 4177#3 Mounting direction of the magnetic sensor Unused (Set to 0.)
3177#4 4177#4 4177#4 Mounting direction of the spindle sensor Unused (Set to 0.)
3178#0 4178#0 4178#0 Spindle sensor type Unused (Set to 0.)
3178#1 4178#1 4178#1 Spindle sensor type Unused (Set to 0.)
3178#2 4178#2 4178#2 Spindle sensor type Unused (Set to 0.)
3178#3 4178#3 4178#3 Spindle sensor type Unused (Set to 0.)
Whether to use the rotation direction signal (SFR/SRV)
3178#5 4178#5 4178#5 Unused (Set to 0.)
function on servo mode
3179#0 4179#0 4179#0 Spindle orientation method Unused (Set to 0.)
3179#2 4179#2 4179#2 Rotation direction during spindle orientation Unused (Set to 0.)
3179#3 4179#3 4179#3 Rotation direction during spindle orientation Unused (Set to 0.)
3179#4 4179#4 4179#4 Teeth number setting of spindle sensor Unused (Set to 0.)
3179#5 4179#5 4179#5 Teeth number setting of spindle sensor Unused (Set to 0.)
3179#6 4179#6 4179#6 Teeth number setting of spindle sensor Unused (Set to 0.)
3179#7 4179#7 4179#7 Teeth number setting of spindle sensor Unused (Set to 0.)
3180#2 4180#2 4180#2 Setting of external one-rotation signal Unused (Set to 0.)
3180#3 4180#3 4180#3 Setting of external one-rotation signal Unused (Set to 0.)
3182#1 4182#1 4182#1 Increment system of gear ratio Unused (Set to 0.)
3182#2 4182#2 4182#2 Increment system of spindle speed Unused (Set to 0.)
3182#5 4182#5 4182#5 Setting of analog override range Unused (Set to 0.)
Whether to use the command arbitrary gear ratio (CMR)
3182#7 4182#7 4182#7 Unused (Set to 0.)
function on rigid tapping
3183#5 4183#5 4183#5 Whether to detect a feedback signal disconnection Unused (Set to 0.)
Whether to detect the alarms (spindle alarms 41, 42, 47,
81, 82, 83, 85, 86, and 87) related to the position
3183#6 4183#6 4183#6 Unused (Set to 0.)
feedback signal (when Cs contouring control mode is not
set)
3184#4 4184#4 4184#4 Setting of output limitation method Unused (Set to 0.)
3185#0 4185#0 4185#0 Increment system of velocity loop gain Unused (Set to 0.)
Motor power turn-off method when spindle alarm 24
3185#2 4185#2 4185#2 Unused (Set to 0.)
(serial data transfer error) is issued
Whether to output the load detection signals (LDT1,
3185#4 4185#4 4185#4 Unused (Set to 0.)
LDT2) during acceleration/deceleration
3185#6 4185#6 4185#6 Analog override type Unused (Set to 0.)
3186#0 4186#0 4186#0 Motor sensor type Unused (Set to 0.)
3186#1 4186#1 4186#1 Motor sensor type Unused (Set to 0.)
3186#2 4186#2 4186#2 Motor sensor type Unused (Set to 0.)
3187#0 4187#0 4187#0 Teeth number setting of motor sensor Unused (Set to 0.)
3187#1 4187#1 4187#1 Teeth number setting of motor sensor Unused (Set to 0.)
3187#2 4187#2 4187#2 Teeth number setting of motor sensor Unused (Set to 0.)
3187#3 4187#3 4187#3 Number of motor poles Unused (Set to 0.)
Setting of maximum output during
3187#4 4187#4 4187#4 Unused (Set to 0.)
acceleration/deceleration
3187#7 4187#7 4187#7 Number of motor poles Unused (Set to 0.)
3188#0 4188#0 4188#0 Setting of PWM carrier frequency Unused (Set to 0.)
3188#1 4188#1 4188#1 Setting of PWM carrier frequency Unused (Set to 0.)
3188#2 4188#2 4188#2 Setting of PWM carrier frequency Unused (Set to 0.)
3189#2 4189#2 4189#2 Current dead-band data Unused (Set to 0.)
3189#3 4189#3 4189#3 Current dead-band data Unused (Set to 0.)
3189#4 4189#4 4189#4 Current dead-band data Unused (Set to 0.)
3189#5 4189#5 4189#5 Current dead-band data Unused (Set to 0.)
3189#6 4189#6 4189#6 Current dead-band data Unused (Set to 0.)
Setting of a PWM carrier frequency for low-speed
3189#7 4189#7 4189#7 Unused (Set to 0.)
characteristics area
3192#3 4192#3 4192#3 Setting of the smoothing function in feed-forward control Unused (Set to 0.)
3192#4 4192#4 4192#4 Setting related to control characteristics on servo mode Unused (Set to 0.)
Whether to detect the alarm (spindle alarms 46) related to
3192#6 4192#6 4192#6 Unused (Set to 0.)
feedback of the position detection signal for threading
- 762 -
B-65280EN/08 APPENDIX H.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE (i SERIES AND BiS SERIES
Contents
15i 16i 30i
αi series BiS series
Function for newly detecting the one-rotation signal before
3192#7 4192#7 4192#7 Unused (Set to 0.)
entering position control mode
This parameter sets speed integration operation when
3193#0 4193#0 4193#0 Unused (Set to 0.)
differential spindle speed control is exercised.
Setting of shortcut orientation from stop state in position
3193#7 4193#7 4193#7 Unused (Set to 0.)
coder method spindle orientation
Whether to use the velocity command compensation
3194#5 4194#5 4194#5 Unused (Set to 0.)
function during high-speed orientation
3194#6 4194#6 4194#6 High-speed orientation function Unused (Set to 0.)
3195#2 4195#2 4195#2 Whether to use torque clamp at zero speed Unused (Set to 0.)
Setting of the function for switching from high-speed
3195#4 4195#4 4195#4 characteristics to low-speed characteristics with the speed Unused (Set to 0.)
detection signal SDT = 1 at speed range switching
3195#7 4195#7 4195#7 Automatic parameter setting function (16i /30i) Unused (Set to 0.)
3196 4196 4196 Maximum motor speed Unused (Set to 0.)
3197 4197 4197 Speed arrival detection level (SAR) Unused (Set to 0.)
3198 4198 4198 Speed detection level (SDT) Unused (Set to 0.)
3199 4199 4199 Zero speed detection level (SST) Unused (Set to 0.)
3200 4200 4200 Limited torque (TLMH, TLML) Unused (Set to 0.)
3201 4201 4201 Load detection level 1 (LDT1) Unused (Set to 0.)
3202 4202 4202 Limited output pattern Unused (Set to 0.)
3203 4203 4203 Output limit Unused (Set to 0.)
3204 4204 4204 Stop position of position coder method orientation Unused (Set to 0.)
3205 4205 4205 Spindle orientation speed Unused (Set to 0.)
Velocity loop proportional gain on velocity control mode
3206 4206 4206 Unused (Set to 0.)
(High)
Velocity loop proportional gain on velocity control mode
3207 4207 4207 Unused (Set to 0.)
(Low)
3208 4208 4208 Velocity loop proportional gain on orientation (High) Unused (Set to 0.)
3209 4209 4209 Velocity loop proportional gain on orientation (Low) Unused (Set to 0.)
3210 4210 4210 Velocity loop proportional gain on servo mode (High) Unused (Set to 0.)
3211 4211 4211 Velocity loop proportional gain on servo mode (Low) Unused (Set to 0.)
Velocity loop integral gain on velocity control mode
3212 4212 4212 Unused (Set to 0.)
(common to High and Low)
Velocity loop integral gain on orientation (common to High
3213 4213 4213 Unused (Set to 0.)
and Low)
Velocity loop integral gain on servo mode (common to
3214 4214 4214 Unused (Set to 0.)
High and Low)
3216 4216 4216 Gear ratio (High) Unused (Set to 0.)
3217 4217 4217 Gear ratio (Low) Unused (Set to 0.)
3218 4218 4218 Position gain on orientation (High) Unused (Set to 0.)
3219 4219 4219 Position gain on orientation (Low) Unused (Set to 0.)
Ordinary orientation: Rate of change in position gain upon
completion of orientation
3220 4220 4220 Unused (Set to 0.)
High-speed orientation: Rate of change in position gain
upon completion of orientation
3221 4221 4221 Position gain on servo mode (High) Unused (Set to 0.)
3222 4222 4222 Position gain on servo mode (Low) Unused (Set to 0.)
3223 4223 4223 Grid shift on servo mode Unused (Set to 0.)
3226 4226 4226 Detection level for orientation completion signal (ORAR) Unused (Set to 0.)
Ordinary orientation: Motor speed limit value on
3227 4227 4227 orientation Unused (Set to 0.)
High-speed orientation: Reserved
3228 4228 4228 Orientation stop position shift Unused (Set to 0.)
3229 4229 4229 MS signal constant Unused (Set to 0.)
3230 4230 4230 MS signal gain adjustment Unused (Set to 0.)
Regenerative power limit for high-speed
3231 4231 4231 Unused (Set to 0.)
zone/regenerative power limit
3232 4232 4232 Delay time until motor power is cut off Unused (Set to 0.)
3233 4233 4233 Setting of acceleration/deceleration time Unused (Set to 0.)
3234 4234 4234 Spindle load monitor observer gain 1 Unused (Set to 0.)
3235 4235 4235 Spindle load monitor observer gain 2 Unused (Set to 0.)
3236 4236 4236 Motor voltage on velocity control mode Unused (Set to 0.)
- 763 -
H.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE (i SERIES AND BiS SERIES APPENDIX B-65280EN/08
Contents
15i 16i 30i
αi series BiS series
3237 4237 4237 Motor voltage on orientation Unused (Set to 0.)
3238 4238 4238 Motor voltage on servo mode Unused (Set to 0.)
Rate of change in position gain during reference position
3239 4239 4239 Unused (Set to 0.)
return on servo mode
3240 4240 4240 Feed-forward coefficient Unused (Set to 0.)
3241 4241 4241 Feed-forward coefficient of velocity loop Unused (Set to 0.)
Denominator of arbitrary gear ratio between motor sensor
3243 4243 4243 Unused (Set to 0.)
and spindle (High)
Numerator of arbitrary gear ratio between motor sensor
3244 4244 4244 Unused (Set to 0.)
and spindle (High)
Denominator of arbitrary gear ratio between motor sensor
3245 4245 4245 Unused (Set to 0.)
and spindle (Low)
Numerator of arbitrary gear ratio between motor sensor
3246 4246 4246 Unused (Set to 0.)
and spindle (Low)
3254 4254 4254 Slip compensation gain Unused (Set to 0.)
3255 4255 4255 Slip compensation gain Unused (Set to 0.)
3256 4256 4256 Base speed of motor output specifications Unused (Set to 0.)
3257 4257 4257 Output limit for motor output specifications Unused (Set to 0.)
3258 4258 4258 Excitation voltage saturation speed at no-load Unused (Set to 0.)
3259 4259 4259 Base speed limit ratio Unused (Set to 0.)
3260 4260 4260 Current loop proportional gain Unused (Set to 0.)
3261 4261 4261 Current loop integral gain Unused (Set to 0.)
3262 4262 4262 Velocity at which the current loop integral gain is zero Unused (Set to 0.)
Filter time constant for processing saturation related to the
3263 4263 4263 Unused (Set to 0.)
voltage command
3264 4264 4264 Current conversion constant Unused (Set to 0.)
3265 4265 4265 Secondary current coefficient Unused (Set to 0.)
Criterion level for saturation related to the voltage
3266 4266 4266 Unused (Set to 0.)
command/PWM command clamp value
3267 4267 4267 Slip constant Unused (Set to 0.)
Slip compensation coefficient for a high-speed zone/slip
3268 4268 4268 Unused (Set to 0.)
compensation coefficient at deceleration
3269 4269 4269 PWM command clamp value at deceleration Unused (Set to 0.)
3270 4270 4270 Motor leakage constant Unused (Set to 0.)
Regular-time voltage compensation coefficient for
3271 4271 4271 Unused (Set to 0.)
high-speed zone/regular-time motor voltage coefficient
Acceleration-time voltage compensation coefficient for
3272 4272 4272 high-speed zone/acceleration-time motor voltage Unused (Set to 0.)
coefficient
Time constant for changing the torque (TCMD filter time
3273 4273 4273 Unused (Set to 0.)
constant)
3274 4274 4274 Value displayed on load meter at maximum output Unused (Set to 0.)
Compensation coefficient between the specification and
3275 4275 4275 Unused (Set to 0.)
true base/maximum torque curve compensation coefficient
3276 4276 4276 Secondary current coefficient for rigid tapping Unused (Set to 0.)
Current loop proportional gain speed coefficient/current
3277 4277 4277 Unused (Set to 0.)
phase delay compensation coefficient
3278 4278 4278 Time constant for velocity detecting filter Unused (Set to 0.)
3279 4279 4279 Value displayed on load meter at maximum output Unused (Set to 0.)
Deceleration-time excitation current change time
3280 4280 4280 Unused (Set to 0.)
constant/excitation current change time constant
3281 4281 4281 Spindle load monitor torque constant Unused (Set to 0.)
3282 4282 4282 Spindle load monitor torque constant Unused (Set to 0.)
3283 4283 4283 Spindle load monitor torque constant Unused (Set to 0.)
3284 4284 4284 Motor voltage on velocity control mode Unused (Set to 0.)
3285 4285 4285 Motor voltage on servo mode Unused (Set to 0.)
3286 4286 4286 Base speed of motor output specifications Unused (Set to 0.)
3287 4287 4287 Output limit for motor output specifications Unused (Set to 0.)
3288 4288 4288 Excitation voltage saturation speed at no-load Unused (Set to 0.)
3289 4289 4289 Base speed limit ratio Unused (Set to 0.)
3290 4290 4290 Current loop proportional gain Unused (Set to 0.)
3291 4291 4291 Current loop integral gain Unused (Set to 0.)
3292 4292 4292 Velocity at which the current loop integral gain is zero Unused (Set to 0.)
- 764 -
B-65280EN/08 APPENDIX H.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE (i SERIES AND BiS SERIES
Contents
15i 16i 30i
αi series BiS series
Filter time constant for processing saturation related to the
3293 4293 4293 Unused (Set to 0.)
voltage command
3294 4294 4294 Current conversion constant Unused (Set to 0.)
3295 4295 4295 Secondary current coefficient Unused (Set to 0.)
Criterion level for saturation related to the voltage
3296 4296 4296 Unused (Set to 0.)
command/PWM command clamp value
3297 4297 4297 Slip constant Unused (Set to 0.)
Slip compensation coefficient for a high-speed zone/slip
3298 4298 4298 Unused (Set to 0.)
compensation coefficient at deceleration
3299 4299 4299 PWM command clamp value at deceleration Unused (Set to 0.)
3300 4300 4300 Motor leakage constant Unused (Set to 0.)
Regular-time voltage compensation coefficient for
3301 4301 4301 Unused (Set to 0.)
high-speed zone/regular-time motor voltage coefficient
Acceleration-time voltage compensation coefficient for
3302 4302 4302 high-speed zone/acceleration-time motor voltage Unused (Set to 0.)
coefficient
Time constant for changing the torque (TCMD filter time
3303 4303 4303 Unused (Set to 0.)
constant)
Compensation coefficient between the specification and
3304 4304 4304 Unused (Set to 0.)
true base/maximum torque curve compensation coefficient
3305 4305 4305 Secondary current coefficient for rigid tapping Unused (Set to 0.)
Current loop proportional gain speed coefficient/current
3306 4306 4306 Unused (Set to 0.)
phase delay compensation coefficient
Regenerative power limit for high-speed
3307 4307 4307 Unused (Set to 0.)
zone/regenerative power limit
Deceleration-time excitation current change time
3308 4308 4308 Unused (Set to 0.)
constant/excitation current change time constant
3309 4309 4309 Motor model code Unused (Set to 0.)
3310 4310 4310 Motor overheat detect level (2-word) Unused (Set to 0.)
3324 4324 4324 Motor acceleration at deceleration time (High) Unused (Set to 0.)
3325 4325 4325 Motor acceleration at deceleration time (Low) Unused (Set to 0.)
Acceleration limitation start speed at deceleration time
3327 4327 4327 Unused (Set to 0.)
(High)
Command multiplication for spindle orientation by position
3329 4329 4329 Unused (Set to 0.)
coder
Acceleration limitation start speed at deceleration time
3331 4331 4331 Unused (Set to 0.)
(Low)
3335 4335 4335 Number of motor sensor arbitrary teeth Unused (Set to 0.)
3347 4347 4347 Master-slave speed difference state signal output setting Unused (Set to 0.)
3348 4348 4348 Current overload alarm detection level Unused (Set to 0.)
3349 4349 4349 Temperature monitoring time constant Unused (Set to 0.)
3350 4350 4350 Current overload alarm detection level Unused (Set to 0.)
Velocity feedback signal setting in torque tandem
3353#1 4353#1 4353#1 Unused (Set to 0.)
operation
Relationship of master/slave motor rotation directions in
3353#2 4353#2 4353#2 Unused (Set to 0.)
torque tandem operation
3360 4360 4360 Preload value Unused (Set to 0.)
3365 4365 4365 Load meter compensation 1 Unused (Set to 0.)
3366 4366 4366 Load meter compensation 2 Unused (Set to 0.)
3367 4367 4367 Load meter compensation 3 Unused (Set to 0.)
3373#1 4373#1 4373#1 Setting of the peak hold function for load meter output Unused (Set to 0.)
3376 4376 4376 Load meter compensation 1 Unused (Set to 0.)
3377 4377 4377 Load meter compensation 2 Unused (Set to 0.)
3378 4378 4378 Load meter compensation 3 Unused (Set to 0.)
3379 4379 4379 Load meter compensation 1 Unused (Set to 0.)
3380 4380 4380 Load meter compensation 2 Unused (Set to 0.)
3381 4381 4381 Load meter compensation 3 Unused (Set to 0.)
3398#2 4398#2 4398#2 Unused (Set to 0.) Magnetic pole detection mode selection 1
3398#3 4398#3 4398#3 Whether to use the twin drive function Unused (Set to 0.)
Whether to detect a speed polarity error (spindle alarm
3398#6 4398#6 4398#6 Unused (Set to 0.)
d0) in torque tandem operation
Neglect “Pole position count miss alarm (spindle
3399#5 4399#5 4399#5 Unused (Set to 0.)
alarm 91)”
- 765 -
H.PARAMETER SPECIFICATION DIFFERENCES BETWEEN THE (i SERIES AND BiS SERIES APPENDIX B-65280EN/08
Contents
15i 16i 30i
αi series BiS series
3399#6 4399#6 4399#6 Unused (Set to 0.) Magnetic pole detection mode selection 2
3443 4443 4443 Feed-forward coefficient of velocity loop Unused (Set to 0.)
Unexpected rotation detection level (spindle alarm
3463 4463 4463 Unused (Set to 0.)
90)
Setting of the detection lower limit of the one-rotation
3467#2 4467#2 4467#2 Unused (Set to 0.)
signal
Setting of the fine acceleration/deceleration (FAD)
3467#3 4467#3 4467#3 Unused (Set to 0.)
function
Acceleration/deceleration type of fine
3467#4 4467#4 4467#4 Unused (Set to 0.)
acceleration/deceleration (FAD)
Whether to detect the alarm related to spindle sensor
3467#5 4467#5 4467#5 Unused (Set to 0.)
polarity erroneous setting
Triggering of the disturbance input function (vibration
3468#6 4468#6 4468#6 Unused (Set to 0.)
application function)
Setting of the disturbance input function (vibration
3468#7 4468#7 4468#7 Unused (Set to 0.)
application function)
3481 4481 4481 Feed-forward timing adjustment coefficient Unused (Set to 0.)
3486 4486 4486 Feed-forward coefficient of velocity loop Unused (Set to 0.)
Primary delay time constant in dual position feedback [in
3520 4520 4520 Unused (Set to 0.)
servo mode]
Maximum amplitude in dual position feedback [in servo
3521 4521 4521 Unused (Set to 0.)
mode]
3522 4522 4522 Dual position feedback zero width [in servo mode] Unused (Set to 0.)
