Fanucalpha FSSB Setup

GE Fanuc Automation
Computer Numerical Control Products

Series Servo Amplifier Module (SVM)
With FSSB
Servo Setup Manual
GFK-1546 April 1998
GFL-001
Warnings, Cautions, and Notes
as Used in this Publication
Warning
Warning notices are used in this publication to emphasize that hazardous voltages, currents,
temperatures, or other conditions that could cause personal injury exist in this equipment or
may be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment, a
Warning notice is used.
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note
Notes merely call attention to information that is especially significant to understanding and
operating the equipment.
This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein
which are not present in all hardware and software systems. GE Fanuc Automation assumes
no obligation of notice to holders of this document with respect to changes subsequently made.
GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory
with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.
PowerMotion is a trademark of GE Fanuc Automation North America, Inc.
Copyright 1998 GE Fanuc Automation North America, Inc.
All Rights Reserved.
Contents
GFK-1546 v
Chapter 1 Descriptions........................................................................................................... 1-1
Chapter 2 FSSB Setting Screens............................................................................................ 2-1
Displaying the FSSB Setting Screens.................................................................................. 2-1
Amplifier Setting Screen .................................................................................................... 2-2
Axis Setting Screen............................................................................................................ 2-4
Amplifier Maintenance Screen............................................................................................ 2-5
Settings.............................................................................................................................. 2-7
Chapter 3 Setting Parameters................................................................................................ 3-1
Setting Parameters ............................................................................................................. 3-1
Slave ................................................................................................................................. 3-2
Default Setting................................................................................................................... 3-3
Automatic Setting .............................................................................................................. 3-5
Examples........................................................................................................................... 3-7
Manual Setting................................................................................................................. 3-17
Chapter 4 Description of Parameters .................................................................................... 4-1
Parameter No. 1902........................................................................................................... 4-1
Parameter No. 1904........................................................................................................... 4-2
Parameter No. 1905........................................................................................................... 4-3
Parameter No. 1910 1919................................................................................................ 4-5
Parameter No. 1920 1929................................................................................................ 4-8
Parameter No. 1931 1932................................................................................................ 4-9
Parameter No. 1933......................................................................................................... 4-10
Parameter No. 1934......................................................................................................... 4-11
Parameter No. 1936 1937.............................................................................................. 4-12
Chapter 5 Troubleshooting.................................................................................................... 5-1
Pulse Coder ....................................................................................................................... 5-1
Servo Amplifier ................................................................................................................. 5-2
P/S Alarm.......................................................................................................................... 5-3
Frequently Asked Setup Questions...................................................................................... 5-4
Appendix A Separate Type Detector Interface Unit ...............................................................A-1
GFK-1546 1 - 1
Chapter
Descriptions
Chapter 1 contains B-65162E/02-25, Alpha Series Servo Amplifier Module (SVM) with FSSB
Supplemental Descriptions Manual.
1
1 - 2 Alpha Series Servo Amplifier Module (SVM) with FSSB - April 1998 GFK-1546
1
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I I I I I
SERVO AMPLIFIER MODULE WITH
_ TITLE
FSSB DESCRIPTIONS
01 97.07.11 g@ FIRST EDITION s &;,:
B-65162E/O2-25
:DIT.
I
D.4TE DESIG.
DESCRIPTION FANUC LTD SHEET 001 110
Table of contents
1. GENERAL
2. SPECIFICATIONS
2. 1 DES I GNAT IONS
2.2 SPECIFICATIONS
2.2.1 CONNECTION FOR OPTICAL CABLE OF FSSB
2.2.2 OVERALL CONNECT I ON D I AGRAM
2.2.3 DETA I LED CONNECTOR
2.2.4 ALARM
2.2.5 STANDARD
3. OTHERS
3.1 ORDERING LIST
. .
. 003
. .
. 003
. .
m 003
. .
. 004
. .
* 004
. .
. DO5
. .
. 007
. .
* 010
. .
* 010
. .
* 010
. .
. 010
TITLE
FSSB DESCRIPTIONS
DRAiV.
No.
B-65162E/02-25
DIT 1 DATE IDESIG.~
DESCRIPTION
I
FAN-UC LTD (SHEET 1 002~0 1
I I I I I I I
The cy series SERVO AMPLIFIER MODULE with FSSB is used with the new optical interface FSSB.
The specifications of this SVM is same that of the current SVM except for the interface.
The interchangeable current SVM and SVM for FSSB have ident ica I model names in the drawing
numbers. The middle nibbles of the drawing number, however, are differnt:60?9 for the current
SVM and 6096 for SVM with FSSB.
Current SW SVM with FSSB
A06B-6079-H00Cl - A06B-6096-HlJtlCl
T 1
2. SPECIFICATIONS
2.1 DESIGNATIONS
Tab. 1 DESIGNATIONS
I MODEL NAME 1 SVM with FSSB 1 CURRENT SVM
SVMl-12 A06B-6096-H101 A06B-6079-H101
s/Ml -20 A06B-6096-H102 A06B-6079-H102
SVMl -40s A06B-6096-H103 A06B-6079-H103
SVMl-40L A06B-6096-H104 A06B-6079-H104
SVMl-80 A06B-6096-H105 A06B-6079-H105
SVMl-130 A06B-6096-H106 A06B-6079-H106
SVMl -240 A06B-6096-H107 A06B-6079-H107
1 SVMl-360
1 SVM2-12/12
1 A06B-6096-H108 1 A06B-6079-H108 1
1 A06B-6096-H201 i A06B-6079-H201 I
I SVM2-12/20 I A06B-6096-H202 I A06B-6079-H202 I
I SVM2-20/20 1 A06B-6096-H203 1 A06B-6079-H203 1
\ 1
SVM2-12/40 A06B-6096-H204 A06B-6079-H204
SVM2-20/40 A06B-6096-H205 A06B-6079-H205
SVM2-40/40 A06B-6096-H206 A06B-6079-H206
SVM2-40/80 A06B-6096-H207 A06B-6079-H207
SVM2-80/80 A06B-6096-H208 A06B-6079-H208
SVM2-40L/40L A06B-6096-H209 A06B-6079-H209
1 SVM3-12/12/12 1 A06B-6096-H301 1 A06B-6079-H301 1
I SVM3-12/12/20 I A06B-6096-H302 I A06B-6079-H302 I
SVM3-12/20/20 A06B-6096-H303 A06B-6079-H303
SVM3-20/20/20 A06B-6096-H304 A06B-6079-H304
SVM3-12/12/40 A06B-6096-H305 A06B-6079-H305
I SVM3-12/20/40 1 A06B-6096-H306 I A06B-6079-H306 1
1 SVM3-20/20/40 1 A06B-6096-H307 1 A06B-6079-H307 1
I I I I I
K?-
B-651 62E/02-25
DESCRIPTION
1
FANUC LTD
I I
SHEET 003 /lO
I
2.2 SPECIFICATIONS
The differences between SVM with FSSB and the current SVM are shown below.
As for the other specifications,
refer to FANUC CONTROL MOTOR AMPLIFIER LY series DESCRIPTIONS (B-6516ZEiO2).
2.2.1 CONNECT ION OF
0 Connect the opt i
0 The optical cab1
AMP.
OPT I CAL CABLE
cal cable from COPlOA on CNC to COPlOB on the first AMP.
es from COPlOA of the previous AMP is connected to COPlOB of the next
0 Please put the attached cap on COPIOA of the last AMP
form dust.
