FANUC SERVO MOTOR @ series

MAINTENANCE MANUAL
B-65165E/02
No part of this manual may be reproduced in any form.
All specifications and designs are subject to change without
notice.
In this manual we have tried as much as possible to describe all
the various matters.
However, we cannot describe all the matters which must not be
done, or which cannot be done, because there are so many
possibilities.
Therefore, matters which are not especially described as possible
in this manual should be regarded as impossible
B-65165E/02 SAFETY PRECAUTIONS
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SAFETY PRECAUTIONS
This "Safety Precautions" section describes the precautions which
must be observed to ensure safety when using FANUC servo motors
(including spindle motors) and servo amplifiers (including spindle
amplifiers). Users of any servo motor or amplifier model are requested
to read the "Safety Precautions" carefully before using the servo motor
or amplifier.
The users are also requested to read an applicable specification manual
carefully and understand each function of the motor or amplifier for
correct use.
The users are basically forbidden to do any behavior or action not
mentioned in the "Safety Precautions." They are invited to ask FANUC
previously about what behavior or action is prohibited.
Contents
1 DEFINITION OF WARNING, CAUTION, AND NOTE---- s-2
2 FANUC SERVO MOTOR series ---------------------------------- s-3
2.1 WARNING-------------------------------------------------------- s-4
2.2 CAUTION--------------------------------------------------------- s-7
2.3 NOTE--------------------------------------------------------------- s-8
3 FANUC SERVO AMPLIFIER series----------------------------- s-11
3.1 WARNINGS AND CAUTIONS RELATING
TO MOUNTING------------------------------------------------- s-12
3.1.1 WARNING------------------------------------------------ s-12
3.1.2 CAUTION------------------------------------------------- s-14
3.1.3 NOTE------------------------------------------------------- s-16
3.2 WARNINGS AND CAUTIONS RELATING TO
A PILOT RUN---------------------------------------------------- s-17
3.2.1 WARNING------------------------------------------------ s-17
3.2.2 CAUTION------------------------------------------------- s-18
3.3 WARNINGS AND CAUTIONS RELATING
TO MAINTENANCE------------------------------------------- s-19
3.3.1 WARNING------------------------------------------------ s-19
3.3.2 CAUTION------------------------------------------------- s-21
3.3.3 NOTE------------------------------------------------------- s-22
1. DEFINITION OF WARNING,
CAUTION, AND NOTE SAFETY PRECAUTIONS B-65165E/02
s - 2
1 DEFINITION OF WARNING, CAUTION, AND NOTE
This manual includes safety precautions for protecting the user and
preventing damage to the machine. Precautions are classified into
Warning and Caution according to their bearing on safety. Also,
supplementary information is described as a Note. Read the Warning,
Caution, and Note thoroughly before attempting to use the machine.
WARNING
Applied when there is a danger of the user being
injured or when there is a damage of both the user
being injured and the equipment being damaged if
the approved procedure is not observed.
CAUTION
Applied when there is a danger of the equipment
being damaged, if the approved procedure is not
observed.
NOTE
The Note is used to indicate supplementary
information other than Warning and Caution.
* Read this manual carefully, and store it in a safe place.
B-65165E/02 SAFETY PRECAUTIONS 2.FANUC SERVO MOTOR series
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2 FANUC SERVO MOTOR series
2.FANUC SERVO MOTOR series SAFETY PRECAUTIONS B-65165E/02
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2.1 WARNING
- Be safely dressed when handling a motor.
Wear safety shoes or gloves when handling a motor as you may
get hurt on any edge or protrusion on it or electric shocks.
- Use a crane or lift to move a motor from one place to another.
Motors are heavy. When moving them, use a crane or lift as
required. (For the weight of motors, refer to their respective
specification manuals.)
When moving a motor using a crane or lift, use a hanging bolt if
the motor has a corresponding tapped hole, or textile rope if it has
no tapped hole.
If a motor is attached with a machine or any other heavy stuff, do
not use a hanging bolt to move the motor as the hanging bolt
and/or motor may get broken.
When moving a motor, be careful not to apply excessive force to
its windings as the windings may break and/or their insulation
may deteriorate.
- Do not touch a motor with a wet hand.
A failure to observe this caution is vary dangerous because you
may get electric shocks.
- Before starting to connect a motor to electric wires, make
sure they are isolated from an electric power source.
A failure to observe this caution is vary dangerous because you
may get electric shocks.
- Do not bring any dangerous stuff near a motor.
Motors are connected to a power line, and may get hot. If a
flammable is placed near a motor, it may be ignited, catch fire, or
explode.
- Be sure to ground a motor frame.
To avoid electric shocks, be sure to connect the grounding
terminal in the terminal box to the grounding terminal of the
machine.
- Do not ground a motor power wire terminal or short-circuit it
to another power wire terminal.
A failure to observe this caution may cause electric shocks or a
burned wiring.
(*) Some motors require a special connection such as a winding
changeover. Refer to their respective motor specification
manuals for details.
B-65165E/02 SAFETY PRECAUTIONS 2.FANUC SERVO MOTOR series
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- Connect power wires securely so that they will not get loose.
A failure to observe this caution may cause a wire to be
disconnected, resulting in a ground fault, short circuit, or electric
shock.
- Do not supply the power to the motor while any terminal is
exposed.
A failure to observe this caution is very dangerous because you
may get electric shocks if your body or any conductive stuff
touches an exposed terminal.
- Do not get close to a rotary section of a motor when it is
rotating.
A rotating part may catch your cloths or fingers. Before starting a
motor, ensure that there is no stuff that can fly away (such as a
key) on the motor.
- Before touching a motor, shut off the power to it.
Even if a motor is not rotating, there may be a voltage across the
terminals of the motor.
Especially before touching a power supply connection, take
sufficient precautions.
Otherwise you may get electric shocks.
- Do not touch any terminal of a motor for a while (at least 5
minutes) after the power to the motor is shut off.
High voltage remains across power line terminals of a motor for a
while after the power to the motor is shut off. So, do not touch any
terminal or connect it to any other equipment. Otherwise, you
may get electric shocks or the motor and/or equipment may get
damaged.
- To drive a motor, use a specified amplifier and parameters.
An incorrect combination of a motor, amplifier, and parameters
may cause the motor to behave unexpectedly. This is dangerous,
and the motor may get damaged.
- Do not touch a motor when it is running or immediately after
it stops.
A motor may get hot when it is running. Do not touch the motor
before it gets cool enough. Otherwise, you may get burned.
- Ensure that motors and related components are mounted
securely.
If a motor or its component slips out of place or comes off when
the motor is running, it is very dangerous.
2.FANUC SERVO MOTOR series SAFETY PRECAUTIONS B-65165E/02
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- Be careful not get your hair or cloths caught in a fan.
Be careful especially for a fan used to generate an inward air flow.
Be careful also for a fan even when the motor is stopped, because
it continues to rotate while the amplifier is turned on.
B-65165E/02 SAFETY PRECAUTIONS 2.FANUC SERVO MOTOR series
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2.2 CAUTION
- FANUC motors are designed for use with machines. Do not
use them for any other purpose.
If a FANUC motor is used for an unintended purpose, it may
cause an unexpected symptom or trouble. If you want to use a
motor for an unintended purpose, previously consult with
FANUC.
- Ensure that a base or frame on which a motor is mounted is
strong enough.
Motors are heavy. If a base or frame on which a motor is mounted
is not strong enough, it is impossible to achieve the required
precision.
- Be sure to connect motor cables correctly.
An incorrect connection of a cable cause abnormal heat
generation, equipment malfunction, or failure. Always use a
cable with an appropriate current carrying capacity (or thickness).
For how to connect cables to motors, refer to their respective
specification manuals.
- Ensure that motors are cooled if they are those that require
forcible cooling.
If a motor that requires forcible cooling is not cooled normally, it
may cause a failure or trouble. For a fan-cooled motor, ensure that
it is not clogged or blocked with dust and dirt. For a liquid-cooled
motor, ensure that the amount of the liquid is appropriate and that
the liquid piping is not clogged.
For both types, perform regular cleaning and inspection.
- When attaching a component having inertia, such as a pulley,
to a motor, ensure that any imbalance between the motor and
component is minimized.
If there is a large imbalance, the motor may vibrates abnormally,
resulting in the motor being broken.
- Be sure to attach a key to a motor with a keyed shaft.
If a motor with a keyed shaft runs with no key attached, it may
impair torque transmission or cause imbalance, resulting in the
motor being broken.
2.FANUC SERVO MOTOR series SAFETY PRECAUTIONS B-65165E/02
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2.3 NOTE
- Do not step or sit on a motor.
If you step or sit on a motor, it may get deformed or broken. Do
not put a motor on another unless they are in packages.
- When storing a motor, put it in a dry (non-condensing) place
at room temperature (0 to 40 5C).
If a motor is stored in a humid or hot place, its components may
get damaged or deteriorated. In addition, keep a motor in such a
position that its shaft is held horizontal and its terminal box is at
the top.
- Do not remove a nameplate from a motor.
If a nameplate comes off, be careful not to lose it. If the nameplate
is lost, the motor becomes unidentifiable, resulting in
maintenance becoming impossible.
For a nameplate for a built-in spindle motor, keep the nameplate
with the spindle.
- Do not apply shocks to a motor or cause scratches to it.
If a motor is subjected to shocks or is scratched, its components
may be adversely affected, resulting in normal operation being
impaired. Be very careful when handling plastic portions, sensors,
and windings, because they are very liable to break. Especially,
avoid lifting a motor by pulling its plastic portion, winding, or
power cable.
- Do not conduct dielectric strength or insulation test for a
detector.
Such a test can damage elements in the detector.
- When testing the winding or insulation resistance of a motor,
satisfy the conditions stipulated in IEC34.
Testing a motor under a condition severer than those specified in
IEC34 may damage the motor.
- Do not disassemble a motor.
Disassembling a motor may cause a failure or trouble in it.
If disassembly is in need because of maintenance or repair, please
contact a service representative of FANUC.
- Do not modify a motor.
Do not modify a motor unless directed by FANUC. Modifying a
motor may cause a failure or trouble in it.
B-65165E/02 SAFETY PRECAUTIONS 2.FANUC SERVO MOTOR series
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- Use a motor under an appropriate environmental condition.
Using a motor in an adverse environment may cause a failure or
trouble in it.
Refer to their respective specification manuals for details of the
operating and environmental conditions for motors.
- Do not apply a commercial power source voltage directly to a
motor.
Applying a commercial power source voltage directly to a motor
may result in its windings being burned. Be sure to use a specified
amplifier for supplying voltage to the motor.
- For a motor with a terminal box, make a conduit hole for the
terminal box in a specified position.
When making a conduit hole, be careful not to break or damage
unspecified portions.
Refer to an applicable specification manual.
- Before using a motor, measure its winding and insulation
resistances, and make sure they are normal.
Especially for a motor that has been stored for a prolonged period
of time, conduct these checks. A motor may deteriorate
depending on the condition under which it is stored or the time
during which it is stored. For the winding resistances of motors,
refer to their respective specification manuals, or ask FANUC.
For insulation resistances, see the following table.
- To use a motor as long as possible, perform periodic
maintenance and inspection for it, and check its winding and
insulation resistances.
Note that extremely severe inspections (such as dielectric strength
tests) of a motor may damage its windings. For the winding
resistances of motors, refer to their respective specification
manuals, or ask FANUC. For insulation resistances, see the
following table.
2.FANUC SERVO MOTOR series SAFETY PRECAUTIONS B-65165E/02
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MOTOR INSULATION RESISTANCE MEASUREMENT
Measure an insulation resistance between each winding and
motor frame using an insulation resistance meter (500 VDC).
Judge the measurements according to the following table.
Insulation
resistance
Judgment
100M or
higher
Acceptable
10 to 100 M The winding has begun deteriorating. There is no
problem with the performance at present. Be sure to
perform periodic inspection.
1 to 10 M The winding has considerably deteriorated. Special
care is in need. Be sure to perform periodic
inspection.
Lower than 1
M
Unacceptable. Replace the motor.
3. FANUC SERVO AMPLIFIER
B-65165E/02 SAFETY PRECAUTIONS series
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3 FANUC SERVO AMPLIFIER series
3. FANUC SERVO AMPLIFIER
series SAFETY PRECAUTIONS B-65165E/02
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3.1 WARNINGS AND CAUTIONS RELATING TO MOUNTING
3.1.1 WARNING
- Check the specification code of the amplifier.
Check that the delivered amplifier is as originally ordered.
- Mount a ground fault interrupter.
To guard against fire and electric shock, fit the factory power
supply or machine with a ground fault interrupter (designed for
use with an inverter).
- Securely ground the amplifier.
Securely connect the ground terminal and metal frame of the
amplifier and motor to a common ground plate of the power
magnetics cabinet.
- Be aware of the weight of the amplifier and other
components.
Control motor amplifiers and AC reactors are heavy. When
transporting them or mounting them in the cabinet, therefore, be
careful not to injured yourself or damage the equipment. Be
particularly carefull not to jam your fingers between the cabinet
and amplifier.
- Never ground or short-circuit either the power supply lines or
power lines.
Protect the lines from any stress such as bending. Handle the ends
appropriately.
- Ensure that the power supply lines, power lines, and signal
lines are securely connected.
A loose screw, loose connection, or the like will cause a motor
malfunction or overheating, or a ground fault.
- Insulate all exposed parts that are charged.
- Never touch the regenerative discharge resistor or radiator
directly.
The surface of the radiator and regenerative discharge unit
become extremely hot. Never touch them directly. An
appropriate structure should also be considered.
- Close the amplifier cover after completing the wiring.
Leaving the cover open presents a danger of electric shock.
- Do not disassemble the amplifier.
3. FANUC SERVO AMPLIFIER
B-65165E/02 SAFETY PRECAUTIONS series
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- Ensure that the cables used for the power supply lines and
power lines are of the appropriate diameter and temperature
ratings.
- Do not apply an excessively large force to plastic parts.
If a plastic section breaks, it may cause internal damage, thus
interfering with normal operation. The edge of a broken section is
likely to be sharp and, therefore, presents a risk of injury.
3. FANUC SERVO AMPLIFIER
series SAFETY PRECAUTIONS B-65165E/02
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3.1.2 CAUTION
- Do not step or sit on the amplifier.
Also, do not stack unpacked amplifiers on top of each other.
- Use the amplifier in an appropriate environment.
See the allowable ambient temperatures and other requirements,
given in the corresponding descriptions.
- Protect the amplifier from corrosive or conductive mist or
drops of water.
Use a filter if necessary.
- Protect the amplifier from impact.
Do not place anything on the amplifier.
- Do not block the air inlet to the radiator.
A deposit of coolant, oil mist, or chips on the air inlet will result in
a reduction in the cooling efficiency. In some cases, the required
efficiency cannot be achieved. The deposit may also lead to a
reduction in the useful life of the semiconductors. Especially,
when outside air is drawn in, mount filters on both the air inlet and
outlet. These filters must be replaced regularly.
So, an easy-to-replace type of filter should be used.
- Before connecting the power supply wiring, check the supply
voltage.
Check that the supply voltage is within the range specified in this
manual, then connect the power supply lines.
- Ensure that the combination of motor and amplifier is
appropriate.
- Ensure that valid parameters are specified.
Specifying an invalid parameter for the combination of motor and
amplifier may not only prevent normal operation of the motor but
also result in damage to the amplifier.
- Ensure that the amplifier and peripheral equipment are
securely connected.
Check that the magnetic contactor, circuit breaker, and other
devices mounted outside the amplifier are securely connected to
each other and that those devices are securely connected to the
amplifier.
- Check that the amplifier is securely mounted in the power
magnetics cabinet.
If any clearance is left between the power magnetics cabinet and
the surface on which the amplifier is mounted, dust entering the
gap may build up and prevent the normal operation of the
amplifier.
3. FANUC SERVO AMPLIFIER
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- Apply appropriate countermeasures against noise.
Adequate countermeasures against noise are required to maintain
normal operation of the amplifier. For example, signal lines must
be routed away from power supply lines and power lines.
3. FANUC SERVO AMPLIFIER
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3.1.3 NOTE
- Keep the nameplate clearly visible.
- Keep the legend on the nameplate clearly visible.
- After unpacking the amplifier, carefully check for any
damage.
- Mount the amplifier in a location where it can be easily
accessed periodic inspection and daily maintenance.
- Leave sufficient space around the machine to enable
maintenance to be performed easily.
Do not place any heavy objects such that they would interfere
with the opening of the doors.
- Keep the parameter table and spare parts at hand.
Also, keep the specifications at hand. These items must be stored
in a location where they can be retrieved immediately.
- Provide adequate shielding.
A cable to be shielded must be securely connected to the ground
plate, using a cable clamp or the like.
3. FANUC SERVO AMPLIFIER
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3.2 WARNINGS AND CAUTIONS RELATING TO A PILOT RUN
3.2.1 WARNING
- Before turning on the power, check that the cables connected
to the power magnetics cabinet and amplifier, as well as the
power lines and power supply lines, are securely connected.
Also, check that no lines are slack.
- Before turning on the power, ensure that the power magnetics
cabinet is securely grounded.
- Before turning on the power, check that the door of the power
magnetics cabinet and all other doors are closed.
Ensure that the door of the power magnetics cabinet containing
the amplifier, and all other doors, are securely closed. During
operation, all doors must be closed and locked.
- Apply extreme caution if the door of the power magnetics
cabinet or another door must be opened.
Only a person trained in the maintenance of the corresponding
machine or equipment should open the door, and only after
shutting off the power supply to the power magnetics cabinet (by
opening both the input circuit breaker of the power magnetics
cabinet and the factory switch used to supply power to the
cabinet). If the machine must be operated with the door open to
enable adjustment or for some other purpose, the operator must
keep his or her hands and tools well away from any dangerous
voltages. Such work must be done only by a person trained in the
maintenance of the machine or equipment.
- When operating the machine for the first time, check that the
machine operates as instructed.
To check whether the machine operates as instructed, first specify
a small value for the motor, then increase the value gradually. If
the motor operates abnormally, perform an emergency stop
immediately.
- After turning on the power, check the operation of the
emergency stop circuit.
Press the emergency stop button to check that the motor stops
immediately, and that the power being supplied to the amplifier is
shut off by the magnetic contactor.
- Before opening a door or protective cover of a machine to
enable adjustment of the machine, first place the machine in
the emergency stop state and check that the motor has
stopped.
3. FANUC SERVO AMPLIFIER
series SAFETY PRECAUTIONS B-65165E/02
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3.2.2 CAUTION
- Note whether an alarm status relative to the amplifier is
displayed at power-up or during operation.
If an alarm is displayed, take appropriate action as explained in
the maintenance manual. If the work to be done requires that the
door of the power magnetics cabinet be left open, the work must
be carried out by a person trained in the maintenance of the
machine or equipment. Note that if some alarms are forcibly reset
to enable operation to continue, the amplifier may be damaged.
Take appropriate action according to the contents of the alarm.
- Before operating the motor for the first time, mount and
adjust the position and speed detectors.
Following the instructions given in the maintenance manual,
adjust the position and speed detectors for the spindle so that an
appropriate waveform is obtained.
If the detectors are not properly adjusted, the motor may not rotate
normally or the spindle may fail to stop as desired.
- If the motor makes any abnormal noise or vibration while
operating, stop it immediately.
Note that if operation is continued in spite of there being some
abnormal noise or vibration, the amplifier may be damaged. Take
appropriate corrective action, then resume operation.
- Observe the ambient temperature and output rating
requirements.
The continuous output rating or continuous operation period of
some amplifiers may fall as the ambient temperature increases. If
the amplifier is used continuously with an excessive load applied,
the amplifier may be damaged.
3. FANUC SERVO AMPLIFIER
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3.3 WARNINGS AND CAUTIONS RELATING TO MAINTENANCE
3.3.1 WARNING
- Read the maintenance manual carefully and ensure that you
are totally familiar with its contents.
The maintenance manual describes daily maintenance and the
procedures to be followed in the event of an alarm being issued.
The operator must be familiar with these descriptions.
- Notes on replacing a fuse or PC board
1) Before starting the replacement work, ensure that the circuit
breaker protecting the power magnetics cabinet is open.
2) Check that the red LED that indicates that charging is in
progress is not lit.
The position of the charging LED on each model of amplifier
is given in this manual. While the LED is lit, hazardous
voltages are present inside the unit, and thus there is a danger
of electric shock.
3) Some PC board components become extremely hot. Be
careful not to touch these components.
4) Ensure that a fuse having an appropriate rating is used.
5) Check the specification code of a PC board to be replaced. If
a modification drawing number is indicated, contact FANUC
before replacing the PC board.
Also, before and after replacing a PC board, check its pin
settings.
6) After replacing the fuse, ensure that the screws are firmly
tightened. For a socket-type fuse, ensure that the fuse is
inserted correctly.
7) After replacing the PC board, ensure that it is securely
connected.
8) Ensure that all power lines, power supply lines, and
connectors are securely connected.
- Take care not to lose any screws.
When removing the case or PC board, take care not to lose any
screws. If a screw is lost inside the nit and the power is turned on,
the machine may be damaged.
3. FANUC SERVO AMPLIFIER
series SAFETY PRECAUTIONS B-65165E/02
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- Notes on replacing the battery of the absolute pulse coder
Replace the battery only while the power is on. If the battery is
replaced while the power is turned off, the stored absolute
positioning data will be lost. Some series servo amplifier
modules have batteries in their servo amplifiers. To replace the
battery of any of those models, observe the following procedure:
Open the door of the power magnetics cabinet; Leave the control
power of the power supply module on; Place the machine in the
emergency stop state so that the power being input to the amplifier
is shut off; Then, replace the battery. Replacement work should
be done only by a person who is trained in the related maintenance
and safety requirements. The power magnetics cabinet in which
the servo amplifier is mounted has a high-voltage section. This
section presents a severe risk of electric shock.
- Check the number of any alarm.
If the machine stops upon an alarm being issued, check the alarm
number. Some alarms indicate that a component must be replaced.
If the power is reconnected without first replacing the failed
component, another component may be damaged, making it
difficult to locate the original cause of the alarm.
- Before resetting an alarm, ensure that the original cause of
the alarm has been removed.
- Contact FANUC whenever a question relating to
maintenance arises.
- Notes on removing the amplifier
Before removing the amplifier, first ensure that the power is shut
off. Be careful not to jam your fingers between the power
magnetics cabinet and amplifier.
3. FANUC SERVO AMPLIFIER
B-65165E/02 SAFETY PRECAUTIONS series
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3.3.2 CAUTION
- Ensure that all required components are mounted.
When replacing a component or PC board, check that all
components, including the snubber capacitor, are correctly
mounted. If the snubber capacitor is not mounted, for example,
the IPM will be damaged.
- Tighten all screws firmly.
- Check the specification code of the fuse, PC board, and other
components.
When replacing a fuse or PC board, first check the specification
code of the fuse or PC board, then mount it in the correct position.
The machine will not operate normally if a fuse or PC board
having other than the correct specification code is mounted, or if
a fuse or PC board is mounted in the wrong position.
- Mount the correct cover.
The cover on the front of the amplifier carries a label indicating a
specification code. When mounting a previously removed front
cover, take care to mount it on the unit from which it was
removed.
- Notes on cleaning the heat sink and fan
1) A dirty heat sink or fan results in reduced semiconductor
cooling efficiency, which degrades reliability. Periodic
cleaning is necessary.
2) Using compressed air for cleaning scatters the dust. A
deposit of conductive dust on the amplifier or peripheral
equipment will result in a failure.
3) To clean the heat sink, do so only after turning the power off
and ensuring that the heat sink has cooled to room
temperature. The heat sink becomes extremely hot, such that
touching it during operation or immediately after power-off
is likely to cause a burn. Be extremely careful when
touching the heat sink.
3. FANUC SERVO AMPLIFIER
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3.3.3 NOTE
- Ensure that the battery connector is correctly inserted.
If the power is shut off while the battery connector is not
connected correctly, the absolute position data for the machine
will be lost.
- Store the manuals in a safe place.
The manuals should be stored in a location where they can be
accessed immediately it so required during maintenance work.
- Notes on contacting FANUC
Inform FANUC of the details of an alarm and the specification
code of the amplifier so that any components required for
maintenance can be quickly secured, and any other necessary
action can be taken without delay.
B-65165E/02 PREFACE
p - 1
PREFACE
Organization of Parts I and II
This manual describes information necessary to maintain FANUC
servo amplifier series products, such as a power supply module,
servo amplifier module, and spindle amplifier module.
Part I explains the start-up procedure, and part II focuses on
troubleshooting.
The abbreviations listed below are used in this manual.
Product name Abbreviations
FANUC Series 0-TC FS0-TC
FANUC Series 0-MC FS0-MC
FANUC Series 15i, 15 FS15i, FS15
FANUC Series 16i, 16 FS16i, FS16
FANUC Series 18i, 18 FS18i, FS18
FANUC Series 20 FS20
FANUC Series 21i, 21 FS21i, FS21
FANUC Power Mate-MODEL E PM-E
FANUC Power Mate-MODEL D PM-D
FANUC Power Mate-MODEL F PM-F
Power Supply Module PSM
Servo Amplifier Module SVM
Spindle Amplifier Module SPM
* In this manual, the parameter numbers of servo parameters are
sometimes indicated without CNC product names as follows:
Series 16i, 18i, 21i,
16, 18, 20, 21 Power Mate MODEL D, F
1877 8x62 Overload protection coefficient (OVC1)
2062 1062
Series 0C Servo parameter function name or bit
Power Mate MODEL E
Series 15i, 15
* The manuals shown below provide information related to this
manual. This manual may refer you to these manuals.
1) FANUC SERVO AMPLIFIER series Descriptions
B-65162E
2) FANUC AC SERVO MOTOR series Parameter Manual
B-65150E
3) FANUC AC SPINDLE MOTOR series Parameter Manual
B-65160E
B-65165E/02 Table of Contents
c - 1
Table of Contents
SAFETY PRECAUTIONS.................................................................. s - 1
PREFACE ......................................................................................... p - 1
I. START-UP PROCEDURE
1 OVERVIEW...................................................................................................................3
2 CONFIGURATIONS......................................................................................................4
2.1 CONFIGURATIONS......................................................................................................................... 5
2.2 MAJOR COMPONENTS.................................................................................................................. 7
2.2.1 !owov SuIy ModuIo- .......................................................................................................................
2.2.1.1 -ovIo- owov -uIy moduIo-.............................................................................................
2.2.1.2 (HV) -ovIo- owov -uIy moduIo-.................................................................................... 9
2.2.2 Sovvo AmIIIIov ModuIo- .................................................................................................................. 10
2.2.2.1 200-V Inuf -ovIo-............................................................................................................... 10
2.2.2.2 400-V Inuf -ovIo-............................................................................................................... 13
2.2.3 SIndIo AmIIIIov ModuIo-............................................................................................................... 14
2.2.3.1 -ovIo- -IndIo nmIIIIov moduIo- .................................................................................... 14
2.2.4 !owov-nIIuvo ncku ModuIo- ....................................................................................................... 22
3 START-UP PROCEDURE ..........................................................................................23
3.1 START-UP PROCEDURE (OVERVIEW) ...................................................................................... 24
3.2 CONNECTING THE POWER........................................................................................................ 25
3.2.1 UhockIng Tho VoIfngo And UnncIfy OI Tho !owov........................................................................ 25
3.2.2 UonnocfIng A !vofocfIvo Cvound...................................................................................................... 26
3.2.3 SoIocfIng Tho Cvound nuIf !nfovvufov Thnf Mnfcho- Tho !onkngo Uuvvonf............................. 26
3.3 SETTING THE PRINTED-CIRCUIT BOARD................................................................................. 27
3.3.1 !owov SuIy ModuIo ....................................................................................................................... 2
3.3.2 Sovvo AmIIIIov ModuIo.................................................................................................................... 28
3.3.3 SIndIo AmIIIIov ModuIo................................................................................................................. 29
3.3.3.1 -ovIo- -IndIo nmIIIIov moduIo (S!M)........................................................................... 29
3.3.3.2 (HV) -ovIo- -IndIo nmIIIIov moduIo (S!M-HV) ........................................................... 30
3.3.3.3 U -ovIo- -IndIo nmIIIIov moduIo (S!MU)...................................................................... 30
3.4 INITIALIZING SERVO PARAMETERS.......................................................................................... 31
4 CONFIRMATION OF THE OPERATION....................................................................32
4.1 POWER SUPPLY MODULE.......................................................................................................... 33
4.1.1 Uhock TovmInnI On Tho !vInfod-cIvcuIf onvd ............................................................................... 34
Table of Contents B-65165E/02
c - 2
4.1.1.1 !SM, !SM-HV..................................................................................................................... 34
4.1.1.2 !SMV-HV............................................................................................................................ 35
4.1.2 UhockIng Tho !owov SuIy VoIfngo- ............................................................................................. 35
4.1.3 UhockIng Tho Sfnfu- !od-................................................................................................................ 36
4.1.3.1 !SM, !SM-HV, nnd !SMV-HV.......................................................................................... 36
4.1.3.2 !SM!................................................................................................................................... 3
4.1.4 Tho !!! ! (owov O! IndIcnfov) !- OII. ...................................................................................... 38
4.1.5 UhockIng ov Whnf !oo- Tho Mcc vom oIng SwIfchod On ...................................................... 39
4.2 SERVO AMPLIFIER MODULE ...................................................................................................... 40
4.2.1 Uhock !In onvd ............................................................................................................................... 41
4.2.2 UhockIng Tho STAT!S I-Iny ....................................................................................................... 46
4.2.3 V!Y-O AInvm !ndIcnfod on fho U!U Scvoon............................................................................ 4
4.2.4 Sovvo Uhock onvd............................................................................................................................ 48
4.3 SPINDLE AMPLIFIER MODULE ................................................................................................... 49
4.3.1 STAT!S I-Iny............................................................................................................................... 50
4.3.2 TvoubIo-hoofIng nf Sfnvfu .............................................................................................................. 51
4.3.2.1 Tho !!! ! (owov-on IndIcnfov) I- oII............................................................................ 51
4.3.2.2 Tho STAT!S dI-Iny I- bIInkIng wIfh "--." ........................................................................ 51
4.3.2.3 Tho mofov doo- nof fuvn. .................................................................................................... 52
4.3.2.4 A -ocIIIod -ood cnnnof bo obfnInod................................................................................. 52
4.3.2.5 Whon cuffIng I- nof ovIovmod, fho -IndIo vIbvnfo-, mnkIng noI-o................................ 53
4.3.2.6 An ovov-hoof ov hunfIng occuv-..........................................................................................53
4.3.2. UuffIng owov wonkon- ov nccoIovnfIon/docoIovnfIon -Iow- down.................................... 54
4.3.3 Sfnfu- vvov !ndIcnfIon uncfIon..................................................................................................... 55
4.3.4 UhockIng Tho oodbnck SIgnnI WnvoIovm...................................................................................... 58
4.3.4.1 M -on-ov .............................................................................................................................. 60
4.3.4.2 MZ nnd Z -on-ov- ............................................................................................................. 61
4.3.4.3 MZ -on-ov Iov 0.5 (A06-0866-390) (oId -ocIIIcnfIon)................................................ 62
4.3.4.4 HIgh-vo-oIufIon mngnofIc uI-o codov ............................................................................... 63
4.3.5 SIndIo Uhock onvd......................................................................................................................... 6
4.3.5.1 SIndIo chock bonvd -ocIIIcnfIon-..................................................................................... 6
4.3.5.2 Uhock bonvd connocfIon...................................................................................................... 68
4.3.5.3 Uhock fovmInnI oufuf -IgnnI-........................................................................................... 69
4.3.6 Ob-ovvIng nfn !-Ing fho SIndIo Uhock onvd ............................................................................ 1
4.3.6.1 OvovvIow.............................................................................................................................. 1
4.3.6.2 Mnjov chnvncfovI-fIc- .......................................................................................................... 1
4.3.6.3 Ob-ovvnfIon mofhod............................................................................................................ 2
4.3.6.4 SocIIyIng dnfn fo bo monIfovod......................................................................................... 3
4.3.6.5 Addvo-- do-cvIfIon- nnd InIfInI vnIuo- (S!M) ................................................................. 4
4.3.6.6 Addvo-- do-cvIfIon- nnd InIfInI vnIuo- (S!MU) ............................................................... 5
4.3.6. !vIncIIo- In oufuffIng fho InfovnnI dnfn oI fho -ovInI -IndIo....................................... 6
4.3.6.8 nfn numbov-...................................................................................................................... 80
4.3.6.9 xnmIo oI monIfovIng dnfn............................................................................................... 83
B-65165E/02 Table of Contents
c - 3
5 PERIODIC MAINTENANCE OF SERVO AMPLIFIER................................................84
5.1 BATTERY FOR THE ABSOLUTE PULSE CODER....................................................................... 85
5.1.1 !n-fnIIIng n SocInI !IfhIum nffovy In fho SVM (Mofhod 1) ........................................................ 86
5.1.2 !-Ing n nffovy Un-o (A06-6050-!060) (Mofhod 2) ..................................................................... 8
5.1.3 UonnocfIng n nffovy fo MuIfIIo SVM-.......................................................................................... 88
5.1.4 !oIncIng fho nffovy....................................................................................................................... 91
5.1.5 AffnchIng nnd ofnchIng Uonnocfov- .............................................................................................. 92
II. TROUBLESHOOTING
1 OVERVIEW.................................................................................................................97
2 ALARM NUMBERS AND BRIEF DESCRIPTIONS ....................................................98
2.1 FOR SERIES 16i, 18i, 20i, 21i, AND Power Mate i....................................................................... 99
2.2 FOR SERIES 15i ......................................................................................................................... 102
2.3 FOR SERIES 16, 18, 20, 21 ........................................................................................................ 105
2.4 FOR SERIES 15 .......................................................................................................................... 108
2.5 FOR SERIES 0-C......................................................................................................................... 112
3 TROUBLESHOOTING AND ACTION.......................................................................115
3.1 POWER SUPPLY MODULE........................................................................................................ 116
3.1.1 !owov SuIy ModuIo (!SM, !SM-HV) ......................................................................................... 116
3.1.1.1 AInvm codo 01.................................................................................................................... 116
3.1.1.2 AInvm codo 02.................................................................................................................... 11
3.1.1.3 AInvm codo 03.................................................................................................................... 11
3.1.1.4 AInvm codo 04.................................................................................................................... 118
3.1.1.5 AInvm codo 05.................................................................................................................... 118
3.1.1.6 AInvm codo 06.................................................................................................................... 118
3.1.1. AInvm codo 0.................................................................................................................... 119
3.1.2 !owov SuIy ModuIo (!SMV) ....................................................................................................... 119
3.1.2.1 AInvm codo 01.................................................................................................................... 120
3.1.2.2 AInvm codo 02.................................................................................................................... 120
3.1.2.3 AInvm codo 03.................................................................................................................... 120
3.1.2.4 AInvm codo 04.................................................................................................................... 121
3.1.2.5 AInvm codo 05.................................................................................................................... 121
3.1.2.6 AInvm codo 06.................................................................................................................... 121
3.1.2. AInvm codo 16.................................................................................................................... 121
3.1.2.8 AInvm codo 26.................................................................................................................... 122
3.1.2.9 AInvm codo 36.................................................................................................................... 122
3.1.2.10 AInvm codo 46.................................................................................................................... 122
3.1.2.11 AInvm codo 0.................................................................................................................... 122
3.1.2.12 AInvm codo 1.................................................................................................................... 123
3.1.2.13 AInvm codo 08.................................................................................................................... 123
Table of Contents B-65165E/02
c - 4
3.1.2.14 AInvm codo 18.................................................................................................................... 123
3.1.2.15 AInvm codo A0................................................................................................................... 124
3.1.2.16 AInvm codo A1................................................................................................................... 124
3.1.2.1 AInvm codo A2................................................................................................................... 124
3.1.3 !owov SuIy ModuIo (!SM!) ....................................................................................................... 125
3.1.3.1 AInvm codo 2...................................................................................................................... 125
3.1.3.2 AInvm codo 4...................................................................................................................... 125
3.1.3.3 AInvm codo 5...................................................................................................................... 126
3.1.3.4 AInvm codo 6...................................................................................................................... 126
3.1.3.5 AInvm codo ...................................................................................................................... 126
3.1.3.6 AInvm codo 8...................................................................................................................... 12
3.2 SERVO AMPLIFIER MODULE .................................................................................................... 128
