New Design of Digital Servo Software 9096 Series Additional Manual Page 6
Additional Manual
5/8
Descri
p
tion
Design.
DateEd
01.05.08
SHEET
DRAW. No.
CUST.
TITLE
Ihara
Newly designed
Notice of the new desig
n
of
Digital Servo Software 9096
series
A
-62449E-085
FANUC LTD
[Table 1-2] Parameter table for HRV1 control (2)
M
otor
M
o
d
e
l
α12
3000i
αC22
2000i
α22
3000i
αC30
1500i
α30
3000i
α40
3000i
αM22
4000i
αM30
4000i
αM40
4000i
M
o
t
or s
p
ec
ifi
ca
ti
on 0243 0246 0247 0251 0253 0257 0265 0268 0272
M
otor t
yp
e
N
o. 193 196 197 201 203 207 215 218 222
2001.04.01
Symbol Parameter No.
FS15 FS16
1808 2003
00001000
00001000
00001000
00001000
00001000
00001000
00001000
00001000
00001000
1809 2004
00000110
00000110
00000110
00000110
00000110
00000110
00000110
00000110
00000110
1883 2005
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
1884 2006
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
1954 2010
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
1955 2011
00100000
00000000
00100000
00000000
00000000
00100000
00000000
00000000
00000000
1956 2012
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
00000000
1751 2211
00000000
00001010
00000000
00001010
00001010
00000010
00001010
00001010
00001010
PK1 1852 2040
1072
1755
1458
2644
597
1289
714
689
748
PK2 1853 2041 -
3835
-
6536
-
5416
-
10345
-
2334
-
5048
-
2904
-
2675
-
3055
PK3 1854 2042 -
2630
-
2694
-
2690
-
2695
-
2694
-
2696
-
2674
-
2683
-
2682
PK1V 1855 2043
192
271
198
166
230
191
69
82
92
PK2V 1856 2044 -
1721
-
2426
-
1775
-
1486
-
2057
-
1712
-
616
-
733
-
827
PK3V 1857 2045
0
0
0
0
0
0
0
0
0
PK4V 1858 2046 -
8235
-
8235
-
8235
-
8235
-
8235
-
8235
-
8235
-
8235
-
8235
POA1 1859 2047
2204
1565
2137
2553
1845
2216
6163
5175
4589
BLCMP 1860 2048
0
0
0
0
0
0
0
0
0
DPFMX 1861 2049
0
0
0
0
0
0
0
0
0
POK1 1862 2050
956
956
956
956
956
956
956
956
956
POK2 1863 2051
510
510
510
510
510
510
510
510
510
RESERV 1864 2052
0
0
0
0
0
0
0
0
0
PPMAX 1865 2053
21
21
21
21
21
21
21
21
21
PDDP 1866 2054
1894
1894
1894
1894
1894
1894
1894
1894
1894
PHYST 1867 2055
319
319
319
319
319
319
319
319
319
EMFCMP 1868 2056
0
0
0
0
0
0
0
0
0
PVPA 1869 2057 -
8199
-
2597
-
5136
-
1545
-
5170
-
2570
-
7689
-
6415
-
5648
PALPH 1870 2058 -
747
-
1942
-
2800
-
1300
-
1000
-
2000
-
2000
-
3000
-
3000
PPBAS 1871 2059
0
0
0
0
0
0
0
0
0
TQLIM 1872 2060
7282
8010
7282
7282
7282
7282
7282
7282
7282
EMFLMT 1873 2061
0
0
0
0
0
0
0
0
0
POVC1 1877 2062
32520
32114
32520
32520
32511
32511
32555
32511
32511
POVC2 1878 2063
3101
8171
3101
3101
3215
3215
2663
3215
3215
TGALMLV 1892 2064
4
4
4
4
4
4
4
4
4
POVCLMT 1893 2065
9224
24454
9224
9224
9565
9565
7917
9565
9565
PK2VAUX 1894 2066
0
0
0
0
0
0
0
0
0
FILTER 1895 2067
0
0
0
0
0
0
0
0
0
FALPH 1961 2068
0
0
0
0
0
0
0
0
0
VFFLT 1962 2069
0
0
0
0
0
0
0
0
0
ERBLM 1963 2070
0
0
0
0
0
0
0
0
0
PBLCT 1964 2071
0
0
0
0
0
0
0
0
0
SFCCML 1965 2072
0
0
0
0
0
0
0
0
0
PSPTL 1966 2073
0
0
0
0
0
0
0
0
0
AALPH 1967 2074
8192
8192
8192
8192
8192
8192
4096
4096
4096
MODEL 1968 2075
0
0
0
0
0
0
0
0
0
WKAC 1969 2076
0
0
0
0
0
0
0
0
0
OSCTPL 1970 2077
0
0
0
0
0
0
0
0
0
PDPCH 1971 2078
0
0
0
0
0
0
0
0
0
PDPCL 1972 2079
0
0
0
0
0
0
0
0
0
DPFEX 1973 2080
0
0
0
0
0
0
0
0
0
DPFZW 1974 2081
0
0
0
0
0
0
0
0
0
BLENDL 1975 2082
0
0
0
0
0
0
0
0
0
MOFCTL 1976 2083
0
0
0
0
0
0
0
0
0
SDMR1 1977 2084
0
0
0
0
0
0
0
0
0
SDMR2 1978 2085
0
0
0
0
0
0
0
0
0
RTCURR 1979 2086
2085
2911
2131
1655
2306
1957
1449
1836
2073
TDPLD 1980 2087
0
0
0
0
0
0
0
0
0
MCNFB 1981 2088
0
0
0
0
0
0
0
0
0
BLBSL 1982 2089
0
0
0
0
0
0
0
0
0
ROBSTL 1983 2090
0
0
0
0
0
0
0
0
0
ACCSPL 1984 2091
0
0
0
0
0
0
0
0
0
ADFF1 1985 2092
0
0
0
0
0
0
0
0
0
VMPK3V 1986 2093
0
0
0