0 Up to 8 axes are available. (The number of the axes
CNC AMP1 AMPS!
COPlOA
+
OPTICAL
CABLE
1
COPlOB
II
COPlOA
//
. . .
Fig.1 CONNECTION OF OPTICAL CABLE
to protect the optical connector
s not the number of the AMPS.)
AMPn
TITLE
FSSB DESCRIPTIONS
D%Y-
B-65162E/02-25
XT. DATE DESIG. DESCRIPTION FAWC LTD
SHEET 004 /lO
2.2.2 OVERALL CONNECT I ON D I AGRAM
(a) Except for SVMl-240,360
TITLE
FSSB DESCRIPTIONS
DR.4K.
No.
B-651 62E/02-25
DIT. D_4TE DESIG.
DESCRIPTION
FANUC LTD SHEET 005 /lo
(b) SVMl-240,360
TITLE
FSSB DESCRIPTIONS
EY
B-651 62E/02-25
DIT. DA4TE DESIG.
I
2.2.3 DETAILED CONNECT I ON
_..._ Indication
@ Si gnat check connector JX5
0 Input connector for interface between modules JXl A
@ Output connector for interface between modu I es JXlB
@ Pulse coder connector:L-axis JFl
@ Pulse coder connector:M-axis JF2
@ Input connector for FSSB interface COP1 OB
0 Output connector for FSSB interface COP1 OA
TITLE
FSSB DESCRIPTIONS
DFGiW.
SO.
B-65162E/O2-25
I
kIlnI DATE JDESIG.(
DESCRIPTION
I
FANUC LTD
I I
SHEET 007 /lO
(b) 3 AXES SVM
Tab. 3 Connectors
- TITLE
FSSB DESCRIPTIONS
DRAW.
No.
B-651 62E/02-25
:DIT. DATE DESIG.
(c) SVMl-240,360
m
m
a
I I
1
0
I
0
El
m
@Hj$
0
8
Tab. 4 Connectors
TITLE
FSSB DESCRIPTIONS
Fc?
B-65162E/02--26
DIT. DATE
DESIG.
DESCRIPTION FANUC LTD
SHEET 009 A0
. .
2.2.4 ALARM
Alarms in the table below are added to the current SVM.
Those alarms are related with FSSB.
Type
FSSB disconnection
(Type 1)
Description LED
(Note 1)
The disconnection of COPlOA side. (See Fig.2 )
(There is the failure in the connector or the
ootical cable.)
FSSB disconnection The disconnection of COPlOB side. (See Fig.2 )
(Type 2) (There is the failure in the connector or the
0
u
optical cable.)
(Note 1)
The detected alarm conditions are indicated by the 7-segment LED on the front of the SVM.
ZNC
AMP1 AMP2
ZOPlOA
El
STATUS
COPlOB
El
STATUS
AMP3
I
DISCONNECTION
AMP4
1
COPlOB
cl
u
STATUS
_4h%P5 AMP6
COPIOB
c
COPlOA
STATUS
Fi g. 2 FSSB disconnection
2.2.5 STANDARD
SW with FSSB has been designed to comply with VDEO160.
3. OTHERS
3.1 ORDERING LIST
The ordering list for SVM with FSSB is included in Order list for FANUC Servo amplifier
CY series (6th edition : B-65161EN/07).
I I I I I
I TITLE
FSSB DESCRIPTIONS
DRAW.
No.
B-65162E/02-25
I
DIT. DATE DESIG.
DESCRIPTION FANUC LTD SHEET 01 O/l 0
GFK-1546 2 - 1
Chapter
FSSB Setting Screens
Information pertaining to the amplifiers and axes connected to the CNC through Serial Servo Bus
(FSSB) optical cables are set on the FSSB Setting screens.
There are three FSSB Setting screens:
Amplifier Setting screen.
Axis Setting screen.
Amplifier Maintenance screen.
Displaying the FSSB Setting Screens
To display the FSSB Setting screens, press the <SYSTEM> function key, the most right soft key,
several times and the [FSSB] soft key.
When the [FSSB] soft key is pressed, the Amplifier Setting screen, or one of the previously
selected FSSB Setting screens, is displayed with the following soft keys.
[ AMP ] [ AXIS ] [MAINTE] [ ] [ ]
Press the [AMP] soft key to display the Amplifier Setting screen.
Press the [AXIS] soft key to display the Axis Setting screen.
Press the [MAINTE] soft key to display the Amplifier Maintenance screen.
2
2
Amplifier Setting Screen
Information on each slave (amplifier or pulse module) is displayed on the Amplifier Setting
screen.
AMPLIFIER SETTING 01000 N00001
NO. AMP SERIES UNIT CUR. [AXIS] NAME
1 A1-L SVM-HV 40AL [ 1 ] X
2 A1-M SVM 12A 2 Y
3 A2-L SVU 20A 3 Z
4 A3-L SVM 20A 4 A
5 A3-M SVM 40A 5 B
7 A4-L SVM 240A 6 C
NO. EXTRA TYPE PCB ID
6 M1 A 0000 DETECTOR(4AXES)
8 M2 B 12AB DETECTOR(4AXES)
>
MDI **** *** *** 13:11:56
[ AMP ] [ AXIS ] [MAINTE ] [ ] [(OPRT) ]
GFK-1546 Chapter 2 FSSB Setting Screens 2 - 3
2
The following information is displayed on the Amplifier Setting screen:
Table 2 - 1. Amplifier Setting Screen Information
Item Name Description
NO. Slave Number Each slave is assigned a number from 1 to 10, according to its
distance from the CNC.
AMP Amplifier Type The amplifier type consists of the letter A for Amplifier plus a
number which shows its order in the list of amplifiers and an
alphabetic character representing the axis number in the amplifier
(L for the first axis, or M for the second axis). For example:
A2-L : the first axis of the second amplifier.
AXIS Axis Number The axis number set in parameters (No. 1920 - 1929) is
displayed. If the value set in the parameter is out of range (from 1
to the maximum number of controlled axes), a 0 is displayed.
NAME Axis Name The axis name (parameter No. 1020) is displayed.
Amplifier I nformation
UNIT Unit Kind of Servo Amplifier Unit.
SERIES Series Servo Amplifier Series.
CUR. Current Maximum current.
Pulse Module I nformation
EXTRA Order The letter M for Pulse Module plus a number which shows its
order in the list of pulse modules
TYPE Pulse Module Type An alphabetic character representing the pulse module type is
displayed.
PCB ID Pulse Module ID The pulse module ID is displayed in hexadecimal.
If the pulse module is supplied for 4 axes,
"DETECTOR(4AXES)" is also displayed.
If two pulse modules are supplied for 8 axes,
"DETECTOR(8AXES)" is displayed.
2
Axis Setting Screen
Information on each axis is displayed on the Axis Setting screen.
AXIS SETTING 01000 N00001
AXIS NAME AMP M1 M2 1-DSP Cs TNDM
1 X A1-L [0] 0 0 0 1
2 Y A1-M 1 0 1 1 0
3 Z A2-L 0 0 0 0 0
4 A A3-L 0 0 0 0 2
5 B A3-M 0 0 0 0 0
6 C A4-L 0 0 0 0 0
>
MDI **** *** *** 13:11:56
The following information is displayed on the Axis Setting screen:
Table 2 - 2. Axis Setting Screen Information
AXIS Axis Number Axis number.
NAME Axis Name Axis name.
AMP Amplifier Type Type of amplifier connected to each axis.
M1 Connector Number for the 1st
Pulse Module
The connector number for the first pulse module set in parameter
No. 1932 is displayed.