3.2.1 AbnovmnI Uuvvonf AInvm- (8, 9, A, b, U, d, nnd In fho ! dI-Iny)....................................... 128
3.2.2 !!M AInvm- (8., 9., A., b., U., d., nnd In fho ! dI-Iny; nofo fho-o codo- nvo dI-Inyod
-ImuIfnnoou-Iy wIfh n ovIod.) ....................................................................................................... 130
3.2.3 UonfvoI !owov SuIy !ndovvoIfngo AInvm (2 In fho ! dI-Iny) ............................................ 131
3.2.4 U !Ink !ndovvoIfngo AInvm (5 In fho ! dI-Iny)................................................................... 131
3.2.5 nn Sfood AInvm (1 In fho ! dI-Iny) ................................................................................... 131
3.2.6 Uuvvonf Uonvov-Ion vvov AInvm................................................................................................... 131
3.3 SERVO SOFTWARE................................................................................................................... 133
3.3.1 Sovvo Adju-fmonf Scvoon ............................................................................................................... 133
3.3.2 Ingno-I- Scvoon............................................................................................................................. 135
3.3.3 OvovIond AInvm (SoIf ThovmnI, OVU)............................................................................................ 136
3.3.4 oodbnck I-connocfod AInvm....................................................................................................... 13
3.3.5 Ovovhonf AInvm............................................................................................................................... 138
3.3.6 !nvnIId Sovvo !nvnmofov SoffIng AInvm........................................................................................ 138
3.3. AInvm- !oInfod fo !uI-o Uodov nnd Sonvnfo SovInI ofocfov ..................................................... 139
3.3.8 Ofhov AInvm-................................................................................................................................... 142
3.4 SPINDLE AMPLIFIER MODULE ................................................................................................. 144
3.4.1 SovIo- nnd (HV) SovIo- SIndIo AmIIIIov ModuIo.................................................................. 144
3.4.1.1 AInvm codo- A, A0 fo A4, nnd ofhov Ax (x Iov vovo-onfIng nn nvbIfvnvy numbov) ....... 144
3.4.1.2 AInvm codo 01.................................................................................................................... 145
3.4.1.3 AInvm codo 02.................................................................................................................... 146
3.4.1.4 AInvm codo 03.................................................................................................................... 14
3.4.1.5 AInvm codo 04.................................................................................................................... 14
3.4.1.6 AInvm codo 0.................................................................................................................... 148
3.4.1. AInvm codo 09.................................................................................................................... 148
3.4.1.8 AInvm codo 11.................................................................................................................... 149
3.4.1.9 AInvm codo 12.................................................................................................................... 150
3.4.1.10 AInvm codo 13.................................................................................................................... 151
3.4.1.11 AInvm codo 15.................................................................................................................... 151
3.4.1.12 AInvm codo 16.................................................................................................................... 151
3.4.1.13 AInvm codo- 19 nnd 20...................................................................................................... 152
3.4.1.14 AInvm codo 24.................................................................................................................... 152
B-65165E/02 Table of Contents
c - 5
3.4.1.15 AInvm codo 25.................................................................................................................... 152
3.4.1.16 AInvm codo 26.................................................................................................................... 153
3.4.1.1 AInvm codo 2.................................................................................................................... 155
3.4.1.18 AInvm codo 28.................................................................................................................... 156
3.4.1.19 AInvm codo 29.................................................................................................................... 15
3.4.1.20 AInvm codo 30.................................................................................................................... 158
3.4.1.21 AInvm codo 31.................................................................................................................... 158
3.4.1.22 AInvm codo 32.................................................................................................................... 159
3.4.1.23 AInvm codo 33.................................................................................................................... 159
3.4.1.24 AInvm codo 34.................................................................................................................... 159
3.4.1.25 AInvm codo 35.................................................................................................................... 160
3.4.1.26 AInvm codo 36.................................................................................................................... 160
3.4.1.2 AInvm codo 3.................................................................................................................... 161
3.4.2 AInvm Uodo 39................................................................................................................................. 162
3.4.2.1 AInvm codo 40.................................................................................................................... 163
3.4.2.2 AInvm codo 41.................................................................................................................... 164
3.4.2.3 AInvm codo 42.................................................................................................................... 165
3.4.2.4 AInvm codo 43.................................................................................................................... 165
3.4.2.5 AInvm codo 44.................................................................................................................... 165
3.4.2.6 AInvm codo 46.................................................................................................................... 165
3.4.2. AInvm codo 4.................................................................................................................... 166
3.4.2.8 AInvm codo 49.................................................................................................................... 16
3.4.2.9 AInvm codo 50.................................................................................................................... 16
3.4.2.10 AInvm codo 51.................................................................................................................... 16
3.4.2.11 AInvm codo- 52 nnd 53...................................................................................................... 168
3.4.2.12 AInvm codo 54.................................................................................................................... 168
3.4.2.13 AInvm codo 55.................................................................................................................... 168
3.4.2.14 AInvm codo 56.................................................................................................................... 169
3.4.2.15 AInvm codo 5.................................................................................................................... 169
3.4.2.16 AInvm codo 58.................................................................................................................... 169
3.4.2.1 AInvm codo 59.................................................................................................................... 10
3.4.3 U SovIo- SIndIo AmIIIIov ModuIo..............................................................................................11
3.4.3.1 AInvm codo 12.................................................................................................................... 11
3.4.3.2 AInvm codo 35.................................................................................................................... 12
3.5 POWER-FAILURE BACKUP MODULE....................................................................................... 173
3.5.1 AInvm Uodo 1................................................................................................................................... 13
3.5.2 AInvm Uodo 2................................................................................................................................... 13
3.5.3 AInvm Uodo 3................................................................................................................................... 13
3.5.4 AInvm Uodo 4................................................................................................................................... 14
3.5.5 AInvm Uodo 5................................................................................................................................... 14
4 HOW TO REPLACE THE FUSES AND PRINTED CIRCUIT BOARDS ...................175
4.1 CASE DISASSEMBLY................................................................................................................. 178
4.1.1 60/90 mm WIdfh ModuIo-............................................................................................................... 18
Table of Contents B-65165E/02
c - 6
4.1.2 150 mm WIdfh ModuIo (wIfhouf fho Uonnocfov ModuIo) ............................................................. 180
4.1.3 150 mm WIdfh ModuIo (wIfh fho Uonnocfov ModuIo)................................................................... 182
4.1.4 300-mm WIdo ModuIo (wIfhouf fho Uonnocfov ModuIo) ............................................................... 185
4.1.5 300-mm WIdo ModuIo (wIfh fho Uonnocfov ModuIo) .................................................................... 190
4.2 REPLACING FUSES ................................................................................................................... 196
4.2.1 !owov SuIy ModuIo ..................................................................................................................... 196
4.2.2 Sovvo AmIIIIov ModuIo.................................................................................................................. 199
4.2.3 SIndIo AmIIIIov ModuIo............................................................................................................... 200
4.2.4 !owov-nIIuvo ncku ModuIo....................................................................................................... 202
4.3 OTHER COMPONENTS.............................................................................................................. 203
4.3.1 !oIncIng fho S!M !vogvnm !OM nnd SIndIo Son-ov ModuIo.................................................. 203
III. MOTOR MAINTENANCE
1 AC SERVO MOTOR MAINTENANCE......................................................................209
1.1 RECEIVING AND KEEPING AC SERVO MOTORS ................................................................... 210
1.2 DAILY INSPECTION OF AC SERVO MOTORS ......................................................................... 211
1.3 PERIODIC INSPECTION OF AC SERVO MOTORS.................................................................. 213
1.4 REPLACING THE PULSE CODER ............................................................................................. 216
1.5 SPECIFICATION NUMBERS OF REPLACEMENT PARTS ....................................................... 225
2 SPINDLE MOTOR MAINTENANCE .........................................................................227
2.1 PREVENTIVE MAINTENANCE................................................................................................... 228
2.2 MAINTENANCE PARTS.............................................................................................................. 232
2.3 PERMISSIBLE RADIAL LOAD..................................................................................................... 236
I. START-UP PROCEDURE
B-65165E/02 START-UP PROCEDURE 1. OVERVIEW
- 3 -
1 OVERVIEW
This part describes the units and components of the FANUC servo
amplifier series. It also explains the following information necessary
to start up the control motor amplifier:
Connecting the power
Setting the printed-circuit board
Initializing the parameter
Confirmation of the operation
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 4 -
2 CONFIGURATIONS
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 5 -
2.1 CONFIGURATIONS
The FANUC servo amplifier series consists of the units and
components listed below:
(1) Power supply module (PSM) (basic)
(2) Servo amplifier module (SVM) (basic)
(3) Spindle amplifier module (SPM) (basic)
(4) AC reactor (basic)
(5) Connectors (for connecting cables) (basic)
(6) Fuses (basic)
(7) Power transformer (option)
(8) Fan adaptor (option)
The diagram below shows an example of a basic configuration of the
FANUC servo amplifier series system. The basic configuration
consists of two two-axis servo amplifier modules and one spindle
amplifier module.
: Standard
: Optional
: Units prepared by the machine tool builder
Power supply
module
Spindle amplifier
module
Servo amplifier
module (2-axis)
Servo amplifier
module (2-axis)
P
N
DC link (300 VDC)
PSM SPM SVM SVM
200R,
200S, PE
L1 L2 L3 PE U V W PE
UL VL WL PE
UM VM WM PE
UL VL WL PE
UM VM WM
AC input for
control power
supply
1
1
Circuit breaker 2
(380VAC)
(415VAC)
(460VAC)
200 VAC
220 VAC
230 VAC
Power transformer
3
3
Circuit
breaker
1
Magnetic
contactor
AC
reactor
Circuit breaker 3
Fan
Spindle
motor
Servo
motor
Servo
motor
Servo
motor
Servo
motor
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 6 -
NOTE
1 Refer to the Servo Amplifier series Descriptions
(B-65162E) for combinations of the power supply
module, servo amplifier module, and spindle
amplifier module.
2 Always use the circuit breakers, magnetic contactor,
and AC reactor.
3 Install a surge suppressor between the power lines
and between each power line and a ground at the
input of the power magnetics cabinet to protect the
system from lightning surge.
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 7 -
2.2 MAJOR COMPONENTS
2.2.1 Power Supply Modules
2.2.1.1 series power supply modules
(1) Power supply modules (PSM) (200 VAC input, power regeneration
type), CE-marked products
Model Order specification
Unit
specification
Wiring board
specification
Printed circuit
board
specification
Driver board
specification
Connector
board
specification
A06B-6077-H106
(Revision B or later)
A16B-2202-0420
(Revision 05D or
later)
PSM-5.5
A06B-6077-H106#BM
A06B-6077-
C106
(Revision B or
later) A16B-2202-0423
A06B-6077-H111
(Revision B or later)
A16B-2202-0420
(Revision 05D or
later)
PSM-11
A06B-6077-H111#BM
A06B-6077-
C111
(Revision B or
later)
A16B-2202-0661
A16B-2202-0423
A06B-6087-H115
(Revision B or later)
A16B-2202-0421
(Revision 05D or
later)
PSM-15
A06B-6087-H115#BM
A06B-6087-
C115
(Revision B or
later)
A20B-1006-0470
A16B-2202-0424
A06B-6087-H126
(Revision B or later)
A16B-2202-0421
(Revision 05D or
later)
PSM-26
A06B-6087-H126#BM
A06B-6087-
C126
(Revision B or
later)
A20B-1006-0471
A16B-2202-0424
A06B-6087-H130
(Revision B or later)
A16B-2202-0421
(Revision 05D or
later)
PSM-30
A06B-6087-H130#BM
A06B-6087-
C130
(Revision B or
later) A16B-2202-0424
A06B-6087-H137 A16B-2202-0421
PSM-37
A06B-6087-H137#BM
A06B-6087-
C137
A20B-1006-0472
A16B-2202-0424
A20B-2902-
0390
A20B-1006-0680
A06B-6087-H145
A20B-1007-0650
A16B-2202-0421
A20B-1006-0680
PSM-45
A06B-6087-H145#BM
A06B-6087-
C145
A20B-1007-0650
A16B-2202-0424
A06B-6087-H155 A16B-2202-0421
PSM-55
A06B-6087-H155#BM
A06B-6087-
C155
A20B-1007-0650
A16B-2202-0424
A20B-2002-
0080
* The PSM-45 has been replaced by the PSM-55 (as of August 1999).
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 8 -
(2) Power supply modules (PSMR) (200 VAC input, resistance
discharge type), CE-marked products
Model Order specification Unit specification
Wiring board
specification
Printed circuit board
specification
PSMR-3
A06B-6081-H103
(Revision C or later)
A06B-6081-C103
A16B-2202-0542
(Revision 06B or later)
A16B-2001-0890
PSMR-5.5
A06B-6081-H106
(Revision C or later)
A06B-6081-C106
A16B-2202-0541
(Revision 06B or later)
A16B-2001-0890
(3) Power supply modules (PSM) (200 VAC input, power
regeneration type), CE-marked products
Model
Order
specification
Unit
specification
Wiring board
specification
Printed circuit
board
specification
Driver board
specification
Connector
board
specification
A16B-2202-0460
PSM-5.5
A06B-6077-H106
(Revision A)
A06B-6077-C106
(Revision A) A16B-2202-0461
PSM-11
A06B-6077-H111
(Revision A)
A06B-6077-C111
(Revision A)
A16B-2202-0461
A16B-2202-0420
(Revision 04C or
earlier)
A06B-6077-H115 A06B-6071-C112 A20B-1005-0591 A16B-2202-0080
A20B-2001-
0011
A20B-2001-
0130
PSM-15
A06B-6087-H115
(Revision A)
A06B-6087-C115
(Revision A)
A20B-1006-0160
A16B-2202-0421
(Revision 04C or
earlier)
A20B-2902-
0280
A06B-6077-H126 A06B-6071-C122 A20B-1005-0590 A16B-2202-0080
A20B-2001-
0011
A20B-2001-
0130
PSM-26 A06B-6087-H126
(Revision B or
earlier)
A06B-6087-C126
(Revision B or
earlier)
A20B-1006-0161
A16B-2202-0421
(Revision 04C or
earlier)
A20B-2902-
0280
A06B-6077-H130 A06B-6071-C126 A20B-1005-0592 A16B-2202-0080
A20B-2001-
0011
A20B-2001-
0130
PSM-30 A06B-6087-H130
(Revision B or
earlier)
A06B-6087-C130
(Revision B or
earlier)
A20B-1006-0162
A16B-2202-0421
(Revision 04C or
earlier)
A20B-2902-
0280
(4) Power supply modules (PSMR) (200 VAC input, resistance
discharge type), CE-marked products
Model Order specification Unit specification
Wiring board
specification
Printed circuit board
specification
PSMR-3
A06B-6081-H103
(Revision B or earlier)
A06B-6081-C103
(Revision B or earlier)
A16B-2202-0542
(Revision 05A or earlier)
A16B-2300-0100
PSMR-5.5
A06B-6081-H106
(Revision B or earlier)
A06B-6081-C106
(Revision B or earlier)
A16B-2202-0541
(Revision 05A or earlier)
A16B-2300-0100
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 9 -
2.2.1.2 (HV) series power supply modules
(1) Power supply modules (PSM-HV) (400 VAC input, power
regeneration type)
Model Order specification Unit specification
Wiring board
specification
Driver board
specification
Printed circuit
board
specification
PSM-18HV A06B-6091-H118 A06B-6091-C118 A20B-1006-0611
PSM-30HV A06B-6091-H130 A06B-6091-C130 A20B-1006-0610
PSM-45HV A06B-6091-H145 A06B-6091-C145 A20B-1006-0612
A20B-1006-0681
PSM-75HV A06B-6091-H175 A06B-6091-C175
A20B-1007-0651
A20B-2002-0080 A16B-2202-0422
(2) Capacitor modules (PSMC-HV) (for the PSM-HV series)
Model Order specification Unit specification Capacitor specification
PSMC-18HV A06B-6083-H218 A06B-6083-C218 A42L-0001-0340 ( 2)
PSMC-30HV A06B-6083-H230 A06B-6083-C230 A42L-0001-0314 ( 2)
PSMC-45HV A06B-6083-H245 A06B-6083-C245 A42L-0001-0322 ( 2)
(3) Power supply module (PSMV-HV) (400 VAC input, 300 VDC
output, power regeneration type)
Model Order specification Unit specification
Wiring board
specification
Driver board
specification
Printed circuit
board
specification
PSMV-11HV A06B-6098-H111 A06B-6098-C111 A20B-1007-0200 A20B-2002-0530 A16B-2203-0220
(4) AC reactor unit (PSMV-HV)
Order specification Unit specification AC reactor Fuse
A06B-6098-H001 A06B-6098-C001 A81L-0001-0144
A60L-0001-0362#100U
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 10 -
2.2.2 Servo Amplifier Modules
2.2.2.1 200-V input series
(1) Single-axis servo amplifier modules (interface: Type A/B)
Model
Order
specification
Wiring board
specification
Printed circuit
board
specification
Remarks
SVM1-2 A06B-6079-H121 A16B-2202-0742
SVM1-4 A06B-6079-H122 A16B-2202-0743
SVM1-12 A06B-6079-H101 A16B-2202-0740
SVM1-20 A06B-6079-H102 A16B-2202-0741
SVM1-40S A06B-6079-H103
A16B-2203-0450
(A16B-2202-0760)
Enclosed in parentheses are the
drawing numbers of the old
specifications.
SVM1-40L A06B-6079-H104
A16B-2203-0451
(A16B-2202-0761)
SVM1-80 A06B-6079-H105
A16B-2203-0452
(A16B-2202-0762)
A20B-2001-0930
SVM1-130 A06B-6079-H106
A16B-2203-0454
(A16B-2202-0790)
A20B-2001-0932
SVM1-240 A06B-6079-H107 A20B-1006-0485 A16B-2202-0990
SVM1-360 A06B-6079-H108 A20B-1006-0485 A16B-2202-0991
(2) Two-axis servo amplifier modules (interface: Type A/B)
Model
Order
specification
Wiring board
specification
Printed circuit
board
specification
Remarks
SVM2-3/3 A06B-6079-H291 A16B-2202-0753
SVM2-12/12 A06B-6079-H201 A16B-2202-0750
SVM2-12/20 A06B-6079-H202 A16B-2202-0751
SVM2-20/20 A06B-6079-H203 A16B-2202-0752
SVM2-12/40 A06B-6079-H204
A16B-2203-0590
(A16B-2202-0770)
Enclosed in parentheses are the
drawing numbers of the old
specifications.
SVM2-20/40 A06B-6079-H205
A16B-2203-0591
(A16B-2202-0771)
SVM2-40/40 A06B-6079-H206
A16B-2203-0592
(A16B-2202-0772)
A20B-2001-0931
SVM2-40/80 A06B-6079-H207
A16B-2203-0593
(A16B-2202-0773)
SVM2-80/80 A06B-6079-H208
A16B-2203-0594
(A16B-2202-0774)
SVM2-40L/40L A06B-6079-H209
A16B-2203-0595
(A16B-2202-0775)
A20B-2001-0933
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 11 -
(3) Three-axis servo amplifier modules (interface: Type A)
Model
Order
specification
Wiring board
specification
Printed circuit
board
specification
Remarks
SVM3-12/12/12 A06B-6079-H301 A16B-2202-0780
SVM3-12/12/20 A06B-6079-H302 A16B-2202-0781
SVM3-12/20/20 A06B-6079-H303 A16B-2202-0782
SVM3-20/20/20 A06B-6079-H304 A16B-2202-0783
SVM3-12/12/40 A06B-6079-H305 A16B-2202-0784
SVM3-12/20/40 A06B-6079-H306 A16B-2202-0785
SVM3-20/20/40 A06B-6079-H307 A16B-2202-0786
A20B-2001-0940
(4) Three-axis servo amplifier modules (interface: Type B)
Model
Order
specification
Wiring board
specification
Printed circuit
board
specification
Remarks
SVM3-12/12/12 A06B-6080-H301 A16B-2202-0780
SVM3-12/12/20 A06B-6080-H302 A16B-2202-0781
SVM3-12/20/20 A06B-6080-H303 A16B-2202-0782
SVM3-20/20/20 A06B-6080-H304 A16B-2202-0783
SVM3-12/12/40 A06B-6080-H305 A16B-2202-0784
SVM3-12/20/40 A06B-6080-H306 A16B-2202-0785
SVM3-20/20/40 A06B-6080-H307 A16B-2202-0786
A20B-2001-0950
(5) Single-axis servo amplifier module (interface: FSSB)
Model
Order
specification
Wiring board
specification
Printed circuit
board
specification
Remarks
SVM1-2 A06B-6096-H121 A16B-2202-0742
SVM1-4 A06B-6096-H122 A16B-2202-0743
SVM1-12 A06B-6096-H101 A16B-2202-0740
SVM1-20 A06B-6096-H102 A16B-2202-0741
A20B-2100-0540
(A20B-2100-0250)
When using HRV3, use the following
boards together:
Wiring board: A16B-2202-074X
Printed circuit board:
A20B-2100-054X
SVM1-40S A06B-6096-H103
A16B-2203-0450
(A16B-2202-0760)
SVM1-40L A06B-6096-H104
A16B-2203-0451
(A16B-2202-0761)
SVM1-80 A06B-6096-H105
A16B-2203-0452
(A16B-2202-0762)
SVM1-130S A06B-6096-H116 A16B-2203-0453
A20B-2100-0540
(A20B-2100-0250)
SVM1-130 A06B-6096-H106
A16B-2203-0454
(A16B-2202-0790)
A20B-2100-0542
(A20B-2100-0252)
When using HRV3, use the following
boards together:
Wiring board: A16B-2203-045X
Printed circuit board:
A20B-2100-054X
SVM1-240 A06B-6096-H107 A20B-1006-0485 A16B-2203-0300
SVM1-360 A06B-6096-H108 A20B-1006-0485 A16B-2203-0301
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 12 -
(6) Two-axis servo amplifier modules (interface: FSSB)
Model
Order
specification
Wiring board
specification
Printed circuit
board
specification
Remarks
SVM2-3/3 A06B-6096-H291 A16B-2202-0753
SVM2-12/12 A06B-6096-H201 A16B-2202-0750
SVM2-12/20 A06B-6096-H202 A16B-2202-0751
SVM2-20/20 A06B-6096-H203 A16B-2202-0752
A20B-2100-0541
(A20B-2100-0251)
When using HRV3, use the following
boards together:
Wiring board: A16B-2202-075X
Printed circuit board:
A20B-2100-054X
SVM2-12/40 A06B-6096-H204
A16B-2203-0590
(A16B-2202-0770)
SVM2-20/40 A06B-6096-H205
A16B-2203-0591
(A16B-2202-0771)
SVM2-40/40 A06B-6096-H206
A16B-2203-0592
(A16B-2202-0772)
A20B-2100-0541
(A20B-2100-0251)
SVM2-40/80 A06B-6096-H207
A16B-2203-0593
(A16B-2202-0773)
SVM2-80/80 A06B-6096-H208
A16B-2203-0594
(A16B-2202-0774)
SVM2-40L/40L A06B-6096-H209
A16B-2203-0595
(A16B-2202-0775)
A20B-2100-0543
(A20B-2100-0253)
When using HRV3, use the following
boards together:
Wiring board: A16B-2203-059X
Printed circuit board:
A20B-2100-054X
(7) Three-axis servo amplifier modules (interface: FSSB)
Model
Order
specification
Wiring board
specification
Printed circuit
board
specification
Remarks
SVM3-12/12/12 A06B-6096-H301 A16B-2202-0780
SVM3-12/12/20 A06B-6096-H302 A16B-2202-0781
SVM3-12/20/20 A06B-6096-H303 A16B-2202-0782
SVM3-20/20/20 A06B-6096-H304 A16B-2202-0783
SVM3-12/12/40 A06B-6096-H305 A16B-2202-0784
SVM3-12/20/40 A06B-6096-H306 A16B-2202-0785
SVM3-20/20/40 A06B-6096-H307 A16B-2202-0786
A20B-2100-0260
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 13 -
2.2.2.2 400-V input series
(1) Single-axis servo amplifier modules (interface: Type A/B)
Model
Order
specification
Wiring board
specification
Printed circuit
board
specification
Remarks
SVM1-20HV A06B-6085-H102 A16B-2202-0800
SVM1-40HV A06B-6085-H103 A16B-2202-0801
SVM1-60HV A06B-6085-H104 A16B-2202-0802
A20B-2001-0932
(2) Two-axis servo amplifier modules (interface: Type A/B)
Model
Order
specification
Wiring board
specification
Printed circuit
board
specification
Remarks
SVM2-20/20HV A06B-6085-H201 A16B-2203-0210
SVM2-20/40HV A06B-6085-H202 A16B-2203-0211
SVM2-20/60HV A06B-6085-H203 A16B-2203-0212
SVM2-40/40HV A06B-6085-H204 A16B-2203-0213
SVM2-40/60HV A06B-6085-H205 A16B-2203-0214
SVM2-60/60HV A06B-6085-H206 A16B-2203-0215
A20B-2001-0933
(3) Single-axis servo amplifier modules (interface: FSSB)
Model
Order
specification
Wiring board
specification
Printed circuit
board
specification
Remarks
SVM1-20HV A06B-6097-H102 A16B-2202-0800
SVM1-40HV A06B-6097-H103 A16B-2202-0801
SVM1-60HV A06B-6097-H104 A16B-2202-0802
Enclosed in parentheses is the
drawing number of the old
specification.
SVM1-80HV A06B-6097-H105 A16B-2202-0803
A20B-2100-0542
(A20B-2100-0252)
SVM1-320HV A06B-6097-H107 A20B-1007-0592 A16B-2203-0301
(4) Two-axis servo amplifier modules (interface: FSSB)
Model
Order
specification
Wiring board
specification
Printed circuit
board
specification
Remarks
SVM2-20/20HV A06B-6097-H201 A16B-2203-0210
SVM2-20/40HV A06B-6097-H202 A16B-2203-0211
SVM2-20/60HV A06B-6097-H203 A16B-2203-0212
SVM2-40/40HV A06B-6097-H204 A16B-2203-0213
Enclosed in parentheses is the
drawing number of the old
specification.
SVM2-40/60HV A06B-6097-H205 A16B-2203-0214
SVM2-60/60HV A06B-6097-H206 A16B-2203-0215
A20B-2100-0543
(A20B-2100-0253)
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 14 -
2.2.3 Spindle Amplifier Modules
2.2.3.1 series spindle amplifier modules
The order specification varies according to the detector (function)
used.
(1) series spindle amplifier modules (SPM) type 1 (standard
specification)
New specification (supporting spindle HRV control), CE-marked
products
Model Order specification Unit specification
Wiring board
specification
Printed circuit
board
specification
ROM (series)
SPM-2.2 A06B-6102-H202#H520 A06B-6102-H202 A16B-2202-0680 A16B-2203-0500
SPM-5.5 A06B-6102-H206#H520 A06B-6102-H206 A16B-2202-0681
SPM-11 A06B-6102-H211#H520 A06B-6102-H211 A16B-2202-0682
A16B-2203-0501
SPM-15 A06B-6102-H215#H520 A06B-6102-H215
A20B-1006-0486
A20B-2902-0390
SPM-22 A06B-6102-H222#H520 A06B-6102-H222
A20B-1006-0487
A20B-2902-0390
SPM-26 A06B-6102-H226#H520 A06B-6102-H226
A20B-1006-0488
A20B-2902-0390
SPM-30 A06B-6102-H230#H520 A06B-6102-H230
A20B-1006-0489
A20B-2902-0390
SPM-45 A06B-6102-H245#H520 A06B-6102-H245
A20B-1007-0591
A20B-2002-0080
SPM-55 A06B-6102-H255#H520 A06B-6102-H255
A20B-1007-0590
A20B-2002-0081
A16B-2203-0502
A06B-6102-H520
(9D20)
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 15 -
CE-marked products
Model Order specification Unit specification
Wiring board
specification(*1)
Printed circuit
board
specification(*1)
ROM (series)
SPM-2.2 A06B-6078-H202#H500 A06B-6078-H202 A16B-2202-0680
A16B-2203-0330
(A16B-2202-0430)
SPM-5.5 A06B-6078-H206#H500 A06B-6078-H206 A16B-2202-0681
SPM-11 A06B-6078-H211#H500 A06B-6078-H211 A16B-2202-0682
A16B-2203-0331
(A16B-2202-0431)
SPM-15 A06B-6088-H215#H500 A06B-6088-H215
A20B-1006-0486
(A20B-1006-0480)
A20B-2902-0390
SPM-22 A06B-6088-H222#H500 A06B-6088-H222
A20B-1006-0487
(A20B-1006-0481)
A20B-2902-0390
SPM-26 A06B-6088-H226#H500 A06B-6088-H226
A20B-1006-0488
(A20B-1006-0482)
A20B-2902-0390
SPM-30 A06B-6088-H230#H500 A06B-6088-H230
A20B-1006-0489
(A20B-1006-0483)
A20B-2902-0390
SPM-45 A06B-6088-H245#H500 A06B-6088-H245
A20B-1007-0591
(A20B-1006-0690)
A20B-2002-0080
A16B-2203-0332
(A16B-2202-0432)
A06B-6072-H500
(9D00, 9D0A)
*1 Enclosed in parentheses are the drawing numbers of the old
specifications.
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 16 -
Non-CE-marked products
Model Order specification Unit specification
Wiring board
specification
Printed circuit
board
specification(*1)
ROM (series)
SPM-2.2 A06B-6078-H202#H500 A06B-6078-H202 A16B-2202-0470
A16B-2203-0330
(A16B-2202-0430)
SPM-5.5 A06B-6078-H206#H500 A06B-6078-H206 A16B-2202-0471
SPM-11 A06B-6078-H211#H500 A06B-6078-H211 A16B-2202-0472
A16B-2203-0331
(A16B-2202-0431)
SPM-15 A06B-6088-H215#H500 A06B-6088-H215
A20B-1006-0170
A20B-2902-0280
SPM-22 A06B-6088-H222#H500 A06B-6088-H222
A20B-1006-0171
A20B-2902-0280
SPM-26 A06B-6088-H226#H500 A06B-6088-H226
A20B-1006-0172
A20B-2902-0280
A16B-2203-0332
(A16B-2202-0432)
A06B-6072-H500
(9D00, 9D0A)
Non-CE-marked products (old specifications)
Model Order specification Unit specification
Wiring board
specification
Printed circuit
board
specification
ROM (series)
SPM-15 A06B-6078-H215#H500 A06B-6078-H215
A20B-1005-0572
A20B-2001-0010
SPM-22 A06B-6078-H222#H500 A06B-6078-H222
A20B-1005-0571
A20B-2001-0010
SPM-26 A06B-6078-H226#H500 A06B-6078-H226
A20B-1005-0570
A20B-2001-0010
SPM-30 A06B-6078-H230#H500 A06B-6078-H230
A20B-1005-0575
A20B-2001-0010
A16B-2202-0070
A20B-2001-0150
A20B-2901-0851
A06B-6072-H500
(9D00, 9D0A)
Applicable detectors
<1> M sensor (pulse generator), position coder, magnetic sensor
<2> MZ sensor (sensor built into a motor)
*1 Enclosed in parentheses are the drawing numbers of the old
specifications.
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 17 -
(2) series spindle amplifier modules (SPM), type 2 (Cs contour
control/BZ sensor (separate built-in sensor) specification)
CE-marked products
Model Order specification Unit specification
Wiring board
specification(*1)
Printed circuit
board
specification
ROM (series)
SPM-2.2 A06B-6078-H302#H500 A06B-6078-H302 A16B-2202-0680
A16B-2202-0433
A20B-2901-0851
SPM-5.5 A06B-6078-H306#H500 A06B-6078-H306 A16B-2202-0681
SPM-11 A06B-6078-H311#H500 A06B-6078-H311 A16B-2202-0682
A16B-2202-0434
A20B-2901-0851
SPM-15 A06B-6088-H315#H500 A06B-6088-H315
A20B-1006-0486
(A20B-1006-0480)
A20B-2902-0390
SPM-22 A06B-6088-H322#H500 A06B-6088-H322
A20B-1006-0487
(A20B-1006-0481)
A20B-2902-0390
SPM-26 A06B-6088-H326#H500 A06B-6088-H326
A20B-1006-0488
(A20B-1006-0482)
A20B-2902-0390
SPM-30 A06B-6088-H330#H500 A06B-6088-H330
A20B-1006-0489
(A20B-1006-0483)
A20B-2902-0390
SPM-45 A06B-6088-H345#H500 A06B-6088-H345
A20B-1007-0591
(A20B-1006-0690)
A20B-2002-0080
A16B-2202-0435
A20B-2901-0851
A06B-6072-H500
(9D00, 9D0A)
Non-CE-marked products
Model Order specification Unit specification
Wiring board
specification
Printed circuit
board
specification
ROM (series)
SPM-2.2 A06B-6078-H302#H500 A06B-6078-H302 A16B-2202-0470
A16B-2202-0433
A20B-2901-0851
SPM-5.5 A06B-6078-H306#H500 A06B-6078-H306 A16B-2202-0471
SPM-11 A06B-6078-H311#H500 A06B-6078-H311 A16B-2202-0472
A16B-2202-0434
A20B-2901-0851
SPM-15 A06B-6088-H315#H500 A06B-6088-H315
A20B-1006-0170
A20B-2902-0280
SPM-22 A06B-6088-H322#H500 A06B-6088-H322
A20B-1006-0171
A20B-2902-0280
SPM-26 A06B-6088-H326#H500 A06B-6088-H326
A20B-1006-0172
A20B-2902-0280
A16B-2202-0435
A20B-2901-0851
A06B-6072-H500
(9D00, 9D0A)
*1 Enclosed in parentheses are the drawing numbers of the old
specifications.
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 18 -
Non-CE-marked products (old specification)
Model Order specification Unit specification
Wiring board
specification
Printed circuit
board
specification
ROM (series)
SPM-15 A06B-6078-H315#H500 A06B-6078-H315
A20B-1005-0572
A20B-2001-0010
SPM-22 A06B-6078-H322#H500 A06B-6078-H322
A20B-1005-0571
A20B-2001-0010
SPM-26 A06B-6078-H326#H500 A06B-6078-H326
A20B-1005-0570
A20B-2001-0010
SPM-30 A06B-6078-H230#H500 A06B-6078-H330
A20B-1005-0575
A20B-2001-0010
A16B-2202-0160
A20B-2001-0140
A20B-2901-0851
A06B-6072-H500
(9D00, 9D0A)
Applicable detectors
<1> M sensor (pulse generator) + BZ sensor (separate built-in
sensor) (use of position coder signals only)
<2> High-resolution magnetic pulse coder (for motor only)
<3> High-resolution magnetic pulse coder (for motor and
spindle)
<4> High-resolution position coder + high-resolution magnetic
pulse coder (for motor only)
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 19 -
(3) series spindle amplifier modules (SPM), type 3 (spindle
switching control/differential speed control specification)
CE-marked products
Model Order specification Unit specification
Wiring board
specification(*1)
Printed circuit
board
specification
ROM (series)
SPM-11 A06B-6088-H411#H500 A06B-6088-H411
A20B-1006-0484
A20B-2902-0390
SPM-15 A06B-6088-H415#H500 A06B-6088-H415
A20B-1006-0486
(A20B-1006-0480)
A20B-2902-0390
SPM-22 A06B-6088-H422#H500 A06B-6088-H422
A20B-1006-0487
(A20B-1006-0481)
A20B-2902-0390
SPM-26 A06B-6088-H426#H500 A06B-6088-H426
A20B-1006-0488
(A20B-1006-0482)
A20B-2902-0390
SPM-30 A06B-6088-H430#H500 A06B-6088-H430
A20B-1006-0489
(A20B-1006-0483)
A20B-2902-0390
SPM-45 A06B-6088-H445#H500 A06B-6088-H445
A20B-1007-0591
(A20B-1006-0690)
A20B-2002-0080
A16B-2202-0440
A20B-2001-0700
A20B-2901-0851
A06B-6072-H500
(9D00, 9D0A)
Non-CE-marked products
Model Order specification Unit specification
Wiring board
specification
Printed circuit
board
specification
ROM (series)
SPM-11 A06B-6078-H411#H500 A06B-6078-H411
A20B-1005-0574
A20B-2001-0010
SPM-15 A06B-6078-H415#H500 A06B-6078-H415
A20B-1005-0572
A20B-2001-0010
SPM-22 A06B-6078-H422#H500 A06B-6078-H422
A20B-1005-0571
A20B-2001-0010
SPM-26 A06B-6078-H426#H500 A06B-6078-H426
A20B-1005-0570
A20B-2001-0010
SPM-30 A06B-6078-H430#H500 A06B-6078-H430
A20B-1005-0575
A20B-2001-0010
A16B-2202-0160
A20B-2001-0140
A20B-2901-0851
A06B-6072-H500
(9D00, 9D0A)
Applicable functions
<1> Spindle switching control (switching of speed only or
switching of speed and position)
<2> Spindle switching control (switching of MZ sensor (built-in
sensor))
<3> Differential speed control (position coder signal input
circuit)
*1 Enclosed in parentheses are the drawing numbers of the old
specifications.
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 20 -
(4) series spindle amplifier modules (SPM), type 4 ( sensor Cs
contour control)
New specification (supporting spindle HRV control), CE-marked
products
Model Order specification Unit specification
Wiring board
specification
Printed circuit
board
specification
ROM (series)
SPM-2.2 A06B-6102-H102#H520 A06B-6102-H102 A16B-2202-0680
A16B-2203-0503
A20B-2902-0620
SPM-5.5 A06B-6102-H106#H520 A06B-6102-H106 A16B-2202-0681
SPM-11 A06B-6102-H111#H520 A06B-6102-H111 A16B-2202-0682
A16B-2203-0504
A20B-2902-0620
SPM-15 A06B-6102-H115#H520 A06B-6102-H115
A20B-1006-0486
A20B-2902-0390
SPM-22 A06B-6102-H122#H520 A06B-6102-H122
A20B-1006-0487
A20B-2902-0390
SPM-26 A06B-6102-H126#H520 A06B-6102-H126
A20B-1006-0488
A20B-2902-0390
SPM-30 A06B-6102-H130#H520 A06B-6102-H130
A20B-1006-0489
A20B-2902-0390
SPM-45 A06B-6102-H145#H520 A06B-6102-H145
A20B-1007-0591
A20B-2002-0080
SPM-55 A06B-6102-H155#H520 A06B-6102-H155
A20B-1007-0590
A20B-2002-0081
A16B-2203-0505
A20B-2902-0620
A06B-6102-H520
(9D20)
B-65165E/02 START-UP PROCEDURE 2. CONFIGURATIONS
- 21 -
CE-marked products
Model Order specification Unit specification
Wiring board
specification(*1)
Printed circuit
board
specification(*1)
ROM (series)
SPM-2.2 A06B-6078-H102#H500 A06B-6078-H102 A16B-2202-0680
A16B-2202-0433
Overall revision 16E
or later
A20B-2902-0620
(A20B-2902-0610)
SPM-5.5 A06B-6078-H106#H500 A06B-6078-H106 A16B-2202-0681
SPM-11 A06B-6078-H111#H500 A06B-6078-H111 A16B-2202-0682
A16B-2202-0434
Overall revision 16E
or later
A20B-2902-0620
(A20B-2902-0610)
SPM-15 A06B-6088-H115#H500 A06B-6088-H115
A20B-1006-0486
(A20B-1006-0480)
A20B-2902-0390
SPM-22 A06B-6088-H122#H500 A06B-6088-H122
A20B-1006-0487
(A20B-1006-0481)
A20B-2902-0390
SPM-26 A06B-6088-H126#H500 A06B-6088-H126
A20B-1006-0488
(A20B-1006-0482)
A20B-2902-0390
SPM-30 A06B-6088-H130#H500 A06B-6088-H130
A20B-1006-0489
(A20B-1006-0483)
A20B-2902-0390
SPM-45 A06B-6088-H145#H500 A06B-6088-H145
A20B-1007-0591
(A20B-1006-0690)
A20B-2002-0080
A16B-2202-0435
Overall revision 13C
or later
A20B-2902-0620
(A20B-2902-0610)
A06B-6072-H500
(9D00, 9D0A)
Applicable detectors
<1> MZ sensor (sensor built into a motor)
<2> MZ sensor (sensor built into a motor) + BZ sensor (separate
built-in sensor)
*1 Enclosed in parentheses are the drawing numbers of the old
specifications.
2. CONFIGURATIONS START-UP PROCEDURE B-65165E/02
- 22 -
2.2.4 Power-Failure Backup Modules
(1) Power-failure backup modules
Order specification
Wiring board
specification
Printed circuit board
specification
Remarks
A06B-6077-H001 A16B-2203-0360 A20B-2002-0790 Without the control power supply backup function
A06B-6077-H002 A16B-2203-0510 A20B-2003-0020 With the control power supply backup function
(2) Sub-module C (auxiliary capacitor unit)
Order specification Unit specification Capacitor specification
A06B-6077-H010 A06B-6077-C010 A42L-0001-0375 ( 2)
B-65165E/02 START-UP PROCEDURE 3. START-UP PROCEDURE
- 23 -
3 START-UP PROCEDURE
3. START-UP PROCEDURE START-UP PROCEDURE B-65165E/02
- 24 -
3.1 START-UP PROCEDURE (OVERVIEW)
Make sure that the specifications of the CNC, servo motors, servo
amplifiers, and other units you received are exactly what you ordered,
and these units are connected correctly. Then, turn on the power.
(1) Before turning on the circuit breaker, check the power supply
voltage connected.
See Section 3.2.
(2) Some types of PSM, SVM, and SPM require settings before the
system can be used. So check whether you must make settings.
See Section 3.3.
(3) Turn on the power, and set initial parameters on the CNC.
For the initialization of servo parameters, refer to the following
manual:
FANUC AC SERVO MOTOR series Parameter Manual
(B-65150E)
For the initialization of spindle parameters, refer to the following
manual:
FANUC AD SPINDLE MOTOR series Parameter Manual
(B-65160E)
(4) For start-up adjustment and troubleshooting, see Chapter 4.
Method of using optional wiring boards for adjustment of the
PSM, SVM, and SPM
Spindle sensor adjustment values
B-65165E/02 START-UP PROCEDURE 3. START-UP PROCEDURE
- 25 -
3.2 CONNECTING THE POWER
3.2.1 Checking The Voltage And Capacity Of The Power
Before connecting the power, you should measure the AC power
voltage.
Table 3.2.1(1) Action for the AC power (200-V input type)
AC power
voltage
Nominal
voltage
Action
170 to 220 V
210 to 253 V
200 V
230 V
These power lines can be connected directly to
the system.
Note) If the voltage is below the rated value, the
rated output may not be obtained.
254 V or
more
380 to 550 V This power line must be connected through an
insulation transformer to step down the voltage
to 200 V.
Table 3.2.1(2) Action for the AC power (400-V input type)
AC power
voltage
Nominal
voltage
Action
340 to 440 V
391 to 506 V
400 V
460 V
These power lines can be connected directly to
the system.
Note) If the voltage is below the rated value, the
rated output may not be obtained.
507 V or
more
480 to 550 V This power line must be connected through an
insulation transformer to step down the voltage
to 400 V.
Table 3.2.1 (3) to (5) list the input power specification for the power
supply module. Use a power source with sufficient capacity so that the
system will not malfunction due to a voltage drop even at a time of peak
load. Make sure that the AC power voltage value including voltage
fluctuation at a time of peak load is within the range specified in the
above table.
Table 3.2.1 (3) AC power voltage specifications
Model
PSMR
-3
PSMR
-5.5
PSM
-5.5
PSM
-11
PSM
-15
PSM
-26
PSM
-30
PSM
-37
PSM
-45
PSM
-55
Nominal voltage rating 200/220/230 VAC -15%, +10%
Power source frequency 50/60 Hz 1 Hz
Power source capacity (for
the main circuit) [kVA]
5 12 9 17 22 37 44 53 64 79
Power source capacity (for
the control circuit) [kVA]
0.5 0.7
3. START-UP PROCEDURE START-UP PROCEDURE B-65165E/02
- 26 -
Table 3.2.1 (4) AC power voltage specifications (for the main circuit)
Model PSMV-11HV PSM-18HV PSM-30HV PSM-45HV PSM-75HV
Nominal voltage rating 400/460 VAC -15%, +10%
Power source frequency 50/60 Hz 1 Hz
Power source capacity
[kVA]
31 26 44 64 107
Table 3.2.1 (5) AC power voltage specifications (for the control circuit)
Model PSMV-11HV PSM-18HV PSM-30HV PSM-45HV PSM-75HV
Nominal voltage rating 200/220/230 VAC -15%, +10%
Power source frequency 50/60 Hz 1 Hz
Power source capacity
[kVA]
0.7
3.2.2 Connecting A Protective Ground
Refer to the items in Chapter 5, "Installation," in "FANUC SERVO
AMPLIFIER series Descriptions" B-65162E, and check that the
protective ground line is connected correctly.
3.2.3 Selecting The Ground Fault Interrupter That Matches The
Leakage Current
Refer to the items in Chapter 5, "Installation," in "FANUC SERVO
AMPLIFIER series Descriptions" B-65162E, and check that a
correct ground fault interrupter is selected.
B-65165E/02 START-UP PROCEDURE 3. START-UP PROCEDURE
- 27 -
3.3 SETTING THE PRINTED-CIRCUIT BOARD
Before supplying power, set the printed-circuit board as listed below.
3.3.1 Power Supply Module
Checking the DIP switch setting
(1) CE-marked products
Model DIP switch Position Description
S1 SHORT PSM-5.5 to 11
S2 OPEN(*1)
S1 SHORT PSM-15 to 55
S2 OPEN
S1 SHORT PSM-18HV to
75HV S2 OPEN
Do not change the setting of the
DIP switches because they were
already set at the factory.
*1 This setting has been made in shipments after January, 2000. In
earlier products, this switch was factory-set to SHORT.
(2) Non-CE-marked products
Model DIP switch Position Description
S1 SHORT PSM-5.5 to 11
S2 OPEN
S1 SHORT PSM-15 to 30
S2 OPEN
Do not change the setting of the
DIP switches because they were
already set at the factory.
3. START-UP PROCEDURE START-UP PROCEDURE B-65165E/02
- 28 -
3.3.2 Servo Amplifier Module
(1) Checking the jumper plug setting (for SVM1 and SVM2)
Set the servo amplifier module to either interface type A or B with
the jumper plugs.
Move the jumper plugs as required. If
you cannot pull out a jumper plug with
your thumb and finger, use long-nose
pliers or the like.
FANUC
S1
S2
FUSE
Jumper plug
S1 S2
Description
SHORT OPEN With this setting, the servo amplifier module can operate
with the CNC (such as FS0, FS15, FS16, FS18, or PM-
D) designed for operation with interface type A. In this
case the JV*B connector is used.
OPEN SHORT With this setting, the servo amplifier module can operate
with the CNC (such as FS20 or FS21-G) designed for
operation with interface type B. In this case the JS*B
and JF* connectors are used.
NOTE
There is no jumper plug or DIP switch on the three-
axis servo amplifier module. The specification of the
servo amplifier module determines the type (A or B)
of the interface with which it can operate.
(2) Mounting the batteries for the ABS pulse coder
See Sec. I.5.1.
B-65165E/02 START-UP PROCEDURE 3. START-UP PROCEDURE
- 29 -
3.3.3 Spindle Amplifier Module
3.3.3.1 series spindle amplifier module (SPM)
This type of modules do not have a DIP switch except the modules of
which specification drawing numbers are A06B-6072-H***#00xx (D
series spindle amplifier modules) and A06B-6078-H***#H5xx (non-
CE-marked series spindle amplifier modules).
Location of the DIP switch
DIP switch
S7
SW
S1
F2
5A
DIP
switch
Switch setting
(factory-set to the
underlined position)
Description
ON S1
OFF
If two SPMs are connected to one serial interface
cable, S1 is set to ON in one SPM, and to OFF in
the other.
ON S2
OFF
If an analog filter is used at the load meter output,
S2 is set to ON. If not, it is set to OFF.
ON S3
OFF
If an analog filter is used at the speedometer
output, S3 is set to ON. If not, it is set to OFF.
S4:ON, S5:OFF Reference switch of
NPN type (pull up)
S4:OFF, S5:OFF Reference switch of
PNP type (pull down)
S4
S5
S4:OFF, S5:OFF The external reference
signal receive function.
Reference switch
(external reference signal
receive function) setting
for the main spindle
S6:ON, S7:OFF Reference switch of
NPN type (pull up)
S6:OFF, S7:OFF Reference switch of
PNP type (pull down)
S6
S7
S6:OFF, S7:OFF The external reference
signal receive function
is not used.
Reference switch
(external reference signal
receive function) setting
for the sub-spindle
3. START-UP PROCEDURE START-UP PROCEDURE B-65165E/02
- 30 -
3.3.3.2 (HV) series spindle amplifier module (SPM-HV)
This module does not have a DIP switch.
3.3.3.3 C series spindle amplifier module (SPMC)
This module does not have a DIP switch.
B-65165E/02 START-UP PROCEDURE 3. START-UP PROCEDURE
- 31 -
3.4 INITIALIZING SERVO PARAMETERS
(1) Servo amplifier module
For the initialization of servo parameters, refer to the following
manual:
FANUC AC SERVO MOTOR series Parameter Manual
(B-65150E)
(2) Spindle amplifier module
For the initialization of spindle parameters, refer to the following
manual:
FANUC AC SPINDLE MOTOR series Parameter Manual
(B-65160E)
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
- 32 -
4 CONFIRMATION OF THE OPERATION
4. CONFIRMATION OF
B-65165E/02 START-UP PROCEDURE THE OPERATION
- 33 -
4.1 POWER SUPPLY MODULE
Check each item according to the procedure described below.
5. Check the operation of the servo and spindle motors.
See Subsec. 4.1.5.
OK NG
4. Make sure that the MCC is turned on.
3. Release the system from emergency stop state.
OK Alarm occurs.
See Section 3.1 of Part II.
2. Check the STATUS LEDs. See Section 4.1.3.
1. Supply control power (200 VAC) to the power supply module.
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
- 34 -
4.1.1 Check Terminal On The Printed-circuit Board
4.1.1.1 PSM, PSM-HV
Location of the check terminal
IR
IS
+24V
+5V
0V
Table 4.1.1.1 Check terminal
Check
terminal
Description
The current is positive when it is input to the
amplifier.
IR Phase L1 (phase R)
current
Model Amount of current
PSM-5.5 37.5A/1V
PSM-11 37.5A/1V
PSM-15 50A/1V
PSM-26 75A/1V
PSM-30 100A/1V
PSM-37 100A/1V
PSM-45 150A/1V
PSM-55 150A/1V
PSM-18HV 37.5A/1V
PSM-30HV 50A/1V
PSM-45HV 75A/1V
PSM-75HV 100A/1V

