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  2. Update of Servo Software 90B0 for FS15i, FS16i and FS18i (with 320C5410 DSP)

Update of Servo Software 90B0 for FS15i, FS16i and FS18i (with 320C5410 DSP) Supplement to Manual Page 11

Supplement to Manual
10/11
Descri
p
tion
Design.
DateEd
01.04.20




Taka
y
ama
Newly designed
Notice of the update of Digital
Servo Software 90B0 series
A-62449E-084
FANUC LTD
Attached 3. About Soft Phase alarm on tandem axes
with Motor Feedback Sharing Function.
(1)
(1)(1)
(1) Overview
Overview Overview
Overview
We found that the following phenomenon may occur when we use Motor
feedback sharing function. We report the correction of the function in this
update of digital servo software.
(2)
(2)(2)
(2) Condition
ConditionCondition
Condition
-
90B0/G (07) or earlier edition servo software is used.
-
Servo HRV2, or Servo HRV3 - High speed current control is used.
-
Motor feedback sharing function is enable.
No.1960, bit7=1 (Series 15
i
), No.2018, bit7=1 (Series 16
i
, 18
i
, 21
i
)
(3)
(3)(3)
(3) Phenomenon
PhenomenonPhenomenon
Phenomenon
Soft phase alarm may occur at crossing the first Z-signal point after we connect
a pulsecoder to a servo amplifier.
NOTE
This phenomenon doesn’t occur when the machine position is corresponding to
absolule position on absolute type pulsecoder (APZ=1).
(4)
(4)(4)
(4) Countermeasure
CountermeasureCountermeasure
Countermeasure
Please change servo software to 90B0/H (08) or later.
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Contents Summary of Update of Servo Software 90B0 for FS15i, FS16i and FS18i (with 320C5410 DSP) Supplement to Manual

  • Page 1TECHNICAL REPORT (MANUAL) No. TMS01/010 Date: May 14, 2001 General Manager of Servo Laboratory Notice of the update of Digital Servo Software 90B0/H (08) 1. Distribute this report to the destinations marked with Your information GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCINNATI M
  • Page 2Notice of the update of Digital Servo Software 90B0 series 1. Type of applied documents Name FANUC AC SERVO MOTOR Alpha series Parameter manual Spec. No./Ver. A-62449E-084 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function i 1. TUNE becomes available Add 2
  • Page 3Notice of the update of Digital Servo Software 90B0 series We report the update of Digital Servo Software 90B0 series. 1. Update Edition ROM series Old edition New edition Available CNC FS15i , 16i, 18i, 21i 90B0 001E (05) 001H (08) (with servo card equipped with 320C5410) 2. Content of change - iTU
  • Page 4Attached 1. Parameter table for αi series servo motors Standard parameters for αi series servo motors are added to parameter table (See following Tables 1-1 to Table 1-4)  Please set suitable motor types No. for the control ,HRV1 or HRV2/HRV3. Because αi series servo motor types No. of HRV1 cont
  • Page 5[Table 1-1] Parameter table for HRV1 control (1) Motor Model 1 2 M2 M3 C4 4 C8 8 M8 M12 C12 5000i 5000i 5000i 5000i 3000i 4000i 2000i 3000i 4000i 4000i 2000i Motor specification 0202 0205 0212 0215 0221 0223 0226 0227 0235 0238 0241 Motor type No. 152 155 162 165 171 173 176 177 185 188 1
  • Page 6[Table 1-2] Parameter table for HRV1 control (2) Motor Model 12 C22 22 C30 30 40 M22 M30 M40 3000i 2000i 3000i 1500i 3000i 3000i 4000i 4000i 4000i Motor specification 0243 0246 0247 0251 0253 0257 0265 0268 0272 Motor type No. 193 196 197 201 203 207 215 218 222 2001.04.01 Symbol Parameter
  • Page 7[Table 1-3] Parameter table for HRV2/HRV3 control (1) Motor Model 1 2 M2 M3 C4 4 C8 8 M8 M12 C12 5000i 5000i 5000i 5000i 3000i 4000i 2000i 3000i 4000i 4000i 2000i Motor specification 0202 0205 0212 0215 0221 0223 0226 0227 0235 0238 0241 Motor type No. 252 255 262 265 271 273 276 277 285
  • Page 8[Table 1-4] Parameter table for HRV2/HRV3 control (2) Motor Model 12 C22 22 C30 30 40 M22 M30 M40 3000i 2000i 3000i 1500i 3000i 3000i 4000i 4000i 4000i Motor specification 0243 0246 0247 0251 0253 0257 0265 0268 0272 Motor type No. 293 296 297 301 303 307 315 318 322 2001.04.01 Symbol Param
  • Page 9Attached 2. Parameter setting for ESP delay timer in αi series servo amplifier (1) Overview αi series servo amplifier has delay timer (50ms to 400ms) to emergency stop signal (ESP) inside. This delay timer makes it possible to use Brake contorol function without external timer. See FANUC AC SERVO MO
  • Page 10(3) Setting parameters #7 #6 #5 #4 #3 #2 #1 #0 Series 15i 1750 ESPTM1 ESPTM0 Series 16i 2210 ESPTM0 (#5) Delay time setting ESPTM1 (#6) ESPTM1 ESPTM0 Delay time 0 0 50ms (default) 0 1 100ms 1 1 200ms 1 1 400ms * Delay time have to be longer than the brake contorol time. (Brake contorol time setting
  • Page 11Attached 3. About Soft Phase alarm on tandem axes with Motor Feedback Sharing Function. (1) Overview We found that the following phenomenon may occur when we use Motor feedback sharing function. We report the correction of the function in this update of digital servo software. (2) Condition - 90B0/G
  • Page 12Attached 4. Parameter setting for Dummy Serial Feedback Function. (1) Overview The specification of Dummy serial feedback function is changed as follows. (2) Series and editions of applicable servo software Series 90B0/H (08) or later (Series 15i, 16i, 18i, 21i) (3) Setting parameters Setting the fo