0
0
0
0
0
0
BLCMP2 1987 2094
0
0
0
0
0
0
0
0
0
AHDRTL 1988 2095
0
0
0
0
0
0
0
0
0
RADUSL 1989 2096
0
0
0
0
0
0
0
0
0
SMCNT 1990 2097
0
0
0
0
0
0
0
0
0
DEPVPL 1991 2098
0
0
0
0
0
0
0
0
0
ONEPSL 1992 2099
400
400
400
400
400
400
400
400
400
INPA1 1993 2100
0
0
0
0
0
0
0
0
0
INPA2 1994 2101
0
0
0
0
0
0
0
0
0
DBLIM 1995 2102
15000
0
15000
0
0
15000
0
0
0
ABVOF 1996 2103
0
0
0
0
0
0
0
0
0
ABTSH 1997 2104
0
0
0
0
0
0
0
0
0
TRQCST 1998 2105
517
680
929
1630
1170
1839
1216
1470
1701
LP24PA 1999 2106
0
0
0
0
0
0
0
0
0
VLGOVR 1700 2107
0
0
0
0
0
0
0
0
0
RESERV 1701 2108
0
0
0
0
0
0
0
0
0
BELLTC 1702 2109
0
0
0
0
0
0
0
0
0
MGSTCM 1703 2110
32
1548
1291
2059
1032
1291
519
775
776
DETQLM 1704 2111
0
2600
0
2148
7735
5140
6224
6450
5682
AMRDML 1705 2112
0
0
0
0
0
0
0
0
0
NFILT 1706 2113
0
0
0
0
0
0
0
0
0
NINTCT 1735 2127
2388
3695
3272
6680
1688
3041
2041
1871
1853
MFWKCE 1736 2128
2000
4000
4500
14000
2500
2000
2500
4000
4000
MFWKBL 1752 2129
2568
1046
1301
539
2829
1553
2580
2574
2063
LP2GP 1753 2130
0
0
0
0
0
0
0
0
0
LP4GP 1754 2131
0
0
0
0
0
0
0
0
0
LP6GP 1755 2132
0
0
0
0
0
0
0
0
0
PHDLY1 1756 2133
0
2070
0
1054
5140
3087
5150
5150
5150
PHDLY2 1757 2134
0
5160
0
5160
5155
5150
5150
5150
5148
DGCSMM 1782 2159
0
0
0
0
0
0
0
0
0
TRQCUP 1783 2160
0
0
0
0
0
0
0
0
0
RESERV 1784 2161
0
0
0
0
140
140
140
140
140
POVC21 1785 2162
32765
32761
32765
32766
32764
32765
32767
32766
32765
POVC22 1786 2163
38
83
40
23
48
33
18
29
38
POVCLMT2
1787 2164
6924
13493
7229
4361
8466
6099
3345
5369
6846
MAXCRT 1788 2165
85
45
85
85
165
165
165
165
165
Contents Summary of New Design of Digital Servo Software 9096 Series Additional Manual
- Page 1TECHNICAL REPORT (MANUAL) No. TM 01/011 Date , 2001 General Manager of Servo Laboratory Notice of the new design of Digital Servo Software 9096/A(01) 1. Distribute this report to the destinations marked with Your information GE Fanuc-N, GE Fanuc-E Fanuc Robotics-NA, Fanuc Robotics-E CINCINNATI MILAC
- Page 2Notice of the new design of Digital Servo Software 9096 series 1. Type of applied documents Name FANUC AC SERVO MOTOR Alpha series Parameter manual Spec. No./Ver. A-62449E-085 2. Summary of Change Group Name / Outline New, Add Applicable Correct, Del Date Basic Function i 1. TUNE becomes available N
- Page 3Notice of the new design of Digital Servo Software 9096 series We report that Digital Servo Software 9096 series has been newly designed. Servo software 9096 series is necessary to use αi series with a system which uses servo card equipped with 320C52. When αi series is used with FS21i or PowerMate
- Page 4Attached 1. Parameter table for αi series servo motors Standard parameters for αi series servo motors are added to parameter table (See following Table 1-1 and Table 1-2) New motors are ： α1/5000i, α2/5000i, αM2/5000i, αM3/5000i, αC4/3000i, α4/4000i, αC8/2000i, α8/3000i, αM8/4000i, αM12/4000i, αC12/
- Page 5[Table 1-1] Parameter table for HRV1 control (1) Motor Model α1 α2 αM2 αM3 αC4 α4 αC8 α8 αM8 αM12 αC12 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 α12 αC22 α22 αC30 α30 α40 αM22 αM30 αM40 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 7Attached 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 8NOTE In the case of two, or three axes amplifier, set same parameter value to all the axes. (4) Example of timing chart at brake contorol mode Alarm or emergency stop signal 50～100ms (approximately) Mechanical brake Servo amplifier MCC OFF Brake control timer: Should be longer (approximately 200ms)
- Page 9Attached 3. 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 9096/A(01) or later (Series 21i, PowerMate i) (3) Setting parameters Setting the follo