IS Phase L2 (phase S)
current
+24V
+5V
0V
Control power
4. CONFIRMATION OF
B-65165E/02 START-UP PROCEDURE THE OPERATION
- 35 -
4.1.1.2 PSMV-HV
Location of check terminals
IDC
VDC
+24V
+5V
0V
Table 4.1.1.2 Check terminals
Check
terminal
Description
Model Amount of current
PSMV-11HV 50 A/1 V

IDC DC link current
Model Amount of voltage
PSMV-11HV 100 V/1 V
VDC DC link voltage
+24V
+5V
0V
Control power
4.1.2 Checking The Power Supply Voltages
Table 4.1.2 Checking the power supply voltages
Measurement item Check method
AC power line
voltage
Check on L1, L2, and L3 at terminal board TB2.
See Section 3.2.1.
Check on the check terminals.
Check terminal Rating
+24V - 0V 24 V 5%
+5V - 0V 5 V 5%
Control power
voltage
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
- 36 -
4.1.3 Checking The Status Leds
4.1.3.1 PSM, PSM-HV, and PSMV-HV
Position of the STATUS LEDs
STATUS
PIL
ALM
STATUS LEDs
No.
The LED that is on is
indicated in black.
Description
1 The PIL LED (power ON indicator) is off.
Control power has not been supplied.
The control power circuit is defective. See
Section 4.1.2.
2 PSM not ready
The main circuit is not supplied with power
(MCC OFF).
Emergency stop state
3 PSM ready
The main circuit is supplied with power
(MCC ON).
The PSM is operable.
4
Alarm code 01 or above is
indicated.
Alarm state
The PSM is not operable.
See Section 3.1 of Part II.
On
Off
PIL
ALM
PIL
ALM
PIL
ALM
PIL
ALM
4. CONFIRMATION OF
B-65165E/02 START-UP PROCEDURE THE OPERATION
- 37 -
4.1.3.2 PSMR
Position of the STATUS LEDs
STATUS
No. STATUS LEDs Description
1 The STATUS display LED is off.
Control power has not been supplied.
The control power circuit is defective. See
Section 4.1.2.
2 PSMR not ready
The main circuit is not supplied with power
(MCC OFF).
Emergency stop state
3 PSMR ready
The main circuit is supplied with power
(MCC ON).
The PSMR is operable.
4
Alarm code 02 or above is
indicated.
Alarm state
The PSMR is not operable.
See Section 3.1.3 of Part II.
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
- 38 -
4.1.4 The PIL LED (power ON indicator) Is Off.
Table 4.1.4 Check method and action
No. Cause of trouble Check method Action
1 AC power for the
control circuit not
supplied
Check that power is
connected to connector
CX1A.
2 Blown fuse in the
control circuit
Check whether F1 or F2
has blown. (PSM, PSM-
HV)
Check whether FU1 or FU2
has blown. (PSMV-HV)
For details on how to
replace fuses, see Chapter
4 of Part II.
(1) If the AC power input
for control is
connected to
connector CX1B by
mistake, F2 (FU2) may
blow. Connect the AC
power input to CX1A.
(2) Replace the fuse. If
the fuse blows again
after the replacement,
replace the printed
circuit board.
3 Incorrect wiring Check whether the 24-V
power output is short-
circuited and whether a
load exceeding the rating is
connected.
4 Faulty power
supply circuit on
the printed circuit
board
The power-on LED indicator
PIL operates on the +5-V
power supply. See
Subsection 4.1.2 to check
the control power voltage.
(1) Replace the PSM.
(2) Replace the printed
circuit board, driver
board, or power
distribution board.
4. CONFIRMATION OF
B-65165E/02 START-UP PROCEDURE THE OPERATION
- 39 -
4.1.5 Checking For What Keeps The Mcc From Being Switched On
(1) The system is still in an emergency stop status.
Check the connection to make sure that the emergency stop
signal connected to the PSM connector CX4 and the
emergency stop signal (such as *ESP) input to the CNC are
both released.
(2) There is a connector problem.
(a) No terminating connector is attached.
Check whether a terminating connector is attached to
JX1B of the SVM or SPM at the end of the connection
chain.
(b) The interface cable between JX1B of the power supply
module and JX1A of the SVM or SPM is defective.
Check whether the interface cable is faulty.
(3) The power for driving the magnetic contactor is not supplied.
Check the voltage across the both ends of the coil of the
magnetic contactor.
(4) The relay for driving the magnetic contactor is defective.
Check that a circuit between pins <1> and <3> of connector
CX3 is closed and opened.
PSM, PSMR
PSM-HV
PSMV-HV
MCC driving relay
CX3-<1>
CX3-<3>
Make sure that the contact
is closed and opened.
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
- 40 -
4.2 SERVO AMPLIFIER MODULE
Check each item according to the procedure described below.
Alarm occurs.
See Section 3.2 of Part II.
2. Check the STATUS LEDs. See Section 4.2.2.
1. Check the connection, and supply control power (200 VAC) to the power
supply module.
3. Check the CNC parameters (including servo parameters), and reset
emergency stop state.
Alarm occurs.
See Section 3.2 of Part II.
4. Check the operation of the servo motor.
Abnormal operation
Refer to the FANUC AC SERVO MOTOR
series Parameter Manual (B-65150E).
4. CONFIRMATION OF
B-65165E/02 START-UP PROCEDURE THE OPERATION
- 41 -
4.2.1 Check Pin Board
Use of the check pin board allows you to observe the signals inside the
servo amplifier.
(1) Specifications
Order specification Component Remarks
Printed circuit board: A20B-1005-0340 Printed circuit board with check pins A06B-6071-K290
Cable : A660-2042-T031#L200R0 20-conductor cable with a one-to-one
correspondence. Length: 200 mm
Printed circuit board: A20B-1005-0340
A20B-1005-0340
<5> <4> <3> <2> <1>
<10> <9> <8> <7> <6>
<15> <14> <13> <12> <11>
<20> <19> <18> <17> <16>
100 mm
34 mm
CN1 CN2
Cable: A660-2042-T031#L200R0
Approx. 200 mm
CN1 and CN2 are wired with a one-to-one correspondence.
The connector pin numbers correspond to the check pin numbers.
(2) Connection
Attach the cable to connector JX5 that is located on the front of
the SVM.
SVM
JX5
A20B-1005-0340
CN1
CN2
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
- 42 -
(3) Signal output
SVM designed for operation with the FSSB interface
Signal name
Pin No.
SVM1 SVM2 SVM3
Remarks
<1> CLR CLR CLR Clear signal of the control circuit(Note)
<2> +3.3V +3.3V +3.3V +3.3-V power (Variations in voltage level
within 5% are regarded as normal.)
<3> IRL IRL IRL Phase R motor current for the L axis
<4> ISL ISL ISL Phase S motor current for the L axis
<5> IRM IRM Phase R motor current for the M axis
<6> ISM ISM Phase S motor current for the M axis
0V 0V Reference voltage <7>
IRN Phase R motor current for the N axis
0V 0V Reference voltage <8>
ISN Phase S motor current for the N axis
<9> 0V 0V 0V Reference voltage
<10>
<11> +24V +24V +24V +24-V power
<12> +15V +15V +15V +15-V power
<13> -15V -15V -15V -15-V power
<14> +5V +5V +5V +5-V power
<15> ITL ITL ITL Phase T motor current for the L axis
<16>
<17> ITM ITM Phase T motor current for the M axis
<18>
0V 0V Reference voltage <19>
ITN Phase T motor current for the N axis
<20>
NOTE
Do not touch the clear signal of the control circuit;
otherwise, the servo amplifier may malfunction.
4. CONFIRMATION OF
B-65165E/02 START-UP PROCEDURE THE OPERATION
- 43 -
SVM designed for operation with the type A/B interface
Signal name
Pin No.
SVM1 SVM2 SVM3
Remarks
<1> CLR CLR CLR Clear signal of the control circuit(Note 1)
<2> 0V 0V 0V Reference voltage
<3> IRL IRL IRL Phase R motor current for the L axis
<4> ISL ISL ISL Phase S motor current for the L axis
<5> IRM IRM Phase R motor current for the M axis
<6> ISM ISM Phase S motor current for the M axis
0V 0V Reference voltage <7>
IRN Phase R motor current for the N axis
0V 0V Reference voltage <8>
ISN Phase S motor current for the N axis
<9> 0V 0V 0V Reference voltage
<10> 0V 0V 0V Reference voltage
<11> +24V +24V +24V +24-V power
<12> +15V +15V +15V +15-V power
<13> -15V -15V -15V -15-V power
<14> +5V +5V +5V +5-V power
<15> ITL ITL ITL Phase T motor current for the L axis
<16>
<17> ITM ITM Phase T motor current for the M axis
<18>
0V 0V Reference voltage <19>
ITN Phase T motor current for the N axis
<20>
NOTE
1 Do not touch the clear signal of the control circuit;
otherwise, the servo amplifier may malfunction.
2 Part of the signal may not be output depending on
the revision of the printed circuit board.
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
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(4) Observing the motor current
You can observe an instantaneous motor current value by
observing the voltage across a reference voltage (0 V) check pin
and a motor current check pin with an oscilloscope. Note that you
cannot use a device such as a multimeter to observe correct
values.
(Instantaneous motor current value) = (voltage at motor current
check pin) (factor for calculating motor current)
Calculation example:
When the voltage at a motor current check pin is 3.2 V, and
the factor for calculation is 3 A/V:
Actual motor current (A) = 3.2 V 3 A/V = 9.6 A
Limit of instantaneous motor
current value [A](Note 1)
Factor for calculating motor
current [A/V](Note 2)
2 0.5
4 1
12 3
20 5
40 10
60 15
80 20
130 32.5
240 60
320 80
360 90
NOTE
1 Limit of instantaneous motor current value
Values in in servo amplifier names indicate the
limits of instantaneous motor current values.
Single-axis amplifier: SVM1-
M axis
L axis
N axis
M axis
L axis
Double-axis amplifier: SVM2-
Triple-axis amplifier: SVM3-
2 The factor for calculating the motor current of an
SVM not listed in the above table can be obtained
from the model name of the servo amplifier as
follows:
Factor for calculating the motor current = (limit of
instantaneous motor current value) 4 V
4. CONFIRMATION OF
B-65165E/02 START-UP PROCEDURE THE OPERATION
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(4) Checking the power supply voltage
You can measure the voltage across a reference voltage (0V)
check pin and a power check pin with a multimeter, oscilloscope,
or the like to observe the power supply voltage for the control
circuit inside the servo amplifier. If the measured voltage is
within 5% relative to the nominal voltage, the measured voltage
can be considered to be acceptable.
Check pin Nominal voltage
+3.3V +3.3-V power
+24V +24-V power
+15V +15-V power
-15V -15-V power
+5V +5-V power
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
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4.2.2 Checking The STATUS Display
The STATUS display (a 7-segment LED) on the front of the SVM
indicates the operation status.
STATUS
STATUS display Description
The STATUS display LED is not on.
<1> Power is not turned on.
<2> Poor cable connection
Check the cable.
<3> The servo amplifier is defective.
Replace the fuse (F1) or servo amplifier.
The control power supply is waiting for a ready signal.
The servo amplifier is ready to operate.
The servo motor is supplied with power.
Alarm state
If an alarm is issued in the servo amplifier, a value other
than "0" and "-" is indicated on the STATUS display
LED. See Section 3.2 of Part II.
4. CONFIRMATION OF
B-65165E/02 START-UP PROCEDURE THE OPERATION
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4.2.3 VRDY-OFF Alarm Indicated on the CNC Screen
When the VRDY-OFF alarm is indicated on the CNC, check the items
listed below. In addition to these causes, there are other possible
causes of VRDY-OFF. If the problem still exists after the following
items are checked, contact your FANUC service representative.
(1) Interface between modules
(a) Is a terminating dummy connector for the interface between
modules (JX1A, JX1B) attached to JX1B of the module (an
SVM or SPM) at the end of the connection chain?
(2) Emergency stop signal (ESP)
(a) Has the emergency stop signal (connector: CX4) applied to
the PSM been released? Alternatively, is the signal
connected correctly?
(b) Is the emergency stop signal line (pin 3 of connectors CX2A
and CX2B) between the PSM and SVM or SPM connected
correctly?
(3) MCON signal
(a) Has the ready command signal MCON been sent from the
CNC to SVM?
Check for poor contact in the command cable between the
CNC and SVM.
Use the servo check pin board to check the signal level.
(b) For the multi-axis amplifier, is the MCON signal sent to all
axes?
(4) External MCC
(a) Is the external MCC connected correctly and is there any
problem in the external MCC itself?
(5) Timing of turning on the power to the CNC (200 VAC, single
phase) and the PSM control power (200 VAC, single phase)
(a) Was the power to the CNC turned on at the same time when,
or after, the power for PSM control was turned on?
(6) Is there an unused axis in a multi-axis amplifier?
(a) Is a dummy connector inserted in the amplifier?
(b) Are CNC parameters set correctly?
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
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4.2.4 Servo Check Board
The servo check board receives the digital value used for control inside
the digital servo as numerical data and converts it to an analog form.
For details on how to connect and use the servo check board, refer to
the following:
FANUC AC SERVO MOTOR series Parameter Manual B-
65150E/04 or later editions
4. CONFIRMATION OF
B-65165E/02 START-UP PROCEDURE THE OPERATION
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4.3 SPINDLE AMPLIFIER MODULE
Check each item according to the procedure described below.
9. Check the operation in normal operation mode (S command).
8. Make sure that the magnetic contactor for PSM input is turned on.
See Section 4.1.
7. Release the system from the emergency stop state.
6. Check the waveform on the detector. See Subsection 4.3.4.
5. Set and check spindle-related parameters. (The parameter manual
is required.)
No Yes
4. Prepare and check a PMC ladder. (The descriptions manual is
required.)
3. Has the system been used with this connection status?
OK Alarm issued.
See Section 3.4 of Part II.
2. Check the STATUS display. See Subsection 4.3.1.
1. Supply control power (200 VAC) to the PSM, and turn on the power
to the CNC.
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
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4.3.1 STATUS Display
PIL
ALM
ERR
STATUS
No. ALM ERR STATUS Description
1. No
indication
The PIL LED (power ON indicator) is off.
The control power supply has not been
switched on.
The power supply circuit is defective. See
Section 3.1.2.
2. 20

For about 1.0 s after the control power

supply is switched on, the lower two digits of
the ROM series No. are indicated.
Example) 20: ROM series No. 9D20
3. 04 The ROM edition number is displayed for
about 1.0 s. 01, 02, 03, and so on
correspond to A, B, C, and so on,
respectively.
Example) 04: ROM edition D
4. --
Blinking
The CNC has not been switched on.
The machine is waiting for serial
communication and parameter loading to
end.
5. --
Lighting
Parameter loading has ended.
The motor is not supplied with power.
6. 00 The motor is supplied with power.
7. Lighting 01 or
above is
displayed.
Alarm state
The SPM is not operable.
See Section 3.4 of Part II.
8. Lighting 01 or
above is
displayed.
Error state
Incorrect parameter setting or improper
sequence.
See Section 4.3.3 of Part II.
The PIL lamp is always on while the control power is being supplied.
4. CONFIRMATION OF
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4.3.2 Troubleshooting at Startup
4.3.2.1 The PIL LED (power-on indicator) is off.
(1) When the PIL LED on the spindle amplifier module does not
come on after the main circuit breaker is turned on
No. Cause of trouble Check method Action
1 The 200-V control power is not
supplied.
The PSM PIL lamp is off. Check the cable attached to
CX1A of PSM.
2 The cable attached to
connector CX2A/B is
defective.
The PSM PIL lamp is on. Check the cabling.
3 The power is externally
connected to 0 V, GND, or the
like.
When all connectors except
connector CX2A/B are
detached, the PIL lamp is on.
Replace or repair the cable.
4 There is a blown fuse on the
printed circuit board.
(A06B-6102-Hxxx, 6104-Hxxx)
If the fuse blows, the printed
circuit board may be faulty.
Replace the SPM.
5 The printed circuit board is
defective.
Even when all cables except
the cable attached to
connector CX2A/B are
detached, the PIL lamp does
not come on.
Replace the SPM.
4.3.2.2 The STATUS display is blinking with "--."
(1) When no spindle communication alarm message is indicated on
the CNC
Check whether the CNC software option setting or bit setting is
correct.
(2) When a communication alarm message is indicated on the CNC
No. Cause of trouble Check method Action
1 The SPM switch setting is
incorrect.
For A06B-6072-Hxxx, A06B-
6078-H215 to H230, and
A06B-6078-H315 to H330 only
When a second SPM is
connected, switch S1 is set to
ON.
When no other SPM is
connected, switch S1 is set to
OFF.
Correct the switch setting.
2 The cable is incorrect. Note that the cable used for
connecting an electric/optical
adapter and the cable
connected directly to the CNC
differ in specifications.
Replace the cable with a
correct cable.
3 The cable is defective. Check whether the cable is
broken.
Check for short-circuit in the
connector.
Repair or replace the cable.
4 The printed circuit board is
defective.
Replace the SPM.
4. CONFIRMATION OF
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4.3.2.3 The motor does not turn.
(1) When "--" is indicated on the STATUS display of the SPM
Check whether spindle control signals are input. (An example for
the first spindle is given below.)
FS0 FS15 FS16 #7 #6 #5 #4 #3 #2 #1 #0
G229 G227 G070 MRDYA SFRA SRVA
G230 G226 G071 *ESPA
(2) When "00" is indicated on the STATUS display of the SPM
No spindle speed command is input.
Refer to "FANUC AC SPINDLE MOTOR series
Parameter Manual," and check related parameters.
(3) When an alarm number is indicated on the SPM
See the description of the alarm number in Section 3.4 of Part II.
4.3.2.4 A specified speed cannot be obtained.
(1) When the speed always differs from a specified speed
Check parameters.
Refer to "FANUC AC SPINDLE MOTOR series
Parameter Manual," and check related parameters.
(2) When an alarm number is indicated on the SPM
See the description of the alarm number in Section 3.4 of Part II.
4. CONFIRMATION OF
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4.3.2.5 When cutting is not performed, the spindle vibrates, making
noise.
(1) The spindle vibrates only when the spindle speed has reached or is
at a particular speed level.
Check whether the spindle also vibrates when the motor is turning
by inertia. If noise is unchanged, investigate the source of
mechanical vibration. There are several methods to turn the
spindle by inertia as explained below. Because these methods
involve machine sequences, consult with the machine tool
builder.
A. Setting spindle control signal MPOF (FS16 for the first
spindle: G73#2, FS15 for the first spindle: G228#2) to 1
immediately causes the spindle to turn by inertia.
B. Set ALSP (FS16: bit 2 of parameter No. 4009, FS15 for the
first spindle: bit 2 of parameter No. 3009) to 1. Then, when
the power to the CNC is turned off during spindle rotation,
the spindle turns by inertia. (On the spindle amplifier
module, alarm 24 is indicated.)
(2) When noise is generated at the time the motor is stopped or at any
time
A. See Subsection 4.3.4 of this part, and check and adjust the
waveform of the spindle sensor.
B. Check that the motor part number matches its parameters.
For details, refer to "FANUC AC SPINDLE MOTOR
series Parameter Manual."
C. Adjust the velocity loop gain and so forth.
For details, refer to "FANUC AC SPINDLE MOTOR
series Parameter Manual."
4.3.2.6 An overshoot or hunting occurs.
Refer to "FANUC AC SPINDLE MOTOR series Parameter
Manual," and adjust parameters.
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
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4.3.2.7 Cutting power weakens or acceleration/deceleration slows
down.
(1) When the load meter does not indicate the maximum output
A. A mechanical element such as a belt slip may occur.
(2) When the load meter indicates the maximum output
A. Check whether the torque limit signal is input incorrectly.
(An example for the first spindle is given below.)
FS0 FS15 FS16 #7 #6 #5 #4 #3 #2 #1 #0
G229 G227 G070 TLMHA TLMLA
B. Check that the motor part number matches its parameters.
For details, refer to "FANUC AC SPINDLE MOTOR
series Parameter Manual."
C. Check whether the output limit pattern is set incorrectly.
For details, refer to "FANUC AC SPINDLE MOTOR
series Parameter Manual."
4. CONFIRMATION OF
B-65165E/02 START-UP PROCEDURE THE OPERATION
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4.3.3 Status Error Indication Function
When there is a sequence or parameter error, the error LED (yellow) in
the display section of the spindle amplifier module (SPM) goes on with
an error code displayed. This can ease troubleshooting at the time of
machine startup.
The error LED
(yellow) lights.
An error code is indicated. (from 01)
status
When the spindle amplifier module does not operate for a certain
function, check whether the status error is indicated. The status error
number does not appear on the CNC screen.
No. Description Action
01 Although neither *ESP (emergency
stop signal) (there are two types of
signals, a PMC signal and PSM contact
signal) nor MRDY (machine ready
signal) has been input, SFR (forward
rotation signal), SRV (reverse rotation
signal), or ORCM (orientation
command) is input.
Check the *ESP and MRDY
sequences. (For MRDY, pay
attention to the parameter that
specifies whether to use the
MRDY signal (FS16i: bit 0 of
parameter No. 4001).)
02 When the spindle motor is equipped
with a high-resolution magnetic pulse
coder (Cs sensor) (FS16i: bits 6 and 5
of parameter No.4001 = 0, 1), 128 /rev
must be set for the speed detector
(FS16i: bits 2, 1, and 0 of parameter
No. 4011 = 0, 0, 1). However, other
than 128 /rev is set. In this case, the
motor is not activated.
Check the speed detector
parameter of the spindle motor
(FS16i: bits 2, 1, and 0 of
parameter No. 4011).
03 Although the use of a high-resolution
magnetic pulse coder (FS16i: bit 5 of
parameter No. 4001 = 1) or the use of
the Cs contour control function by the
sensor (FS16i: bit 4 of parameter No.
4018 = 1) is not specified, a Cs control
command is input. In this case, the
motor is not activated.
Check the parameters of the
detector for Cs contour control
(FS16i: bit 5 of parameter No.
4001 and bit 4 of parameter No.
4018).
04 Although the parameter for using the
position coder signal (FS16i: bit 2 of
parameter No. 4001 = 1) is not set, a
command for servo mode (rigid tapping
or spindle positioning) or spindle
synchronization is input. In this case,
the motor is not activated.
Check the parameter of the
position coder signal (FS16i: bit 2
of parameter No. 4001).
05 Although no orientation option is set, an
orientation command (ORCM) is input.
Check the software option for
orientation.
(Continued)
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
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No. Description Action
06 Although no output switching option is
set, low-speed winding is selected
(RCH = 1).
Check the software option for
spindle output switching and the
power line status signal (RCH).
07 Although Cs contour control mode is
specified, neither SFR nor SRV is input.
Check the sequence (CON, SFR,
and SRV).
08 Although servo mode (rigid tapping or
spindle positioning) is specified, neither
SFR nor SRV is input.
Check the sequence (SFR and
SRV).
09 Although spindle synchronization mode
is specified, neither SFR nor SRV is
input.
Check the sequence (SPSYC,
SFR, and SRV).
10 In Cs contour control mode, another
operation mode (servo mode, spindle
synchronization, or orientation) is
specified.
Do not specify another operation
mode during execution of the Cs
contour control command. Before
entering another mode, cancel the
Cs contour control command.
11 In servo mode (rigid tapping or spindle
positioning), another operation mode
(Cs contour control, spindle
synchronization, or orientation) is
specified.
Do not specify another operation
mode during execution of the
servo mode command. Before
entering another mode, cancel
servo mode.
12 During spindle synchronization,
another operation mode (Cs contour
control, servo mode, or orientation) is
specified.
Do not specify another operation
mode during execution of the
spindle synchronization
command. Before entering
another mode, cancel the spindle
synchronization command.
13 When an orientation specification is
specified, another operation mode (Cs
contour control, servo mode, or
synchronization control) is specified.
Do not specify another operation
mode during execution of the
orientation command. Before
entering another mode, cancel the
orientation command.
14 The SFR signal and SRV signal are
input at the same time.
Input one of the SFR and SRV
signals.
15 Although the parameter to use the
differential mode function (FS16i: bit 5
of parameter No. 4000 = 1) is set, Cs
axis contour control is specified.
Check the setting of the
parameter (FS16i: bit 5 of
parameter No. 4000) and the PMC
signal (CON).
16 Although the parameter not to use the
differential mode function (FS16i: bit 5
of parameter No. 4000 = 0) is set, a
differential speed mode command
(DEFMD) is input.
Check the setting of the
parameter (FS16i: bit 5 of
parameter No. 4000) and the PMC
signal (DEFMD).
17 The parameter settings for the speed
detector (FS16i: bits 2, 1, and 0 of
parameter No. 4011) are invalid.
(There is no speed detector that
matches the settings.)
Check the parameter settings
(FS16i: bits 2, 1, and 0 of
parameter No. 4011).
4. CONFIRMATION OF
B-65165E/02 START-UP PROCEDURE THE OPERATION
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(Continued)
No. Description Action
18 Although the parameter not to use the
position coder signal (FS16i: bit 2 of
parameter No. 4001 = 0) is set, a
position coder orientation command
(ORCMA) is input.
Check the parameter setting
(FS16i: bit 2 of parameter No.
4001) and the PMC signal
(ORCM).
19 During magnetic sensor orientation,
another operation mode is specified.
Do not specify another operation
mode during execution of the
orientation command. Before
entering another mode, cancel the
orientation command.
20 When the use of the slave operation
mode function (FS16i: bit 5 of
parameter No. 4014 = 1) is set, the use
of a high-resolution magnetic pulse
coder (FS16i: bit 5 of parameter No.
4001 = 1) or the use of the Cs contour
control function by the sensor (FS16i:
bit 4 of parameter No. 4018 = 1) is set.
These settings cannot be made at the
same time.
Check the parameter settings
(FS16i: bit 5 of parameter No.
4001, bit 5 of parameter No. 4014,
and bit 4 of parameter No. 4018).
21 During position control (such as servo
mode and orientation), a slave
operation mode command (SLV) is
input.
Input the slave operation mode
command (SLV) in normal
operation mode.
22 In slave operation mode (SLVS = 1), a
position control command (such as
servo mode and orientation) is input.
Input the position control
command in normal operation
mode.
23 Although the parameter not to use the
slave operation mode function (FS16i:
bit 5 of parameter No. 4014 = 0) is set,
the slave operation mode command
(SLV) is input.
Check the parameter setting
(FS16i: bit 5 of parameter No.
4014) and the PMC signal (SLV).
24 After orientation is performed in
incremental mode (INCMD = 1) first, an
absolute position command (INCMD =
0) is input next.
Check the PMC signal (INCMD).
Perform an absolute position
command orientation first.
25 Although the spindle amplifier is not
SPM type 4, the use of the Cs contour
control function by the sensor (FS16i:
bit 4 of parameter No. 4018 = 1) is set.
Check the spindle amplifier
specification and parameter
setting (FS16i: bit 4 of parameter
No. 4018).
4. CONFIRMATION OF
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4.3.4 Checking The Feedback Signal Waveform
First, refer to Subsection 9.2.3 of "FANUC SERVO AMPLIFIER
series Descriptions" (B-65162E), and make sure that the spindle
sensors and other detectors are connected at the correct points. Next,
see the table given below to find the corresponding check terminal
names on the check board from the sensor connector connection points.
Do not observe feedback signals before the parameters for the detectors
that are set. Phase A, B, and Z signals may not be output correctly until
the parameters are loaded from the CNC.
Signals input to the SPM and corresponding check terminals on the
check board
(1) SPM type 1, type 2, and type 4
SPM input
connector
Connector pin
signal
Check
terminal name
Main sensors Remarks
Phase A: pin 5, 6
Phase B: pin 7, 8
PA1
PB1
M, MZ, and BZ sensors
Low resolution side of the high-resolution
magnetic pulse coder (128 to 384 )
Phase A: pin 3, 4
Phase B: pin 17, 19
PA4
PB4
High resolution side of the high-resolution
magnetic pulse coder (1000 to 3000 )
For type 2 only
JY2
Phase Z: pin 1, 2 PS1 MZ and BZ sensors (one-rotation signal)
pin 18 EXTSC1 Proximity switch (external one-rotation signal)
pin 1, 3 LSA1 Magnetic sensor (LSA signal)
JY3
pin 5, 14 MSA1 Magnetic sensor (MSA signal) *1
Phase A: pin 5, 6
Phase B: pin 7, 8
PAD
PBD
position coder (1024 p)
Low resolution side of the high-resolution
position coder (1024 p)
Parameter setting
Phase A: pin 3, 4
Phase B: pin 17, 19
PA3
PB3
High resolution side of the high-resolution
position coder (3000 )
For type 2 only
JY4
Phase Z: pin 1, 2 PSD position coder (one-rotation signal)
High-resolution position coder (one-rotation
signal)
Parameter setting
Phase A: pin 5, 6
Phase B: pin 7, 8
PA2
PB2
M, MZ, and BZ sensors
Low resolution side of a high-resolution
magnetic pulse coder (128 to 384 )
position coder S (1024 )
For types 2 and 4
only
Phase A: pin 3, 4
Phase B: pin 17, 19
PA3
PB3
High resolution side of a high-resolution
magnetic pulse coder (1000 to 3000 )
For type 2 only
Phase Z: pin 1, 2 PS2 MZ and BZ sensors (one-rotation signal) For type 4 only
JY5
Phase Z: pin 1, 2 PSD position coder S (one-rotation signal)
High-resolution magnetic pulse coder (one-
rotation signal)
Parameter setting
*1 This check terminal is provided for A20B-1005-0740 only. With
A20B-2001-0830, MSA is observed on CH1 or CH2.
Only for SMPs of which the specification is A06B-6078-H315 to 330
JY6 Phase A: pin 5, 6
Phase B: pin 7, 8
PA2
PB2
M, MZ, and BZ sensors For type 2 only
4. CONFIRMATION OF
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(2) SPM type 3
SPM input
connector
Connector pin
signal
Check
terminal name
Main sensors Remarks
Phase A: pin 5, 6
Phase B: pin 7, 8
PA1
PB1
M, MZ, and BZ sensors Main side JY2
Phase Z: pin 1, 2 PS1 MZ and BZ sensors (one-rotation signal) Main side
Phase A: pin 5, 6
Phase B: pin 7, 8
PA2
PB2
M, MZ, and BZ sensors Sub side JY6
Phase Z: pin 1, 2 PS2 MZ and BZ sensors (one-rotation signal) Sub side
Phase A: pin 5, 6
Phase B: pin 7, 8
and
Phase A: pin 5, 6
Phase B: pin 7, 8
PAD
PBD
position coder (1024 p) When the main side
is selected by
spindle switching
control, signals are
output on JY4.
When the sub side
is selected, signals
are output on JY8.
Parameters must be
set correctly.
JY4 or
JY8
Phase Z: pin 1, 2
and
Phase Z: pin 1, 2
PSD position coder (one-rotation signal) When the main side
is selected by
spindle switching
control, signals are
output on JY4.
When the sub side
is selected, signals
are output on JY8.
Parameters must be
set correctly.
pin 18 EXTSC1 Proximity switch (external one-rotation signal) Main side
pin 1, 3 LSA1 Magnetic sensor (LSA signal) Main side
JY3
pin 5, 14 MSA1 Magnetic sensor (MSA signal) Main side(*1)
For A20B-1005-
0740 only
pin 18 EXTSC2 Proximity switch (external one-rotation signal) Sub side
pin 1, 3 LSA2 Magnetic sensor (LSA signal) Sub side
JY7
pin 5, 14 MSA2 Magnetic sensor (MSA signal) Sub side(*1)
For A20B-1005-
0740 only
*1 With A20B-2001-0830, MSA is observed on CH1 or CH2.
4. CONFIRMATION OF
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4.3.4.1 M sensor
Measurement
location
Measurement
condition
Sample waveform
Input on JY2 side
PA1, PB1
For sub side
selected by spindle
switching:
Input on JY6 side
PA2, PB2
The speed must be
1500 min
-1
or less.
PA1 (PA2)
PB1 (PB2)
Vpp
Voffs
0 V
Waveforms of phase
A and phase B
For the SPM type 4 or SPM of which the specification is A06B-6102-Hxxx#H520 or A06B-6104-Hxxx#H520
Measurement item Specification Measurement method Adjustment method
Vpp 0.36 to 0.50 Vp-p Adjustment is normally unnecessary.
Voffs 2.5 V 100 mV Use the DC range of a digital
voltmeter.
Level check is possible, but
adjustment is not possible.
For SPMs other than the above
Measurement item Specification Measurement method Adjustment method
Vpp 0.64 to 0.90 Vp-p Adjustment is normally unnecessary.
Voffs 2.5 V 90 mV Use the DC range of a digital
voltmeter.
Level check is possible, but
adjustment is not possible.
4. CONFIRMATION OF
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4.3.4.2 MZ and BZ sensors
Measurement
location
Measurement
condition
Sample waveform
Input on JY2 side
PA1, PB1
For SPM type 4:
Input on JY5 side
PA2, PB2
For sub side
selected by spindle
switching:
Input on JY6 side
PA2, PB2
The speed must be
1500 min
-1
or less.
Rotation direction: CW
Detection gear
Motor
CW
PA1 (PA2)
PB1 (PB2)
Vpp
Vphase
Voffs
0 V
Waveforms of phase
A and phase B
Vrip
PA1, PB1 (PA2, PB2)
Ripples of phase A and
phase B
(Z - *Z)
Voffz
0 V
Vpz
Waveform of
phase Z
For the SPM type 4 or SPM of which the specification is A06B-6102-Hxxx#H520 or A06B-6104-Hxxx#H520
Measurement item Specification Measurement method Adjustment method
Vpp 0.5 to 1.2 Vp-p
Voffs, Voffz 2.5 V 100 mV Use the DC range of a digital
voltmeter.
Vphase 90 3
Vrip < 70 mV
Vpz > 1.0 V
Normally, the MZ sensor need not be
adjusted. For Voffs and Voffz, only
level check is possible, but
adjustment is not possible.
For SPMs other than the above
Measurement item Specification Measurement method Adjustment method
Vpp 0.66 to 0.93 Vp-p
Voffs, Voffz 2.5 V 272 mV Use the DC range of a digital
voltmeter.
Vphase 90 3
Vrip < 70 mV
Vpz > 1.0 V
Normally, the MZ sensor need not be
adjusted. For Voffs and Voffz, only
level check is possible, but
adjustment is not possible.
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
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4.3.4.3 MZ sensor for 0.5 (A06B-0866-B390) (old specification)
Measurement
location
Measurement
condition
Sample waveform
Input on JY2 side
PA1, PB1
For sub side
selected by spindle
switching:
Input on JY6 side
PA2, PB2
The speed must be
1500 min
-1
or less.
Rotation direction: CW
Detection gear
Motor
CW
PA1 (PA2)
PB1 (PB2)
Vpp
Vphase
Voffs
0 V
Waveforms of phase
A and phase B
(Z - *Z)
Voffz
0 V
Vpz
Waveform of
phase Z
For the SPM type 4 or SPM of which the specification is A06B-6102-Hxxx#H520 or A06B-6104-Hxxx#H520
Measurement item Specification Measurement method Adjustment method
Vpp 0.5 to 1.2 Vp-p
Voffs,Voffz 2.5 V 100 mV Use the DC range of a digital
voltmeter.
Vphase 90 3
Vpz > 1.0 V
Normally, the MZ sensor need not be
adjusted. For Voffs and Voffz, only
level check is possible, but
adjustment is not possible.
For SPMs other than the above
Measurement item Specification Measurement method Adjustment method
Vpp 0.50 to 1.45 Vp-p
Voffs 2.5 V 295 mV Use the DC range of a digital
voltmeter.
Voffz 2.5 V 500 mV Use the DC range of a digital
voltmeter.
Vphase 90 3
Vpz > 2.0 V
Normally, the MZ sensor need not be
adjusted. For Voffs and Voffz, only
level check is possible, but
adjustment is not possible.
4. CONFIRMATION OF
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4.3.4.4 High-resolution magnetic pulse coder
After mounting a high-resolution magnetic pulse coder on the machine,
check waveforms. If a measurement value exceeds the specified range,
adjustment is required.
After mounting the sensor, you should check waveforms before
installing components such as a pulley, drawbar, and brake to make
adjustment easier.
(1) Adjusting check pins on the preamplifier
Signal on the low-resolution side 128 to 384
Measurement
location
Measurement
condition
Sample waveform
Check pins A3 and
B3 on the
preamplifier
The speed must be 500
min
-1
or less.
Rotation direction: CW
Detection gear
Motor
CW
A3
B3
Vpp
Voffs
0 V
Waveforms of phase
A and phase B
Signal on the high-resolution side 1000 to 3000
Measurement
location
Measurement
condition
Sample waveform
Check pins A1 and
B1 on the
preamplifier
The speed must be 500
min
-1
or less.
Rotation direction: CW
Detection gear
Motor
CW
A1
B1
Vpp2
Voffs2
0 V
Waveforms of phase
A and phase B
Measurement item Specification Measurement method Adjustment method
Vpp 0.36 to 0.50 Vp-p Adjust potentiometers A3G and B3G
on the preamplifier.
Vpp2 0.80 to 1.0 Vp-p Adjust potentiometers A1G and B1G
on the preamplifier.
Voffs 2.5 V 50 mV Use the DC range of a digital
voltmeter.
Adjust potentiometers A3O and B3O
on the preamplifier.
Voffs2 2.5 V 10 mV Use the DC range of a digital
voltmeter.
Adjust potentiometers A1O and B1O
on the preamplifier.
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
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One-rotation signal
Measurement
location
Measurement
condition
Sample waveform
Check pin Z on the
preamplifier
The speed must be 500
min
-1
or less.
Z
Z2
2.5 V (VRM)
0 V
Waveform of
phase Z
Z1
Measurement item Specification Measurement method Adjustment method
Z1, Z2 Z1 > 60 mV
Z2 > 60 mV
Adjust potentiometer ZO on the
preamplifier so that the value of Z1
and that of Z2 are almost the same.
4. CONFIRMATION OF
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(2) Adjusting check pins on the check board
For the high-resolution magnetic pulse coder built into the motor,
waveforms are factory-adjusted. If a waveform exceeds a
specified value, however, adjust potentiometers on the
preamplifier.
Signal on the low-resolution side 128 to 384
Measurement
location
Measurement
condition
Sample waveform
Input on JY2 side
PA1, PB1
Input on JY5 side
PA2, PB2
The speed must be 500
min
-1
or less.
Rotation direction: CW
Detection gear
Motor
CW
PA2 (PA1)
PB2 (PB1)
Vpp
Voffs
0 V
Waveforms of phase
A and phase B
Signal on the high-resolution side 1000 to 3000
Measurement
location
Measurement
condition
Sample waveform
Input on JY2 side
PA4, PB4
Input on JY5 side
PA3, PB3
The speed must be 500
min
-1
or less.
Rotation direction: CW
Detection gear
Motor
CW
PA3 (PA4)
PB3 (PB4)
Vpp2
Voffs2
0 V
Waveforms of phase
A and phase B
For the SPM type 4 or SPM of which the specification is A06B-6102-Hxxx#H520 or 6104-Hxxx#H520
Measurement item Specification Measurement method Adjustment method
Vpp 0.36 to 0.50 Vp-p Adjust potentiometers A3G and B3G
on the preamplifier.
Vpp2 0.80 to 1.0 Vp-p Adjust potentiometers A1G and B1G
on the preamplifier.
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
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For the SPM type 2
Measurement item Specification Measurement method Adjustment method
Vpp 0.86 to 1.20 Vp-p Adjust potentiometers A3G and B3G
on the preamplifier.
Vpp2 1.20 to 1.51 Vp-p Adjust potentiometers A1G and B1G
on the preamplifier.
Voffs 2.5 V 24 mV Use the DC range of a digital
voltmeter.
Adjust potentiometers A3O and B3O
on the preamplifier.
Voffs2 2.5 V 15 mV Use the DC range of a digital
voltmeter.
Adjust potentiometers A1O and B1O
on the preamplifier.
NOTE
Adjust the one-rotation signal while checking the
waveform on the preamplifier.
4. CONFIRMATION OF
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4.3.5 Spindle Check Board
When connecting the check board, you can:
<1> Observe signal waveforms.
<2> Observe internal data.
4.3.5.1 Spindle check board specifications
There are two types of spindle check boards: Check boards for the
series and for the D series. These types of check boards are not
compatible. Select a spindle check board according to the drawing
number of the SPM used.
Items that vary depending on the type of check board are described
separately by indicating the printed circuit board drawing numbers of
check boards.
Table 4.3.5.1 Spindle check board specifications
Specification
Drawing No. of
printed circuit board
Applicable SPM
A06B-6078-H001 A20B-2001-0830 series (all series after CE-marked products, and part
of series before CE-marked products)
TYPE1, TYPE4
A06B-6078-H102#H500, -H106#H500, -H111#H500
A06B-6078-H202#H500, -H206#H500, -H211#H500
A06B-6088-H2**#H500, H1**#H500
A06B-6092-H2**#H500, H1**#H500
A06B-6102-H2**#H520, H1**#H520
A06B-6104-H2**#H520, H1**#H520
TYPE2
A06B-6078-H302#H500, -H306#H500, -H311#H500
A06B-6088-H3**#H500
A06B-6092-H3**#H500
TYPE3
A06B-6088-H4**#H500
C series
A06B-6082-Hxxx#H510, 511, 512
A06B-6072-H051 A20B-1005-0740 series (part of series before CE-marked products)
TYPE1
A06B-6078-H215#H500, -H222#H500, -H226#H500,
-H230#H500
TYPE2
A06B-6078-H315#H500, -H322#H500, -H326#H500,
-H330#H500
TYPE3
A06B-6078-H411#H500, -H415#H500, -H422#H500,
-H426#H500, -H430#H500
D series (all series)
4. CONFIRMATION OF
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4.3.5.2 Check board connection
(1) A06B-6078-H001 (A20B-2001-0830)
JY1B JX4B
JY1A JX4A
JX4
Spindle check
board
A20B-2001-0830
Output equivalent to JX4
Output equivalent to JY1
SPM
JY1 JY1
JY1B JX4B
JY1A JX4A
Spindle check
board
A20B-2001-0830
Output equivalent
to JY1
SPMC
SPM-HV
(2) A06B-6072-H051 (A20B-1005-0740)
JY1B
JY1A JX4A
JX4
Spindle check
board
A20B-1005-0740
Output equivalent
to JY1
SPM
JY1
4. CONFIRMATION OF
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4.3.5.3 Check terminal output signals
(1) A06B-6078-H001 (A20B-2001-0830) check terminal output
signals
Check terminal Signal name Check terminal Signal name
LM Load meter signal PA1 Phase A sine wave signal 1
SM Speed meter signal PB1 Phase B sine wave signal 1
CH1 Analog output for internal data
observation
(Phase U current: IU. See 4.3.6.8 (3).)
PS1 Phase Z sine wave signal 1
CH2 Analog output for internal data
observation
(Motor speed TSA: 1638 min
-1
/V)
PA2 Phase A sine wave signal 2
CH1D Output for internal data bit observation PB2 Phase B sine wave signal 2
CH2D Output for internal data bit observation PS2 Phase Z sine wave signal 2
VRM Sensor reference voltage PA3 Phase A sine wave signal 3
LSA1 Magnetic sensor output LSA signal
(main)
PB3 Phase B sine wave signal 3
EXTSC1 External one-rotation signal (main) PA4 Phase A sine wave signal 4
LSA2 Magnetic sensor output LSA signal (sub) PB4 Phase B sine wave signal 4
EXTSC2 External one-rotation signal (sub) OVR2 Analog override command
PAD Phase A of position coder signal output 15V +15 VDC power check
PBD Phase B of position coder signal output 5V +5 VDC power check
PSD Phase Z of position coder signal output -15V -15 VDC power check
GND 0 V
Check terminal arrangement
LM
LSA2
SM
EXTSC2
VRM
0V
PA2
PB2
PS2
0V
PAD
PBD
PSD
5V
15V
-15V
PIL
Operation
buttons
Display
CH1
CH1D
CH2
0V
PA1
PB1
PS1
0V
LSA1
EXTSC1
CH2D
PA3
PB3
PA4
PB4
OVR2
DOWN
DATA
SET
UP MODE
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
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(2) A06B-6072-H051 (A20B-1005-0740) check terminal output
signals
Check terminal Signal name Check terminal Signal name
LM Load meter signal PA1 Phase A sine wave signal 1
SM Speed meter signal PB1 Phase B sine wave signal 1
IU Phase U current(*1) PS1 Phase Z sine wave signal 1
IV Phase V current(*1) PA2 Phase A sine wave signal 2
VDC DC link voltage PB2 Phase B sine wave signal 2
VRM Sensor reference voltage PS2 Phase Z sine wave signal 2
MSA1 Magnetic sensor output MSA signal
(main)
PA3 Phase A sine wave signal 3
LSA1 Magnetic sensor output LSA signal
(main)
PB3 Phase B sine wave signal 3
EXTSC1 External one-rotation signal (main) PA4 Phase A sine wave signal 4
MSA2 Magnetic sensor output MSA signal
(sub)
PB4 Phase B sine wave signal 4
LSA2 Magnetic sensor output LSA signal (sub) OVR2 Analog override command
EXTSC2 External one-rotation signal (sub) 24V +24 VDC power check
PAD Phase A of position coder signal output 15V +15 VDC power check
PBD Phase B of position coder signal output 5V 5 VDC power check
PSD Phase Z of position coder signal output GND 0 V
Check terminal arrangement
LM
LSA2
SM
MSA2
VRM
0V
PA2
PB2
PS2
0V
EXTSC2
PBA
PBB
PSB
PA4
PB4
PIL
Operation
buttons
Display
IU
IV
VDC
0V
PA1
PB1
PS1
0V
LSA1
MSA1
EXTSC1
PA3
PB3
5V
15V
24V
OVR2
DATA
SET
DOWN
UP MODE

