Maintenance Manual

FANUC AC SERVO UNIT : MAINTENANCE MANUAL B-54765E /02 on 1985yee Arob-ove-# Gi CONTENTS I. AC SERVO UNIT FOR 1 AXIS . 1, STRUCTURE ........ 1,1 Models and Designated Specifications of Unite ..... 2. CONNECTIONS .... 2.1 Connection Diagram . 2.2 Detailed Servo System Connection Diagrams .. Details of connections of cable Kl . Details of connections of cable K2 . Details of connections of cable K3 . 1 2 3 4 Details of connections of cable K4 5 Details of connections of cable K5 6 Details of connections of cable K6 7 Details of connections of cable x7. 8 Connections of separate regenerative discharge unit 2% 3 2 2. 2 2.4 2 2 2 2 i jonnection of Power Supply Transformer Tap «+... 1 Primary side connection .... 2 Connections in the power supply transformer 3 Motors and power transformers employed for each axis . jonnection Diagram of Velocity Control Unit . 1 For Model 2-0, 1-0 (A06B-6050-1002) 2 For Nodel 0, 5 (A06B-6050-H102) . 3 4 5 bow For Model 10, 20M, 20, 30 (A06B-6050-H103, H113, H104) . In case Model 30R (A06B-6050-H005) . For Model 0 - 30 (A06B~6050-1003, HOO4) PRRERE ETTING AND ADJUSTMENT FOR VELOCITY CONTROL UNIT . Setting and Adjustment for Velocity Control PCB 1 Parts location ., 2 Setting terminal ., 3 Variable resistor . 4 Check terminals . 4. TROUBLESHOOTING 4.1 Protection and Fault Detecting Functions . 4.2 Troubleshooting .. 5._ PARTS SPECIFICATIONS AND LOCATIONS ON VELOCITY UNIT ... 1 Model 5-0 Velocity Control Unit (A06B-6050-H301) 2 Model 4-0, 3-0 Velocity Control Unit (A06B-6050-H001) 3 Model 2-0, 1-0, Velocity Unit (A06B~-6050-H002) 4 Model 0, 5 Velocity Unit (A06B-6050-1102) .... 5 Model 10 Velocity Unit (A06B-6050-H103) , 6 Model 20M Velocity Unit (A068-6050-H113) 7 Model 20, 30 Velocity Unit (A06B-6050-H104) 8 Model 30R Velocity Unit (A06B-6050-H0050) .. attes 9 Model 0, 5, 10 Velocity Unit (A06B-6050-M003) ..... 10 Model 20, 30 Velocity Unit (A06B-6050-H004) 5. 5. as 5. 5s; eS Be 5a 3s o, II, AC SERVO UNIT FOR 2 AXES 1. STRUCTURE ..2. CONNECTIONS ee 2.1 Connection Diagram . 2.2 Detailed Servo System 2.1 Details of connections of cable Kl 1212 Details of connections of cable K2 12.3 Details of connections of cable K3 . 12.4 Details of connections of cable K4 gee +266 oar onnection Diagram Details of connections of cable K5 Details of connections of cable K6 Details of connections of cable K7 jonnection of Power Transformer ...+ jonnection Diagram of Velocity Control Unit ee 3. SETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT .. 3.1 Setting and Adjustment of Velocity Control Unit PCB 1 Parts location 2 Setting terminal 3 Variable resistor « % Check terminals ...++++ lock Diagram of Velocity Control Unit 1 3.1 ee 3.1 34 2 302 4, TROUBLESHOOTING ... 4.1 Protection and Fault Detect Function ... 4.2 Troubleshooting «+. PARTS SPECIFICATION AND LOCATIONS ON VELOCITY UNIT 5.1 Model 1-0/2-0- and Model 1-0/2-0 (A06B-6050-H201) « 5.2 Model 1-0/2-0 and Model 0/5 (AO6B-6050-H202) ... : 5.3 Model 0/5 and Model 0/5 (A06B-6050-H203) . III. AC SERVO UNIT FOR 3 AKES 4+ 1. STRUCTURE .. 1.1 Types of Unit and Specification Number « 2. CONNECTIONS ... 2.1 Connection Diagram ...- 2.2 Detailed Servo System Connection Diagram Details of connections of cable KI Details of connections of cable K2 Details of connections of cable K3 Details of connections of cable K4 Details of connections of cable K5 Details of connections of cable Ké Details of connections of cable K7 Connections of separate discharge unit - Connection of Power Transformer .. Connection Diagram of Velocity Control Unit . 1 Model 0/5, Model 0/5 and Model 0/5 (A06B-6050-H401) 2 Model 0/5, Model 0/5 and Model 10 (A06B-6050-H402) ..+++ = a 2: oe 2 Ze a 2 2. 2 2K 2. 2) 3 Model 0/5, Model 10 and Model 10 (A06B-6050-H403) . % Model 10, Model 10 and Model 10 (A06B-6050-H404) EPTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT .. etting and Adjustment of Velocity Control Unit PCB . 1 Parts location .. 2 Setting terminal . ere 100 100 100 101 102 103 104 107 108 108 109 110 ul 113 113 113 1143.1.3 Variable resistor . 3.1.4 Check terminals . we 2 Block Diagram of Velocity Control Unit ‘TROUBLESHOOTING 4,1 Protection an 4,2 Troubleshooting . "ARTS SPECIFICATION AND LOCATIONS ON VELOCITY UNIT . Model 0/5, Model 0/5 and Model 0/5 (AQ6B-6050-H401) 3 e 1 2 Model 0/5, Model 0/5 and Model 10 (AO6B-6050-H402) ...... 3 4 Model 0/5, Model 10 and Model 10 (A06B-6050-H403) ....... Model 10, Model 10 and Model 10 (AQ6B-6050-H404) ... APPENDIX ..+eee005 APPENDIX 1 ... 1, REVERSE CONNECTION .. 1,1 Connection and Rotational Direction 1,2 Method ... APPENDIX 2... 1. AC SERVO MOTOR MAINTENANCE Outline .. Acceptance and Storage .. Mounting ... Replacement of Pulse Coder . Bb 2. COMPENSATING CIRCUIT SETTING FOR AC SEVO UNIT ... 115 116 117 119 119 119 120 120 121 122 123 125 127 127 127 127 131 131 131 131 131 133 135AC SERVO UNIT FOR 1 AXIS This chapter described the maintenance of AC servo unit for 1 axis which drives AC servo motor Model 5-0, 4-0, 3-0, 2-0, 1-0, 0, 5, 10, 20M, 20, 30 and 30R.1, STRUCTURE The AC servo unit consists basically of the velocity control unit and power transformer. In addition, the separate regenerative discharge unit may be required according to the load conditions. Eight types of velocity control units are available according to AC servo motor models employed, and one velocity control unit applies to each servo motor. Six types of power transformers are also prepared according to the servo motor models, their combinations, loads, and primary input voltages. One power transformer applies to one to three servo motors. Fig. 1.1 shows and example of the structure of the AC servo unit in a two-controlled exes NC system. AC servo motor Xaxis r—{ velocity control es ant, X axis Detector NC control unit Zaxis velocity control Pe unit Power | transformert ————_] * This figure indicates an example when two axes employ one power transformer 3ephase input power supply Fig. 1.1. Example of AC Servo Unit Structure1.1. Models and Designated Specifications of Units Table1.1 (a) Name Y Specifications oF For Model 5-0 ‘A06B~6050-H301 For Model 4-0, 3-0 =HOOL wide For Model 2-0, 1-0 “W102 ote 1 costal For Modéy0) 5, 10 =i1103 GWote 2) wate For Model 20M -HL13 For Model 20, 30 “ =HLO4 (ote 3) For Model, 30R * =H005 Transformer AA | AO6B-6050-HO11 For Japan 200v, 220v|Transformer MB | _AO6B-6047-H012 Transformer NC * xHO13 Bove For other |>,ansformer NBE "-wo22 transformer countries 190v-550V [Transformer MCE " =H023 Transformer AAE | _A06B-6050-H021 Conmon 190¥-550V [Transformer ABE "W022 Transformer ACE * -Ho23 Separate regenerative discharge unit (Note 4) "#050 Input connector Soldering type ™_=K100 ee) Crimp style type " -K103 Spare part A "=K101 Note 1. , The specification of unit shipped before May in 1984 is AQ6B-6050-HO03. Note 2. The specification of unit shipped before May in 1984 is ‘A06B-6050-HO03. Note 3. The specification of unit chipped before May in 1984 is AQ6B-6050-H004. Note 4. regenerative discharge unit. Note 5. control unit, and it comprises the following parts. One set of the input connector is required for each axis. Table-1.1(b) shows the parts included in input connector (Soldering type) + Table style type). The unit (AQ6B-6050-H#005) for Model 30R normally needs the separate The input connector is used for the cable connected to the velocity 1.1(c) shows the parts included in input connector (CrimpTable 1.1 (b) The Parts Included in Input Connector (Soldering Type) Name a'ty | Use Model FANUC specifications] Connector and cover | 1 | CNI | MR-2OLFA* ‘A63L.-0001-0134/02 Connector and cover 1 | ens | wR-20zm ‘A63L-0001-0134/15 Gonnector and cover 1 | CNG | MR-2OLWFH* ‘A63L-0001-0134/05 Housing 1_| x2 _| susepw-see ‘A631-0001-0202/6W Pin ~ [5 [exe [Roten-serse* | a631-0001-0226 Table 1.1 (c) The Parts Included in Input Connector (Crimp Style Type) Name Q'ty | Use Model FANUC specifications Connector and cover | 1 [GNI | MR-20L, MRP-20FO1* | A63L-0001-0134/22 Connector and cover | 1 | CNS | MR-2OLW, MRP-20MO1* | A63IL-0001-0134/35 Connector and cover | 1 |CN6 | MR-2OLW, MRP-20FO1* | A631-0001-0134/25 Contact 40 | oN1,6| mRP-F1i2* A63L.-0001-0135/F112 [cesnesce 20 [ons | mrp-m112* ‘A63L-0001-0135 /Mi12 Housing 1 [on2 | susopw-sea ‘8631.-0001-0202/6W Pin 5 [ON2_| RCL6N-S23AKK ‘863L-0001-0127/823A * Manufacturer: HONDA Tsushin Co., Ltd. ** Manufacturer: Burndy Japan Co., Ltd.2. CONNECTIONS 2.1 Connection Diagram Fig. 2.1(a) is a standard connection diagram, K6 NC control unit jy Machine side ——_—_____™ __q Servo motor Velocity control unit [Jone Detector : : Power a Saar nase Foxe ean stop ape ae AC36 WV A aod oA t00v Yo j ie ‘Terminal screw M4 5S (When 3.5mm? cable is used, use crimp style terminal 5.5—S4.} te] Note: Cable K3 is not needed for velocity control unit of 5-1 Fig. 2.1 (a)Fig. NC control unit $y] K6 Electromagnetic Power contactor Fuse Power source yo —— transformer C36. 06 ——onro0 + v5. O~O- ‘Terminal screw M4 K3 2.1(b) shows connection diagram when the separate regenerative discharge unit is employed. 2 Discharge 3 unit 4 KS aka a Machine side Servo motor Detector Emergency stop EMG Ko ac 1o0v : 10% 15% 1g (When 3.5mm? cable is used, use crimp style terminal 5.S-S4) * Fig. 2.1 (b)2.2 Detailed Servo System Connection Diagrams 2.2.1. Details of connections of cablo K1 Velocity control unit NC control unit eS vemp_J enim Ec_] cniat =—— ovir J cn) ovez J cnwa a veoyt f ewan x vrpy2 J cna en 12) ENBL2_] CNP PRDY! { CNiD dawy eave Fenne | YER ¥ALM1_ GNI) Cable employed: For VCMD/EC, oy 1 Connector employed MR20LFH 0.1 ~0.18mm? paird ploy adnate (Honda Tsushin Kogyo, Co. Ltd. For others; 0.18 ~ 0.3mm? 200V vinyl wire Note: These signals are employed from edition c of velocity control PCB (A20B-1000-0560). These are not employed in velocity control unit for Model 5-0, 4-0 and 3-0. ‘Vinyle sheath — Shiela Paper tape Shield pvc Sheath Drain wire Cotton fiber @ © Fig. 2.2.1 “82.2.2. Details of connections of cable K2 2.23 Det Power transformer Velocity control unit, Ist 2nd 3rd axis axis axis cxzw cenzia cna {connector 1 SWS6PW-5 \ (Nippon Burmdy sero emit ne \ venioyed_{notewsers) Go) Fig. 2.2.2 ls of connections of cable K3 Power transformer Velocity control unit Cable employed: (0.75 mm? (30/0.18) 200 heat-resistive vinyl cable, Fig, 228 Table 2.2.2 (0) Motor employed Cable employed Model 3-0, 4-0 0.75 mm® Model 2-0, 1-0 ers Model 0, 5 soe 600v. Z| heat-resistive vinyl cable Model 10, 20M, 20, 30 3.5 mm Model 30R 5.5 mmMotor employed Table 2.2.3 (b) Input voltage of velocity control unit Model 4-0, 2-0, 1-0 ‘AC 1209 Model 3-0 Model 0, 5 Model 10, 20M, 20, 30 AC 1EBY Model 30R 2.2.4 Details of connactions of cable K4 Cabinet AC 