M2 Connector Number for the 2nd
Pulse Module
The connector number for the second pulse module set in
parameter No. 1932 is displayed.
1-DSP 1-DSP Axis The value set in parameter No. 1904#0 is displayed. A 1 is
displayed for the learning control axis, the 125 current loop
control axis, and the high-speed interface axis.
CS Cs Contour Control Axis The value set in parameter No. 1933 is displayed. A 1 is
displayed for Cs contour control axis.
TNDM Tandem Control Axis The value set in parameter No. 1934 is displayed. Two
consecutive numbers, one odd for a master axis and one even for a
slave axis, are displayed.
2
Amplifier Maintenance Screen
There are two Amplifier Maintenance screens. Information on each amplifier is displayed on
these screens. Use the Page Up and Page Down keys to move from one screen to the other.
AMPLIFIER MAINTENANCE 01000 N00001
AXIS NAME AMP SERIES UNIT AXES CUR.
1 X A1-L SVM-HV 2 40AL
2 Y A1-M SVM 2 12A
3 Z A2-L SVU 1 20A
4 A A3-L SVM 2 20A
5 B A3-M SVM 2 40A
6 C A4-L SVM 1 240A
>
MDI **** *** *** 13:11:56
[ AMP ] [ AXIS ] [MAINTE ] [ ] [ ]
AMPLIFIER MAINTENANCE 01000 N00001
AXIS NAME EDITION TEST MAINTE-NO.
1 X 01A 961127 01
2 Y 01A 961127 01
3 Z 01A 961127 01
4 A 02B 961128 01
5 B 02B 961128 01
6 C 02B 961128 01
>
MDI **** *** *** 13:11:56
[ AMP ] [ AXIS ] [MAINTE ] [ ] [ ]
2
The following information is displayed on the Amplifier Maintenance screens:
Table 2 - 3. Amplifier Maintenance Screens Information
AXIS Axis Number Axis number.
NAME Axis Name Axis name.
AMP Amplifier Type Type of amplifier connected to each axis.
SERIES Series Series of amplifier connected to each axis.
UNIT Unit Kind of Amplifier Unit kind of amplifier connected to each axis.
AXES Axes Maximum number of axes of the amplifier connected to each axis.
CUR. Maximum Current The maximum current of the amplifier connected to each axis.
EDITION Unit Edition Unit edition of the amplifier connected to each axis.
TEST Test Date Test date of the amplifier connected to each axis. For example:
961127 : November 27, 1996
MAINTE NO. Maintenance Number Maintenance number of the amplifier connected to each axis.
2
Settings
When the [(OPRT)] soft key is pressed on the Amplifier Setting or Axis Setting screen, the
following soft keys are displayed:
[SETING] [CANCEL] [INPUT ] [ ] [ ]
To set the parameters, move the cursor to each item in MDI mode or Emergency Stop condition,
enter a number, and press the [INPUT] soft key ( <INPUT> key on the MDI panel).
Then, press the [SETING] soft key. If a warning occurs, the values are incorrect and must be
corrected.
To display the values set in the parameters, press the [CANCEL] soft key.
When the CNC is powered ON, the values set in the parameters are displayed.
Note
Do not set the values for the parameters by MDI input or G10 input. The values
for these parameters can only be set on the FSSB Setting screens.
If a warning occurs when the [SETING] soft key is pressed, enter the correct
value or press the [CANCEL] soft key to stop the warning. Pressing the
<RESET> key will not release the warning.
Amplifier Setting Screen
The following item can be set on the Amplifier Setting screen:
AXIS Axis Number Enter the axis number from 1 to the maximum number of
controlled axes.
If a value that is out of the data range is entered, the warning
"FORMAT ERROR" occurs.
When the [SETING] soft key is pressed, if 0 or overlapped
numbers are set, the warning "DATA IS OUT OF RANGE"
occurs, and input numbers are not set in their parameters.
2
Axis Setting Screen
The following item can be set on the Amplifier Setting screen:
M1 Connector Number of the 1st
Pulse Module
Enter the connector number for the axis using the first pulse
module.
The data range is from 1 to the maximum number of the first
pulse module connector.
0 is set for the axis not using the first pulse module.
If the input value is out of range, the warning "FORMAT
ERROR" occurs.
M2 Connector Number for the 2nd
Pulse Module
Enter the connector number for the axis using the second pulse
module.
The data range is from 1 to the maximum number of the second
pulse module connector.
0 is set for the axis not using the second pulse module.
If the input value is out of range, the warning "FORMAT
ERROR" occurs.
1-DSP 1-DSP Axis Enter 1 for the Cs contouring control axis.
If a value other than 0 or 1 is entered, the warning "FORMAT
ERROR" occurs.
CS Cs Contour Control Axis Enter 1 for the Cs contouring control axis.
If a value other than 0 or 1 is entered, the warning "FORMAT
ERROR" occurs.
TNDM Tandem Control Axis When tandem control is used, enter two consecutive numbers, one
odd for a master and one even for a slave. The data range is from
1 to 8. If a value that is out of range is entered, the warning
"FORMAT ERROR" occurs.
GFK-1546 3 - 1
Chapter
Setting Parameters
The FANUC Serial Servo Bus (FSSB) system requires you to set the following parameters:
Parameter No. 1023.
Parameter No. 1905.
Parameter No. 1910 No. 1919.
Parameter No. 1936 and 1937.
Setting Parameters
There are three ways to set these parameters:
1. Default setting.
2. Automatic setting.
3. Manual setting.
Note
Because of the limitations with the Default setting, it is recommended that you
use either the Automatic or Manual setting.
Default Setting
Setting the parameter in No. 1023 enables the default settings for the remaining parameters. You
do not need to set parameter No. 1905, 1910 1919, 1936, or 1937. However, the functions,
which you can then use, are limited.
3
3 - 2 Alpha Series Servo Amplifier Unit (SVM) with FSSB - April 1998 GFK-1546
3
Automatic Setting
By using the FSSB Setting screen to enter the amplifier and axis information, the CNC
automatically calculates the values of parameters No. 1905, 1910 1919, 1936, and 1937, and sets
these values in the parameters.
Manual Setting
Parameter No. 1905, 1910 1919, 1936, and 1937 can also be set manually. However, before you
attempt to set these parameters manually, you must have a thorough understanding of the
parameters.
Slave
In the FSSB system, the servo amplifier and pulse module are connected to the CNC by an optical
cable. The servo amplifier and pulse module are referred to as slaves. A 2-axis amplifier consists
of two slaves, while a 3-axis amplifier consists of three slaves. Each slave is assigned a slave
number from 1 to 10, according to its distance from the CNC.
Note: M1/M2: 1st/2nd Pulse Module
CNC
Control
Axis No.
Program
Axis Name
No. 1020
X
Y
Z
A
B
C
1
2
3
4
5
6
L
2-Axis AMP
M
1-Axis AMP
M1
L
2-Axis AMP
M
1-Axis AMP
M2
Slave No.
1
2
3
4
5
6
7
8
GFK-1546 Chapter 3 Setting Parameters 3 - 3
3
Default Setting
When the following parameters are set, the Default setting is in effect:
No. 1902#0 = 0
No. 1902#1 = 0
No. 1910 to 1919 = 0 (all parameters are 0)
In the Default setting, the value of parameter No. 1023 is set as the slave number. For example,
an axis whose value of parameter No. 1023 is 1 is connected with the nearest amplifier to the
CNC, and an axis whose parameter value is 2 is connected with the next amplifier.
