1. Fanuc
  2. Spindle Motor (Synchronous Motor) Mounting sensor & Starting sequence Specifications

Spindle Motor (Synchronous Motor) Mounting sensor & Starting sequence Specifications Additional Manual Page 4

Additional Manual
Rev
DATE
CONTENTS
Takahashi
Design
TITLE
DNr. A-63639-067E
FANUC
PAGE
４/8
02
2000.11.09
PRM4008#6 added Toyozawa
Synchronous Spindle Motor
Mounting Sensor/Starting sequence
Specification
2. Starting sequence
2. Starting sequence2. Starting sequence
2. Starting sequence
It is necessary that Spindle software recognizes the pole position of the synchronous motor to control
the current. Spindle software uses BZ sensor with the synchronous motor to recognize the pole
position. From now on, we abbreviate “the spindle software in Spindle module” to SPM.
Pay attention for PRM4008#6 to change how to use BZ sensor as the follows.
1. In case of PRM4008#6=0
SPM uses the reference signal of BZ sensor as the zero pole position of the synchronous motor.
Therefore, it is important to fix the BZ sensor with the synchronous motor according to the
process of mounting sensor on chapter 1.
2. In case of PRM4008#6=1
SPM use the final stop position (90degree of the pole position) of the pole detection as the
standard of the pole position. In this case, SPM neglects the reference signal of BZ sensor as the
pole position.
If the final stop position is far off the real pole position by the friction etc., the motor can not
output the specified torque. In this case, it is a useful method to set the upper 2 digits of
PRM4083 (the ratio of the pole detection current) larger than the present value to increase the
motor current so that the influence of the friction is removed.
Just after Power on, SPM can not control the synchronous motor because of losing the pole
position (or after the alarm lost the pole position). Therefore, it is necessary to execute the pole
detection, so that SPM comes to recognize the pole position of the synchronous motor. So, the 1’ST
excitation just after losing the pole position, the pole detection is executed.
The pole detection is started by the trigger signal in EPFIX (PMC signal, indicating the status lost
the pole position) being off. SFR/SRV command can be used as the trigger signal, so that in case of
lost pole position SPM invokes automatically the pole detection procedure in advance of velocity
command and drive the motor to the velocity command.
The dedicated signal EPFSTR is alternative to do the pole detection. If you want an operator to be
aware of the pole detection moving which might be unexpected behavior for him, you could adopt this
method. It depends on a customer’s preference which is used SFR/SRV or EPFSTR.
(*1)The behavior during the pole detection
During the pole detection, the action of it is as follows. In case of PRM4008#6=1 in the following action,
SPM ignore the reference signal of BZ sensor.
(1) When the trigger signal is input in the lost pole position state, the motor start to rotate at 0 degree
position and to stall, then to rotate at 90 degrees and to stall, and to end outputting the state signal
EPFIX to ON. If the reference signal is detected during this process, this process stops and normally
terminates with EPFIX being ON. This is the temporary pole setting.
•The maximum rotating angle might amount to 270 electrical degrees/pole pairs. The direction of
Previous page
Next page

Contents Summary of Spindle Motor (Synchronous Motor) Mounting sensor & Starting sequence Specifications Additional Manual

  • Page 1Spindle Motor (Synchronous Motor) Mounting sensor & Starting sequence Specifications 1. Mounting sensor............................................................................................................................２ 1.1 BZ sensor .........................................................
  • Page 21. Mounting sensor The current of the synchronous motor is controlled according to the pole position of the magnet built in the motor rotor. There are two method prepared in the spindle control software in order to get the pole position. The first method uses a reference signal of BZ sensor as zero
  • Page 3running out of the center moving of the ring within ±0.03mm for the detector. (7) Turn off DC supply and make certain the feedback signal correctly output. Refer to “FANUC BUILT-IN AC SPINDLE MOTOR α series specification description B-65202” as to the way of confirmation. (8) After moving the shaft
  • Page 42. Starting sequence It is necessary that Spindle software recognizes the pole position of the synchronous motor to control the current. Spindle software uses BZ sensor with the synchronous motor to recognize the pole position. From now on, we abbreviate “the spindle software in Spindle module” to S
  • Page 5rotation depends on initial position at the time. •Alarm 65 is issued when the rotation angle from 0 to 90 degrees position amount less than 80 degrees after confirming the stall at 90 degrees position. This might happen if the motor is locked up mechanically. If so, release it to move the motor aft
  • Page 62.1.The sequence of Pole position detection The pole detection works only once after Power on or after happening of alarm that lose the pole position. The sequence of it is as (1) and (2) as described below. 2.1.1.SFR/SRV is trigger signal case Power MRDY & *ESP SFR or SRV Alarm lost pole position h
  • Page 72.1.2. EPFSTR is the trigger signal case Power MRDY & *ESP Alarm lost pole position & SFR/SRV happens、EPFIX=0 EPFSTR Velocity command Lost pole position Pole set Invalid velocity command Valid velocity command EPFIX Lost pole pos. Invalid velocity command Motor Velocity 0 position 90 position Pole d
  • Page 82.2.PMC signal for Pole position detection The below table summarizes the PMC signal necessary to achieve pole detection. The bold type is added this time for the synchronous motor. INPUT (PMC → CNC) FS15 FS16 #7 #6 #5 #4 #3 #2 #1 #0 G227 G070 MRDY SFR SRV G226 G071 *ESP G228 G073 EPFSTR SYMBOL MEAN