100V, -—- 00, T14) ah eee i TOUR | STIS EMG Contact OFF at emergency stop Velocity control unit 1008 T18) /| lr Cable material: 0.75mm2 200V vinyl wie. 2.25 Details of connections of cable K5 () For Model 5-0, 4-0, 3-0 ‘Velocity control unit, 716) Cable material: 30/0.18 (0.7Smm) 4-conductor vinyl cord Screw M3.5 \ / Ceitnp style terminal Fig. 2.2.4 Color of reed wire Red White Black Connect motor body eee Fig. 2.2.5 (a) S102(2) For Model 2-0, 1-0 Velocity control unit T18) Model 2-0 1-0 Ja pee Z__pi swrp-4s-00 caateniaty mmn2) “Hirose Electric, Co, Cable material: 30/0.18 (0.7Smm?) euene 4-conductor vinyl cabtyre cable Cannon Fig. 2.2.5 (b) conaeetor (3) For Model 0 and 5 Velocity control unit T16) Model O58 ‘Connector MS3106B 18-108 (Straight type) Employed MS3108B18-10S (Elbow type) Cable clamp MS3057-10A, Screw M4 Cable material: 2.0mm? (37/0.26) ide Ke 4-conductor vinyl cabtyre cable rere Cannon = / DO OA connector | 64 og Fig. 2.2.5 (c) (4) For Model 10, 20M, 20, 30 Velocity control unit 715) Model 10, 20, 20M, 30, Connector MS3106B24-10S (Straight type) Employed MS3108B22-22S (Elbow type) Cable clamp MS3057-12A Screw M4 \ Cable material: 3.5mm? (45/0.32) 4-conductor vinyl cable Guide key Cannon pia connector Co OB Fig. 2.2.6 (d) aie(5) For Model 30R Velocity control unit ane Model 30R, Connector MS3106B24-10S (Straight type) Employed MS3108B2410S (Elbow type) Cable clamp MS3057-16A Cable material: 5.5mm? (70/0.32) 4-conductor vinyl cabtyre cable Guide key Cannon Fig, 2.2.5 (e) connector 2.26 Details of connections of cable K6 (1) Model 5-0 Velocity control unit Meer soneh 0. NS .(1),(2),(3) ons (.(5).46) I ews 7 ens (10) {ff [peownywaite ens() 1 | | Jorange/Wnite cusazy CS 1} [veuowswnite Ns (16) xpcal | |_| [ptack (thiny Ns (18) pcp; | || [Biue es as) wpczt ||| [Gen Ns (20) sc { | | } [Black (thick) Connector: MR-20LWMH 2.2.6 (a) eae@) Model 4-0, 3-0 Motor Gray, Gray/White Red, Red/White Yellow ens(y,2).3) N5(.(5)(6) D ons (a) CNS (9) CNS (40) Ns (11) CNS (12) cNsG3) Ns (1) CNS (as) CNS (16) Velocity control unit Note ‘Violet/White Brawn/White Orange/White Yellow/White Green Green/White Black Black/White Blue Blue/White Black (CNS G18) CNS (is) CNS (20) Connector: MR-20LWME Fig. 2.2.6 (b) Saige(3) Model 2-0 - 30R Velocity control CNS ),(2),8) act unit eu CNS @,(8),0) 8G % ‘Connector employed: MR-20LWMH ‘Cannon MS3106B20-29SW (Straight type) onda Tsushin Co., Ltd.) connector Mis3108B20-29SW (Elbow type) Fig. 22.6 (e) Cotton fiber Shield Guide key Twisted pair Cannon connector ele2.2.7 Details of connections of cable K7 a cnoi,@,@ | ov NC contro! unit cne@ Lens Xone ff Ne Connector employed: MR-20LWFH (Honda Tsushin Co., Ltd.) Cotton fiber Paper tape ‘Sheath (Black) Fig. 2.2.7 (a) ce2.2.8 Connections of soparate regenerative discharge unit (1) Details of connection of separate regenerative discharge unit. Note 1) Velocity control unit Disconnect the jumper wire from terminals T2(5)-12(6) in unit HOO3 and HO04, T2(4)-T2(5) in unit H103, H113, and H104. When the Lee maid separate regenerative discharge Note) { T 216) unit is employed. HCA Tale Screw terminal M3.5 Cable employed: 2.0mm? (37/0.26) GOOV heat-resistive vinyl eable Ta Regenerative [fT a) aisenarge unit Screw terminal M4 Fig. 2.2.8 (a) ee(2) Details of cable K2 For connections of cable K2 in 2.2.2, change the connection of TOHI and TOH2 as follows. Power transformer (Thermostat contact) TOHe Velocity control unit (Unit to connect terminals 51, 52 of transformer) cNe2n) crew TOH2 f CN26) Serew terminal M4 Cable employed: 0.75mm? (30/0.18) 200V heat-resistive vinyl cable [ey ee SMS6PW-5__ (Nihon Burndy RCI6MSCT3 Co.) Connector employed ‘y 3(g) (Thermostat contact) 3 Regenertive as eee Screw terminal M4 2.2.8 (b) eae2.3. Connection of Power Supply Transformer Tap More sure the input tap of the power supply transformer is set according to the input voltage when connecting the power supply cable to the AC servo unit. If set incorrectly, the AC servo unit may cause trouble. 23.1 Pri ary side connection Connections of the transformer terminals and power supply cables U, V, and W must follow the input supply voltage specifications in Tables 2.3.1(a) and 2.3.1(b). (1) For Japanese model power supply transformers AA, MB, and MC. Table 2.3.1 (a) siipply-Waltane Gsunaction, sap sasey aida 200v U-2, V4, W-6 220v U-1, V-3, W-5 (2) For export model power supply transformers MBE, and MCE. Table 2.3.1 (b) Connection of primary-side terminals Supply voltage Connection of power Strapping trans~ supply cables U, V, W former terminals gov U-3-7, V-11-15, W-19-23 (Common to 200v) 4-8-12-16-20-24 230V U-2-6, V-10-14, W-18-22 (Common to 220v) 380V U-3, V-1l, WH19 4-7, 12-15, 20-23, 8-16-24 4200 U-3, V-11, W19 4-6, 12-14, 20-22, (Common to 415V/440V 8-16-24 4600 U-2, V-10, W-18 4-6, 12-14, 20-22, (Common to 480¥) 8-16-24 550V U-1, V-9, W-17 4-5, 12-13, 20-21, 8-16-24 sigs(3) For common model power supply transformers AAE, ABE and ACE Table 2.3.1 (e) Connection of primary-side terminals Supply voltage Connection of power Strapping trans— supply cables U, V, W former terminals 200v U-7, V-15, W-23 8-15, 16-23, 24-7 2200 U-6, V=14, W-22 8-14, 16-22, 24-6 230 U-5, V-13, W-21 8-13, 16-21, 24-5 240v U-4, V-12, W-20 8-12, 16-20, 26-4 Delta connection 380v U-6, V-14, W22 4200 U-4, V=12, W-20 : 460 U-3, V-11, WH19 8-16, 16-24 or (8-16-24 480V U-2, V=10, WH18 550 U-1, V-9, W-17 Star connection Remarks If more than one power supply transformer is used, both must be connected to the tap in the same way. Also the connection of transformer overheat must be done in the same manner =h9.e2.3.2 Connections in the power supply transformer Domestic models, Connections for power supply transformers AA, MB, and MC (Connection for 31-36 of AA is fs shown right.) Connections for power supply transformers AA 31 to 36. vv i 4 185g WE fosres Aare 12 | Be rire 2 0 200¥ f 185V O33 =] Ta 35 om] Have «oo IT Paros aay r see Bee «zou are ov y . f vay 2 5 i) rev 46 i ov, Hf Q mee TOHT in Cron! Export models Connections for power supply transformers MBE, and MCE. 275V 275 185V 10 Se: " a 4 ON Bg ._0' By hasy ° 35 voonorgcnt WILT. 2 n se f OV" ov Ae ov Ml weereyasy av o 1 Tey. 48 Tom. = 20 ‘Terminal array of power supply transformers AA, MB, and MC a = 3 35 36 rm ae a a rH 4 a @+ te o 3 s2 ‘Terminal array of power supply transformers MBE, and MCE. a 3 Tq Ge z]fe] Be sz | a] 3 io] [ae 11] Fas 12] [6 17] [20 18] [2 19] [23 20| zeConnections for power supply transformer AAE. ssov YS yy 15 4p IY 43 0720 BY 4, [12 6 35 22 5 46 1a fo a 2 vo wet 9 3 WLS is ial vou me ” noe? : 82 Connection for power supply transformer ABE and ACE. 5 5 ay Lo 189) 5 aa eos sag 3s ~o 36 Bo 4 Q aave 1? te 43 Bo 45 ie 3 uve ws te ve row TOH2 a Cite te =a = Terminal array of power supply transformer AAE. a 3 z 3 5 30 z 35 s [5] 15 a 14 ae 15 i 16 ut 2 45 22 i 23 a 2 as Zi oo 3 52 Terminal array of power supply transformer ABE and ACE, 1 7 z °(1) For power supp: AA and AAE 1ssv 33 Piaov sao s0v 387 120v el 18v = ov 2 Te rev a eh aes ane a 4 ‘6s Hi ov 4s ts ou ‘non | The Model Note: transformer voltage. ly transformers To TIA), (1), (2) of velocity control unit for model 3-0, 0 and 5 To TI(A), (1), (2) of velocity control unit for models 4-0 to 0 To CN2(1), (2), (3) of Ist axis To CN2(1),(2), (3) of 2nd axis To CN2(1), (2), (3) of 3rd axis| To CN2(4), (5) of Ist axis 4-0, (2) For power supply transformers MB, MC, MBE, MCE, ABE and MCE 18sv 185V | To TI(A), (1), (2) of “Tsay | Ist axis 34 a6 ‘To TI(A), (1), (2) of 2nd axis “3rd axis 36 To CN2(1), (2), (3) of Tank: Ist axis formers 43 MB, MC, 44 MBE, OY | To CN2(1), (2), (3) of and) 45 2nd axis, MCE 45 47 48 | CN2(1), (2), (3) of 3rd axis ToH2 | To CN2(4), (5) of Ist axis 2-0 and 0 motor use a relatively low power supply If the higher voltage used for the other models is applied to the velocity control unit for Model 4-0 to 0, it will cause a fault. 2123s2.3.3, Motors and power transformers employed for each axis Table 2.3.3 Power Ast axis 2nd axis 3rd axis eae Remarks Model 4-0, 3-0, 2-0 |Model 4-0, 3-0, 2-0 |Nodel 4-0, 3-0, 2-0| Transformer | Model 4-0, 2-0, AACAAE) —|1-0, and 0 employ Model 4-0, 3-0, 2-0 | Model 4-0, 3-0, 2-0 [Yodel 5 (2.5 kVA) | transformer output terminals 34, 35, Model 4-0, 3-0, 2-0, |Model 1-0, 0 36, while Model 10 3-0, and 0, 5 employ transformer Model 4-0, 3-0, 2-0, |Modet 5 output terminals 1-0, 0 31, 32, 33, Model 5 Model 5 Model 5 ‘Transformer MB (MBE, ABE) Model 5, 10 Model 10 (2.5 KVA) Model 20, 30 | Model 5 Model 5 Model 10 ‘Transformer | See Note, Mo(MCE,ACE) Model 5 Model 20, 30 Model 30 (5 eva) Modet 308 Note: Two or more transformers MC, MCE or ACE become necessary according to the load conditions in case of Model 10, 20, 30 x 3 axis. For details, contact FANUC LID., referring to AC servo motor selection data sheet. aoe= 4n= 2.4 Connection Diagram of Velocity Control Unit 2.4.1 For Model 2-0, 1-0 (AO6B-6050-H002) enw ens exsen exe Per ria tea] oom] AS tape Bea id fovea Eee] fires] stew SOM hex aoe tual [rerest9St— bts] era una Ohaccan HIGH fierce pc taisse] [s litre ese dO He) (prestiter pee| (otha eprce PWM Cizeuit LEE ‘A20B-1000-0560 EEE o ———a— = o To position "S37 paws ST OPS OF S75 moral 7 To position controlunit_ (co goeeformer or ee ea [ ‘To power ‘transformer| ‘Motor Fig. 24.1 Connection Diagram for Velocity Control Unit=- 2.4.2 For Model 0, 5 (A06B-6050-H 102) PWM circuit ‘A20B-1000-0560 fan} = S To position To power To motor To position control unit transformer (Pulse coder) ~ control unit (Pulse coder) ee Le Motor Fig. 2.4.2 Connection Diagram for Velocity Control Unitae For Model 10, 20M, 20, 30 (nose-cospfnas) 13, 1104) PWM circuit ‘A20B-1000-0560 = S Toportion J To power” J control unit transformer a = To motor J To position (Pulse coder) control unit (Pulse coder) Fig. 2.4.3 Connection Diagram for Velocity Control Unit Motoree 2.4.4 Incase Model 30R (A06B-6050-H005) oN cue PWM CIRCUIT BOARD A20B-1000-0560 NS: fr ie ea =} = = oe =o a = oe TO POSITION ‘TO POWER TO MOTER TO POSITION CONTROL UNIT” TRANSFORMER. (PLUSE CODER) CONTROL UNIT . Fig. 2.4.3 Connection Diagram for Velocity Control UnitSer 4 2455 For Model 0 ~ 30 (A06B-8050-1003, H004) ono sen ors iow Tra we Te] OD ee wey | fabs rpg par ieeki Seer] | (eho rent! lav] a prea : z|| fe fie [ie] pies z aa renpyet tify] ef} fie par) hk mee fer] Ee ase A26¥-1000-0360 #2 vo6s a 3 To motor To position control unit_¢ To position ™ To power’ ie (volo transformer” (Pulse coder) control unit (Pulse oder) f To power transformer| Motor 2.4.5 Connection Diagram for Velocity Control Unit3. SETTING AND ADJUSTMENT FOR VELOCITY CONTROL UNIT 3.1. Setting and Adjustment for Velocity Control PCB 3.1.1 Parts location (1) For Model 2-0 to 30R ‘ (a) PCB A20B-1000-0560 (After edition number 2) s 5 Fuse C24 > ruse resitor > OS OOO F OOS. 0 apd Fig. 3.1.1 (a) Note: Parts location on PCB may be changed without notice. ~ 29 =x (b) PCB A20B-1000-0560 (Edition number £) ‘x208-1000-0860; se avi Rve_ava S000 s.» seco f “i ow. Fig, 3.1.1 (b) Parts location on PCB may be changed without notice. aoe(c) PCB A20B-1000-0560 (Edition mumber © or D) Note: one ‘s206-1000-0560/ (— ue ens BG sss Qiks «6 000 l 0) prov [lay GO O} ne ag Dlove sit |r | O}oc i eto 000s» Teamorortro ne Fig. a © 52020 0 6:0-0-6: a2 os 1.1 (0) Parts location on PCB may be changed without notice. ivic? (4) PCB A20B-1000-0560 (Edition number A or B) Note: 5 a ae ny 000 vdddk Bas 26 2 a3 050810 co fo ff iloMotort0 x Fig. 3.1.1 (a) Parts location on PCB may be changed without notice. = 32-(2) Model 4-0, 3-0 (a) PCB A20B-1000-0590 (After edition number B) ee) Jems) ais lcasO % lca, m cus TRW lcm ig lou re cus 1K las r lens ¥ lcur C) cus Q lous © low O w lox O) w lcxz © lcm OQ @cnt w w FANUC MADE IN JAPAN ons FL Bis s10 oon @ Coss RVA (SV ADI) ozo aa) oy Ss SB (6s. 000:-a0cv o © Gam ~WOTOR Ne wana Note: Fig. 3.1.1 (0) Parts location on PCB may be changed without notice, Saar(b) A20B-1000-0590 (Edition number A) FANUC MADE IN JAPAN @as © lon) “1S lcs (3) +5 RV4 lenis) @sVabD, % lone mK JonsQ Joe Se eae ss jor) ibis s10 aS) « 2 o kw O cis 2 ®) lear ©) iss ¥ cris O) lous C) louis O) w lous ©) i w cuz © lol lca © FL ona TREE (06s0-0001-c0rv pod @cNI % Pozo lego MOTOR Ne vw wae Al (===) D sie) Fig. 3.1.1 (f) Note: Parts location on PCB may be changed without notice. 