AC Servo Systems Maintenance Manual GE Fanuc Automation GFZ-54765E/02WARNING ‘The product described in this publication may employ bazanious voltages or might create other conditions that could, through misuse, inartention, or lack of understanding, result in personal injury, or damage to the product or to other equipment. It is imperative, therefore, that personel involved in the installation, ‘maintenance, or use of this product understand the operation of the product and the contents of this publication, ‘This document is based on information available at the time of its publication. While effors have been made to be accurate, the information contained herein does not purport to cover all details or variations in hardware and software, nor to provide for every possible contingency in connection with instalation, operation, and maintenance. Features may be described herein ‘which are not present in all hardware and software systems. GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made. GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory with respect to, and assumes 20 responsibility for the accuracy, completeness, sufficiency, or usefulness of the information contained herein. No warrantics of merchantability or fitness for purpose shall apply. ‘©Copyright 1989 GE Fanuc Automation North Amerie, Ine.CONTENTS I. AC SERVO UNIT FOR 1 AXTS 1, STRUCTURE ....-++ 1.1 Models and Designated Specifications of Unite v....++ 2. CONNECTIONS .... 2.1 Connection Diagram 2.2 Detailed Servo System Connection Diagrams . 1 Details of connections of cable Kl 2 Details of connections of cable K2 . 3. Details of connections of cable K3 . 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 K7 8 Connections of separate regenerative discharge unit .....-- jonnection of Power Supply Transformer Tap .-... 1 Primary side connection .. 2 3 1 2 3 4 5 Connections in the power supply transformer ....... Motors and power transformers employed for each axis ....... nection Diagram of Velocity Control Unit .... For Model 2-0, 1-0 (A06B~6050-H002) For Model 0, 5 (A06B-6050-H102) ...... For Model 10, 20M, 20, 30 (A06B-6050-i103, H113, HLO4) In case Model 30R (AQ6B-6050-HO0S) . For Model 0 ~ 30 (AO6B~6050-HOO3, HO04) . ETTING AND ADJUSTMENT FOR VELOCITY CONTROL UNIT Setting and Adjustment for Velocity Control PCB 1 Parts location 2 Setting terminal . 3. Variable resistor 4 at 1 1 1 1 Check terminals . jock Diagram of Velocity Control Unit .... Bi OUBLESHIOOTING . Protection and Fault Detecting Functions . Troubleshooting ..+++++eeseeeeee Ang "ARTS SPECIFICATIONS AND LOCATIONS ON VELOCITY UNIT .. Model 5-0 Velocity Control Unit (A0GB~6050-H301) . Model 4-0, 3-0 Velocity Control Unit (A06B~6050-H001) Model 2-0, 1-0, Velocity Unit (AO6B-6050-H002) . Model 0, 5 Velocity Unit (A06B-6050-H102) . Model 10 Velocity Unit (A06B-6050-1103) Model 20M Velocity Unit (A06B-6050-H113) . Model 20, 30 Velocity Unit (AOGB—6050-H104) . Model 30R Velocity Unit (A06B-6050-H0050) . Model 0, 5, 10 Velocity Unit (AQ6B-6050-M003) .. 0 Model 20, 30 Velocity Unit (A06B-6050-H004) .. IZ. AC SERVO UNIT FOR 2 AXES .. 1, STRUCTURE .... 1,1 Types of Units and Designated Specifications ......2, CONNECTIONS 2.1 Connection Diagram .......045 Detailed Servo System Connection Diagram . Details of connections of cable Kl . Details of connections of cable K2 Details of connections of cable K3 Details of connections of cable Ka 245k Details of connections of cable KS . i sent -6 Details of connections of cable K6 aaah 7 Details of connections of cable K7 Connection of Power Transformer aie teen Connection Diagram of Velocity Control Unit . 2. 1 2 2.3 2.4 2.5 2.6 2.7 2 2. 2 2. 2. es 2 2. 3 cf 3. 3b ETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT ..++.+++45 Setting and Adjustment of Velocity Control Unit PCB ... 1 Parts location 2 Setting terminal .... 3. Variable resistor ..... 4 1 is 1¢ 1 +1.4 Check terminals ..... cock Diagram of Velocity Control Unit « 8 1 3y 3. 3.1, 3.2 Bi 4, TROUBLESHOOTING ..+.+sseeeeeeeeeseees 4.1 Protection and Fault Detect Function 4.2 Troubleshooting « 5. PARTS SPECIFICATION AND LOCATIONS ON VELOCITY UNIT 5.1 Model 1-0/2-0 and Model 1-0/2-0 (AQ6B-6050-H201) «+... 5.2 Model 1-0/2-0 and Node1 0/5 (A06B~6050-H202) 5.3 Model 0/5 and Model 0/5 (AO6B~6050-H203) .... III. AC SERVO UNIT FOR 3 AXES ... Vs. STRUCTURE 4. cesses sdprepeedecnrsade 1,1 Types of Unit and Specification Number ONNECTIONS ..... Connection Diagram tailed Servo System Connection Diagram . Details of connections of cable Kl .....+ Details of connections of cable K2 . Details of connections of cable K3 se... :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 K7 ...5 +8 Connections of separate discharge unit .. Connection of Power Transformer .. c onnection 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) . 3 Model 0/3, Model 10 and Model 10 (AQ6B-6050-H403) . 4 Model 10, Model 10 and Model 10 (AQ6B~6050-H404) 3, SETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT .. 3.1 Setting and Adjustment of Velocity Control Unit PCB .... 3.1.1 Parts Location ..... 3.1.2. Setting terminal3. Variable resistor +4 Check terminals ..... a Block Diagram of Velocity Control Unit ... 