Note: M1/M2: 1st/2nd Pulse Module
CNC
Control
Axis No.
Servo Axis
Name
No. 1023
Program
Axis Name
No. 1020
X
Y
Z
A
B
C
1
2
3
4
5
6
2-Axis AMP
1-Axis AMP
2-Axis AMP
1-Axis AMP
X
A
Y
Z
B
C
1
2
3
4
5
6
3
The following functions and settings cannot be used in the Default setting:
The separate detector interface cannot be used.
Values which are not consecutive cannot be set in parameter No. 1023. For example, the
following setting is not allowed because 2 does not exist.
Axis No. 1023
X 1
Y 3
Z 4
The following servo functions are not allowed:
o Learning control.
o 125 s current loop.
o High speed interface.
o Simple electrical gear box (EGB).
3
Automatic Setting
Under the following conditions, you can use the FSSB Setting screen to set the parameters
automatically:
No. 1902#0=0
No. 1902#1=0
To set the parameters automatically using the FSSB Setting screen, follow this procedure:
1. Set servo axis No. 1023. Then, set the number of the axis to No. 1023 to correspond to the
total number of amplifier axes.
2. Initialize the servo parameters on the Servo Initial Setting screen.
3. Turn power to the CNC OFF and then ON.
4. Press the SYSTEM function key.
5. Press the > > key several times to display the [FSSB] soft key. Then, press the [FSSB]
soft key to display the Amplifier Setting screen.
AMPLIFIER SETTING
1 A1-L SVM 40AL [ 1 ] X
2 A1-M SVM 12A [ 2 ] Y
3 A2-L SVU 20A [ 3 ] Z
4 A3-L SVM 40A [ 4 ] A
5 A3-M SVM 80A [ 5 ] B
7 A4-L SVM 40AS [ 6 ] C
NO. EXTRA PCB ID
>
MDI **** *** *** 13:11:56
6. Enter the axis name for each amplifier on the Amplifier Setting screen.
Note
Do not set the control axis name to 0 or a duplicated value.
3
7. Press the [SETING] soft key. If a warning occurs, go back to Step 5 and re-enter the
information on the Amplifier Setting screen.
9. Press the > > key several times to display the [FSSB] soft key. Then, press the [FSSB]
soft key to change the Amplifier Setting screen.
10. Press the [AXIS] soft key on the Amplifier Setting screen.
11. Set the information for each axis by entering the setting value for:
Using the separate detector interface.
Using 1 DSP / 1 axis.
Using Cs axis.
Using tandem control.
AXIS SETTING
1 X A1-L 1 0 0 0 0
2 Y A1-M 0 1 0 0 0
3 Z A2-L 0 0 0 0 0
4 A A3-L 2 0 0 0 0
5 B A3-M 0 2 0 0 0
6 C A4-L 0 0 0 0 0
>
MDI **** *** *** 13:11:56
12. Press the [SETING] soft key. If a warning occurs, go back to Step 9 and re-enter the
information on the Axis Setting screen.
If you input nothing, press the [SETING] soft key after pushing [(OPRT)].
13. Parameter No. 1023, 1905, 1910 1919, 1936, and 1937 are now set automatically.
Parameter No. 1902#1 becomes 1. This procedure is completed after you turn the power to
the CNC OFF and ON.
3
Examples
Semi-Closed Loop Example
1. Set parameter No. 1023 as follows:
X : 1
Y : 2
Z : 3
A : 4
2. Set the servo initial setting for each axis.
CNC
A A
A
Z Axis
A Axis
X Axis
Y Axis
Machine Side
3 Servo Amplifiers
A1-L A2-L A3-L A3-M
3
4. Enter the axis number on the Amplifier Setting screen.
AMPLIFIER SETTING
1 A1-L SVM 40A [ 2 ] Y
2 A2-L SVM 40A [ 1 ] X
3 A3-L SVM 40A [ 4 ] A
4 A3-M SVM 80A [ 3 ] Z
>
MDI **** *** *** 13:11:56
5. Press the [SETING] soft key.
7. Press the > key several times to display the [FSSB] soft key. Then, press the
[FSSB] soft key to change the Amplifier Setting screen.
8. Press the [AXIS] soft key, the [(OPRT)] soft key, and then the [SETING] soft key. The
setting will be complete after you turn the CNC OFF and then ON.
3
Fully Closed Loop Example
X : 1
Y : 2
Z : 3
A : 4
AMPLIFIER SETTING
1 A1-L SVM 40A [ 2 ] Y
2 A2-L SVM 40A [ 1 ] X
3 A3-L SVM 40A [ 4 ] A
4 A3-M SVM 80A [ 3 ] Z
>
MDI **** *** *** 13:11:56
CNC
A A
A
Z Axis
A Axis
X Axis
Y Axis
Machine Side
3 Servo Amplifiers
A1-L A2-L A3-L A3-M
PM
M1
Scale
Scale
CN1
CN2
3
8. Press the [AXIS] soft key to display the Axis Setting screen.
AXIS SETTING
1 X A2-L 0 0 0 0 0
2 Y A1-L 1 0 0 0 0
3 Z A3-M 0 0 0 0 0
4 A A3-L 2 0 0 0 0
>
MDI **** *** *** 13:11:56
10. Enter input No. 1815#1=1 for the Y and A axes. The setting will be complete after you turn
the CNC OFF and then ON.
3
Cs Axis Example
X : 1
Y : 2
Z : 3
A : 4
C : -1
AMPLIFIER SETTING
1 A1-L SVM 40A [ 2 ] Y
2 A2-L SVM 40A [ 1 ] X
3 A3-L SVM 40A [ 4 ] A
4 A3-M SVM 80A [ 3 ] Z
>
MDI **** *** *** 13:11:56
CNC
A A
A
Z Axis
A Axis
X Axis
Y Axis
Machine Side
3 Servo Amplifiers
A1-L A2-L A3-L A3-M
3
8. Press the [AXIS] soft key.
AXIS SETTING
1 X A2-L 0 0 0 0 0
2 Y A1-L 0 0 0 0 0
3 Z A3-M 0 0 0 0 0
4 A A3-L 0 0 0 0 0
5 C -- 0 0 0 1 0
>
MDI **** *** *** 13:11:56
9. Press the [SETING] soft key. The setting will be complete after you turn the CNC OFF and
then ON.
3
Tandem Control Example (Master = X Axis; Slave = A Axis)
X : 1
Y : 3
Z : 5
A : 2
B : 4
AMPLIFIER SETTING
1 A1-L SVM 40A [ 2 ] Y
2 A2-L SVM 40A [ 1 ] X
3 A3-L SVM 40A [ 4 ] A
4 A3-M SVM 80A [ 3 ] Z
5 A4-L SVM 40A [ 5 ] B
>
MDI **** *** *** 13:11:56
CNC
A A
A
Z Axis
A Axis
X Axis
Y Axis
Machine Side
4 Servo Amplifiers
A1-L A2-L A3-L A3-M
A4--L
A
B Axis
3
AXIS SETTING
1 X A2-L 0 0 0 0 1
2 Y A1-L 0 0 0 0 3
3 Z A3-M 0 0 0 0 0
4 A A3-L 0 0 0 0 2
5 B A4-L 0 0 0 0 4
>
MDI **** *** *** 13:11:56
then ON.
3
Electrical Gear Box Function Example
In this example, the Electrical Gear Box works the A axis, and the Electrical Gear Box dummy
works the B Axis (Parameter No. 7771=5).