Excessive semi-closed loop/closed loop position error
3523 4523 4523 Unused (Set to 0.)
alarm detection level [in servo mode]
- 766 -
B-65280EN/08 INDEX
INDEX
<α > <D>
αCi SERIES SPINDLE................................................740 Data List.......................................................................749
αCi SERIES SPINDLE PARAMETER TABLE .........679 DEFINITION OF WARNING, CAUTION, AND
αi SERIES SPINDLE ..................................................735 NOTE ........................................................................ s-1
αi SERIES SPINDLE PARAMETER TABLE............663 Description...................................................................313
αiIc SERIES SPINDLE PARAMETER TABLE.........690 Details of Input Signals.................... 194,440,520,611,655
Details of Output Signals ................. 206,441,522,616,657
<A> Details of Parameters ....................... 179,439,512,598,654
About the Spindle Speed Control and Spindle Status Details of Parameters for Detectors ... 10,418,459,531,645
Signals ......................................................................751 Details of Related Parameters ........ 32,61,91,123,161,245,
Adaptive Resonance Elimination Filter.................225,619 .....253,267,274,288,296,306,315,318,396,408,422,425,
Additional Information..........................................339,636 .....429,431,438,446,449,452,454,469,480,489,501,554,
Additional Information (Position Gain Adjustment) ...216, 561,565,576,585,622,624,627,629,634,639,648,649,650
............................................................. 442,525,618,660 Details of Specifications ..............................................248
Adjusting Cs Contouring Control..........................132,582 Diagnosis (Diagnosis Screen) ...... 6,110,140,172,189,293,
Adjusting the Orientation Stop Position Shift Parameter .....418,429,433,438,439,451,458,497,506,518,530,573,
................................... 78,278,425,449,483,562,624,649 ........................................ 582,591,608,628,644,651,654
ADJUSTMENT.................. 213,363,442,523,618,637,658 Diagnosis Signal Related to Spindle EGB ............ 310,634
Adjustment Procedure ....... 105,132,215,409,425,429,442, DIFFERENTIAL SPINDLE SPEED CONTROL. 312,634
............................................... 497,524,569,618,650,659 Disturbance Input Function................................... 222,619
Alarm ........ 7,111,140,172,418,429,433,438,458,497,507, DUAL POSITION FEEDBACK FUNCTION
............................................... 530,573,582,591,644,651 (OPTIONAL FUNCTION) ............................... 316,634
Alarm and Status Error............................ 338,376,535,636
Alarms...................................................................311,634 <E>
AMPLITUDE RATIO/PHASE DIFFERENCE Example of Adjustment......................................... 384,638
COMPENSATION FUNCTION.......................230,619 EXAMPLE OF OBSERVING DATA .........................752
AMR Offset Function...................................................540 Examples of Sequences....... 55,119,156,265,305,314,328,
Automatic Setting of the Parameter for Specifying the .....356,369,378,425,431,438,446,479,500,561,574,584,
PS Control Axis............................................................5 ...................................................... 622,633,635,636,649
Automatic Setting of the Parameter for Specifying the Explanation of Input Signals............ 192,440,520,610,655
PS Management Axis ...............................................530 Explanation of Operation ..... 57,152,425,437,499,561,584
Automatic Spindle Parameter Initialization 5,417,457,530 EXPLANATION OF OPERATION MODES .......27,422,
.................................................................... 464,552,647
<B> Explanation of Output Signals ......... 205,441,522,615,656
BiS SERIES SPINDLE ................................................743
BiS SERIES SPINDLE PARAMETER TABLE .........683 <F>
Block Diagram ...... 48,121,290,304,317,362,383,423,450, Feature ............................................... 47,423,477,560,648
...................................................... 560,628,632,637,638 FSSB High-speed Rigid Tapping...................................82
Block Diagram for the Speed Tandem Operation ........636 FUNCTION DESCRIPTIONS....................... 235,443,620
Block Diagram for the Velocity Tandem Operation ....338
<H>
<C> HIGH-SPEED SPINDLE ORIENTATION
Calculating the Orientation Time ...................279,449,624 (OPTIONAL FUNCTION) ........................ 388,452,638
Calculating the Position Gain for Orientation 278,449,624
Causes of Spindle Alarm 65.........................................550 <I>
Caution.........................................................................535 I/O Signals (CNC↔PMC) ......... 52,153,191,239,249,263,
Cautions .................................................. 293,451,551,628 .....272,283,295,305,314,325,353,367,378,391,425,438,
Configuration ................................... 235,248,269,312,533 .....440,445,449,451,454,478,500,519,542,561,584,609,
CONVENTIONAL METHOD ORIENTATION ....................621,624,625,628,632,635,636,639,649,655
(OPTIONAL FUNCTION) ........................268,446,622 INCRMENTAL COMMAND TYPE SPINDLE
Cs CONTOURING CONTROL (OPTIONAL ORIENTATION (SPINDLE ROTATION SPEED
FUNCTION) ..............................................114,429,573 CONTROL) (OPTIONAL FUNCTION) ... 259,443,620
INPUT SIGNALS (PMC→CNC→SP)................. 191,609
INPUT SIGNALS (PMC→CNC→SPMC)..................519
INPUT SIGNALS (PMC→CNC→SVSP)...................440
i-1
INDEX B-65280EN/08
<N> <S>
Number of Error Pulses in Spindle Synchronous Control Sequence .........89,242,251,273,286,392,429,449,454,487,
............................................................. 171,438,506,591 ............................................... 549,563,624,626,639,650
Series and Edition of Applicable FSSB High-speed
<O> Rigid Tapping Software .............................................83
OBSERVING DATA USING THE SERVO GUIDE ..749 Series and Editions of Applicable Spindle Software...120,
Output Signals (CNC→PMC)........................737,741,745 .....235,247,259,268,281,290,295,300,312,317,323,352,
OUTPUT SIGNALS (SP→CNC→PMC) .............204,614 .....365,377,383,388,407,450,451,531,533,620,623,624,
OUTPUT SIGNALS (SPMC→CNC→PMC)..............521 ........................................ 627,628,630,635,636,638,749
OUTPUT SIGNALS (SVSP→CNC→PMC) ...............440 Specification ......................................................... 282,625
OUTPUT SIGNALS (βiSVSPc→CNC→PMC) ..........656 SPECIFICATIONS COMMON TO ALL OPERATION
Overview..... 27,46,82,114,132,142,173,213,235,247,259, MODES........................................ 173,438,507,592,651
.....268,281,290,295,299,312,316,322,351,364,377,383, Specifying a Shift Amount for Spindle Phase
.....388,407,422,426,429,433,438,442,443,446,450,451, Synchronous Control........................... 172,438,506,591
.....452,464,477,484,498,507,523,533,537,552,560,562, SPEED RANGE SWITCHING CONTROL
.....573,583,592,618,620,622,624,627,628,630,635,636, (OPTIONAL FUNCTION) ............................... 235,620
........................................ 637,638,647,648,649,651,658 SPEED TANDEM CONTROL FUNCTION
(OPTIONAL FUNCTION) ......................................635
<P> Spindle Alarm ..............................................................321
Parameter Setting Procedure ....... 98,255,429,492,569,650 SPINDLE BACKLASH ACCELERATION
PARAMETER SPECIFICATION DIFFERENCES FUNCTION (OPTIONAL FUNCTION) .......... 383,637
BETWEEN THE αi SERIES AND αCi SERIES ....758 SPINDLE DATA THAT CAN BE OBSERVED
PARAMETER SPECIFICATION DIFFERENCES USING THE SERVO GUIDE..................................749
BETWEEN THE αi SERIES AND BiS SERIES.....760 Spindle Data Used in Tuning ......................... 400,454,639
PARAMETER TABLE FOR EACH MOTOR MODEL SPINDLE EGB (SPINDLE ELECTRONIC GEAR
..................................................................................702 BOX) (OPTIONAL FUNCTION)..................... 299,630
Parameter Tuning Procedure ..........................297,452,629 SPINDLE FINE ACC./DEC. (FAD) FUNCTION......290,
Parameters.... 176,213,291,332,358,373,378,384,438,442, ........................................................................... 450,627
............ 450,510,523,595,618,628,636,637,638,652,658 SPINDLE MOTOR αCi series.....................................727
PARAMETERS RELATED TO DETECTORS ......9,418, SPINDLE MOTOR αiI series......................................703
....................................................................458,531,644 SPINDLE MOTOR αiI series (400V) .........................714
Parameters Related to Spindle Serial Output ....4,417,457, SPINDLE MOTOR αiIL series ...................................713
...........................................................................530,643 SPINDLE MOTOR αiIL series (400V) .......................720
PARAMETERS WITH DIFFERENT MEANINGS .......... SPINDLE MOTOR αiIp series ....................................708
...........................................................................758,760 SPINDLE MOTOR αiIP series (400V) .......................717
i-2
B-65280EN/08 INDEX
SPINDLE MOTOR αiIT series ...................................710 <U>
SPINDLE MOTOR αiIT series (400V) .......................718 UNEXPECTED DISTURBANCE TORQUE
SPINDLE MOTOR βiI series ......................................721 DETECTION FUNCTION (OPTIONAL
SPINDLE MOTOR βiIc series.....................................726 FUNCTION) .............................................. 295,451,628
SPINDLE MOTOR βiIP series ....................................724 Using Speed Range Switching Control ........................236
SPINDLE ORIENTATION DURING SPINDLE
SYNCHRONIZATION CONTROL (OPTIONAL <V>
FUNCTION) ............................................................281 VELOCITY CONTROL MODE ....... 27,422,464,552,647
SPINDLE ORIENTATION DURING SPINDLE VELOCITY LOOP GAIN ADJUSTMENT.. 213,442,523,
SYNCHRONOUS CONTROL (OPTIONAL ........................................................................... 618,658
FUNCTION) ............................................................624 Velocity Loop Gains Override Function on Cs
Spindle Parameter Initialization ...................................644 Contouring Control Mode .......................... 120,431,574
SPINDLE PARAMETER TABLE...............................663 Velocity Tandem Control Function (OPTIONAL
Spindle Parameters for Rigid Tapping and Spindle FUNCTION) ............................................................322
Synchronous Control ................................................161
SPINDLE SERIAL INTERFACE (OPTIONAL
FUNCTION) .................................... 4,417,457,530,643
SPINDLE SWITCHING CONTROL ...................247,620
SPINDLE SYNCHRONOUS CONTROL (OPTIONAL
FUNCTION) ....................................... 142,433,498,582
Standard parameters of velocity loop gain for Cs
contouring control for each motor model .................135
START-UP........................................... 3,417,457,529,643
START-UP PROCEDURE ......... 3,27,45,82,114,142,417,
.....422,426,429,433,457,464,477,484,498,529,552,560,
........................................ 562,573,582,643,647,648,649
Status Errors...................................................293,451,628
Status Errors on Differential Spindle Speed Control....316
Status Errors Related to Spindle EGB...................311,634
Stop Position Specification Method ... 52,425,478,561,648
Stop Processing When a Sub Module SM Error Occurs534
SUB MODULE SM .....................................................533
Supplementary Descriptions ............................78,425,562
Supplementary Descriptions about Parameters ............255
System Configuration....... 27,48,83,115,143,260,300,324,
.....352,366,377,389,422,423,426,430,433,443,446,452,
.....464,478,484,499,552,560,562,573,583,620,623,631,
............................................... 635,636,638,647,648,650
<T>
TABLE OF I/O SIGNALS RELATED TO SPINDLE
CONTROL ...............................................................735
Tandem Disturbance Elimination Control (OPTIONAL
FUNCTION) ............................................................351
TANDEM RESONANCE ELIMINATION
(OPTIONAL FUNCTION) ......................................636
TCMD Filter .........................................................216,618
TORQUE TANDEM CONTROL FUNCTION
(OPTIONAL FUNCTION) ...............................364,637
Transition from Conventional Method Orientation to
Optimum Orientation....................................46,423,560
Troubleshooting ................................. 41,422,473,560,648
Tuning Procedure ............................... 70,401,454,562,640
Typical Detector Configurations........ 19,418,462,531,645
i-3
B-65280EN/08 REVISION RECORD
REVISION RECORD
Edition Date Contents
08 Jun., 2011 - Applied to Series 30i-B
- Addition of SPINDLE MOTOR βiIc series
- Addition of speed tandem control
- Addition of optimum orientation
07 Jul., 2008
- Addition of αiCZ sensor (serial)
- Change of the motor model name
06 Jul., 2006
- Addition of spindle backlash acceleration function
- Applied to Series 30i
05 Apr., 2005
- Addition of BUILT-IN SPINDLE MOTOR Bis series
04 Oct., 2003 - Addition of AC SPINDLE MOTOR βi series
- Change of the motor model name
03 Apr., 2003
- Addition of the spindle speed differential control function
Total revision
02 Oct., 2002 - Addition of AC SPINDLE MOTOR αCi series
- Addition of Appendixes C, D, F, and G
01 Jun., 2001
r-1
ADDITIONAL INFORMATION
Tuning way for FSSB High Speed Rigid Tap
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Addition of tuning way for FSSB high speed rigid tap Add 2011.04
TITLE
Tuning way for
FSSB High Speed Rigid Tap
The connection between CNC and spindle amplifier is changed to FSSB in 30i-B series CNC. It
becomes possible to transfer the spindle position data to servo software directly by using FSSB
communication. In FSSB high speed rigid tap function, servo axis follows spindle axis in rigid tap by
this high speed communication.
As the servo axis always follows the spindle axis, the synchronous error will not become large even
if the torque command of spindle motor becomes a little bit saturated. Therefore it’s possible to use
the large torque near the limitation and to reduce cycle time with keeping the accuracy.
This document shows the tuning way for FSSB high speed rigid tap function.
First of all, please set some parameters for rigid tap as before even in case of using FSSB high
speed rigid tap. And after that, please set some parameters for FSSB high speed rigid tap
additionally. (* mark in the following table)
Parameter number
Contents
(FS30i-B)
Feed-forward function bit (Servo) Initial setting : 1
2005#1 Note) The feed-forward coefficient for servo axis always becomes 100% regardless of parameter
setting of feed-forward coefficient, when FSSB high speed rigid tap is used.
Feed-forward function bit (Spindle) Initial setting : 0
Note) If you use feed-forward function in spindle axis, please use “Rigid tapping bell-shaped
5203#2
acc./dec.” function together. In case of FSSB high speed rigid tap, you don’t have to set same
feed-forward coefficient for spindle as the one for servo.
5241~5244 Maximum speed of spindle in rigid tap
5261~5264 Time constant for acc./dec. in rigid tap Initial setting : 500
4065~4068 Position gain for spindle in servo mode Initial setting : 3000
Proportional gain of velocity loop for spindle in servo mode Initial setting : see following formula
TITLE
Tuning way for
FSSB High Speed Rigid Tap
Motor voltage in rigid tap (for low speed characteristics) Initial setting : 100
When the maximum motor speed in rigid tap is higher than the base speed of the spindle motor
(No. 4138 for low speed characteristics), set the value calculated from the following formula.
4137
Spindle motor base speed(No.4138)
Motor voltage (%) = 100 * Maximum motor speed in rigid tap
The parameters to tune are basically same as before. But the tuning way is different in the following
points when you use FSSB high speed rigid tap.
- It’s possible to set less value in time constant for acc./dec. generally.
- It’s not necessary to set the same value in position gain both for servo axis and spindle axis. The
new position gain parameter, which is effective only in FSSB high speed rigid tap, is prepared.
TITLE
Tuning way for
FSSB High Speed Rigid Tap
Please use SERVO GUIDE for parameter tuning with observing following data (Synchronous error,
Spindle speed, Torque command, and etc.)
Please set maximum spindle speed in rigid tap according to the specification of the machine. When
you use higher speed domain where the spindle motor output enough torque, you might be able to
reduce the cycle time of the machining.
4Nm
5500min-1 8000min-1 20000min-1
Motor speed
TITLE
Tuning way for
FSSB High Speed Rigid Tap
3000min-17000min-1 12000min-1
Motor speed
“Rigid tapping” group has 4 types of tabs “Command Setting”, “Velocity Control”, and “Position
Control”. Please input the initial parameters in each tab. When you change parameters, please
make sure to release the “Lock” check-box.
Please try to input 500-600ms in time constant for acc./dec. in rigid tap as initial value. (It depends
on the maximum spindle speed, though.)
Regarding position gain of servo axis for FSSB high speed rigid tap, please set them in No.2610
after selecting “Parameter Table” in Group.
TITLE
Tuning way for
FSSB High Speed Rigid Tap
“Send” button
After confirming the program, please input the file name by click “File name” button. And send it to
CNC by click “Send sub” and “Send main” button in order.
TITLE
Tuning way for
FSSB High Speed Rigid Tap
Example of measurement result in rigid tap with initial parameter settings (Time constant = 500ms)
-1
Spindle speed (2000min /div)
Synchronous error (50pulse/div)
Spindle torque command (50%/div)
300ms
As nest step, please reduce the time constant for acc./dec. up to becoming 50% or so in spindle
torque command. Based on this setting, please continue the velocity gain tuning and position gain
tuning.
Example of measurement result in rigid tap after first tuning of time constant for acc./dec.
(Time constant = 300ms)
300ms
In this stage, please make sure that the spindle speed reaches the maximum speed for rigid tap. If
it doesn’t, please change the movement distance of Z axis in test program.
After that, to confirm whether spindle movement is proper or not, please check the position error at
maximum rigid tap speed. The ideal position error can be calculated by following formula.
TITLE
Tuning way for
FSSB High Speed Rigid Tap
300ms
Please tune velocity loop gain. Please try to raise the proportional gain and integral gain in “Velocity
Control” tab in Parameter Window with the same proportion. The limit value can be known from the
torque command waveform, vibration, or motor sound. The final setting value should be the 70% of
the limit value.
300ms
50ms
TITLE
Tuning way for
FSSB High Speed Rigid Tap
Please tune position loop gain. Please try to raise the position loop gain 2000 by 2000 in “Position
Control” tab in Parameter Window. The limit value can be known from the torque command
waveform, vibration, or motor sound. Please determine the final setting value from those factors.
Example of measurement result after tuning of spindle position gain (Spindle position gain = 7000)
-1
Spindle speed (2000min /div)
Synchronous error (50pulse/div)
Spindle torque command (50%/div)
300ms
Enlargement
Initial setting (Position gain=3000) (Position gain=7000) Limit value (Position gain=12000)
50ms
As next step, we’ll proceed to position gain of servo axis for FSSB high speed rigid tap. But before it,
please tune the velocity loop gain of servo axis well in the ordinary servo tuning.
In former rigid tap, the synchronization between servo axis and spindle axis is realized by giving
same position command to both axes. Therefore position gains for both servo axis and spindle axis
should be same value. But in FSSB high speed rigid tap, the synchronization is realized by the way
that servo axis follows spindle axis movement. So the position gains for both axes can be set
independently.
The position gains for servo axis for former rigid tap are prepared in No.5280-5284. These
parameters can be used also for FSSB high speed rigid tap. But new parameter No.2610, which is
effective only for FSSB high speed rigid tap, is prepared.
As this parameter has not been included yet in “Rigid Tapping” group in Parameter Window of
SERVO GUIDE, please change it in “Parameter Table”. The tuning way is same as the one for
spindle axis.
TITLE
Tuning way for
FSSB High Speed Rigid Tap
Initial setting (Position gain=3000) (Position gain=10000) Limit value (Position gain=14000)
In former rigid tap, we’ve tuned the time constant for acc./dec. so that the peak torque command of
spindle axis becomes 80% or so of maximum value. As the servo axis follows the spindle axis In
FSSB high speed rigid tap, it’s possible to use the spindle torque up to the maximum level. And there
is a possibility to be able to reduce time constant for acc./dec. at using FSSB high speed rigid tap.
Please tune the time constant for acc./dec. so that the peak torque command of spindle axis
becomes nearly 100%. However if you reduce it up to the situation that the torque command in
deceleration becomes too much saturated, the spindle motor might make a overshoot in the bottom
of the hole. Please tune it so that the overshoot doesn’t occur in the bottom of the hole.
Note) Assuming high speed and light load cutting, as the load torque of cutting is not so large, the
time constant, which is determined in air-cut, can be used without any change. Considering low
speed and heavy load cutting, the necessary torque for acc./dec. becomes small, because the
speed is low. So the torque will be sufficient generally even in the heavy load cutting. Therefore the
time constant, which is determined in air-cut at high speed, is usable in low speed and heavy load
cutting also.
Please confirm the actual torque command in actual cutting as the final test.
Example of measurement result in rigid tap after second tuning of time constant for acc./dec.
(Time constant = 175ms)
-1
Spindle speed (2000min /div)
A little saturation in spindle
Synchronous error (50pulse/div)
torque command in acceleration
can be acceptable. Spindle torque command (50%/div)
300ms
TITLE
Tuning way for
FSSB High Speed Rigid Tap
Enlargement Bottom
300ms
of hole
Basically that’s all for the tuning for FSSB high speed rigid tap. After finishing the tuning of time
constant for acc./dec., please check the synchronous error between servo axis and spindle axis.
Please make sure that the synchronous error is less than 100 or so.
The tuning way of former type rigid tap is shown as follows for your reference.
2.4.1. Initial settings and gain tuning of velocity loop and position loop
The initial settings for former rigid tap are same as the ones for FSSB high speed rigid tap.
And the tuning ways of velocity loop gain and position loop gain are almost same. There is only one
difference in position gain setting. The position gains both for servo and spindle should be just same.
In the former type rigid tap, if the torque command is saturated, the synchronous error will be larger.
So in this case, please tune the time constant for acc./dec. so that the peak value of spindle torque
command becomes 80% of maximum torque, which includes a margin.
Example 1 of measurement result in former type rigid tap (Time constant = 220ms)
-1
Spindle speed (2000min /div)
Synchronous error (50pulse/div)
Spindle torque command (50%/div)
TITLE
Tuning way for
FSSB High Speed Rigid Tap
300ms
Ref.) Example of measurement result in FSSB high speed rigid tap (Time constant = 175ms)
-1
The synchronous error doesn’t Spindle speed (2000min /div)
become worse even if the spindle Synchronous error (50pulse/div)
torque command is saturated in case Spindle torque command (50%/div)
of FSSB high speed rigid tap.
300ms
TITLE
Tuning way for
FSSB High Speed Rigid Tap
“Optimum acc./dec. for rigid tap” is the function that enables to change the acceleration in rigid tap
according to the character of the spindle motor. By using this function together, the motor torque is
derived at maximum in all speed range and it becomes possible to reduce the time for acc./dec.
Note) “Optimum acc./dec. for rigid tap” is an option function.