3. 31 3.2 4, TROUBLESHOOTING . 4.1 Protection and Fault Detecting Function 4.2 Troubleshooting « 5, PARTS SPECIFICATION AND LOCATIONS ON VELOCITY UNIT ... 5.1 Model 0/5, Model 0/5 and Model 0/5 (A06B~6050-H401) . 5.2 Model 0/5, Model 0/5 and Model 10 (AQ6B-6050-H402) 5.3 Model 0/5, Model 10 and Model 10 (AO6B-6050-H403) ...... 5.4 Model 10, Model 10 and Model 10 (AQ6B-6050-H404) .....+5 APPENDIX APPENDIX 1 1, REVERSE CONNECTION . 1.1 Connection and Rotational Direction . 1,2 Method se... APPENDIX 2 e004 © SERVO MOTOR MAINTENANCE Outline ... Acceptance and Storage « Mounting .. Replacement of Pulse Coder ........ 2. COMPENSATING CIRCUIT SETTING FOR AC SEVO UNIT .. 115 116 7 119 119 119 120 120 121 122 123 125 127 127 127 127 131 131 131 131 131 133, 1351, AC SERVO UNIT FOR 1 AXIS This chapter described the maintenance of AC servo unit for | 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 velecity 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 axes NC system. AC servo motor Xeaxis velocity control unit Ne control unit Zaxis velocity control unit Power transformer 3-phase input armbisfigeae bath is figure indicates an example when Power supply two axes employ one power transformer in common, 1.1 Example of AC Sorvo Unit Structure1.1 Models and Designated Specifications of Units Toble 1.1 (al Name Specifications For Model 5-0 -, A068~6050-H301 | " -Ho01 For Model 4-0, 3-0 Velocity 102 control 103 uaa: For Model 20M “HHL For Model 20, 30 -HIO04 (Note 3) For Model 30R " -HOOS For Japan [Teenaformer AA | _AD65-6050-n011 200V, 220v|Transformer MB | _A065~6047-W012 1 [Transformer NC HOLS Power [For other |. a " transformer i countries |{t#nsformer MBE tee | 190v-550v [Transformer NCE 4023 | Common Transformer AAE A06B-6050-HO21 | 190V-550V |Transformer ABE " -HO22 | [Transformer ACE " =H023 Separate regenerative discharge unit (Note 4) "#050 Input connector Soldering type " =K100 Gore's) Crimp style type "-K103 Spare part A " -K101 Note 1. The specification of unit shipped before May in 1984 4s ‘A068-6050-H003. Note 2, The specification of wnit shipped before May in 1984 is AD6B-6050-HO03. Note 3. The specification of unit shipped before May in 1984 ts AD6B-6050-HO004. Note 4. The unie (AQ6S-60S0-H00S) for Model 30R normally needs the separate regenerative discharge unit. Note 5. 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 each axis. Table 1.1(b) shows the parts included in input connector (Soldering type). Teble 1.1(c) shows the ports included in input connector (Crimp style type)Table 1.1 (b)_ The Parts Included in input Conneetor (Soldering Type) Nane Q'ty | Use Model FANUG specifications Connector and cover 1 | owt | MR-20LFH* ‘K631.-0001-0134/02 Connector and cover 1_[_ ons | me-20c0e ‘A63L~0001-0134/15 Connector and cover 1 | one [mR-2onwrn* | a63L~0001-0134/05 Housing 1 | cn2_| susopw—se* ‘A63L-0001-0202/6W Pin 5 | on2z [Rci6n-scr3** | a63L-0001-0226 Table 1.1 (c)_ The Parts Included in Input Connactor (Crimp Style Type) Name Q'ty | Use Model FANUC specifications Connector and cover | 1 | CNI MR-20L, MRP-2OFOI* ‘AG3L~0001-0134/22 Connector and cover | 1 | CNS MR-2OLW, MRP-20M01# ‘A63L~0001-0134/35 Connector and cover | 1 | cN6 MR-20LW, MRP-20F01* ‘A63L~-0001-0134/25 Contact. 40 |oni,6| mep—P112* ‘A63L-0001-0135/FL12 Contact 20 [ons | Mep-mi12* ‘A63L-0001-0135 /M112 Housing 1 [ona | susepw—se* ‘A63L.~0001-0202/6H Pin 5 [ona | Rcien-s230%* ‘A63L-0001~0127/823A * Manufacturer: HONDA Tsushi ‘** Manufacturer: Burndy Japan n Co., Ltd. Co., Ltd.2. CONNECTIONS 2.1 Connection iagram Fig. 2.1(a) is a standard connection diagram. K6 NC control unit K2 Electromagnetic Baieeg, NE Tore Power source a transformer acs yO Ys “56 ‘Terminal screw M4 (When 3.5mm? cable ig used, use erimp style tern nal 5.5~S4.) Velocity contro! unit ee KB Machine side Servo motor KS Emergency stop EMG ee SIS Detector AC 100v 10% a 13% 16 J Fig. 2.1 2) Note: Cable K3 is not needed for velocity control unit of 5-0.Pig. 2.1(b) shows connection diagram when the separate regenerative discharge unit is employed. [NC control unit Electromagnetic Power contactor Fuse souree U ‘Terminal screw M4 (When 3.5mm? cable is used, use crimp style terminal 5.5~S4,) # K6 Velocity control unit Power transformer [Joe Ks. Machine side Serva motor Detector KS Emergency stop EMG FHo— Ac 1o0v Ka HOR a15e 18 Fig. 2.1 (9)2.2. Detailed Servo System Connection Diagrams 2.2.1. Details of connections of cable K1 Velocity control unit NC conto! unit vewo_} ew rt cf cian ie i over} owns ovis J cnus he vay! Yew) ae vey? Y-cnwn NBL 1D cnya sua Yes A PRoVi QP cnn | 4gey Haat fe PY Ewa cn) Cable employed: For VEMD/EC, 0.1 ~0.18mm! paird shielded cable. For others; 0.18 ~ 0.3mm? 200V vinyl wire Connector employed MR20LFH (Honda Tsushin Kogyo, Co. Ltd.) Note: These signals are employed from edition c of velocity control PCB (A208-1000-0560). These are not employed in velocity control unit for Model 5-0, 4-0 and 3-0. Vinyle sheath Shield Twisted Paper tape —— oe air Shield — ~__ Shiett Pve Sheath ? Drain wire Cotton fiber ® io Fig. 22.1 Be2.2.2. Dotails of connections of cable K2 Power transformer Ist 2nd 3rd axis axis axis ee | 1A j 1H | rom 4 {rons 1 Velocity control