*1 The value measured on the IU pin
corresponds to the actual current as follows:
Model Conversion value (A/V)
SPM-15 50
SPM-22 66.7
SPM-26 100
SPM-30 133
4. CONFIRMATION OF
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4.3.6 Observing Data Using the Spindle Check Board
4.3.6.1 Overview
By using the check board, you can convert digital signals used for
control in the spindle amplifier module to analog voltage, and observe
the conversion result with an oscilloscope. The internal data can be
indicated also with the five-digit display.
A20B-2001-0830
This model has two analog output channels (CH1 and CH2) at
which the internal data (with output of -5 V to +5 V) can be
observed. It also has CH1D and CH2D at which specific bits such
as data bits can be observed.
A20B-1005-0740
This model outputs internal data (output of 0 to 11 V) at terminals
LM and SM using the analog output circuit for the load meter (LM)
and speedometer (SM).
4.3.6.2 Major characteristics
Item A20B-2001-0830 A20B-1005-0740
Measurement point CH1, CH2 CH1D, CH2D LM, SM
Output voltage
range
-5 to +5 V H: 2 Vmin
L: 0.8 Vmax
0 to 11 V
Resolution About 39 mV
(10 V/256)
- About 43 mV(11 V/256)
Output impedance 10 kmax 10 kmax 10 kmax
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
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4.3.6.3 Observation method
By setting data using four DIP switches on the check board, you can
output internal data to the five-digit display, analog voltage output
circuit, channels 1 and 2 (LM and SM or CH1 and CH2).
Data on channels 1 and 2 is the one from an 8-bit D/A convertor.
The correspondence between channel 1/2 and the check terminal is
listed below.
Check terminal
Measurement point
A20B-2001-0830 A20B-1005-0740
Channel 1 CH1
CH1D, data bit 0
LM
Channel 2 CH2
CH2D, data bit 0
SM
NOTE
When using printed-circuit board A20B-1005-0740,
set DIP switches S2 and S3 on the spindle amplifier
module front panel to OFF. After observation, set
them to ON.
This operation is not necessary when you use
printed-circuit board A20B-2001-0830.
DIP switch ON position OFF position
S2, S3 Output voltage is
filtered out.
Output voltage is not
filtered out.
4. CONFIRMATION OF
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4.3.6.4 Specifying data to be monitored
<1> Press the four setting switches at the same time for at least a
second ."FFFFF" will be displayed on the indicator.
<2> Turn off the switches and press the "MODE" switch. "d-00" will
be displayed on the indicator and the system will enter the mode
for monitoring internal data.
In this mode, the motor can be operated normally.
<3> Press the "UP" or "DOWN" switch while holding down the
"MODE" switch. The indicator display will change in the range
of "d-00" to "d-12".
<4> The following shows the correspondence between the
destinations of the internal data of the serial spindle and addresses
d-01 to d-12.
d-01 to d-04: Specifies the amount of data to be output to the
indicator, data shift, and output format (decimal
or hexadecimal).
d-05 to d-08: Specifies the amount of data to be output to the
LM terminal, data shift, and whether an offset is
provided.
d-09 to d-12: Specifies the amount of data to be output to the
SM terminal, data shift, and whether an offset is
provided.
<5> Select address d-xx in the procedure for setting data described in
<3>.
<6> Turn off the "MODE" switch. "d-xx" will disappear 0.5 second
later, and the data will be displayed for a second.
Change the set data using the "UP" or "DOWN" switch within the
second the data is displayed.
<7> When more than a second elapses without pressing the "UP" or
"DOWN" switch, data cannot be changed.
If the "MODE" switch is turned on or off, however, setting can be
started from the beginning of the step in item <6>.
4. CONFIRMATION OF
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4.3.6.5 Address descriptions and initial values (SPM)
[Output to the indicator]
Address Description Initial value
d-01 Specifies a data number. 0
d-02 Shift at data output (0 to 31 bits) 0
d-03 Data shift direction
0 : Data is shifted right.
1 : Data is shifted left.
0
d-04 Display format
0 : Decimal notation
1 : Hexadecimal notation(0 to F)
0
[Output to the channel 1]
Initial value
Address Description A20B-2001-0830
(CH1)
A20B-1005-0740
(LM)
d-05 Specifies a data number 218
(U-phase current)
132
d-06 Shift at data output
(0 to 31 bits)
8 0
d-07 Data shift direction
0: Data is shifted right
1: Data is shifted left
0 0
d-08 Offset
0: Not provided
1: Provided
1 0
[Output to the channel 2]
Initial value
Address Description A20B-2001-0830
(CH1)
A20B-1005-0740
(SM)
d-09 Specifies a data number 19
(Motor velocity)
131
d-10 Shift at data output
(0 to 31 bits)
18 0
d-11 Data shift direction
0: Data is shifted right
1: Data is shifted left
0 0
d-12 Offset
0: Not provided
1: Provided
1 0
4. CONFIRMATION OF
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4.3.6.6 Address descriptions and initial values (SPMC)
[Output to the indicator]
Address Description Initial value
d-01 Specifies a data number. 0
d-02 Shift at data output (0 to 31 bits) 0
d-03 Data shift direction
0 : Data is shifted right.
1 : Data is shifted left.
0
d-04 Display format
0 : Decimal notation
1 : Hexadecimal notation(0 to F)
0
[Output to the channel 1]
Initial value
Address Description
A20B-2001-0830 (CH1)
d-05 Specifies a data number 54 (Spindle load level)
d-06 Shift at data output (0 to 31 bits) 6
d-07 Data shift direction
0: Data is shifted right
1: Data is shifted left
0
d-08 Offset
0: Not provided
1: Provided
0
[Output to the channel 2]
Initial value
Address Description
A20B-2001-0830 (CH1)
d-09 Specifies a data number 34 (U-phase current)
d-10 Shift at data output (0 to 31 bits) 8
d-11 Data shift direction
0: Data is shifted right
1: Data is shifted left
0
d-12 Offset
0: Not provided
1: Provided
1
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
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4.3.6.7 Principles in outputting the internal data of the serial spindle
The length of data is 32 bits (BIT31 TO BIT00) unless it is described as
16 bits.
BIT31 BIT00 BIT01 BIT02 BIT03

<1> Example of output to the indicator

Example1 Displaying data in decimal
When the number of digits to shift data (d-02)=0 and display format
(d-04)=0 (decimal notation): The last 16 bits of data (BIT15 to BIT00)
are converted into decimal (0 to 65535 max.) and displayed.
BIT15 BIT00 BIT01

16 bits
Converted into decimal
data and displayed
X X X X X Indicator
Example2 Displaying data in hexadecimal
When the number of digits to shift data (d-02)=0 and display format
(d-04)=1 (hexadecimal notation): The last 16 bits of data (BIT15 to
BIT00) are converted into hexadecimal (0 to FFFFF max.) and
displayed.
BIT15 BIT00 BIT01

16 bits
Converted into hexadecimal
data and displayed
X X X X Indicator (The fifth digit is blank.)
Example3 Shifting data left
When the number of digits to shift data (d-02)=3, the shift direction is
left (d-03=1), and display format (d-04)=1 (hexadecimal notation):
Data in BIT12 to BIT00 and the last three bits of data (=0) are
converted into hexadecimal (0 to FFFFF max.) and displayed.
BIT12

16 bits
Converted into hexadecimal
data and displayed
X X X X Indicator
(The fifth digit is blank.)
0 0 0 BIT00 BIT01
4. CONFIRMATION OF
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Example4 Shifting data right
When the number of digits to shift data (d-02)=5, shift direction is right
(d-03=0), and display format (d-04)=0 (decimal notation): Data in
BIT20 to BIT05 is converted into decimal (0 to 65535 max.) and
displayed.
BIT20 BIT05 BIT06

16 bits
Converted into decimal
data and displayed
X X X X X Indicator
Example5 Shifting data right when the data length is 16 bits
When the data length is 16 bits, data shift (d-02)=5, shift direction is
right (d-03=0), and display format is decimal notation (d-04=0): The
first five bits of data and data in BIT15 to BIT05 are converted into
decimal and displayed.
BIT15