2(ec) For Model 4-0, 3-0 (A20B-1000-0600) REYNE +5 ADI (] Rv4 < z 6 FETA FETC FETE FETB FETD FETE cc RP4 RPG RPS RP? Fs2 FSI iT Fig, 3.1.1 (9) pete(3) Model 5-0 (a) PCB A20B-1001-0420 Crairos] 15 10 ONSIS 20 ~—«25 x B zB 4 2 g 5 5 m z s 5 3 2 2 u Hc HV ove al i 900000 el AA L &~ wre PRDY > S284 8 8 3 ” S 2 1 2 g 8 g © jo 1 e jcvem) fa +4 2 t Bi ©. ONS @__ ONG owt WR? del Fig, 3.1.1 (b) Note: Parts location on PCB may be changed without notice. eae(b) PCB A20B-1001-0410 7412/03 B cna ——- eae) a = qua Finest | Gsv ADD mce ®9OOOO® = = FST T Nvdvr NI 3qvw OnNva GEE /010-t001-aozv Note: Fig. 3.1.1 (i) Parts location on PCB may be changed without notice. a73.1.2 Setting terminal (1) Model 2-0 - 30R (a) PCB A20B-1000-0560 (After edition number F) Table 3.1.2 (a) Beceng | Standard sete am 2-0,1-0 | 0,5 [10 J 20m | 20,30 | 30K $1 L L LiL L L_ | TOH setting (Note 1) so | t | & | | t | t _[ & | 0c eter setting (Wore 2) 2 | £ 5 2 ff B i Compensation circuit setting 37 x [a fale[« fa 510 a | a | a] a | a | w | ao atarm enable (note 3) su fos ele meee at 82 a [| # [ult | t | a | current 1o0p gain setting a3 aa oe eae 817 » [a falel[« [tp ae fT i ce 819 ufafe[a«la $20 alfalfa w H | Absolute code output enable (Note 4) $32 t |u| t | 2] 1 | secting for absolute pulse coder (Note 5) oe 2-0,1-0,0,5,10, 20M, 20,30, 308 terminal Pulse coder Remarks 2000 | 2500 | 3000 1 B Hi Pulse coder F/V gain setting x a L L [ «| r rs pulse number setting S16 Ly L u - 38 -[Setting ‘Standard setting terminal Remarks sau $22 Compensation circuit setting 823 VOM gain setting (Note 6) 824 FAV cireuit filter setting 825 526 so | 828 829 Compensation circuit setting 830 External analog current Limitter setting S32 Connect ONL(19) pin and ov 833 $34 OVC alarm level setting 535 836 Gurrent feedback gain setting (Note 7) 337 Speed feedback gain setting (Note 8) 838 Compensation circuit setting(b) PCB A20B-1000-0560 (Edition number E) Table 3.1.2 (b) Sesting Standard setting ane 2-0,1-0 | 0,5 | 20,20m | 20,30 | 30R st Calle Lt | & | tom setting (Note 1) 82 oa ee L | 1 | de alarm setting (Note 2) sh Ee ea es Lt | eh #8 aia eee | © | compensation circuit setting 56 H ufo# a [a 87 » [4 » | « [a s10 | 4 u | & | ® | tT atarm enable (Note 3) su crealec D u [# siz in| ee | & | current toop gain setting 13 8 x [ot ch |ca sir Med es ies « [et 318 x | a # | 8 | a | current init setting 519 «| a Bom) (a 820 H Has |e H 4 | Absolute code output enable (Note 4) $32 & [= | © | © [© | setting for absolute putse coder (ote 5) Seeing 2-0,1-0,0,5,10,20M, 20, 30, 30R eerminal Pulse coder Remarks 20002 2500? 3000 es ¥ e y Pulse coder F/V gain setting so # 1 L [ee Z x a Pulse coder pole number, and S15 H 1 1 _| pulse nunber setting sis H L || = 0Setting Standard setting eat wenacks a. 2-0,1,0 | 0,5 | 10,20M | 20,30 | 30R a [|e YO grin setting Gate © #06551 df coal Rafah a] 9] SRD cleat Scene (c) PCB A20B-1000-0560 (Edition number C or D) Table 3.1.2 (c) Ses i 5 tenarts = 2-0,1-( 0,5 10 20,30 30R Se ee ee pepe pe a A S10 a a 4 a iH TG alarm enable (Note 3) a wre [ee ae a poe fete pede eee20,1 ae ‘0,1=0,0,5,10,20,30, 30R terminal Pulse coder Remarks 20008 2500 3000P 58 L i t Pulse coder F/V gain setting 88 # L L si L # Wl Pulse coder pole number, and S15 H i L pulse number setting 516 ¥ 7 W -_ |) Settin Standard settin 3 ss Renarks terninat 2-0,1,0 | 0,5 | 10 | 20,30 | 30r sm Compensation circuit setting 822 523 ° ° VOD gain setting (Note 6) S24 ° e fel e © | BW circuit filter setting 825 ° oa) Foa|w te ° 526 Compensation circuit setting 827 528 4) PCB A20B-1000-0560 (Edition number A and B) Table 3.1.2 (a) Settin Standard setting terminal 5 aot 2-0,1-0 | 0,5 | 10 | 20,30 | son si a Te [een pail L_| 70H setting (Note 1) 82 L eal EL lr L | Do alam setting (Note 2) sh = AL Wor ALLL Compensation circuit setting 86 87 S10 # u fafa | 6 alarm enable (Note 3) si oi a [eat WH S12 i ol ECan BH | Current 1oop gain secting 813 Bi He [See 1H si7 A melee 7 S18 x a fel # | current Limit setting 519 H a [a |e Hi2-0,1-0,0,5,10, 20,30, 308 setting terminal Pulse coder Remarks 20008 2500 30007 a me = y Pulse coder F/V gain setting 89 # L L jn BM z £ £ Pulse coder pole number, and sis # L L pulse number setting 516 W t i Note 1. If either power transformer or regenerative discharge unit ts connected across terminals CN2 (4) and (5), set Sl to open (L side). If neither power transformer nor regenerative discharge unit is connected across terminals CN2 (4) and (5), set $1 to short (H side). Note 2, Set $2 to open (L side), if the regenerative discharge unit is not mounted, and set it to short (H side), if the regenerative diecharge unit is mounted. Note 3. Set $10 to L side, if it is needed to check with motor power cable disconnected. Note 4, If $20 is set at L side, absolute codes from the pulse coder is output to NC while VRDY is on. If VRDY is turned OFF, the alarm code is output, Tf $20 is set at H side, the alarm code is always output. Note 5. When the absolute value pulse coder is used, set $32 at H side. Note 6. ‘If $23 is short-circuited, 7V/2000 rpm will be set. If it is open, 7/1000 rpm will be set. If models 10, 20, and 30R are used over 1500 rpm, change the above settings and NC parameters (loop gain multipliers). Note 7, Models 0, 5, 10, and 20M only may be short-circuited. If $35 and $36 are short-circuited, conversion of current feedback signals (CHLO, 11, 12) is 0.183 V/A. Note 8. If $37 is short-circuited, the rate feedback voltage is changed from 3¥/1000 rpm to 1.5¥/1000 rpm. Normally, set it in the open state. Note 9, The way of setting is shown as following figures. DH DH DL IL. (a) Setting of H side (b) Setting of L side Setting plug —————} PacesQ) For Model 4-0, 3-0 (PCB A20B-1000-0590) Table 3.1.2(e) Pulse coder Setting terminal [5099p | 2500P Remarks sl R TOH setting (Note 1) 88 R OPEN | Pulse coder F/V Gain s10 iT TG alarm enable (Note 2) sis, di ft Pulse coder S16 Pole number, pulse number setting 820 D L Note 1. If power transformer is connected across terminals CN2 (4) and (5), set $1 to open (R side). If power transformer is not connected across terminals CN2 (4) and (5), set $1 to short (L side). Note 2. Set S10 to R side, if it is needed to check with motor power cable disconnected. Note 3. If the absolute pulse coder is used set $32 at H side. Note 4, The way of setting is shown as following figures. setting pg fe" =H Dn SI) n (a) Setting of H side (b) Setting of L side Cea LR LR (c) Setting of L side (d) Setting of R side (3) For Model 5-0 ‘Terminal setting | Standard setting Remarks e sl L TOH setting (Note 1) $2 L. Pulse coder setting (Note 2) 83 de Absolute pulse coder setting (Note 3) $4 L L7¢, OVC alarm desable setting (Note 4) Note Note Note Note Note 7 2 3 4 If the power transformer connected to CN2-(4) and (5), set Sl at L If there is no connection, set Sl at H If the pulse coder is 1000P/rev, set $2 at L, and if 2000P/rev, se it at H. If the absolute pulse coder is used, set S3 at H, and if not used set it at L. If TG and OVC alarms are made invalid, set S4 at H If a 1000P/rev pulse coder is used, care should be taken in DMR setting. (DMR setting should be doubie that in a normal 20002/rev pulse coder.) Eye8.1.3 Variable resistor Tobie 3.13 |=: RVL 40% Gain setting RV2 - Offset voltage adjustment RV3, = Tachogenerator voltage adjustment RV4 = +5V power supply fine adjustment Note 1. RV2-RV4 have been adjusted before the shipment from works. Note 2, RV4 is not employed after edition number F of PCB A20B-1000-0560. oe ese3.1.4 Check terminals Check termina | Symbol Description cul 0.687 x velocity command voltage (Note 1) 2 0.8 x velocity feedback voltage (Note 2) 3 ov jov 4 ov jov 5 Compensation circuit 6 7 R | R-phase current command 8 S| S-phase current command 9 T | T-phase current command 4V/A for motor 5-0 10 IR | R-phase current feedback | 2.4V/A for motor 4-0, 3-0 0.85V/A for motor 2-0, 1-0 ll 1s | S-phase current feedback | 0.25V/A for motor 0,5,10,20 (Note 3) 12 IT | T-phase current feedback | 0.125V/A for motor 20, 30 O.1V/A for motor 30R 13 TRW | Traiangle wave (Note 4) 4 ER | Error voltage (Torque command) 15 +5v | +5V 16 | +1sv | +15v v7 | -isv_ | -15v 18 | 10RF | 10V reference voltage Note 1. a = 0.344 when VCMD is 7v/1000 rpm a = 0.687 when VOMD is 7V/2000 rpm Note 2. Motor Model 4-0 - 30R: 2.4V/1000 rpm Motor Model 5-0. : 1.2V/1000 rpm Note 3. 