unit Screw terminal Mé \ Fig. 2.2.2 2.2.8 Details of connsctions of cable K3 connector employed SWSEPWS RCI6M-SCT3 (ippon Burndy ©) { } Power transformer R 5 t ‘Velocity control unit rua) oS Ti) Seow M4, Cable employed: 0.75mm? (30/0.18) 200 heat-esistive viny! cable Fig, 22.8 Table 2.23 (a) Motor employed Cable enployed Model 3-0, 4-0 0.75 mn? Model 2-0, 1-0 eines Model 0, 5 bs 600v 3 heat-resistive vinyl cable Model 10, 20%, 20, 30 3.5. am Model 30R 5.5. mmTable 2.2.3 (b} Input voltage of Sote Seeiayee velocity control unit Yodel 4-0, 2-0, 1-0 ac 120¥ Model 3-0 Model 0, 5 Model 10, 20M, 20, 30 rem Model 30R 2.2.4 Details of connsctions of cable KA Cabinet ‘Velocity control unit 1008 710) ac 100v —______} Te 16 ojo] EMG Contact OFF at emergency stop Zari (Cable material: 0.75mm? 200V vinyl wire, Fig, 22.4 2.25 Details of connections of cable KE (2) For Model 5-0, 4-0, 3-0 Velocity control unit 715) sasew Mas : / si spe tena Cable material; 30/0.18 (0.75mm) Color of reed wire Red White Black Connect motor body 4-conductar vinyl cord ee<¢ Fig. 2.25 (a) = 10 -(2) For Model 2-0, 1-0 Velocity control unit T16) Model 2-0 1-0 4 Zam swrr- 43-00 Cable material: 30/0.18 (0.75mm2) “Hirose Electric, Co, ‘conductor vinyl cabtyre cable Guide key Cannon Fig, 2.2.5 (6) eta (3) For Model 0 and 5 Velocity control unit 715) ‘Connector MS31068 18-10S (Straight type) Employed MS3108B118-10S (Elbow tyne) screws \ ak eetwte oan 77035 abe ap HESOST 108 4-conductor vinyl cabtyre cable seer ‘Cannon DO OA pees Fig. 22.5 (c) (4) For Model 10, 20M, 20, 30 ‘Velocity control unit 7115) Model 10, 20, 20M, 30 Connector MS3106B24-10S (Straight type) Screw Ma Employed MS3108B22-22S (Elbow type) CCable material: 3.5mm? (45/0.32) ae aaa conductor vinyl cable Guide key Gimmes DOT OA co on Fig. 2.2.5 (a) -u-(5) For Model 30R Velocity control unit Model 30R Connector MS3106824-10S (Straight type) Screw M4 Employed MS3108B 24.105 (Elbow type) Cable clamp MS3057-16A Cable material: $.mm? (70/0.32) ‘eonductor vinyl cabtyre cable Guide key Cannon Fig. 2.25 (e) connector 2.2.6 Detsils of connections of cable K6 (1) Model 5-0 Velocity control unit Motor model 5-0 Ns (1).(29.08) NS (4),(59,(6) Hl cxsiny nd axsao [| | arowaynit ens) {|| Jorangerwnite exe {| [retoviwnit NS (16) 1} | [tack chin) Ns (18) Tt | [owe Ns (15) TT} [ereen Ns (20) } | Black (thick) Connector: MR-20LWMH_ Fig. 2.2.6 (a) -We-(2) Model 4-0, 3-0 Motor Gray, Gray/White Red, Red/White Velocity control unit CNS(1).2).3) J Note (CNS (To) Violet/White ens CD) Brawn/White (Ons (12) Orange/White ens (13) Yellow/White CNS (14) ONS (15) CNS 8) Ns (17) ‘CNS (18) ‘CNS (19) ‘CNS (20) Green/White Black Black/White Blue Blue/White Connector: MR-20LWMH * Fig. 2.2.6 (o) -B-(3) Model 2-0 - 30R Velocity contro! unit CNS (,2)8) CNS (4,6),06) Connector employed: MR-20LWMH ‘Cannon MS3106B20-29SW (Strsight type) (Honda Tsushin Co., Lid.) ‘connector “Ms3108520-29SW (Elbow type) Fig. 2.2.6 (o) Cotton fiber —~___Drain wire Guide key Cannon connector 2.ig.<.22.7 Details of connections of cable K7 Velocity control NC control unit unit _EN 6,218) ‘Connector employed: MR-20LWFH (Honda Tsushin Co., Ltd.) Catton fiber Paper tape Sheath (Black) Fig. 2.2.7 (a) aise2.2.8 Connections of separate regeneretive discharge unit (1) Details of connection of separate regenerative discharge unit. Note 1) Disconnect the jumper wire from terminals T2(5)-T2(6) in unit HOOS and H004, T2(4)-T2(5) in wnit 11103, H113, and HJ04. When the separate regenerative discharge unit is employed, Cable employed: 2.0mm? (37/0.26) 60GV heat-resistive vinyl cable Lee Note 1) HCA Velocity control unit Serow terminal M3.5 rai) Regenerative ate discharge unit Screw terminal Ma Fig, 2.2.8 (a) =i6-Q) Details of cable K2 For connections of cable K2 in 2.2.2, change the connection of TOW! and TOH2 as follows. Power transformer 41 (Thermostat contact) 51 Screw terminal M4 Cable employed: 0.7Smm? (30/0.18) 200V heatresstive vinyl cable Velocity control unit (Unit to connect terminals 51, 52 of transformer) ewetll CNza CNG) CNet en26) Connector employed SMSEPW-5, RCI6M-SCT3 (Nihon Burndy Co.) 731g). (Thermostat contact) Regenerative discharge unit, raw. ae / Screw terminal M4 Fig. 22.8 (b) -17-23 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. 2.3.1. Primary side connestion 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) 7 Connection of primary-side Supply voltage REA 200 U-2, V4, W6 2200 Url, V-3, W-5 (2) For export model power supply transformers MBE, and NCE. Tabla 2.3.1 (b) Connection of primary-side terminals Supply voltage Connection of power Strapping trans- supply cables U, V, W | former terminals 190v U-3-7, V-L1-15, W-19-23 (Common to 200v) 4-B-12-16-20-24 230V U-2-6, V-10-14, W-18-22 (Common to 220V) 380v u-3, V-1L, WI9 4-7, 12-15, 20-23, 8-16-24 420v U-3, V-11, W-19 4-6, 12-14, 20-22, (Common to 415V/440V 8-16-24 460v U-2, V-10, W-18 4-6, 12-14, 20-22, (Common to 480V) 8-16-24 550v U-L, V-9, WI7 4-5, 12-13, 20-21, 8-16-24 aks.(3) For common model power supply transformers AAE, ABE and ACE. Table 2.3.1 (c) 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 U6, V=14, WH22 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, 24-4 Delta connection 380v U-6, VH14, w-22 4200 U-4, V-12, W-20 460 U-3, V=1l, W-19 8-16, 16-24 or (8-16-24) 4g0v U-2, V=10, W-18 550V U-1, V-9, WHI7 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. 