(Example) Assuming that we use the spindle motor, which has following character, at 8000min-1 for
rigid tap,
Torque
35Nm
12Nm
5.0Nm@8000min-1 3.5Nm
1500min-1 4500min-1 10000min-1
Speed
-1
This motor has small torque at 8000min . When the acceleration is constant value in all speed, the
torque in low speed area is not utilized enough, because the tolerable acceleration is limited by the
torque in high speed area.
600ms
TITLE
Tuning way for
FSSB High Speed Rigid Tap
Click [Spindle condition check] and confirm whether spindle conditions are proper or not.
Go back to the measurement window and after setting S command and upper limit of motor speed,
click “Start”. Please set higher value than the maximum rigid tap speed in S command box, if you
can.
-1
[min /sec]
We regard this level as
100%. Based on this
Acceleration during dec. level, please calculate
the acceleration value
Acceleration during acc. in each point.
Draw approximate
line for acceleration
character curve
-1
[min ]
P0 P1 P2 P3 P4
Please estimate the initial setting values from the measurement result. Please draw
approximate line through each setting point (P0-P4) to determine the acceleration character
during acc./dec.. The above data shows the character in acc./dec. with maximum torque. So
available torque in rigid tap will be less than this character. Please set the initial value for
Optimum acc./dec. for rigid tap as 70% or so of approximate line.
TITLE
Tuning way for
FSSB High Speed Rigid Tap
500
450
Acceleration(rev/sec^2)
Example of measurement result after initial setting of Optimum acc./dec. for rigid tap
-1
Spindle speed (2500min /div)
Synchronous error (50pulse/div)
Spindle torque command (50%/div)
600ms
We can tune the acceleration settings a little more,
because there is a room to 100% in torque command.
After confirming the measurement result with initial setting, please tune the acceleration parameters
so that the spindle torque command reaches near 100% in all speed area.
When you tune them, please use the test program, which has the maximum rigid tap speed, and start
tuning from the high speed point (P4) first, and continue to the low speed points in order.
TITLE
Tuning way for
FSSB High Speed Rigid Tap
500
450
Acceleration(rev/sec^2)
: Acceleration during dec.
400 : Acceleration during acc.
350
300
250 P0 P1
200 P2
150 P3
100
50 P4
0
0 1000 2000 3000 4000 5000 6000 7000 8000
Spindle speed(min^-1)
Example of measurement result after tuning of Optimum acc./dec. for rigid tap
-1
Spindle speed (2500min /div)
Synchronous error (50pulse/div)
Spindle torque command (50%/div)
600ms
The motor torque is well utilized
in all speed area.
In the above example, the acceleration time and deceleration time are reduced as follows by
applying Optimum acc./dec. for rigid tap.
TITLE
Tuning way for
FSSB High Speed Rigid Tap
Asynchronous spindle motors need some time to raise the magnetic flux at the excitation increasing.
Therefore we recommend generally to set some waiting time at the changing from velocity control
mode to servo mode including rigid tap. (No.4099: Delay time for stable motor excitation)
To reduce the waiting time, we are providing the function that gives large excitation current in an
instance at the changing from velocity control mode to servo mode. It helps to quicken the increasing
of magnetic flux. And as this function judges the status of preparation of magnetic flux, the rigid tap
will start faster without waiting time set in No.4099.
There is a possibility to reduce the cycle time by using this function together.
Spindle parameter manual (B-65280/08 edition or subsequent editions) shows the setting value for
No.4124 and 4155. Please set them according to the description. If you can’t find the description for
your motors, please calculate it according to the following formulas.
{
No.4124 = 24320 + Minimum _ value _ between( ( No.4111 / 100) 2 + 1 × 0.9 ×100) _ and _ 255 }
No.4155 = 24320 + {Minimum _ value _ between( ( No.4147 / 100) 2 + 1 × 0.9 × 100) _ and _ 255 }
Note) If you don’t use Speed range switching function, it’s not necessary to set No.4155.
Tap start
Example of measurement result with Magnetic flux boost function
Tap start
50ms
In the above example, the start timing of rigid tap became 50ms faster, and the total cycle time also reduced 50ms.
TITLE
Tuning way for
FSSB High Speed Rigid Tap
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D90/H(08), 9DA0/K(11) Add 2011.06
TITLE
Revision of αi series Spindle software
(9D90/H(08),9DA0/K(11)
Software
Spindle amplifier specification Notes
edition
30i/31i/32i-A,
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B,
αiSP
edition H(08) A06B-6154-Hxxx#H590 0i -B/C, 0i -D,15i-MB,PMi-D
Induction/ synchronous spindle motor
3. Contents of modification
TITLE
Revision of αi series Spindle software
(9D90/H(08),9DA0/K(11)
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
TITLE
Revision of αi series Spindle software
(9D5A/L, 9D53/Y, 9D7A/A, 9D80/X)
3. Contents of modification
TITLE
Revision of αi series Spindle software
(9D5A/L, 9D53/Y, 9D7A/A, 9D80/X)
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Notes for using Optimum Orientation Add 2011.07
Correction
Corrections of spindle parameter manual Add 2011.07
Another
TITLE
Notice of using Optimum Orientation and
Correction of Spindle Parameter Manual
1. General
This document describes the notes for using the Optimum Orientation and corrections of FANUC
AC SPINDLE MOTOR αi series Parameter Manual B-65280EN/08.
In case of using the optimum orientation (30i: No.4018#6,#3=0,1) and the following function (1) or
(2) together, please set the parameter for the reference position return speed without fail.
(1) Reference position return at the start of rigid tapping (30i: No.5202#0=1)
(2) Reference position return for the spindle positioning
The reference position return speed for (1)and (2) is specified by the parameter below.
Please set a value other than 0 in the parameter below in case of using the optimum orientation
function. It’s impossible to do the reference position return if the parameter below is set to 0.
3074 4074 4074 Speed of reference position return for Cs contouring control mode/servo mode
TITLE
Notice of using Optimum Orientation and
Correction of Spindle Parameter Manual
Set the parameters for using the magnetic Set the parameters for using the magnetic
flux boost function. flux boost function.
For information about the values to be set, For information about the values to be set,
see Subsection 5.15.7. “Adjustment see Subsection 5.17.5 “Adjustment
Procedure.” Procedure”.
TITLE
Notice of using Optimum Orientation and
Correction of Spindle Parameter Manual
1. Outline................................................................................................................................................ 2
2. Application ......................................................................................................................................... 2
2.1. Combination of spindle amplifier and CNC ................................................................................. 2
2.2. Note ............................................................................................................................................ 3
3. System configuration.......................................................................................................................... 4
3.1. In case of a separate sensor....................................................................................................... 4
3.2. In case of a built-in motor............................................................................................................ 5
4. Input/output Signals (CNC↔PMC)..................................................................................................... 6
4.1. Input signals (PMC→CNC) ......................................................................................................... 6
4.2. Output signals (CNC→PMC) ...................................................................................................... 6
5. Sequence examples........................................................................................................................... 7
5.1.1. Velocity mode ...................................................................................................................... 7
5.1.2. Spindle orientation ............................................................................................................... 8
5.1.3. Rigid tapping........................................................................................................................ 9
5.1.4. Cs contouring control ......................................................................................................... 10
6. List of related parameters ................................................................................................................ 10
7. Details of related parameters ............................................................................................................11
8. Alarm and status error...................................................................................................................... 12
8.1. Spindle alarm ............................................................................................................................ 12
8.2. Spindle status error ................................................................................................................... 12
9. Parameters for each motor model.................................................................................................... 13
10. Connection example..................................................................................................................... 14
10.1. In case of configuration with two αiPSs and two αiSPs ........................................................ 14
10.2. In case of configuration with one αiPS and two αiSPs ......................................................... 15
11. Signal Branch Adapter.................................................................................................................. 15
11.1. Order information .................................................................................................................. 15
11.2. External dimension................................................................................................................ 16
11.3. Detail of cable K104 .............................................................................................................. 16
TITLE
Twin Drive for Spindle Motor
Specifications
This document describes the Twin Drive to drive a spindle motor with two windings.
Regarding the specifications of motors driven by the Twin Drive, refer to manuals for each spindle
motor.
PS SP PS SP
2. Application
・ The Twin Drive needs two αiSP amplifiers (TYPE B) (as for master SP, slave SP) per one motor.
αiSP of 6220 or 6270 has no distinction between TYPE A and TYPE B. All of the amplifiers
support Twin Drive.
・ The same spindle software series and edition should be used both for the master SP and the
slave SP.
・ The specification of an applied spindle amplifier depends on the specification of the spindle motor.
The specification and the number of power supply (PS) also depend on the specification of the
spindle motor.
・ For designation of spindle axes, 2 spindles are necessary per one twin drive spindle motor
(master SP, slave SP). For designation of control axes, 1 axis is necessary per one twin drive
spindle motor (master SP) in case of Cs contouring control.
・ It is not possible to use Twin Drive and the following functions together:
・ Spindle switching control
・ Position coder signal output (Connector JX4)
・ Spindle EGB
・ Spindle learning control
・ Spindle tandem control (Velocity tandem, Torque tandem)
・ Integrator copy function
・ Synchronous spindle motor driving
・ There is no restriction to assign spindle axes for a master spindle and a slave spindle. In this
document, the following assignment is applied for explanation.
Master SP: 1st spindle
Slave SP: 2nd spindle
TITLE
Twin Drive for Spindle Motor
Specifications
Power line
αiBZ sensor
CNC JA7B JYA4
Master SP Spindle
(TYPE B)
JA7A
αiM sensor
JYA2 JX7B
JX7A
JX7C
JX4 Spindle motor
Signal branch for Twin Drive
adapter
Communication
between spindle
amplifiers
JX4
JA7B JYA2
Slave SP
(TYPE B)
Power line
Note
*1 The motor sensor feedback should be connected to both the master SP and the slave SP
by using a signal branch adapter.
*2 The separate sensor should be connected to the master SP.
*3 Regarding detailed specifications of each cable, refer to FANUC SERVO AMPLIFIER αi
series DESCRIPTIONS (B-65282EN).
*4 The number of power supply (PS) depends on the specification of the spindle motor.
*5 The emergency stop signal for power supply (PS) (connector CX4) should be connected to
each PS.
TITLE
Twin Drive for Spindle Motor
Specifications
Power line
CNC JA7B
Master SP
(TYPE B)
JA7A JX7B αiBZ sensor
JYA2 JX7A
JX7C
JX4 Built-in spindle motor
for Twin Drive
Signal branch
Communication adapter
between spindle
amplifiers
JX4
JA7B JYA2
Slave SP
(TYPE B)
Power line
Note
*1 The motor sensor feedback should be connected to both the master SP and the slave by
using a signal branch adapter.
*2 αiCZ sensor (serial) is not applicable for the motor sensor.
*3 Regarding detailed specification of each cable, refer to FANUC SERVO AMPLIFIER αi
series DESCRIPTIONS (B-65282EN).
*4 The number of power supply (PS) depends on the specification of the spindle motor.
*5 The emergency stop signal (connector CX4) for power supply (PS) should be connected to
each PS.
TITLE
Twin Drive for Spindle Motor
Specifications
Note
*1 The command to the spindle should be given to the master during Twin driving.
The specification of the input signals is the same as that of a normal spindle (without Twin
Drive).
For details of signals for each control mode, refer to FANUC AC SPINDLE MOTOR αi
series parameter manual (B-65280JA).
*2 When Twin Drive is active, it is not necessary to input signals from PMC to slave SP.
Input signals for slave SP are transmitted from master SP through communication
between spindle amplifiers.
*3 When Twin Drive is active, output signals for master SP should be used for judgments of
sequence (speed arrival, alarm, etc.).
Note
*1 This signal should be changed during spindle stop status. The change
of this signal is not accepted during rotation.
*2 This signal should be changed in the velocity mode. The change of this
signal is not accepted except in the velocity mode.
TITLE
Twin Drive for Spindle Motor
Specifications
Speed-zero
detection signal
SSTA, SSTB
Tandem command
SLVA, SLVB
More than 300ms
Tandem status
SLVSA, SLVSB
Sxxxx(≠0)
Spindle speed
command S0
S code
Master SP
Spindle rotation
command
SFRA or SRVA
Motor speed
TITLE
Twin Drive for Spindle Motor
Specifications
Speed-zero
detection signal
SSTA, SSTB
Tandem command
SLVA, SLVB
More than 300ms
Tandem status
SLVSA, SLVSB
Sxxxx(≠0)
Spindle speed
command S0
S code
Master SP
Spindle rotation
command
SFRA or SRVA
Master SP
Orientation
command
ORCMA
Master SP
Orientation
completion signal
ORARA
Motor speed
TITLE
Twin Drive for Spindle Motor
Specifications
Speed-zero
detection signal
SSTA, SSTB
Tandem command
SLVA, SLVB
More than 300ms
Tandem status
SLVSA, SLVSB
Mater SP
Spindle rotation
command
SFRA or SRVA
Rigid tapping
command
M29 Sxxxx
G84 Zyyyy …
Motor speed
TITLE
Twin Drive for Spindle Motor
Specifications
Speed-zero
detection signal
SSTA, SSTB
Tandem command
SLVA, SLVB
More than 300ms
Tandem status
SLVSA, SLVSB
Sxxxx(≠0)
Spindle speed
command S0
S code
Master SP
Spindle rotation
command.
SFRA or SRVA
Cs contouring
control command
G00 C0.
G01 Cxxxx …
Motor speed
Parameter No.
15i 16i 30i, 0i-D Contents
3015#3 4015#3 4015#3 Spindle tandem control function
Slave axis for communication between spindle
3352#6 4352#6 4352#6
amplifiers
Master axis for communication between
3352#7 4352#7 4352#7
spindle amplifiers
3398#3 4398#3 4398#3 Using Twin Drive
TITLE
Twin Drive for Spindle Motor
Specifications
ALSP Motor power turn-off method when spindle alarm 24 (serial data
transfer error) is issued
0 : Turns off the power after the motor is decelerated to stop.
1 : Turns off the power immediately (Set 1)
Note
1 When the Twin drive is used with 30i-B or 0i-D, CNC software
option is not necessary. Regardless of setting status of this, Twin
Drive is available.
2 When the Twin Drive is used with 15i-MB, 16i-B or 30i-A, CNC
software option of Spindle tandem control is necessary. Please
confirm this bit is 1.
TITLE
Twin Drive for Spindle Motor
Specifications
Note
If this bit is 0, Twin Drive does not work. Please confirm this bit is
set to1.
TITLE
Twin Drive for Spindle Motor
Specifications
TITLE
Twin Drive for Spindle Motor
Specifications
K69 K69
CXA2A CXA2B CXA2B CXA2A
K88 2φ 200V∼240V
2φ 200V∼240V
CX1 JX4 JX4 CX1
JX7C
K104 JX7B Signal branch
AC reactor AC reactor
adapter
K10 K10
JX7A
Magnetic contactor Magnetic contactor
K17
αiM sensor
3φ αiMZ sensor
3φ
Spindle motor
200∼240V αiBZ sensor
200∼240V
400∼480V 400∼480V
Note
*1 For detailed specification of each cable, refer to FANUC SERVO AMPLIFIER αi series
DESCRIPTIONS (B-65282EN).
*2 The emergency stop signal (connector CX4) for power supply (PS) should be input to each
PS.
TITLE
Twin Drive for Spindle Motor
Specifications
K69 K69
CXA2A
CXA2A CXA2B CXA2B
K88
2φ 200V∼240V
CX1 JX4 JX4
JX7C
K104 JX7B Signal branch
AC reactor
adapter
K10 K10
JX7A
Magnetic contactor
K17
αiM sensor
3φ αiMZ sensor
Spindle motor
200∼240V αiBZ sensor
400∼480V
Note
For detailed specification of each cable, refer to FANUC SERVO AMPLIFIER αi series
DESCRIPTIONS (B-65282EN).
TITLE
Twin Drive for Spindle Motor
Specifications
JX7A
JX7B
90
JX7C
(not used)
55 45
Unit (mm)
Note
Attach this adapter to DIN rail.
(12)(14)(16) 0V 0V (12)(14)(16)
(9)(18)(20) 5V 5V (9)(18)(20)
(10) SS SS (10)
TITLE
Twin Drive for Spindle Motor
Specifications
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D90/I(09), 9DA0/L(12) Add 2011.08
TITLE
Revision of αi series Spindle software
(9D90/I(09),9DA0/L(12)
Software
Spindle amplifier specification Notes
edition
30i/31i/32i-A,
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B,
αiSP
edition I(09) A06B-6154-Hxxx#H590 0i -B/C, 0i -D,15i-MB,PMi-D
Induction/ synchronous spindle motor
3. Contents of modification
We found the problem that the position error always becomes 0 during Cs contouring control or rigid
tapping when we use Dual position feedback function in the following spindle software. We corrected
it.
[Countermeasure]
When you use Dual position feedback function, please use the software which is not listed above or
use the revised software in this time.
If you use the software having the problem and execute Cs contouring control or rigid tapping, the
position error becomes always 0. And the detection of excess error and in-position check aren’t
executed. As it might cause something trouble, please use the software which doesn’t have the
problem.
We found the problem that Safety parameter error (SP9071) occurs when we use the following
spindle software and Dual check safety function. We corrected it.
[Countermeasure]
Please use the revised software (9D90/I) in this time or subsequent edition.
As temporary countermeasure, it’s possible to avoid the alarm by setting No.4544=11111111,
No.4545=00000000.
Additional information)
Dual check safety function doesn’t support “Spindle switching control”. If set Dual check safety ON in
the axis which uses “Spindle switching control”, Safety parameter alarm (SP9071) occurs. Please
don’t use these two functions together.
TITLE
Revision of αi series Spindle software
(9D90/I(09),9DA0/L(12)
1. Outline................................................................................................................................................ 2
2. Application ......................................................................................................................................... 2
2.1. Combination of spindle software, amplifier and CNC.................................................................. 2
2.2. Notes for application ................................................................................................................... 3
3. System configuration example ........................................................................................................... 4
3.1. In case of using power failure backup module (PFBM)............................................................... 4
3.2. In case of driving 2 spindles synchronously and using UPS for control power back-up.............. 5
4. Input/output signals (CNC↔PMC) ..................................................................................................... 6
4.1. Input signals (PMC→CNC) ......................................................................................................... 6
4.2. Output signals (CNC→PMC) ...................................................................................................... 6
5. Sequence examples........................................................................................................................... 7
5.1. In case of normal power failure ................................................................................................... 7
5.2. In case unexpected DC-link voltage is detected ......................................................................... 8
6. List of related parameters .................................................................................................................. 9
7. Details of related parameters ............................................................................................................. 9
8. Alarm.................................................................................................................................................11
TITLE
Spindle DC-link stabilizer
during power failure
Specifications
DRAW. No. CUST.
1
01 11.08.22 Morita Newly designed B-65280EN/08-07
SHEET
Ed. Date Design. FANUC CORPORATION 1/11
1. Outline
This document describes specification of Spindle DC-link stabilizer during power failure.
This function monitors power failure detection signal and DC-link voltage, and keeps DC-link voltage
within specific range after power failure until spindle stops by using spindle regenerative energy.
If the following conditions are fully satisfied, you can use spindle regenerative energy for the
retraction at power failure.
(1) Retraction axes are driven by servo amplifiers connected to the same power supply (PS)
which spindle amplifier is also connected.
(2) Spindle always rotates with sufficient kinetic energy when the retraction at power failure is
required.
Example of application
2. Application
Spindle software
Spindle amplifier CNC
Series Version
A06B-6144-Hxxx#H590 FS30i-A/FS31i-A/FS32i-A,
9D90 I (09)
A06B-6154-Hxxx#H590 FS0i-D
A06B-6220-Hxxx#H600 FS30i-B/FS31i-B/FS32i-B/FS35i-B,
A06B-6270-Hxxx#H600
9DA0 L(12) FS0i-D (SVP can’t be used with
A06B-6230-H001#H600 (SVP)
A06B-6280-H001#H600 (SVP) FS0i-D.)
TITLE
Spindle DC-link stabilizer
during power failure
Specifications
DRAW. No. CUST.
1
01 11.08.22 Morita Newly designed B-65280EN/08-07
SHEET
Ed. Date Design. FANUC CORPORATION 2/11
2.2. Notes for application
・ When you apply this function, you should use UPS(Uninterruptible Power Supply) or Power
Failure Backup Module(PFBM) to keep the control power source for CNC (24VDC) or for servo
amplifiers (Single phase 200VAC for FS30i-A, 24VDC for FS30i-B) during power failure.
If the backup system of control power source is broken, this function dose not work properly.
・ You can use this function with Spindle HRV control (induction motor/ synchronous motor).
・ When you use this function with speed range switching control, you should keep the power
source of magnetic contactor (MCC) to suppress switching of MCC during power failure.
And you have to make the ladder program to keep the state of MCC and signals for speed range
switching control (RSLx/ RCFNx/ RCHPx) during power failure.
・ When you use this function with spindle switching control, you should keep the power source
of MCC to suppress switching of MCC during power failure.
And you have to make the ladder program to keep the state of MCC and signals for spindle
switching control (SPSLx/ MCFNx/ MFNHGx) during power failure.
・ When you use this function with spindle software 9DA0 series,
you should use “Servo Amplifiers for series 30i-B CNC (A06B-62xx-Hxxx)”
for all of the Servo Amplifiers (PS/SP/SV).
・ When you use this function with spindle software 9D90 series,
you should use “Servo Amplifiers for series 30i-A CNC (A06B-61xx-Hxxx)”
for all of the Servo Amplifiers (PS/SP/SV).
