1. Fanuc
  2. Fanuc Series 30i/31i/32i-Model A, Fine Torque Sensing (STEP1), Specifications

Fanuc Series 30i/31i/32i-Model A, Fine Torque Sensing (STEP1), Specifications Additional Manual Page 2

Additional Manual
A-90429E
Title
Draw
No.
Ed. Date Design Description
Date Nov.29.’05 Design. Apprv.
2/4
page
FANUC Series 30i/31i/32i -MODEL A
Fine Torque Sensing
1.1 Fine Torque Sensing
Outlines
CNC stores the disturbance torque detected by a servo motor or a spindle
motor to the internal memory. Following operations are available for the
tored torque data.
s
1. The stored torque data can be read via window function by PMC.
2. Statistics data (average, maximum, dispersion) of the stored torque is
calculated by CNC, and the results can be read via window function by
PMC.
Details
Storing of disturbance load torque data
While the torque sensing command signal is 1, the CNC stores the
disturbance load torque data detected by a servo motor or a spindle motor in
internal memory. Up to four target axes can be specified in parameter
No.6360 to 6363. Specifying a servo motor as a target axis requires the servo
parameter No.2016#0 is set to 1.
If the sample data preservation function is available (parameter
SPL(No.6350#2)=1), the stored torque data can be saved as sample data. The
original torque data is called the “latest data” in contrast with the sample
data. Each motor detects the disturbance load torque every 1ms (servo) or
2ms (spindle). CNC stores the average of the torque data in the selected
storing interval (8/16/32ms) in the parameter TQ1, TQ2 (No.6450#0, #1).
Depending to the number of target axes and the storing interval, the
aximum storing period changes as listed below.
m
Storing
interval
Num. of
Target axes
8ms 16ms 32ms
1 axis
About 69.9 min
About 139.8 min
About 279.6
min
2 axes
About 34.9 min
About 69.9 min About 139.8 min
3 or 4 axes
About 17.4 min
About 34.9 min About 69.9 min
Previous page
Next page

Contents Summary of Fanuc Series 30i/31i/32i-Model A, Fine Torque Sensing (STEP1), Specifications Additional Manual

  • Page 1FANUC Series 30i/31i/32i -MODEL A Fine Torque Sensing (STEP1) Specifications Note) Content of this specifications might be changed without notification by the improvement. Title FANUC Series 30i/31i/32i -MODEL A Fine Torque Sensing Draw A-90429E No. Ed. Date Design Description page 1/4 Date Nov.29.’
  • Page 21.1 Fine Torque Sensing Outlines CNC stores the disturbance torque detected by a servo motor or a spindle motor to the internal memory. Following operations are available for the stored torque data. 1. The stored torque data can be read via window function by PMC. 2. Statistics data (average, maximu
  • Page 3Note 1. The disturbance load torque data is represented as a percentage of the rated torque. 2. If the sample data preservation function is available (parameter SPL(No.6350#2)=1), the maximum storing period becomes half. 3. If the time described in the above table is exceeded, no more data will be s
  • Page 4Signal Torque sensing command signal FTCMD [Classification] Input signal [Function] This signal directs that disturbance load torque data be stored. [Operation] While the torque sensing command signal is 1, the CNC stores disturbance torque data to internal memory. When the signal changes fr
  • Page 5Parameter #7 #6 #5 #4 #3 #2 #1 #0 6350 TQ2 TQ1 [Input type] Parameter input [Data type] Bit #0 TQ1 #1 TQ2 This parameter specifies the intercal at which the fine torque sensing function stores data TQ2 TQ1 Storing interval 0 0 8msec 0 1 16msec 1 0 32msec 1 1 ― Title FANUC Series 30i/31i/32i -MODEL A
  • Page 66360 Fine torque sensind target axis1 6361 Fine torque sensind target axis2 6362 Fine torque sensind target axis3 6363 Fine torque sensind target axis4 [Input type] Parameter input [Data type] Integer path [Valid data range] -16 – 48 These parameters specify the target axes for the fine torque sensi
  • Page 7Alarm and message Number Message Meaning P/S5199 ILLEGAL FINE TORQUE SENSING Some of parameters related with fine torque sensing PARAMETER are invalid. Please correct the parameter. ・Control axis number for Fine Torque Sensing is invalid. Restriction - In the stand-alone type and 15inch LCD mounted
  • Page 8PMC window function Stored torque data and calculated statistics can be read via window function by PMC. 1. Reading store counter [Description] This function reads the number of stored torque data. [Input data] +0 （Function Code） 232 2 （Completion Code） － 4 （Data Length） － 6 （Data Number） 0 8 （Data
  • Page 92. Reading stored torque data (latest data) [Description] This function reads the latest stored data among stored torque data. [Input data] +0 （Function Code） 232 2 （Completion Code） － 4 （Data Length） － 6 （Data Number） N: Axis number to be read + 100 N 8 （Data Attribute） M=0: Latest data M =1: Sampl
  • Page 10[Output data] +0 （Function Code） 232 2 （Completion Code） C =0 : Normal completion C =3 : Invalid data number =4 : Invalid data attribute 4 （Data Length） L =0 or 2 L 6 （Data Number） N 8 （Data Attribute） M 10 （Data Area） Latest stored data 12 Note 1. When data has not been stored, data is not output,
  • Page 113. Reading stored torque data (any data) [Description] This function reads the arbitrary data among stored torque data. [Input data] +0 （Function Code） 232 2 （Completion Code） － 4 （Data Length） 6 6 （Data Number） N : Axis number to be read N 8 （Data Attribute） M=0 : Latest data M =1: Sample data 10 （
  • Page 12[Output data] +0 （Function Code） 232 2 （Completion Code） C =0 : Normal completion C =2 : Invalid data length =3 : Invalid data number =4 : Invalid data attribute =5 : Invalid data area 4 （Data Length） L = 6 + (Number of data l * 2) L 6 （Data Number） N 8 （Data Attribute） M 10 （Data Area） n n : Data n
  • Page 13In this case, the number l is updated to the number that was output. This case suits (2) and (3) in following figure. Data number valid range Range of actually stored data Data range to be read (1) Data range to be read (2) Data range to be read (3) Title FANUC Series 30i/31i/32i -MODEL A Fine Torqu
  • Page 143. Reading statistical calculation results. [Description] This function reads the statistical calculation results (average value, maximum value and dispersion) in the fine torque sensing function. [Input data] +0 （Function Code） 226 2 （Completion Code） － 4 （Data Length） － 6 （Data Number） N= -1 : Rea
  • Page 15[Output data] In case that axis number N is set to -1. +0 （Function Code） 226 2 （Completion Code） C = 0 : Normal completion C = 3 : Invalid data number 4 （Data Length） L=6 to 24 L 6 （Data Number） -1 8 （Data Attribute） － 10 Average of target 1 Only for the number of axes specified to 12 Maximum of ta