4p232 Connections in the power supply transformer Domestic models Connections for power supply Conneetions for power supply ‘Terminal array of power supply transformers AA, MB, and MC transformers AA 31 to 36, transformers AA, MB, and MC (Connection for 31-36 of AA is as shown right.) \ u ee {IIE fust-oae Tar? repay py, finsy 28 Taare WIE | boss =| avs poz0vf MILT ihe e pe pe sof wf ow | ww | a |W | aitate ents utr eanie Gate «) a ce #05005 26/08 20,30, 308 sect ng omit rice sale tenes weace [oor [sen Be E = E Pulse coder F/¥ gain setting = 5 L 5 a ae ¥ u Pulse coder pole number, and as 5 2 T | pais mater etelng ae i tu i - 38setting ‘Standard setting fants: ternirat ["2-0,1-0 [0]5 | 10 | 208 | 20,30 | son SY Compensation cireuit setting $22 823 e_fele VGHD gain setting (Note 6) 526 eo jefe[o]o | o | o [rw céreute sitter setting 825 e fefe[ ele | « |e 526 Conpensation circuit setting 827 828 529 $30 External analog current Limitter setting sa Connect GNL(19) pin and OF is . Ove alarm level setting sm ° ae ee ee Current feedback gain setting (Note 7) $36 ele| ole 337 Speed feedback gain setting (Note 8) 538 ele[ ole Compensation circuit setting = 395(b) PCB A20B-1000-0560 (Edition number E) rete 31206 ee Tian sng = re L IE L L ‘TOH setting (Note 1) | L L Loe L 33 i eo oh L | © | compansation eireuit acting ao [oe pe [oe pep | ane ails Gee oe pene os Pulse coder F/V gain setting =Setting Standard setting ae Remarks 20,20 [0,5 | 10,208 | 20,30 | 30k sa Conpansation circuit setting S22 323 ° fe Vor gain setting (Note 6) 5% © le | © | o | © | Fiv ctrevie Filter setting S35 eee [ae ie Compensetion ctreutt setting 827 528 $30 External analog current Limiter setting (c) PCB A20B-1000-0560 (Edition number C or D) Table 3.1.2 () Setting ‘Standaré setting eesas, 20,1-0 | 0,5 | 10 | 20,30 | sn st i e | 2 | t | t | totseteing (wore 0 82 L e |e [ £ [& | teatam setting (ote 2 si 1 Eth eal me oe eo = E | E | Ft | © | compensation etreuie setting 36 # a [ef a 37 W «[e*[« [a S10 W u [| w | # | m | qe aterm enable (Note 3) su # i fay] tr siz H # | & | © |W | current toop gain setting 813 ¥ @ [ae | |e S17 @ a sis H w | 8 [ | & | current timie setting 519 W «fafa [a 20 a uw | # | ¥ | ® | Absotute code output enable (ote 4) =4i =2-0,1-0,0,5,10,20,30,.30R 2000P 2500P ~ 30001 sa L a s Li Pulse coder pole number, and a a vu d) PCB A20B-1000-0560 (Edition number A and B) 5 Be ALL Hor AIL L Compensation circuit setting : ; - 42 -=0)1-0,0,5,10,20,30, 308 secctng eerninat Potse coder Remarks 20007 2500 30007 Zs * e . Pulse coder F/V gain setting 59 # L L sie L ¥ # Polse coder pole number, and 315 # L 1 pulse nunber setting 516 W 1 # Note 1, If either power transformer or regenerative discharge unit is connected actoss terminals CN2 (4) and (5), set SI to open (L side). If neither power transformer nor regenerative discharge unit is connected across terminals CN2 (4) and (5), set SI to short (H side). Note 2, Set 52 to open (L side), if the regenerative discharge unit is not mounted, and set it to short (H side), if the regenerative discharge unit is mounted. Note 3, Set S10 to L side, if it is needed to check with motor power cable disconnected, Note 4. If S20 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 4s 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, 7V/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 S35 and $36 are short-circuited, conversion of current feedback signals (CHIO, 11, 12) is 0,183 V/A. Note 8. If $37 is short-circuited, the rate feedback voltage is changed from 3V/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. IH Da Setting plug DL du (a) Setting of H side (o) Setting of L cide As(2) For Model 4-0, 3-0 (PCB A20B~1000-0590) Table 3.1.2(e) Pulse coder ing terminal |—s599p | sour | em setting terminal [~ro90p | 25008 = Remarks 81 R TOH setting (Note 1) $8 R OPEN | Pulse coder F/V Gain $10 1G alarm enable (Note 2) S15 L L__| Pulse coder 518 a H | pote number, pulse number setting 520 i Note 1, If power transformer is connected across terminals CN2 (4) and (5), set SI to open (R side). If power transformer is not connected across terminals CN2 (4) and (5), set SI 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 S32 at ll side. Note 4. The way of setting is shown as following Figures. yu Du Sting las [| Bh 1 (a) Setting of H side (b) Setting of L side TW TOR (c) Setting of L side (a) Setting of R side (3) For Model 5-0 [rerminal setting | Standard setting Remarks sl L TOH setting (Wore 1) 82 L Pulse coder setting (Note 2) 83 L ‘Absolute pulse coder setting (Note 3) Ey L TG, OVC alarm desable setting (Note 4) Note 1, I€ the power transformer connected to CN2-(4) and (5), set SI at L. If there is no connection, set $I at H. Note 2, If the pulse coder is 1000P/rev, set $2 at L, and if 2000P/rev, set it at a. Note 3. If the absolute pulse coder is used, set $3 at H, and if not used set it at L. Note 4, Tf 7G and OVC alarms are made invalid, set S4 at H. Note 5. Tf a 1000P/rev pulse coder is used, care should