・ When you use this function with spindle software 9D90 series, you should complete the retraction
within 1 minute, because PS alarm (SP9004/SV0607) may occur in 1 minute after power failure.
Please consult FANUC if you need retraction time over 1 minute.
TITLE
Spindle DC-link stabilizer
during power failure
Specifications
DRAW. No. CUST.
1
01 11.08.22 Morita Newly designed B-65280EN/08-07
SHEET
Ed. Date Design. FANUC CORPORATION 3/11
3. System configuration example
I/O CNC
/PMC
24VDC for
CNC, I/O Retraction command
VDCABx
CX15
24VDC or ~200VAC
for Amplifiers Power failure
~200VAC
detection signal
~200VAC/24VDC
(VDC/24 VDC)
In case servo
amplifiers for
Series 30i-B CNC
~200VAC/24VDC
(VDC/24 VDC)
~200VAC or VDC
TITLE
Spindle DC-link stabilizer
during power failure
Specifications
DRAW. No. CUST.
1
01 11.08.22 Morita Newly designed B-65280EN/08-07
SHEET
Ed. Date Design. FANUC CORPORATION 4/11
3.2. In case of driving 2 spindles synchronously and using UPS for control power back-up
CX37
VDCABx
Synchronous control
~200VAC
/24VDC
PS#2 SP#2 SV
~200 VAC
/24 VDC MPOFx
~200VAC ~200VAC
UPS
TITLE
Spindle DC-link stabilizer
during power failure
Specifications
DRAW. No. CUST.
1
01 11.08.22 Morita Newly designed B-65280EN/08-07
SHEET
Ed. Date Design. FANUC CORPORATION 5/11
4. Input/output signals (CNC↔PMC)
TITLE
Spindle DC-link stabilizer
during power failure
Specifications
DRAW. No. CUST.
1
01 11.08.22 Morita Newly designed B-65280EN/08-07
SHEET
Ed. Date Design. FANUC CORPORATION 6/11
5. Sequence examples
5.1. In case of normal power failure
SP
SSTx (F signal)
VDCABx (F signal)
CNC
RTRCT (G066.4)
TITLE
Spindle DC-link stabilizer
during power failure
Specifications
DRAW. No. CUST.
1
01 11.08.22 Morita Newly designed B-65280EN/08-07
SHEET
Ed. Date Design. FANUC CORPORATION 7/11
5.2. In case unexpected DC-link voltage is detected
SP
SSTx (F signal)
VDCABx (F signal)
CNC
RTRCT (G066.4)
TITLE
Spindle DC-link stabilizer
during power failure
Specifications
DRAW. No. CUST.
1
01 11.08.22 Morita Newly designed B-65280EN/08-07
SHEET
Ed. Date Design. FANUC CORPORATION 8/11
6. List of related parameters
Parameter No.
Contents
30i, 0i –D
4540#7
Setting of spindle DC-link stabilizer during power failure
4670#7
4540#2 Setting of preload during power failure
4548#5
Setting of unexpected state of DC-link voltage detection
4678 #5
4352#4
Setting of torque limit during DC-link keeping operation
4678#4
4510 Spindle DC-link stabilizer/ Upper limit of DC-link voltage
4511 Spindle DC-link stabilizer/ Lower limit of DC-link voltage
30i, 0i -D #7 #6 #5 #4 #3 #2 #1 #0
Main 4540 GOPF PLDPWF
Sub 4670
TITLE
Spindle DC-link stabilizer
during power failure
Specifications
DRAW. No. CUST.
1
01 11.08.22 Morita Newly designed B-65280EN/08-07
SHEET
Ed. Date Design. FANUC CORPORATION 9/11
30i, 0i –D #7 #6 #5 #4 #3 #2 #1 #0
Main 4548 VDCPFD PFTLD
Sub 4678
Note:
Torque limit signal (TLMH,L) is always available
regardless of this parameter setting.
30i, 0i -D
4510 Spindle DC-link stabilizer/ Upper limit of DC-link voltage
30i, 0i -D
4511 Spindle DC-link stabilizer/ Lower limit of DC-link voltage
TITLE
Spindle DC-link stabilizer
during power failure
Specifications
DRAW. No. CUST.
1
01 11.08.22 Morita Newly designed B-65280EN/08-07
SHEET
Ed. Date Design. FANUC CORPORATION 10/11
8. Alarm
After the spindle is stopped by DC link stabilizer operation, DC-link voltage will go down gradually.
And following alarms will occur, if the control power source is kept at that time.
TITLE
Spindle DC-link stabilizer
during power failure
Specifications
DRAW. No. CUST.
1
01 11.08.22 Morita Newly designed B-65280EN/08-07
SHEET
Ed. Date Design. FANUC CORPORATION 11/11
Correction of a parameter for spindle motor βiI15/7000
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Correction of a parameter for spindle motor βiI15/7000 Add 2011.08
Another
TITLE
Correction of a parameter for
spindle motor βiI15/7000
TITLE
Correction of a parameter for
spindle motor βiI15/7000
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
TITLE
Revision of αi series Spindle software
( 9D5A/M, 9D5D/A, 9D7A/B, 9D80/Y )
TITLE
Revision of αi series Spindle software
( 9D5A/M, 9D5D/A, 9D7A/B, 9D80/Y )
TITLE
Revision of αi series Spindle software
( 9D5A/M, 9D5D/A, 9D7A/B, 9D80/Y )
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Maintenance
Parts
Notice
Correction
Another
TITLE
Spindle Backlash Acceleration Function
Specifications
1. Outline................................................................................................................................................ 3
2. Series and Editions of Applicable Spindle Software ........................................................................... 3
3. Block diagram .................................................................................................................................... 4
4. Parameter .......................................................................................................................................... 4
4.1. Parameter list.............................................................................................................................. 4
4.2. Details of parameters .................................................................................................................. 4
5. Additional information......................................................................................................................... 8
TITLE
Spindle Backlash Acceleration Function
Specifications
NOTE
1 To use this function, the CNC software option (Cs contouring control) is required.
2 This function is unavailable for the sub-spindle for spindle switching.
3 This function can’t be used together with the spindle EGB function.
Note) We added the following two improvements about spindle backlash acceleration in 9D5A/M(13),
9D5D/A(01), 9D7A/B(02), 9D80/Y(25), 9D90/J(10), and 9DA0/M(13).
- The improvement to give an enough effenct even in the low speed revesal movement
- The improvement for a problem that backlash acceleration doesn’t work correctly in some setting
cases of relationship between motor direction and spindle direction, relationship between spindle
direction and sensor direction.
TITLE
Spindle Backlash Acceleration Function
Specifications
Backlash acceleration
compensation calculation
Backlash acceleration ON/OFF
Backlash acceleration: Compensation depending on reversal acceleration(No.4455) (No.4402#0)
Backlash acceleration: Compensation independent of reversal acceleration(No.4457) (Note)
Backlash acceleration: Stop timing (No.4456)
4. Parameter
Note) These parameters can be used with 9D5A/M(13), 9D5D/A(01), 9D7A/B(02), 9D80/Y(25),
9D90/J(10), and 9DA0/M(13).
TITLE
Spindle Backlash Acceleration Function
Specifications
When you execute circle movement at very low speed, there is a possibility
that the backlash acceleration doesn’t work because of the effect of this
parameter as the motor hardly move at the reversal point. In such case
please set the value over 200.
TITLE
Spindle Backlash Acceleration Function
Specifications
There are following parameters to specify the rotation direction of spindle or sensor. There are some cases that
backlash acceleration function doesn’t work correctly depending on some combination of following parameters.
We improved it in the following spindle softwares.
ROTA1 Indication of the relationship between the rotation directions of spindle and
spindle motor
0 : The spindle and spindle motor rotate in the same direction.
1 : The spindle and spindle motor rotate in the reverse direction.
ROTA2 Indication of the spindle direction by the move command (+). (Only effective
on Cs contouring control)
0 : When the value of a move command from the CNC is positive (+), the
spindle rotates in the CCW direction.
1 : When the value of a move command from the CNC is positive (+), the
spindle rotates in the CW direction.
TITLE
Spindle Backlash Acceleration Function
Specifications
There are some cases that the delay at reversal point can’t be compensated only by backlash
acceleration function because of the large mechanical backlash in case of the spindle, which is
connected to the motor by some gears. In such case, there is a possibility that the delay at reversal
point might be well compensated by following settings.
TITLE
Spindle Backlash Acceleration Function
Specifications
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D90/J(10), 9DA0/M(13) Add 2011.12
TITLE
Revision of αi series Spindle software
(9D90/J(10),9DA0/M(13)
Software
Spindle amplifier specification Notes
edition
30i/31i/32i-A,
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B,
αiSP
edition J(10) A06B-6154-Hxxx#H590 0i -B/C, 0i -D,15i-MB,PMi-D
Induction/ synchronous spindle motor
3. Contents of modification
TITLE
Revision of αi series Spindle software
(9D90/J(10),9DA0/M(13)
TITLE
Revision of αi series Spindle software
(9D90/J(10),9DA0/M(13)
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Addition of correspondence of spindle software series Correct 2012.10
TITLE
Divided backlash compensation output in
non-cutting mode for Cs contour control
02 12.10.12 Tajima 02 Edition added (page 3 changed) Specifications
DRAW. No. CUST.
1
01 11.12.28 Tajima Newly designed B-65280EN/08-12
SHEET
Ed. Date Design. FANUC CORPORATION 1/5
Divided backlash compensation output
in non-cutting mode for Cs contour control
Specifications
1. Outline................................................................................................................................................ 3
2. Series and Editions of Applicable Spindle Software ........................................................................... 3
3. Parameter .......................................................................................................................................... 3
3.1. Related parameter table.............................................................................................................. 3
3.2. Explanation of parameters .......................................................................................................... 4
3.3. A parameter for reference ........................................................................................................... 5
TITLE
Divided backlash compensation output in
non-cutting mode for Cs contour control
Specifications
DRAW. No. CUST.
1
01 11.12.28 Tajima Newly designed B-65280EN/08-12
SHEET
Ed. Date Design. FANUC CORPORATION 2/5
1. Outline
There is a case that we use Dual position feedback function together with using the method to add
backlash compensation to the error counter for semi-closed side to improve the delay of reverse of
Cs contour control axis in cutting. It is used for the axis, which has relatively large backlash because
of large reduction ratio between the motor and the spindle, like in large rotary table. In such case, it’ s
necessary to set relatively large backlash compensation to improve the reversal behavior in cutting.
However there is a possibility that the large position command and instantaneous large backlash
compensation might cause a shock in the machine in “non-cutting mode”(NOTE).
We added the new specification that we can give the divided backlash compensation in non-cutting
mode. It becomes possible not to output backlash compensation instantly but to output it gently, and
becomes possible to reduce the mechanical shock.
NOTE
“non-cutting mode” includes the rapid traverse, Jog feed and handle mode.
The divided compensation will be invalid at the handle interrupt during AUTO mode.
Note) 9D5A series, 9D5D series, 9D7A series and 9D8A series are the successor of 9D50 series,
9D53 series, 9D70 series and 9D80 series respectively.
3. Parameter
Parameter number
Content
30i ,0i-D
1851 Backlash compensation amount
4600 Divided amount for backlash compensation
TITLE
Divided backlash compensation output in
non-cutting mode for Cs contour control
02 12.10.12 Tajima 2. changed (② added) Specifications
DRAW. No. CUST.
1
01 11.12.28 Tajima Newly designed B-65280EN/08-12
SHEET
Ed. Date Design. FANUC CORPORATION 3/5
3.2. Explanation of parameters
30i, 0i-D
1851 Backlash compensaiton amount
30i, 0i-D
4600 Divided amount of backlash compensation
80
[Divided backlash
compensation invalid]
No.1851=80
No.4600=0
time
[Divided backlash
compensation valid]
No.1851=80
No.4600=10 10 10 10 10 10 10 10 10
TITLE
Divided backlash compensation output in
non-cutting mode for Cs contour control
Specifications
DRAW. No. CUST.
1
01 11.12.28 Tajima Newly designed B-65280EN/08-12
SHEET
Ed. Date Design. FANUC CORPORATION 4/5
3.3. A parameter for reference
Please set the following parameter to input backlash compensation to the error counter for
semi-closed side when you use Dual position feedback function.
30i, 0i-D #7 #6 #5 #4 #3 #2 #1 #0
4005 HBKLEN
TITLE
Divided backlash compensation output in
non-cutting mode for Cs contour control
Specifications
DRAW. No. CUST.
1
01 11.12.28 Tajima Newly designed B-65280EN/08-12
SHEET
Ed. Date Design. FANUC CORPORATION 5/5
Revision of αi series Spindle Software
( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03), 9D8A/A(01) )
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
TITLE
Revision of αi series Spindle software
( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03),
9D8A/A(01) )
DRAW. No. CUST.
1
01 11.12.28 Tomiyama Newly designed B-65280EN/08-13
SHEET
Ed. Date Design. FANUC CORPORATION 1/6
Revision of αi series Spindle Software
( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03), 9D8A/A(01) )
1. Outline
αi series spindle software was revised as follows.
TITLE
Revision of αi series Spindle software
( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03),
9D8A/A(01) )
DRAW. No. CUST.
1
01 11.12.28 Tomiyama Newly designed B-65280EN/08-13
SHEET
Ed. Date Design. FANUC CORPORATION 2/6
3. Contents of modification
TITLE
Revision of αi series Spindle software
( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03),
9D8A/A(01) )
DRAW. No. CUST.
1
01 11.12.28 Tomiyama Newly designed B-65280EN/08-13
SHEET
Ed. Date Design. FANUC CORPORATION 3/6
4. Addition of model codes for AC SPINDLE MOTOR βi series
4.1 Outline
Model codes for FANUC AC SPINDLE MOTOR βi series are added.
TITLE
Revision of αi series Spindle software
( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03),
9D8A/A(01) )
DRAW. No. CUST.
1
01 11.12.28 Tomiyama Newly designed B-65280EN/08-13
SHEET
Ed. Date Design. FANUC CORPORATION 4/6
4.2 Added parameter tables
Spindle motor βiI series
Motor model βi I 6/10000 β i I 8/10000 βi I 12/8000 βi I 15/7000
Applicable amplifier βi SVSPx-18 βi SVSPx-18 βi SVSPx-18 βi SVSPx-18
Model code 359 360 361 362
Applicable software
9D8A/A 9D8A/A 9D8A/A 9D8A/A
series and edition
Continuous rated 5.5kW 7.5kW 11kW 15kW
characteristics -1
2000/10000min 2000/10000min
-1
2000/8000min
-1
2000/7000min
-1
FS0i
4007 00000000 00000000 00000000 00000000
4008 00000000 00000000 00000000 00000000
4009 00000000 00000000 00000000 00000000
4010 00010000 00010000 00010000 00010000
4011 00011001 00011010 00011010 00011010
4012 10000000 10000000 10000000 10000000
4013 00001100 00001100 00001100 00001100
4019 00000100 00000100 00000100 00000100
4020 10000 10000 8000 7000
4023
4039 0 0 0 0
4040
4041
4048
4049
4080 14170 75 60 15445
4083 30 30 30 30
4093 0 0 0 0
4100 1550 1500 1550 1550
4101 90 95 82 81
4102 2621 2602 1844 1610
4103 58 64 80 0
4104 2000 2000 3000 2500
4105 0 0 0 0
4106 5500 6000 8000 5000
4107 0 0 0 0
4108 0 0 0 0
4109 25 25 25 25
4110 1040 1774 1375 1426
4111 208 381 355 389
4112 200 200 200 200
4113 800 500 705 298
4114 0 0 23040 0
4115 100 100 100 100
4116 7395 8000 6300 4344
4117 90 90 90 90
4118 100 100 100 100
4119 12 19 14 32
4120 0 0 0 0
4124 0 0 0 0
4127 150 161 150 136
4128 115 78 95 0
4129 0 0 0 0
4130 25700 25700 25700 25700
4134 110 110 110 130
4136 0 0 0 0
4138 0 0 0 0
4139 0 0 0 0
4140 0 0 0 0
4141 0 0 0 0
4142 0 0 0 0
4143 0 0 0 0
4144 0 0 0 0
4145 0 0 0 0
4146 0 0 0 0
4147 0 0 0 0
4148 0 0 0 0
4149 0 0 0 0
4150 0 0 0 0
4151 0 0 0 0
4152 0 0 0 0
4153 0 0 0 0
4154 0 0 0 0
4155 0 0 0 0
4156 0 0 0 0
4158 0 0 0 0
4159 0 0 0 0
4161 0 0 0 0
4165 0 0 0 0
4166 0 0 0 0
4169 0 0 0 0
TITLE
Revision of αi series Spindle software
( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03),
9D8A/A(01) )
DRAW. No. CUST.
1
01 11.12.28 Tomiyama Newly designed B-65280EN/08-13
SHEET
Ed. Date Design. FANUC CORPORATION 5/6
Spindle motor βiIp series
Motor model βi IP 15/6000 βi IP 18/6000 βi IP 22/6000 βi IP 22/6000 βi IP 30/6000
Applicable amplifier βi SVSPx-18 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18 βi SVSPx-18
Model code 354 355 356 357 358
Applicable software 9D5A/N
9D8A/A 9D8A/A 9D8A/A 9D8A/A
series and edition 9D8A/A
Continuous rated 7.5kW 9kW 11kW 11kW 15kW
characteristics 1200/6000min
-1
1000/6000min
-1
1000/6000min
-1
1000/6000min
-1
1000/6000min
-1
FS0i
4007 00000000 00000000 00000000 00000000 00000000
4008 00010000 00010000 00010000 00010000 00010000
4009 00000000 00000000 00000000 00000000 00000000
4010 00010000 00010000 00010000 00010000 00010000
4011 00001010 00001010 00001010 00001010 00001010
4012 10000000 10000000 10000000 10000000 10000000
4013 00001100 00001100 00001100 00001100 00001100
4019 00000100 00000100 00000100 00000100 00000100
4020 6000 6000 6000 6000 6000
4023
4039 0 0 0 0 0
4040
4041
4048
4049
4080 20575 21845 19275 19275 16730
4083 30 30 30 30 30
4093 0 0 0 0 0
4100 750 750 770 770 750
4101 79 79 100 100 100
4102 1566 1191 953 953 1007
4103 0 0 0 0 0
4104 2000 3000 4000 4000 3500
4105 0 0 0 0 0
4106 7000 7000 9000 9000 8000
4107 0 0 0 0 0
4108 0 0 0 0 0
4109 25 25 25 25 25
4110 1886 1586 1077 1436 1143
4111 503 410 333 333 334
4112 200 200 200 200 200
4113 228 268 300 300 300
4114 0 0 20480 20480 0
4115 100 100 100 100 100
4116 5307 4194 4408 4408 4298
4117 90 90 90 90 90
4118 100 100 100 100 100
4119 42 36 32 32 32
4120 0 0 0 0 0
4124 0 0 0 0 0
4127 132 134 150 150 136
4128 90 105 103 103 0
4129 0 0 0 0 0
4130 25700 25700 25700 25700 25700
4134 130 130 130 130 130
4136 0 0 0 0 0
4138 0 0 0 0 0
4139 0 0 0 0 0
4140 0 0 0 0 0
4141 0 0 0 0 0
4142 0 0 0 0 0
4143 0 0 0 0 0
4144 0 0 0 0 0
4145 0 0 0 0 0
4146 0 0 0 0 0
4147 0 0 0 0 0
4148 0 0 0 0 0
4149 0 0 0 0 0
4150 0 0 0 0 0
4151 0 0 0 0 0
4152 0 0 0 0 0
4153 0 0 0 0 0
4154 0 0 0 0 0
4155 0 0 0 0 0
4156 0 0 0 0 0
4158 0 0 0 0 0
4159 0 0 0 0 0
4161 0 0 0 0 0
4165 0 0 0 0 0
4166 0 0 0 0 0
4169 0 0 0 0 0
TITLE
Revision of αi series Spindle software
( 9D5A/N(14), 9D5D/B(02), 9D7A/C(03),
9D8A/A(01) )
DRAW. No. CUST.
1
01 11.12.28 Tomiyama Newly designed B-65280EN/08-13
SHEET
Ed. Date Design. FANUC CORPORATION 6/6
Revision of αi series Spindle Software
(9D90/K(11), 9DA0/N(14))
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D90/K(11), 9DA0/N(14) Add 2012.02
TITLE
Revision of αi series Spindle software
(9D90/K(11),9DA0/N(14)
Software
Spindle amplifier specification Notes
edition
30i/31i/32i-A,
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B,
αiSP
edition K(11) A06B-6154-Hxxx#H590 0i-B/C, 0i-D,15i-MB,PMi-D
Induction/ synchronous spindle motor
3. Contents of modification
TITLE
Revision of αi series Spindle software
(9D90/K(11),9DA0/N(14)
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Maintenance
Parts
Notice
Correction
Another
TITLE
Load meter
(Normalized by cont. rated output)
1. Outline
We added the new type of load meter which is normalized by continuous rated output and in
addition to the existing load meter which is normalized by maximum output. It’s possible to select
appropriate type in two types.