Caution
For the Electrical Gear Box Function, set parameter No. 7771 first. Then,
proceed with the Automatic setting on the FSSB Setting screen. If you do
not set parameter No. 7771 first, the Automatic setting will not be done
correctly.
X : 1 (No. 7771=5)
Y : 2 (No. 7772)
Z : 5 (No. 7773)
A : 3 (No. 2011#0=1) (A Axis, B Axis)
B : 4
CNC
A A
A
Z Axis
A Axis
X Axis
Y Axis
Machine Side
3 Servo Amplifiers
A1-L A2-L A3-L A3-M
PM
Scale
B Axis
M1
(CN1)
3
AMPLIFIER SETTING
1 A1-L SVM 40A [ 2 ] Y
2 A2-L SVM 40A [ 1 ] X
3 A3-L SVM 40A [ 4 ] A
4 A3-M SVM 80A [ 3 ] Z
>
MDI **** *** *** 13:11:56
AXIS SETTING
1 X A2-L 0 0 0 0 0
2 Y A1-L 0 0 0 0 0
3 Z A3-M 0 0 0 0 0
4 A A3-L 0 0 0 0 0
5 B 1 0 0 0 0
>
MDI **** *** *** 13:11:56
then ON.
3
Manual Setting
Parameter No. 1905, 1910 1919, 1936, and 1937 may be set manually.
Refer to Chapter 4, "Description of Parameters," for information on each parameter before
attempting to change or set a parameter manually.
An example using the Manual setting is provided on the next page.
3
Example: Axis Configuration and Parameter Settings
When parameter No. 1902 is set as shown below, you can then set the parameters for each axis
manually:
Parameter No. 1902#0=1
Parameter No. 1902#1=0
Note
When parameter No. 1902 is set, parameter No. 1023, 1905, 1910 1919, 1936,
and 1937 must be set manually.
No. 1902#0
1
No. 1910 1911 1912 1913 1914 1915 1916 1917 1918 1919
0 1 2 3 4 16 5 48 40 40
No. 1023 1905#0 1905#6 1905#7 1936 1937
X 1 0 1 0 0 0
Y 3 0 0 1 0 1
Z 4 1 0 1 0 0
A 2 1 0 0 0 0
B 5 0 1 0 1 0
C 6 1 0 1 0 2
CNC
2-Axis AMP
M1
2-Axis AMP
1-Axis AMP
Axis No.
Pulse
Module
Connector
Axis Name
No. 1020
X
Y
Z
A
B
C
1
2
3
4
5
6
No. 1 of 1st
No. 2 of 2nd
No. 1 of 1st
not used
No. 2 of 1st
No. 3 of 2nd
1-Axis AMP
M2
Axis
X
A
Y
Z
B
C
GFK-1546 4 - 1
Chapter
Description of Parameters
Parameter No. 1902
No. 7 6 5 4 3 2 1 0
1902 ASIGN FSBMD
Data Type: Bit
Parameter Setting Description
FSBMD 0 Automatic setting mode.
After the axis information is entered on the FSSB Setting screen, parameter
No. 1023, 1905, 1910 - 1919, 1936, and 1937 are set automatically.
1 Manual setting mode.
You must enter parameter No. 1023, 1905, 1910 - 1919, 1936, and 1937
manually.
ASIGN 0 Automatic setting is completed.
1 Automatic setting is not completed.
Note: When the automatic setting is done, this bit automatically becomes 1.
4
4 - 2 Alpha Series servo Amplifier Module (SVM) with FSSB - April 1998 GFK-1546
4
Parameter No. 1904
No. 7 6 5 4 3 2 1 0
1904 1DSP
Data Type: Bit Axis
1DSP 0 An axis uses a DSP with another axis.
1 An axis uses a DSP without any other axis (e.g., the learning control axis).
Note
Do not set this bit manually because this bit is set by the FSSB setting screens.
It is not necessary to set this bit when the FSSB setting screens are not used.
GFK-1546 Chapter 4 Description of Parameters 4 - 3
4
Parameter No. 1905
No. 7 6 5 4 3 2 1 0
1905 FSBM2 FSBM1 FSBSL
Data Type: Bit Axis
FSBSL 0 The servo data transmission interface is Fast type.
1 The servo data transmission interface is Slow type.
FSBM1 0 The first pulse module is not used.
1 The first pulse module is used.
FSBM2 0 The second pulse module is not used.
1 The second pulse module is used.
Note
When parameter No. 1902#0=0, these bits are set automatically. When
parameter No. 1902#0=1, these bits must be set manually. When using the
pulse module, you must also set the connector number for parameter No. 1936
and 1937.
Interface Type
There are two types of interface (Fast and Slow) for transferring servo data. Each type must
accept all of the following conditions:
For a one-axis amplifier, either type (Fast or Slow) is accepted.
For a two-axis amplifier, a combination of Fast-Fast cannot be used. Use Fast-Slow, Slow-
Fast, or Slow-Slow.
For a three-axis amplifier, the first and second axes are applied to a two-axis amplifier, and
the third axis is applied to a one-axis amplifier.
The axis whose value of parameter No. 1023 is odd uses the Fast type interface.
The axis whose value of parameter No. 1023 is even can use only the Slow type interface.
The EGB work axis, the learning control axis, the 125 s current loop control axis, and the
high-speed interface axis can use the Slow type.
4
Example for Figure 1905
CNC
2-Axis AMP
1-Axis AMP
2-Axis AMP
1-Axis AMP
X (Fast)
A (Slow)
Y (Fast)
Z (Slow)
B (Fast)
C (Slow)
Axis No.
Axis Name
No. 1020
X
Y
Z
A
B
C
1
2
3
4
5
6
Servo Axis
No. 1023
1
3
4
2
5
6
Interface
Type
Fast/Slow
F
F
S
S
F
S
4
Parameter No. 1910 1919
No.
1910 The value of the Address Conversion Table (ATR) for Slave No. 1
Data Type: Byte
Data Range: 0 - 7, 16, 40, 18
4
The ATR for each slave must be set. A slave consists of a servo amplifier and pulse module
connected to the CNC by an optical cable. A 2-axis amplifier has two slaves, and a 3-axis
amplifier has three slaves. Each slave is assigned a number, from 1 to 10, according to its
distance from the CNC.
For an amplifier, set the value which is one less than the value of parameter No. 1023.
For a pulse module, set 16 for the first pulse module (closest to the CNC) and 48 for the
second pulse module (farthest from the CNC).
If there is no slave, set 40.
For the Electric Gear Box function, the EGB dummy axis, designated in parameter No. 7771,
does not require an amplifier. However, do not set 40. Instead, set the values which is one
smaller than the value of parameter No. 1023 for the EGB axis.
Note
parameter No. 1902#0=1, these bits must be set manually.
Examples of Axis Configuration and Parameter Settings
CNC
L
2-Axis AMP
M
M1
L
2-Axis AMP
M
1-Axis AMP
Axis No.
Servo Axis
No. 1023
Axis Name
No. 1020
X
Y
Z
A
B
C
1
2
3
4
5
6
1
3
4
2
5
6
1 Axis AMP
M2
Slave
No.
Axis
ATR No.
1910-
1919
1
2
3
4
5
6
7
8
9
10
0
1
2
3
4
16
5
48
40
40
X
A
Y
Z
B
M1
C
M2
no slave
no slave
M1/M2 = 1st/2nd pulse module
4
Example: Electronic Gear Box (EGB) Function
CNC
CNC
2-Axis AMP
2-Axis AMP
M1
M1
2-Axis AMP
2-Axis AMP
1-Axis AMP
1-Axis AMP
Axis No.