be taken in DMR setting. (DNR setting should be double that in a normal 2000P/rev pulse coder.) Spb3.1.3. Variable resistor Toble 2.1.3, Volune | Standard setting Remarks RV 40% Gain setting RV? e Offset voltage adjustment — RWS - Tachogenerator voltage adjustment | Rv = +50 power supply fine adjustment Note 1, RV2-RV4 have been adjusted before the shipment from works. Note 2. RV4 4s not employed after edition number F of PCB A20B~1000-0560. SiS3.1.4 Check terminals chee! rentck, | symbot Description cH 1 0.687 x velocity command voltage (Note 1) 2 0.8 x velocity feedback voltage (Note 2) 3 ov ov 4 ov jov 5 Conpensation circuit 6 7 R | R-phase current command a $s | S-phase current command 8 T | t-phase current command 4V/A for motor 5-0 10 te | R-phase current feedback | 2.4V/A for motor 4-0, 3-0 0.85V/A Zor motor 2-0, 1-0 n 1s | Sephase current feedback | 0.25V/A for motor 0,5,10,20M (Note 3) 12 IT ‘T-phase current feedback | 0,125V/A for motor 20, 30 0.1V/A for motor 30R 3 try | Tratangle wave (Note“4) 14 ER Error voltage (Torque command) 1s | sv | +5v 16 +15V | +15V 7 | -1sv | -15v 18 10RF | 1OV reference voltage Note 1. a = 0.344 when VHD is 7V/1000 rpm a = 0.687 when VCMD 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. KGNote 4. Triangle wave 12t15V 3602 20850 Note 5. Motor load currents (peak values) can be monitored using the sane conversion as CHl0-12. Effective value can be obtained by multiplying 1/72. - 47 -vets a nar sun yornuon ee oa wonodog, 1: alia ue |e up Beics snbiog _ J ri 2 eno x D0}9, oot TS ‘p07 5 st sins i pursue yusamy “aug TI odo ee U tC poyo spjou! oma ay HUN JonuED AyDo}eA 30 wesbeIQ >YoIg Ze sins4, TROUBLESHOOTING 4.1. Protection and Fault Detecting Functions The AC servo unit provides the following functions to protect the motor from being overloaded and also detecting abnormal conditions inside the servo loop. Table 4.1 No, | Kinds of functions | indications Description 2 | overtos Contacts! signal | If the tenperature of the radiation fin of the cones out at unit exceeds the set value to operate the connector CN1 | thermostat or if the thermostat of pover transformer operates, or if the thermostat of noter operates, this overlosd alarm is gonerated, 2 | Velocity feedback | Light-enttting | Tf the feedback cable is disconnected, TG lamp ¢isconnection aiode (LED) 1 | Lights. If 2 motor does not make x speedy start detection Lights because of extrenely large motor torque, the rotor 1s stopped by dynamte braking with thie alara lamp lit, 3 | Mo-use breaker 0m button of NFB | TF an abnormal current exceeding the operating is protruded current of no-fuse breaker flows, this NFB operates, causing the motor to be stopped by dynamic braking. 4 | High vottage alarm | LED HV Tights | If the DC voltage of the main power supply is abnormally high, the motor {s stopped by éynanic braking with HV lamp 1it, 5 | tow vottage starn | LED Lv 1ighes | If control voltage ie abnormally low, or {f the fuse for +5V on the PCB has blown out, the motor is stopped by dynamic braking vith LV lomp Iie. 6 | cireuie faut LED Hc tights | IF abnormal current flows to the main céreutt, Detection the motor is stopped by dynamic braking with HC lamp lit. LED DC Lights | TF the regenerative discharge circuit becomes defective, the motor 48 stopped by dynamic braking with DC lamp Lit. TF the acceleratfon/ eceleration rate is too high, DC Lights. 7 | overcurrent alarm | LEC OVC Lights | If current exceeding spectfted value is continuously applied longer than @ certain tine, the motor is stopped by dynanic braking with OVC lamp itt. =2e=42 Troubleshooting Troubleshooting and fault recovery are discussed in this section. The manual should be used to determine the causes of problems. (1) Overload alarm Teen Causes of troubles Check procedures Countermeasures PCR setting failure Check {f setting pin SL of PCE is set as specified, Set $1 property. Themostat of the serva transformer 4 operating, Remove the wires connected to transforser terminals SL and 52 and measure the resistence across then, (See section 2.3.2.) The normal value 18 10 ohms or less, if the eireuit is ‘open (nore than 100K), the thermostat is operating. If the thermostat is operating and the surface tenperature of the transformer is 80 to 90°C, check the motor current @uring cutting. If the surface texporature is 60° or less, the transformer is defective, Change the cutting conditions. Replace the transforner. Radtation fins of the unit are overheated. Gheck the motor current. Change the cutting conditions. ‘Thermostat of the servo motor 1s operating. Gheck the motor current. Ghange the cutting conditions. S69.