- Existing load meter normalized by max. output shows the character that load meter value
becomes constant at maximum output in all speed. It is suited to watch the margin to the
maximum output. (The example of this type load meter is shown as Fig.(b) when the motor
output character is Fig.(a). )
- New load meter normalized by cont. rated output shows the character that load meter value
becomes constant at continuous rated output in all speed. It is suited to watch the margin to the
continuous rated output. (The example of this type load meter is shown as Fig.(c) when the
motor output character is Fig.(a). )
Maximum output (at constant speed)
Short time rated output
Power [kW]
Speed [min-1]
(a) Output power character of spindle motor
10 Maximum value 2*
8.3
Load [%]
Load [V]
Speed [min-1]
(c) Load meter normalized by cont. rated output (new type)
3. Parameter
Parameter No.
MH ML SH SL Contents Remarks
Switching bit for changing load New parameter
meter type (Normalized by max.
4352#3 ← ← ←
output / Normalized by cont. rated
output)
A parameter depending on motor model
(This parameter has been used since
previous. But the meaning of this
4127 4093 4274 4279 Load meter value at max. output
parameter is changed at using load
meter normalized by cont. rated output.)
(Ref. 3-2)
New parameter depending on motor
Parameter (1) for load meter
4612 4614 4728 4730 model
normalized by cont. rated output
(Ref. 3-2)
New parameter depending on motor
Parameter (2) for load meter
4613 4615 4729 4731 model
normalized by cont. rated output
(Ref. 3-2)
Selection bit of detection base for New parameter
4353#3 ← ← ← load detection level signal (LDT1A
and LDT2A)
This parameter has been used since
previous to determine load detection
level. But the meaning of this parameter
4026 ← 4201 ← Load detection level 1
is changed at using load meter
normalized by cont. rated output.
(Ref. 3-2)
This parameter has been used since
previous to determine load detection
level. But the meaning of this parameter
4027 ← ← ← Load detection level 2
is changed at using load meter
normalized by cont. rated output.
(Ref. 3-2)
Note)
MH: Parameter number for high speed winding in main side used in spindle switching control
ML: Parameter number for low speed winding in main side used in spindle switching control
SH: Parameter number for high speed winding in sub side used in spindle switching control
SL: Parameter number for low speed winding in sub side used in spindle switching control
TITLE
Load meter
(Normalized by cont. rated output)
#7 #6 #5 #4 #3 #2 #1 #0
MAIN/SUB 4352 LMTYPE
LMTYPE Selection of load meter type (Regarding load meter type, please find Fig. 1.)
0 : Load meter normalized by max. output
1 : Load meter normalized by cont. rated output
MH 4612 Parameter (1) for load meter normalized by cont. rated output
ML 4614 Same as above
SH 4728 Same as above
SL 4730 Same as above
Setting value : This is the motor-specific parameter. Please find the following table to know the value.
MH 4613 Parameter (2) for load meter normalized by cont. rated output
ML 4615 Same as above
SH 4729 Same as above
SL 4731 Same as above
Setting value : This is the motor-specific parameter. Please find the following table to know the value.
TITLE
Load meter
(Normalized by cont. rated output)
Note)
Please ask the parameters for other motor models to our sales engineers, if you need.
#7 #6 #5 #4 #3 #2 #1 #0
MAIN/SUB 4353 LMTDET
LMTDET Selection bit of detection base for load detection level signal (LDT1A and
LDT2A)
0 : The detection base for load detection level signal is that max. output is
100%, regardless of load meter type.
1 : If load meter normalized by cont. rated output is used, the detection base
for load detection level signal is that cont. rated output is 100%.
MAIN 4026 Load detection level 1
SUB 4455 Same as above
Unit of data : 1%
Valid data range : Refer to the following table
Standard setting value : 83
TITLE
Load meter
(Normalized by cont. rated output)
LMTYPE (N4352#3) 0 1
LDTDET (N4353#3) 0 1 0 1
Standard setting 83
LMTYPE (N4352#3) 0 1
LDTDET (N4353#3) 0 1 0 1
Standard setting 95
Note)
When you change this parameter, please turn CNC off/on.
TITLE
Load meter
(Normalized by cont. rated output)
2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction Parameter tables for αiI 6/10000 driven by βiSVSP were (*2)
Correct Oct. 2012
corrected.
Another Parameter tables for the following spindle motor models are Add May 2012
added.
(1) Parameter tables for αiI series (Power up model)
αiI 6/10000, αiI 8/8000, αiI 12/7000
αiI 15/7000, αiI 18/7000, αiI 22/7000
(2) Parameter tables for αiI series driven by βiSVSP
TITLE
Addition of parameter table for
02 Page1 and 7 were modified. (marked *2) AC SPINDLE MOTOR αi series
12.10.02 Li
DRAW. No. CUST.
1
01 12.5.24 Tomiyama Newly designed B-65280EN/08-16
SHEET
Ed. Date Design. FANUC CORPORATION 1/12
Addition of parameter table for AC SPINDLE MOTOR αi series
1. General
Parameter tables for some motor models of FANUC AC SPINDLE MOTOR αi series are added.
Added models
Spindle motor αiI series (Power up model) can be driven by level-up αi series spindle amplifier
(A06B-614x-…) or spindle amplifier for 30i-B series CNC (A06B-6220-…).
No.1, 2 and 3 can be driven by βi SVSP (A06B-6164-Hxxx#H580) also. Please refer item 3 for
details.
(1) Load parameters automatically with model code (from 363 to 368).
(2) In case of No.1, 5 and 6, change parameter No.4400 manually according to the parameter
table on the following page.
TITLE
Addition of parameter table for
AC SPINDLE MOTOR αi series
DRAW. No. CUST.
1
01 12.5.24 Tomiyama Newly designed B-65280EN/08-16
SHEET
Ed. Date Design. FANUC CORPORATION 2/12
Parameter table for αiI series (Power up model)
Motor model αi I 6/10000 αi I 8/8000 αi I 12/7000 αi I 15/7000 αi I 18/7000 αi I 22/7000
Applicable amplifier αi SP11 αi SP15 αi SP15 αi SP22 αi SP22 αi SP26
Model code 363 364 365 366 367 368
Applicable software 9D8A/B 9D8A/B 9D8A/B 9D8A/B 9D8A/B 9D8A/B
series and edition 9DA0/P 9DA0/P 9DA0/P 9DA0/P 9DA0/P 9DA0/P
Low-speed winding
- - - - - -
characteristics
High-speed winding 5.5/7.5/11kW 7.5/11/15kW 11/15/18.5kW 15/18.5/25kW 18.5/22/30kW 22/26/35kW
characteristics 1500/10000min-1 1500/8000min-1 1500/7000min-1 1500/7000min-1 1500/7000min-1 1500/7000min-1
FS30i -A FS0i -D
FS30i -B FS0i Mate-D
4007 4007 00000000 00000000 00000000 00000000 00000000 00000000
4008 4008 00010000 00010000 00010000 00010000 00010000 00010000
4009 4009 00000000 00000000 00000000 00000000 00000000 00000000
4010 4010 00000000 00000000 00000000 00000000 00000000 00000000
4011 4011 00001010 00001010 00001010 00001010 00001010 00001010
4012 4012 10000111 10000010 10000010 10000010 10000111 10000111
4013 4013 00001100 00001100 00001100 00001100 00001100 00001100
4019 4019 00000100 00000100 00000100 00000100 00000100 00000100
4020 4020 10000 8000 7000 7000 7000 7000
4023 4023
4039 4039 0 0 0 0 0 0
4040 4040
4041 4041
4048 4048
4049 4049
4080 4080 16710 20565 16735 24410 18005 15460
4083 4083 30 30 30 30 30 30
4093 4093 0 0 0 0 0 0
4100 4100 1570 1600 1550 1500 1700 1550
4101 4101 100 94 100 100 100 100
4102 4102 2016 1656 1922 1710 1909 1756
4103 4103 0 0 0 0 0 0
4104 4104 3000 6000 3000 5500 1600 1500
4105 4105 0 0 0 0 0 0
4106 4106 6000 20000 10000 5500 5000 5000
4107 4107 0 0 0 0 0 0
4108 4108 0 0 0 0 0 0
4109 4109 25 25 25 25 25 25
4110 4110 603 754 905 794 943 924
4111 4111 261 265 337 305 418 353
4112 4112 200 200 200 200 200 200
4113 4113 690 790 295 304 308 290
4114 4114 0 19200 0 23040 0 23040
4115 4115 100 100 100 100 100 100
4116 4116 6500 8118 5279 5177 4500 5000
4117 4117 90 90 90 90 90 90
4118 4118 100 100 100 100 100 100
4119 4119 527 12 32 31 31 29
4120 4120 0 0 0 0 0 0
4124 4124 0 0 0 0 0 0
4127 4127 240 240 202 200 195 191
4128 4128 6505 117 0 105 0 0
4129 4129 0 0 0 0 0 0
4130 4130 25700 25700 25700 25700 25700 25700
4134 4134 130 130 130 130 130 130
4136 4136 0 0 0 0 0 0
4138 4138 0 0 0 0 0 0
4139 4139 0 0 0 0 0 0
4140 4140 0 0 0 0 0 0
4141 4141 0 0 0 0 0 0
4142 4142 0 0 0 0 0 0
4143 4143 0 0 0 0 0 0
4144 4144 0 0 0 0 0 0
4145 4145 0 0 0 0 0 0
4146 4146 0 0 0 0 0 0
4147 4147 0 0 0 0 0 0
4148 4148 0 0 0 0 0 0
4149 4149 0 0 0 0 0 0
4150 4150 0 0 0 0 0 0
4151 4151 0 0 0 0 0 0
4152 4152 0 0 0 0 0 0
4153 4153 0 0 0 0 0 0
4154 4154 0 0 0 0 0 0
4155 4155 0 0 0 0 0 0
4156 4156 0 0 0 0 0 0
4158 4158 0 0 0 0 0 0
4159 4159 0 0 0 0 0 0
4161 4161 0 0 0 0 0 0
4165 4165 0 0 0 0 0 0
4166 4166 0 0 0 0 0 0
4169 4169 0 0 0 0 0 0
4400 4400 00000001 (*6) 00000001 (*6) 00000001 (*6)
Maximum output during
13.2kW 18.0kW 22.2kW 30.0kW 36.0kW 42.0kW
acceleration
(for PS selection)
(*6) Change parameters manually according to the table after load parameters automatically with the model code.
TITLE
Addition of parameter table for
AC SPINDLE MOTOR αi series
DRAW. No. CUST.
1
01 12.5.24 Tomiyama Newly designed B-65280EN/08-16
SHEET
Ed. Date Design. FANUC CORPORATION 3/12
3. Addition of parameter table of spindle motor αi series driven by βi SVSP.
Added models
Parameter tables for spindle motor αiI series, αiIp series and αiIT series which can be driven by
βi SVSP (A06B-6164-Hxxx#H580) are added.
Parameter tables of αiI6/10000, αiI8/8000, αiI12/7000 are for the power up model described
in item 2.
(1) Load parameters automatically with model code according to the parameter table on the
following pages.
When the motor has model code with round brackets, use model code in brackets.
When the motor has no model code, use model code 300 (400 for motor with speed-range
switching control).
(2) Change parameter manually according to the parameter table.
TITLE
Addition of parameter table for
AC SPINDLE MOTOR αi series
DRAW. No. CUST.
1
01 12.5.24 Tomiyama Newly designed B-65280EN/08-16
SHEET
Ed. Date Design. FANUC CORPORATION 4/12
Parameter table for αiI series (1/4)
Motor model αi I 0.5/10000 αi I 0.5/10000 αi I 0.5/10000 αi I 1/10000 αi I 1/10000 αi I 1/10000 αi I 1.5/10000 αi I 1.5/10000 αi I 1.5/10000
Applicable amplifier βi SVSPx-7.5 βi SVSPx-11 βi SVSPx-15 βi SVSPx-7.5 βi SVSPx-11 βi SVSPx-15 βi SVSPx-7.5 βi SVSPx-11 βi SVSPx-15
Model code (301) (301) (301) (302) (302) (302) (304) (304) (304)
Applicable software
9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A
series and edition
Low-speed winding
- - - - - - - - -
characteristics
High-speed winding 0.55/1.1kW 0.55/1.1kW 0.55/1.1kW 1.5/2.2kW 1.5/2.2kW 1.5/2.2kW 1.1/3.7kW 1.1/3.7kW 1.1/3.7kW
characteristics -1 -1 -1 -1 -1 -1 -1 -1
3000/10000min 3000/10000min 3000/10000min 3000/10000min 3000/10000min 3000/10000min 1500/10000min 1500/10000min 1500/10000min
-1
FS0i -D
FS0i Mate-D
4007 00000000 ← ← 00000000 ← ← 00000000 ← ←
4008 00000000 ← ← 00000000 ← ← 00000000 ← ←
4009 00000000 ← ← 00000000 ← ← 00000000 ← ←
4010 00000000 ← ← 00000000 ← ← 00000000 ← ←
4011 00011000 ← ← 00011001 ← ← 00011001 ← ←
4012 10000010 ← ← 10000010 ← ← 10000010 ← ←
4013 00001100 ← ← 00001100 ← ← 00001100 ← ←
4019 00000100 ← ← 00000100 ← ← 00000100 ← ←
4020 10000 ← ← 10000 ← ← 10000 ← ←
4023
4039 0 ← ← 0 ← ← 0 ← ←
4040
4041
4048
4049
83 85
4080 90 ← ← ← ← ← ←
80(*1) 65(*1)
4083 30 ← ← 30 ← ← 30 ← ←
4093 0 ← ← 0 ← ← 0 ← ←
4100 3400 ← ← 3100 ← ← 1650 ← ←
4101 100 ← ← 100 ← ← 100 ← ←
4102 6500 ← ← 3557 ← ← 2767 ← ←
46 87 60
4103 ← ← ← ← ← ←
0(*1) 0(*1) 0(*1)
4104 3000 ← ← 6000 ← ← 6000 ← ←
4105 0 ← ← 0 ← ← 0 ← ←
4106 7500 ← ← 6000 ← ← 6000 ← ←
4107 0 ← ← 0 ← ← 0 ← ←
4108 0 ← ← 0 ← ← 0 ← ←
4109 25 ← ← 25 ← ← 25 ← ←
4110 2513 (*6) 3142 (*6) 4713 (*6) 1104 (*6) 1380 (*6) 2070 (*6) 900 (*6) 1126 (*6) 1689 (*6)
4111 260 ← ← 102 ← ← 217 ← ←
4112 200 ← ← 200 ← ← 200 ← ←
4113 2077 ← ← 2100 ← ← 1635 ← ←
4114 23040 ← ← 17920 ← ← 0 ← ←
4115 100 ← ← 100 ← ← 100 ← ←
4116 13760 ← ← 10018 ← ← 9598 ← ←
4117 90 ← ← 90 ← ← 90 ← ←
4118 100 ← ← 100 ← ← 100 ← ←
4119 5 ← ← 5 ← ← 5 ← ←
4120 0 ← ← 0 ← ← 0 ← ←
4124 0 ← ← 0 ← ← 0 ← ←
4127 240 ← ← 176 ← ← 404 ← ←
4128 120 ← ← 0 ← ← 115 ← ←
4129 0 ← ← 0 ← ← 0 ← ←
4130 25700 ← ← 25700 ← ← 25700 ← ←
4134 110 ← ← 110 ← ← 110 ← ←
4136 0 ← ← 0 ← ← 0 ← ←
4138 0 ← ← 0 ← ← 0 ← ←
4139 0 ← ← 0 ← ← 0 ← ←
4140 0 ← ← 0 ← ← 0 ← ←
4141 0 ← ← 0 ← ← 0 ← ←
4142 0 ← ← 0 ← ← 0 ← ←
4143 0 ← ← 0 ← ← 0 ← ←
4144 0 ← ← 0 ← ← 0 ← ←
4145 0 ← ← 0 ← ← 0 ← ←
4146 0 ← ← 0 ← ← 0 ← ←
4147 0 ← ← 0 ← ← 0 ← ←
4148 0 ← ← 0 ← ← 0 ← ←
4149 0 ← ← 0 ← ← 0 ← ←
4150 0 ← ← 0 ← ← 0 ← ←
4151 0 ← ← 0 ← ← 0 ← ←
4152 0 ← ← 0 ← ← 0 ← ←
4153 0 ← ← 0 ← ← 0 ← ←
4154 0 ← ← 0 ← ← 0 ← ←
4155 0 ← ← 0 ← ← 0 ← ←
4156 0 ← ← 0 ← ← 0 ← ←
4158 0 ← ← 0 ← ← 0 ← ←
4159 0 ← ← 0 ← ← 0 ← ←
4161 0 ← ← 0 ← ← 0 ← ←
4165 0 ← ← 0 ← ← 0 ← ←
4166 0 ← ← 0 ← ← 0 ← ←
4169 0 ← ← 0 ← ← 0 ← ←
4400
Maximum output
1.32kW 1.32kW 1.32kW 2.64kW 2.64kW 2.64kW 4.44kW 4.44kW 4.44kW
during acceleration
(for PS selection) 2.60kW(*1) 2.60kW(*1) 2.60kW(*1) 2.87kW(*1) 2.87kW(*1) 2.87kW(*1) 6.7kW(*1) 6.7kW(*1) 6.7kW(*1)
(*1) This setting makes the maximum output during acceleration greater and the acceleration time reduced.
(*6) Change parameters manually according to the table after load parameters automatically with the model code.
TITLE
Addition of parameter table for
AC SPINDLE MOTOR αi series
DRAW. No. CUST.
1
01 12.5.24 Tomiyama Newly designed B-65280EN/08-16
SHEET
Ed. Date Design. FANUC CORPORATION 5/12
Parameter table for αiI series (2/4)
Motor model αi I 2/10000 αi I 2/10000 αi I 2/10000 αi I 3/10000 αi I 3/10000 αi I 3/10000
Applicable amplifier βi SVSPx-7.5 βi SVSPx-11 βi SVSPx-15 βi SVSPx-7.5 βi SVSPx-11 βi SVSPx-15
Model code (306) (306) (306) (308) (308) (308)
Applicable software
9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A
series and edition
Low-speed winding
- - - - - -
characteristics
High-speed winding 2.2/3.7kW 2.2/3.7kW 2.2/3.7kW 3.7/5.5kW 3.7/5.5kW 3.7/5.5kW
characteristics -1 -1 -1 -1 -1
1500/10000min 1500/10000min 1500/10000min 1500/10000min 1500/10000min 1500/10000min
-1
FS0i -D
FS0i Mate-D
4007 00000000 ← ← 00000000 ← ←
4008 00000000 ← ← 00000000 ← ←
4009 00000000 ← ← 00000000 ← ←
4010 00000000 ← ← 00000000 ← ←
4011 00011001 ← ← 00011001 ← ←
4012 10000010 ← ← 10000010 ← ←
4013 00001100 ← ← 00001100 ← ←
4019 00000100 ← ← 00000100 ← ←
4020 10000 ← ← 10000 ← ←
4023
4039 0 ← ← 0 ← ←
4040
4041
4048
4049
77 60
4080 ← ← ← ←
70(*1) 65(*1)
4083 30 ← ← 30 ← ←
4093 0 ← ← 0 ← ←
4100 1550 ← ← 1600 ← ←
4101 100 ← ← 100 ← ←
4102 2567 ← ← 1967 ← ←
68 75
4103 ← ← ← ←
0(*1) 0(*1)
4104 6000 ← ← 7000 ← ←
4105 0 ← ← 0 ← ←
4106 6000 ← ← 7000 ← ←
4107 0 ← ← 0 ← ←
4108 0 ← ← 0 ← ←
4109 25 ← ← 25 ← ←
4110 758 (*6) 948 (*6) 1422 (*6) 760 (*6) 950 (*6) 1425 (*6)
4111 175 ← ← 200 ← ←
4112 200 ← ← 19400 ← ←
4113 1192 ← ← 1077 ← ←
4114 0 ← ← 0 ← ←
4115 100 ← ← 100 ← ←
4116 9300 ← ← 7950 ← ←
4117 90 ← ← 28250 ← ←
4118 100 ← ← 110 ← ←
4119 8 ← ← 5 ← ←
4120 0 ← ← 0 ← ←
4124 0 ← ← 0 ← ←
4127 202 ← ← 178 ← ←
4128 90 ← ← 0 ← ←
4129 0 ← ← 0 ← ←
4130 25700 ← ← 25700 ← ←
4134 110 ← ← 110 ← ←
4136 0 ← ← 0 ← ←
4138 0 ← ← 0 ← ←
4139 0 ← ← 0 ← ←
4140 0 ← ← 0 ← ←
4141 0 ← ← 0 ← ←
4142 0 ← ← 0 ← ←
4143 0 ← ← 0 ← ←
4144 0 ← ← 0 ← ←
4145 0 ← ← 0 ← ←
4146 0 ← ← 0 ← ←
4147 0 ← ← 0 ← ←
4148 0 ← ← 0 ← ←
4149 0 ← ← 0 ← ←
4150 0 ← ← 0 ← ←
4151 0 ← ← 0 ← ←
4152 0 ← ← 0 ← ←
4153 0 ← ← 0 ← ←
4154 0 ← ← 0 ← ←
4155 0 ← ← 0 ← ←
4156 0 ← ← 0 ← ←
4158 0 ← ← 0 ← ←
4159 0 ← ← 0 ← ←
4161 0 ← ← 0 ← ←
4165 0 ← ← 0 ← ←
4166 0 ← ← 0 ← ←
4169 0 ← ← 0 ← ←
4400
Maximum output
4.44kW 4.44kW 4.44kW 6.6kW 6.6kW 6.6kW
during acceleration
(for PS selection) 6.4kW(*1) 6.4kW(*1) 6.4kW(*1) 7.9kW(*1) 7.9kW(*1) 7.9kW(*1)
(*1) This setting makes the maximum output during acceleration greater and the acceleration time reduced.