0.183V/A after edition number F of PCB A20B-1000-0560. TSNote 4. Note 5, Triangle wave 1241.5V 360430 ps0€ Motor load currents (peak values) can be monitored using the sane conversion as _CHIO-12. multiplying 1/72 . Effective ae value can be obtained byvets kx “i ainou enon yun forqu09 4 aan tonsodo. emo TAREE iE me Foie : eater 2 emt OT ky é a a E d a wae 7 vino | AME ‘eewtos ‘ ah onbion aH x fi mag |e WL oe | a St mos; CED s purusuioa ornog—t sHo A300 i es ms a Is a ali sito ; a pueuruios uosin> x0 “ s soaiep }—29- (20pos seqna) ¥ oe ae snout 01388 3V aun jonuog Aroojen Jo wesBeIG roIg Ze Je neues4, TROUBLESHOOTING 4.1. Protection and Fault Detecting Functions Loop. The AC servo unit provides the following functions to protect the motor from being overloaded and also detecting abnormal conditions inside the servo Table 4.1 No. Kinds of functions Indications Description overload Contacts" signal cones out at connector CNL Tf the temperature of the radiation fin of the unit exceeds the set value to operate the thermostat or if the thermostat of power trensformer operates, or Lf the thermostat of motor operates, this overload alarm is generated, Velocity feedback disconnection detection Light-eniteing diode (LED) 70 Lights If the feedback cable 1s disconnected, TG lanp lights. If a motor does not make a speedy start because of extremely large motor torque, the motor {s stopped by dynamic braking with this alarm lamp lit. - No-use breaker On button of NEB is protruded If an abnormal current exceeding the operating current of no-fuse breaker flows, this NFB operates, causing the motor to be stopped by dynanic braking. High voltage alarm LED HV lights If the DC voltage of the mein power supply is abnormally high, the motor is stopped by dynamic braking vith HV lamp Lit. Low voltage alarm LED LV Lights If control voltage is abnormally low, ot if the fuse for +5V on the PCB has blow out, the motor is stopped by dynamic braking with LV lamp lit. Ctreutt faut Detection = LED He Lights If abnormal current flows to the main eireuit, the motor is stopped by dynamic braking with BC lamp lit. LED DC Lights If the regenerative discharge circuit becones defective, the motor is stopped by dynamic braking with DC lamp lit. IE the acceleration/ deceleration rate is too high, DC lights. Overcurrent alarm LEC OVC Lights If current exceeding specified value is continuously applied longer than a certain tine, the motor 1s stopped by dynamic braking with OVC lamp lit. ye4.2 Troubleshooting Troubleshooting and fauit recovery are discussed in this section. The manual should be used to determine the causes of problens. “ (1) Overload alarm Item | Causes of troubles Check procedures Counternéasures 1 | Pos seeting faiture Gheck if setting pin Sl of | Set S1 properly. PGB As set as specified. 2 | merostat of the servo | Remove the wires connected | Change the cutting conditions. cransformer is to transforner terminals 51 operating and 52 and measure the resistance across thea. is (See section 2.3.2.) ‘The nornal value is 10 ohms | Replace the transforner. or less, if the efreust S28 open (nore than 100KM), the thermostat is operating, IE the thermostat is operating end the surface temperature of the transformer is 60 to 90°C, check the motor current during cutting. If the curfaco temperature is 60° or less, the transformer is defective. 3 | Radiation fins of the | Check the motor current. Change the cutting unit are overheated. conditions. 4 | mermostat of the servo | Check the motor current. Change the cuteing notor {s operating. | conditions. . eps(2) TC alarm — Iten| Causes of troubies Check procedures Countermeasures 1 | Motor power Line is not | If 16 alarm occurs without | Reconnect power cable. connected to terminals | giving any move comand (5), (6), (7) of after turning on the pover terminal board TL of | supply, it may possibly be velocity control unit, | caused by the disconnection or the motor power Line| failure. is disconnected halfway, 2 | PO setting failure Check the set condition Change the setting properly. according to 3.1, 3 | Pulse coder feedback | Check the feedback cable. | Reconnect .the feedback cabie, signal ie disconnected 4 | Motor current exceeds | check the motor current. Change the cutting Note | the ratings conditions. — Note) OVC alarm is detected after PCB A20B-1000-0560 edition number is d. (3) Circuit breaker operates Item | Causes of troubles Check procedures Counternessures | es 1 | ctreute breaker 1s ‘The operating condition of [Reset the circuit breaker operating the cireuit breaker is as [after turning off the power illustrated below. supply. (If the etreuit fo} FLY is button ts breaker cannot be reset soon, protruded forward | wait for about 10 minutes during operation. | before resetting it), Depress this button after turning off I the power supply [B] for resetting the cfreuit breaker. 2 | Diode module DS or The cireuit breaker operates | Replace diode module DS or other parts are Just when turning on the velocity control unit. defective in velocity | power supply after control unit countermeasure in Item 1. 3. | Mechanical toad is Observe PCB Cil10, cil or | Eliminate abnormal load of abnormal CHL2-CH3 on an oscilloscope to check if the Load current of the motor exceeds the rated current during rapid traverse mode. the machine side, = site(4) ay alarm any defect in item 1, 2, and s° ten ] Causes of troubles Check procedures Countermeasures 1 | tpue ac power voltage | Check if the servo Repair tap connection is higher than transformer taps are specified properly connected. 2 | servo motor ts Check if the insulation Replace notor defective resistance is normal between . the motor armature (power Line) and the body. 3. | Load inertia is Increase the acceleration/ excessive deceleration time constant 4 | Pep ie defective HW alarm occurs without any | Replace PCB defect in Items 1, 2, 3. (5) LV alarm Tten | Causes of troubles Check procedures Countermeasures 1 | Input AC power voltage | Check {f the input AC power | Correct the tap connection is lower than specified | voltage and tap connection of servo transformer are | correct. | 2 | Connection feiture Check if 424V, #5V, end 45V | Correct connections between servo of PCB axe normel, Check if transformer and PCB CN2 | servo transfoymer” terminals 41 = 49 (AC 1BV) end PCB CN2 (4, 2, 3) are connected properly. 3. | Fuse for #5V is blom | check if the fuse for +5V is | Replace the fuse blown. 4 | pos is defective ‘The LV alarm occurs without | Replace PCB aoe(6) HC alarm Teen | Gauees of troubles Gheck procedures Councermoasares 1 | Wrong connection of | HC alarm does not occur when | Reconnect the motor power soter power lina uraing on the power cupply. | tine correctly. after disconnecting the TE the motor pover Line {s notor pover line. checked with disconect ing (Since the gravity axis nay | it, set setting terminal $10 drop in this ease, support | to'L side, otherwise 1G alarm it or discomect the drive | occurs. cable of gravity axis brake) 2 | transistor wodute ts | check if HC atarm occurs | Replace transistor nodule, defective when turning on the power | *theck resistance between supply aster aisconnecting | CI-E1, 0? also beeween 1, the power line according to | C2-E2. item 1. srcheck resistance betveen Turn off the pover supply, | CI-t1 and also between renove PCB, and observe the | 2-12, right cerminal of the transistor module by @ ctreutt tester. The transistor module ts = defective, 1f the resistance 4 E between terminals is several 1 fe Q (within 102), [er -c] cr s| 3 | Internat short-circuit | check motor vindings for | Repiace motor failure of motor normal ineulation. windings | pen as detective TE HC alarm occurs without | Replace PCB any defect in itens 1, 2, 3, PCD is defective. eee# (7) ‘DC alarm tten | Causes of troubles Check procedures, Countermeasures 1 | Discharge transictor gl | DC alarm occurs soon after | Replace transister Ql. is defective or PCB ic | turning on the pover supply. | Replace PCB. defective 2. | PCB setting is improper | Setting terminal $2 is set | Set S2 properly to L side although the separate regenerative discharge unit is used. 3. | Frequent acceleration/ | check if the positioning Decrease the acceleration/ deceleration frequency exceeds 1 - 2 times/sec at high speed, In this case, DC alarm will not occur when the positioning frequency 1s reduced. deceleration frequency by providing the dwell (8) Servo ready signal is not output Item Causes of troubles Check procedures Countermeasures 1 | ac 10ov 4s not supplied | check if AC 100V is supplied | Check the emergency stop to velocity control across terminals No, (3) and | button on the operation panel unit, (4) of terminal board Tl of velocity control unit. 2 | te velocity control —_| Check {f red alarm LED For countermeasures against unit is in alarm status | indicators Light on PCB or | these alarms, see (2), not. (=a 3 | PCB control power Check the voltage at check | Change the tap connection of voltage +5V or +15V is | terminals! CH15, cHL6, servo transformer. abnormal (CH17-CH3 on PCB mounting Correct the connection diagram, between servo transformer and Check the connection between | PCB CH2, and replace PCB. servo transformer terminals and PCB CH2. 4 | Bybrid IC M2 or relays | Check if relays RLY1 and Replace PCB RLY, RLY2 of PCB are | RLY? are operating. defective 5 | Circuit breaker off Check the indicating button | See (3). circuit breaker, Sou(9) Motor does not rotate when the move command is given. Iten | Causes of troubles Check procedure Countermeasures 1 | Power Line is not connected TG alarm occurs and the motor does not rotate at all, Connect the power Line properly 2 | Enable signal (ENBL, ENBL2) are not applied to PCB Check enable signals 4 (ENBL1, ENBL2) 3 | Pos is defective or PCB is not properly connected Check 1f +20V, #15, and +50 on PCB are normal. Replace PCB or reconnect the cable properly 4 | Velocity command voltage (VCMD) is not applied Observe PCB CHL (VOMD)=cH3 (GD) on an oscilloscope, Give the velocity comand voltage (VCD) (10) ove alarn A20B~-1000-0560.) (This protection is applied from edition number C of velocity control PCB Causes of troubles Check procedure Countermeasures Ee 1 | Feedback signal of pulse coder is not ‘connected Check feedback cable connection. Connect the feedback cable 2 | Motor current exceed nominal value Check motor current. Change the cutting condition masses= gge= 5. PARTS SPECIFICATIONS AND LOCATIONS ON VELOCITY UNIT 5.1 Model 5-0 Velocity Control Unit (A06B-6050-H301) 220 [ [cary como NA [FANUC LED wave sara] 160 160max: Fig. 5.1aia 5.2 Model 4-0, 3-0 Velocity Control Unit (A06B-6050-H001) 20 210 1] Resistor module ! 401-001-0160 Capacitor + A42L-0001-0121 J | Ld Terminal block A65L-0001-0135/104 @ Q EF) @4/ Ue @ a” On nO =H Pret ese , 160 max Fig, 5.2eee 5.3. Model 2-0, 1-0, Velocity Unit (A06B-6050-H002) 230 ——————~ a ao Hoaer ‘Transistor module Oo A9BL-0001. ‘AS0L-0001-0111 “ Hi) Resistor io] a ‘ A40L-0001- i ee Oitajaowso2 Ip) ‘N631-0001-0222/A1 Ei a a Diode module or ‘AS0L-2001- D | 0134 7 == d t Spacer | ee "A98L-0004-0069/6N Magneiccontacor |B SEL eae sin Resistor module | ‘AS81-0001-0180 Guu ‘ASOL-6001-0280 & ‘A40L-0001-0147, me 5 | Spask kiler og Surge absorber “74-0001 : a Sar = 50120010159 Circuit breaker Yor er) “AdaL-O0OT-OI3T re AGOL-0001-0143/:5A Icy qo iS rol o = + as Terminal block el 2 | ooo 8st 0001 0134 B ; PCB TOO 4 150 pre-B 160 maxeee 5.4 Model 0,5 Velocity Unit (A068-6050-H102) abs 2es | | Resistor module AOL poor-orea Capacitor 700-000 “132/881 | | | [ | | on fe) Holder ENT ‘Thermostat ABTT O00 90m100 +f Transistor module Diode io Koma Die maie | , Magnetic contactor aa] ‘Surge absorber = Circuit breacer AS0L-0001-9148 7) Transistor eee aaa ‘AS0L- 0001-0087 Connector ‘A6sL-0001-0702/41 Heat sink ‘Asu-saer oas2 Spacer XoaL Toa TOTReN Resistor module ~ Avo -000I 017s ‘Terminal block Fig. 5.4 ‘ESL-D0DI-O13e= 09. 