(2) 76 alarm (3) Circuit breaker operates Teen | Causes of troubles Check procedures Countermeasures 1 | Motor power line is not | TF TC alarm occurs without | Reconnect power cable. connected to terminals | giving any move conand (5), (, (7) of after turning on the pover terminal board T1 of | supply, tt may possibly be velocity control unit, | caused by the disconnection or the motor power line| Failure. is disconnected hal Fvay. 2 | PCB setting failure Check the set condition according to 3.1, 3 | Putse coder feedback | Check the feedback cable. | Reconnect the feedback cable. signal is disconnected 4 | Motor current exceeds | Check the motor current. Change the cutcing Note | the ratings conditions Note) OVC alarm is detected after PCR A20B-1000-0560 edition number is d. other parts are defective in velocity control unit ten | Causes of troubles Check procedures Countermeasures 2 | ctrcute breaker ts The operating condition of | Reset the etreuit breaker operating the cireuit breaker is es after turning off che power illustrated below. supply, (IF the eireuit fof FEE] ts burton ts brealer cannot be reset soon, C//pratruded forvard | wait for about 10 minutes during operation. | before resetting it). DY} depress this button after turning off the power supply for resetting the ctreuit breaker. 2 | Diode module DS or Te eireutt breaker operates [Replace dioe module DS or Just when turning on the over supply after countermeasure in Item 1, velocity control unit. Mechanical loed is ‘abnornal Observe PCB CHO, HII or om2-cH3, 0 check fon an oscilloscope if the Ioad current. Of the motor exceeds the rated current during rapid Bode. Eliminate abnormal Toad of the machine eide, aise(4) HV alarm teen | Causes of croubles ‘heck procedures Countermeasures 1 | Impure AC power voltage | Check 1F the servo Repair tap connection ie higher chan transformer cape are specified properly connected, 2 | Serve motor is Check if the insulation Replace motor defective resistance is normal between the motor armature (power Line) and the body. 3 | toed inertia is Increase the acceleration/ excessive deceleration time constant 4 | Pop te defective HV alarm occurs without any | Replace PCB defect in Items 1, 2, 3. (5) LV alarm Tten | Causes of troubles Check procedures Countermeasures 1 | npur AC power voltage | Check {F the input AC power | Correct the tap connection is lower than specified | voltage and tap connection of servo transforner are correct. 2 | connection failure Gheck if 424¥, 45V, and 450 | Correct connections between servo of PCB are normal. Cheek if cransformer and PCB CN2 | servo transformer terminals a1 = 49 (AC 18V) and PCB C2 G, 2, 3) are connected properly. 3 | Fuse for +5v is blow | check if the fuse for 15V is | Replace the fuse blown. 4 | Pop is defective The LW alarm occurs without | Replace PCR any defect in item 1, 2, and i = 52-(6) HC alarm Teen Causes of troubles ‘heck procedures ‘Countermeasures Wrong connection of motor power Line NC slarm does not occur when turning on the pover supply after disconnecting the notor poer Line. (Since the gravity axis may drop in this case, support it or disconnect the drive cable of gravity axis brake) Reconnect the motor power Line correctly. Uf the motor power Line ts checked with disconnecting it, set setting terminal S10 to L side, otherwise TG alarm ‘Transistor nodule is defective Check If BC alarm occurs ven turning on the pover supply after disconnecting the power Line according to item 1, Turn off the power supply, renove PCB, and observe the right terminal of the transistor module by @ ctreuit tester. ‘The transistor module is defective, if the resistance between terminals {s several (within 109), Replace tranaistor module, ACheck resistance between C1-E1, C2 also becween EL, c2-e2. wicheck resietence between CL-E and also between 02-B2, Internal short-eireutt fetlure of motor windings Cheek motor windings for normal {nsulation, Replace motor POB is defective Tf HC alarm occurs without any defect in ftens 1, 2, 3, POR is defective. Replace PcB -535(7) DC alerm Teen ] Causes of troubles Check procedures Countermeasures 1 | Discharge transistor Ql | DC alarm occurs soon after | Replace transistor Ql. ie defective or POS ie | curning on the pover supply. | Replace PCR. defective 2 | Poe setting is improper | Setting terminal $2 1s set | Set 2 properly to L aide although the separate regenerative aischarge unit ts used. 3 | Frequent acceleration/ | Check {F the positioning Decrease the acceleration/ deceleration Frequency exceeds 1 - 2 deceleration Frequency by tines/sec at high speed. In | providing the dwell this case, DC alarm vill not ‘occur when the positioning frequency is reduced. (8) Servo ready signal is not output ten | Causes of troubles ‘Check procedures ‘countermeasures 1 | ac 100 1s not supplied | Check ££ AC 100V 1s supplied | Check the energency stop to velocity control across terminals No. (3) and | button on the operation panel unit (4) of terminal board T1 of velocity control unit. 2 | the velocity control | Check 1f red aterm LED For countermeasures against unit a in alam status | indicators Light on Fob or | these alarms, see (2), pot. w=) 3. | Pos control power Gheck the voltage at check | Change the tap connection of voltage +5V or #15V is | terminals cus, cis, servo transformer. abnormal (HI7-CH3 on PCB mounting Correct the connection disses between servo transformer and Check the connection between | PCB CH2, and replace PCB. servo transformer cerminals ‘and PCB CH2. 