(*6) Change parameters manually according to the table after load parameters automatically with the model code.
TITLE
Addition of parameter table for
AC SPINDLE MOTOR αi series
DRAW. No. CUST.
1
01 12.5.24 Tomiyama Newly designed B-65280EN/08-16
SHEET
Ed. Date Design. FANUC CORPORATION 6/12
Parameter table for αiI series (3/4)
Motor model αi I 6/10000 αi I 6/10000 αi I 6/10000 αi I 8/8000 αi I 8/8000 αi I 12/7000
Applicable amplifier βi SVSPx-11 βi SVSPx-15 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18 βi SVSPx-18
Model code 363 (363) (363) 364 (364) 369
Applicable software
9D8A/D (*2) 9D8A/D(*2) 9D8A/D (*2) 9D8A/B 9D8A/B 9D8A/B
series and edition
Low-speed winding
- - - - - -
characteristics
High-speed winding 5.5/7.5/11kW 5.5/7.5/11kW 5.5/7.5/11kW 7.5/11/15kW 7.5/11/15kW 11/15/18.5kW
characteristics -1 -1 -1
1500/10000min 1500/10000min 1500/10000min 1500/8000min
-1
1500/8000min
-1
1500/7000min
-1
FS0i -D
FS0i Mate-D
4007 00000000 ← ← 00000000 ← 00000000
4008 00010000 ← ← 00000000 ← 00010000
4009 00000000 ← ← 00000000 ← 00000000
4010 00000000 ← ← 00000000 ← 00000000
4011 00001010 ← ← 00011010 ← 00001010
4012 10000111 ← ← 10000010 ← 10000010
4013 00001100 ← ← 00001100 ← 00001100
4019 00000100 ← ← 00000100 ← 00000100
4020 10000 ← ← 8000 ← 7000
4023
4039 0 ← ← 0 ← 0
4040
4041
4048
4049
4080 16710 ← ← 75 ← 16735
4083 30 ← ← 30 ← 30
4093 0 ← ← 0 ← 0
4100 1570 ← ← 1600 ← 1550
4101 100 ← ← 100 ← 100
4102 2016 ← ← 1656 ← 1922
4103 0 ← ← 0 ← 0
4104 3000 ← ← 8000 ← 3000
4105 0 ← ← 0 ← 0
4106 6000 ← ← 8000 ← 10000
4107 0 ← ← 0 ← 0
4108 0 ← ← 0 ← 0
4109 25 ← ← 25 ← 25
4110 603 1131 (*6) 1508 (*6) 754 1006 (*6) 1207
4111 261 ← ← 170 ← 337
4112 200 ← ← 200 ← 200
4113 690 ← ← 790 ← 295
4114 0 ← ← 19200 ← 0
4115 100 ← ← 100 ← 100
4116 6500 ← ← 8118 ← 5279
4117 90 ← ← 90 ← 90
4118 100 ← ← 100 ← 100
4119 527 ← ← 12 ← 32
4120 0 ← ← 0 ← 0
4124 0 ← ← 0 ← 0
4127 240 ← ← 176 ← 202
4128 6505 ← ← 117 ← 0
4129 0 ← ← 0 ← 0
4130 25700 ← ← 25700 ← 25700
4134 130 ← ← 130 ← 130
4136 0 ← ← 0 ← 0
4138 0 ← ← 0 ← 0
4139 0 ← ← 0 ← 0
4140 0 ← ← 0 ← 0
4141 0 ← ← 0 ← 0
4142 0 ← ← 0 ← 0
4143 0 ← ← 0 ← 0
4144 0 ← ← 0 ← 0
4145 0 ← ← 0 ← 0
4146 0 ← ← 0 ← 0
4147 0 ← ← 0 ← 0
4148 0 ← ← 0 ← 0
4149 0 ← ← 0 ← 0
4150 0 ← ← 0 ← 0
4151 0 ← ← 0 ← 0
4152 0 ← ← 0 ← 0
4153 0 ← ← 0 ← 0
4154 0 ← ← 0 ← 0
4155 0 ← ← 0 ← 0
4156 0 ← ← 0 ← 0
4158 0 ← ← 0 ← 0
4159 0 ← ← 0 ← 0
4161 0 ← ← 0 ← 0
4165 0 ← ← 0 ← 0
4166 0 ← ← 0 ← 0
4169 0 ← ← 0 ← 0
4400 00000001(*6) ← ←
Maximum output
13.2kW 13.2kW 13.2kW 18.0kW 18.0kW 22.2kW
during acceleration
(for PS selection)
(*6) Change parameters manually according to the table after load parameters automatically with the model code.
TITLE
Addition of parameter table for
02 Li Software editions were corrected. (marked *2) AC SPINDLE MOTOR αi series
12.10.02
DRAW. No. CUST.
1
01 12.5.24 Tomiyama Newly designed B-65280EN/08-16
SHEET
Ed. Date Design. FANUC CORPORATION 7/12
Parameter table for αiI series (4/4)
Motor model αi I 1/15000 αi I 1/15000 αi I 1/15000 αi I 1.5/20000 αi I 1.5/20000 αi I 2/20000 αi I 3/12000 αi I 3/12000 αi I 3/12000
Applicable amplifier βi SVSPx-7.5 βi SVSPx-11 βi SVSPx-15 β i SVSPx-15 βi SVSPx-18 βi SVSPx-18 βi SVSPx-11 βi SVSPx-15 β i SVSPx-18
Model code (303) (303) (303) 305 (305) (307) 309 (309) (309)
Applicable software
9D8A/B 9D8A/B 9D8A/B 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A
series and edition
Low-speed winding
- - - - - - - - -
characteristics
High-speed winding 1.5/2.2kW 1.5/2.2kW 1.5/2.2kW 1.5/2.2kW 1.5/2.2kW 2.2/3.7kW 3.7/5.5kW 3.7/5.5kW 3.7/5.5kW
characteristics 3000/15000min-1 3000/15000min-1 3000/15000min-1 3000/20000min-1 3000/20000min-1 3000/20000min-1 1500/12000min-1 1500/12000min-1 1500/12000min-1
FS0i -D
FS0i Mate-D
4007 00000000 ← ← 00000000 ← 00000000 00000000 ← ←
4008 00000000 ← ← 00000000 ← 00000000 00000000 ← ←
4009 00000000 ← ← 00000000 ← 00000000 00000000 ← ←
4010 00000001 ← ← 00000001 ← 00000001 00000000 ← ←
4011 00011001 ← ← 00011001 ← 00011001 00011001 ← ←
4012 10000010 ← ← 10000010 ← 10000010 10000010 ← ←
4013 00001100 ← ← 00001100 ← 01010000 00001100 ← ←
4019 00000100 ← ← 00000100 ← 00000100 00000100 ← ←
4020 15000 ← ← 20000 ← 20000 (*6) 12000 ← ←
4023
4039 0 ← ← 0 ← 0 0 ← ←
4040
4041
4048
4049
85
4080 ← ← 14165 ← 19290 (*) 16720 ← ←
80(*1)
4083 30 ← ← 10 ← 10 30 ← ←
4093 0 ← ← 0 ← 0 0 ← ←
4100 3100 ← ← 3250 ← 3200 1500 ← ←
4101 93 ← ← 33 ← 45 87 ← ←
4102 8015 ← ← 7145 ← 6432 3015 ← ←
70
4103 ← ← 75 ← 92 82 ← ←
0(*1)
4104 2000 ← ← 2300 ← 3000 3200 ← ←
4105 0 ← ← 0 ← 0 0 ← ←
4106 7000 ← ← 8700 ← 3000 7500 ← ←
4107 0 ← ← 0 ← 0 0 ← ←
4108 0 ← ← 0 ← 0 0 ← ←
4109 25 ← ← 25 ← 25 25 ← ←
4110 548 (*6) 686 (*6) 1029 (*6) 629 838 (*6) 588 559 838 (*6) 1118 (*6)
4111 102 ← ← 180 ← 175 190 ← ←
4112 200 ← ← 200 ← 200 200 ← ←
4113 1870 ← ← 2227 ← 1800 900 ← ←
4114 0 ← ← 0 ← 0 19200 ← ←
4115 100 ← ← 90 ← 80 100 ← ←
4116 9669 ← ← 10289 ← 16564 7376 ← ←
4117 90 ← ← 90 ← 90 90 ← ←
4118 100 ← ← 100 ← 100 100 ← ←
4119 5 ← ← 5 ← 2 9 ← ←
4120 0 ← ← 0 ← 0 0 ← ←
4124 0 ← ← 0 ← 0 0 ← ←
4127 176 ← ← 176 ← 202 178 ← ←
4128 80 ← ← 73 ← 85 0 ← ←
4129 0 ← ← 0 ← 0 0 ← ←
4130 25700 ← ← 25700 ← 25700 25700 ← ←
4134 110 ← ← 110 ← 110 110 ← ←
4136 0 ← ← 0 ← 0 0 ← ←
4138 0 ← ← 0 ← 0 0 ← ←
4139 0 ← ← 0 ← 0 0 ← ←
4140 0 ← ← 0 ← 0 0 ← ←
4141 0 ← ← 0 ← 0 0 ← ←
4142 0 ← ← 0 ← 0 0 ← ←
4143 0 ← ← 0 ← 0 0 ← ←
4144 0 ← ← 0 ← 0 0 ← ←
4145 0 ← ← 0 ← 0 0 ← ←
4146 0 ← ← 0 ← 0 0 ← ←
4147 0 ← ← 0 ← 0 0 ← ←
4148 0 ← ← 0 ← 0 0 ← ←
4149 0 ← ← 0 ← 0 0 ← ←
4150 0 ← ← 0 ← 0 0 ← ←
4151 0 ← ← 0 ← 0 0 ← ←
4152 0 ← ← 0 ← 0 0 ← ←
4153 0 ← ← 0 ← 0 0 ← ←
4154 0 ← ← 0 ← 0 0 ← ←
4155 0 ← ← 0 ← 0 0 ← ←
4156 0 ← ← 0 ← 0 0 ← ←
4158 0 ← ← 0 ← 0 0 ← ←
4159 0 ← ← 0 ← 0 0 ← ←
4161 0 ← ← 0 ← 0 0 ← ←
4165 0 ← ← 0 ← 0 0 ← ←
4166 0 ← ← 0 ← 0 0 ← ←
4169 0 ← ← 0 ← 0 0 ← ←
4400
Maximum output
5.6kW 5.6kW 5.6kW 13.0kW 13.0kW 20.0kW 13.0kW 13.0kW 13.0kW
during acceleration
(for PS selection) 7.0kW(*1) 7.0kW(*1) 7.0kW(*1)
(*1) This setting makes the maximum output during acceleration greater and the acceleration time reduced.
(*6) Change parameters manually according to the table after load parameters automatically with the model code.
TITLE
Addition of parameter table for
AC SPINDLE MOTOR αi series
DRAW. No. CUST.
1
01 12.5.24 Tomiyama Newly designed B-65280EN/08-16
SHEET
Ed. Date Design. FANUC CORPORATION 8/12
Parameter table for αiIP series (1/2)
Motor model αi IP 12/6000 αi IP 12/6000 αi IP 12/6000 αi IP 12/8000 αi IP 12/8000 αi IP 12/8000 αi IP 15/6000 αi IP 15/6000
Applicable amplifier βi SVSPx-11 βi SVSPx-15 βi SVSPx-18 βi SVSPx-11 βi SVSPx-15 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18
Model code 407 (407) (407) (407) (407) (407) 408 (408)
Applicable software
9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A
series and edition
Low-speed winding 3.7/7.5kW 3.7/7.5kW 3.7/7.5kW 3.7/7.5kW 3.7/7.5kW 3.7/7.5kW 5/9kW 5/9kW
characteristics 500/1500min
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
High-speed winding 5.5/7.5kW 5.5/7.5kW 5.5/7.5kW 5.5/7.5kW 5.5/7.5kW 5.5/7.5kW 7.5/9kW 7.5/9kW
characteristics 750/6000min
-1
750/6000min
-1
750/6000min
-1
750/8000min
-1
750/8000min
-1
750/8000min
-1
750/6000min
-1
750/6000min
-1
FS0i -D
FS0i Mate-D
4007 00000000 ← ← ← ← ← 00000000 ←
4008 00000000 ← ← ← ← ← 00000000 ←
4009 00000000 ← ← ← ← ← 00000000 ←
4010 00000000 ← ← ← ← ← 00000000 ←
4011 00011010 ← ← ← ← ← 00011010 ←
4012 10000010 ← ← ← ← ← 10000010 ←
4013 00001100 ← ← ← ← ← 00001100 ←
4019 00000100 ← ← ← ← ← 00000100 ←
4020 6000 ← ← 8000 (*6) ← ← 6000 ←
4023 125(*2) ← ← 94(*2) ← ← 125(*2) ←
4039 0 ← ← ← ← ← 0 ←
4040
4041
4048
4049
4080 11610 ← ← ← ← ← 16730 ←
4083 30 ← ← ← ← ← 30 ←
4093 243 ← ← ← ← ← 216 ←
4100 750 ← ← ← ← ← 750 ←
4101 100 ← ← ← ← ← 90 ←
4102 1488 ← ← ← ← ← 1431 ←
4103 75 ← ← ← ← ← 65 ←
4104 4000 ← ← ← ← ← 3800 ←
4105 0 ← ← ← ← ← 0 ←
4106 10000 ← ← ← ← ← 11000 ←
4107 0 ← ← ← ← ← 0 ←
4108 0 ← ← ← ← ← 0 ←
4109 25 ← ← ← ← ← 25 ←
4110 815 1222 (*6) 1630 (*6) 815 1222 (*6) 1630 (*6) 1043 1390 (*6)
4111 297 ← ← ← ← ← 326 ←
4112 200 ← ← ← ← ← 200 ←
4113 240 ← ← ← ← ← 270 ←
4114 23040 ← ← ← ← ← 23040 ←
4115 100 ← ← ← ← ← 100 ←
4116 5307 ← ← ← ← ← 5171 ←
4117 90 ← ← ← ← ← 90 ←
4118 100 ← ← ← ← ← 100 ←
4119 40 ← ← ← ← ← 35 ←
4120 0 ← ← ← ← ← 0 ←
4124 0 ← ← ← ← ← 0 ←
4127 164 ← ← ← ← ← 144 ←
4128 105 ← ← ← ← ← 105 ←
4129 0 ← ← ← ← ← 0 ←
4130 25700 ← ← ← ← ← 25700 ←
4134 130 ← ← ← ← ← 130 ←
4136 30 ← ← ← ← ← 30 ←
4138 530 ← ← ← ← ← 560 ←
4139 90 ← ← ← ← ← 100 ←
4140 887 ← ← ← ← ← 1143 ←
4141 0 ← ← ← ← ← 80 ←
4142 6500 ← ← ← ← ← 5000 ←
4143 15000 ← ← ← ← ← 13000 ←
4144 0 ← ← ← ← ← 0 ←
4145 25 ← ← ← ← ← 25 ←
4146 1494 2241 (*6) 2988 (*6) 1494 2241 (*6) 2988 (*6) 2514 3352 (*6)
4147 565 ← ← ← ← ← 816 ←
4148 200 ← ← ← ← ← 200 ←
4149 270 ← ← ← ← ← 280 ←
4150 23040 ← ← ← ← ← 23040 ←
4151 100 ← ← ← ← ← 100 ←
4152 5268 ← ← ← ← ← 5170 ←
4153 90 ← ← ← ← ← 90 ←
4154 100 ← ← ← ← ← 100 ←
4155 0 ← ← ← ← ← 0 ←
4156 0 ← ← ← ← ← 0 ←
4158 110 ← ← ← ← ← 105 ←
4159 0 ← ← ← ← ← 0 ←
4161 25700 ← ← ← ← ← 25700 ←
4165 15 ← ← ← ← ← 34 ←
4166 70 ← ← ← ← ← 70 ←
4169 0 ← ← ← ← ← 0 ←
4400
Maximum output
12.3kW 12.3kW 12.3kW 12.3kW 12.3kW 12.3kW 13.5kW 13.5kW
during acceleration
(for PS selection)
(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*6) Change parameters manually according to the table after load parameters automatically with the model code.
TITLE
Addition of parameter table for
AC SPINDLE MOTOR αi series
DRAW. No. CUST.
1
01 12.5.24 Tomiyama Newly designed B-65280EN/08-16
SHEET
Ed. Date Design. FANUC CORPORATION 9/12
Parameter table for αiIP series (2/2)
Motor model αi IP 15/8000 αi IP 15/8000 αi IP 18/6000 αi IP 18/6000 αi IP 18/8000 αi IP 18/8000
Applicable amplifier βi SVSPx-15 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18
Model code (408) (408) 409 (409) (409) (409)
Applicable software
9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D80/A
series and edition
Low-speed winding 5/9kW 5/9kW 6/11kW 6/11kW 6/11kW 6/11kW
characteristics 500/1500min
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
500/1500min
-1
FS0i -D
FS0i Mate-D
4007 00000000 ← 00000000 ← ← ←
4008 00000000 ← 00000000 ← ← ←
4009 00000000 ← 00000000 ← ← ←
4010 00000000 ← 00000000 ← ← ←
4011 00011010 ← 00011010 ← ← ←
4012 10000010 ← 10000010 ← ← ←
4013 00001100 ← 00001100 ← ← ←
4019 00000100 ← 00000100 ← ← ←
4020 8000 (*6) ← 6000 ← 8000 (*6) ←
4023 94(*2) ← 125(*2) ← 94(*2) ←
4039 0 ← 0 ← 0 ←
4040
4041
4048
4049
4080 16730 ← 75 ← ← ←
4083 30 ← 30 ← ← ←
4093 216 ← 220 ← ← ←
4100 750 ← 740 ← ← ←
4101 90 ← 100 ← ← ←
4102 1431 ← 1261 ← ← ←
4103 65 ← 70 ← ← ←
4104 3800 ← 5500 ← ← ←
4105 0 ← 0 ← ← ←
4106 11000 ← 17000 ← ← ←
4107 0 ← 0 ← ← ←
4108 0 ← 0 ← ← ←
4109 25 ← 25 ← ← ←
4110 1043 1390 (*6) 754 1005 (*6) 754 1005 (*6)
4111 326 ← 225 ← ← ←
4112 200 ← 200 ← ← ←
4113 270 ← 300 ← ← ←
4114 23040 ← 0 ← ← ←
4115 100 ← 100 ← ← ←
4116 5171 ← 5671 ← ← ←
4117 90 ← 90 ← ← ←
4118 100 ← 100 ← ← ←
4119 35 ← 32 ← ← ←
4120 0 ← 0 ← ← ←
4124 0 ← 0 ← ← ←
4127 144 ← 147 ← ← ←
4128 105 ← 105 ← ← ←
4129 0 ← 0 ← ← ←
4130 25700 ← 25700 ← ← ←
4134 130 ← 130 ← ← ←
4136 30 ← 30 ← ← ←
4138 560 ← 500 ← ← ←
4139 100 ← 90 ← ← ←
4140 1143 ← 755 ← ← ←
4141 80 ← 60 ← ← ←
4142 5000 ← 8000 ← ← ←
4143 13000 ← 23000 ← ← ←
4144 0 ← 0 ← ← ←
4145 25 ← 25 ← ← ←
4146 2514 3352 (*6) 1489 1985 (*6) 1489 1985 (*6)
4147 816 ← 476 ← ← ←
4148 200 ← 200 ← ← ←
4149 280 ← 315 ← ← ←
4150 23040 ← 0 ← ← ←
4151 100 ← 100 ← ← ←
4152 5170 ← 5660 ← ← ←
4153 90 ← 90 ← ← ←
4154 100 ← 115 ← ← ←
4155 0 ← 0 ← ← ←
4156 0 ← 0 ← ← ←
4158 105 ← 0 ← ← ←
4159 0 ← 0 ← ← ←
4161 25700 ← 25700 ← ← ←
4165 34 ← 10 ← ← ←
4166 70 ← 77 ← ← ←
4169 0 ← 0 ← ← ←
4400
Maximum output
13.5kW 13.5kW 15.1kW 15.1kW 15.1kW 15.1kW
during acceleration
(for PS selection)
(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*6) Change parameters manually according to the table after load parameters automatically with the model code.
TITLE
Addition of parameter table for
AC SPINDLE MOTOR αi series
DRAW. No. CUST.