5.5 Model 10 Velocity Unit (AQ6B-6050-H103) se i i pes ‘Terminal board esi 3001-024% Holder ‘Thermostat ~q96i-0001-0558 Transistor module A50L-2001-0097 00 ‘AS0L=0001-0081 Capacitor AoL-2001-0135 Diode module ‘AsoL-2001-0173 +} Magnetic contactor ‘ASSL 0001-0197 Breaker AB0L-DODI-OTaR Fig. 55 “A4L-000;-0100 Connector _ “ABSL-O0D1-0222/A1 }—__Transistor 50 09 ~~ Heat sink ‘ASOL- 6001-0962, ~S._Resistor module ‘681-0001-0077 Terminal board ‘651-001-0134 TH I Ales aso 75 Tit t it Ttere 5.6 Model 20M Velocity Unit (A06B-6050-H113) 225 max. ‘Thermostat AS7L-000 | -9043/100 | “|, nessor module Transistor module AG5| -0001-0224/Al | ‘AaOL-0001-O144 Diode A5OL-2001-0087/066 ‘is 2 en SACL Transistor module 4301 0001-0095 REOL=DOOT=OZET a y fal ~~ Capacitor Bron ean 1 1 f e ee ee Connector 631 -000!-0222/4 L ! Diode ASOL-2001- 1 = 200 | -O135 ieee L Fe Diode module 450) -2001-01 eet 204 ae Capacitor aa ea H “Raz -0001 “0132/68 (ea 01. -0001-0092 poles = ot [| I= 7 ‘Magnetic tae = contactor shoe dl uci aes Capacitor Cee U AazL-DOOT-OTSB/ 122 | Breaker AGOL-0001-0143/ 15A lad Surse absorber Fic) |} Resistor module ao) -001-0177 eae “FSOL=2001-O1 39 Holder 981-001-0358 | Spacer Ly "FSBL=000E=006576N | Terminal board 465i -0001-01 34 |rg 5.7 Model 20, 30 Velocity Unit (AQ6B-6050-H104) vice? Holder =H { | | =a Surge absorber ‘Thermostat Transistor module ASTL-0001-00187100 D Diode | A30L-2001-0135 Diode module Magnetic foo Sasa O30 ko soy] boo ls Ol ig bon) Breaker xoLeoaarn | GEIS) [==> Dr | im Fig. 5.7 ‘AS0L-0001-0118 —__Heat shink ‘ASOL- 6001-0961 Sp "A981L-0004-0068/0N ~._Resistor module Te nal boardSo's 5.8 Model 30R Velocity Unit (A06B-6050-H0050) 240 Fan A90L-0001-0100/A a aN =< Sra Fa|__Holer A981-0001-0358 a Terminal block oO AGSL-0001-0234/3P01 Poried | Diode A50L-2001-0097/U06G Thermostat =<] ‘A37L-0001-0043/80 | ~ Connector A63L-0001-0222/A1 Resistor module -t~ Ad0L-0001- o1ss io. lo Diode module ASOL-2001-0134 o\ tD- -'5A | lo oO Transistor module _ASOL-0001-0103 Diode ASOL-2001-0135 | ‘Spacer A981.-0004-0069/6N Osh qi ) | SST capacitor A421-0001-0100 |__ Capacitor A421-0001-0100_ {x42L-0001-0128 0121] ; d | _Heat sink ASOL-6001-0242 Magnetic contactor aenatie contach [505 —sot iter A741-0001-0008/10050 (eo AS8L-0001-0181 HH . G | _Surge absorber ASOL-2001-0139 | | | | J roe ale u JOON 7 Terminal block A6SL-0001-0280 LI OOOO} 150 160 max oa h Call] EEA cizcuit breaker A601-0001-0149/204=r ip 5.9 Model 0, §, 10 Velocity Unit (A06B-6050-M003) 230 Resistor module 7) Ad0L-0001-0144 Resistor module __} [asot-o001-0146 ost | | | | | | (ne 5 ‘ermine! block i fi Resreopnl ose Holder A98L-0001-0358 io G ‘Thermostat 4 i Diode ASOL-2001-0097/U06G 1AS71-0001-00937100 eC { consestorASSL-4001.222/A01 Capacitor Trantor ‘M421-0001-0106 a DN toda as01-0001-0091 obs ts ‘S01-0001-0097 Diode module eo N IDSs Spacer A98L-0004-0069/6N Diode ‘ASOL-2001-0135 SEGRE eC = Heat Sink ASOL-6001-0241 Magnetic contactor} “AS81-0001-0181 Capacitor A42L-0001-0122 AARP) Sarg aborber ASOL-2001-0139 Spark killer || SS “a7aLooor-ooosions0 | “er (eC) iS ta] _Capacitor A421-0001-0121 Ys Cmttne TOOT Circular breaker 3 ea a Op aaa AG0L-0001-0143/158. all block _A6SL-0001-0134 OI TOO 150 160 max Fig. 5.9Rae 5.10 Model 20, 30 Velocity Unit (A06B-6050-H004) Ost 230 ‘Terminal block A40L-0001- 014s aetL-t00 esa oder As8L-0001.2958 ict DindsAs01-200.0097/0066 ARIE ODOLAOAELA, I Connector A63L-0001-0222/A1 Diode inode +t [es aacHerae Tansee ie ey} nae aso1-oo0 0103 se | ASOL-2001-0135 Le o Capacitor A42L-0001-0100 oe anand > Oa AS01-01°0097 85 sraer ABL0004.05/6 Magnetic contactor A58L-0001-0181 ~~ Spark killer A74L-0001-0008/10050 Circuit breaker ‘AGOL-0001-0143/158—-—~ a, AH oO HOMO DIDO rT 150 Pa 160 max ‘Terminal block A65L-0001-0134Il, AC SERVO UNIT FOR 2 AXES This chapter describes the maintenance drives AC servo motor Model 2-0, 1-0, 0, 5. of AC servo unit for 2 axes which Combination of two motors are described in Table 1.1.1. Refer to Table denies1, STRUCTURE The AG servo unit for 2 axes consists of the velocity control unit and Power transformer, Three types of velocity control units are available according to the combinations of AC servo motor models employed. One velocity control unit applies to two servo motors, The specifications of the power transformer are the same as those of a power transformer employed when two servo units for one axis are used according to the combinations of motor models. Fig. 1.1 shows a configuration example in an NC system of 2 controlled axes. AC servo moter X axes Transducer NC control unit Velocity control unit (2axes type) Zaxes tis ‘Transducer 3-phase input power supply Power transformer Fig. 1 A Configuration Example of Using AC Servo Unit for 2 Axes 2169 =1.1. Types of Units and Designated Specifications Table 1.1 a) Types of Units and Designated Specifications Applicable motor Name Laxis |M axis Specifications Remarks 2-0/1-0 | 2-0/1-0 Velocity A06B-6050-H201 control | 2-0/1-0 | 0/5 A06B-6050-H202 unit 0/5 0/5 A06B-6050-H203 Power transformer Refer to 2.1 in Chapter 2 in the descriptions for FANUC AC SERVO MOTOR series (B-54762E). Input connector (Note) | A06B-6050-K200 Soldering type Note: The input connector is used for the cable connected to the velocity control unit, and it comprises the following parts. One set of the input connector is required for 2 axes. Parts contained in the input connector (soldered type) are indicated in the Table 1.1(b). Parts contained in the input connector (crimp style type) are indicated in the Table 1.1(c). Table 1.1 (b) Parts Included in Input Connector Name Qty | Use Model FANUC specifications Connector + cover | 2 | ONIL,M | mR-20LRH * | _A63L-0001-0134/02 Connector + cover | 2 | CNSL,M | MR-2OLWMH * | A63L-0001~0134/15 Connector + cover | 2 | CNOL,M | MR-2OLWFH * | A63L-0001-0134/05 Housing 1 cn2 | sus6py-5 ** | A631.~0001-0202/6W Pin 5 cN2 | RCL6N-SCT3 ** | A63L-0001-0226 * Manufacturer: HONDA Tsushin Co., Ltd. %* Manufacturer: Burndy Japan Ltd 70 -Table 1.1 (c) Parts Included in Input Connector (Crimp style type) Name [a'ty] Use Modet FANUC specifications [connector + cover | 2 | cwit.mn|™R-200, uep-20r01 * | A63L-0001-0134/22 Connector + cover | 2 | CNSL,M,N |MR-20LW, MRP-20M01* | A63L-0001-0134/35 Connector + cover | 2 | CN6L M,N | MR-2OLW, MRP-20FO1* | A63L-0001~0134/25 Contact 80 | cN1,6 | MRP-FIi2 * | 631-0001-0134/F112 Contact 40 ONS | MRP-€112 * | A631-0001-0134/Mi12 Housing 1 cn2 | suS6PW- #4 | 4631-0001-0202/6W Pin 5 N2 | RCL6M-S23A x# | a631-0001-0127/523a * Manufacturer: ** Manufacturer: Sie HONDA Tsushin Co., Ltd. Burndy Japan Ltd.2. CONNECTIONS 2.1. Connection Diagram Note 1. For details of cables Kl - K7, see 9.1.1 ~ 9.1.7. Connections of cables Kl and K7 differ according to NC control unit. Note 2. For details, see the connecting manual for each NC. Machine toot Velocity (Jon tet Servo motor Flectromagnetic contactor Fuse Servo motor Le F ‘Transducer mee Beets eo Seoree i: a sm Ww wanssaer a Emergency stop ‘Terminal screw M4 / = EMG Lo— ACL00v. ae +108 —( RH “15% (When 3.5mm? cable is used, 5 use eximp style terminal 1s S354) a ca2.2. Detailed Servo System Connection Diagram 2.2.1 Details of connections of cable K1 Velocity control unit, NC control unit li OVL1L,M] cNiL,M@) OVL2L, MI CNIL. Mao i VRDYIL,MI CNIL,M@) VRDY2L,M_CNIL,MOp ENBLIL,MJ CNIL,M@) ENBL2L,MJ CN1L,MC9 i se Feay wet PRDY1L,M] CNIL.Mi)| PROY2L,MY cNiL, Moa] “YE *AIMIL MY. CNIL.ME) NE *ALM2L, MJ CNiL,M() *ALM4L,MY CNIL,MG0 *ALMBL MJ CN1L MAD COML, MY CNIL, Maa {LLL ‘Connector MR20LFH (Honda Tsushin Co,, Ltd.) (For the connector terminal arrangement, see 8.4) Cable employed: ‘YVCMDJEC; 0.1~0.18mm* paired shielded cable Other cases; 0.18~0.3mm? 200V vinyl wire ‘Vinyle sheath Shield Twisted pair Paper tape pees Cotton fiber Fig. 2.2.1 Be2.2.2 Details of connections of cable K2 Power transformer ‘Velocity contro! unit Ist Ind 3rd unit nz) Nz) CN2 (8) cn2@) N25) Connector » SMSéPw.s Connector | SMSERNS 4} (Bumndy Japan Lid) Fig. 2.2.2 Velocity control unit Power transformer Screw M4 Screw M4 istive vinyl wire) (Cable employed: 2.0mm?, 600V heat- Fig, 2.2.3 2.2.4 Details of connections of cable Ka Cabinet Velocity control unit see 1008 ne) 10a) Contact OFF at "MG emergency stop Iain (Cable employed: 0.7Smm?, 200¥ vinyl wire) Fig, 2.2.4 aS2.2.8 Details of connections of cable KS (1) Model 2-0, 1-0 Velocity control unit T1(SL,M) T1(6L,M) 73 (74M) at Screw M4 \ RMISWTP-48-(10) (Cable employed: 30/0.18 (0.75 mm?) aE nietie Oa ‘4-conductor vinyl cabtyre cable Model 2-0 1-0 Guide key Fig, 2.2.5 (a) (2) Model 0 and 5 Velocity control unit y T1(5L,M) T1(6L,M) el T1(7L,M) Be 5 G {35 10GB1 8108 (Straight type) MS3106B18-105 (Straight type Screw M4 { M183 10851 8-103 (Elbow Cable clamp 183057-10 Cable employed: 2.0mm? (37/0,26) Guide key 4-conductor vinyl eabtyre cable : Fig. 2.2.5 (b) Do oA Co OB urbe2.2.6 Details of connections of cable KG Velocity control unit cnsL. Mayas) | ‘Cannon connector Connector employed: MR-20LWMH MS3106B20-29SW (Straight type) (Honda Tsushin Co., Ltd.) ‘MS3108B20-29SW (Elbow type) Guide key Braided wire ‘Twisted paired wire MS3102A 20-29PW Fig. 2.2.6 ssters2.2.7 Details of connections of cable K7 Yelocity control NC control unit unit cnet, M«j2ia) | Ov CNSL.M®) CNGLMOo, CNGL Ma. CN6L Maa) CNGL, MOM, CNSL Mt CNEL MOH, Connector employed: MR-20LWFH (Honda Tsushin Co., Ltd.) Cotton fiber Paper tape Fig. 22.7 2.3: Connection of Power Transformer Refer to the same subsections in Chapter I in this manual. Ss2.4 Connection Diagram of Velocity Control Unit CNB _winose CN9_wrxose CN10 witeose 201 | 202 | 1203 BOARD - E [au-at.stat | oma | roma! soma]} 4168-1200-0520 SL-6L 120m RML | NeeNCaMcant| “70a [soma | som | 5M-6M 4o0ma | 120ma | 120ma wae rie H201 H202 H203 Lie nage AC2-0/1-0 + AC2-0/1-0 AC2-0/1-0 + ACO/S AcO/5 + ACO/S 1 my held ah he ee si ehh teal TTT Us Lies aeGh 179 ¢.v9.9) To_NC e (vow) TO POWER ‘TRANSFORMER A20B- 1001-0470 PcB2 0 ovor (Buco) : A500 worm, our Ae eo To Ne (PULCO) one. AI 6B- 1200-0520 PCB! ENT 70 pcay3. SETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT 3.1. Setting and Adjustment of Velocity Control Unit PCB 3.1.1 Parts location qa) A16B-1200-0520 (Mother board) A20B- 1001-0470 FI/ Fuse cN7 Oo CHT oO CHIL A16B- | 200-0520/ i fe} CHICM CHIEM M CHIAL CHICL CHIEL, F3/ Fuse(2) A20B-1001-0470 (Child board) Note 1. Note 2. ssm[]]} ssn. Fat, som sea] 4 t vit Fou aed eitFaae i a CNG S33 su HIF Ore Fs ee Aralhoe. w Qw csr 4) OF PO. Roe vO = oc aH sth LO Grroy 1 Fb 20ne@O IY ad 10 ee pea | fed ke vay F| 80 11] Ors soa, xeon Irvan ven 18 ohio Ore 2a m0 3] OT avin RviM Ho] Os 0 7] OF 2 I ° si. sig ° +61] x3 Oov U u ao. Hal] Ors me Hil] Over. = est] | cnec| jovsm | | cnem to | rene le | fronc} Motor Motor| Ba ssa CNIL ToNC CNIM ToNc = Two PCB is 1 sets, Part location on PCB may be changed without notice. =i HIT. HIG HIS HAM HIM HIM HOM 19M HEM HM, HEM HM HOM HIM, A16B~ 1200-05203.1.2. Setting terminal PCB A20B-1001-0470 A16B-1200-0520 Table 3.1.2 sees? Standard setting ian 2-0/1-0 o/s sl L L TOH setting (Note 1) $2 x *: DC alarm setting (Note 2) S10L,M a H TC alarm enable (Note 3) sl7L, a u S18L,M a H Current limit setting S19L,M a H S20L,M a a Absolute code output enable (ote 4) S22LM ° o | Compensation cireuit setting 8231, ° 0 | VCMD gain setting (vote 5) S24L,¢ ° o | E/V circuit filter setting - S25L,M x x e S26U2% x ze Compensation circuit setting $27L,M ° ° S28L,M x x $29L,M x x F/V input pulse width setting (Note 6) 8301, Le R Current loop gain setting S31L,M a a TG alarm enable $32L,M ° ° Setting for absolute pulse coder (Note 7) $33L,M x x OVC alarm level setting | epttiser Pulse coder Sineves 2000? 