4 | nypria 10 H2 or relays | Check if relays RLYL and Replace PCB RLYL, RLY2 of PCB are | RLY2 are operating. defective 5 | circuit breaker off Check the indieating button | See (3). cireult breaker. eh te(9) Motor does not rotate when the move command is given. Tten | Causes of troubles Check procedure Countermeasures 1 | Power line is not TG alarm cceurs end the Connect the power line connected motor does not rotate at properly an. 2 | Enable signai (eNBLa, Check enable signals BIBL) are not applied (eweua, ENBL2) to PCR 3 | Pos is defective or PCB | Check iF +2V, 415V, and +5v | Replace PCB or reconnect the is not properly fon PCB are normal. cable properly connected 4 | Vetoctey commana Observe PCB Cit (voMD}-cu3 | Give the velocity comand voltage (CMD) fs not | (GND) on an oscilloscope. | voltage (VCHD) [_| rptse (10) ove alarm (This protection is applied from edition number C of velocity control PCB ‘A20B-1000-0560..) Tten | Causes of troubles Check procedure Countermeasures 1 | Feedback signal of Check Feedback cable Connect the feedback cable pulse coder is not connection. connected 2 | Motor current exceed | Check motor current. Change the cutting condition nominal value aa8.a=965 5. PARTS SPECIFICATIONS AND LOCATIONS ON VELOCITY UNIT 5.1 Model 5-0 Velocity Control Unit (A06B-6050-H301) Gi 220 f [FANUC LTD macmirsara 2 L 160 — - 160 max Fig. 5.1Ee 5.2 Model 4-0, 3-0 Velocity Control Unit (A06B-6050-H001) 2a rye | Resistor module | geouo001-0160 —~| P| ! a | Capacitor ° + A42L-0001-0121 CJ i. | ° i a OL o | a f se Aad ‘A65L-0001-0135/104 160 max Fig, 6.2ipo s 5.3. Model 2-0, 1-0, Velocity Unit (AO6B-6050-H002) Osh 230 Resistor module ‘AAOL-0001-0147 _ 1 (2) (21 fe) fel ‘Transistor module ‘ASOL-0001-0111 Resistor ‘AaoL-oo01- | o118/40ws02 Diode module ‘ASOL-2001- 0134 Magnetic conta:tor ‘ASBL-O001-0180 Spark kill ATAL-000) ‘0008/1050 Circuit breaker | ee ‘60L-0001-0143/15A PCB Ke vis Cecooncrd MOO Fig. 53 Connector ‘A63L-0001-0222/A1 Spacer ‘A98L-0004-0069/6N Heat sink ‘ASOL-6001-0240 Surge abso ‘ASOL-2001 Capacitor 139 ‘Ad2L-0001-0121 ‘Terminal block ‘A65L-00010134ages 5.4 Model 0, 5 Velocity Unit (AQ6B-6050-H102) | Resistor module NOL Poor era su Holder czy, PS seronmrwere] 2) CR] CEI! teasisor module Sp} caactor Capacitor Sri327ee H2 Pon ‘Transistor E+ Asok 0001 0097 |____ Connector U) ~near-eaor-oee2-a1 Heat sink Bag Magnetic contactor Resistor module TAOL= 0081-8178 [a Surge absorber Terminal block | aationarae | TCLerIT | Fig. 5.4> pe 5.5 Model 10 Velocity Unit (AOGB-6050:H103) ‘Terminal bosrd b-— Sy nes Holder 1 t Thermos ‘Transistor module | H A7L-t001-€013100 ——AsoL-0001-0088 Resistor module FE 4 S15 }— capacitor a Cont Diode module [amor aeieat ASOL-2001-0175 | | j—Tansistor__ Heat sink — ‘SOL 6001-0262 eO | -O sO ko sony "2 70 - a Ie] oS) assE-wwos avr wu Sb Terminal board LOOM Ziesasaaa Breaker NL 300T-OTATA Fig. 55 = |She 5.6 Model 20M Velocity Unit (A06B-G050-H113) { | Resistor module | ‘Aa0L- 0001-0184 ‘Thermostat A571 -0001-0043/100 “Transistor module 651-0001 -0224/A) Diode =2001-0097/ Transistor module A501 0001-009) L Lier fo Ragone AE y S| Capacitor stern Tat L | aot oi Sxl ee LA | ‘i z Connector \63L_-0001-0209/A1 yo aa Diode } Diode __aso =o01-0135 | : 4 Ht Capacitor Transistor Sepa rot A “Rig-OOO-OT3B/68| = ae A501 -0001-0099 ' = alee 81-000! -0256 ta Capacitor FETED) 5 Tz -0001 OTS 22 | Breaker sice song OU /K pe} Suet tober Restor modus 440, -0001-0177 SBC OOO OOE57EN Fig, 56 ‘Terminal board 4651-0001 -0154Gos 5.7 Model 20, 30 Velocity Unit (AU68-6050-H104) Lu Holder “aati at vou Transistor module Diode Diode module a501-5001-017 Magnetic contactor A Breaker AGOL-AOD1=O14I194, Fig. 5.7 Connector Heat shink \ spacer _ ‘AL, 8009-0060 48 Resistor module ‘Terminal board ‘esk-o061-0138aE 5.8 Model 30R Velocity Unit (AO6B-6050-H0050) os 240. Fan ‘ASOL-0001-0100/A Holder A98L-0001.0358 a = vl Terminal block — eI | stoner : Diode AsoL-2001.0097/0066 | ak Be | AS TL ODOT OIITEO bs Conner A63L-0001-0222/A1 Diode module Tol i O ! lO}! Ire oo) 4500 2001-0137 ; be one” xs01-0001.0103 | biose ale | AOL 2007-0135 8 Sper A961-0004.0069/6N — Tensor shel a fraz-0001 0178 | {ASOL-DO0TO09T Obs j—fapactorA421-0001-0100_ oH Seavey contactor Spark killer A74L-0001-0008/10D50 Aac-0001-018T [See ite Te 0001-80050 Sune absorber ASOL-2001-0139 i ga Ciro breaker ASOL-0001.0143/208 Pee. Fig.5.3 Toon ‘Terminal block A6S1-0001-0280 HU : oo 160 maxayer 5.9 Model 0,5, 10 Velocity Unit (A06B-6050-M003) 20 Terminal lock Resco 7|_Hovder ase1-oo0.0358 U = eee Lape | biode asoL-2001-0097/0066 D ‘A57L-0001-0043/100 a i Gonnestor A631-0001-0229/A01 i cupetor = Trantor | asian nae cot owale™ as0L-o001-0091 7x01 0001-0147 ‘Transistor ASOL-0001-0097 Diode module ‘ASOL-2001-0134 Diode — ‘ASOL-2001-0135 Resistor module J [asoL-0001-0146 ose Magnetic contactor__— ‘ASSL-0001-0181 Copacitor A42L-0001-0122 Spark killer | ‘A74L-0001-0008/10050 Capacitor A42L-0001-0121 Circular breaker ‘A6OL-000I-0143/158 Terminal Black A6SL-0001-0134 BAAaeA OT 150 | 160 max Fig. 5.9 Surge absorber ASOL-2001-0139Sine 5.10 Model 20, 30 Velocity Unit (A06B-6050-H004) ose 230 ‘Terminal block Baa AdOL-0001-0144 Resistor module ‘A401-0001- foias | ] | | | | i ‘A6SL-0001-0234/3P0) ‘Thermostat = ‘A57L-0001-0043/100 Diode module ‘ASOL-2001-0134 Diode ‘ASOL-2001-0135 Transistor ASOL-0001-0097 =~ | Magnetic contactor ‘S8L-0001-0181 Spark killer ‘ATAL-0001-0008) 10050 Circuit