1
01 12.5.24 Tomiyama Newly designed B-65280EN/08-16
SHEET
Ed. Date Design. FANUC CORPORATION 10/12
Parameter table for αiIT series (1/2)
Motor model αi IT 1.5/20000 αi IT 1.5/20000 αi IT 2/20000 αi IT 3/12000 αi IT 3/12000 αi IT 3/12000
Applicable amplifier βi SVSPx-15 βi SVSPx-18 βi SVSPx-18 β i SVSPx-11 βi SVSPx-15 βi SVSPx-18
Model code - - - - - -
Applicable software
- - - - - -
series and edition
Low-speed winding
- - - - - -
characteristics
High-speed winding 1.5/2.2kW 1.5/2.2kW 2.2/3.7kW 3.7/5.5kW 3.7/5.5kW 3.7/5.5kW
characteristics -1 -1 -1 -1 -1
3000/20000min 3000/20000min 3000/20000min 1500/12000min 1500/12000min 1500/12000min
-1
FS0i -D
FS0i Mate-D
4007 00000000 ← 00000000 00000000 ← ←
4008 00000000 ← 00000000 00000000 ← ←
4009 00000000 ← 00000000 00000000 ← ←
4010 00000001 ← 00000001 00000001 ← ←
4011 00011001 ← 00011001 00011001 ← ←
4012 10000010 ← 10000010 10000010 ← ←
4013 00001100 ← 01010000 00001100 ← ←
4019 00000100 ← 00000100 00000100 ← ←
4020 20000 ← 20000 12000 ← ←
4023
4039 0 ← 0 0 ← ←
4040
4041
4048
4049
4080 14165 ← 19290 16720 ← ←
4083 10 ← 10 30 ← ←
4093 0 ← 0 0 ← ←
4100 3250 ← 3200 1500 ← ←
4101 33 ← 45 87 ← ←
4102 7145 ← 6432 3015 ← ←
4103 75 ← 92 82 ← ←
4104 2300 ← 3000 3200 ← ←
4105 0 ← 0 0 ← ←
4106 8700 ← 3000 7500 ← ←
4107 0 ← 0 0 ← ←
4108 0 ← 0 0 ← ←
4109 25 ← 25 25 ← ←
4110 629 838 588 559 838 1118
4111 180 ← 175 190 ← ←
4112 200 ← 200 200 ← ←
4113 2227 ← 1800 900 ← ←
4114 0 ← 0 19200 ← ←
4115 90 ← 80 100 ← ←
4116 10289 ← 16564 7376 ← ←
4117 90 ← 90 90 ← ←
4118 100 ← 100 100 ← ←
4119 5 ← 2 9 ← ←
4120 0 ← 0 0 ← ←
4124 0 ← 0 0 ← ←
4127 176 ← 202 178 ← ←
4128 73 ← 85 0 ← ←
4129 0 ← 0 0 ← ←
4130 25700 ← 25700 25700 ← ←
4134 110 ← 110 110 ← ←
4136 0 ← 0 0 ← ←
4138 0 ← 0 0 ← ←
4139 0 ← 0 0 ← ←
4140 0 ← 0 0 ← ←
4141 0 ← 0 0 ← ←
4142 0 ← 0 0 ← ←
4143 0 ← 0 0 ← ←
4144 0 ← 0 0 ← ←
4145 0 ← 0 0 ← ←
4146 0 ← 0 0 ← ←
4147 0 ← 0 0 ← ←
4148 0 ← 0 0 ← ←
4149 0 ← 0 0 ← ←
4150 0 ← 0 0 ← ←
4151 0 ← 0 0 ← ←
4152 0 ← 0 0 ← ←
4153 0 ← 0 0 ← ←
4154 0 ← 0 0 ← ←
4155 0 ← 0 0 ← ←
4156 0 ← 0 0 ← ←
4158 0 ← 0 0 ← ←
4159 0 ← 0 0 ← ←
4161 0 ← 0 0 ← ←
4165 0 ← 0 0 ← ←
4166 0 ← 0 0 ← ←
4169 0 ← 0 0 ← ←
4400
Maximum output
13.0kW 13.0kW 20.0kW 13.0kW 13.0kW 13.0kW
during acceleration
(for PS selection)
TITLE
Addition of parameter table for
AC SPINDLE MOTOR αi series
DRAW. No. CUST.
1
01 12.5.24 Tomiyama Newly designed B-65280EN/08-16
SHEET
Ed. Date Design. FANUC CORPORATION 11/12
Parameter table for αiIT series (2/2)
Motor model αi IT 6/12000 αi IT 6/12000 αi IT 6/12000(*4) αi IT 6/12000(*4) αi IT 8/12000 αi IT 8/12000 αi IT 8/12000(*4) αi IT 8/12000(*4)
Applicable amplifier βi SVSPx-15 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18 βi SVSPx-15 βi SVSPx-18
Model code - - - - - - - -
Applicable software
- - - - - - - -
series and edition
Low-speed winding 5.5/7.5kW 5.5/7.5kW 5.5/7.5kW 5.5/7.5kW 7.5/11kW 7.5/11kW 7.5/11kW 5.5/7.5kW
characteristics -1 -1 -1 -1 -1 -1 -1
1500/12000min 1500/12000min 1500/12000min 1500/12000min 1500/12000min 1500/12000min 1500/12000min 1500/12000min
-1
FS0i -D
FS0i Mate-D
4007 00000000 ← 00000000 ← 00000000 ← 00000000 ←
4008 00000000 ← 00000000 ← 00000000 ← 00000000 ←
4009 00000000 ← 00000000 ← 00000000 ← 00000000 ←
4010 00000001 ← 00000001 ← 00000001 ← 00000001 ←
4011 00011010 ← 00011010 ← 00011010 ← 00011010 ←
4012 10000010 ← 10000010 ← 10000010 ← 10000010 ←
4013 00001100 ← 00001100 ← 00001100 ← 00001100 ←
4019 00000100 ← 00000100 ← 00000100 ← 00000100 ←
4020 12000 ← 12000 ← 12000 ← 12000 ←
4023 333(*2) ← 333(*2) ←
4039 0 ← 0 ← 0 ← 0 ←
4040 6(*3) ← 6(*3) ←
4041 6(*3) ← 6(*3) ←
4048 6(*3) ← 6(*3) ←
4049 6(*3) ← 6(*3) ←
4080 81 ← 58 ← 70 ← 49 ←
4083 30 ← 30 ← 30 ← 30 ←
4093 164 ← 0 ← 176 ← 0 ←
4100 4200 ← 1500 ← 3580 ← 1500 ←
4101 50 ← 71 ← 100 ← 89 ←
4102 4561 ← 2630 ← 3580 ← 1642 ←
4103 70 ← 70 ← 0 ← 77 ←
4104 3000 ← 5500 ← 2300 ← 5000 ←
4105 0 ← 0 ← 0 ← 0 ←
4106 3000 ← 5500 ← 2300 ← 5000 ←
4107 0 ← 0 ← 0 ← 0 ←
4108 0 ← 0 ← 0 ← 0 ←
4109 25 ← 25 ← 25 ← 25 ←
4110 646 861 1131 1508 421 561 566 755
4111 185 ← 353 ← 100 ← 162 ←
4112 200 ← 200 ← 200 ← 200 ←
4113 650 ← 620 ← 980 ← 1090 ←
4114 20480 ← 20480 ← 0 ← 19200 ←
4115 100 ← 100 ← 100 ← 100 ←
4116 10783 ← 8803 ← 11031 ← 8000 ←
4117 90 ← 90 ← 90 ← 90 ←
4118 100 ← 100 ← 100 ← 100 ←
4119 15 ← 527 ← 522 ← 521 ←
4120 0 ← 0 ← 0 ← 0 ←
4124 0 ← 0 ← 0 ← 0 ←
4127 164 ← 164 ← 176 ← 176 ←
4128 95 ← 105 ← 0 ← 0 ←
4129 0 ← 0 ← 0 ← 0 ←
4130 25700 ← 25700 ← 25700 ← 25700 ←
4134 130 ← 130 ← 130 ← 130 ←
4136 30 ← 0 ← 30 ← 0 ←
4138 1500 ← 0 ← 1500 ← 0 ←
4139 71 ← 0 ← 89 ← 0 ←
4140 2630 ← 0 ← 1642 ← 0 ←
4141 70 ← 0 ← 77 ← 0 ←
4142 5500 ← 0 ← 5000 ← 0 ←
4143 5500 ← 0 ← 5000 ← 0 ←
4144 0 ← 0 ← 0 ← 0 ←
4145 25 ← 0 ← 25 ← 0 ←
4146 1131 1508 0 1508 566 754 0 ←
4147 353 ← 0 ← 162 ← 0 ←
4148 200 ← 0 ← 200 ← 0 ←
4149 620 ← 0 ← 1090 ← 0 ←
4150 20480 ← 0 ← 19200 ← 0 ←
4151 100 ← 0 ← 100 ← 0 ←
4152 8803 ← 0 ← 8000 ← 0 ←
4153 90 ← 0 ← 90 ← 0 ←
4154 100 ← 0 ← 100 ← 0 ←
4155 0 ← 0 ← 0 ← 0 ←
4156 0 ← 0 ← 0 ← 0 ←
4158 105 ← 0 ← 0 ← 0 ←
4159 0 ← 0 ← 0 ← 0 ←
4161 25700 ← 0 ← 25700 ← 0 ←
4165 527 ← 0 ← 521 ← 0 ←
4166 58 ← 0 ← 49 ← 0 ←
4169 0 ← 0 ← 0 ← 0 ←
4400
Maximum output
13.0kW 13.0kW 13.0kW 13.0kW 13.2kW 13.2kW 13.2kW 13.2kW
during acceleration
(for PS selection)
(*2) When using the SDT signal, manually change the parameters that were automatically set.
(*3) Set this value as the initial value of the velocity loop gain for low-speed characteristics of speed range switching.
(*4) This setting is used when only a low-speed winding is connected without the output range being switched in the output range switching motor.
TITLE
Addition of parameter table for
AC SPINDLE MOTOR αi series
DRAW. No. CUST.
1
01 12.5.24 Tomiyama Newly designed B-65280EN/08-16
SHEET
Ed. Date Design. FANUC CORPORATION 12/12
Revision of αi series Spindle Software
( 9D5A/O(15), 9D5D/C(03), 9D7A/D(04), 9D8A/B(02) )
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
TITLE
Revision of αi series Spindle software
( 9D5A/O(15), 9D5D/C(03), 9D7A/D(04),
9D8A/B(02) )
DRAW. No. CUST.
01 12.05.18 Tomiyama Newly designed B-65280EN/08-17
SHEET
Ed. Date Design. FANUC CORPORATION 1/3
Revision of αi series Spindle Software
( 9D5A/O(15), 9D5D/C(03), 9D7A/D(04), 9D8A/B(02) )
1. Outline
αi series spindle software was revised as follows.
3. Contents of modification
TITLE
Revision of αi series Spindle software
( 9D5A/O(15), 9D5D/C(03), 9D7A/D(04),
9D8A/B(02) )
DRAW. No. CUST.
01 12.05.18 Tomiyama Newly designed B-65280EN/08-17
SHEET
Ed. Date Design. FANUC CORPORATION 2/3
4. Addition of model codes for AC SPINDLE MOTOR αi series
TITLE
Revision of αi series Spindle software
( 9D5A/O(15), 9D5D/C(03), 9D7A/D(04),
9D8A/B(02) )
DRAW. No. CUST.
01 12.05.18 Tomiyama Newly designed B-65280EN/08-17
SHEET
Ed. Date Design. FANUC CORPORATION 3/3
Revision of αi series Spindle Software
(9D90/M(13), 9DA0/P(16))
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D90/M(13), 9DA0/P(16) Add 2012.05
TITLE
Revision of αi series Spindle software
(9D90/M(13),9DA0/P(16)
Software
Spindle amplifier specification Notes
edition
30i/31i/32i-A,
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B,
αiSP
edition M(13) A06B-6154-Hxxx#H590 0i-B/C, 0i-D,15i-MB,PMi-D
Induction/ synchronous spindle motor
3. Contents of modification
TITLE
Revision of αi series Spindle software
(9D90/M(13),9DA0/P(16)
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
TITLE
Revision of αi series Spindle software
( 9D5A/16(P), 9D5D/04(D), 9D7A/05(E),
9D8A/03(C) )
DRAW. No. CUST.
01 12.06.12 Tomiyama Newly designed B-65280EN/08-19
SHEET
Ed. Date Design. FANUC CORPORATION 1/3
Revision of αi series Spindle Software
( 9D5A/16(P), 9D5D/04(D), 9D7A/05(E), 9D8A/03(C) )
1. Outline
αi series spindle software was revised as follows.
TITLE
Revision of αi series Spindle software
( 9D5A/16(P), 9D5D/04(D), 9D7A/05(E),
9D8A/03(C) )
DRAW. No. CUST.
01 12.06.12 Tomiyama Newly designed B-65280EN/08-19
SHEET
Ed. Date Design. FANUC CORPORATION 2/3
3. Contents of modification
TITLE
Revision of αi series Spindle software
( 9D5A/16(P), 9D5D/04(D), 9D7A/05(E),
9D8A/03(C) )
DRAW. No. CUST.
01 12.06.12 Tomiyama Newly designed B-65280EN/08-19
SHEET
Ed. Date Design. FANUC CORPORATION 3/3
Revision of αi series Spindle Software
(9D90/N(14), 9DA0/Q(17))
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D90/N(14), 9DA0/Q(17) Add 2012.06
TITLE
Revision of αi series Spindle software
(9D90/N(14),9DA0/Q(17)
Software
Spindle amplifier specification Notes
edition
30i/31i/32i-A,
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B,
αiSP
edition N(14) A06B-6154-Hxxx#H590 0i-B/C, 0i-D,15i-MB,PMi-D
Induction/ synchronous spindle motor
3. Contents of modification
TITLE
Revision of αi series Spindle software
(9D90/N(14),9DA0/Q(17)
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional Addition of the contents for the improvement of the preload and
Add 2012.06
Function Multi-axes integrator copy in Spindle tandem control
Unit
Maintenance
Parts
Notice
Correction
Another
TITLE
Spindle Tandem Control
(Improvement of Preload and Multi-axes integrator copy)
SHEET
Ed. Date Design. FANUC LTD 1/6
Spindle Tandem Control
(Improvement of Preload and Multi-axes integrator copy)
1. Outline ............................................................................................................................................................................... 3
2. Applicable Spindle Amplifier and Spindle Software ............................................................................................... 3
3. I/O Signals (CNC↔PMC) ................................................................................................................................................ 4
4. Parameters ........................................................................................................................................................................ 4
TITLE
Spindle Tandem Control
(Improvement of Preload and Multi-axes integrator copy)
SHEET
Ed. Date Design. FANUC LTD 2/6
1. Outline
The following specification was added in Spindle tandem control.
(1) The preload can be applied between plural twin drive motors.
(2) The Preload and Multi-axes integrator copy for plural tandem groups including Twin drive motors can
be switched by a signal.
This manual described about above contents. About other contents for the tandem function, please refer to the
section 5.11, 5.13 in Spindle parameter manual (B-65280EN). And, please refer to TMS11/059 (Twin Drive for
Spindle Motor) about Twin drive control.
NOTE
*1 The following CNC software option are required for this function.
Case of FS30i-A / FS31i-A
- Spindle tandem control
- Spindle simple synchronous control
*) FS32i-A doesn’t support Spindle tandem control.
Case of FS30i-B / FS31i-B / FS32i-B / FS35i-B
- Spindle synchronous control
A06B-6280-Hxxx#H600 (400V)
TITLE
Spindle Tandem Control
(Improvement of Preload and Multi-axes integrator copy)
SHEET
Ed. Date Design. FANUC LTD 3/6
3. I/O Signals (CNC↔PMC)
30i #7 #6 #5 #4 #3 #2 #1 #0
st
1 G306 TDFCANA
nd
2 G310 TDFCANB
rd
3 G314 TDFCANC
th
4 G318 TDFCAND
TDFCANx Preload and Multi-axes integrator copy for plural tandem groups including Twin
drive motors
0 : are valid.
1 : are invalid.
NOTE
Please pay attention to the following points about this signal TDFCANx.
・ As for this signal, the meaning changes by setting of parameter No.4542#3,2. Please refer to the latter
explanataion of No.4542#3,2.
・ When you turn off preload and an multi-axes integrator copy by this signal TDFCANx, you have to
input this signal to all spindle axes related to these functions.
Ex.1) If preload and multi-axes integrator copy are applied to plural twin drive motors, you have to input
this signal TDFCANx to the respective master axis of twin drive motor.
Ex.2) If preload is applied to all spindle axes of plural velocity-tandem pairs (No.4360 of all spindles <>0),
you have to input this signal TDFCANx to all spindle axes.
4. Parameters
30i #7 #6 #5 #4 #3 #2 #1 #0
4541 RVDPOL
RVDPOL Master/slave motor rotation direction for the multi-axes integrator copy
0 : The rotation directions of the master and slave motors are the same (motor
shaft side view).
1 : The rotation directions of the master and slave motors are opposite (motor shaft
side view).
Set this parameter to the slave axis for the multi-axes integrator copy.
30i #7 #6 #5 #4 #3 #2 #1 #0
4542 TDFCS1 TDFCS0
TDFCS1,TDFCS0 Setting for invalidation signal TDFCANx of preload and multi-axes integrator copy
0,0 : The signal TDFCANx is not used.
0,1 : If the signal TDFCANx is “1”, preload becomes invalid.
1,0 : If the signal TDFCANx is “1” , both preload and multi-axes integrator copy
become invalid.
0,1 : Please don’t use this setting. If you use it, it works as the setting (1,0).
TITLE
Spindle Tandem Control
(Improvement of Preload and Multi-axes integrator copy)
SHEET
Ed. Date Design. FANUC LTD 4/6
NOTE
Please set No.4542#3,2 according to the following guide line.
- In case of No.4542#3,2=0,0
Please use this setting when plural tandem groups are always connected mechanically and it’s not
necessary to turn OFF/ON preload and multi-axes integrator copy.
- In case of No.4542#3,2=0,1
Please use this setting when there is a possibility that plural tandem groups are intermittently
disconnected mechanically and you want to turn off preload at gear change for example.
- In case of No.4542#3,2=1,0
Please use this setting when there are cases that the plural tandem groups are driven by connected state
and driven by disconnected state. In the disconnected state, it’s possible to turn off both preload and
multi-axes integrator copy.
Excitation status
Excitation status
G306#2
(TDFCANx)
N4360
(Preload) Preload output
(Invalid)
N4606 (time constant)
Multi-axes
Integrator copy (Invalid) (Valid) (Valid)
TITLE
Spindle Tandem Control
(Improvement of Preload and Multi-axes integrator copy)
SHEET
Ed. Date Design. FANUC LTD 5/6
[In case of No.4542#3,2=1,0 の場合]
Excitation status
G306#2
(TDFCANx)
N4360
(Preload) Preload output
(Invalid)
N4606 (time constant)
Multi-axes
Integrator copy (Invalid) (Valid) (Invalid) (Valid)
30i
4597 Setting for the multi-axes integrator copy
Standard setting value : 0
30i
30i
TITLE
Spindle Tandem Control
(Improvement of Preload and Multi-axes integrator copy)
SHEET
Ed. Date Design. FANUC LTD 6/6
Change of technical term (Multi-axes integrator copy)
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
TITLE
Change of technical term
(Multi-axes integrator copy)
SHEET
Ed. Date Design. FANUC LTD 1/5
1. Outline
The name of control way called “Extended integral copy” in Spindle tandem control was changed. It becomes “Multi-axes
integrator copy”.
This document shows the changed points in parameter manual.
2. Changed points
Parameter No.
Description
30i
4541#6 Master/slave motor rotation direction relationship for the Multi-axes integrator copy
4597 Setting for the Multi-axes integrator copy
The following parameter needs to be set when an integrator copy is made between
two axes that are driven by spindle simple synchronous control during tandem
drive using four or more spindle motors (Multi-axes integrator copy). For
information about this setting, see also "Additional information 2: Spindle drive
using four or more spindle motors" in Subsection 5.11.9, "Additional Information".
30i #7 #6 #5 #4 #3 #2 #1 #0
4541 RVDPOL
RVDPOL Master/slave motor rotation direction relationship for the multi-axes integrator
copy
0 : The rotation directions of the master and slave motors are the same during spindle
rotation (when viewed from the motor shaft).
1 : The rotation directions of the master and slave motors are opposite during spindle
rotation (when viewed from the motor shaft).
Set this parameter for the slave axis for the multi-axes integrator copy.
30i
TITLE
Change of technical term
(Multi-axes integrator copy)
SHEET
Ed. Date Design. FANUC LTD 2/5
I 5.11.9 (2) Additional information 2: Spindle drive using four or more spindle motors
CNC Tandem 11
タンデム
Velocity
速度指令 command (*1)
SP-1 Motor
モータ
sensor Motor
モータ 1 1
(Master)
(マスタ) センサ
SP-1
積分項
Integral Velocity
速度タンデム tandem
term &積分コピー
& integral copy
(*1)
SP-2 Motor
モータ
sensor
センサ
Motor
モータ 2
(Slave)
(スレーブ)
(*2)
(*2)Signal
信号 (*3)
branching (*3)主軸
Spindle Spindle
分岐アダ 主軸
adapter センサ
sensor
プタ
Tandem 22
タンデム
SP-4 Motor
モータ
sensor Motor
モータ 4 4
(スレーブ )
(Slave) センサ
(*1)
TITLE
Change of technical term
(Multi-axes integrator copy)
SHEET
Ed. Date Design. FANUC LTD 3/5
(3) Block diagram
The following figure shows a control block diagram applicable when this function operates using four spindle
motors.
<1> The velocity command from the CNC are passed to SP1 and SP3. The soft start/stop function limits the specified
acceleration rate to reduce the mechanical shock, and SP1 and SP3 pass the limited command to SP2 and SP4,
respectively. Then, each motor exerts velocity control.
<2> SP2 and SP3 receive the integral term from SP1, and SP4 receives the integral term from SP3. They add the
received integral term to the proportional term to create a torque command.
<3> Each SP adds the set preload value to this torque command to create a final torque command.
