65245EN-Beta Parameter Initialization

B–65245EN/02

START–UP PROCEDURE

3. START–UP PROCEDURE

3.4
PARAMETER
INITIALIZATION

(1) Preparation prior to servo parameter initialization
Before servo parameter initialization, check the following:

1. Servo motor model (Example: β 6/2000)
2. Amount of travel per motor rotation (Example: 10 mm/motor revolution)
3. Number of pulses per motor rotation (Example: 10000 pulses/motor revolution)
   A detection unit is determined from 2 and 3.
   Detection unit = (Amount of travel per motor rotation)/(number of pulses per motor rotation)

(2) Procedure for servo parameter initialization

1. Turn on the power to the servo amplifier.
2. Turn on the power to the host controller in the emergency stop state.
3. Perform parameter initialization from the host controller. Set values for the parameters listed below. (See 5 to 10.)

4. Set initialization bit DGPR to 0.

When this bit is set to 0, a power disconnection request alarm (alarm No. 0) is issued. However, 5 through 10 below can be set.

5. Set a motor type number.
   In parameter No. 30, set the motor type number of the servo motor to be used.

SVU–12

SVU–20

SVU–40

SVU–80

6. Set CMR
   In parameter No. 32, set a factor by which the amount of travel specified in the CNC is multiplied for the servo system. CMR = Command unit/detection unit

7. Set the number of pulses per rotation.
   By allowing the number of position feedback pulses from a pulse coder to be varied, a detection unit can easily be set with respect to the deceleration ratios and leads of the ball screws.

Example of setting: 10μ m detection in a semi–closed loop

Example of setting : 1/100 degree detection with a deceleration ratio of 10:1 for a rotation axis

8. Set the direction of motor travel in parameter No. 31.

9. Set the reference counter capacity. (Parameter No. 180)
   Set the reference counter capacity when performing a reference position return operation based on the grid method. Set the number of position pulses per motor rotation, or set that number divided by an integer.
   Example of setting: α and β pulse coders, semi–closed loop (1 μm detection)

10. Turn the power to the CNC off, then back on again.
    This completes servo parameter initialization.

11. When using an α or β pulse coder as an absolute pulse coder, use the procedure described below.
    1. 1) Set the following parameter, then turn off the power to the CNC.

APCX (b7)

1. An absolute position detector is:
2. 0 : Not used
3. 1 : Used

1. 2) Check the connection of the pulse coder battery, then turn on the power to the CNC.
2. 3) Absolute position communication is performed, then a reference position return request is indicated.
3. 4) Rotate the servo motor through one or more rotations by jogging.
4. 5) Turn the power to the host CNC and servo amplifier unit off, then back on again.
5. 6) Absolute position communication is performed, then a reference position return request is indicated.
6. 7) Perform reference position return.

Content Credit: FANUC Product Manual