Axis No.
Servo Axis
No. 1023
Servo Axis
No. 1023
Axis Name
No. 1020
Axis Name
No. 1020
X
Y
Z
A
B
C
X
Y
Z
A
B
C
1
2
3
4
5
6
1
2
3
4
5
6
1
3
4
2
5
6
1
2
5
3
4
6
1 Axis AMP
M2
M2
Slave
No.
Slave
No.
Axis
Axis
ATR No.
1910-
1919
ATR No.
1910-
1919
1
1
2
2
3
3
4
4
5
5
6
6
7
7
8
9
10
8
9
10
0
2
3
1
4
16
5
48
40
40
0
1
2
4
5
16
48
3
40
40
X
X
Y
Y
Z
A
A
Z
B
C
M1
M1
C
M2
M2
no slave
no slave
dummy B
no slave
no slave
4
No.
1920 Axis number for Slave No. 1 (for the FSSB setting screens)
Data Type: Byte
Data Range: 0 - 8
The axis number for each slave is set.
Note
Do not set these parameters manually because these parameters are set with the
FSSB setting screens. It is not necessary to set these parameters when the FSSB
setting screens are not used.
4
No.
1931 Connector number for the first pulse module (for the FSSB setting screens)
1932 Connector number for the second pulse module (for the FSSB setting screens)
Data Type: Byte Axis
Data Range: 0 - the number of each pulse module connectors
When the pulse module is used, the connector number is set.
Note
4
Parameter No. 1933
No.
1933 Cs contour control axis (for the FSSB setting screens)
Data Range: 0, 1
When the Cs contour control is used, set 1 for the Cs contour control axis.
Note
4
Parameter No. 1934
No.
1934 Tandem control master/slave axis number (for the FSSB setting screens)
Data Range: 0 - 8
When tandem control is used, assign two consecutive numbers, one odd and the other even, to the
master and slave axes.
Note
4
No.
1936 Connector number for the first pulse module
1937 Connector number for the second pulse module
Data Range: 0 - 7
For a pulse module, set a value which is one less than the connector number for each axis. Use
zero (0) for an axis where the pulse module is not used.
You can use any combination of axis and connector, but you must use the lowest available
number. For example, you cannot use Connector No. 3 without using No. 2.
Example:
Axis
1st Module
Connector No.
2nd Module
Connector No.
No. 1936 No. 1937
No. 1905
(#7, #6)
X 1 not used 0 0 0, 1
Y not used 2 0 1 1, 0
Z not used 1 0 0 1, 0
A not used not used 0 0 0, 0
B 2 not used 1 0 0, 1
C not used 3 0 2 1, 0
Note
parameter No. 1902#0=1, these bits must be set manually.

GFK-1546 5 - 1
Chapter
Troubleshooting
Pulse Coder
Number of
NC
Alarms
Message Meaning
360 n axis : abnormal checksum (int) Checksum alarm occurred in the pulse coder (int).
361 n axis : abnormal phase data (int) Abnormal phase data alarm occurred in the pulse coder (int).
362 n axis : abnormal rev. data (int) Abnormal rev. data alarm occurred in the pulse coder (int).
363 n axis : abnormal clock (int) Clock alarm occurred in the pulse coder (int).
364 n axis : soft phase alarm (int) Internal pulse coder data is abnormal.
365 n axis : broken LED (int) Pulse coder LED is abnormal
366 n axis : pulse miss (int) Pulse miss alarm occurred in the pulse coder (int).
367 n axis : count miss (int) Count miss alarm occurred in the pulse coder (int).
368 n axis : serial data error (int) Serial data was not received from the internal pulse coder.
369 n axis : data transmission error (int) CRC error or stop bit error occurred in the pulse coder (int).
380 n axis : broken LED (ext) External pulse coder LED is abnormal.
381 n axis : abnormal phase (ext lin) Abnormal phase data alarm occurred in the external linear scale.
382 n axis : count miss (ext) Count miss alarm occurred in the external pulse coder.
383 n axis : pulse miss (ext) Pulse miss alarm occurred in the external pulse coder.
384 n axis : soft phase alarm (ext) External pulse coder data is abnormal.
385 n axis : serial data error (ext) Serial data was not received from the external pulse coder.
386 n axis : data transmission error (ext) External pulse coder data is CRC error or stop bit error
5
5
Servo Amplifier
Number of
NC
Alarms
Message Meaning
430 n axis : servo motor overheat Servo motor overheated.
431 n axis : cnv. overload (OH) Temperature of the converter (PSM) is abnormally high.
432 n axis : cnv. lowvolt con./powfault (LV) Control circuit power supply is abnormally low.
433 n axis : cnv. low volt DC link (DCLV) DC voltage of the voltage main circuit power supply is
abnormally low, or the outer circuit breaker trips.
436 n axis : softthermal (OVC) Overheat alarm detected by the software.
438 n axis : inv. abnormal current (HC) Abnormal over-current flowed into the servo amplifier unit.
439 n axis : overvolt power (HV) The DC voltage of the main circuit power supply is abnormally
high.
440 n axis : cnv. ex deceleration pow. (DCOH) The average regenerative discharge energy is too high (too
frequent acceleration / deceleration).
441 n axis : abnormal current offset Current feedback is abnormal.
443 n axis : cnv. cooling fan failure (FAL) The fan, built into the servo amplifier unit, stopped.
445 n axis : soft disconnection alarm Disconnection alarm detected by software.
446 n axis : hard disconnection alarm Disconnection alarm detected by hardware (see note below).
447 n axis : hard disconnection (ext) External pulse coder cable is disconnected.
448 n axis : unmatched feedback alarm Feedback data of pulse coder was not matched to its external
pulse coder.
460 n axis : FSSB disconnection FSSB communication is open:
1. Optical fiber cable is open or disconnected.
2. Control power supply shut down.
3. LV alarm for the control power supply occurred.
461 n axis : illegal amp interface Both axes are Fast interface in a 2-axis amplifier.
462 n axis : send CNC data failed The slave side amplifier did not receive normal data because of an
FSSB communication error.
463 n axis : send slave data failed The servo side amplifier did not receive normal data because of
an FSSB communication error.
464 n axis : write ID data failed The amplifier cannot write maintenance data on the maintenance
screen.
465 n axis : read ID data failed The amplifier cannot read maintenance data on the maintenance
screen.
466 n axis : motor / amp combination The value of the amplifier maximum current is illegal for the
motor maximum current.
467 n axis : illegal setting of axis The amplifier is set to two axes on the Axis Setting screen, but the
following is not possible:
1. Learning control (PRM2008#5=1).
2. High current loop (PRM2004#0=1).
3. High interface axis (PRM2005#4=1)
Note: Hard disconnection alarm has not occurred to the Series 16C or 16i.
The possibility of FBAL (ALARM 1 Bit 1=1).
External hardware disconnection FBAL (ALARM 1 Bit 1=1, ALARM 2 Bit 7=1, Bit 4=1.
Software disconnection (ALARM 1 Bit 1=1).
Count miss error (ALARM 1 Bit 1=1, ALARM 2 Bit 7=1, ALARM 3 Bit 3=1).
GFK-1546 Chapter 5 Troubleshooting 5 - 3
5
P/S Alarm
Number of
NC
Alarms
Message Meaning
5134 FSSB : open ready time out FSSB is not ready when power is turned ON.
5135 FSSB : error mode FSSB is abnormal.
5136 FSSB : number of amps is small The number of the amplifier is smaller than the setting number.
5137 b : configuration error FSSB has a configuration error.