16 bits
Converted into decimal
data and displayed
X X X X X Indicator
0 0 0 BIT05 0 0
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
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<2> Example of output to the channel 1
Internal data is output to channel 1 by setting it in an 8-bit D/A
convertor.
The output range of the D/A convertor varies from one printed-
circuit board to another. The output ranges from -5 V to +5 V
(printed-circuit board A20B-2001-0830) or from 0 V to +11 V
(printed-circuit board A20B-1005-0740) according to the internal
data that is set. See the table below.
Output on channel 1
Internal data in
binary (decimal)
Setting d-08
(whether there is
offset)
A20B-2001-0830 A20B-1005-0740
00000000( 0) 0 -5V 0V
11111111( 255) 0 +4.96V +11V
10000000(-128) 1 -5V 0V
00000000( 0) 1 0V +5.5V
01111111( 127) 1 +4.96V +11V
Example1 Data set
When the number of digits to shift data (d-06)=0 and when no offset is
provided (d-08=0): The last eight bits of data (BIT07 to BIT00) is set
in the D/A converter of the LM terminal.
BIT07 BIT00 BIT01
Set in the D/A converter for channel 1 output
BIT06 BIT05 BIT04 BIT03 BIT02
Example2 Shifting data left
When the number of digits to shift data (d-06)=3, shift direction is right
(d-07=1), and no offset is provided (d-08=0): Data in BIT14 to BIT00
and the last three bits of data (=0) are set in the D/A converter.
BIT04 0 0
Set in the D/A converter for channel 1 output
BIT03 BIT02 BIT01 BIT00 0
Example3 Shifting data right
When the number of digits to shift data (d-06)=10, shift direction is
right (d-07=1), and no offset is provided (d-08=0): Data in BIT17 to
BIT10 is set in the D/A converter.
BIT17 BIT10 BIT11
Set in the D/A converter for channel 1 output
BIT16 BIT15 BIT14 BIT13 BIT12
4. CONFIRMATION OF
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Example4 Shifting data right when the data length is 16 bits
When the data length is 16 bits, data shift (d-06)=10, shift direction is
right (d-07=0), and no offset is provided (d-08=0): The first two bits of
data (=0) and data in BIT15 to BIT10 are set in the D/A converter.
0 BIT10 BIT11
Set in the D/A converter for channel 1 output
0 BIT15 BIT14 BIT13 BIT12
Example5 If an offset is provided
When the number of digits to shift data (d-06)=10, shift direction is
right (d-07=0), and an offset is provided (d-08=1): Data in most
significant bit BIT17 (to which 1 is added) and data in BIT16 to BIT10
are set in the D/A converter.
Set in the D/A converter for channel 1 output
BIT17 Data +1 BIT10 BIT11 BIT16 BIT15 BIT14 BIT13 BIT12
Example6 Data bit observation
(for printed-circuit board A20B-2001-0830 only)
For data shift (d-06) = 0 with no offset (d-08 = 0), the lowest data bit
(BIT00) can be observed as a high/low level at check terminal CH1D.
BIT07 BIT00 BIT01
Output to check terminal CH1D
BIT06 BIT05 BIT04 BIT03 BIT02
<3> Example of output to the channel 2
Output to the channel 2 is the same as that to the channel 1.
However, the addresses for setting data (d-09 to d-12) are
different from those for output to the channel 1.
Setting velocity information in the channel 1 and the number of
errors in the channel 2 enables simultaneous monitoring of the
change in each data item using the two channels.
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
- 80 -
4.3.6.8 Data numbers
(1) SPM
Data
No.
Description
Data
length
Remarks
Main data
16 Motor speed command 32 The 12th bit (BIT12) indicates a units in
rpm.
19 Motor speed 32 The 12th bit (BIT12) indicates a units in
rpm.
25 Motor speed deviation 32 (Speed command - motor speed) The
12th bit (BIT12) indicates a units in rpm.
4 Move command 32 Number of command pulses for ITP
(usually 8 ms)
9 Positioning error 32 Number of erroneous pulses (Spindle
synchronous control Cs contour control
Rigid mode)
90 Torque command 16 0 to 16384
131 Speedometer data 16 SM terminal
132 Load meter data 16 LM terminal
136 Position error 32 Number of erroneous pulses (Position
coder orientation)
Data between the spindle and CNC
5 Speed command data 16 16384 for the maximum speed command
6 Spindle control signal 1 16 See the command signal from the PMC to
spindle in (4).
10 Load meter data 16 16384 for maximum output
11 Motor speed data 16 16384 for maximum speed
12 Spindle status signal 1 16 See the status signal from the spindle to
PMC in (4).
66 Spindle control signal 2 16 See the command signal from the PMC to
spindle in (4).
182 Spindle status signal 2 16 See the status signal from the spindle to
PMC in (4).
Other data
218 Phase U current (A/D
conversion data)
16 10 V/FS by shifting 8 bits left(Note)
219 Phase V current (A/D
conversion data)
16
121 Magnetic sensor signal
(MS signal on the main
side)
16 15.4 V/FS by shifting 8 bits left(Note)
125 Magnetic sensor signal
(MS signal on the sub
side)
16
162 DC link voltage 16 1000 V/FS by shifting 8 bits left(Note)
NOTE
Printed-circuit board A20B-2001-0830 has no check
pin for IU, IV, VDC, MSA1 or MSA2. To observe
signals such as phase U current, output the
corresponding internal data to channels 1 and 2.
Shift the data to be observed by 8 bits left with an
offset. The table (3) lists the internal data
conversion.
4. CONFIRMATION OF
B-65165E/02 START-UP PROCEDURE THE OPERATION
- 81 -
(2) SPMC
Data
No.
Description
Data
length
Remarks
Main data
19 Motor speed command 32 The 12th bit (bit 12) indicates the unit of
min
-1
.
8 Motor speed 32 The 12th bit (bit 12) indicates the unit of
min
-1
(only when a position coder is used)
13 Estimated motor speed 32 The 12th bit (bit 12) indicates the unit of
min
-1
.
18 Spindle speed 32 The 12th bit (bit 12) indicates the unit of
min
-1
(only when a position coder is used)
7 Motor speed deviation 32 (Speed command - motor speed). The
12th bit (bit 12) indicates the unit of min
-1
.
4 Move command 32 Number of command pulses for ITP
(usually 8 ms)
9 Position error 32 Number of erroneous pulses (spindle
synchronization, Cs contour control, rigid
mode)
90 Torque command 16 0 to 16384
131 Load meter data 16 LM pin
117 Position error 32 Number of erroneous pulses (position
coder orientation)
Data between the spindle and CNC
74 Speed command data 16 16384 for the maximum speed command
77 Spindle control signal 1 16 See the command signal from the PMC to
spindle in (4).
54 Load meter data 16 16384 for maximum output
55 Motor speed data 16 16384 for maximum speed
61 Spindle status signal 1 16 See the status signal from the spindle to
PMC in (4).
78 Spindle control signal 2 16 See the command signal from the PMC to
spindle in (4).
62 Spindle status signal 2 16 See the status signal from the spindle to
PMC in (4).
Other data
34 Phase U current (A/D
conversion data)
16 10 V/FS by shifting 8 bits left(Note)
35 Phase V current (A/D
conversion data)
16
39 DC link voltage 16 1000 V/FS by shifting 8 bits left(Note)
NOTE
Internal data conversion is performed as shown in
the Table in (3).
4. CONFIRMATION OF
THE OPERATION START-UP PROCEDURE B-65165E/02
- 82 -
(3) Internal data conversion (A20B-2001-0830)
Data
No.
Signal
name
Description (All are voltage values on check pins when
the shift amount is 8.)
218 IU Phase U current The current is positive when it is input to the
amplifier.
219 IV Phase V current Model Conversion result
SPM-2.2, 5.5
SPM-11HV
16.7 A/1 V
SPM-11, 15HV 33.3 A/1 V
SPM-15, 25HV 50.0 A/1 V
SPM-22, 45HV 66.7 A/1 V
SPM-26 100 A/1 V
SPM-30, 75HV 133 A/1 V
SPM-45 200 A/1 V
SPM-55 233 A/1 V
162 VDC DC link voltage signal 100 V/1 V (200 V/1 V for SPM-HV)
121 MSA1 Magnetic sensor output MSA signal 1 1.54 V/1 V
(Adjustment value on check board: Single amplitude 2.0 V
min, offset 300 mV max)
125 MSA2 Magnetic sensor output MSA signal 2 1.54 V/1 V
(4) Spindle control signals (PMC signals)
Data
No.
Description
6 Spindle control signal 1 (command signal from the PMC to spindle)
BIT15 BIT14 BIT13 BIT12 BIT11 BIT10 BIT09 BIT08
RCH RSL INTG SOCN MCFN SPSL *ESP ARST
BIT07 BIT06 BIT05 BIT04 BIT03 BIT02 BIT01 BIT00
MRDY ORCM SFR SRV CTH1 CTH2 TLMH TLML
66
Spindle control signal 2 (control signal from the PMC to spindle)
BIT15 BIT14 BIT13 BIT12 BIT11 BIT10 BIT09 BIT08
*DOPN DSCN SORSL MPOF SLV MORCM
BIT07 BIT06 BIT05 BIT04 BIT03 BIT02 BIT01 BIT00
RCHHG MFNHG INCMD OVR DEFMD NRRO ROTA INDX
12
Spindle status signal 1 (status signal from the spindle to PMC)
BIT15 BIT14 BIT13 BIT12 BIT11 BIT10 BIT09 BIT08
MOAR2 MOAR1 POAR2 SLVS RCFN RCHP CFIN CHP
BIT07 BIT06 BIT05 BIT04 BIT03 BIT02 BIT01 BIT00
ORAR TLM LDT2 LDT1 SAR SDT SST ALM
182 Spindle status signal 2 (status signal from the spindle to PMC)
BIT15 BIT14 BIT13 BIT12 BIT11 BIT10 BIT09 BIT08
BIT07 BIT06 BIT05 BIT04 BIT03 BIT02 BIT01 BIT00
EXOF SOREN MSOVR INCST PC1DT
4. CONFIRMATION OF
B-65165E/02 START-UP PROCEDURE THE OPERATION
- 83 -
4.3.6.9 Example of monitoring data
<1> Example of monitoring a positioning error using the channel 1
Address Description Set Data
d-05 Data number 9 9 9 9
d-06 Data shift 0 1 1 2
d-07 Data shift direction 0 0 1 1
d-08 Offset 1 1 1 1
Data unit (NOTE) 256p/FS 512p/FS 128p/FS 64p/FS
NOTE
Printed-circuit board A20B-2001-0830:
FS=10V (-5V to 5V)
Printed-circuit board A20B-1005-0740:
FS=11V (0V to 11V)
<2> Example of monitoring a motor speed using the channel 2
Address Description Set Data
d-09 Data number 19 19 19
d-10 Data shift 12 13 11
d-11 Data shift direction 0 0 0
d-12 Offset 0 0 0
Data unit (NOTE) 256min
-1
/FS 512min
-1
/FS 128p/FS
NOTE
Printed-circuit board A20B-2001-0830:
FS=10V (-5V to 5V)
Printed-circuit board A20B-1005-0740:
FS=11V (0V to 11V)
<3> Observation of phase U current in the SPM-11
Data No. 218
Shift amount 8
Shift direction 0 (shifted left)
Offset 1 (provided)
Setting of observation data
+5 V
0 V
-5 V
100 A
33.3 A/1 V
5. PERIODIC MAINTENANCE
OF SERVO AMPLIFIER START-UP PROCEDURE B-65165E/02
- 84 -
5 PERIODIC MAINTENANCE OF SERVO
AMPLIFIER
5. PERIODIC MAINTENANCE
B-65165E/02 START-UP PROCEDURE OF SERVO AMPLIFIER
- 85 -
5.1 BATTERY FOR THE ABSOLUTE PULSE CODER
When the interface with the CNC is type B or FSSB, the battery for the
absolute pulse coder is required for absolute-position detection.
The battery for the absolute pulse coder is installed in the following
two methods:
Method 1: Installing a special lithium battery in the SVM
Use A06B-6073-K001.
Method 2: Using a battery case (A06B-6050-K060)
Use A06B-6050-K061 or a commercially available
size-D battery.
A connection cable (A06B-6093-K810) is required.
Use Name
Order specification
drawing No.
Classification
Method 1 Battery A06B-6073-K001
Battery A06B-6050-K061
Battery case A06B-6050-K060
Cable for battery
connection
A06B-6093-K810
Method 2
Connector for battery
connection
A06B-6093-K303
Option
5. PERIODIC MAINTENANCE
OF SERVO AMPLIFIER START-UP PROCEDURE B-65165E/02
- 86 -
5.1.1 Installing a Special Lithium Battery in the SVM (Method 1)
A special lithium battery (A06B-6073-K001) can be installed in the
SVM (see the figure below).
[Installation procedure]
(1) Remove the battery cover from the SVM.
(2) Install the battery in the SVM as shown in the figure below.
(3) Install the battery cover.
(4) Attach the battery connector to CX5X or CX5Y of the SVM.
Battery
SVM
Battery cover
Inserting direction
Red: +6 V
Black: 0 V
CX5X, CX5Y
+6 V
0 V
Connector
Cable side
WARNING
1 Install the battery with correct polarity. If the battery
is installed with incorrect polarity, it may overheat,
blow out, or catch fire.
2 When installing the battery with its connector
attached to connector CX5X or CX5Y, attach the
factory-installed protection socket to the unused
connector. When the +6-V and 0-V pins of CX5X or
CX5Y are short-circuited, the battery may overheat,
blow out, or catch fire.
CAUTION
1 You may attach the battery connector to either CX5X
or CX5Y.
2 When the battery is installed in the SVM from the
side from which the cable is drawn, the cable may be
stretched tight, which can lead to a poor contact
condition. Therefore, install the battery so that the
cable is not extended tightly.
5. PERIODIC MAINTENANCE
B-65165E/02 START-UP PROCEDURE OF SERVO AMPLIFIER
- 87 -
5.1.2 Using a Battery Case (A06B-6050-K060) (Method 2)
Details of connection of the battery unit to the SVM
Screw terminal: M3
Crimp terminal: 1.25-4
+6 V
Battery unit
0 V
SVM
CX5X, CX5Y (2)
CX5X, CX5Y (1)
0.3 mm
2
2
Housing : 1L-L2S-S3L-B(N)
Contact : 1L-C2-1-00001
Manufacturer: Japan Aviation Electronics
Industry, Ltd.
Note) A special crimping tool is required to attach the contacts to a
cable. Contact the following:
Japan Aviation Electronics Industry, Ltd.
WARNING
1 Install the battery with correct polarity. If the battery
is installed with incorrect polarity, it may overheat,
blow out, or catch fire.
2 When installing the battery with its connector
attached to connector CX5X or CX5Y, attach the
factory-installed protection socket to the unused
connector. When the +6-V and 0-V pins of CX5X or
CX5Y are short-circuited, the battery may overheat,
blow out, or catch fire.
CAUTION
1 You may attach the battery connector to either CX5X
or CX5Y.
2 To an unused connector, attach the supplied
protection socket.
5. PERIODIC MAINTENANCE
OF SERVO AMPLIFIER START-UP PROCEDURE B-65165E/02
- 88 -
5.1.3 Connecting a Battery to Multiple SVMs
There are two methods for connecting a battery to more than one SVM.
(1) Connecting a battery installed in one SVM to other SVMs
(2) Connecting a separate battery unit to SVMs
The following connector kit is provided for preparing cables:
Drawing No. Manufacturer
Part number of
manufacturer
Product Quantity
1L-L2S-S3L-B(N) Housing 2 A06B-6093-K303 Japan Aviation
Electronics Industry, Ltd. 1L-C2-1-00001 Contact 4
Note) A special crimping tool is required to attach contacts to a cable.
Contact the following:
Japan Aviation Electronics Industry, Ltd.
Cable side
Inserting direction
+6 V
0 V
1L-L2S-S3L-B(N)
WARNING
1 Install the battery with correct polarity. If the battery
is installed with incorrect polarity, it may overheat,
blow out, or catch fire.
2 When installing the battery with its connector
attached to connector CX5X or CX5Y, attach the
factory-installed protection socket to the unused
connector. When the +6-V and 0-V pins of CX5X or
CX5Y are short-circuited, the battery may overheat,
blow out, or catch fire.
CAUTION
Note that when a battery is shared among more than
one servo amplifier module (SVM), the battery life
will shorten. The following table shows general life
times of batteries.
Battery type General life time
Lithium battery One year for three axes
Alkaline size D battery One year for six axes
5. PERIODIC MAINTENANCE
B-65165E/02 START-UP PROCEDURE OF SERVO AMPLIFIER
- 89 -
(1) Connecting a battery installed in one SVM to other SVMs
SVM SVM
CX5X
CX5Y
CX5X
CX5Y
No battery Battery contained
(2) Connecting a separate battery unit to SVMs
SVM SVM
CX5X
CX5Y
CX5X
CX5Y
No battery No battery
Battery unit
A06B-6050-K060
Battery contained
Cable between the battery and amplifier
A06B-6093-K810 (Only a 5-m cable is available.)
5. PERIODIC MAINTENANCE
OF SERVO AMPLIFIER START-UP PROCEDURE B-65165E/02
- 90 -
Details of connection between SVMs
Housing : 1L-L2S-S3L-B(N)
Contact : 1L-C2-1-00001
Manufacturer: Japan Aviation
Electronics Industry, Ltd.
CX5X, CX5Y (2)
SVM
CX5X, CX5Y (1)
0.3 mm
2
2
SVM
CX5X, CX5Y (2)
CX5X, CX5Y (1)
Housing : 1L-L2S-S3L-B(N)
Contact : 1L-C2-1-00001
Manufacturer: Japan Aviation
Electronics Industry, Ltd.
5. PERIODIC MAINTENANCE
B-65165E/02 START-UP PROCEDURE OF SERVO AMPLIFIER
- 91 -
5.1.4 Replacing the Battery
To prevent absolute-position information of the absolute pulse coder
from being lost, replace the battery while the power for control is on.
Follow the procedure explained below.
1. Make sure that the power to the SVM is on (the 7-segment LED
on the front of the SVM is on).
2. Make sure that the emergency stop button of the system has been
pressed.
3. Make sure that the motor is not activated.
4. Make sure that the DC link charge LED of the SVM is off.
5. Remove the old battery, and install a new battery.
6. This completes the replacement. You can turn off the power to
the system.
WARNING
1 When replacing the battery, be careful not to touch
bare metal parts in the panel. In particular, be
careful not to touch any high-voltage circuits due to
the electric shock hazard.
2 Before replacing the battery, check that the DC link
charge confirmation LED on the front of the servo
amplifier is off. Neglecting this check creates an
electric shock hazard.
3 Install the battery with correct polarity. If the battery
is installed with incorrect polarity, it may overheat,
blow out, or catch fire.
4 When installing the battery with its connector
attached to connector CX5X or CX5Y, attach the
factory-installed protection socket to the unused
connector. When the +6-V and 0-V pins of CX5X or
CX5Y are short-circuited, the battery may overheat,
blow out, or catch fire.
5. PERIODIC MAINTENANCE
OF SERVO AMPLIFIER START-UP PROCEDURE B-65165E/02
- 92 -
5.1.5 Attaching and Detaching Connectors
(1) Attaching connectors
<1> Check the attachment
position.
<2>
10 degrees or less
Plug the cable
connector while raising
it slightly.
<5>
5 degrees or less
Here, the angle of the
cable connector to the
horizontal must be 5
degrees or less.
<3> After passing the lock
pin, insert the
connector straight.
<4> The attachment of the
connector is
completed.
CAUTION
When attaching or detaching the battery connector,
be careful not to apply excessive torsion to the
connector. When the connector is attached or
detached, applying excessive stress to the connector
can lead to a poor contact condition or other
problems.
5. PERIODIC MAINTENANCE
B-65165E/02 START-UP PROCEDURE OF SERVO AMPLIFIER
- 93 -
(2) Detaching the connector
<1> Hold both the sides of
the cable insulator and
the cable, and pull them
horizontally.
<2>
10 degrees or less
Pull out the cable side
while raising it slightly.
<3>
5 degrees or less
Here, the angle of the
cable to the horizontal
must be 5 degrees or
less.
II. TROUBLESHOOTING
B-65165E/02 TROUBLESHOOTING 1.OVERVIEW
- 97 -
1 OVERVIEW
This part describes the troubleshooting procedure for each module.
Read the section related to your current trouble to locate it and take an
appropriate action.
First, check the alarm number and STATUS display indicated on your
module with each list (alarm numbers in the list are those for the CNC)
in Chapter 2 to find the corresponding detailed information in Chapter
3. Then take an appropriate action according to the detailed
information.
2. ALARM NUMBERS AND
BRIEF DESCRIPTIONS TROUBLESHOOTING B-65165E/02
- 98 -
2 ALARM NUMBERS AND BRIEF
DESCRIPTIONS
2. ALARM NUMBERS AND
B-65165E/02 TROUBLESHOOTING BRIEF DESCRIPTIONS
- 99 -
2.1 FOR SERIES 16i, 18i, 20i, 21i, AND Power Mate i
Servo alarm
Alarm
No.
SVM SPM PSM Description Remarks
360 Pulse coder checksum error (built-in) 3.3.7 (1)
361 Pulse coder phase error (built-in) 3.3.7 (1)
363 Clock error (built-in) 3.3.7 (1)
364 Soft phase alarm (built-in) 3.3.7 (1)
365 LED error (built-in) 3.3.7 (1)
366 Pulse error (built-in) 3.3.7 (1)
367 Count error (built-in) 3.3.7 (1)
368 Serial data error (built-in) 3.3.7 (3)
369 Data transfer error (built-in) 3.3.7 (3)
380 LED error (separate) 3.3.7 (2)
381 Pulse coder phase error (separate) 3.3.7 (2)
382 Count error (separate) 3.3.7 (2)
383 Pulse error (separate) 3.3.7 (2)
384 Soft phase alarm (separate) 3.3.7 (2)
385 Serial data error (separate) 3.3.7 (3)
386 Data transfer error (separate) 3.3.7 (3)
417 Invalid parameter 3.3.6
421 Excessive semi-full error 3.3.8
430 Servomotor overheat 3.3.5
431 03 Converter: main circuit overload 3.1
432 06 Converter: control undervoltage/open
phase
3.1
433 04 Converter: DC link undervoltage 3.1
434 2 Inverter: control power supply
undervoltage
3.2
435 5 Inverter: DC link undervoltage 3.2
436 Soft thermal (OVC) 3.3.3
437 01 Converter: input circuit overcurrent 3.1
438 8
9
A
b
C
d
E
Inverter: current alarm (L axis)
(M axis)
(N axis)
(L and M axes)
(M and N axes)
(L and N axes)
(L, M, and N axes)
3.2
439 07 Converter: DC link overvoltage 3.1
440 08 Converter excessive deceleration power 3.1
2. ALARM NUMBERS AND
BRIEF DESCRIPTIONS TROUBLESHOOTING B-65165E/02
- 100 -
Alarm
No.
SVM SPM PSM Description Remarks
441 Current offset error 3.3.8
442 05 Converter: DC link charging/inverter DB 3.1
443 02 Converter: cooling fan stopped 3.1
444 1 Inverter: internal cooling fan stopped 3.2
445 Soft disconnection alarm 3.3.4
446 Hard disconnection alarm Not
issued
447 Hard disconnection alarm (separate) 3.3.4
448 Feedback mismatch alarm 3.3.8
449 8.
9.
A.
b.
C.
d.
E.
Inverter: IPM alarm (L axis)
(M axis)
(N axis)
(L and M axes)
(M and N axes)
(L and N axes)
(L, M, and N axes)
3.2
453 Soft disconnection alarm ( pulse coder) 3.3.4
Spindle alarm (n represents a spindle number. Example: n = 1 for the
first spindle)
Alarm
No.
SVM SPM PSM Description Remarks
749 A Program ROM error 3.4
749 A0 Program ROM error 3.4
749 A1 Program RAM error 3.4
749 A2 Program RAM error 3.4
749 A3 SPM control circuit clock error 3.4
749 A4 SRAM parity error 3.4
7n01 01 Motor overheat 3.4
7n02 02 Excessive speed deviation 3.4
7n03 03 DC link fuse blown 3.4
7n04 04 06 Input power supply open phase and power
supply failure
3.4
7n07 07 Excessive speed 3.4
7n09 09 Main circuit overload 3.4
7n11 11 07 DC link overvoltage 3.4
7n12 12 DC link overcurrent/IPM alarm 3.4
750 13 CPU internal data memory error 3.4
7n15 15 Output switching/spindle switching alarm 3.4
750 16 RAM error 3.4
750 19 Excessive offset of the phase U current
detection circuit
3.4
750 20 Excessive offset of the phase V current
detection circuit
3.4
2. ALARM NUMBERS AND
B-65165E/02 TROUBLESHOOTING BRIEF DESCRIPTIONS
- 101 -
(n represents a spindle number. Example: n = 1 for the first spindle)
Alarm
No.
SVM SPM PSM Description Remarks
749 24 Serial transfer data error 3.4
749 25 Setting data transfer stopped 3.4
7n26 26 Cs contour control speed detection signal
disconnected
3.4
7n27 27 Position coder signal disconnected 3.4
7n28 28 Cs contour control position detection
signal disconnected
3.4
7n29 29 Short-period overload 3.4
7n30 30 01 PSM main circuit overcurrent 3.4
7n31 31 Speed detection signal disconnected and
motor lock alarm
3.4
750 32 Serial communication LSI internal RAM
error
3.4
7n33 33 05 DC link precharge failure 3.4
7n34 34 Parameter data out of the specifiable
range
3.4
7n35 35 Too large of a gear ratio is specified. 3.4
7n36 36 Error counter overflow 3.4
7n37 37 Speed detector parameter error 3.4
7n39 39 Cs contour control one-rotation signal
detection error
3.4
7n40 40 Cs contour control one-rotation signal not
detected
3.4
7n41 41 Position coder one-rotation signal
detection error
3.4
7n42 42 Position coder one-rotation signal not
detected
3.4
7n43 43 Differential speed mode position coder
signal disconnected
3.4
7n44 44 A/D conversion error 3.4
7n46 46 Position coder one-rotation signal
detection error during thread cutting
3.4
7n47 47 Position coder signal error 3.4
7n48 49 Excessive differential speed conversion
result
3.4
7n50 50 Excessive speed command calculation
value during spindle synchronization
3.4
7n51 51 04 DC link undervoltage 3.4
7n52 52 ITP signal error I 3.4
7n53 53 ITP signal error II 3.4
7n54 54 Current overload alarm 3.4
7n55 55 Power line state error at spindle
switching/output switching
3.4
7n56 56 Control circuit cooling fan stopped 3.4
7n56 57 08 Excessive regenerated power 3.4
7n58 58 03 PSM main circuit overload 3.4
7n59 59 02 PSM cooling fan stopped 3.4
2. ALARM NUMBERS AND
BRIEF DESCRIPTIONS TROUBLESHOOTING B-65165E/02
- 102 -
2.2 FOR SERIES 15i
Servo alarm
Alarm
No.
SVM SPM PSM Description Remarks
SV0027 Invalid digital servo parameter setting 3.3.6
SV0360 Pulse coder checksum error (built-in) 3.3.7 (1)
SV0361 Pulse coder phase error (built-in) 3.3.7 (1)
SV0363 Clock error (built-in) 3.3.7 (1)
SV0364 Soft phase alarm (built-in) 3.3.7 (1)
SV0365 LED error (built-in) 3.3.7 (1)
SV0366 Pulse error (built-in) 3.3.7 (1)
SV0367 Count error (built-in) 3.3.7 (1)
SV0368 Serial data error (built-in) 3.3.7 (3)
SV0369 Data transfer error (built-in) 3.3.7 (3)
SV0380 LED error (separate) 3.3.7 (2)
SV0381 Pulse coder phase error (separate) 3.3.7 (2)
SV0382 Count error (separate) 3.3.7 (2)
SV0383 Pulse error (separate) 3.3.7 (2)
SV0384 Soft phase alarm (separate) 3.3.7 (2)
SV0385 Serial data error (separate) 3.3.7 (3)
SV0386 Data transfer error (separate) 3.3.7 (3)
SV0421 Excessive semi-full error 3.3.8
SV0430 Servomotor overheat 3.3.5
SV0431 03 Converter: main circuit overload 3.1
SV0432 06 Converter: control undervoltage/open
phase
3.1
SV0433 04 Converter: DC link undervoltage 3.1
SV0434 2 Inverter: control power supply undervoltage 3.2
SV0435 5 Inverter: DC link undervoltage 3.2
SV0436 Soft thermal (OVC) 3.3.3
SV0437 01 Converter: input circuit overcurrent 3.1
SV0438 8
9
A
b
C
d
E
Inverter: current alarm (L axis)
(M axis)
(N axis)
(L and M axes)
(M and N axes)
(L and N axes)
(L, M, and N axes)
3.2
SV0439 07 Converter: DC link overvoltage 3.1
SV0440 08 Converter excessive deceleration power 3.1
SV0441 Current offset error 3.3.8
2. ALARM NUMBERS AND
B-65165E/02 TROUBLESHOOTING BRIEF DESCRIPTIONS
- 103 -
Alarm
No.
SVM SPM PSM Description Remarks
SV0442 05 Converter: DC link charging/inverter DB 3.1
SV0443 02 Converter: cooling fan stopped 3.1
SV0444 1 Inverter: internal cooling fan stopped 3.2
SV0445 Soft disconnection alarm 3.3.4
SV0446 Hard disconnection alarm Not
issued
SV0447 Hard disconnection alarm (separate) 3.3.4
SV0448 Feedback mismatch alarm 3.3.8
SV0449 8.
9.
A.
b.
C.
d.
E.
Inverter: IPM alarm (L axis)
(M axis)
(N axis)
(L and M axes)
(M and N axes)
(L and N axes)
(L, M, and N axes)
3.2
Spindle alarm
Alarm
No.
SVM SPM PSM Description Remarks
SP097x A Program ROM error 3.4
SP097x A0 Program ROM error 3.4
SP097x A1 Program RAM error 3.4
SP097x A2 Program RAM error 3.4
SP097x A3 SPM control circuit clock error 3.4
SP097x A4 SRAM parity error 3.4
SP0001 01 Motor overheat 3.4
SP0002 02 Excessive speed deviation 3.4
SP0003 03 DC link fuse blown 3.4
SP0004 04 06 Power supply failure 3.4
SP0007 07 Excessive speed 3.4
SP0009 09 Main circuit overload 3.4
SP0011 11 07 DC link overvoltage 3.4
SP0012 12 DC link overcurrent/IPM alarm 3.4
SP098x 13 CPU internal data memory error 3.4
SP0015 15 Output switching/spindle switching alarm 3.4
SP098x 16 RAM error 3.4
SP098x
19 Excessive offset of the phase U current
detection circuit
3.4
SP098x
20 Excessive offset of the phase V current
detection circuit
3.4
SP022x 24 Serial transfer data error 3.4
SP022x 25 Serial data transfer stopped 3.4
2. ALARM NUMBERS AND
BRIEF DESCRIPTIONS TROUBLESHOOTING B-65165E/02
- 104 -
Alarm
No.
SVM SPM PSM Description Remarks
SP0026 26 Cs contour control speed detection signal
error
3.4
SP0027 27 Position coder signal error 3.4
SP0028 28 Cs contour control position detection
signal error
3.4
SP0029 29 Short-period overload 3.4
SP0030 30 01 PSM main circuit overcurrent
SP0031 31 Speed detection signal disconnected and
motor lock alarm
3.4
SP098x 32 Serial communication LSI internal RAM
error
3.4
SP0033 33 05 DC link precharge failure 3.4
SP0034 34 Parameter data out of the specifiable
range
3.4
SP0035 35 Too large of a gear ratio is specified. 3.4
SP0036 36 Error counter overflow 3.4
SP0037 37 Speed detector parameter error 3.4
SP0039 39 Cs contour control one-rotation signal
detection error
3.4
SP0040 40 Cs contour control one-rotation signal not
detected
3.4
SP0041 41 Position coder one-rotation signal
detection error
3.4
SP0042 42 Position coder one-rotation signal not
detected
3.4
SP0043 43 Differential speed mode position coder
signal error
3.4
SP0044 44 A/D conversion error 3.4
SP0046 46 Position coder one-rotation signal
detection error during thread cutting
3.4
SP0047 47 Position coder signal error 3.4
SP0049 49 Excessive differential speed conversion
result
3.4
SP0050 50 Excessive speed command calculation
value during spindle synchronization
3.4
SP0051 51 04 DC link undervoltage 3.4
SP0052 52 ITP signal error I 3.4
SP0053 53 ITP signal error II 3.4
SP0054 54 Current overload alarm 3.4
SP0055 55 Power line state error at spindle
switching/output switching
3.4
SP0056 56 Control circuit cooling fan stopped 3.4
SP0056 57 08 Excessive regenerated power 3.4
SP0058 58 03 PSM main circuit overload 3.4
SP0059 59 02 PSM cooling fan stopped 3.4
2. ALARM NUMBERS AND
B-65165E/02 TROUBLESHOOTING BRIEF DESCRIPTIONS
- 105 -
2.3 FOR SERIES 16, 18, 20, 21
Servo alarm
Alarm
No.
Diagnosis
screen
SVM SPM PSM Description Remarks
350 Alarm 3 pulse coder error alarm 3.3.7
351 Alarm 4 Pulse coder communication error alarm 3.3.7
400 OVL 1
2
3
Fan stopped alarm (SVM)
Fan stopped alarm (PSM)
Overheat alarm (PSM)
Overheat alarm (motor)
3.2
3.1
3.3.5
HVA 7 DC link overvoltage alarm 3.1
8
9
A
b
C
d
E
1
Abnormal current alarm (L axis)
(M axis)
(N axis)
(L, M axis)
(M, N axis)
(L, N axis)
(L, M, N axis)
(PSM overcurrent + IPM alarm)
3.2
3.1
HCA
8.
9.
A.
b.
C.
d.
E.
IPM alarm (L axis)
(M axis)
(N axis)
(L, M axis)
(M, N axis)
(L, N axis)
(L, M, N axis)
3.2
OVC Soft thermal (OVC) 3.3.3
LVA 2
5
4
6
Control power supply undervoltage
alarm
DC link undervoltage alarm (SVM)
DC link undervoltage alarm (PSM)
Power supply state alarm
3.2
3.1
FAN 1
2
Fan stopped alarm (Series 20 only)
Fan stopped alarm (Series 20 only)
3.2
3.1
MCC 5 MCC fused, precharge alarm 3.1
414
OFS Current conversion error alarm 3.3.8
416 FBA Feedback disconnected alarm 3.3.4
417 PRM Invalid servo parameter setting alarm 3.3.6
For the correspondence between the diagnosis screen
numbers and names, see the table below.
2. ALARM NUMBERS AND
BRIEF DESCRIPTIONS TROUBLESHOOTING B-65165E/02
- 106 -
DGN No. #7 #6 #5 #4 #3 #2 #1 #0
Alarm 1 200 OVL LVA OVC HCA HVA DCA FBA OFA
Alarm 2 201 ALD EXP
Alarm 3 202 CSA BLA PHA RCA BZA CKA SPH
Alarm 4 203 DTE CRC STB PRM
Alarm 5 204 OFS MCC LDM PMS FAN DAL ABF
Spindle alarm
Alarm No. SVM SPM PSM Description Remarks
749 A Program ROM error 3.4
749 A0 Program ROM error 3.4
749 A1 Program RAM error 3.4
749 A2 Program RAM error 3.4
749 A3 SPM control circuit clock error 3.4
749 A4 SRAM parity error 3.4
751 (AL-01) 01 Motor overheat 3.4
751 (AL-02) 02 Excessive velocity error 3.4
751 (AL-03) 03 DC link fuse blown 3.4
751 (AL-04) 04 06 Input power supply open phase and
power supply failure
3.4
751 (AL-07) 07 Overspeed 3.4
751 (AL-09) 09 Main circuit overload 3.4
751 (AL-11) 11 07 DC link overvoltage 3.4
751 (AL-12) 12 DC link overcurrent/IPM alarm 3.4
750 13 CPU internal data memory failure 3.4
751 (AL-15) 15 Speed range switching and spindle
switching alarm
3.4
750 16 RAM error 3.4
750 19 Phase U current detector circuit
excessive offset
3.4
750 20 Phase V current detector circuit
excessive offset
3.4
749 24 Serial transfer data error 3.4
749 25 Serial data transfer stopped 3.4
751 (AL-26) 26 Cs contouring control velocity detection
signal disconnected
3.4
751 (AL-27) 27 Position coder signal disconnected 3.4
751 (AL-28) 28 Cs contouring control position detection
signal disconnected
3.4
751 (AL-29) 29 Short-period overload 3.4
751 (AL-30) 30 01 PSM main circuit overcurrent 3.4
751 (AL-31) 31 Speed detection signal disconnected
and motor lock alarm
3.4
750 32 Serial communication LSI internal RAM
error
3.4
2. ALARM NUMBERS AND
B-65165E/02 TROUBLESHOOTING BRIEF DESCRIPTIONS
- 107 -
Alarm No. SVM SPM PSM Description Remarks
751 (AL-33) 33 05 DC link precharge failure 3.4
751 (AL-34) 34 Parameter data out of specification 3.4
751 (AL-35) 35 Too large gear ratio specified 3.4
751 (AL-36) 36 Error counter overflow 3.4
751 (AL-37) 37 Speed detector parameter error 3.4
751 (AL-39) 39 Cs contouring control one-rotation
signal detection error
3.4
751 (AL-40) 40 Cs contouring control one-rotation
signal not detected
3.4
751 (AL-41) 41 Position coder one-rotation signal
detection error
3.4
751 (AL-42) 42 Position coder one-rotation signal not
detected
3.4
751 (AL-43) 43 Differential speed mode position coder
signal disconnected
3.4
751 (AL-44) 44 A/D conversion error 3.4
751 (AL-46) 46 Position coder one-rotation signal
detection error during thread cutting
3.4
751 (AL-47) 47 Position coder signal error 3.4
751 (AL-49) 49 Excessive differential speed conversion
result
3.4
751 (AL-50) 50 Excessive speed command computed
value during the synchronization control
of the spindle
3.4
751 (AL-51) 51 04 DC link undervoltage 3.4
751 (AL-52) 52 ITP signal error I 3.4
751 (AL-53) 53 ITP signal error II 3.4
751 (AL-54) 54 Overload current alarm 3.4
751 (AL-55) 55 Power line state error at spindle or
speed range switching
3.4
751 (AL-56) 56 Control circuit cooling fan stopped 3.4
751 (AL-57) 57 08 Excessive regenerated power 3.4
751 (AL-58) 58 03 PSM main circuit overload 3.4
751 (AL-59) 59 02 PSM cooling fan stopped 3.4
2. ALARM NUMBERS AND
BRIEF DESCRIPTIONS TROUBLESHOOTING B-65165E/02
- 108 -
2.4 FOR SERIES 15
Servo alarm
Alarm
No.
SVM SPM PSM Description Remarks
SV001 Soft thermal (OVC) 3.3.3
8
9
A
b
C
d
E
1
Abnormal current alarm (L axis)
(M axis)
(N axis)
(L, M axis)
(M, N axis)
(L, N axis)
(L, M, N axis)
(PSM overcurrent + IPM alarm)
3.2
3.1
SV003
8.
9.
A.
b.
C.
d.
E.
IPM alarm (L axis)
(M axis)
(N axis)
(L, M axis)
(M, N axis)
(L, N axis)
(L, M, N axis)
3.2
SV004 7 DC link overvoltage 3.1
SV005 5 Precharge alarm (Series 15-A)
(simultaneously with SV006)
3.1
2
5
4
6
Control power supply undervoltage alarm
DC link undervoltage alarm (SVM)
DC link undervoltage alarm (PSM)
Power supply state alarm
3.1 SV006
5 Precharge alarm (Series 15-A)
(simultaneously with SV005)
3.1
SV015 Feedback disconnected alarm 3.3.4
SV023 1
2
3
Fan stop alarm (SVM)
Fan stop alarm (PSM)
Overheat alarm (PSM)
Overheat alarm (motor)
3.2
3.1
3.3.5
SV027 Invalid servo parameter setting alarm 3.3.6
SV110 pulse coder error alarm 3.3.7
SV114 Rotation speed data error alarm 3.3.7
SV115 Pulse coder communication error alarm 3.3.7
SV116 Precharge alarm (Series 15-B)
SV117 Current conversion error alarm 3.3.8
SV124 Excessive semi-full error alarm 3.3.8
SV129 Feedback mismatch alarm 3.3.8
2. ALARM NUMBERS AND
B-65165E/02 TROUBLESHOOTING BRIEF DESCRIPTIONS
- 109 -
Alarm
No.
SVM SPM PSM Description Remarks
SV323 Soft disconnection alarm 3.3.7
SV324 Hard disconnection alarm 3.3.7
SV325 Pulse coder error alarm (built-in) 3.3.7(1)
SV326 Pulse coder error alarm (built-in) 3.3.7(1)
SV327 Speed error (built-in) 3.3.7(1)
SV330 Serial communication error (built-in) 3.3.7(1)
SV331 Pulse coder error alarm (built-in) 3.3.7(2)
SV333 Pulse coder error alarm (separate linear) 3.3.7(2)
SV334 Pulse coder error alarm (separate rotary) 3.3.7(2)
SV335 Speed error (separate rotary) 3.3.7(2)
SV338 Separate detector alarm 3.3.7(2)
SV339 Serial communication error (separate) 3.3.7(3)
SV340 Hard disconnection alarm (separate) 3.3.4
SV351 Soft disconnection alarm ( pulse coder) 3.3.4
2. ALARM NUMBERS AND
BRIEF DESCRIPTIONS TROUBLESHOOTING B-65165E/02
- 110 -
Spindle alarm
Alarm
No.
SVM SPM PSM Description Remarks
OT300 A Program ROM error 3.4
OT300 A0 Program ROM error 3.4
OT300 A1 Program RAM error 3.4
OT300 A2 Program RAM error 3.4
OT300 A3 SPM control circuit clock error 3.4
OT300 A4 SRAM parity error 3.4
OT301 01 Motor overheat 3.4
OT302 02 Excessive velocity error 3.4
OT399 03 DC link fuse blown 3.4
OT399 04 06 Power supply failure 3.4
OT307 07 Overspeed 3.4
OT309 09 Main circuit overload 3.4
OT311 11 07 DC link overvoltage 3.4
OT312 12 DC link overcurrent/IPM alarm 3.4
OT300 13 CPU internal data memory failure 3.4
OT399 15 Speed range switching and spindle
switching alarm
3.4
OT300 16 RAM error 3.4
OT300 19 Phase U current detector circuit excessive
offset
3.4
OT300 20 Phase V current detector circuit excessive
offset
3.4
OT300 24 Serial transfer data error 3.4
OT300 25 Serial data transfer stopped 3.4
OT326 26 Cs contouring control velocity detection
signal disconnected
3.4
OT327 27 Position coder signal disconnected 3.4
OT328 28 Cs contouring control position detection
signal disconnected
3.4
OT329 29 Short-period overload 3.4
OT330 30 01 PSM main circuit overcurrent 3.4
OT331 31 Speed detection signal disconnected and
motor lock alarm
3.4
OT300 32 Serial communication LSI internal RAM
error
3.4
OT333 33 05 DC link precharge failure 3.4
OT334 34 Parameter data out of specification 3.4
OT335 35 Too large gear ratio specified 3.4
OT336 36 Error counter overflow 3.4
OT399 37 Speed detector parameter error 3.4
OT399 39 Cs contouring control one-rotation signal
detection error
3.4
2. ALARM NUMBERS AND
B-65165E/02 TROUBLESHOOTING BRIEF DESCRIPTIONS
- 111 -
Alarm
No.
SVM SPM PSM Description Remarks
OT399 40 Cs contour controling one-rotation signal
not detected
3.4
OT399 41 Position coder one-rotation signal
detection error
3.4
OT399 42 Position coder one-rotation signal not
detected
3.4
OT399 43 Differential speed mode position coder
signal disconnected
3.4
OT399 44 A/D conversion error 3.4
OT399 46 Position coder one-rotation signal
detection error during thread cutting
3.4
OT399 47 Position coder signal error 3.4
OT399 49 Excessive differential speed conversion
result
3.4
OT399 50 Excessive speed command computed
value during the synchronization control of
the spindle
3.4
OT399 51 04 DC link undervoltage 3.4
OT399 52 ITP signal error I 3.4
OT399 53 ITP signal error II 3.4
OT399 54 Overload current alarm 3.4
OT399 55 Power line state error at spindle or speed
range switching
3.4
OT399 56 Control circuit cooling fan stopped 3.4
OT399 57 08 Excessive regenerated power 3.4
OT399 58 03 PSM main circuit overload 3.4
OT399 59 02 PSM cooling fan stopped 3.4
2. ALARM NUMBERS AND
BRIEF DESCRIPTIONS TROUBLESHOOTING B-65165E/02
- 112 -
2.5 FOR SERIES 0-C
Servo alarm
Alarm
No.
Diagnosis
screen
SVM SPM PSM Description Remarks
309 Alarm 3
Alarm 4
pulse coder error alarm
Pulse coder communication error alarm
3.3.7
400 OVL 1
2
3
Fan stopped alarm (SVM)
Fan stopped alarm (PSM)
Overheat alarm (PSM)
Overheat alarm (motor)
3.2
3.1
3.3.5
HVA 7 DC link overvoltage alarm 3.2
DCA & LVA 5 Precharge alarm 3.2
8
9
A
b
C
d
E
1
Abnormal current alarm (L axis)
(M axis)
(N axis)
(L, M axis)
(M, N axis)
(L, N axis)
(L, M, N axis)
(PSM overcurrent + IPM alarm)
3.2 HCA
8.
9.
A.
b.
C.
d.
E.
IPM alarm (L axis)
(M axis)
(N axis)
(L, M axis)
(M, N axis)
(L, N axis)
(L, M, N axis)
3.2
OVC Soft thermal (OVC) 3.3.3
414
LVA 2
5
4
6
Control power supply undervoltage alarm
DC link undervoltage alarm (SVM)
DC link undervoltage alarm (PSM)
Power supply state alarm
3.1
3.2
416 FBA Feedback disconnected alarm 3.3.4
417 PRM Invalid servo parameter setting alarm 3.3.6
For the correspondence between the diagnosis screen
numbers and names, see the table below.
DGN No. #7 #6 #5 #4 #3 #2 #1 #0
Alarm 1 720 to 723 OVL LVA OVC HCA HVA DCA FBA OFA
Alarm 2 730 to 733 ALD EXP
Alarm 3 760 to 763 CSA BLA PHA RCA BZA CKA SPH
Alarm 4 770 to 773 DTE CRC STB PRM
2. ALARM NUMBERS AND
B-65165E/02 TROUBLESHOOTING BRIEF DESCRIPTIONS
- 113 -
Spindle alarm
Alarm
No.
SVM SPM PSM Description Remarks
945 A Program ROM error 3.4
945 A0 Program ROM error 3.4
945 A1 Program RAM error 3.4
945 A2 Program RAM error 3.4
945 A3 SPM control circuit clock error 3.4
945 A4 SRAM parity error 3.4
409 01 Motor overheat 3.4
409 02 Excessive velocity error 3.4
409 03 DC link fuse blown 3.4
409 04 06 Input power supply open phase and power
supply failure
3.4
409 07 Overspeed 3.4
409 09 Main circuit overload 3.4
409 11 07 DC link overvoltage 3.4
409 12 DC link overcurrent/IPM alarm 3.4
408 13 CPU internal data memory failure 3.4
409 15 Speed range switching and spindle
switching alarm
3.4
408 16 RAM error 3.4
408 19 Phase U current detector circuit excessive
offset
3.4
408 20 Phase V current detector circuit excessive
offset
3.4
945 24 Serial transfer data error 3.4
945 25 Serial data transfer stopped 3.4
409 26 Cs contouring control velocity detection
signal disconnected
3.4
409 27 Position coder signal disconnected 3.4
409 28 Cs contouring control position detection
signal disconnected
3.4
409 29 Short-period overload 3.4
409 30 01 PSM main circuit overcurrent 3.4
409 31 Speed detection signal disconnected and
motor lock alarm
3.4
408 32 Serial communication LSI internal RAM
error
3.4
409 33 05 DC link precharge failure 3.4
409 34 Parameter data out of specification 3.4
409 35 Too large gear ratio specified 3.4
409 36 Error counter overflow 3.4
409 37 Speed detector parameter error 3.4
409 39 Cs contouring control one-rotation signal
detection error
3.4
2. ALARM NUMBERS AND
BRIEF DESCRIPTIONS TROUBLESHOOTING B-65165E/02
- 114 -
Alarm
No.
SVM SPM PSM Description Remarks
409 40 Cs contouring control one-rotation signal
not detected
3.4
409 41 Position coder one-rotation signal
detection error
3.4
409 42 Position coder one-rotation signal not
detected
3.4
409 43 Differential speed mode position coder
signal disconnected
3.4
409 44 A/D conversion error 3.4
409 46 Position coder one-rotation signal
detection error during thread cutting
3.4
409 47 Position coder signal error 3.4
409 49 Excessive differential speed conversion
result
3.4
409 50 Excessive speed command computed
value during the synchronization control of
the spindle
3.4
409 51 04 DC link undervoltage 3.4
409 52 ITP signal error I 3.4
409 53 ITP signal error II 3.4
409 54 Overload current alarm 3.4
409 55 Power line state error at spindle or speed
range switching
3.4
409 56 Control circuit cooling fan stopped 3.4
409 57 08 Excessive regenerated power 3.4
409 58 03 PSM main circuit overload 3.4
409 59 02 PSM cooling fan stopped 3.4
3. TROUBLESHOOTING
B-65165E/02 TROUBLESHOOTING AND ACTION
- 115 -
3 TROUBLESHOOTING AND ACTION
3. TROUBLESHOOTING
AND ACTION TROUBLESHOOTING B-65165E/02
- 116 -
3.1 POWER SUPPLY MODULE
3.1.1 Power Supply Module (PSM, PSM-HV)
If an alarm occurs, in the STATUS display, the ALM LED lights red,
and the two-digit 7-segment display indicates an alarm code.
The ALM LED lights red.
Indicates an alarm code (01 or above).
status
PIL
ALM
3.1.1.1 Alarm code 01
For the PSM-5.5 to PSM-11
(1) Meaning
The main circuit power module (IPM) has detected an overload,
overcurrent, or control supply voltage decrease.
(2) Cause and troubleshooting
(a) Cooling fan failure
Check whether the cooling fan rotates normally.
Replace the cooling fan.
(b) Dust buildup
Clean the cooling system with a vacuum cleaner or
compressed air.
(c) Overload
Examine the operating conditions.
(d) Input supply voltage imbalance
Check the input power supply specification.
(e) The specification of the AC reactor does not match the PSM
in use.
Check the PSM and the specification of the AC reactor.
(f) IPM failure, or control supply voltage decrease of the power
module (IPM)
Replace the unit or IPM.
3. TROUBLESHOOTING
B-65165E/02 TROUBLESHOOTING AND ACTION
- 117 -
For PSM-15 to PSM-55, PSM-18HV to PSM-75HV
(1) Meaning
Overcurrent flowed into the input of the main circuit.
(2) Cause and troubleshooting
(a) Input supply voltage imbalance
Check the input power supply specification.
(b) The specification of the AC reactor does not match the PSM
in use.
Check the PSM and the specification of the AC reactor.
(c) IGBT defective
Replace IGBT.
3.1.1.2 Alarm code 02
(1) Meaning
(a) A cooling fan for the control circuit has stopped.
(b) The control supply voltage has dropped.
(2) Cause and troubleshooting
(a) Cooling fan broken
Check whether the cooling fan rotates normally.
Replace it.
(b) Input voltage decrease
Check the power supply.
3.1.1.3 Alarm code 03
(1) Meaning
The temperature of the main circuit heat sink has risen
abnormally.
(2) Cause and troubleshooting
(a) Cooling fan for the main circuit broken
Check whether the cooling fan for the main circuit rotates
normally.
Replace it.
(b) Dust accumulation
Clean the cooling system with a vacuum cleaner or the
factory air blower.
(c) Overload
Examine the operating conditions.
3. TROUBLESHOOTING
AND ACTION TROUBLESHOOTING B-65165E/02
- 118 -
3.1.1.4 Alarm code 04
(1) Meaning
In the main circuit, the DC voltage (DC link) has dropped.
(2) Cause and troubleshooting
(a) A small power dip has occurred.
Check the power supply.
(b) Low input power supply voltage
Check the power supply specification.
(c) The main circuit power supply may have been switched off
with an emergency stop state released.
Check the sequence.
3.1.1.5 Alarm code 05
(1) Meaning
(a) The input power supply is abnormal (open phase).
(b) The main circuit capacitor was not recharged within the
specified time.
(2) Cause and troubleshooting
(a) The input power supply has an open phase.
Check the connection.
(b) Too many SVM and/or SPM units are connected.
Check the specification of the PSM.
(c) The DC link is short-circuited.
Check the connection.
(d) The recharge current limiting resistor is defective.
Replace the unit.
3.1.1.6 Alarm code 06
(1) Meaning
The input power supply is abnormal (open phase).
(2) Cause and troubleshooting
(a) The input power supply has an open phase.
Check the connection.
3. TROUBLESHOOTING
B-65165E/02 TROUBLESHOOTING AND ACTION
- 119 -
3.1.1.7 Alarm code 07
(1) Meaning
In the main circuit, the DC voltage at the DC link is abnormally
high.
(2) Cause and troubleshooting
(a) Excessive regenerated power
Regeneration is impossible. The PSM does not have a
sufficient capacity.
Check the specification of the PSM.
(b) The output impedance of the AC power source is too high.
Check the power source output impedance.
(Normal if the voltage variation at maximum output time is
within 7%)
(c) Regeneration circuit failure
Replace the unit.
(d) The main circuit power supply may have been switched off
with an emergency stop state released.
Check the sequence.
3.1.2 Power Supply Module (PSMV)
If an alarm occurs, in the STATUS display, the ALM LED lights red,
and the two-digit 7-segment display indicates an alarm code.
The ALM LED lights red.
Indicates an alarm code (01 or above).
status
PIL
ALM
3. TROUBLESHOOTING
AND ACTION TROUBLESHOOTING B-65165E/02
- 120 -
3.1.2.1 Alarm code 01
(1) Meaning
Overcurrent flowed into the DC link of the main circuit.
(2) Cause and troubleshooting
(a) Thyristor or IGBT failure
Replace the thyristor or IGBT.
(b) DC link short-circuit
Check the connection.
(c) The specification of the AC reactor does not match the
PSMV in use.
Check the PSMV and the specification of the AC
reactor.
3.1.2.2 Alarm code 02
(1) Meaning
A cooling fan for the control circuit has stopped.
(2) Cause and troubleshooting
(a) Cooling fan for the control circuit broken
Check whether the cooling fan for the control circuit rotates
normally.
Replace it.
3.1.2.3 Alarm code 03
(1) Meaning
The temperature of the main circuit heat sink has risen
abnormally.
(2) Cause and troubleshooting
(a) Cooling fan for the main circuit broken
Check whether the cooling fan for the main circuit rotates
normally.
Replace it.
(b) Dust accumulation
Clean the cooling system with a vacuum cleaner or the
factory air blower.
(c) Overload
Examine the operating conditions.
3. TROUBLESHOOTING
B-65165E/02 TROUBLESHOOTING AND ACTION
- 121 -
3.1.2.4 Alarm code 04
(1) Meaning
In the main circuit, the DC voltage (DC link) has dropped.
(2) Cause and troubleshooting
(a) Low input power supply voltage
Check the power supply.
3.1.2.5 Alarm code 05
(1) Meaning
The main circuit capacitor was not recharged within the specified
time.
(2) Cause and troubleshooting
(a) Too many SVM and/or SPM units are connected.
Check the specification of the PSMV.
3.1.2.6 Alarm code 06
(1) Meaning
(a) The main circuit supply voltage is not fed.
(b) Two or more input fuses of the AC reactor unit have blown.
Note) This alarm is also output when a momentary power failure
occurs.
(2) Cause and troubleshooting
(a) The input supply voltage is not fed to the main circuit.
Check the connection.
(b) Two or more input fuses of the AC reactor unit have blown.
Replace the fuses.
3.1.2.7 Alarm code 16
(1) Meaning
(a) The main circuit power supply has an open phase.
(b) One input fuse of the AC reactor unit has blown.
(2) Cause and troubleshooting
(a) The main circuit power supply has an open phase.
Check the connection.
(b) One input fuse of the AC reactor unit has blown.
Replace the fuse.
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3.1.2.8 Alarm code 26
(1) Meaning
The frequency of the main circuit input power supply is abnormal.
(2) Cause and troubleshooting
(a) Input power supply frequency error
Check the input power supply specification (50/60 Hz
1 Hz).
3.1.2.9 Alarm code 36
(1) Meaning
The input power supply of the main circuit has an imbalance.
(2) Cause and troubleshooting
(a) The input supply voltage has an imbalance of 5% or more.
Check the input power supply specification.
3.1.2.10 Alarm code 46
(1) Meaning
When the magnetic contactor is turned on, the phase sequence of
the power supply cannot be determined.
(2) Cause and troubleshooting
(a) Input power supply error
Check the input power supply specification.
3.1.2.11 Alarm code 07
(1) Meaning
In the main circuit, the DC voltage at the DC link is abnormally
high.
(2) Cause and troubleshooting
(a) Excessive regenerated power
The PSMV does not have a sufficient capacity.
Check the specification of the PSMV.
(b) The output impedance of the AC power source is too high.
Check the power source output impedance.
(Normal if the voltage variation at maximum output time is
within 7%)
(c) Regeneration circuit failure
Replace the unit.
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3.1.2.12 Alarm code 17
(1) Meaning
In the main circuit, the voltage at the DC link is abnormally high.
A fuse of the AC reactor unit may have blown.
(2) Cause and troubleshooting
(a) An input fuse of the AC reactor unit has blown.
Replace the fuse.
(b) Regeneration circuit failure
Replace the unit.
3.1.2.13 Alarm code 08
(1) Meaning
The offset of the current detection circuit of the main circuit DC
link is excessive.
(2) Cause and troubleshooting
(a) The current detection circuit of the main circuit DC link
malfunctions.
Replace the power printed wiring board.
(b) The control printed circuit board or A/D converter is faulty.
Replace the control printed circuit board.
3.1.2.14 Alarm code 18
(1) Meaning
An error occurred in internal parameter data transfer processing.
(2) Cause and troubleshooting
(a) The control printed circuit board is faulty.
Replace the control printed circuit board.
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3.1.2.15 Alarm code A0
(1) Meaning
(a) No ROM is installed.
(b) The ROM is faulty.
(2) Cause and troubleshooting
(a) The ROM is not installed correctly, or no ROM is installed.
Check if the ROM is removed from the socket or if a bent
lead has caused a bad contact.
Install the ROM correctly.
(b) ROM specification error
Check the software version stamped on the ROM.
Install a specified ROM correctly.
(c) Control printed circuit board failure
Replace the control printed circuit board.
3.1.2.16 Alarm code A1
(1) Meaning
The RAM is faulty.
(2) Cause and troubleshooting
(a) The control printed circuit board is faulty.
Replace the control printed circuit board.
3.1.2.17 Alarm code A2
(1) Meaning
A program is not operating normally.
(2) Cause and troubleshooting
(a) The control printed circuit board is faulty.
Replace the control printed circuit board.
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3.1.3 Power Supply Module (PSMR)
When an alarm is issued, the one-digit 7-segment LED indicates an
alarm code.
Indicates an alarm code (02 or above).
3.1.3.1 Alarm code 2
(1) Meaning
A cooling fan for the control circuit has stopped.
(2) Cause and troubleshooting
(a) Cooling fan for the control circuit broken
Check whether the cooling fan for the control circuit rotates
normally.
Replace it.
3.1.3.2 Alarm code 4
(1) Meaning
In the main circuit, the DC voltage (DC link) has dropped.
(2) Cause and troubleshooting
(a) A small power dip has occurred.
Check the power supply.
(b) Low input power supply voltage
Check the power supply specification.
(c) The main circuit power supply may have been switched off
with an emergency stop state released.
Check the sequence.
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3.1.3.3 Alarm code 5
(1) Meaning
(a) The input power supply is abnormal (open phase).
(b) The main circuit capacitor was not recharged within the
specified time.
(2) Cause and troubleshooting
(a) The input power supply has an open phase.
Check the connection.
(b) Too many SVM and/or SPM units are connected.
Check the specification of the PSM.
(c) The DC link is short-circuited.
Check the connection.
(d) The recharge current limiting resistor is defective.
Replace the unit.
3.1.3.4 Alarm code 6
(1) Meaning
The control supply voltage has dropped.
(2) Cause and troubleshooting
(a) Input voltage decrease
Check the power supply.
3.1.3.5 Alarm code 7
(1) Meaning
In the main circuit, the DC voltage at the DC link is abnormally
high.
(2) Cause and troubleshooting
(a) Excessive regenerated power
The PSMR does not have a sufficient capacity.
Check the specification of the PSMR.
(b) Regeneration circuit failure
Replace the unit.
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3.1.3.6 Alarm code 8
(1) Meaning
(a) The regenerative discharge unit is heated.
(b) Regenerated power is excessive.
(2) Cause and troubleshooting
(a) The regenerative resistance capacity is insufficient.
Check the specification of the regenerative resistance.
(b) Excessive regenerated power
Decrease the frequency of acceleration/deceleration
during operation.
(c) The cooling fan of the regenerative discharge unit is faulty.
Check the rotation state of the cooling fan.
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3.2 SERVO AMPLIFIER MODULE
3.2.1 Abnormal Current Alarms (8, 9, A, b, C, d, and E in the LED
display)
(1) Make sure that the following parameters are set to the standard
values. If they are not, abnormal current control is performed.
No. 1809 No. 1884 No. 1954(15-A),1955(15-B)
No. 2004 No. 8X04 No. 2006 No. 8X06 No. 2011 No. 8X10
No. 1852 No. 1853 No. 1967 No. 1991
No. 2040 No. 8X40 No. 2041 No. 8X41 No. 2074 No. 8X74 No. 2098 No. 8X98
(2) Remove the power line wires from the amplifier terminals, and
release an emergency stop state.
If an abnormal current alarm is issued, the servo amplifier
module needs to be replaced.
If not, go to (3).
(3) Check for insulation between PE and each of the removed power
wires U, V, and W. If insulation is perfect, go to (4). If not,
disconnect the power wires from the motor connector. Then
check for insulation between PE and each of the U, V, and W
terminals on the motor.
If there is a short-circuit between PE and U, V, or W of the
motor, replace the motor.
If insulation is perfect, replace the power wires.
(4) Connect the power wires. Attach the check board (A06B-6071-
K290) to connector JX5 to measure the waveform of the actual
current (IR and IS) in the servo amplifier module. Accelerate or
decelerate the motor, and measure the actual current (IR and IS) of
the amplifier.
If an abnormal current alarm occurs right after an emergency
stop state is released, go to (5).
Release an emergency stop state, and start the motor.
Check whether the waveform of the actual current (IR and IS) is a
normal sine wave.
If normal, go to (5).
If not, replace the amplifier.
(5) Check whether there is noise on the actual current (IR and IS)
waveform.
If there is no noise, replace the amplifier.
If there is noise, use a shielding wire, and ground the
shielding, or take other countermeasures as required.
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(6) If still there is noise, a probable cause is a defective command
cable or a hardware failure in the CNC.
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3.2.2 IPM Alarms (8., 9., A., b., C., d., and E in the LED display; note
these codes are displayed simultaneously with a period.)
(1) Wait for about 10 minutes. Then release the emergency stop state.
If an IPM alarm still occurs, go to (2).
If the cause is IPM overheat, the IPM alarm will not recur. IPM
overheat can occur if the ambient temperature is high or the motor
is overloaded. Check the operating condition.
(2) Remove the power wires from the amplifier terminals, and release
an emergency stop state.
If the IPM alarm does not recur, go to (3).
If the IPM alarm recurs, the probable cause is the operation of the
IPM protective function (for overcurrent or power failure).
Replace the amplifier and see.
If the IPM does not recur, go to (3).
(3) Check for insulation between PE and each of the removed power
wires U, V, and W. If insulation is perfect, go to (4). If not,
disconnect the power wires from the motor connector. Then
check for insulation between PE and each of the U, V, and W
terminals on the motor.
If there is a short-circuit between PE and U, V, or W of the
motor, replace the motor.
If insulation is perfect, replace the power wires.
(4) Connect the power wires. Attach the check board (A06B-6071-
K290) to connector JX5 to measure the waveform of the actual
current (IR and IS) in the servo amplifier module. Accelerate or
decelerate the motor, and measure the actual current (IR and IS) of
the amplifier.
If an overcurrent alarm occurs right after an emergency stop state
is released, go to (5).
Release an emergency stop state, and start the motor.
Check whether the waveform of the actual current (IR and IS) is a
normal sine wave.
If normal, go to (5).
If not, replace the amplifier.
(5) Check whether there is noise on the actual current (IR and IS)
waveform.
If there is no noise, replace the amplifier.
If there is noise, use a shielding wire, and ground the
shielding, or take other countermeasures as required.
(6) If still there is noise, a probable cause is a defective command
cable or a hardware failure in the CNC.
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3.2.3 Control Power Supply Undervoltage Alarm (2 in the LED
display)
(1) Check the three-phase input voltage to the amplifier.
If the voltage is below 0.85 times the rating, adjust it to the
rated value.
(2) Replace the servo amplifier.
3.2.4 DC Link Undervoltage Alarm (5 in the LED display)
(1) Check the three-phase input voltage to the power supply module.
If the voltage is below 0.85 times the rating, adjust it to the
rated value.
(2) Replace the servo amplifier module.
3.2.5 Fan Stopped Alarm (1 in the LED display)
(1) Make sure that the fan is not clogged up.
(2) Replace the servo amplifier module. Alternatively, replace the
cooling fan inside the servo amplifier module according to
Chapter 4.
3.2.6 Current Conversion Error Alarm
(1) Exchange the command cable with the cable for the axis on which
no alarm has occurred.
If the alarm occurs on the same axis, go to (3).
If the alarm occurs on the new axis, go to (2).
(2) The command cable is defective. Replace it.
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(3) Exchange the command cables according to the diagram here.
When switching the CNC on, do so in an emergency stop state.
If the alarm recurs on the same axis, go to (5).
If the alarm occurs on the other axis, go to (4).
CNC
Alarmed axis
(L-axis)
M-axis
L-axis
Command cable
Servo amplifier
Normal axis
(M-axis)
(4) The servo amplifier is defective.
(5) The module for current conversion in the CNC is defective.
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3.3 SERVO SOFTWARE
If a servo alarm is issued, an alarm message is output, and details of the
alarm are also displayed on the servo adjustment screen or the
diagnosis screen. Using the alarm identification table given in this
section, determine the alarm, and take a proper action. With a CNC of
the i series, detailed alarm messages are displayed. So, from the
information in the alarm identification table, select a proper action.
3.3.1 Servo Adjustment Screen
Series 0-C
Press the key several times to display the servo setting screen.
Pressing the keys displays the servo screen.
If the servo setting screen does not appear, specify the following
parameter, then switch the CNC off and on again:
#7 #6 #5 #4 #3 #2 #1 #0
0389 SVS
SVS (#0)=0 (to display the servo setting screen)
Series 15-A/B, 15i
Press the key several times to cause the servo setting screen to
appear. Then press the key, and the servo adjustment screen will
appear.
Series 16, 18, 20, 21
[SYSTEM] [ ] [SV-PRM] [SV-TUN]
If the servo setting screen does not appear, specify the following
parameter, then switch the CNC off and on again.
#7 #6 #5 #4 #3 #2 #1 #0
3111 SVS
SVS (#0)=1 (to display the servo setting screen)
SERVICE
SYSTEM
PAGE
PAGE
PARAM
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Alarm detail
information
<1>
<2>
<3>
<4>
<5>
Fig. 3.3.1(a) Servo adjustment screen
<1>
<2>
<3>
<4>
<5>
<6>
<7>
<8>
<9>
Alarm detail
information
Fig. 3.3.1(b) Series 15i servo alarm screen
The table below indicates the names of the alarm bits.
Table 3.3.1 List of alarm bit names
#7 #6 #5 #4 #3 #2 #1 #0
<1> Alarm 1 OVL LVA OVC HCA HVA DCA FBA OFA
<2> Alarm 2 ALD EXP
<3> Alarm 3 CSA BLA PHA RCA BZA CKA SPH
<4> Alarm 4 DTE CRC STB PRM
<5> Alarm 5 OFS MCC LDM PMS FAN DAL ABF
<6> Alarm 6 SFA
<7> Alarm 7 OHA LDA BLA PHA CMA BZA PMA SPH
<8> Alarm 8 DTE CRC STB SPD
<9> Alarm 9 FSD SVE IDW NCE IFE
NOTE
The empty fields do not represent alarm codes.
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3.3.2 Diagnosis Screen
The alarm items of the servo adjustment screen correspond to the
diagnosis screen numbers indicated in the table below.
Table 3.3.2 Correspondence between the servo adjustment screen and
diagnosis screen
Alarm No. Series 0-C Series 15-A, B, 15i Series 16, 18, 20, 21 PowerMate-E
<1> Alarm 1
<2> Alarm 2
<3> Alarm 3
<4> Alarm 4
<5> Alarm 5
<6> Alarm 6
<7> Alarm 7
<8> Alarm 8
<9> Alarm 9
No 720 to 723
730 to 733
760 to 763
770 to 773