2500? 3000P SHL»M H Z us Pulse coder F/V gain setting S9L,M H a L S14L,M ic H H | S15IM, Gs ee L Pulse coder pole number and SL6L,M o | ir, H pulse number setting Note 1. If the power transformer is connected to terminals CN2(4) and (5), set Sl at L side. the regenerative state. Note 2. If short-circuit state. discharge unit is mounted, = 82 - set S2 in If it is not mounted, set $2 in the open theNote 3. If check is required without connection of the motor power cable, set S10 at L side. Note 4, If $20 is set at L side, absolute codes from the pulse coder is output to NC while VRDY is on. If VRDY is turned OFF, the alarm code is output. If $20 1s set at H, the alarm code is always output. Note 5. If $23 4s short-circuited, 7V/2000 rpm is set, and if it is open, 7¥/1000 rpm is set. Note 6. If $29 is short-circuited, the velocity feedback voltage is changed from 3V/1000 rpm to 1,5V/L000 rpm. Normally, set it in the open state. Note 7. If ABS pulse coder is used, set $32 in the open state. Note 8. Setting operations are shown in the Fig. below. Setting plag ——] ps ing plug p. (a) Set at H side (b) Set at L side = Gel LeR LeR (c) Set at Le side (2) Set at R side 3.1.3. Variable resistor Table 3.1.3 Volume Standard setting Remarks RVIL, RVIM, RVIN 50% Gain setting RV2L, RV2M, RV2N = Adjustment of offset voltage RV3L, RV3M, RV3N - Adjustment of velocity feedback voltage Note 1. RV2L, M, N and RV3L, M, N are adjusted before shipping from the factory. Note 2, Settings of RVIL, M, and L are the same regardless of the number of versions. - 83 -3.1.4 Check terminals Table 3.1.4 Check terminal | Symbol Contents CHIL M voMD | a x velocity conmand voltage (ote 1) CHL, TSA | 0.8 x velocity feedback voltage CHL, M ov | ov cH ov | ov (Note 2) SEU Compensation circuit CHOL,M CH7L,M R | R-phase current command : CHBL.,M S| S-phase current command HOLM T | Tephase current command CHLOL,M 1R_| Rephase current feedback | 1.18 A/V CHLIL,M 1s | Scphase current feedback | “Motor 1-0, 2-0) CHL2L,M it | T-phase current feedback | 4.00 A/V (Motor 0, 5) cHi3 Taw | Triangle wave (Note 3) CHLGL,M ER | Error voltage (Torque command voltage) (Note 4) HIS By | BV cHL6 +i5v | +15v CHL? =isv_ | -15v Note 1, a = 0.344 when VCMD is 7v/1000 rpm a = 0.687 when VCMD is 7V/2000 rpm Note 2, Setting terminal $4 is on the PCB Al6B-1200-0520. Note 3, Waveform of triangle wave is as follows. 12150 360+30usec Note 4. Motor load currents (peak values) can be monitored using the same conversion as CHI0-12. Effective values can be obtain by multiplying 1/¥2. emsae L a Current AC servo motor Detector Taaae] Fade hoe a corde) 2 |tive r control direuit md | APES sl = lorake ame leireuit wig i] fice AC Her¥0 Motor pel eage Bi (Pulse coder) atarat ll Nike Li | brake current SS Torque command 8” command ra Fe cy ce 2 es, 55 cra locity ‘command from se = position control fe - si pri Sait VHD) cua Pamper TEL cirenit fw To position [Drver Receiver, ‘ control unit hee Curent Torque command ‘Dee owe |p asi Velocity com oy 8 = mand from" f position ve PWM | —*!Driver Control unit Was! oge | amp | + cuca | “1 Multiplication circuit [ree co 2 Amplifier cveult, Rotor t oat a tect To position Driver Receiver] “remit control unit circuit cirouit UA JoaUOD AuDo}aA Jo wesBeIG ypoIg ze4, TROUBLESHOOTING 4.1. Protection and Fault Detect Function 4.2. Troubleshooting For subsection 4 - 4.2 refer to the same subsection in Chapter I in this manual. Eeeery Resistor module No-fuse bresker AeOL=OGO=ONE3/ 5A Spacer EF Diode module 500520010175 Pepacitor /uthen060'-0100 Thermostat Terminal block ese 0001050 (Aaa -0001-0149 Transistor Fat 6001-0090 Spark killer ‘APALC00t 0608710050 Connector est-0091-0202/41 Spacer ‘AS8L0001-0358 Fin (L0ZH-0809-890V) 0-2/0-L l@POW Pur O-2/O-L IPPON LG LINN A.LI9074A NO SNOILLW907 GNV NOILVOI4IDdS SLUVd °2tggts: Resistor module ASTD 1962-0087 \ s Diode mo 501-200 dle ‘Thermostat No-use breaker scuseooreOras/ 154 Mapnotc conta Magnetic contactor mi so00|-0063/100 A50E-2001-0159 Nameplate “Terminal block AeeBoor so ozs fej Transistor ;pacitor Transistor module Spark killer ikPaL=-0¢0!-0008/ 10900 Resistor module Rioesooat coe Connector SheS1-008 0022/41 Spacer Fin (20ZH-0G09-890V) 9/0 I@POW PUE O-Z/O-L IePOW Z'see Resistor module No-fuse breaker AsoL-COuIS NaS Magnecic contactor ‘Apa coo! 02/3 Diode module 1505-2001"0175 Thermostat 200 00437190 BSE 2060 STS Nameplate apacitor aBu0001-0149 4 ‘Transistor A500-0001-0092 Spark tllor 172.0001 -0000/10080 Resistor module BaOes 501008 Transistor module 504-0001 -0091, Connector Spacer 1586" 0001-0950 Fin 50.-6001-0303 Ae5t"0081-0022/A6 {€0ZH-0S09-890V) 9/0 1ePOW pue g/o IePOW E'gAC SERVO UNIT FOR 3 AXES This chapter describes the maintenance of AC servo unit for 3 axes which drives AC servo motor Model 0, 5, and 10. Combination of three motors are described in Table 1.1.1. Refer to Table salle1. STRUCTURE The AC servo unit for 3 axes consists of the velocity control unit, the power transformer and the discharge unit. Four types of velocity control unit are available according to the combinations of AC servo motor models employed. One velocity control unit applies to three servo motors. One power transformer is employed according to the combinations of motor model. A regenerative discharge unit is a resistor unit which consumes the regenerated energy by the motor. If the AC servo motor models employed are rather small type having a little regenerative energy, a regenerative discharge unit may be unnecessary. Fig. 1.1 shows a configuration example of an NC system with 3 controlled axes. aie | —! sy Regenerative 3 phase input Power discharge power supply transformer unit Fig. 1.1 A Typical Configuration Using an AC Servo Unit for 3 Axes BC1.1. Types of Unit and Specification Number Table 1.1 (a) Types of Us Applicable motor Name Specification | Remarks _ M N o/s 0/5 0/5 ‘A06B-6050-H401 Velocity ors 0/5 10 A06B~6050-8402 control unit o/s 10 10 A06B~6050-8403 Note 1 10 10 10 A06B-6050-H404 For Japan Transformer MB | A06B-6047-H012 200V — 220V Transformer MC | A06B-6047-H013 Power For other Transformer MBE | A06B-6047-H022 transformer | countries 190V - 550V | Transformer MCE | A06B-6047-H023, Common to Transformer ABE | A06B-6050-H022 All countries Note 2 190V - 550V | Transformer ACE | A06B-6050-#023 Regenerative discharge unit DCUA A06B-6050-H05O | Note 3 Regenerative discharge unit DCUB AO6B-6050-H052 | Note 4 Regenerative discharge unit DCUC A06B-6050-HO51 | Note 5 Input connector (Soldering. type) A06B-6050-K202 | Note 6 Input connector (Crimp style type) A06B-6050-K203 | Note 7 Note 1. Specification number differs according to a motor combination. Note 2. If the specifications of the velocity control unit are ‘A06B-6050-H401 or -H402, one of transformers MB, MBE and ABE should be used. If the specifications of velocity control units are A06B-6050-1403 or -H404, one of transformers MC, MCE and ACE should be used. Note 3. To be used when the regenerative energy from the motors of three axes is rather large employing the velocity control unit ‘A06B-6050-H401. Note 4. To be used when the regenerative energy from the motors of three axes is rather large employing the velocity control unit AD6B-6050-H402 or A06B-6050-H403. Note 5. One set should be used for one velocity control unit A06B-6050-H404. = ShNote 6, Input connector includes connectors to be employed on the connecting cables to the velocity control unit. One set should be used for 3 exes. Parts contained in the input connector (soldered type) are indicated in the Table 1.1(b). Parts contained in the input connector (crimp style type) are indicated in the Table 1.1(c). Table 1.1 (b) Parts Included in Input Connector (Soldering type) Name Q'ty Use Model FANUC specifications Connector + cover | 3 | CNIL,M,N | MR-20LFH * | _A63L-0001~0134/02 Connector + cover | 3 | CNSL,M,N | MR-2oLWMH * | A631~0001-0134/15 Gomector + cover | 3 | CNOL,M,N | MR-20LWFH * | A63L~-0001-0134/05 Kousing 1 on2__| susérw-5 ** | A631-0001-0202/6n Pin 5 cn2 | RcieN-scr3s ** | 4631-0001-0226 Table 1.1 (c) Parts Included in Input Connector (Crimp style type) Name [arty Use Model FANUC specifications Connector + cover | 3 | CNIL,M,N | MR-20L, MRP-20F01 *| A63L-0001-0134/22 Connector + cover | 3 | CNSL,M,N | MR-20LW, MRP-20M01*| A631-0001-0134/35 Connector + cover | 3 | CNOL,M,N | MR-20LW, MRP-20F01*| A63L-0001-0134/25 Contact 120 CN1,6 | MRP-F112 *| A63L-0001-0134/F112 Contact 60 CNS MRP-M112 *| A63L-0001-0134/M112 Housing 1 on2_ | susorw-5 %*| A63L-0001-0202/6W Pin Et cN2 RC16M-S23A **! A63L-0001-0127/823A * Manufacturer: HONDA Tsushin Co., Ltd. ** Manufacturer: Burndy Japan Ltd. ie2, CONNECTIONS 2.1. Connection Diagram Fig. 2.1(a) shows standard connection diagram of A06B-6050-H401 - #403. Electromagnetic contactor Fuse Power transformer Power source AC3¢ ‘Terminal screw M4 (Whon 3.5mm? cable is used, use crimp style terminal 5.554) Ne control nit, —§ (7) —————{] Jena > fnew «yl lens 4 OD Denie 3 —«)————_1] [cn >) in [Jena Velocity for 3 axes Fig, 2.1 (a) control unit 6N CSL, NSM CNSN TI Machine tool Servo motor L axis Transducer Servo motor M axis a (5) SS ©) +10% 19Bee Fig. 2.1(b) shows connection diagram of A06B-6050-H401 - H403 with regenerative discharge unit. Ne controlunit §—§ —-——()}-______] Wahine ol Servo motor