5138 FSSB : axis setting not complete The axis is not set in Auto mode.
5197 FSSB : open time out FSSB is not communicating.
5198 FSSB : ID data not read ID data was not read.
5
Frequently Asked Setup Questions
Question / Problem Solution
Cannot input the parameter in MDI
mode.
Remember that you cannot input a parameter in MDI mode unless you cycle power ,
OFF and ON.
After turning power OFF and then ON and disconnecting the optical cable on the CNC
side, check the following items:
1. Check parameter No. 1902:
A. If No. 1902=00000000, set No. 1905=00000000 and No. 1910 - 1919=0.
B. If No. 1902=00000001 or 00000010, set No. 1905 and No. 1910 - 1919 to the
correct value.
2. If No. 1815 B1=1, check No. 1910 - 1919. If the value is not 16 or 48, set No. 1815
B1=0.
3. Check that the FSSB Ready to Operate green LED is ON. If not, check the power to
the amplifier and the connection of the optical cable.
Although the outer detector is
recognized on the FSSB, the
feedback pulses are not correct.
Check parameter No. 1902.
1. If No. 1902=00000001, set No. 1905=01000000 or 10000000. Also set No. 1910 -
1919, 1936, and 1937 to the correct value.
2. If No. 1902=00000010, set the M0 and M1 connector numbers on the FSSB Axis
screen.
Cannot input the M1 or M2
connector number on the FSSB Axis
screen.
Check the ID of the pulse module on the FSSB screen. If the ID is not read correctly,
check the connection of the separate detector interface unit.
The setting value on the FSSB
screen changes the former setting
value after turning power OFF/ON.
After inputting the value, remember to press the [SETING] soft key on both the
Amplifier and Axis Setting screens.
P/S Alarm 5138 occurred. (FSSB :
axis set not complete)
Automatic setting has not completed yet. After inputting the value, remember to press
the [SETING] soft key on both the Amplifier and Axis Setting screens.
When using the manual setting, remember to set the parameters for No. 1902, 1905,
1910 - 1919, 1936, and 1937 to 0.
SV Alarm 466 occurred. (n axis :
motor / amp combination)
1. Check the combination between the motor and amp.
2. Check the current value in parameter No. 2165 and the FSSB Amplifier screen.
3. Load the servo initial parameter.
System Alarm 920 occurred after
changing parameter No. 1902 and
turning power OFF and then ON.
1. Disconnect the optical cable on the CNC side.
2. Turn power OFF and ON.
3. Set parameter No. 1902, 1905, 1910 - 1919, 1936, and 1937 to 0.
FSSB Automatic setting was not
done successfully in a two-path
control CNC.
Change CNC software (B0F1 / B1F1 / BDF1 / BEF1) version 04 or later.
The setting which uses the axis of
another path in the two-path control
CNC was not done successfully.
Change CNC software (B0F1 / B1F1 / BDF1 / BEF1) version 04 or later.
GFK-1546 A - 1
Appendix
Separate Type Detector Interface Unit
Appendix A contains A-73402E, Separate Type Detector Interface Unit Connecting Manual
(Preliminary).
A
A - 2 Alpha Series Servo Amplifier Module (SVM) with FSSB - April 6, 1998 GFK-1546
A
This page intentionally left blank.
. .
I
Separate type detector interface unit
Connecting manual (PRELIMINARY)
Contents
1. Outline.
2. Types of the separate type detector inteerface unit.
3. Supply Voltage and Current
4. Heat loss.
5. Connection diagram.
6. Details of connection.
6.1. Connection of power line
6.2. Linear scale interface (Parallel interface)
6.3. Linear scale interface (Serial interface)
6.4. Separate type pulse coder inter&e (Absolute type)
6.5. Separate type pulse coder interlke (Incremental type)
6.6. Input signal requirements
6.7. Connecting the battery for the separate type absolute pulse coder
6.8. Connecting SDUl and SDU2
7. Assembly.
7.1. Requirement on assembling the units
7.2. Size of the unit
7.3. Connector layout
7.4. Details of screw hole
FANUC
01 96.12.25 Y. Kubo
EDIT. DATE DESI G. DESCRlPTloW
I
TI TLE
Separate
manual (PRELIMINARY)
wWD.A-73402E m*
FANUCLlD
I
1 .Outline.
This material explains the method of connecting of the separate type detector interface
unit for the FANUC serial servo bus (FSSB).
P.Types of the separate type detector interface unit.
Separate type detector interface unit 1 This unit is necessary when the machine
(SDUl) is equipped with the separate type
detectors.
The SDUl has 4 detector interfaces.
Separate type detector interface unit 2 This unit is optional and it has additional
(SDU2) 4 detector interfaces. It should be used
with SDUl. The cable to connect SDUl
and SDU2 are necessary.
3.Supply Voltage and Current.
24V DC (*I 0%) 0.9A (When only SDUl is used.)
1 SA (When SDUl and SDU2 are used.)
4.Heat loss.
9W (When only SDUl is used.)
14W(When SDUl and SDU2 are used.)
Note
The heat loss of detectors is not included .
5V DC power for detectors is available from the SDU. Its allowed maximum current is
0.35A per a detector.
TITLE
EDIT. DATE DEN. DEslxlPTlON
FANUCLlD SHEET
002/
I
.
I
5Connection diagram.
CONTROL UNrf
AXIS #n (&at max)
SERVO MOTOR
detector interface unit 1 (SDUl 1
Separate type detector interfa~ unit 2 (SDUZ)
The SDU is connected to the CNC control unit via optical cable of FANUC serial servo
bus (FSSB). Another units like servo amplifiers are also connected to the FSSB. In
above figure, the SDU is connected as the last slave of the FSSB. Another
configuration is also possible, that is the SDU can be inserted between the CNC control
unit and the servo amplifier or between two servo amplifiers.
The signal from the separate type detector of the axis #l is usually connected to JFI 01.
In the same manner, signals corresponding to the axis ##2 - #8 are connected to JFIOZ
- JF108 respectively.
If necessary, the relationship between connectors JFlOl - JF108 and axes numbered
1 - 8 can be varied. In above figure, when the axes numbered 2, 4, 6, 8 have the
separate type detector, for example, the SDU2 does not need to be used by assigning
the connector JFlOl - JF104 of the SDUl to the axis 2, 4, 6, 8. Please refer to the
corresponding manual of the CNC controller for how to change the assignment.
TITLE
DRM-110A-73402E
CUST.
EDIT. DATE DESIG. DESCRIPTION
FANUCLlD =
0031
I
I
6.Detaiis of connection.
6.1.Connection of power line
Supply power (24V DC) to the SDUl from an external source.
SDUI
External power supply
CPllA 24VDC stabilized Power supply
wn
1 +24V 24VDC f 10%
2 ov
3
Cable
CPllA
A@ Jwpn
l-178288-3 (Housing)
1-175218-5 (Contact) External power supply
+24V (1)
This end of the cable
depends on the terminal
ov (2)
of the external powe
SUPPlY.
Recommendadcable:AO2B-0124-K830
)
1A can be branched out from CP11 B.
Pins assignment ,connector housing, contacts are same as that of CP1 1A.
TITLE
ORM-.A-73402E cusT*
EDIT. DATE DESIG DESCRIPTION
FANUCLTD =T
004/
I
. .
