Fanuc Encoder CalibrationEnglish

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ABS Encoder installation and calibration

For FANUC series

Doc. NO. 7-E01-147 TYPE Tech manual Department R&D Ver NO. 3 Update NO. Update Date 2009/6/1 Pub. Date Pub. NO. Sec. NO. Normal FILE NAME 7E01-147.doc

Handle Examined Approbate Name Date 2009/6/2 2009/06/02 2009/6/13

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7-E01-147 FANUC ABS Encoder installation & setting

INDEX 1. Purpose............................................................................................................................................... 3 2. Scope................................................................................................................................................... 3 3. Document reference ........................................................................................................................ 3 4. Process diagram .............................................................................................................................. 3 5. Content................................................................................................................................................ 4

5.1 Installation for servo motor ........................................................................................... 4 5.2 FANUC (Dog type) ............................................................................................................ 5 5.3 FANUC (non-dog type).................................................................................................... 8

6. Appendix .......................................................................................................................................... 10 6.1 Function of write enable for protect parameter . ........................................................... 10

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1. Purpose When the machine sent to customer, we have to instruct the installation process for servo motor assemble and absolute position calibration.

2. Scope FANUC 0I-MB/15-MB/15I-MA/18-MC/18I-MB/21I-MB Controller (dog type) FANUC 0I-MB/15-MB/15I-MA/18-MC/18I-MB/21I-MB Controller (non-dog type) FANUC 0I-MC/0IMC-PB/ 0I-MD/0IMD-PB Controller (dog type) FANUC 0I-MC/0IMC-PB/ 0I-MD/0IMD-PB Controller (non-dog type)

3. Document reference Technique document 7-E01-140 setting for absolute encoder. Technique document 7-E01-139 ABS POSITION METHED SETTING

4. Process diagram Installation for motor and

cable

Confirm the setting of parameter

Zero return

Confirm the position of

axis

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5. Content

When you execute axis setting,you have to set by individual ,set all axes in the same

time wewe prohibited.

5.1 Installation for servo motor 5.1.1 Install the servo motor to the stand 5.1.2 Connection for the power cable of servo motor and the joint of feedback cable. 5.1.3 Depend the indicate symbol, and focus to right position for coupling.

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5.2 FANUC (Dog type) 5.2.1 After turn on the machinepress the soft key SYSTEM select [ PARAM ]

1815 INPUT [ NO. SRH ]

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Confirm the setting of absolute value parameter 5.2.1.1 #1815 bit5 (APC) set 1 start the setting of absolute value.

5.2.1.2 if the original setting #1815 bit5 is 0 5.2.1.2.1 Reference the appendix 6.1 cancel the function of write enable for protect

parameter 5.2.1.2.2 Move the title #1815 bit5 (APC) become white revealinput 1 and then

press INPUT set into1 start the setting of absolute value parameter

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Appear ALARM 000 PLEASE TURN OFF POWER Turn off machine and then return on the machine.

5.2.2 turn the machine finishedappear ALARM 300 APC ALARM : AXIS NEED ZRN execute

5.2.3 Turn to ZRN modeselect the traveling key of + directionit will stop when the limit switch touch the dogthe LCD of zero return finished will light on. The zero return and the setting of absolute value were accomplish.

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5.2.4 Confirm the setting facilitate or not. 5.2.4.1 Consult with step 5.2.1enter the drawing of parameterconfirm #1815 bit4

(APZ) had set into1. 5.3 FANUC (non-dog type)

5.3.1 Press the soft key SYSTEM select [ PARAM ] parameter No. INPUT [ NO. SRH ] #1002 bit 1DLZset into 1setting parameter for each axis OR #1005 bit 1DLZXset into 1separate setting parameter for each axis. When DLZ of parameter No.1002 is 1DLZX is disabled.

5.3.2 Press the soft key SYSTEM select [ PARAM ] 1815 INPUT [ NO. SRH ]

5.3.3 Confirm the parameter setting of absolute value. 5.3.3.1 #1815 bit5 (APC) set into 1 setting of absolute value started. 5.3.3.2 If the original parameter #1815 bit5 is 0

5.3.3.2.1 Reference the appendix 6.1 cancel the function of write enable for protect parameter

5.3.3.2.2 Move the title #1815 bit5 (APC) become white revealinput 1 and then press INPUT set into1 start the setting of absolute value parameter

5.3.2.2.3 Appear ALARM 000 PLEASE TURN OFF POWER turn off this machine, and then turn on again.

5.3.4 Turn to mode of (HANDLE)make use the pulse generator move the axis to the right position 0 of indicate symbol.

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5.3.5 Consult with the item 5.2.1press the soft key SYSTEM select [ PARAM ] 1815 INPUT [ NO. SRH ]

5.3.6 Memory setting for absolute position. 5.3.6.1 Let the #1815 bit4 (APZ) set into1memory this position is zero point

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6. Appendix

6.1 Function of write enable for protect parameter .

Cancel the function of write enable for protect parameter .when you execute the

parameter modification . Please operation carefully, to avoid the controller shut-down by wrong operation. When you finished setting, please restart the function of write enable for protect parameter.

6.1.1 Turn to MDI mode

6.1.2 Press the soft key OFFSET SETTING select [ SETING ]

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6.1.3 PARAMETER WRITE = 0 DISABLE ( protect) 1 ENABLE ( unprotect )

6.1.4 Appear ALARM 100 PARAMETER WRITE ENABLE

Fanuc Encoder CalibrationEnglish

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