No 3014 + 20(X-1)
3015 + 20(X-1)
3016 + 20(X-1)
3017 + 20(X-1)

No 200
201
202
203
204

205
206

No 2711
2710
2713
2712
2714

Fig. 3.3.2 Series 16i diagnosis screen

<1>
<2>
<3>
<4>
<5>
<7>
<8>
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3.3.3 Overload Alarm (Soft Thermal, OVC)
(Alarm identification method)
#7 #6 #5 #4 #3 #2 #1 #0
<1> Alarm 1 OVL LVA OVC HCA HVA DCA FBA OFA
(Action)
(1) Make sure that the motor is not vibrating.
If a motor vibrates, the current flowing in it becomes more
than necessary, resulting in an alarm.
(2) Make sure that the power line to the motor is connected correctly.
If the connection is incorrect, an abnormal current flows in
the motor, resulting in an alarm.
(3) Make sure that the following parameters are set correctly.
An overload alarm is issued based on the result of calculation
of these parameters. Be sure to set them to the standard values.
For details of the standard values, refer to the parameter
manual (B-65150E).
1877 8x62 Overload protection coefficient (OVC1)
2062 1062
1878 8x63 Overload protection coefficient (OVC2)
2063 1063
1893 8x65 Overload protection coefficient (OVCLMT)
2065 1065
(4) Attach the check board (A06B-6071-K290) to connector JX5 to
measure the waveform of the actual current (IR and IS) of the
servo amplifier module. Start the motor and measure the actual
current (IR and IS).
If the actual current exceeds 1.4 times the rated current, the
constant for the acceleration/deceleration duration is too
small, or the load on the machine is too heavy for the capacity
of the motor.
If the actual current exceeds 1.4 times the rated current during
normal operation, the load on the machine is too heavy for the
capacity of the motor.
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3.3.4 Feedback Disconnected Alarm
(Alarm identification method)
#7 #6 #5 #4 #3 #2 #1 #0
<1> Alarm 1 OVL LVA OVC HCA HVA DCA FBA OFA
<2> Alarm 2 ALD EXP
<6> Alarm 6 SFA
FBA ALD EXP SFA Alarm description Action
1 1 1 0 Hard disconnection (separate phase A/B) 1
1 0 0 0 Soft disconnection (closed loop) 2
1 0 0 1 Soft disconnection ( pulse coder) 3
(Action)
Action 1: This alarm is issued when a separate phase A/B scale is
used. Check if the phase A/B detector is connected
correctly.
Action 2: This alarm is issued when the position feedback pulse
variation is small relative to the velocity feedback pulse
variation. This means that this alarm is not issued when a
semi-full is used. Check if the separate detector outputs
position feedback pulses correctly. If position feedback
pulses are output correctly, it is considered that the motor
alone is rotating in the reverse direction at the start of
machine operation because of a large backlash between the
motor position and scale position.
#7 #6 #5 #4 #3 #2 #1 #0
1808 8X03 TGAL
2003 1003
TGAL (#1) 1: Uses the parameter for the soft disconnection alarm
detection level.
1892 8X64 Soft disconnection alarm level
2064 1064
Standard setting 4: Alarm issued for a 1/8 rotation of the motor.
Increase this value.
Action 3: This alarm is issued when synchronization between the
absolute position data sent from the built-in pulse coder and
phase data is lost. Turn off the power to the CNC, then
detach the pulse coder cable then attach it again. If this
alarm is still issued, replace the pulse coder.
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3.3.5 Overheat Alarm
(Alarm identification method)
#7 #6 #5 #4 #3 #2 #1 #0
<1> Alarm 1 OVL LVA OVC HCA HVA DCA FBA OFA
<2> Alarm 2 ALD EXP
OVL ALD EXP Alarm description Action
1 1 0 Motor overheat 1
1 0 0 Amplifier overheat 1
(Action)
Action 1: If this alarm is issued after a long-time of continuous
operation, it is considered that the motor and amplifier are
overheated. Stop operation for a while, then make a check.
If this alarm is still issued after the power is off for about 10
minutes then is turned on again, the thermostat is
considered to be faulty. If this alarm is issued intermittently,
increase the time constant or increase stop time in the
program to suppress the rise in temperature.
3.3.6 Invalid Servo Parameter Setting Alarm
The invalid servo parameter setting alarm is issued when a setting out
of the specifiable range is specified, or an overflow has occurred in an
internal calculation. When an invalid parameter is detected on the
servo side, alarm 4 #4 (PRM) = 1 results.
(Alarm identification method)
#7 #6 #5 #4 #3 #2 #1 #0
<4> Alarm 4 DTE CRC STB PRM
For details and action required when the invalid servo parameter setting
alarm is issued on the servo side, refer to the parameter manual (B-
65150E) edition 4 and up.
(Reference information)
Method of checking details of an invalid parameter detected on the
servo side
(For Series 15i)
A number is indicated in the item "Details of invalid parameter" on
the servo alarm screen (Fig. 3.3.1(b)).
(For Series 16i, 18i, 21i, and Power Mate i)
A number is indicated in No. 352 of the diagnosis screen.
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3.3.7 Alarms Related to Pulse Coder and Separate Serial Detector
(Bits for alarm identification)
#7 #6 #5 #4 #3 #2 #1 #0
<1> Alarm 1 OVL LVA OVC HCA HVA DCA FBA OFA
<2> Alarm 2 ALD EXP
<3> Alarm 3 CSA BLA PHA RCA BZA CKA SPH
<4> Alarm 4 DTE CRC STB PRM
<5> Alarm 5 OFS MCC LDM PMS FAN DAL ABF
<6> Alarm 6 SFA
<7> Alarm 7 OHA LDA BLA PHA CMA BZA PMA SPH
<8> Alarm 8 DTE CRC STB SPD
<9> Alarm 9 FSD SVE IDW NCE IFE
(1) For a built-in pulse coder
An alarm is determined from the bits of alarms 1, 2, 3, and 5. The
table below indicates the meaning of each bit.
Alarm 3 Alarm 5 1 Alarm 2
CSA BLA PHA RCA BZA CKA SPH LDM PMA FBA ALD EXP
Alarm description Action
1 Soft phase alarm 2
1 Clock alarm (serial A)
1 Zero battery voltage 1
1 0 0 0 Speed error (serial A)
1 1 1 0 Count error alarm ( pulse coder) 2
1 Phase alarm (serial A) 2
1 Battery voltage decrease (warning) 1
1 Checksum alarm (serial A)
1 Pulse error alarm ( pulse coder)
1 LED error alarm ( pulse coder)
NOTE
An alarm for which no action number is given is
considered to be caused by a pulse coder failure.
Replace the pulse coder.
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(2) For a separate serial detector
An alarm is determined from the bits of alarm 7. The table below
indicates the meaning of each bit.
Alarm 7
OHA LDA BLA PHA CMA BZA PMA SPH
Alarm description Action
1 Soft phase alarm 2
1 Pulse error alarm
1 Zero battery voltage 1
1 Count error alarm 2
1 Phase alarm 2
1
Battery voltage decrease
(warning)
1
1 LED error alarm
1 Separate detector alarm
NOTE
An alarm for which no action number is given is
considered to be caused by a detector failure.
Replace the detector.
(Action)
Action 1: Battery-related alarms
Check if a battery is connected. When the power is turned
on for the first time after a battery is connected, the zero
battery voltage alarm is issued. In such a case, turn off the
power, then turn on the power again. If the alarm is still
issued, check the battery voltage. If the battery voltage
decrease alarm is issued, check the voltage, and replace the
battery as required.
Action 2: Alarms that may be issued for noise
If an alarm is issued intermittently or after emergency stop
cancellation, noise is probably the cause. So, provide noise
protection. If the same alarm is still issued after noise
protection is provided, replace the detector.
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(3) Alarms related to serial communication
An alarm is determined from the bits of alarms 4 and 8.
Alarm 4 Alarm 8
DTE CRC STB DTE CRC STB
Alarm description
1
1
1
Serial pulse coder communication alarm
1
1
1
Separate serial pulse coder communication alarm
Action: Serial communication is not performed correctly. Check if
the cable is connected correctly and is not broken. If CRC
or STB is issued, noise may be the cause. So, provide noise
protection. If CRC or STB is always issued after the power
is turned on, the pulse coder or amplifier control board (i
series) or the pulse module (i series) may be faulty.
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3.3.8 Other Alarms
(Alarm identification method)
#7 #6 #5 #4 #3 #2 #1 #0
<5> Alarm 5 OFS MCC LDM PMS FAN DAL ABF
OFS DAL ABF Alarm description Action
1 Feedback mismatch alarm 1
1 Excessive semi-full error alarm 2
1 Current offset error alarm 3
(Action)
Action 1: This alarm is issued when the move direction of the position
detector is opposite to the move direction of the speed
detector. Check the rotation direction of the separate
detector. If the rotation direction of the separate detector is
opposite to the rotation direction of the motor, take the
following action:
For a phase A/B detector: Reverse the connections of A and
A.
For a serial detector: Reverse the setting of the signal
direction of the separate detector.
#7 #6 #5 #4 #3 #2 #1 #0
1960 - RVRSE
2018 -
RVRSE (#0) Reverses the signal direction of the separate detector.
0: Does not reverse the signal direction of the separate detector.
1: Reverses the signal direction of the separate detector.
If a large distortion exists between the motor and separate detector, this
alarm may be issued in the case of abrupt acceleration/ deceleration. In
such a case, modify the detection level.
#7 #6 #5 #4 #3 #2 #1 #0
1741 - RNLV
2201 -
RNLV (#1) Modifies the feedback mismatch alarm detection level.
1: Detected with 1000 min
-1
or more
0: Detected with 600 min
-1
or more
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Action 2: This alarm is issued when the difference between the motor
position and separate detector position exceeds the
excessive semi-full error level. Check if the conversion
efficient for dual position feedback is set correctly. If the
conversion efficient is set correctly, increase the alarm level.
If this alarm is still issued after the level is modified, check
the connection direction of the scale.
1971 - Dual position feedback conversion coefficient (numerator)
2078 -
1972 - Dual position feedback conversion coefficient (denominator)
2079 -
Conversion coefficient =
Number of feedback pulses per motor
revolution (detection unit)
1,000,000
1729 - Dual position feedback semi-full error level
2118 -
[Setting] Detection unit. When 0 is set, no detection is made.
Action 3: The current offset value of the current detector (equivalent
to the current value in the emergency stop state) is
abnormally high. If this alarm is still issued after the power
is turned off then back on, the current detector is faulty. For
the i series, replace the control board of the amplifier. For
series other than the i series, replace the servo-related
modules on the CNC.
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3.4 SPINDLE AMPLIFIER MODULE
This section uses the following format for describing parameter
numbers:
FS0 FS15i FS16i/16, PM-D/F Description
6582 3082 4082 Setting of acceleration/deceleration
time
The items of FS15i cover FS15. For a parameter number of FS15
different from FS15i, the item is described separately.
FS18i, 20i, 21i, PMi-D, 18, 20, and 21 are covered by the items of
FS16i/16.
3.4.1 Series and (HV) Series Spindle Amplifier Module
If an alarm occurs in the spindle amplifier module, the ALM LED
lights red in the STATUS display, and the two-digit 7-segment LEDs
indicate the alarm code.
The ALM LED
lights red.
Alarm code A0, A1, 01 or above is indicated.
status
3.4.1.1 Alarm codes A, A0 to A4, and other Ax (x for representing an
arbitrary number)
A, A0 : The SPM control program is not operating.
A1, A2, Ax : An error was detected in SPM control program
processing.
A3 : An error was detected in the clock of the SPM control
printed circuit board.
A4 : A parity error was detected in the SRAM on the SPM
control printed circuit board.
(1) If an alarm is issued when the power to the PSM is turned on
(a) The ROM is not installed correctly, no ROM is installed, or
the ROM specification is incorrect
If the ROM on the SPM control printed circuit board is once
replaced, check the following:
<1> Installation direction
<2> Occurrence of a bent lead and so forth
<3> Matching of the ROM series with the unit. Check
Subsection 2.2.3 of Part I.
(b) Printed circuit board failure
Replace the SPM or SPM control printed circuit board.
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(2) If an alarm is issued during motor activation
(a) Influence of noise
Referring to Chapter 5, "Installation," of "FANUC SERVO
AMPLIFIER series Descriptions (B-65162E)," check the
GND-related wiring. If the signal cable of the spindle sensor
is bundled with the power line of the servo motor, separate
them from each other.
3.4.1.2 Alarm code 01
The inside temperature of the motor is higher than the specified
temperature.
(1) If this alarm is issued during cutting (the motor temperature is
high)
(a) Check the cooling state of the motor.
<1> If the cooling fan of the spindle motor is stopped, check
the power supply of the cooling fan. If the cooling fan
is still inoperative, replace it with a new one.
<2> When a liquid-cooled motor is used, check the cooling
system.
<3> When the ambient temperature of the spindle motor is
higher than the specified temperature, lower the
ambient temperature to satisfy the specification.
(b) If this alarm is issued even when the load meter fluctuates in
a limited range, check the short-period rating. If the
specified value is exceeded, reduce the load.
(2) If this alarm is issued under a light load (the motor temperature is
high)
(a) When the frequency of acceleration/deceleration is too high
Set such a use condition that the average including output at
acceleration/deceleration does not exceed the continuous
rating.
(b) The parameters specific to the motor are not set correctly.
Refer to "FANUC AC SPINDLE MOTOR series
Parameter Manual (B-65160E)."
(3) If this alarm is issued when the motor temperature is low
(a) The spindle sensor feedback cable is faulty.
Replace the cable.
(b) The SPM control printed circuit board is faulty.
Replace the SPM control printed circuit board or SPM.
(c) The motor (internal thermostat) is faulty.
Replace the motor.
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3.4.1.3 Alarm code 02
The actual motor speed is largely deviated from the commanded speed.
(1) If this alarm is issued during motor acceleration
(a) The parameter setting of acceleration/deceleration time is
incorrect.
In the following parameter, set the value equivalent to the
spindle inertia plus some margin:
FS0 FS15i FS16i/16, PM-D/F Description
6582 3082 4082 Setting of acceleration/deceleration
time
(b) The parameter for the speed detector is not set correctly.
Referring to "FANUC AC SPINDLE MOTOR series
Parameter Manual (B-65160E)," set a correct value.
(2) If this alarm is issued during cutting
(a) The cutting load has exceeded the motor output power.
Check the load meter indication, and review the use
condition.
(b) The parameters for output restriction are not set correctly.
Check that the settings of the following parameters satisfy
the machine and motor specifications:
FS0 FS15i FS16i/16, PM-D/F Description
6528 3028 4028 Output restriction pattern setting
6529 3029 4029 Output restriction value
(c) The parameters specific to the motor are not correctly.
Refer to "FANUC AC SPINDLE MOTOR series
Parameter Manual (B-65160E)."
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3.4.1.4 Alarm code 03
The fuse of the DC link has blown. (The voltage at the DC link is
insufficient.) This alarm is checked when emergency stop is cancelled.
(1) If this alarm is issued during spindle operation (rotation)
The fuse of the DC link inside the SPM has probably blown. So,
replace the SPM. This alarm may be caused by the following:
<1> Power line short-circuited to ground
<2> Motor winding short-circuited to ground
<3> IGBT or IPM module failure
(2) If the PSM input magnetic contactor is once turned on and is
turned off with this alarm when emergency stop is cancelled or the
CNC is started (When two spindles are connected, the magnetic
contactor may not be turned off.)
(a) The DC link wire is not connected.
Check the DC link (TB1) wiring for errors.
(b) A cable is faulty.
Pin 9 of the interface cable (JX1B-JX1A) between the PSM
and SPM may be short-circuited to 0V. Replace the cable.
(c) The fuse of the DC link inside the SPM has blown.
Replace the SPM.
3.4.1.5 Alarm code 04
It is detected that the 3-phase input to the main circuit of the PSM has
an open phase.
(1) If the PSM indicates alarm code 6
Troubleshoot according to the description of alarm code 6
provided in Section 3.1 of Part II.
(2) If the PSM indicates no alarm
(a) A cable is faulty.
The connection cable between the PSM (JX1B) and SPM
(JX1A) is faulty. Replace the cable.
(b) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
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3.4.1.6 Alarm code 07
The motor rotates at a speed exceeding 115% (standard setting) of the
maximum allowable speed.
(1) If this alarm is issued during spindle synchronization
If the activation (SFR, SRV) of the motor on one side is turned off
then back on in the spindle synchronization mode, the spindle
motor is accelerated to correct a position error built up during the
period, thus causing this alarm. Modify the ladder so that SFR
and SRV are not turned off in the spindle synchronization mode.
(2) If this alarm is issued while the motor is stopped
(a) The connection cable of the spindle sensor is faulty.
Check if the cable of the spindle sensor built into the motor
(BZ sensor when a built-in motor is used) is disconnected,
and replace the cable as required.
(b) The spindle sensor built into the motor is not adjusted
correctly.
Adjust the sensor according to Subsection 4.3.4 of Part I.
3.4.1.7 Alarm code 09
The temperature of the heat sink of the SPM main circuit has risen to
the set value. This alarm is issued for SPM-15 and up or SPM-15HV
and later. With SPM-2.2 to SPM-11 and SPM-11HV, however, alarm
code 12 is issued for the same cause.
(1) If this alarm is issued during cutting (the heat sink temperature is
high)
(a) If this alarm is issued when the load meter reads a value
below the continuous rating of the amplifier, check the
cooling state of the heat sink.
<1> If the cooling fan is stopped, check the power supply
(connector CX1A/B). If the cooling fan is still
inoperative, replace the SPM with a new one.
<2> When the ambient temperature is higher than the
specified temperature, lower the ambient temperature
to satisfy the specification.
(b) When this alarm is issued because the load meter reads a
value above the continuous rating of the amplifier, improve
the use method.
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(c) When the heat sink on the back of the amplifier is too dirty,
clean the heat sink, for example, by blowing air. Consider
the use of a structure that prevents the heat sink from being
directly exposed to coolant.
(2) If this alarm is issued under a light load (the heat sink temperature
is high)
(a) When the frequency of acceleration/deceleration is too high
Set such a use condition that the average including output at
acceleration/deceleration does not exceed the continuous
rating.
(b) The parameters specific to the motor are not set correctly.
Refer to "FANUC AC SPINDLE MOTOR series
Parameter Manual (B-65160E)."
(3) If this alarm is issued when the heat sink temperature is low
Replace the SPM.
3.4.1.8 Alarm code 11
The PSM detected that the DC link voltage was excessively high.
(1) If the PSM indicates alarm code 7
Troubleshoot according to the description of alarm code 7
provided in Section 3.1 of Part II.
(2) If the PSM indicates no alarm
(a) A cable is faulty.
The connection cable between the PSM (JX1B) and SPM
(JX1A) is faulty. Replace the cable.
(b) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
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3.4.1.9 Alarm code 12
An excessively large current flowed into the DC link of the main
circuit.
With SPM-2.2 to SPM-11 and SPM-11HV, this alarm indicates that the
power module (IPM) of the main circuit detected an error such as an
excessive load, overcurrent, or low control supply voltage.
(1) If this alarm is issued on SPM-2.2 to SPM-11 and SPM-11HV
Check alarm code 09 as well.
(2) If this alarm is issued immediately after a spindle rotation
command is specified
(a) The motor power line is faulty.
Check for a short circuit between motor power lines and
short-circuit to ground, and replace the power line as
required.
(b) The motor winding has an insulation failure.
If the motor is short-circuited to ground, replace the motor.
(c) The parameters specific to the motor are not set correctly.
Refer to "FANUC AC SPINDLE MOTOR series
Parameter Manual (B-65160E)."
(d) The SPM is faulty.
A power element (IGBT, IPM) may be destroyed. Replace
the SPM.
(3) If this alarm is issued during spindle rotation
(a) A power element is destroyed.
A power element (IGBT, IPM) may be destroyed. Replace
the SPM.
If the amplifier setting condition is not satisfied, or cooling is
insufficient because the heat sink is dirty, the power
elements may be destroyed.
When the heat sink on the back of the amplifier is too dirty,
clean the heat sink, for example, by blowing air. Consider
the use of a structure that prevents the heat sink from being
directly exposed to coolant.
For the setting condition, refer to "FANUC SERVO
AMPLIFIER series Descriptions (B-65162E)."
(b) The parameters specific to the motor are not set correctly.
Referring to "FANUC AC SPINDLE MOTOR series
Parameter Manual (B-65160E)," check the parameters
specific to the motor.
(c) Speed sensor signal error
Check the spindle sensor signal waveform according to
Subsection 4.3.4 of Part I. If an error is found, make an
adjustment or replace the detector as required.
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3.4.1.10 Alarm code 13
The memory inside the CPU is faulty. A check is made when the power
is turned on.
If this alarm is issued, replace the SPM or SPM control printed circuit
board.
3.4.1.11 Alarm code 15
In output switching control or spindle switching control, the switching
operation sequence was not executed correctly.
This alarm is issued if one second or more elapses from the transition of
a switch request signal (SPSL or RSL) until a power line state check
signal (MCFN, MFNHG, RCH, or RCHHG) makes a transition.
Troubleshooting when this alarm is issued
(a) The magnetic contactor (switch unit) for power line
switching is faulty.
If the contact is inoperative, check the power supply of the
magnetic contactor. If the magnetic contactor is still
inoperative, replace the magnetic contactor.
(b) The I/O unit or wiring for checking the contact of the
magnetic contactor is faulty.
If a defect is found in the I/O unit or wiring, replace the I/O
unit or wiring.
(c) The sequence (ladder) is incorrect.
Modify the sequence so that switching is completed within 1
second. For details of the signals, refer to Chapter 10,
"Interface Signals," in "FANUC SERVO AMPLIFIER series
Descriptions (B-65162E)."
3.4.1.12 Alarm code 16
The memory (RAM) is faulty. A check is made when the power is
turned on.
If this alarm is issued, replace the SPM or SPM control printed circuit
board.
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3.4.1.13 Alarm codes 19 and 20
The offset voltage of the phase U (alarm code 19) or phase V (alarm
code 20) current detection circuit is excessively high. A check is made
when the power is turned on.
If this alarm is issued, replace the SPM. If this alarm is issued
immediately after the SPM control printed circuit board is replaced,
check the plugging of the connectors (CN1, CN3, and CN4) between
the power unit and SPM control printed circuit board.
3.4.1.14 Alarm code 24
The power to the CNC is turned off. (This symptom does not represent
an error.) Serial communication data transferred between the CNC and
spindle amplifier module contains an error.
Troubleshooting when this alarm is issued
(a) Noise occurring between the CNC and spindle amplifier
module (connected via an electric cable) caused an error in
communication data.
Check the condition for maximum wiring length.
Referring to Chapter 9, "Connection," in "FANUC SERVO
AMPLIFIER series Descriptions (B-65162E)," check the
condition of electric cable connection.
(b) Noise exercises an influence because a communication cable
is bundled with the power line.
If a communication cable is bundled with the power line for
the motor, separate them from each other.
(c) A cable is faulty.
Replace the cable.
If an optical I/O link adapter is used, the optical link adapter
or optical cable may be faulty.
(d) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
(e) The CNC is faulty.
Replace the board or module related to the serial spindle.
3.4.1.15 Alarm code 25
Serial communication between the CNC and spindle amplifier module
stopped.
Troubleshoot as in the case of alarm code 24.
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3.4.1.16 Alarm code 26
The sensor signal (for speed control) for Cs contour control has an
error.
<1> When a high-resolution magnetic pulse coder is used with SPM
TYPE2 (using both of the JY2 and JY5 connectors), the amplitude
of the sensor signal on the high-resolution side (1000 ) of the
high-resolution magnetic pulse coder built into the motor on the
JY2 side is excessively small.
<2> When a built-in motor is used with SPM TYPE2 (using only the
JY5 connector), the amplitude of the sensor signal on the high-
resolution side (1000 to 3000 ) of the high-resolution magnetic
pulse coder is excessively small.
<3> When SPM TYPE4 is used, the amplitude of the spindle sensor
(MZ sensor) built into the motor connected to JY2 is excessively
small.
(1) If this alarm is issued when the motor is deactivated
(a) The setting of a parameter is incorrect.
Referring to "FANUC AC SPINDLE MOTOR series
Parameter Manual (B-65160E)," check the parameter for
sensor setting.
(b) The sensor is not adjusted correctly, or the cable is
disconnected.
Adjust the sensor signal according to Subsection 4.3.4 of
Part I of this manual. If the signal is not observed, replace
the cable and sensor.
(c) The printed circuit board is faulty.
Replace the SPM or SPM control printed circuit board.
(2) If this alarm is issued when the cable is moved (as in the case
where the spindle moves)
(a) The connector has a bad contact, or the cable is
disconnected.
The conductor may be broken. Replace the cable. If coolant
has penetrated into the connector, clean the connector.
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(3) If this alarm is issued when the motor rotates
(a) The shielding of the cable between the preamplifier or MZ
sensor (for TYPE4) and the SPM is faulty.
Referring to Chapter 9, "Connection," in "FANUC SERVO
AMPLIFIER series Descriptions (B-65162E)," check the
shielding of the cable.
(b) The signal cable is bundled with the servo motor power line.
If the cable between the preamplifier or MZ sensor (for
TYPE4) and the SPM is bundled with the servo motor power
line, separate them from each other.
(c) Improve the cable routing between the motor and
preamplifier.
If the cables (including those within a terminal box)
extending from the motor to the preamplifier are close to the
power line, separate the cables from the power line.
S
P
M
S
e
n
s
o
r
The cable is
connected to the
pin specified in the
specifications on
the sensor side.
The cable is
connected to
pin 10 on the
SPM side.
Shielded cable
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3.4.1.17 Alarm code 27
The sensor signal (position coder signal) for position control is
abnormal.
<1> The signal of the position coder is disconnected (for all types).
<2> When an MZ or BZ sensor is used with SPM TYPE1 (using the
JY2 connector), the amplitude of the sensor signal is excessively
small.
<3> When a separate built-in sensor is used with SPM TYPE2 (using
the JY2 and JY5 connectors), the amplitude of the spindle sensor
signal on the JY2 side is excessively small.
<4> When a high-resolution magnetic pulse coder is used with SPM
TYPE2 (using the JY2 and JY5 connectors), the amplitude of the
sensor signal on the low-resolution side (128 to 384 ) on the JY5
side is excessively small.
<5> When SPM TYPE4 is used, the amplitude of the spindle sensor
signal connected to JY5 is excessively small.
(1) If this alarm is issued when the motor is deactivated
(a) The setting of a parameter is incorrect.
Referring to Chapter 2 of "FANUC AC SPINDLE MOTOR
series Parameter Manual (B-65160E)," check the
parameter for sensor setting.
(b) The cable connected to JY4 is disconnected. ( position
coder)
When the position coder is used, adjustment is impossible.
Replace the cable.
(c) The sensor is not adjusted correctly.
Adjust the sensor signal according to Subsection 4.3.4 of
Part I of this manual. If the sensor signal cannot be adjusted
correctly, or the sensor signal is not observed, replace the
connection cable and sensor.
(d) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
(2) If this alarm is issued when the cable is moved (as in the case
where the spindle moves)
(a) The connector has a bad contact, or the cable is
disconnected.
The conductor may be broken. Replace the cable. If coolant
has penetrated into the connector, clean the connector.
S
P
M
S
e
n
s
o
r
Connected to the frame
ground via a cable clamp.
Shielded cable
position coder
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(3) If this alarm is issued when the motor rotates
(a) The shielding of the cable between the sensor and the SPM is
faulty.
Referring to Chapter 9, "Connection," in "FANUC SERVO
AMPLIFIER series Descriptions (B-65162E)," check the
shielding of the cable.
(b) The signal cable is bundled with the servo motor power line.
If the cable between the sensor and the SPM is bundled with
the servo motor power line, separate them from each other.
3.4.1.18 Alarm code 28
The sensor signal (for position control) for Cs contour control is
abnormal.
<1> When a high-resolution magnetic pulse coder is used with SPM
TYPE2 (using both of the JY2 and JY5 connectors), the amplitude
of the sensor signal on the high-resolution side (1000 to 3000 ) of
the high-resolution magnetic pulse coder on the JY5 side is
excessively small.
<2> When SPM TYPE4 is used, the amplitude of the spindle sensor
(MZ sensor) built into the motor connected to JY5 is excessively
small.
Troubleshoot as in the case of alarm code 26.
S
P
M
S
e
n
s
o
r
The cable is
connected to the
pin specified in the
specifications on
the sensor side.
The cable is
connected to
pin 10 on the
SPM side.
Shielded cable
Other sensors
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3.4.1.19 Alarm code 29
An excessive load (standard setting: load meter reading of 9 V) has
been applied continuously for a certain period (standard setting: 30
seconds).
(1) If this alarm is issued during cutting
Check the load meter, and review the cutting condition.
(2) If this alarm is issued during a stop
(a) The spindle is locked.
Check the sequence to see if the spindle is locked when a
command for very slow movement is specified or orientation
is specified for the spindle.
(3) If the spindle does not rotate as specified (the spindle rotates at a
very low speed) and this alarm is issued
(a) The setting of a parameter is incorrect.
Referring to "FANUC AC SPINDLE MOTOR series
Parameter Manual (B-65160E)," check the parameter for
sensor setting.
(b) The phase sequence of the motor power line is incorrect.
(c) The feedback cable of the motor has a problem.
Check if the phase A/B signals are connected correctly.
(d) The feedback cable of the motor is faulty.
Rotate the motor manually to see if a speed is indicated in the
item of motor speed on the CNC diagnosis screen or on the
spindle check board. If no speed indication is provided,
replace the cable or spindle sensor (or motor).
(4) If the spindle does not rotate as specified (the spindle does not
rotate at all) and this alarm is issued
(a) The power line is abnormal.
Check if the motor power line is connected normally. If
spindle switching or output switching is performed, check if
the magnetic contactor is on.
(b) The SPM is faulty.
Replace the SPM.
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3.4.1.20 Alarm code 30
An excessively large current is detected at the input of the 3-phase main
circuit of the PSM.
(1) If the PSM indicates alarm code 1
Troubleshoot according to the description of alarm code 1
provided in Section 3.1 of Part II.
(2) If the PSM indicates no alarm
(a) A cable is faulty.
The connection cable between the PSM (JX1B) and SPM
(JX1A) is faulty. Replace the cable.
(b) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
3.4.1.21 Alarm code 31
The motor failed to rotate as specified, and has stopped or is rotating at
a very low speed.
(1) If the motor rotates at a very low speed and this alarm is issued
(a) The setting of a parameter is incorrect.
Referring to "FANUC AC SPINDLE MOTOR series
Parameter Manual (B-65160E)," check the parameter for
sensor setting.
(b) The motor phase sequence is incorrect.
Check if the motor phase sequence is correct.
(c) The feedback cable of the motor has a problem.
Check if the phase A/B signals are connected correctly.
(d) The feedback cable of the motor is faulty.
Rotate the motor manually to see if a speed is indicated in the
item of motor speed on the CNC diagnosis screen or on the
spindle check board. If no speed indication is provided,
replace the cable or spindle sensor (or motor).
(2) If the motor does not rotate at all and this alarm is issued
(a) The sequence for locking the spindle is incorrect.
Check the sequence to see if the spindle is locked.
(b) The power line is faulty.
Check if the power line is connected to the motor correctly.
If spindle switching or winding switching is performed,
check if the magnetic contactor is on.
(c) The SPM is faulty.
Replace the SPM.
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3.4.1.22 Alarm code 32
LSI memory for serial communication is abnormal. A check is made
when the power is turned on.
If this alarm is issued, replace the SPM or SPM control printed circuit
board.
3.4.1.23 Alarm code 33
The PSM could not be charged within a specified time.
PSM input has an open phase.
(1) If the PSM indicates alarm code 5
Troubleshoot according to the description of alarm code 5
provided in Section 3.1 of Part II.
(2) If the PSM indicates no alarm
(a) A cable is faulty.
The connection cable between the PSM (JX1B) and SPM
(JX1A) is faulty. Replace the cable.
(b) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
3.4.1.24 Alarm code 34
Parameter data outside the specifiable range was set.
Troubleshooting when this alarm is issued
Connect the spindle check board.
The spindle check board displays "AL-34" and "F-xxx"
alternately. "F-xxx" indicates a parameter number outside the
specifiable range. For the correspondence between the CNC
parameter numbers and "F-xxx," refer to "FANUC AC SPINDLE
MOTOR series Parameter Manual (B-65160E)."
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3.4.1.25 Alarm code 35
The gear ratio set in a parameter exceeds the value range allowable for
internal processing. This alarm is issued with a parameter related to
orientation of magnetic sensor type.
Troubleshooting when this alarm is issued
(a) The gear ratio set in a parameter is incorrect.
Check if an excessively large gear ratio is set.
FS0 FS15i FS16i/16, PM-D/F Description
6556
to
6559
3056
to
3059
4056
to
4059
Gear ratio between the spindle and
motor
6560
to
6563
3060
to
3063
4060
to
4063
Position gain at orientation
3.4.1.26 Alarm code 36
The error counter overflowed.
(1) The setting of a parameter is incorrect.
(a) The gear ratio set in a parameter is incorrect.
Check if an excessively large gear ratio is set.
(b) The setting of a position gain is incorrect.
If the gear ratio data is correct, increase the position gain.
(c) The setting of a position detector mounting direction or the
setting of spindle and motor rotation directions is incorrect.
FS0 FS15i FS16i/16, PM-D/F Description
6556
to
6559
3056
to
3059
4056
to
4059
Gear ratio between the spindle and
motor
6565
to
6568
3065
to
3068
4065
to
4068
Position gain in the servo
mode/spindle synchronization
6569
to
6572
3069
to
3072
4069
to
4072
Position gain in Cs contour control
(2) Sequence error
(a) Check if the motor is deactivated (by turning off SFR/SRV)
in a position control mode (rigid tapping, Cs contour control,
or spindle synchronization).
3. TROUBLESHOOTING
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3.4.1.27 Alarm code 37
After emergency stop signal input, the motor is accelerated without
being decelerated. This alarm is issued also when the motor is not
deactivated (the motor is not decelerated completely) when the
acceleration/deceleration time (initial parameter setting: 10 seconds)
has elapsed after emergency stop signal input.
Troubleshooting when this alarm is issued
(a) The parameter setting of the speed detector is incorrect.
Referring to Chapter 1 in "FANUC AC SPINDLE MOTOR
series Parameter Manual (B-65160E)," set a correct time.
(b) The parameter setting of an acceleration/deceleration time is
not proper.
Check the parameter-set value and actual acceleration/
deceleration time, then set an actual acceleration/
deceleration time plus some margin.
FS0 FS15i FS16i/16, PM-D/F Description
6582 3082 4082 Acceleration/deceleration time
setting
3. TROUBLESHOOTING
AND ACTION TROUBLESHOOTING B-65165E/02
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3.4.2 Alarm Code 39
The position where the one-rotation signal for Cs contour control is
generated is incorrect. This alarm is not issued when the parameter
indicated below is not set.
<1> When SPM TYPE2 is used, phase A/B/Z on the high-resolution
(1000 to 3000 ) side of the high-resolution magnetic pulse coder
on the spindle side has a problem.
<2> When SPM TYPE4 is used, the spindle sensor connected to JY5 is
faulty.
Troubleshoot as in the case of alarm code 41.
FS0 FS15i FS16i/16, PM-D/F Description
6516#5 3016#5 4016#5 Whether the function for detecting
the one-rotation signal of the
detector for Cs contour control is
provided
1: The function is provided.
Troubleshooting when this alarm is issued (at the time of reference
position return on the Cs axis)
(a) The setting of a parameter is incorrect.
Referring to Chapter 2 in "FANUC AC SPINDLE MOTOR
series Parameter Manual (B-65160E)," check the
parameter for sensor setting.
(b) The sensor is not adjusted correctly.
Adjust the sensor according to Subsection 4.3.4 of Part I of
this manual. If the signal is not observed, replace the sensor.
(c) The shielding of the cable between the preamplifier and
SPM is faulty.
Referring to Chapter 9, "Connection," in "FANUC SERVO
AMPLIFIER series Descriptions (B-65162E)," check the
shielding of the cable.
(d) The signal cable is bundled with the servo motor power line.
If the cable between the preamplifier and SPM is bundled
with the servo motor power line, separate them from each
other.
(e) Improve the cable routing between the motor and
preamplifier.
If the cables (including those within a terminal box)
extending from the motor to the preamplifier are close to the
power line, separate the cables from the power line.
(f) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
S
P
M
S
e
n
s
o
r
The cable is
connected to the
pin specified in the
specifications on
the sensor side.
The cable is
connected to
pin 10 on the
SPM side.
Shielded cable
3. TROUBLESHOOTING
B-65165E/02 TROUBLESHOOTING AND ACTION
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3.4.2.1 Alarm code 40
The one-rotation signal for Cs contour control is not generated.
<1> When SPM TYPE2 is used, phase A/B/Z on the high-resolution
(1000 to 3000 ) side of the high-resolution magnetic pulse coder
on the spindle side has a problem.
<2> When SPM TYPE4 is used, the spindle sensor connected to JY5 is
faulty.
Troubleshoot as in the case of alarm code 42.
Troubleshooting when this alarm is issued (at the time of reference
position return on the Cs axis)
(a) The setting of a parameter is incorrect.
Referring to Chapter 2 in "FANUC AC SPINDLE MOTOR
series Parameter Manual (B-65160E)," check the
parameter for sensor setting.
(b) The sensor is not adjusted correctly.
Adjust the sensor according to Subsection 4.3.4 of Part I of
this manual. If the signal is not observed, replace the sensor.
(c) The cable is disconnected.
Check the check pin PSD on the check board. If the signal is
not observed per sensor rotation, replace the cable.
(d) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
3. TROUBLESHOOTING
AND ACTION TROUBLESHOOTING B-65165E/02
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3.4.2.2 Alarm code 41
<1> The position where the one-rotation signal of the position coder
is generated is incorrect.
<2> The position where the one-rotation signal of the MZ sensor or BZ
sensor is generated is incorrect.
<3> The position where the one-rotation signal of position coder S is
generated is incorrect.
(1) If orientation based on the external one-rotation method is used
(a) The settings of parameters are incorrect.
Check that the gear ratio data matches the specification of
the machine.
FS0 FS15 FS15i FS16i/16, PM-D/F Description
6935
6937
3315
3317
3171
3173
4171
4173
Number of teeth on the spindle
side
6936
6938
3316
3318
3172
3174
4172
4174
Number of teeth on the position
detector side
(b) Slippage between the spindle and motor
Check that there is no slippage between the spindle and
motor. Orientation based on the external one-rotation
method is not applicable to V-belt connection.
(2) Troubleshooting in other cases
(a) The setting of a parameter is incorrect.
Referring to "FANUC AC SPINDLE MOTOR series
Parameter Manual (B-65160E)," check the parameter for
sensor setting.
(b) A sensor (MZ sensor or BZ sensor) is not adjusted correctly.
Adjust the sensor according to Subsection 4.3.4 of Part I of
this manual. If the signal is not observed, replace the sensor.
(c) The position coder is faulty.
Check the check pin PSD on the spindle check board. If the
signal is not generated per rotation, replace the position
coder.
(d) The shielding of the cable between the sensor and SPM is
faulty.
Referring to Chapter 9, "Connection," in "FANUC SERVO
AMPLIFIER series Descriptions (B-65162E)," check the
shielding of the cable.
(e) The signal cable is bundled with the servo motor power line.
If the cable between the sensor and SPM is bundled with the
servo motor power line, separate them from each other.
(f) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
S
P
M
S
e
n
s
o
r
The cable is
connected to the
pin specified in
the specifications
on the sensor
side.
The cable is
connected to
pin 10 on the
SPM side.
Shielded cable
MZ or BZ sensor
S
P
M
S
e
n
s
o
r
Connected to the frame
ground via a cable clamp.
Shielded cable
position coder
3. TROUBLESHOOTING
B-65165E/02 TROUBLESHOOTING AND ACTION
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3.4.2.3 Alarm code 42
<1> The one-rotation signal of the position coder is not generated.
<2> The one-rotation signal of the MZ sensor or BZ sensor is not
generated.
<3> The one-rotation signal of position coder S is not generated.
Troubleshooting when this alarm is issued
(a) The setting of a parameter is incorrect.
Referring to "FANUC AC SPINDLE MOTOR series
Parameter Manual (B-65160E)," check the parameter for
sensor setting.
(b) The MZ sensor or BZ sensor is not adjusted correctly.
Adjust the sensor according to Subsection 4.3.4 of Part I of
this manual. If the sensor cannot be adjusted or the signal is
not observed, replace the connection cable and sensor.
(c) The position coder is faulty.
Check the check pin PSD on the spindle check board. If the
signal is not generated per rotation, replace the connection
cable and position coder.
(d) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
3.4.2.4 Alarm code 43
The position coder signal of the spindle on the mater side used in the
differential speed mode is disconnected.
Troubleshoot as in the case of alarm code 27.
3.4.2.5 Alarm code 44
An error occurred in the A/D converter.
When this alarm is issued, replace the SPM or SPM control printed
circuit board.
3.4.2.6 Alarm code 46
The one-rotation signal of the position coder cannot be detected
normally during thread cutting.
Troubleshoot as in the case of alarm code 41.
3. TROUBLESHOOTING
AND ACTION TROUBLESHOOTING B-65165E/02
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3.4.2.7 Alarm code 47
<1> The count value of position coder signal pulses is abnormal.
<2> The pulse count value of the MZ sensor or BZ sensor is abnormal.
Phases A and B for the position coder have a feedback pulse count of
4096 p/rev per spindle rotation. The SPM checks the pulse counts of
phases A and B equivalent to the position coder each time a one-
rotation signal is generated. The alarm is issued when a pulse count
beyond the specified range is detected.
(1) If this alarm is issued when the cable is moved (as in the case
where the spindle moves)
(a) The connector has a bad contact, or the cable is
disconnected.
The conductor may be broken. Replace the cable. If coolant
has penetrated into the connector, clean the connector.
(2) Troubleshooting in other cases
(a) The setting of a parameter is incorrect.
Referring to "FANUC AC SPINDLE MOTOR series
Parameter Manual (B-65160E)," check the parameter for
sensor setting.
(b) A sensor (MZ sensor or BZ sensor) is not adjusted correctly.
Adjust the sensor according to Subsection 4.3.4 of Part I of
this manual.
(c) The shielding of the cable between the sensor and SPM is
faulty.
Referring to Chapter 9, "Connection," in "FANUC SERVO
AMPLIFIER series Descriptions (B-65162E)," check the
shielding of the cable.
(d) The signal cable is bundled with the servo motor power line.
If the cable between the sensor and SPM is bundled with the
servo motor power line, separate them from each other.
(e) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
S
P
M
S
e
n
s
o
r
The cable is
connected to the
pin specified in
the specifications
on the sensor
side.
The cable is
connected to
pin 10 on the
SPM side.
Shielded cable
MZ or BZ sensor
S
P
M
S
e
n
s
o
r
Connected to the frame
ground via a cable clamp.
Shielded cable
position coder
3. TROUBLESHOOTING
B-65165E/02 TROUBLESHOOTING AND ACTION
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3.4.2.8 Alarm code 49
In the differential speed mode, the spindle speed on the master side
(remote) converted to a motor speed on the slave side (local) exceeded
the maximum allowable speed of the motor.
Troubleshooting when this alarm is issued
A differential speed is calculated by multiplying the speed on the
target speed by a gear ratio.
Ensure that the maximum allowable speed of the motor is not
exceeded.
3.4.2.9 Alarm code 50
A value obtained by internal calculation in spindle synchronization
exceeded the allowable range.
Troubleshooting when this alarm is issued
(a) The setting of parameters for gear ratio setting is incorrect.
Check if an excessively large gear ratio is set.
(b) Position gain setting limit
If correct gear ratio data is set, increase the position gain
value in spindle synchronization.
FS0 FS15i FS16i/16, PM-D/F Description
6556
to
6559
3056
to
3059
4056
to
4059
Gear ratio between the spindle and
motor
6565
to
6568
3065
to
3068
4065
to
4068
Position gain in the servo
mode/spindle synchronization
3.4.2.10 Alarm code 51
The PSM detected that the DC link voltage was excessively low.
(1) If the PSM indicates alarm code 4
Troubleshoot according to the description of alarm code 4
provided in Section 3.1 of Part II.
(2) If the PSM indicates no alarm
(a) A cable is faulty.
The connection cable between the PSM (JX1B) and SPM
(JX1A) is faulty. Replace the cable.
(b) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
3. TROUBLESHOOTING
AND ACTION TROUBLESHOOTING B-65165E/02
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3.4.2.11 Alarm codes 52 and 53
The synchronization signal (ITP) in communication data transferred to
and from the CNC stopped.
Troubleshooting when this alarm is issued
(a) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
(b) The CNC is faulty.
Replace the board or module related to the serial spindle.
3.4.2.12 Alarm code 54
A large current flowing in the motor for a long time was detected.
Troubleshoot as in the case of alarm code 29.
3.4.2.13 Alarm code 55
In spindle switching control or output switching control, a mismatch
between the switching request signal (SPSL or RSL) and the power line
state check signal (MCFN, MFNHG, RCH, or RCHHG) continues
during motor activation.
Troubleshooting when this alarm is issued
(a) The magnetic contactor (switch unit) for power line
switching is faulty.
If the contact is inoperative, check the power supply of the
magnetic contactor. If the magnetic contactor is still
inoperative, replace the magnetic contactor.
(b) The I/O unit or wiring for checking the contact of the
magnetic contactor is faulty.
If a defect is found in the I/O unit or wiring, replace the I/O
unit or wiring.
(c) The sequence (ladder) is incorrect.
Modify the sequence so that switching is not performed
during activation. For details of the signals, refer to Chapter
10, "Interface Signals," in "FANUC SERVO AMPLIFIER
series Descriptions (B-65162E)."
3. TROUBLESHOOTING
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3.4.2.14 Alarm code 56
The cooling fan of the control circuit stopped.
When this alarm is issued, replace the SPM or the internal cooling
fan of the SPM. When replacing the internal cooling fan, see
Chapter 4.
3.4.2.15 Alarm code 57
The temperature of the regenerative resistance of the PSM (resistance
regenerative type) is excessively high. The PSM is faulty.
(1) If the PSM indicates alarm code 8 or above
Troubleshoot according to the description of alarm code 8 (or the
pertinent code) provided in Section 3.1 of Part II.
(2) If the PSM indicates no alarm
(a) A cable is faulty.
The connection cable between the PSM (JX1B) and SPM
(JX1A) is faulty. Replace the cable.
(b) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
3.4.2.16 Alarm code 58
The temperature of the main circuit-cooling fan of the PSM is
abnormally high.
(1) If the PSM indicates alarm code 3
Troubleshoot according to the description of alarm code 3
provided in Section 3.1 of Part II.
(2) If the PSM indicates no alarm
(a) A cable is faulty.
The connection cable between the PSM (JX1B) and SPM
(JX1A) is faulty. Replace the cable.
(b) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
3. TROUBLESHOOTING
AND ACTION TROUBLESHOOTING B-65165E/02
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3.4.2.17 Alarm code 59
The internal cooling fan of the PSM stopped.
(1) If the PSM indicates alarm code 2
Troubleshoot according to the description of alarm code 2
provided in Section 3.1 of Part II.
(2) If the PSM indicates no alarm
(a) A cable is faulty.
The connection cable between the PSM (JX1B) and SPM
(JX1A) is faulty. Replace the cable.
(b) The SPM is faulty.
Replace the SPM or SPM control printed circuit board.
3. TROUBLESHOOTING
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3.4.3 C Series Spindle Amplifier Module
For the C series, only those alarm codes that have the same number as
for the series and require troubleshooting different from the series
are described.
For an alarm code not covered by this subsection, see the description of
the alarm code for the series spindle amplifier module.
3.4.3.1 Alarm code 12
An excessively high motor current was detected.
An excessively high current flowed into the DC link of the main circuit.
For SPMC-2.2 to SPMC-11
The power module (IPM) of the main circuit detected an excessive load,
excessively high current, or decrease in control supply voltage.
(1) If an SPMC from SPMC-2.2 to SPMC-11 indicates this alarm
Check alarm code 09 as well.
(2) If this alarm is issued immediately after a spindle move command
is specified
(a) The motor power line is faulty.
Check for a short circuit between motor power lines and
short-circuit to ground, and replace the power line as
required.
(b) The motor winding has an insulation failure.
If the motor is short-circuited to ground, replace the motor.
(c) The parameters specific to the motor are not set correctly.
Refer to "FANUC AC SPINDLE MOTOR series
Parameter Manual (B-65160E)."
(d) The SPMC is faulty.
A power element (IGBT, IPM) may be destroyed. Replace
the SPMC.
(3) If this alarm is issued during spindle rotation
(a) Belt slippage
The belt between the spindle and motor may be slipping.
Clean the pulley and run the belt again.
(b) The parameters specific to the motor are not set correctly.
Referring to "FANUC AC SPINDLE MOTOR series
Parameter Manual (B-65160E)," check the parameters
specific to the motor.
3. TROUBLESHOOTING
AND ACTION TROUBLESHOOTING B-65165E/02
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(c) A power element is destroyed.
A power element (IGBT, IPM) may be destroyed. Replace
the SPM.
If the amplifier setting condition is not satisfied, or cooling is
insufficient because the heat sink is dirty, the power
elements may be destroyed.
When the heat sink on the back of the amplifier is too dirty,
clean the heat sink, for example, by blowing air. Consider
the use of a structure that prevents the heat sink from being
directly exposed to coolant.
For the setting condition, refer to "FANUC SERVO
AMPLIFIER series Descriptions (B-65162E)."
3.4.3.2 Alarm code 35
The motor speed calculated from the position coder much differs from
the motor speed estimated in the SPMC.
(1) If this alarm is issued when a rotation command is specified
(a) The setting of parameters for position coder setting is
incorrect.
Set the bits related to the rotation directions of the position
coder and spindle and the rotation directions of the spindle
and motor. For details, refer to "FANUC AC SPINDLE
MOTOR series Parameter Manual (B-65160E)."
(b) The setting of parameters for gear ratio setting is incorrect.
Check if incorrect gear ratio data is set. The gear ratio data is
used for conversion from the position coder to a motor speed.
So, be sure to set correct values.
FS0 FS15i FS16i/16, PM-D/F Description
6556
to
6559
3056
to
3059
4056
to
4059
Gear ratio between the spindle and
motor
(c) Slippage between the spindle and motor
Make an adjustment to prevent the belt from slipping.
(2) If this alarm is issued during cutting
The motor speed is decreased because of an overload. Review the
cutting condition.
3. TROUBLESHOOTING
B-65165E/02 TROUBLESHOOTING AND ACTION
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3.5 POWER-FAILURE BACKUP MODULE
When an alarm is issued, the one-digit 7-segment LED indicates an
alarm code.
Indicates an alarm code (01 or above).
3.5.1 Alarm Code 1
(1) Meaning
Sub-module C cannot be charged.
(2) Cause and troubleshooting
(a) Sub-module C connection error
Check the connection.
(b) Charging circuit failure
Replace the power-failure backup module.
3.5.2 Alarm Code 2
(1) Meaning
After sub-module C was charged, the voltage decreased for a
cause.
(2) Cause and troubleshooting
(a) Charging circuit failure
Replace the power-failure backup module.
3.5.3 Alarm Code 3
(1) Meaning
An abnormal current flowed in sub-module R.
(2) Cause and troubleshooting
(a) Excessive regenerated power
If the sum of maximum servo motor outputs exceeds 20
kW, use two sub-module R units.
(b) Regenerative circuit failure
Replace the power-failure backup module.
3. TROUBLESHOOTING
AND ACTION TROUBLESHOOTING B-65165E/02
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3.5.4 Alarm Code 4
(1) Meaning
The regenerative resistance in sub-module R is overheated.
(2) Cause and troubleshooting
(a) Sub-module R is placed in conductive state at all times
because of a regenerative circuit failure.
Replace the power-failure backup module.
3.5.5 Alarm Code 5
(1) Meaning
The supply voltage for driving the thyristor decreased.
(2) Cause and troubleshooting
(a) The power supply circuit for driving the thyristor is
abnormal.
Replace the power-failure backup module.
B-65165E/02 TROUBLESHOOTING
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
4 HOW TO REPLACE THE FUSES AND
PRINTED CIRCUIT BOARDS
WARNING
Before replacing fuses or printed-circuit boards,
make sure that the recharge-under-way LED (red) is
off.
Before replacing fuses or printed circuit boards, see the table given
below to find which section or subsection in this manual provides
information about the related replacement procedure.
TROUBLESHOOTING B-65165E/02
- 176 -
4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
(1) Power supply module
Model Drawing No.
Case
disassembly
Fuse
replacement
PSM-5.5 to 11 A06B-6077-H106 to 111 4.1.1 4.2.1(1)
A06B-6087-H115 to 137 4.1.2 4.2.1(1), (3)
A06B-6077-H115 to 130 4.1.2 4.2.1(2), (3)
PSM-15 to 37
A06B-6071-H115 to 130 4.1.3 4.2.1(2), (3)
PSM-45, 55 A06B-6087-H145 to 155 4.1.4 4.2.1(1)
PSM-15HV to 45HV A06B-6091-H115 to 145 4.1.2 4.2.1(1), (3)
PSM-75HV A06B-6087-H175 4.1.4 4.2.1(1)
PSMR-3, 5.5 A06B-6081-H103, H106 4.1.1 4.2.1(4), (5)
PSMV-11HV A06B-6098-H111 4.1.2 4.2.1(1), (6)
(2) Servo amplifier module
Model Drawing No.
Case
disassembly
Fuse
replacement
SVM1-12 to 130 A06B-6079-H101 to H106
A06B-6096-H101 to H106
4.1.1 4.2.2(1)
SVM1-240, 360 A06B-6079-H107, H108
A06B-6096-H107, H108
4.1.2 4.2.2(1),
4.2.3(2)
SVM2-12/12 to
80/80
A06B-6079-H201 to H209
A06B-6096-H201 to H209
4.1.1 4.2.2(1)
SVM3-12/12/12 to
SVM3-20/20/40
A06B-6079-H301 to H307
A06B-6080-H301 to H307
A06B-6096-H301 to H307
4.1.1 4.2.2(1)
SVM1-20HV to
60HV
A06B-6085-H102 to H104
A06B-6097-H102 to H104
4.1.1 4.2.2(1)
SVM2-20/20HV to
SVM2-60/60HV
A06B-6085-H201 to H206
A06B-6097-H201 to H206
4.1.1 4.2.2(1)
B-65165E/02 TROUBLESHOOTING
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
(3) Spindle amplifier module (In drawing numbers, # and the
subsequent part is omitted.)
Model Drawing No.
Case
disassembly
Fuse
replacement
Replacement of
the program ROM
and the spindle
sensor module
SPM-2.2 to 11 TYPE1
TYPE4
A06B-6102-H202 to H211
A06B-6102-H102 to H111
4.1.1 4.2.3(1) 4.3.1(1)
SPM-15 to 30 TYPE1
TYPE4
A06B-6102-H215 to H230
A06B-6102-H115 to H130
4.1.2 4.2.3(1), (2) 4.3.1(1)
SPM-45 to 55 TYPE1
TYPE4
A06B-6102-H245, H255
A06B-6102-H145, H155
4.1.4 4.2.3(1) 4.3.1(1)
SPM-2.2 to 11 TYPE1
TYPE2
TYPE4
A06B-6078-H102 to H211
A06B-6078-H302 to H311
4.1.1 4.3.1(2)
SPM-15 to 30 TYPE1
TYPE2
TYPE4
A06B-6088-H115 to H230
A06B-6088-H315 to H330
4.1.2 4.2.3(2) 4.3.1(2)
SPM-11 to 30 TYPE3 A06B-6088-H411 to H430 4.1.3 4.2.3(2) 4.3.1(3)
SPM-45 to 55 TYPE1
TYPE2
TYPE4
A06B-6088-H245, H255
A06B-6088-H345, H355
A06B-6088-H145, H155
4.1.4 4.2.3(2) 4.3.1(2)
SPM-45 TYPE3 A06B-6088-H445 4.1.5 4.3.1(3)
Old SPM15 to 30 A06B-6078-H215 to H330 4.1.3 4.2.3(2), (3) 4.3.1(6), (7)
Old SPM11 A06B-6078-H411 4.1.3 4.2.3(2), (3) 4.3.1(7)
SPMC2.2 to 11 A06B-6082-H202 to H211 4.1.1 4.3.1(4)
SPMC15 to 26 A06B-6082-H215 to H226 4.1.2 4.2.3(2) 4.3.1(5)
SPM11HV TYPE1
TYPE4
A06B-6104-H211
A06B-6104-H111
4.1.1 4.2.3(1) 4.3.1(1)
SPM15HV to 45HV TYPE1
TYPE4
A06B-6104-H215 to H245
A06B-6104-H115 to H145
4.1.2 4.2.3(1), (2) 4.3.1(1)
SPM75HV TYPE1
TYPE4
A06B-6104-H275
A06B-6104-H175
4.1.4 4.2.3(1) 4.3.1(1)
SPM11HV TYPE1
TYPE2
TYPE4
A06B-6092-H211
A06B-6092-H311
A06B-6092-H111
4.1.1 4.3.1(2)
SPM15HV to 45HV TYPE1
TYPE2
TYPE4
A06B-6092-H215 to H245
A06B-6092-H315 to H345
A06B-6092-H115 to H145
4.1.2 4.2.3(2) 4.3.1(2)
SPM75HV TYPE1
TYPE2
TYPE4
A06B-6092-H275
A06B-6092-H375
A06B-6092-H175
4.1.4 4.3.1(2)
SPM15HV to 45HV TYPE3 A06B-6092-H415 to H445 4.1.4 4.2.3(2) 4.3.1(3)
SPM75HV TYPE3 A06B-6092-H475 4.1.5 4.3.1(3)
(4) Power-failure backup module
Drawing No. Case disassembly Fuse replacement
A06B-6077-H001 4.1.1 4.2.4(1)
A06B-6077-H002 4.1.1 4.2.4(1)
TROUBLESHOOTING B-65165E/02
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
4.1 CASE DISASSEMBLY
4.1.1 60/90 mm Width Modules
Make sure that the recharge-under-way LED (red) is off.
Recharge-under-way
LED
Remove the face plate.
Remove the face plate
by inserting the tip of a
flat-blade screwdriver
at the hooks (four) on
the face plate.
Face plate
Remove the cases.
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
Remove the screws fastening the case
and the screws (5 M4) holding down
the terminal board.
Case 1
(chassis)
Case 2
(cover)
Remove the printed-circuit board.
Control circuit
printed-circuit
board
Control circuit board
Control circuit board
Cases for the SVM
Cases for the PSM and SPM
Remove the screws (2 M3) fastening the
printed-circuit board.
Remove the screws (4 M3) fastening the
printed-circuit board.
Wiring board
Remove the IPM.
<1> Remove the screws (5 M5) fastening the IPM.
Then remove the wiring board.
<2> Remove the IPM.
Note) There is a snubber capacitor between the IPM
and wiring board. When re-assembling, do not
forget to mount it.
Wiring board
IPM
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
4.1.2 150 mm Width Module (without the Connector Module)
Make sure that the recharge-under-way LED (red) is off.
The recharge-under-way LED (red) is at the center of terminal board
TB1. Open the cover at the top of the module, and check the LED.
Terminal
board
Recharge-under-way
LED
Remove the face plate.
Remove the face plate
by inserting the tip of a
flat-blade screwdriver
at the hooks (six) on
the face plate.
Face plate
Remove the case.

