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    Fanuc Encoder Calibrationenglish

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    dron13161
    Fanuc Encoder Calibrationenglish

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    Fanuc Encoder Calibrationenglish

    Uploaded by

    dron13161
    154 views11 pages
    Fanuc Encoder Calibrationenglish

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    © © All Rights Reserved

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    PDF, TXT or read online from Scribd

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    Fanuc Encoder Calibrationenglish

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    154 views11 pages

    Fanuc Encoder Calibrationenglish

    Uploaded by

    dron13161
    Fanuc Encoder Calibrationenglish

    Copyright:

    © All Rights Reserved
    Download as PDF, TXT or read online from Scribd
    Download as pdf or txt
    of 11

    http://www.hartf ord.com.

    tw
    E-MAIL:[email protected]
    Tel : 886-4-23592747
    Fax: 886-4-23592837 886-4-23593674

    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 陳淑貞 邱銘祥 林寶順
    Date 2009/6/2 2009/06/02 2009/6/13

    No 6, 6th Rd, Industrial Park , Taichung, Taiwan, R.O.C


    Page:2-11

    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

    7-E01-147 FANUC ABS Encoder installation & setting


    Page:3-11

    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

    7-E01-147 FANUC ABS Encoder installation & setting


    Page:4-11

    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.

    7-E01-147 FANUC ABS Encoder installation & setting


    Page:5-11

    5.2 FANUC (Dog type)


    5.2.1 After turn on the machine，press the soft key SYSTEM select [ PARAM ] →
    1815 INPUT → [ NO. SRH ]

    7-E01-147 FANUC ABS Encoder installation & setting


    Page:6-11

    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 reveal，input 1 and then
    press INPUT
    set into1 →start the setting of absolute value parameter

    7-E01-147 FANUC ABS Encoder installation & setting


    Page:7-11

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

    5.2.2 turn the machine finished，appear ALARM “ 300 APC ALARM : AXIS NEED
    ZRN ”，execute

    5.2.3 Turn to ZRN mode，select the traveling key of “+” direction，it will stop when the
    limit switch touch the dog，the LCD of zero return finished will light on. The zero
    return and the setting of absolute value were accomplish.

    7-E01-147 FANUC ABS Encoder installation & setting


    Page:8-11

    5.2.4 Confirm the setting facilitate or not.


    5.2.4.1 Consult with step 5.2.1enter the drawing of parameter，confirm #1815 bit4
    (APZ) had set into”1”.

    5.3 FANUC (non-dog type)

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

    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 reveal，input 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.

    7-E01-147 FANUC ABS Encoder installation & setting


    Page:9-11

    5.3.5 Consult with the item 5.2.1，press 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 into”1’，memory this position is zero point

    7-E01-147 FANUC ABS Encoder installation & setting


    Page:10-11

    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 ] →

    7-E01-147 FANUC ABS Encoder installation & setting


    Page:11-11

    6.1.3 PARAMETER WRITE = 0 → DISABLE ( protect)


    1 → ENABLE ( unprotect )

    6.1.4 Appear ALARM “ 100 PARAMETER WRITE ENABLE “

    7-E01-147 FANUC ABS Encoder installation & setting

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