Velocity feedback
(CNC) (SP1)
SOCNA=1 - Torque
Velocity command command [%]
soft start/stop + Velocity loop Torque
N4030 limit Motor
P/I + モータ
+
Velocity Velocity integral
command term (I)
Determination of polarity (N4353#2) SLVA
& SLVB
Amplifier - to – amplifier
communication
Velocity + +
command Preload
ESSYC3 ESSYC3 N4360
& SLVA SLVA
SLVA & SLVB
& SLVC & SLVB +
Velocity loop + Torque
トルク
limit Motor
モータ
P only リミット
+ Torque
Multi-axes integrator copy
command [%]
Spindle simple synchronous control
Velocity feedback
Spindle
Velocity feedback
(SP3)
SOCNC=1
- Torque
soft start/stop + command [%]
N4030
Velocity loop Torque
P only Motor
limit
+
Determination of +
polarity(N4541#6) Velocity Velocity integral
command term (I) Preload
N4360
Determination of polarity (N4353#2) SLVC
& SLVD
Amplifier - to – amplifier
communication
Velocity + + Preload
command N4360
SLVC
& SLVD
SLVC +
& SLVD
Velocity loop + Torque
Motor
P only limit
+ Torque
- command [%]
Velocity feedback
TITLE
Change of technical term
(Multi-axes integrator copy)
SHEET
Ed. Date Design. FANUC LTD 4/5
(5) Setting examples of the parameters related to the integral copy
When the spindle is driven by four velocity tandems (eight motors) as shown in the following figure, the settings
related to the velocity integral copy are to be made as indicated by the examples given below.
SP N4398#5,4,3 N4353#2 N4541#6 N4597 Remarks
SP-1 1,1,0 1 0 -1 Spindle simple synchronous control (+ multi-axes
integrator copy) master axis
Velocity tandem 1 (+ integrator copy) master axis
SP-2 1,1,0 - 0 0 Velocity tandem 1 (+ integrator copy) slave axis
SP-3 1,1,0 1 0 1 Spindle simple synchronous control (+multi-axes
integrator copy) slave axis
Velocity tandem 2 (+ integrator copy) master axis
SP-4 1,1,0 - 0 0 Velocity tandem 2 (+ integrator copy) slave axis
SP-5 1,1,0 1 0 1 Spindle simple synchronous control (+multi-axes
integrator copy) slave axis
Velocity tandem 3 (+ integrator copy) master axis
SP-6 1,1,0 - 0 0 Velocity tandem 3 (+ integrator copy) slave axis
SP-7 1,1,0 1 0 1 Spindle simple synchronous control (+multi-axes
integrator copy) slave axis
Velocity tandem 4 (+ integrator copy) master axis
SP-8 1,1,0 - 0 0 Velocity tandem 4 (+ integrator copy) slave axis
CNC Tandem
タンデム11
Velocity
速度指令command (*1)
Motor
SP-1 モータ Motor 1
(Master) sensor モータ 1
(マスタ) センサ
SP-1 Velocity tandem
速度タンデム
Integral
積分項
& integral copy
&積分コピー
term (*1)
SP-2 Motor
モータ Motor 2
sensor モータ 2
(Slave)
(スレーブ) センサ
(*2) Signal
(*2)信号分
branching
Tandem
タンデム22 岐アダプタ
adapter
(*1)
SP-3 Motor
モータ Motor 3
sensor モータ 3
(Master)
(マスタ) センサ
Spindle simple synchronous control
Velocity
速度タンデム tandem
Multi-axes integrator copy
(*1)
(*1)適用可能アンプ : A06B-6154-Hxxx#H590
Applicable amplifier: A06B-6154-Hxxx#H590
Spindle amplifier - to - spindle
スピンドルアンプ間通信
amplifier communication (*2) Signal branching: A06B-6111-H405
(*2)信号分岐アダプタ adapter: A06B-6111-H405
TITLE
Change of technical term
(Multi-axes integrator copy)
SHEET
Ed. Date Design. FANUC LTD 5/5
Revision of Spindle Software (for speed sensor-less motors)
(9D60/H)
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D60/H Add 2012.06
TITLE
Revision of Spindle software
(for speed sensor-less motors)
( 9D60/H)
DRAW. No. CUST.
01 12.06.28 Li Newly designed B-65280EN/08-23
3. Contents of modification
Power consumption monitor function was added. Please refer to 「FANUC Series 0i-MODEL
D/FANUC Series 0i Mate-MODEL D Power consumption monitor Specifications」 (A-93067) for
detail.
TITLE
Revision of Spindle software
(for speed sensor-less motors)
( 9D60/H)
DRAW. No. CUST.
01 12.06.28 Li Newly designed B-65280EN/08-23
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
TITLE
Revision of αi series Spindle software
( 9D5A/17(Q), 9D5D/05(E), 9D7A/06(F),
9D8A/04(D) )
DRAW. No. CUST.
1
01 12.10.02 Li Newly designed B-65280EN/08-24
SHEET
Ed. Date Design. FANUC CORPORATION 1/3
Revision of αi series Spindle Software
( 9D5A/17(Q), 9D5D/05(E), 9D7A/06(F), 9D8A/04(D) )
1. Outline
αi series spindle software was revised as follows.
3. Contents of modification
(1) The model code 363 is available for amplifier βiSVSP, and description of model code 363 in
technical report B-65280JA/08-16 is corrected as following table.
Applicable software
series and edition of βiSVSP 9D8A edition 02(B) or later 9D8A edition 04(D) or later
model code 363
Please refer to technical report B-65280EN/08-16 (edition 02) for detail information.
TITLE
Revision of αi series Spindle software
( 9D5A/17(Q), 9D5D/05(E), 9D7A/06(F),
9D8A/04(D) )
DRAW. No. CUST.
1
01 12.10.02 Li Newly designed B-65280EN/08-24
SHEET
Ed. Date Design. FANUC CORPORATION 2/3
(2) The βi series spindle motor model codes for initial setting have been added.
(3) The parameter lists for αi series spindle motors with βiSVSP*-18 amplifier are added.
Motor Amplifier
1 αiI 0.5/10000
2 αiI 1/10000
3 αiI 1.5/10000
βiSVSP*-18
4 αiI 2/10000
5 αiI 3/10000
6 αiI 1.5/15000
TITLE
Revision of αi series Spindle software
( 9D5A/17(Q), 9D5D/05(E), 9D7A/06(F),
9D8A/04(D) )
DRAW. No. CUST.
1
01 12.10.02 Li Newly designed B-65280EN/08-24
SHEET
Ed. Date Design. FANUC CORPORATION 3/3
Addition of parameter tables and model codes for AC SPINDLE MOTOR αi series
2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another (1) Parameter tables for spindle motor αiI series driven Add Oct. 2012
by βiSVSPx-18 are added.
(2) Model codes for spindle motor βiI series are added.
TITLE
Addition of parameter tables and model
codes for AC SPINDLE MOTOR αi series
1. General
Parameter tables for spindle motor αiI series driven by βiSVSPx-18 and model codes for spindle
motor βiI series are added.
2. Parameter tables for spindle motor αiI series driven by βiSVSPx-18(addition)
Motor model αi I 0.5/10000 αi I 1/10000 αi I 1.5/10000 αi I 2/10000 αi I 3/10000 αi I 1/15000
Applicable amplifier β i SVSPx-18 β i SVSPx-18 βi SVSPx-18 βi SVSPx-18 β i SVSPx-18 βi SVSPx-18
Model code (301) (302) (304) (306) (308) (303)
Applicable software
9D80/A 9D80/A 9D80/A 9D80/A 9D80/A 9D8A/B
series and edition
Low-speed winding
- - - - - -
characteristics
High-speed winding 0.55/1.1kW 1.5/2.2kW 1.1/3.7kW 2.2/3.7kW 3.7/5.5kW 1.5/2.2kW
characteristics -1 -1 -1 -1 -1
3000/10000min 3000/10000min 1500/10000min 1500/10000min 1500/10000min 3000/15000min
-1
FS0i -D
FS0i Mate-D
4007 00000000 00000000 00000000 00000000 00000000 00000000
4008 00000000 00000000 00000000 00000000 00000000 00000000
4009 00000000 00000000 00000000 00000000 00000000 00000000
4010 00000000 00000000 00000000 00000000 00000000 00000001
4011 00011000 00011001 00011001 00011001 00011001 00011001
4012 10000010 10000010 10000010 10000010 10000010 10000010
4013 00001100 00001100 00001100 00001100 00001100 00001100
4019 00000100 00000100 00000100 00000100 00000100 00000100
4020 10000 10000 10000 10000 10000 15000
4023
4039 0 0 0 0 0 0
4040
4041
4048
4049
83 85 77 60 85
4080 90
80(*1) 65(*1) 70(*1) 65(*1) 80(*1)
4083 30 30 30 30 30 30
4093 0 0 0 0 0 0
4100 3400 3100 1650 1550 1600 3100
4101 100 100 100 100 100 93
4102 6500 3557 2767 2567 1967 8015
46 87 60 68 75 70
4103
0(*1) 0(*1) 0(*1) 0(*1) 0(*1) 0(*1)
4104 3000 6000 6000 6000 7000 2000
4105 0 0 0 0 0 0
4106 7500 6000 6000 6000 7000 7000
4107 0 0 0 0 0 0
4108 0 0 0 0 0 0
4109 25 25 25 25 25 25
4110 6283 (*6) 2760 (*6) 2250 (*6) 1895 (*6) 1900 (*6) 1370 (*6)
4111 260 102 217 175 200 102
4112 200 200 200 200 19400 200
4113 2077 2100 1635 1192 1077 1870
4114 23040 17920 0 0 0 0
4115 100 100 100 100 100 100
4116 13760 10018 9598 9300 7950 9669
4117 90 90 90 90 28250 90
4118 100 100 100 100 110 100
4119 5 5 5 8 5 5
4120 0 0 0 0 0 0
4124 0 0 0 0 0 0
4127 240 176 404 202 178 176
4128 120 0 115 90 0 80
4129 0 0 0 0 0 0
4130 25700 25700 25700 25700 25700 25700
4134 110 110 110 110 110 110
4136 0 0 0 0 0 0
4138 0 0 0 0 0 0
4139 0 0 0 0 0 0
4140 0 0 0 0 0 0
4141 0 0 0 0 0 0
4142 0 0 0 0 0 0
4143 0 0 0 0 0 0
4144 0 0 0 0 0 0
4145 0 0 0 0 0 0
4146 0 0 0 0 0 0
4147 0 0 0 0 0 0
4148 0 0 0 0 0 0
4149 0 0 0 0 0 0
4150 0 0 0 0 0 0
4151 0 0 0 0 0 0
4152 0 0 0 0 0 0
4153 0 0 0 0 0 0
4154 0 0 0 0 0 0
4155 0 0 0 0 0 0
4156 0 0 0 0 0 0
4158 0 0 0 0 0 0
4159 0 0 0 0 0 0
4161 0 0 0 0 0 0
4165 0 0 0 0 0 0
4166 0 0 0 0 0 0
4169 0 0 0 0 0 0
4400
Maximum output during acceleration 1.32kW 2.64kW 4.44kW 4.44kW 6.6kW 5.6kW
(for PS selection) 2.60kW(*1) 2.87kW(*1) 6.7kW(*1) 6.4kW(*1) 7.9kW(*1) 7.0kW(*1)
(*1) This setting makes the maximum output during acceleration greater and the acceleration time reduced.
(*6) Change parameters manually according to the table after load parameters automatically with the model code.
TITLE
Addition of parameter tables and model
codes for AC SPINDLE MOTOR αi series
FS0i -D
FS0i Mate-D
4007 00000000 00000000 00000000 00000000 00000000
4008 00000000 00010000 00010000 00010000 00010000
4009 00000000 00000000 00000000 00000000 00000000
4010 00010000 00010000 00010000 00010000 00010000
4011 00011001 00001010 00001010 00001010 00001010
4012 10000000 10000000 10000000 10000000 10000000
4013 00001100 00001100 00001100 00001100 00001100
4019 00000100 00000100 00000100 00000100 00000100
4020 10000 6000 6000 6000 6000
4023
4039 0 0 0 0 0
4040
4041
4048
4049
4080 13412 18000 18000 18000 18000
4083 30 30 30 30 30
4093 0 0 0 0 0
4100 1700 800 800 800 800
4101 90 78 78 78 78
4102 2154 1059 1059 1059 1059
4103 72 0 0 0 0
4104 2500 5000 5000 5000 5000
4105 0 0 0 0 0
4106 6600 11000 11000 11000 11000
4107 0 0 0 0 0
4108 0 0 0 0 0
4109 25 25 25 25 25
4110 2872 927 1159 1738 2318
4111 318 403 403 403 403
4112 200 200 200 200 200
4113 850 780 780 780 780
4114 21760 20480 20480 20480 20480
4115 100 100 100 100 100
4116 7978 6000 6000 6000 6000
4117 90 90 90 90 90
4118 100 100 100 100 100
4119 11 12 12 12 12
4120 0 0 0 0 0
4124 0 0 0 0 0
4127 164 150 150 150 150
4128 120 0 0 0 0
4129 0 0 0 0 0
4130 25700 25700 25700 25700 25700
4134 110 110 110 110 110
4136 0 0 0 0 0
4138 0 0 0 0 0
4139 0 0 0 0 0
4140 0 0 0 0 0
4141 0 0 0 0 0
4142 0 0 0 0 0
4143 0 0 0 0 0
4144 0 0 0 0 0
4145 0 0 0 0 0
4146 0 0 0 0 0
4147 0 0 0 0 0
4148 0 0 0 0 0
4149 0 0 0 0 0
4150 0 0 0 0 0
4151 0 0 0 0 0
4152 0 0 0 0 0
4153 0 0 0 0 0
4154 0 0 0 0 0
4155 0 0 0 0 0
4156 0 0 0 0 0
4158 0 0 0 0 0
4159 0 0 0 0 0
4161 0 0 0 0 0
4165 0 0 0 0 0
4166 0 0 0 0 0
4169 0 0 0 0 0
4400
Maximum output during acceleration 6.1kW 8.3kW 8.3kW 8.3kW 8.3kW
(for PS selection)
TITLE
Addition of parameter tables and model
codes for AC SPINDLE MOTOR αi series
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
TITLE
The alarms about incorrect setting
of spindle parameters
(SP9034, SP9068)
DRAW. No. CUST.
1
01 12.10.12 Tajima Newly designed B-65280EN/08-27
SHEET
Ed. Date Design. FANUC CORPORATION 1/3
The alarms about incorrect setting of spindle parameters (SP9034, SP9068)
1. Outline
There are plural causes in the alarms about incorrect setting of spindle alarm (SP9034, SP9068).
We inform the method to identify the cause of the alarms as follows
The parameter number which causes of Illegal parameter alarm (SP9034) can be known in the
diagnosis screen. Please confirm the parameter setting range of it, and change it to the appropriate
value.
Diagnosis No.
Description
FS30i /FS0i-D
720 Parameter internal data No.
NOTE) Parameter internal data No. is not the number displayed on CNC. Please check appendix A :
SPINDLE PARMETER TABLE.
Illegal spindle parameter alarm (SP9068) occurs with the spindle state errors at the same time.
The cause of alarm. The diagnosis screen checked the spindle state error No..
Diagnosis No.
Description
FS30i /FS0i-D
710 State error No.
State
Description Cause and countermeasure
error No.
The following functions can’t be used at applying
Increment system IS-D (No.4005#1,0=1,0).
z Spindle orientation
z Servo mode control (for example, Rigid tapping)
z Spindle synchronous control
z Learning control
z Spindle tandem control
z Synchronous built-in spindle motor control or
Increment system IS-D: Function spindle non-HRV control (not No.4012#7,6=1,0)
52
setting error z Spindle amplifier communication (not
No.4352#7,6=0,0)
z Spindle backlash acceleration function
(No.4402#0=1)
z Cs contouring control by customer’s board
SP9068 will occur when Increment system IS-D is
used with above functions.
Please check parameter settings and ladder
program.
TITLE
The alarms about incorrect setting
of spindle parameters
(SP9034, SP9068)
DRAW. No. CUST.
1
01 12.10.12 Tajima Newly designed B-65280EN/08-27
SHEET
Ed. Date Design. FANUC CORPORATION 2/3
State
Description Cause and countermeasure
error No.
Following two functions using the FSSB
communication can’t be used together. SP9068 will
FSSB communication: Function occur when the settings for two functions are done.
54
setting error z FSSB high-speed rigid tapping (No.4549#1=1).
z EGB function (FSSB type) (No.4549#2=1).
Please check parameter settings.
When reference position return in servo mode is
executed with using optimum orientation, it is
Reference position return in
necessary to set a value except 0 in reference
57 servo mode with optimum
position return speed (No.4074). SP9068 will occur if
orientation: Setting error
the setting value of No.4074 is 0.
Please check the parameter setting.
There is the safety speed monitoring function using
spindle speed in the Dual check safety. With the
following spindle sensor conditions, this function is
not usable.
Dual check safety: Setting error
58 z No spindle sensor (No.4002#3,2,1,0=0,0,0,0)
of spindle speed check
z Using αi position coder
(No.4002#3,2,1,0=0,0,1,0)
Please use suitable spindle sensor or please check
parameter settings.
When least setting unit 1/32768rev for the stop
position of Spindle orientation (No.4542#0=1) is
used, SP9068 will occur in the following state.
z CNC software does not support least setting unit
1/32768rev.
Least setting unit 1/32768rev for
Please check series and edition of CNC
59 the stop position of Spindle
software.
orientation Setting error
z Spindle orientation during spindle
synchronization control is enable
(No.4014#6=1).
It cannot be used it together with this function.
Please check parameter settings.
TITLE
The alarms about incorrect setting
of spindle parameters
(SP9034, SP9068)
DRAW. No. CUST.
1
01 12.10.12 Tajima Newly designed B-65280EN/08-27
SHEET
Ed. Date Design. FANUC CORPORATION 3/3
Output power limitation in spindle motor
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
TITLE
1. Outline
It is possible to limit output power in spindle motor depending on the demand of customers. But
only one common setting can be used even if you use the motor with speed range switching control
as the output power limitation parameter.
So we added output power limitation parameter for Low-speed winding. Therefore output power
limitation can be set for High-speed winding and Low-speed winding separately.
3. Parameter
NOTE
“[H]” and ”[L]” suffix of parameter number show the upper byte and lower byte of parameter No.
xxxx. (See below figure)。
Upper byte Lower byte
16bits data
Example:
Assume that
No.4028[L] : Output power limitation pattern(MAIN/High-speed) =3
No.4028[H] : Output power limitation pattern(MAIN/Low-speed) =5
The setting value of parameter No. 4028 becomes as follows:
×
No.4028 = 5 256+3 = 1283
TITLE
There are nine patterns depending on the combination of output curve form and applicable range. For the pattern
selection, the following parameters are used.
30i, 0i
4028(L) Output power limitation pattern (MAIN/High-speed, MAIN/Low-speed)
Unit of data : -
Valid data range : 0 to 9 (No.4028(L),No.4202(L)) ,(0~9) × 256 (No.4028(H), No.4202(H))
Standard setting value : 0
When Low-speed parameter is set as No.4028(H)/No.4202(H)=0,
No.4028(L)/No.4202(L) are used both for High-speed winding and Low-speed
winding.
Pm Catalog value
0 Speed
0 Nb Nm
TITLE
0 Speed
0 Nb Nm
Pm Catalog value
Limit value
0 Speed
0 Nb Nout Nm
100
Nout = × Nb
Setting in parameter No.4029
Unit of data : 1%
Valid data range : 0 to 100
Standard setting value : 100(No.4029, No.4203),0(No.4626, No.4732)
When Low-speed parameter is set as No.4026/No.4732=0, No.4029/No.4203
are used both for High-speed winding and Low-speed winding.
A desired limitation value should be set in this parameter, and 100% means the
maximum output.
These parameters become valid when something value except 0 are set.
TITLE
Output power limitation Output power limitation Output power limitation Output power limitation
pattern pattern value value
(High-speed winding) (Low-speed winding) (High-speed winding) (Low-speed winding)
No.4028(L)【MAIN】 No.4028(H)【MAIN】 No.4029【MAIN】 No.4626【MAIN】
No.4202(L)【SUB】 No.4202(H)【SUB】 No.4203【SUB】 No.4732【SUB】
Arbitrary pattern 0 Arbitrary value 100
Output power limitation Output power limitation Output power limitation Output power limitation
pattern pattern value value
(High-speed winding) (Low-speed winding) (High-speed winding) (Low-speed winding)
No.4028(L)【MAIN】 No.4028(H)【MAIN】 No.4029【MAIN】 No.4626【MAIN】
No.4202(L)【SUB】 No.4202(H)【SUB】 No.4203【SUB】 No.4732【SUB】
0 Arbitrary pattern 100 Arbitrary value
TITLE
2. Summary of Change
New, Add Applicable
Group Name / Outline
Correct, Del Date
Basic Function
Optional
Function
Unit
Maintenance
Parts
Notice
Correction
Another
Revision of spindle software 9D90/P(16), 9DA0/S(19) Add 2012.10
TITLE
Revision of αi series Spindle software
(9D90/P(16),9DA0/S(19)
Software
Spindle amplifier specification Notes
edition
30i/31i/32i-A,
9D90 A06B-6144-Hxxx#H590 16i/18i/21i-B,
αiSP
edition P(16) A06B-6154-Hxxx#H590 0i-B/C, 0i-D,15i-MB,PMi-D
Induction/ synchronous spindle motor
3. Contents of modification
TITLE
Revision of αi series Spindle software
(9D90/P(16),9DA0/S(19)