Remove the screws

(eight) fastening the
cases, and remove
the case by pulling it
off the flange
surface.
Screws (eight)
Fan
Heat
sink
Case
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
Remove the printed-circuit board.
Heat
sink
Fan
Printed-circuit
board
Hook
PCB support
While spreading the PCB support hooks, pull the printed-circuit
board off the flange surface to remove it.
Printed-circuit
board
Wiring
board
PCB supports (two)
Remove the IGBT.
TB1
Capacitor board
IGBT
Wiring
board

<1> Remove terminal board TB1 (for SPM

only).
<2> Remove the electrolytic capacitor
board(for PSM30 and SPM only).
<3> Remove the wiring board.
<4> Remove the IGBT.
TROUBLESHOOTING B-65165E/02
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
4.1.3 150 mm Width Module (with the Connector Module)
Make sure that the recharge-under-way LED (red) is off.
The recharge-under-way LED (red) is at the center of terminal board
TB1. Open the cover at the top of the module, and check the LED.
Terminal
board
Recharge-under-way
LED
Remove the face plate.
Remove the face
plate by inserting
the tip of a flat-blade
screwdriver at the
hooks (six) on the
face plate.
Face plate
Remove connector PCB.
Connector PCB
Remove the self-tapping screws holding down
connector PCB, and shift it in the direction
indicated with an arrow (left) to remove the
printed-circuit board.
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
Remove the case.

Remove the printed-circuit board.