L axis —>———« <=) ‘Transducer © ‘Servo motor M axis il asd « }—_————{] Transducey [Servo motor N axis, Transducer cN2 Velocity KS, @) contelinit Ni TT eer #00 cregy Electromagnetic Hee Siakte £ hE +10% contactor Fuse Power aan) {4} 15% 1s transformer 16 — = Power souree oul AC 36 a Teaminal screw Mt (When eouny Sua at AQ6B-6050-H401~H403 5.584) Ge Fig, 2.1 (b)96> Fig. 2.1(c) shows standard connection diagram of A06B-6050-H404. NC control unit Power source AC36 Electromagnetic contactor Fuse ‘Terminal screw M4 (When 3.5mm? cable is used, use crimp style terminal 5.5-$4) Power transformer Velocity for 3 axes contzol unit Machine tool Servo motor L axis ‘Transducer Servo motor M axis Transducer Servo motor N axis ‘Transducer K5) Emergency stoy eo ACLOOV a SO How, =15% T2 46 6 $2 Regenerative discharge ayes A06B-6050-H404 12 Regenerative 3 discharge unit Fig. 2.1 (c)2.2. Detailed Servo System Connection Diagram 2.2.1 Details of connections of cable K1 NC control unit ‘Velocity control unit ae YL MN} oi, ED oe LE DOCOOCOC Tacr mint cnnt M.Neo goed ae ely OVLAL M,N CME M18) OVL 21 .M,NJCNIL M,NOG VRDY1L,M,NJCNIL,M,N@® VRDY2L,M,NCNIL,MNOD ENBLIL,M.NOUL M,N) ENBL2L MNJ CNIL,MNOS PRDY1L.M,NICNIL.M.NU) le employed: 0.1~0.18mm? Cae employe: 0.1~0.18m2 cable Unattie (Honda Tsushin Co., Ltd.) Vinyle sheath —_ Shield ‘Twisted pair Paper tape Shield Dials wie, Cotton fiber Fig. 2.2.1 = 09;—2.2.2 Details of connections of cable K2 Power transformer Velocity control unit Ist 2nd 3rd a 44 nz) cN2@) Screw terminal M4 \ employed 1RC16M-SCT3. Fig. 2.2.2 2.2.3 Details of connections of cable K3 Connector / SMS 6P W- 5. purndy Japan Ltd) Power transformer Velocity control unit 3134 Tw) Screw M4 / screw Ma (Cable employed: 3.5mm, 600V heat-resistive vinyl wire) Fig. 22.3 2.2.4. Details of connections of cable K4 Cabinet # Velocity control unit 1 rca eas vase rT hi EMG Contact OFF at emergency stop Seen (Cable employed: 0.75mm?, 200V vinyl wire) Fig, 2.2.4 = 100 -2.2.5. Details of connections of cable KS (1) Model 5, 0 Velocity control unit 71 (5L,M,N) ‘Connector employed MS3106B18-108 (Straight type) Screw M3.5 ‘MS3108B18-108 (Elbow type) ‘MS3057-10a Cable employed: 2.0mm? (37/0.26) 4-conductor vinyl cabtyre cable Guide key cannon /D0 oA connector co op Fig. 2.2.5 (a) (2) Model 10 Velocity control unit Th (51,M.N) Connector employed MS3106B22-225 (Straight type) MS3108B22-22S (Elbow type) Cable clamp MS3057-12A, Cable employed: 3.5mm? (45/0.32) 4-conductor vinyl cabtype Guide key Cannon DO OA connector co OB Fig. 2.2.5 (b) - 101 -2.26 Details of connections of cable K6 ‘Velocity control Motor unit CNSL.M,NG42,8)L CWL | iM,N OHIAL |, M,N { 3 | ¢ 1 3 * 1 ry popu |.iMaN ii Canon connector 1MS3106B20-29SW (Straight type) ‘MS3108B20-298W (Elbow type) Connector employed: MR-20LWMH (Honda Tsushin Co., Ltd.) Guide key Cotton fiber Cannon connector Braided wire Re aN Drain wire MS3102A 20-29 PW Fig. 2.2.6 = 102 -2.2.7 Details of connections of cable K7 Velocity control unit cnsI CNGLMNG) CN6L.M.N(14) CN6L,M,N(15) CNGL,M,N(16) CN6L,M,N(17) “ENGL M.NGIB) CNL. MN(19) “CNOL.M.N(@20) OH1BLM.N OH2BL.M.N Connector employed: MR-20LWFH (Honda Tsushin Co., Ltd.) Fig. 2.2.7 = 103 - NC control unit Braided wire Cotton fiber Paper tape Sheath (black).2.2.8 Connections of soparate dischargo unit (1) In case of A06B-6050-H401 - #403 (option) (4) Details of connection of regenerative discharge unit Disconnect the jumper wire from terminals 12 (4) ~ T2 (5) when the separate regenerative discharge unit is employed. Lec Cable employed: 2.0mm? (37/0.26) 600V heat-esistive vinyl cable Velocity control unit 7214) Regenerative 730) discharge unit t_13@ ‘Screw terminal M4 = 104 =(44) Details of connection of cable K2 For connections of cable K2 in 9.1.2, change the connection of TOHL and TOH2 as follows. Power transformer (Thermostat contact) 51 ‘TOH2 ‘TOH2 cn2 0) nz (2) cn2 8) cN2 (a) cN2 6) Velocity control unit (Unit to connect terminals 51, 52 of transformer) Screw terminal M4 Cable employed: 0.7mm? (30/0.18) 200V heat-resistive vinyl cable Fig. 2.2.8 (b) = 105 - Connector employed SMS6pW-5 Rereger3 (Nihon Bumdy Co.) 73) Screw termi (Thermostat contact) Regenerative discharge unit M4(2) Cable employed: 2.0mm? (37/0.26) 600V heat-resistive vinyl cable In case of A06B-6050-H404 (standard) (G4) Details of connection of regenerative discharge unit Disconnect the jumper wire from terminals T2 (4) - T2 (5) when the separate regenerative discharge unit is employed. Leg T20) Velocity control unit, Screw terminal M3.5 Fig. 2.2.8 (c) = 106 - 730) discharge unit T3@) Regenerative nag) discharge unit 732(11) Details of connection of cable K2 For connections of cable K2 in 2.2.2, change the connection of TOHI and TOH2 as follows. Power transformer Velocity control unit (Unit to connect terminals 51, 52 of transformer) cnew Nz 2) Nz @) (Thermostat contact) af nz cN26) Connector SMS6PW-5 Screw terminal Ma employed _RelewseTs _ “hon Burndy Co.) Cable employed: 0.75mm? (30/0.18) SOOV hestive ving abe t Palma oa sa Reemertie cochug ont (Thermostat contact) Regenerative discharge unit, 30 Fig, 2.2.8 (a) 2.3 Connection of Power Transformer Refer to the same subsections in Chapter I in this manual. = 107 -24 Connection Diagram of Velocity Control Unit 2.4.1 Model 0/5, Model 0/5 and Model 0/5 (AO6B-6050:H401) Ne snese or H401: For 0/5+0/5+0/5 Basa ‘208-1001-0770 Fig. 2.4.1 - 108 -24,2 Model 0/5, Model 0/5 and Model 10 (AQ6B-6050-H402) o1Ng exo O14S/045/0 204 ‘t10-1001-802v 110d Phe Fig. 2.4.2 Connection Diagram of Velocity Control Unit - 109 -2.4.3 Model 0/5, Model 10 and Model 10 (A0GB-6050-H403) Fig, 2.4.3 Connection Diagram of Velocity Control Unit - 10 ~ 1403: For 5/0#10+102.4.4 Model 10, Model 10 and Model 10 (AQ6B-6050-404) HD BND OL+0T+01 1041 +p sino “0 Fig. 2.4.4 Connection Diagram of Velocity Control Unit - 1 -- zit - cna Eumnov To3| CNT ‘rR cna ROSE cng. ‘Rose eNO J10 tro) 70 nc. voro) 19 pucor 19 ne purco eEccaoe) Mme ou.coy 79 no,ou.co eeeosAcK) (70 puscoh N70 nc puceo FeEpencKs3. SETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT 3.1. Setting and Adjustment of Velocity Control Unit PCB 3.1.1 Parts location PCB A20B-1001-0770 ‘8208-1 001-0707) L—J FI/ Fuse Fuse resistor oO aT TT Sen cNIO ‘a pmor aw Que IM SSIN rr’ ai su oc 1 at Bon L a0 = ON ow aK shu You cNg VV 7 s/s CNB ‘i | ax velocity command voltage (Note 1) CH2L M,N TSA | 0.8 x velocity feedback voltage CH3L,M,N ov ov EN Compensation cireuit CH6L,M,W CH7L,M,N R Rophase current command CHEL,M,N S-phase current command CHOL,M,N T T-phase current conmand CHLOL WN IR R-phase current feedback | 5.45A/V CHLIL,H,N 18 S-phase current feedback | (Motor 045410 CHL2L,M,N It ‘T-phase current feedback cHI3 TRY | Triangle wave (Note 2) CHL4L,MAN BR Error voltage (Torqueconmand HIS av | 45 cHLS +isv | 415v le CHIT -i5sv | -15v Note 1, a = 0,344 when VCMD is 7¥/1000 rpm a = 0.687 when VCMD is 7V/2000 rpm Note 2, Wave form of triangle wave is as follows sv [-___— s60t30asec Note 3. Motor load currents (peak values) can be monitored using the same conversion as CHIO-12. multiplying 1/¥2. The effective values can be obtained by - 116 -3.2. Block Diagram of Velocity Control Unit u il Ai ' Be re i ied i q ial é be = ais) 2 ais] * ais 1 . i $_— és } *4) ete POT ey Po * be—tie}| | Pe ea (aera te—t ie = #—fte pa es Ne NS] Peo] fa igs i3s *y ; ae | eT Fig. 3.2 -u7-= Sib Vetosty cmmg pee (for a Commaed CHL ee (A ton contol XS. [Arlo +2 Lam | fpriver or [eceu ow) cry 1 off “1 2 4 va) [A of | | tei t |Rotor posi- ‘J Mion adect coat ‘To position wer] | preesner contd wait cunt |~—Leneat aaa ‘Torque command cee command ‘Velocity CHM CHEM [—"] «1 + 2 comm HIM pean ea tt. foe Senet POS, ahi. i=l pata ‘unit d q “ps TWcMD) CHEM, [esti 1 cHIaM ae o 2 a eR r Ty cfm || teien Rotor pose ann gal fee Non ddect ons Secale To postion pe] | passer deer Beant | ~—[eeet = Torguecommnd OS sommnd Vetosty cag open [| 52H tomes CHIN Legit onon fempos ow, Panpte eves coe ull ineoe [stent J tg Mow) Og ear 1 fi = j—+} of ag i en Ce fy | | bean |Rotor posi- recy “1: Multiplication circuit fies idea 2: Ample deat cece To potion ier |_| [Recey toe ut creat |~—[aeat4, TROUBLESHOOTING 4.1. Protection and Fault Detecting Function 4.2 Troubleshooting For subsectin 4 - 4,2 refer to the same subsection in Chapter I in this manual. - 1g -= 021 = 5, PARTS SPECIFICATION AND LOCATIONS ON VELOCITY UNIT 5.1 Model 0/5, Model 0/5 and Model 0/5 (AO6B-6050-H401) Two, ag OH ME ET= its 5.2 Model 0/5, Model 0/5 and Model 10 (A06B-6050-H402) BSUS TA rt i es Ty i pesto one see im : Ie) ie = a So | if ._SSEB roe yp< aan 5.3. Model 0/5, Model 10 and Model 10 (AQ6B-6050-H403)- 21 - 5.4 Model 10, Model 10 and Model 10 (AO6B-6050-H404) cmAPPENDIXAPPENDIX 1 1. REVERSE CONNECTION 1.1. Connection and Rotational Direction For AC servo unit there are connection cables of power supply, feedback signals and motor power. There are standard connection and reverse connection for the feedback signal cable and motor power cable according to the rotational direction which follows the feed command from the control unit. The rotational direction corresponding to the (+) feed command Standard connection Reverse connection G4) Command (4) Command To make reverse connection, next procedure should be taken. 1.2 Method (1) For Model 2-0 - 30R Change the connection of connector mounted on velocity control unit side of feedback signal cable K6 (between motor and CNS). @ Signals PCA and PCB should be replaced each other in cable K6. @ Signals *PCA and *PCB should be replaced each other in cable K6, @ Signals CW and OV (terminal 1 or 2 or 3) should be connected. Note 1, Connection of motor power line is not changed. Note 2, This method can apply to velocity edition C or after of velocity control unit PCB (A20B-1000-0560). The method in item (2) apply to the edition A and B of PCB. Note 3. This method can apply to AC SERVO UNIT for 2 axes control and AC SERVO UNIT for 3 axes control. Reconstruct cable K6 for axis to be reverse connection according to above changing. = 127 -Detail of connection of cable K6 in reverse connection. ‘Velocity control unit Cannon —-—-MS3106B20-29SW (Straight type) Connector employed: MR-20LWMH connector — M$3108B20-29SW (Elbow type) (2) For Model 4-0, 3-0 Change the connection mof connector mounted on velocity control unit side of cable Kl and K7 between NC and velocity control unit. @ Signal PCA and PCB should be replaced each other in cable K7. @ © “Signal *PCA and *PCB should be replaced each other in cable K7. @ Signal VMP and EC should be replaced each other in cable Kl. Note 1. Connection of motor power line is not changed. - 128 -Detail of connection of cable K7 in reverse connection. Velocity control unit CNS Ui2y8) CNS @) CNS) one 4 Ne cn 0 over | cm@ OvL2 T cni09 vaovt {emia vapy2_{ cni0p eo ENBL1 J CNI@ ENBL2 T cnids | x Papyi Poni) | Hav | i Prpy2 I cniao (3) For Model 5-0 Change the connection of connector mounted on velocity control unit side of feedback signal cable K6 (between motor and CNS). @ Signal PCA and PCB should be replaced each other in cable K6. @ Signal CW and OV (terminal 1 or 2 or 3) should be connected. Note Connection of motor power line is not changed. = 129 -Detail of connection of cable K6 in reverse connection. Velocity control unit Motor Model 5-0 CNS WEN) CNS @,6N0) Gray Red Brown/White ‘Orange/White Yellow/White Green Blue Black TH | ack (thick) - 130 =APPENDIX 2 1. AC SERVO MOTOR MAINTENANCE 1.1 Outline As a rule, AC servo motor is free from periodic maintenance because wearing parts are not included. But AC servo motor contains precise detector, s0 false operation or damage in transit might cause failure or trouble. Tt ig recommended to check the motor referring to this manual at every chance. 