I
6.2.Linear scale interface (Paaikl interface)
Separate type detector intedace unit Linear scale
+6V and REQ are for the separate absolute pulse coders.
Cable wiring
PCA PCA
*PCA *PCA
PCB PCB
*PCB *PCB
PC2 PCZ
*pcz *pcz
f5V .f5V
+5V +5v
f5V f5V
ov ov
ov ov
ov ov
Groundirg plate
Recomnended cable matehal
A66L-0001-0286 (820AWGX6+#24AWGX3-pair)
The power of +5V DC is available as the supplying power of the linear scales.
Maximum allowed current of +5V DC is 0.35A per a scale.
MU.mA-73402E UJST.
EDI T. DATE DESI G. DESCRI PTI I M
FANUCLTD =
005/
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I
6.3.Linear scale interface (Serial interface)
sepalatelypedetectorintelfaceullt
JF1012JF108
(PCR-EV20MDT)
IO
Linear sde (Serial intsdsce type)
+6V is for the separate absolute pulse coders.
Cable wiring
.____._._.._._...
SD SD
*SD *SD
REQ REQ
*REQ *REQ
+5V +5v
f5V t5v
f5V f5V
ov ov
ov ov
ov ov
._.__..___
Ground&g plate
Recommended cable material
A66L-0001-0286 (#2OAWGX6+#24AWGX3-pair)
The power of +5V DC is available as the supplying power of the linear scales.
Maximum allowed current of +5V DC is 0.35A per a scale.
TITLE
DATE DESIB. DESCRIPTION
I
wrmA-73402E
UJST.
FANUCLTD =
006/
I
6.4.Separate type pulse coder interface (Absolute type)
Sepamtetypedetectorintehceunt
Wa=de type W3e coder W=bte type)
JFlOl-J.Fl08
(PCR-EV~~MD~
IIHI
f
-MS3106B22-14s
I
Cable wiring
. .._.______...._.
PCA
PCA
*PCA
*PCA
PCB
PCB
*PCB
*PCB
PC2
PCZ
*PC2
*pcz
+6V 46V
REQ
REQ
tsv
+SV
t5V i5V
ov ov
ov
ov
OVA
&._..___..____._
SHLD
Groundirg plane
(Shield)
Recommended cable material
A66L-0001-0286 (7$20AWGX6+#24AWGX3-pair)
TITLE
DIU1.w.A-73402E
CUST.
3lT. DATE DESIG DEscRlF7IoN
FANUCLTD =T
0071
I
. .
I
6b.Separate type pulse coder interfece (Incremental type)
sqa-atelypetMectorinbsr$c8lmit Separate type pulse coder (Inamen tal type)
JFlOl-JF108 Pulse alder
(PCR-EV2OMDT) MS3102A-20-29P)
llHl[
i
/ -
iMS3106B20-29SW
+6V and REQ are not used.
Cable wiring
_.._____..-____..
PCA PCA
*PCA *PCA
PCB PCB
*PCB *PCB
PCZ PCZ
*pcz *PC2
t5v isv
+sv +5v
+5v l 5V
ov ov
ov ov
ov ov
SHLD
mw
Grounding plate
Reamneded cable material
A66L-0001-0286 (?#20AWGx6+#24AWGX3-psir)
TITLE
EDI T. DATE DESI G. DESCRI PTI O) (
FANUCLTD =
008/
I
. .
I
6.6.lnput signal requirements
(1) A and B phase signal input
This is a method to input position information by the mutual 90 degree phase slip of A
and B phase signals. Detection of the position is performed with the state in which
the B phase is leading taken as a shift in the plus direction, and the state in which the
A phase is leading as a shift in the minus direction.
A phase signal
Shit? in plus direction
1 1
B phase signal
I
A phase signal
Shift in minus direction
I
B phase signal
I
(2)Phase difference and minimum repeat frequency
A
PCASPCA
$ PCNPCA
8
PCWS PC8
* PCWPC8
= WToW W
The minimum value of Td in above diagram is
Td 1 0.15usec
The period and pulse width of the signals must be long enough to satisfy the above
requirements.
TITLE
DRAI. Y).A-73402E
CUST.
EDIT. DATE #SIG. DEscRlPllQ
FANUCLTD =
009/
I
r
I
Z phase signal
T,B 1 cyde of A phase or B phase (Tp)
6.7.Connecting the battery for the separate type absolute pulse coder
r
Separate type detector interface unit 1 (SDUI)
Battery==
IA4A
PCR-EVZOMDT)
M3 terminal
1
+-I
fzlq
I
(3) 2 phase signal input
For the 2 phase signal (1 rotation signal), a signal width of more than 1 cycle of the A
phase or B phase signals is necessary.
1
f6V
ov
Raanm~cablematerial
LO. 2md (7/O. 18)
TITLE
EDIT. DATE DESK. DESClllPTlDN
FANUCLlD SHEET
0101
I
.
I
6.8.Connecting SDUl and SDUZ
SDUl and SDU2 are connected by a flat cable. The maximum length of the flat cable is
1 OOmm.
View from the upper side of the SDU.
SDUI SDU2
Cabinet
wall
J Con\nector I , J Con\nector
$ $
marking V 9 $ marking 7
L.-,J L.-,-j
2 LJ
c
The flat cable should be ordered together with SDUI and SDU2.
TITLE
MVJI-WOA-73402E cusT-
EDIT. DATE DESIG. DEScRlPTlffl
FANUCLTD -T
Oi l /
a
. .
I
7.Assembly.
I.l.Requirement on assembling the units
(1) This unit should be installed in a cabinet that is always completely closed.
(2) This unit should be fixed on the vertical wall in the cabinet. Clearances of 1OOmm or
more both above and below the units are required.
Equipment radiating too much heat must not be put below the unit.
(3) When both SDUl and SDU2 are installed, they should be configured as shown in
the figure below so that the flat cable should not cover the ventilation holes of the
SDU 1. Maximum length of flat cable is 1 OOmm.
Ventilation holes
Fiat cable
TOP
A
f
Bottom
SDUI SDU2
TITLE
EDIT. DATE DESK DEscRlPTloN
FANUCLTD -
012/
I
I
7.2.Size of the unit
TITLE
DRCJIm110.A-73402E
am.
911. DATE DEGI G. DESCRI PTI ON
FANUCLTD UQT
013/
I
. .
7.3.Connectot layout
Connector layout of the SDUI
CDPI DA COPI DE
Connector layout of the SDU2
JFIOS
JF 106
JF 107
JF 108
TITLE
EDIT. DATE #SI G. mcRl PTl cN
FANUCLTD SI EEET
014/
I
.
7.4.Deteiis of screw hole
I
-d
[Unit : mm]
r
-7GW80
I
Drilling works of screw hole
When both SDUl and SDU2 are installed, the space between screw hole of two units
should be 70 to 80 mm.
TITLE
DESIG. DESCRIPTIOW
I
FANUCLTD =
0151
.
I
Note
An enough maintenance area is necessary for both sides of the unit. Because,
the space to insert the screw driver diagonally is necessary ( see the figure
below).
As guideline, when the depth of the neighbor units are same as or less than the
SDU, the clearance of 20mm is required. When the depth of the neighbor units
are much more than the SDU, the clearance of 70mm is required.
The clearance of 70mm is also required between the SDU and the cabinet wall.
Maintenance area of the SDU.
TITLE
EDI T. DATE DESI G. DESCRI PTI ~
FANUCLTD =
016/ 16
I
GE Fanuc Automation North America, Inc., Charlottesville Virginia

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