Heat
sink
Fan
Printed-circuit
board
Hook
PCB support
While spreading the PCB support hooks, pull the printed-circuit
board off the flange surface to remove it.
Printed-circuit
board
Wiring
board
PCB supports (two)
Remove the screws
(eight) fastening the
cases, and remove
the case by pulling it
off the flange
surface.
Screws (eight)
Fan
Heat
sink
Case
TROUBLESHOOTING B-65165E/02
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
Remove the IGBT.
TB1
Capacitor board
IGBT
Wiring
board
Wiring
board
<1> Remove terminal board TB1
(for SPM only).
<2> Remove the electrolytic
capacitor board.
<3> Remove the wiring board.
<4> Remove the IGBT.
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
4.1.4 300-mm Wide Module (without the Connector Module)
Make sure that the recharge-under-way LED (red) is off. View the
recharge-under-way LED (red) from the upper part of the DC link
cover.
Cover
LED
Remove the DC link cover and motor power line cover.
DC link
cover
Motor power
line cover
Remove the self-tapping
screws (8 M4) from
the DC link cover and
motor power line cover.
Remove the face plate.
Remove the screws
(5 M4) from the
face plate.
Screw ( 5)
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
Remove the right side plate.
Screw (7 M4)
Remove the
screws (7 M4)
from the right side
plate.
Heat sink
Right side plate
Remove the control printed circuit board.
Hook
Heat sink
Bottom plate
PCB support PCB support
Insert the tip of a screwdriver into the opening on the bottom
plate, and while spreading the hook of the PCB support, pull
the printed circuit board off the flange surface toward you.
Control printed circuit
board
Wiring board
Control printed circuit
board
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
Remove the LED board for the recharge indicator.
LED board for the recharge indicator
Screw ( 2)
Remove the
screws (2 M4)
from the LED
board, and remove
the board.
Heat sink
Remove the top plate.
Heat sink
Top plate
Screw (2 M5)
Screw (5 M4)
<1> Remove the screws (2 M5)
from the DC link jumper.
<2> Remove the screws (5 M4)
from the top plate.
<3> Remove the top plate. (The top
plate comes off together with
the terminal block TB1.)
Remove the driver printed circuit board.
Carefully insert the tip of a screwdriver
and pull out the cable. (Be careful not
to force the screwdriver into the
connector; otherwise, the claw may
break.)
<1> From the two connectors,
detach the cables of the current
sensor.
<2> Remove the screws (3 M4)
from the driver printed circuit
board.
<3> Pull up the driver printed circuit
board to remove it.
Connector 2
Screw 3
Driver printed circuit board
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
Remove the left side and bottom plates.
<1> Locate the jumpers that connect the
terminal block TB2 and the wiring
board. Remove the screws (3
M6) holding the jumpers to the
wiring board.
<2> Remove the screws (2 M5) that
connect the capacitor and jumpers.
<3> Remove the screws (6 M4) from
the left side and bottom plates.
<4> Remove the left side and bottom
plates. (These plates come off
together with the electrolytic
capacitor and terminal block TB2.)
Electrolytic
capacitor
Wiring board
Screw (2 M5)
Screw (3 M6)
Screw (6 M4)
Left side plate Bottom plate
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
Remove the power printed circuit board.
<1> Remove the screws that connect the IGBT
and wiring board (9 M6, 12 M4).
<2> Remove the screws of the thermostat TH1
(2 M4).
<3> Remove the screws that connect the wiring
board and heat sink (2 M4, 1 M5).
<4> Remove the wiring board.
TH1
FG
Wiring board
Remove the IGBT.
IGBT
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
4.1.5 300-mm Wide Module (with the Connector Module)
Make sure that the recharge-under-way LED (red) is off. View the
recharge-under-way LED (red) from the upper part of the DC link
cover.
Cover
LED
Remove the DC link cover and motor power line cover.
DC link
cover
Motor power
line cover
Remove the self-tapping
screws (8 M4) from
the DC link cover and
motor power line cover.
Remove the face plate.
Remove the screws (5 M4)
from the face plate.
Screw ( 5)
B-65165E/02 TROUBLESHOOTING
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
Remove the right side plate.
Screw (7 M4)
Remove the
screws (7 M4)
from the right side
plate.
Heat sink
Plate
Remove the connector module and plate.
Connector module
Control printed
circuit board
<1> Remove the screws (3 M3) from the
connector module.
<2> Pull the connector module out of the
control printed circuit board.
<3> Remove the screws (4 M4) from the
plate, and remove the plate.
Plate
Screw (3 M3)
Screw (4 M4)
Heat sink
Upper side plate
Heat sink
Bottom plate
TROUBLESHOOTING B-65165E/02
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
Remove the control printed circuit board.
Hook
Heat sink
Bottom plate
PCB support PCB support
Insert the tip of a screwdriver into the opening on the bottom
plate, and while spreading the hook of the PCB support, pull the
printed circuit board off the flange surface toward you.
Control printed circuit
board
Wiring board
Control printed
circuit board
Remove the LED board for the recharge indicator.
LED board for the recharge indicator
Screw (x 2)
Remove the
screws (2 M4)
from the LED
board, and remove
the board.
Heat sink
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
Remove the top plate.
Heat sink
Top plate
Screw (2 M5)
Screw (5 M4)
<1> Remove the screws (2 M5)
from the DC link jumper.
<2> Remove the screws (5 M4)
from the top plate.
<3> Remove the top plate. (The top
plate comes off together with
the terminal block TB1.)
Remove the driver printed circuit board.
Carefully insert the tip of a screwdriver
and pull out the cable. (Be careful not
to force the screwdriver into the
connector; otherwise, the claw may
break.)
<1> From the two connectors,
detach the cables of the current
sensor.
<2> Remove the screws (3 M4)
from the driver printed circuit
board.
<3> Pull up the driver printed circuit
board to remove it.
Connector 2
Screw 3
Driver printed circuit board
TROUBLESHOOTING B-65165E/02
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
Remove the left side and bottom plates.
<1> Locate the jumpers that connect the
terminal block TB2 and the wiring
board. Remove the screws (3 M6)
holding the jumpers to the wiring
board.
<2> Remove the screws (2 M5) that
connect the capacitor and jumpers.
<3> Remove the screws (6 M4) from
the left and bottom plates.
<4> Remove the left and bottom plates.
(These plates come off together with
the electrolytic capacitor and
terminal block TB2.)
Electrolytic
capacitor
Wiring board
Screw (2 M5)
Screw (3 M6)
Screw (6 M4)
Left side plate Bottom plate
B-65165E/02 TROUBLESHOOTING
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
Remove the power printed circuit board.
<1> Remove the screws that connect the IGBT
and wiring board (9 M6, 12 M4).
<2> Remove the screws of the thermostat TH1
(2 M4).
<3> Remove the screws that connect the wiring
board and heat sink (2 M4, 1 M5).
<4> Remove the wiring board.
TH1
FG
Wiring board
Remove the IGBT.
IGBT
TROUBLESHOOTING B-65165E/02
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
4.2 REPLACING FUSES
4.2.1 Power Supply Module
(1) Replacing fuses on the control printed circuit board
a) F1 for 200 V for the control power
b) F2 for 200 V for CX1B external cooling fan
For A16B-2202-0423 to 0424 only.
(2) Replacing a fuse on the control printed circuit board
a) F1 for 200 V for the control power
F2 (FU2)
Fuse Specification drawing No. Remarks
F1 (FU1) A60L-0001-0359 250V F5.0A DAITO HM50
F2 (FU2) A60L-0001-0175#2.0A 250V F2.0A DAITO HM20
Control printed circuit board
(A16B-2202-0420 to 0424)
(A16B-2203-0220)
F1 (FU1)
Fuse Specification drawing No. Remarks
F1 A60L-0001-0245#GP75 250V F7.5A DAITO GP75
Control printed circuit board
(A16B-2202-0080)
F1
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
(3) Replacing a fuse on the power printed circuit board
a) F1 for the external cooling fan
(4) Replacing a fuse on the control printed circuit board
a) F1 for 200 V for the control power
Fuse Specification drawing No. Remarks
F1 A60L-0001-0175#0.5A 250V F0.5A DAITO HM05
Power printed circuit board
(A20B-1005-0590 to 0592)
F1
Fuse Specification drawing No. Remarks
F1 A60L-0001-0175#5.0A 250V F5.0A DAITO HM50
Control printed circuit board
(A16B-2201-0890)
F1
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
(5) Replacing a fuse on the power printed circuit board
a) F1 for 200 V for the external cooling fan
(6) Replacing fuses on the AC reactor
a) F1 to F3 for main circuit protection
Fuse Specification drawing No. Remarks
F1 A60L-0001-0359 250V F5.0A DAITO HM50
Control printed circuit board
(A16B-2300-0100)
F1
Fuse Specification drawing No. Remarks
F1
F2
F3
A60L-0001-0362#100U CR6L-100/UL
AC reactor (A81L-0001-0144)
F2
F3
F1
400T
L11
L31
400R
L21 400S
B-65165E/02 TROUBLESHOOTING
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
4.2.2 Servo Amplifier Module
(1) Replacing a fuse on the unit (control printed circuit board)
a) F1 for the 24-V control power
F1
Fuse Specification drawing No. Remarks
F1 A60L-0001-0290#LM32C 48V F3.2A DAITO LM32C
TROUBLESHOOTING B-65165E/02
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
4.2.3 Spindle Amplifier Module
(1) Replacing a fuse on the control printed circuit board
a) F1 for the 24-V control power
(2) Replacing a fuse on the power printed circuit board
a) F2 for 200 V for the external cooling fan
F1
Fuse Specification drawing No. Remarks
F2 A60L-0001-0290#LM32C 48V F3.2A DAITO LM32C
Control printed circuit board
(A16B-2203-050x)
F2
Fuse Specification drawing No. Remarks
F2 A60L-0001-0175#0.5A 250V F5.0A DAITO HM50
Wiring board
(A20B-1005-057x,
A20B-1006-048x, -055x, -0890)
B-65165E/02 TROUBLESHOOTING
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
(3) Replacing a fuse on the unit (control printed circuit board)
a) F2 for the 24-V control power
F2
Fuse Specification drawing No. Remarks
F2 A60L-0001-0290#LM50C 50V F5.0A DAITO LM50C
TROUBLESHOOTING B-65165E/02
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
4.2.4 Power-Failure Backup Module
(1) Replacing fuses on the unit (control printed circuit board)
a) FU1 for 200 V for the control power
b) FU2 for 200 V for the control power
Fuses a) and b) above are provided for A16B-2203-0020
only.
c) FU3 for the 24-V control power
Fuse Specification drawing No. Remarks
FU1
FU2
A60L-0001-0396#10A 216-010 (ECX)
FU3 A60L-0001-0290#LM32C 48V F3.2A DAITO LM32
Control printed circuit board
(A16B-2002-0790, A16B-2003-0020)
FU3
FU2
FU1
B-65165E/02 TROUBLESHOOTING
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
4.3 OTHER COMPONENTS
4.3.1 Replacing the SPM Program ROM and Spindle Sensor Module
(1) SPM type 1 and type 4
ROM (Note that the notch is upward.)
Name Specification drawing No. Remarks
ROM A06B-6102-H520 9D20 series
Spindle sensor module A20B-2902-0620 For type 4 only
D4
AM1
Spindle sensor module: For A16B-2203-0503-0505 only
Control printed circuit board (A16B-2203-0500-0505)
(2) SPM types 1 to 4
The drawing number of the spindle sensor module differs
depending on the SPM type as follows:
SPM type 2: A20B-2901-0851
Mounting location = MD4, MD5, MD6
SPM type 4: A20B-2902-0620 (old specification A20B-2902-
0610 also allowed)
Mounting location = MD4, MD6
NOTE
For SPM type 4, the revision of the control printed
circuit board must be the following:
A16B-2202-0433, 0434: 16E or later
A16B-2202-0435: 13C or later
TROUBLESHOOTING B-65165E/02
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
ROM
Name Specification drawing No. Remarks
ROM A06B-6072-H500 9D0A series
Spindle sensor module See the above table. MD4, 5, 6
MG11
Spindle sensor module 3
Control printed circuit board
(A16B-2202-0430 to 0435, A16B-2203-0330 to 0332)
MD4
MD5
MD6
(3) SPM type 3
ROM
Name Specification drawing No. Remarks
ROM A06B-6072-H500 9D0A series
Spindle sensor module A20B-2901-0851
MG11
MD4
Spindle sensor module
Control printed circuit board (A06B-2202-0440)
(4) SPMC-2.2 to 11
ROM
Name Specification drawing No. Remarks
ROM A06B-6082-H512 9D12 series
ROM A06B-6082-H511 9D11 series
ROM A06B-6082-H510 9D10 series
MC8
Control printed circuit board (A20B-2001-0780, 0781)
B-65165E/02 TROUBLESHOOTING
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4. HOW TO REPLACE THE FUSES
AND PRINTED CIRCUIT BOARDS
(5) SPMC-15 to 26
ROM
Name Specification drawing No. Remarks
ROM A06B-6082-H512 9D12 series
ROM A06B-6082-H511 9D11 series
ROM A06B-6082-H511 9D10 series
D8
Control printed circuit board (A06B-2202-0840)
(6) SPM type 1 of old specification
ROM
Name Specification drawing No. Remarks
ROM A06B-6072-H500 9D0A series
Spindle sensor module A20B-2901-0851
MF4
MD3
Spindle sensor module 1
Control printed circuit board (A06B-2202-0070)
(7) SPM types 2 and 3 of old specification
ROM
Name Specification drawing No. Remarks
ROM A06B-6072-H500 9D0A series
Spindle sensor module A20B-2901-0851
MF4
MD3 MD6
Spindle sensor module 4
Control printed circuit board (A06B-2202-0160)
III. MOTOR MAINTENANCE
1. AC SERVO MOTOR
B-65165E/02 MOTOR MAINTENANCE MAINTENANCE
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1 AC SERVO MOTOR MAINTENANCE
Generally, AC servo motors have no parts that wear off or that must be
replaced periodically, unlike DC servo motors, which have brushes that
must be replaced periodically.
However, you should perform periodic maintenance for servo motors
so as to keep their initial performance as long as possible and to prevent
breakdowns. AC servo motors have precision detectors. Their
incorrect use or damage caused during transportation or assembling can
result in breakdowns or accidents. We recommend that you inspect the
servo motors periodically according to the descriptions given below.
1. AC SERVO MOTOR
MAINTENANCE MOTOR MAINTENANCE B-65165E/02
- 210 -
1.1 RECEIVING AND KEEPING AC SERVO MOTORS
When you receive an AC servo motor, make sure that:
The motor is exactly the one you ordered, in terms of model, shaft,
and detector specifications.
No damage has been caused on the motor.
Because FANUC inspects servo motors strictly before shipment, you
do not, in principle, have to inspect them when you receive them.
However, you should check the specifications (wiring, current, and
voltage) of the motor and detector carefully, as required.
The servo motors should be kept indoors as a rule. The storage
temperature range is -20 to +60C. Do not place or install AC servo
motors in the place where:
It is extremely humid and dew is prone to form,
There is a steep change in temperature,
There is constant vibration, which may cause damage to the shaft
bearings, or
There is lots of dust and trash.
1. AC SERVO MOTOR
B-65165E/02 MOTOR MAINTENANCE MAINTENANCE
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1.2 DAILY INSPECTION OF AC SERVO MOTORS
Before starting operation, or periodically (once a week or month), you
should inspect the AC servo motors in terms of the following:
(1) Vibration and noise
Check the motor for abnormal vibration (by the hand) and noise
(by the ear) when the motor is:
Not rotating
Rotating at low speed
Accelerating or decelerating
If you find anything unusual, contact your FANUC service staff.
(2) Damage on the outside
Check the motor cover (red plastic) for crevices and the motor
surface (black coating) for scratches and cracks.
If you find a crevice in the motor cover, you should replace it as
quickly as possible. For how to replace, see the description about
the pulse coder in Section 1.4. If you are not sure about
replacement, contact you FANUC service staff.
If there is a scratch or crack on the motor surface, the user should
repair it by himself as required. If coating has come off, dry the
portion of interest (or the entire surface) and coat it with paint for
machines such as urethane paint.
Replace a motor cover with a crevice or crack
as quickly as possible.
1. AC SERVO MOTOR
MAINTENANCE MOTOR MAINTENANCE B-65165E/02
- 212 -
(3) Stains and smudges
Check the motor surface and bolt holes for oil or cutting fluid.
Wipe off oil and cutting fluid on the motor surface periodically.
Oil or cutting fluid can damage the coating by chemical reaction,
possibly leading to a failure.
Also check how such a liquid leaks onto the motor, and repair if
needed.
Wipe off oil and cutting fluid on the motor
surface periodically.
(4) Overheating
Check to see if the motor is too hot during normal operation.
Attach a thermolabel on the motor surface and check it visually to
see if the motor becomes too hot during normal operation.
Note) Temperature on the motor surface can exceed 80C
under some conditions. Never touch it by the hand.
Attach a thermolabel and
check it visually.
1. AC SERVO MOTOR
B-65165E/02 MOTOR MAINTENANCE MAINTENANCE
- 213 -
1.3 PERIODIC INSPECTION OF AC SERVO MOTORS
We recommend that you inspect the AC servo motors for the following
items at least once a year.
(1) Observation of torque command (TCMD) and speed command
(VCMD) waveforms
Observe normal voltage waveforms with an oscilloscope, and
keep notes of them. During periodic inspection, check the current
waveforms with the records.
The waveforms vary according to the operating conditions such as
load and cutting speed. Note that you should make comparisons
under the same condition (for example, during fast traverse to the
reference position or low-speed cutting).
See descriptions on the check boards in I-4.2.4 for detailed
inspection procedures.
(2) Diagnosis by waveforms
Check the measured waveforms to see whether:
<1> The peak current is within the limit to the current in the
amplifier.
The limit to the amplifier current is listed below.
Limit to the amplifier
current
Measured waveform
0
The motor used to accelerate/decelerate with the amplifier
current within the limit (the acceleration/deceleration torque
used to be sufficient), but something is wrong now. If this is
the case, the probable causes are:
The load conditions in the machine have changed because
of changed friction or reduced machine efficiency after
long period of use.
Motor failure
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Reduced efficiency
Increased friction
[Table 1]
Models
Current
value
=1/3000, =2/2000, =2/3000 12Ap
=M2/3000, =M2.5/3000, =C3/2000, =C6/2000, =C12/2000,
=3/3000HV, =6/3000HV
20Ap
=3/3000, =6/2000, =12/2000, =22/1500, =C22/1500,
=12/3000HV, =M6/3000HV, =M9/3000HV
40Ap
=22/3000HV, =30/3000HV, =M22/3000HV, =M30/3000HV 60Ap
=6/3000, =12/3000, =22/2000, =30/1200, =M6/3000, =M9/3000,
=L6/3000, =L9/3000
80Ap
=22/3000, =30/2000, =30/3000, =40/2000, =40/2000 (with fan),
=M22/3000, =M30/3000, =M40/3000, =L25/3000, =L50/2000
130Ap
=65/2000 240Ap
=M40/3000 (with fan), =100/2000, =150/2000 360Ap
=300/2000, =400/2000 360Ap 2
<2> The waveform has ripple during constant-speed
feeding(VCMD).
Ripple
Measured waveform
(VCMD)
0
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<3> The current waveform has ripple or jumps when the motor is
not rotating(VCMD).
Measured waveform
(VCMD)
0
Ripple
If you find anything unusual in relation to the above items <1> to
<3>, contact your FANUC service staff.
1. AC SERVO MOTOR
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1.4 REPLACING THE PULSE CODER
This section explains how to replace the pulse coder and motor cover,
assuming that the pulse coder has broken down and is in need of
immediate replacement.
When replacing the pulse coder and motor cover, be careful not to give
a shock to the pulse coder or motor, because they are precision devices
prone to a breakdown. Also keep them from dust and cutting chips.
(1) Models =1, =2, =M2, =M2.5
<1> Remove the four M4 hexagonal socket head bolts that fasten
the pulse coder. Do not loosen the M3 bolts near each M4
bolt.
Pulse coder cver fastening bolts M3
PULSECODER COVER
FASTENING SCREWS M3
Pulse coder fastening bolts M4 16
PULSECODER
FASTENING SCREWS M4 16
<2> Remove the pulse coder and Oldham's coupling.
Pulse coder fastening bolts
Pulse coder
M4 16(4)
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<3> Set a new pulse coder and a new Oldham's coupling in the
motor. Place the Oldham's coupling with the correct
orientation, and engage the teeth.
Mate coupling of the
Oldham's coupling
Oldham's coupling
<4> Fasten the pulse coder with the four M4 hexagonal socket
head bolts. When tightening the bolts, be careful not to catch
the O-ring mounted on the pulse coder.
O-ring
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(2) Models =3 to =40, =M6 to =M40, =L, =C, =3HV to =30HV,
=M6HV to =M30HV
<1> Loosen the bolts that retain the red motor cover to remove
the cover. Check whether the pulse coder is of the cable
separation type (the pulse coder cable can be detached from
the red cover of the pulse coder) or of the cable non-
separation type (the cable cannot be detached from the
cover). For the replacement of a cable separation type pulse
coder, see Item <2>-1. For the replacement of a cable non-
separation type pulse coder, see Item <2>-2.
Motor cover
Motor
Packing
Cable non-separation
type pulse coder
Connector
Cable separation
type pulse coder
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<2>-1 (Cable separation type)
(a) Remove the cable of the pulse coder by using a screwdriver.
Cover
Cover
<1> <2>
<3>
(b) Remove the four M4 hexagonal socket head bolts that retain
the pulse coder. Do not loosen the M3 bolts that retain the
pulse coder cover.
Do not loosen
these bolts.
Oldham's
coupling
M4 10
(c) Remove the pulse coder and Oldham's coupling.
(d) Set a new pulse coder and new Oldham's coupling in the
motor. Although the mounting orientation is not specified in
particular, it is recommended that the pulse coder be set with
the same orientation as before the replacement. This is
because of the convenience of cabling. Place the Oldham's
coupling with the correct orientation, and engage the teeth.
(e) Fasten the pulse coder with the four M4 hexagonal socket
head bolts.
1. AC SERVO MOTOR
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(f) Replace the packing on the motor cover mounting surface.
Reusing old packing cannot provide sufficient sealing
performance. Whenever taking off the motor cover, be sure
to replace the packing.
(g) Connect the cable of the pulse coder.
(h) Install the motor cover. Be careful not to catch the lead wires
of the pulse coder. After installing the motor cover, fasten
the cover using the M4 hexagonal socket head bolts.
<2>-2 (Cable non-separation type)
(a) Detach the cannon connector of the pulse coder from the red
motor cover.
(a)-1 Remove the M3 screw that retains the connector.
(a)-2 Shift the rubber packing, and remove the C-ring that
retains the insulator on the rear side (connection side)
of the connector to separate the connector housing
from the terminal section. Replace the rubber
packing with a new one.
(a)-3 Remove the connector terminal section from the
motor cover.
(a)-4 Set the housing in the removed pulse coder (the pulse
coder to be replaced with a new one) in place, and
hold the housing with the C-ring.
(b) Cut the lead wires of the thermal switch. The wires should
be cut at the root of the crimp terminals where possible.
(c) Remove the four M4 hexagonal socket head bolts that retain
the pulse coder. Do not loosen the M3 bolts that retain the
pulse coder cover.
Do not loosen
these bolts.
Oldham's
coupling
M4 10
(d) Remove the pulse coder and Oldham's coupling.
1. AC SERVO MOTOR
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(e) Set a new pulse coder and new Oldham's coupling in the
motor. Although the mounting orientation is not specified in
particular, it is recommended that the pulse coder be set with
the same orientation as before the replacement. This is
because of the convenience of cabling. Place the Oldham's
coupling with the correct orientation, and engage the teeth.
(f) Fasten the pulse coder with the four M4 hexagonal socket
head bolts.
(g) Replace the packing on the motor cover mounting surface.
Reusing old packing cannot provide sufficient sealing
performance. Whenever taking off the motor cover, be sure
to replace the packing.
(h) Install the connector in the cover in the reverse order of step
(a). Keying is provided for the connector insulator (the
insulating material around the terminals). So, perform
keying (phase) alignment when installing the connector.
(i) Connect the lead wires of the thermal switch. Peel off about
1 cm of the jacket from the cut end of each motor lead wire,
and tie the wire to the terminal of the pulse coder. Use of a
crimp terminal is recommended for connection. (In case of
an emergency, insulate both connection portions with
insulating tape.)
(j) Install the motor cover. Be careful not to catch the lead wires
of the pulse coder. After installing the motor cover, bolt the
cover.
Cannon connector
Thermal wire
Cut the wire at the root of
the crimp terminal.
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(3) Models =65 to =150
<1> Loosen the bolts that retain the red motor cover to remove
the cover. Check whether the pulse coder is of the cable
separation type (the pulse coder cable can be detached from
the red cover of the pulse coder) or of the cable non-
separation type (the cable cannot be detached from the
cover). For the replacement of a cable separation type pulse
coder, see Item <2>-1. For the replacement of a cable non-
separation type pulse coder, see Item <2>-2.
Cable non-separation
type pulse coder
Connector
Cable separation
type pulse coder
<2>-1 (Cable separation type)
(a) Remove the cable of the pulse coder by using a screwdriver.
Cover
Cover
<1>
<2>
<3>
(b) Remove the four M4 hexagonal socket head bolts that retain
the pulse coder. Do not loosen the M3 bolts that retain the
pulse coder cover.
(c) Remove the pulse coder and Oldham's coupling.
1. AC SERVO MOTOR
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(d) Set a new pulse coder and new Oldham's coupling in the
motor. Although the mounting orientation is not specified in
particular, it is recommended that the pulse coder be set with
the same orientation as before the replacement. This is
because of the convenience of cabling. Place the Oldham's
coupling with the correct orientation, and engage the teeth.
(e) Fasten the pulse coder with the four M4 hexagonal socket
head bolts.
(f) Replace the packing on the motor cover mounting surface.
Reusing old packing cannot provide sufficient sealing
performance. Whenever taking off the motor cover, be sure
to replace the packing.
(g) Connect the cable of the pulse coder.
(h) Install the motor cover. Be careful not to catch the lead wires
of the pulse coder. After installing the motor cover, bolt the
cover.
<2>-2 (Cable non-separation type)
(a) Remove the cannon connector of the pulse coder from the
motor terminal box.
(a)-1 Remove the M3 screw that retains the connector.
(a)-2 Shift the rubber packing, and remove the C-ring that
retains the insulator on the rear side (connection side)
of the connector to separate the connector housing
from the terminal section. Replace the rubber packing
with a new one.
(a)-3 Pull out the connector terminal section from the
terminal box toward the pulse coder.
(a)-4 Set the housing in the removed pulse coder (the pulse
coder to be replaced with a new one) in place, and hold
the housing with the C-ring.
(b) Cut the lead wires of the thermal switch. The wires should
be cut at the root of the crimp terminals where possible.
(c) Remove the four M4 hexagonal socket head bolts that retain
the pulse coder. Do not loosen the M3 bolts that retain the
pulse coder cover.
(d) Remove the pulse coder and Oldham's coupling.
(e) Set a new pulse coder and new Oldham's coupling in the
motor. Although the mounting orientation is not specified in
particular, it is recommended that the pulse coder be set with
the same orientation as before the replacement. This is
because of the convenience of cabling. Place the Oldham's
coupling with the correct orientation, and engage the teeth.
(f) Fasten the pulse coder with the four M4 hexagonal socket
head bolts.
1. AC SERVO MOTOR
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(g) Replace the packing on the motor cover mounting surface.
Reusing old packing cannot provide sufficient sealing
performance. Whenever taking off the motor cover, be sure
to replace the packing.
(h) Install the connector in the cover in the reverse order of step
(a). Keying is provided for the connector insulator (the
insulating material around the terminals). So, perform
keying (phase) alignment when installing the connector.
(i) Connect the lead wires of the thermal switch. Peel off about
1 cm of the jacket from the cut end of each motor lead wire,
and tie the wire to the terminal of the pulse coder. Use of a
crimp terminal is recommended for connection. (In case of
an emergency, insulate both connection portions with
insulating tape.)
(j) Install the motor cover. Be careful to keep the lead wires of
the pulse coder clear of the motor cover. After installing the
motor cover, bolt the cover.
1. AC SERVO MOTOR
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1.5 SPECIFICATION NUMBERS OF REPLACEMENT PARTS
The following lists the ordering specification numbers for
maintenance:
(1) Ordering specifications of pulse coders
<1> Ordering specifications of pulse coders with no motor cover
Models =1 to =2, =M2 to =M2.5
A290-0371-T575 : =A64 (with Oldham's coupling)
A290-0371-T577 : =I64 (with Oldham's coupling)
A290-0371-T588 : =A1000 (with Oldham's coupling)
Models =3 to =400, =M6 to =M40, =L, =C, =3HV to
=30HV, and =M6HV to =M30HV
Cable separation type
A860-0360-V501: =A64
A860-0365-V501: =I64
A860-0370-V502: =A1000
A860-0360-V906: Cable assembly (common to =A64,
=I64, and =A1000)
A290-0501-V535: Oldham's coupling (to be replaced
together with the pulse coder at a
time)
Cable non-separation type (reference)
A860-0360-T201 : =A64
A860-0365-T101 : =I64
A860-0370-T201 : =A1000
A290-0501-V535: Oldham's coupling (to be replaced
together with the pulse coder at a
time)
<2> Ordering specifications of pulse coders with a motor cover
Models =3 to =6, =M6 to =M9, =L6 to =L9, =C3 to =C6,
=3HV to =6HV, and =M6HV to =M9HV
A290-0121-T575 : =A64
A290-0121-T577 : =I64
A290-0121-T588 : =A1000
Models =12 to =40, =M22 to =M40, =L25 to =L50, =C12 to
=C22, =12HV to =30HV, and =M22HV to =M30HV
A290-0141-T575 : =A64
A290-0141-T577 : =I64
A290-0141-T588 : =A1000
1. AC SERVO MOTOR
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(2) Ordering specifications of motor covers
A290-0121-X035: =3 to =6, =M6 to =M9, =L6 to =L9, =C3 to
=C6, =3HV to =6HV, =M6HV to =M9HV
A290-0141-X035: =12 to =40, =M22 to =M40, =L25 to =L50,
=C12 to =C22, =12HV to =30HV, =M22HV
to =M30HV
(3) Oldham's coupling
A290-0501-V535
(4) Packing
A290-0511-X043: =3 to =6, =M6 to =M9, =L6 to =L9, =C3 to
=C6, =3HV to =6HV, =M6HV to =M9HV
A290-0501-X043: =12 to =40, =M22 to =M40, =L25 to =L50,
=C12 to =C22, =12HV to =30HV, =M22HV
to =M30HV
A290-0301-X008: =65 to =150
(5) Rubber packing and nylon band
A290-0651-X034: Rubber packing
A6-NYB-T1 : Nylon band
2. SPINDLE MOTOR
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2 SPINDLE MOTOR MAINTENANCE
2. SPINDLE MOTOR
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2.1 PREVENTIVE MAINTENANCE
To maintain the original performance and reliability of the spindle
motor for a long time, it is necessary to inspect them as described
below.
(1) Visual inspection
WARNING
Be careful not to be struck by electric shocks or
caught in gears or other mechanisms during
inspection. When taking corrective actions, keep the
entire machine switched off.
Inspection item Symptom Action
Noise or abnormal
vibration
There is unusual noise
or vibration.
The vibration
acceleration of the
motor exceeds 0.5 G at
the maximum speed.
Check the following and take necessary actions:
Base and installation
Centering accuracy of directly coupled section
Abnormal sound from motor shaft bearings (See "Motor shaft bearing"
below.)
Vibration of or noise from the reducer or belts
Amplifier failure
Fan motor failure (See "Fan motor" below.)
Cooling air path The cooling air path is
clogged with dust.
Clean the stator vents and fan motor on a regular basis.
Motor surface Cutting fluid on the
motor surface.
Clean the motor surface.
If the motor is splashed excessively with coolant, place a cover or take a
similar action.
If the fan motor can be rotated by the
hand,
Replace the fan motor. Not rotating.
If the fan motor cannot be rotated by the
hand,
Remove foreign materials, if
any. Adjust its mounting
position by loosening the bolts
and tightening them again.
If unusual noise still remains,
replace the fan motor.
Fan motor
Unusual sound Remove foreign materials, if any. Adjust its mounting position by loosening
the bolts and tightening them again.
If unusual noise still remains, replace the fan motor.
Motor shaft
bearing
Unusual sound from
the motor shaft bearing
Replace the shaft bearing, and check the shaft for centering accuracy. Also
check on the radial load. Before replacing the shaft bearing, contact your
FANUC service staff.
Cutting fluid in the
terminal box
Check the terminal box lid and conduit packing.
If there is lot of fluid on the terminal box surface, protect the terminal box by
installing a shelter over it.
Internal condition
of the terminal box
Loosen screw in the
terminal block
Tighten the screw.
Check whether there is abnormal vibration during motor rotation.
2. SPINDLE MOTOR
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(2) Checking the insulation between the winding and frame
Use a megohmmeter to measure the insulation resistance on 500
VDC. From the measurement result, determine whether the
insulation is acceptable or not according to the following criteria:
More than 100 M9: Acceptable
10 to 100 M9: Deterioration has started. Although there is no
performance problem, periodic check is required.
1 to 10 M9: Deterioration is in an advanced state. Special
care must be taken. Periodic check is required.
Less than 1 M9: Unacceptable. Replace the motor.
CAUTION
1 Before measuring insulation resistance, disconnect
the connection to the spindle amplifier module. If
insulation resistance is measured with the spindle
amplifier module connected, the spindle amplifier
module may be damaged.
2 During the measurement of insulation resistance,
applying voltage to the motor for a long time may
further deteriorate the insulation of the motor.
Therefore, the measurement of insulation resistance
should be performed in a minimum amount of time
where possible.
2. SPINDLE MOTOR
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(3) Check items for the coolant through spindle motor =T series and
=L series
<1> Check whether coolant is always leaking out from the drains
or notch of the rotary joint support housing. (See Fig. 2.)
<2> Check whether the vibration acceleration of the motor
turning at the maximum speed exceeds 0.5 G. (See Fig. 3.)
<3> Check whether coolant leaks out from the coolant joint of the
coupling. (See Fig. 4.)
<4> Check for backlash in the coupling.
Rotary joint support housing Coupling
Fig. 1 Example of using the coolant through spindle motor
2. SPINDLE MOTOR
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Coolant joint
B
d
B
d
Convex type Concave type
Fig. 4 Example of a coolant joint
Vibrometer
Pickup
Motor body
Fig. 3 Measuring vibration acceleration
Drain
Spare drain Notch
Rotary joint support housing
Fig. 2 Rotary joint support housing
2. SPINDLE MOTOR
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2.2 MAINTENANCE PARTS
(1) Parts of the terminal box (=, =P, =C, and =HV series)
Terminal box assembly
Model When the motor drawing No. ends
with B 0 or B 9 (Note 1)
When the motor drawing No.
ends with B 3 (Note 1)
Lid of terminal box
=1, =1.5,
=C1, =C1.5
A290-0850-T400 A290-0853-V410
=2, =3,
=C2, =C3
A290-0853-T400 A290-0853-T401 A290-0853-V410
=6 to =15
=P8 to =P22
=6HV to =15HV
=C6 to =C15
A290-0854-T400 A290-0854-T401 A290-0854-V410
=18, =22
=18HV, =22HV
=C18, =C22
A290-0731-T420 A290-0731-T421 A290-0731-V410
=30, =40
=30HV, =40HV
A290-0860-T400 A290-0860-T401 A290-1040-X402
=P30 to =P50 A290-0731-T455 A290-0731-T456 A290-0731-V410
=P60 A290-0833-T400 A290-0833-T401 A290-1040-X402
=60HV A290-0860-T403 A290-0860-T404 A290-1040-X402
NOTE
1 For example, drawing number A06B-0856-B100
ends with B0, and A06B-0856-B130 ends with
B3.
2 The above table may not apply to motors of which
motor drawing number ends with B9. Contact
your FANUC service representative.
3 The above table may not apply to maintenance parts
of high-speed models.
2. SPINDLE MOTOR
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(2) Terminal box drawing numbers (=T series)
Model name Motor drawing No.(Note 4) Terminal box assembly Lid of terminal box
=T1.5/15000 A06B-0871-B927
=T2/15000 A06B-0869-B927
=T3/12000 A06B-0853-B927
A290-0853-T408 A290-0853-V410
=T6/12000 A06B-0854-B927
=T8/12000 A06B-0855-B927
=T15/10000 A06B-0857-B927, B928
A290-0854-T408 A290-0854-V410
=T22/10000 A06B-0859-B927, B928 A290-0731-T457 A290-0731-V410
NOTE
4 The above table may not apply to the motors other
than the drawing numbers listed in the above table.
Contact your FANUC service representative.
2. SPINDLE MOTOR
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(3) Fan motor parts (=, =P, =C, and =HV series)
Model Fan cover Fan motor Air flow direction
A290-0850-T500(Note 5) A90L-0001-0491/R Backward =1, =1.5
=C1, =C1.5 A290-0850-T501(Note 5) A90L-0001-0491/F Forward
A90L-0001-0442/R Backward =2, =3
=C2, =C3
A290-0853-X501
A90L-0001-0442/F Forward
A90L-0001-0443/R Backward =6, =8, =P8
=C6, =C8
A290-0854-X501
A90L-0001-0443/F Forward
A90L-0001-0444/RS Backward
=12, =15, =P12,
=P15
=C12, =C15,
=P18, =P22
A290-0856-X501
A90L-0001-0444/FS Forward
A90L-0001-0444/R Backward =18, =22
=C18, =C22
A290-0856-X501
A90L-0001-0444/F Forward
A290-0731-T510(Note 5) A90L-0001-0318/R Backward =30, =40
=P30, =P40 A290-0731-T511(Note 5) A90L-0001-0318/F Forward
A290-0832-T500(Note 5) A90L-0001-0319/R Backward
=P50, =P60
A290-0832-T501(Note 5) A90L-0001-0319/F Forward
A90L-0001-0457/R Backward
=6HV, =8HV A290-0854-X501
A90L-0001-0457/F Forward
A90L-0001-0458/RS Backward
=12HV, =15HV A290-0856-X501
A90L-0001-0458/FS Forward
A90L-0001-0458/R Backward
=18HV, =22HV A290-0856-X501
A90L-0001-0458/F Forward
A290-0780-T510(Note 4) A90L-0001-0399/R Backward
=30HV, =40HV
A290-0780-T511(Note 4) A90L-0001-0399/F Forward
A290-0883-T500(Note 4) A90L-0001-0400/R Backward
=60HV
A290-0883-T501(Note 4) A90L-0001-0400/F Forward
NOTE
5 These drawing numbers include fan motors.
6 The above table may not apply to motors of which
motor drawing number ends with B9. Contact
your FANUC service representative.
7 The above table may not apply to maintenance parts
of high-speed models.
2. SPINDLE MOTOR
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(4) Fan motor parts (=T series)
Model name
Motor drawing
No.(Note 9)
Fan cover Fan motor Fan base
=T1.5/15000 A06B-0871-B927 A290-0850-T504(Note 8) A90L-0001-0491/RL
=T2/15000 A06B-0869-B927
=T3/12000 A06B-0853-B927
A290-0853-X501 A90L-0001-0442/RL A290-0853-X507
=T6/12000 A06B-0854-B927
=T8/12000 A06B-0855-B927
A290-0854-X501 A90L-0001-0443/RL A290-0854-X507
=T15/10000 A06B-0857-B927, B928
=T22/10000 A06B-0859-B927, B928
A290-0856-X501 A90L-0001-0444/RL A290-0856-X504
NOTE
8 These drawing numbers include fan motors.
9 The above table may not apply to the motors other
than the drawing numbers listed in the above table.
Contact your FANUC service representative.
2. SPINDLE MOTOR
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2.3 PERMISSIBLE RADIAL LOAD
Use motor output axes under the permissible radial load listed below or
less:
Permissible radial load
Model
Output axis end
Center of output
axis
0.5 294 N (30 kgf) 323 N (33 kgf)
=1, =C1 392 N (40 kgf) 441 N (45 kgf)
=1.5, =C1.5 882 N (90 kgf) 980 N (100 kgf)
=2, =C2 882 N (90 kgf) 999 N (102 kgf)
=3, =C3 1470 N (150 kgf) 1607 N (164 kgf)
=6, =6HV, =C6 1960 N (200 kgf) 2205 N (225 kgf)
=8, =P8, =8HV, =C8 2940 N (300 kgf) 3371 N (344 kgf)
=12, =15, =P12, =P15
=12HV, =15HV, =C12, =C15
2940 N (300 kgf) 3410 N (348 kgf)
=18, =22, =P18, =P22
=18HV, =22HV, =C18, =C22
4410 N (450 kgf) 4988 N (509 kgf)
=30, =40, =P30, =P40
=30HV, =40HV
5390 N (550 kgf) 6134 N (626 kgf)
=P50 10780 N (1100 kgf) 12299 N (1255 kgf)
=P60, =60HV 19600 N (2000 kgf)
=1/15000 392 N (40 kgf) 441 N (45 kgf)
=2/15000 490 N (50 kgf) 558 N (57 kgf)
=3/12000 980 N (100 kgf) 1068 N (109 kgf)
=6/12000 1470 N (150 kgf) 1656 N (169 kgf)
=8/8000, =P8/8000 1960 N (200 kgf) 2244 N (229 kgf)
=12/8000, =15/8000
=P12/8000, =P15/8000
2450 N (250 kgf) 2842 N (290 kgf)
=18/8000, =22/8000
=P18/8000, =P22/8000
2940 N (300 kgf) 3332 N (340 kgf)
=30/8000, =P30/8000, =P40/8000 5390 N (550 kgf) 6134 N (626 kgf)
NOTE
1 When using a belt, adjust the tension of the belt so
that the permissible value listed above is not
exceeded.
2 When the belt tension center is positioned beyond
the end of an output axis, the permissible load
becomes smaller than that at the end of the output
axis.
B-65165E/02 INDEX

INDEX
(HV) series power supply modules 9
(HV) series spindle amplifier module (SPM-HV) 30
Series and (HV) Series Spindle Amplifier Module 144
series power supply modules 7
series spindle amplifier module (SPM) 29
series spindle amplifier modules 14
C series spindle amplifier module (SPMC) 30
C Series Spindle Amplifier Module 171
150 mm Width Module (with the Connector Module) 182
150 mm Width Module (without the Connector Module) 180
200-V input series 10
300-mm Wide Module (with the Connector Module) 190
300-mm Wide Module (without the Connector Module) 185
400-V input series 13
60/90 mm Width Modules 178
[A]
A specified speed cannot be obtained. 52
Abnormal Current Alarms (8, 9, A, b, C, d, and E in the LED
display) 128
AC SERVO MOTOR MAINTENANCE 209
Address descriptions and initial values (SPM) 74
Address descriptions and initial values (SPMC) 75
Alarm code 01 116, 120, 145
Alarm code 02 117, 120, 146
Alarm code 03 117, 120, 147
Alarm code 04 118, 121, 147
Alarm code 05 118, 121
Alarm code 06 118, 121
Alarm code 07 119, 122, 148
Alarm code 08 123
Alarm code 09 148
Alarm Code 1 173
Alarm code 11 149
Alarm code 12 150, 171
Alarm code 13 151
Alarm code 15 151
Alarm code 16 121, 151
Alarm code 17 123
Alarm code 18 123
Alarm Code 2 173
Alarm code 2 125
Alarm code 24 152
Alarm code 25 152
Alarm code 26 122, 153
Alarm code 27 155
Alarm code 28 156
Alarm code 29 157
Alarm Code 3 173
Alarm code 30 158
Alarm code 31 158
Alarm code 32 159
Alarm code 33 159
Alarm code 34 159
Alarm code 35 160, 172
Alarm code 36 122, 160
Alarm code 37 161
Alarm Code 39 162
Alarm Code 4 174
Alarm code 4 125
Alarm code 40 163
Alarm code 41 164
Alarm code 42 165
Alarm code 43 165
Alarm code 44 165
Alarm code 46 122, 165
Alarm code 47 166
Alarm code 49 167
INDEX B-65165E/02

Alarm Code 5 174
Alarm code 5 126
Alarm code 50 167
Alarm code 51 167
Alarm code 54 168
Alarm code 55 168
Alarm code 56 169
Alarm code 57 169
Alarm code 58 169
Alarm code 59 170
Alarm code 6 126
Alarm code 7 126
Alarm code 8 127
Alarm code A0 124
Alarm code A1 124
Alarm code A2 124
Alarm codes 19 and 20 152
Alarm codes 52 and 53 168
Alarm codes A, A0 to A4, and other Ax (x for representing an
arbitrary number) 144
ALARM NUMBERS AND BRIEF DESCRIPTIONS 98
Alarms Related to Pulse Coder and Separate Serial Detector
139
An overshoot or hunting occurs. 53
Attaching and Detaching Connectors 92
[B]
BATTERY FOR THE ABSOLUTE PULSE CODER 85
[C]
CASE DISASSEMBLY 178
Check board connection 68
Check Pin Board 41
Check Terminal On The Printed-circuit Board 34
Check terminal output signals 69
Checking For What Keeps The Mcc From Being Switched On
39
Checking The Feedback Signal Waveform 58
Checking The Power Supply Voltages 35
Checking The STATUS Display 46
Checking The Status Leds 36
Checking The Voltage And Capacity Of The Power 25
CONFIGURATIONS 4, 5
CONFIRMATION OF THE OPERATION 32
Connecting a Battery to Multiple SVMs 88
Connecting A Protective Ground 26
CONNECTING THE POWER 25
Control Power Supply Undervoltage Alarm (2 in the LED
display) 131
Current Conversion Error Alarm 131
Cutting power weakens or acceleration/deceleration slows
down. 54
[D]
DAILY INSPECTION OF AC SERVO MOTORS 211
Data numbers 80
DC Link Undervoltage Alarm (5 in the LED display) 131
Diagnosis Screen 135
[E]
Example of monitoring data 83
[F]
Fan Stopped Alarm (1 in the LED display) 131
Feedback Disconnected Alarm 137
FOR SERIES 0-C 112
FOR SERIES 15 108
FOR SERIES 15i 102
FOR SERIES 16, 18, 20, 21 105
FOR SERIES 16i, 18i, 20i, 21i, AND Power Mate i 99
[H]
High-resolution magnetic pulse coder 63
B-81224EN/01 INDEX

HOW TO REPLACE THE FUSES AND PRINTED

CIRCUIT BOARDS 175
[I]
INITIALIZING SERVO PARAMETERS 31
Installing a Special Lithium Battery in the SVM (Method 1)
86
Invalid Servo Parameter Setting Alarm 138
IPM Alarms (8., 9., A., b., C., d., and E in the LED display;
note these codes are displayed simultaneously with a period.)
130
[M]
M sensor 60
MAINTENANCE PARTS 232
Major characteristics 71
MAJOR COMPONENTS 7
MZ and BZ sensors 61
MZ sensor for 0.5 (A06B-0866-B390) (old specification) 62
[O]
Observation method 72
Observing Data Using the Spindle Check Board 71
Other Alarms 142
OTHER COMPONENTS 203
Overheat Alarm 138
Overload Alarm (Soft Thermal, OVC) 136
OVERVIEW 3, 97
Overview 71
[P]
PERIODIC INSPECTION OF AC SERVO MOTORS 213
PERIODIC MAINTENANCE OF SERVO AMPLIFIER 84
PERMISSIBLE RADIAL LOAD 236
POWER SUPPLY MODULE 33, 116
Power Supply Module 7, 27, 196
Power Supply Module (PSM, PSM-HV) 116
Power Supply Module (PSMR) 125
Power Supply Module (PSMV) 119
POWER-FAILURE BACKUP MODULE 173
Power-Failure Backup Module 22, 202
PREVENTIVE MAINTENANCE 228
Principles in outputting the internal data of the serial spindle
76
PSM, PSM-HV 34
PSM, PSM-HV, and PSMV-HV 36
PSMR 37
PSMV-HV 35
[R]
RECEIVING AND KEEPING AC SERVO MOTORS 210
REPLACING FUSES 196
Replacing the Battery 91
REPLACING THE PULSE CODER 216
Replacing the SPM Program ROM and Spindle Sensor
Module 203
[S]
Selecting The Ground Fault Interrupter That Matches The
Leakage Current 26
Servo Adjustment Screen 133
SERVO AMPLIFIER MODULE 40, 128
Servo Amplifier Module 28, 199
Servo Amplifier Modules 10
Servo Check Board 48
SERVO SOFTWARE 133
SETTING THE PRINTED-CIRCUIT BOARD 27
SPECIFICATION NUMBERS OF REPLACEMENT PARTS
225
Specifying data to be monitored 73
SPINDLE AMPLIFIER MODULE 49, 144
Spindle Amplifier Module 29, 200
Spindle Amplifier Modules 14
Spindle Check Board 67
Spindle check board specifications 67
SPINDLE MOTOR MAINTENANCE 227
INDEX B-65165E/02

START-UP PROCEDURE 23
START-UP PROCEDURE (OVERVIEW) 24
STATUS Display 50
Status Error Indication Function 55
[T]
The motor does not turn. 52
The PIL LED (power ON indicator) Is Off. 38
The PIL LED (power-on indicator) is off. 51
The STATUS display is blinking with "--." 51
TROUBLESHOOTING AND ACTION 115
Troubleshooting at Startup 51
[U]
Using a Battery Case (A06B-6050-K060) (Method 2) 87
[V]
VRDY-OFF Alarm Indicated on the CNC Screen 47
[W]
When cutting is not performed, the spindle vibrates, making
noise. 53
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