1.2 Acceptance and Storage Immediately upon receipt of servo motor, check the following items. © Whether servo motor is exactly the specified one (check the type, detector type). Whether there is any mechanical damage sustained in transit or not. Whether the rotating part can be normally turned by hand. In the case of the motor with brake, whether the brake is normal. Whether there is any loosened screw or play. Every servo motor undergoes strict inspection before shipment, therefore any special receipt inspection may not be required as a rule. If the receipt inspection is particularly needed, however, it is advisable to refer to the specifications regarding the wiring of servo motor and detector, current, and voltage so as to make the inspection without any mistake. Don't leave the received servo motor outdoors, but preserve it indoors. Avoid storing it in the place with an extremely high or low humidity, a radical change of temperature, and dust. 1.3 Mounting Note the following points when mounting the servo motor. (1) The water-proof structure of servo motor is not so strict. If cutting oil, lubricating ofl, etc. penetrate into the inside of the motor, these may cause poor insulation, short-circuit of the coil. Therefore, due care should be taken so that the motor body will be kept away from such liquids as cutting oil and so on. (2) When mounting the servo motor on the gear box where liquid lubrication is performed, if the lip of the oil seal is always exposed to oil, there is a possibility that the of] may penetrate little by little into the inside of the motor in the course of a long time. Therefore the height of the ofl level must be lower than the oil seal lip. When the servo motor is mounted with the output shaft upward, mount another oil seal at machine side so as to make the structure where the oil which passed through the first oil seal can directly flow outside. The oil seal used for the respective servo motors are listed in the following. - 131 -@) (4) Motor model Oil seal specification 1-0, 2-0 ‘AB0598E0 (SB type) 0, 5 ABI314FO ( " ) 10, 20M, 20, 30, 30R apz0s760 ( "_—+?) The oil seals used for the servo motors are the products of JAPAN OIL SEAL INDUSTRY Co., Ltd. The servo motor is coupled with the load through the direct coupling, gears, timing belt or such. In any case the force exerted on the motor shaft must not exceed the values shown in the following table, therefore due care should be taken for the operating condition, mounting method, and mounting accuracy. Motor model Permissible radial load 1-0, 2-0 25 keg 0,5 75 ke 10, 20M, 20, 30, 30R : 450 keg o The values of permissible radial loads are the ones when the load is, imposed on the end of the shaft. The values in this table indicate the maximum permissible loads which are the sum of the constant force always exerted on the shaft owing to the mounting method (e.g., the force given by the tension of the belt when the belt coupling is used) and the force generated by the load torque (e.g., the force transmitted from the gear face). © As a rule, axial load to the shaft should be avoided. Servo motor contains precise detectors, so excess axial shock may give damage to detectors. Make the wiring between the servo motor and the control circuit without any mistake, just as specified in the specifications. (See the connection diagram of the machine.) A mistake made in the wiring may cause runaway or abnormal oscillation and may give damage to the motor or the machine. When the wiring is completed, measure the insulation between the power line and the motor frame before turning on the power. The measurement should be make with a 500V megger. Further, check the insulation between the signal lines and the motor frame with a multi-tester. Be sure not to use a megger especially for measuring the insulation of the signal lines for the pulse coder. = 132 =1.4 Replacement of Pulse Coder (1) Abstract This section is described about the way of replacing pulse coders assuming the case of urgent field troubles due to pulse coders defect, and the way of checking the phase-relationship between AC servo motor and pulse coder. So, if possible, @) please re-check the phase-relationship. The way of replacing pulse coder The method written here is applicable to AC servo motor model 0, 5, 10, 20M, 20, 30 and 30R. models (2-0, 1-0, 3-0, 4-0), because It is impossible to remove pulse coder from other motor pulse coder itself is directly assenbled on to the motor shaft for those type. a, Remove defective pulse coder. oO @ @ @ (see Fig. 1) remove rubber cap. unfasten bolt 1. unfasten bolt 2, remove pulse coder (+attachments) from the motor shaft. b. Mount new (good) pulse coder. @ @ @ mount pulse coder (+attachments) on the motor shaft. Notice that both a tooth (of coupling) and a groove (of pulsecoder) are just fitted together, Care should be taken, for fitting length is short. connect both shaft by bolt 1. adjust marking-off line between attachments of pulse coder and motor housing. fasten bolt 2. (3) The way of checking the phase-relationship The method written here is applicable to all models of FANUC AC servo motors. Q @ @ connect V & W of motor power line. (see Fig. 2) excite motor at rated DC current from U to V & W. (U: +, V & W: =) supply DG 5V to the pulse coder, and check signals of Cl ~ CB. Correct pattermis as follows. cl c2 ca 8 1 iT 1 1 1 1 1 0 a: Low) * change position of C8 is accurate. - 133 -‘Mark (Pulse coder) near the direction of cable Motor shaft Coupling © Bolt 2 (M4, 3pes) Mark-off line L Motor housing Fig. 1 + om 4 RATED DC CURRENT AT THE CHECK OF PHASE-RELAWJONSHIP IS AS FOLLOWS. MOTOR NOBEL, 3-0, 4-0 1.28 + u 1-0, 2-0 4k pds . 9A 4. 10 cus 20, 30 30a = uM 30R 408 w = a « oe rf ig. 2 = 134 =2. COMPENSATING CIRCUIT SETTING FOR AC SERVO UNIT 1) AG servo unit (for one axies) 2 - 0 to 30R Standard setting aa ‘olaovlaoalse Description 5 30 | R 821 x| x] «|x| x | High-frequency gain s2z_ |x| «| x |x| x | nigh-frequency gain S23 | 0 | o| «| «| * | vow gain setting (7/1000 rpm, 7v/2000 rpm} 24 | 0] 0] 0] o| o | F/V circuit filter setting 825 | 0] 0] 0 | 0] o | Righ-frequency gain sz | x] «|x |x| x | Lowband gain s27_| x | «| x | x | = | migh-frequency gain sae | x | x] x |x| » | Lowband gain Short-circuit is marked with a circle. Expanation $21: Should it be short-circuited, the high-band gain decreases. Effective when oscillation is generated in the high band (200 to 400 Hz) $22: Be sure it is in the open state. $23: -7¥/1000 rpm is set in the open state. 7¥/2000 rpm is set in the short-circuit $24: Be sure it is short-circuited. $25: Should it be open, high-band gain increases. a $26: Should it be short-circuited, the low-band gain decreases. Effective in a full-close circuit, or when! inertia is large. + $27: Should it be open, the high-band gain increases. os *** $28: Should it be short-circuited, the low-band gain decreases. Effective when inertia is large * Whenever the setting of a compensating circuit is changed according to this table, please make contact with our service office, eo 4 5 = 135 -\ 2) AC servo unit (for two axes) Standard setting a oe a Description 2-0 5 s2m | o o | cain switching 523L,M | 0 o | vou gain seceing (7¥/1000 rpm, 7V/2000 rpm) S24L,M | ° o | P/v circuie filter setting sum | x x | High-frequency gain s2oum | x x | Low-band gain s77um | 0 0 | High-frequency gain (Note 1) szeum | x » | Low-band gain Note) The open edition. Explanation Short-circuit is marked with a circle. state for S27L,M ie standard setting since A20B-1001-0470/05B 8261, S27L,Mi S28L,M: ‘The open state double the total gain. 7V/1000 rpm is set in the open state. 7¥/2000 rpm is set in the short-circuit. Be sure it is short-circuited. Should it be short-circuited, the gain decreases. Effective when oscillation is generated in the high-band (200 to 400 Hz) Should it be short-circuited, the low-band gain decreases. Effective in a full-closed circuit, or when inertia is large. Should it be open, the high-band gain increases. Should it be short-circuited, the low-band gain decreases. Effective when inertia is large. %* Whenever the setting of a compensating circuit is changed according to this table, please make contact with our service offices. - 136 -3) AC servo unit (for three axes) setting | Standerd setting a7) tie a o/s 10 $221,040 ° x | Gain ewitehing S23L,M,N ° x | Vow gain setting (7V/1000 rpm, 7v/2000 rpm) S24L,M,N ° o | F/V circuit filter setting | 525.,4.N x x | High-frequency gain | 826L,M,N x x | Low-band gain S27L,M,N x x | High-frequency gain $28L,M,N x x | Low-band gain Short-circuit is marked with a circle Explanation _§22L,M,N: The open state double the total gain. S23L,M,. S24L,M,] S25L,M,| S26L,M,N: S27L,M,N! S28L,MN: 7¥/1000 rpm is set in the open state. 7¥/2000 rpm is set in teh short-circuit. Be sure it is short-circuited. Should it be short-circuited, the high-band gain decreases. Effective when oscillation is generated in the high band (200 to 400 Hz) Should it be short-circuited, the low-band gain decreases. Effective in a full-closed circuit, or when inertia is large. Should it be open, the high-band gain increases. Should it be short-circuited, the low-band gain decreases. Effective when inertia is large. * Whenever the setting of a compensating circuit is changed according to this table, please make contact with our service offices. - 137 -FANUC AC SERVO UNIT MAINTENANCE MANUAL (8-54765E) Revision Record +g6 | * Adding of description for 2 axes control servo unit Fa] * |= Ataf doretgelnfor inte coutrol os dak OL | Dee.,*83 | Edition] Date Contents Edi Date Contents

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