breaker DB AGoL-0001-0143/1s4 ~~ Fig. 5.10 Lf Oo fal = Holder A961-0001-0358 PR) SL tie asox-zoor-c0r7ru00c ry Connector AG3L-0001-0222/41 [to lo 5 bre £ Transistor | module” ASOL-0001-0103 OA |r Fy = [2 = Capacitor A42L-0001-0100 ° o —E—E—=—E—_—v Spacer A981-0004-0069/6N Heat sink ASOL-6001-0242 Capacitor A421-0001-0122 Surge absorber ASOL-2001-0139 Capacitor A42L-0001-0121 OOOO 150 160 mexII, AC SERVO UNIT FOR 2 AXES This chapter describes the maintenance of AC servo unit for 2 axes which drives AC servo motor Model 2-0, 1-0, 0, 5. Combination of two motors are described in Table 1.1.1, Refer to Table eles1. STRUCTURE The AC 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. ACservo moter X axes Transducer NC control Velocity control a unit ‘unit L_ (2axes type) Zaxes Transduces| S-phase input ower supply Power transformer Fig. 1 A Configuration Example of Using AC Sorvo Unit for 2 Axes SsApplicable motor Name Specifications Remarks L axis |M axis 2-0/1-0 | 2-0/1-0 | ao6n-6050-H201 Velocity —— rs control | 2-0/1-0 | 0/5 A06B~6050-H202 unit: aml es =p - ors o/s A06B~6050-H203 5 = Refer to 2.1 in Chapter 2 in the descriptions Oger Crane tarmer for FANUC AC SERVO MOTOR series (B-54762E). Input connector (Note) AO6B-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 Nane aey | Use Model FANUC specifications Connector + cover | 2 | CNIL,M | MR-20LFH * | _A63L-0001-0134/02 Connecter + cover | 2 | CNSL,M | MR-20LWMH * | _A63L-O001-0134/15 jonnector + cover | 2 | CN6L,M | MR-2OLWFH * | _A63L-0001-0134/05 | tousins 1 | cx2_| suseew-5 ** | _ A631-0001-0202/6" Pin 5 | on | Rclew-scra ** | 631-001-0226 * Manufacturer: HONDA Tsushin Co., Ltd. ** Manufacturer: Burndy Japan Ltd. - 70 -Table 1.1 (c) Parts Included in Input Connector (Crimp style type) Name Qty] Use Model FANUC specifications Connector + cover | 2 | CNILsM,N | MR-20L, mRP-20F01 * | 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-20LW, MRP-2OFOI* | A63L~0001-0134/25 | Contact 80 | oN1,6 | MRP-FIi2 * | A63L-0001-0136/8112 Contact 40 Ns | MRP-ML12 * | A63L-0001-0134/m112 Housing U cn2__| suseew-s | A63L-0001-0202/6W Pin 5 cnz[Rciey-s23a__—-** | ~A63L-0001-0127/8234 | * Manufacturer: ** Manufacturer: =a HONDA Tsushin Co., Led. Burndy Japan Ltd.-wu- 2. CONNECTIONS 2.1 Connection Diagram Note 1, For details of cables Kl - K7, see 9.1.1 - 9.1.7. Note 2, Connections of cables Kl and K7 differ according to NC control unit. For details, see the connecting manual for each NC, Flectromagnetic contactor Fuse Power yo LC F ‘Terminal screw Ma (When 3.5mm? eable i wed, Use enimp style terminal 358) souice —o AC38. ss Ww “5 - Velocity control ‘unit for 2x Machine a Seno moor («:) | @ | Sere motor Emergency stop Nt Trane Transducer2.2. Detailed Servo System Connection Diagram 2.2.1 Details of connections of cable K1 NC control mae <7, VoMDL.M| CNIL, MC) PDOOQOOC wenn ernc ae > = AAS | ovirt.a) enrL,ate) OVL2L. MY CNIL.MGo VDYIL.MD CNL. vebY2L.Md CNIL Mtn = ENBLIL,M] CNIL Mla id peo *~ PRDY ILM? CNL] + ROYAL, MT CNiL, Mod SALMIL, MJ, CNIL U6) Connector MR20LFH (Honda Tsushin Co., Ltd.) (For the connector terminal arrangement, see 8.4) Cable employed: ‘VCMDJEC; 0.1~0.18mm? paired shielded cable Other cases; 0.18~0.3mm? 200V vinyl wite Vinyle sheath Shield Paper tape ‘Twisted pair SeiQ) now: eee Fig, 2.2.1 -13-22.2. Details of connections of eable K2 Power transformer Ist 2nd 34d unit Velocity control unit 2.23 Details of connections of eable K3 Connector | sMsceWs employed RCI6M-SCT3 Power transformer 3 Velocity control unit Screw M4 (Cable employed: 2,0mm?, 600V heat-resstive viny! wire) Fig, 22.3, 2.24. Deulls of connections of cable K4 cabinet Velocity conteal unit n Ae NaS sae a 18 —o4-o——_} Contact OFF at ane emergency stop aor (Cable employed: 0,75 mm?, 200V vinyl wire} Fig, 22.4 = aa/a )Bumndy Japan Ltd)225 wm @) Details of connections of cable KS Model 2-0, 1-0 ‘Velocity control unit T1(5L,M) Model 2-0 1-0 44 ‘Screw Ma \ RMISWTP-45410) (Cable employed: 30/0.18 (0.75 mm?) “Hirose Electric CO. Gite key ‘4-conductor vinyl cabtyre cable Model 0 and 5 Velocity control unit 9 os yy T1(6L,M) THEM) screwma _\ Cable employed: 2.0mm? (37/0.26) ‘conductor vinyl cabtyre cable Fig. 2.2.5 (b) -15- Connector smployed Cable clamp MS30S7-10A MS3106B18-108 (Straight type) {1M83108B18-108 (Elbow type) Guide key fro on co OB2.2.6 Details of connections of cable KE Velocity contro! unit Motor crs. marae) | CNSL Mi) CNSL Mis) Connector employed: MR-20LWMHL (Honda Tsushin Co,, Ltd.) Guide key Braided wire ‘Twisted paired wire MS3102A 20-29PW Fig. 22.6 ain.2.2.7 Details of connections of cable K7 Velocity contro! unit CNGL M(D/218) PC Sea cnet ens, Man, eNeL.. m9 CNGL,MOD, 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, Hae2.4 Connection Diagram of Velocity Control Unit Sone CNB wasose NS stanse ONG nanose Pum cxecutr Eee Ham [| woe [ wave || “Hosen 4 : a TEAL ALAL | oma | Tom | som] 4149-1 200-0820 5L-6L 400m2 | 400mN} 120ma wn | Se IM-2MSM-IM| 170ma| s0mQ[ _S0ma [ace [aime] i2ima | 20m v \z s Eo om 5 uk al - wee ae a $ & : é or 7 3 rests E i } Etat ae Tee 3 a aT 1 ° 201 AC2-0/1-0 + AC2-0/1-0 3 202 ACB-O/1-0 + ACO/S H203 ACO/5 + acors,Ete 70 Nc (vewoy ‘A20B- 1001-0470 PcB2 10 POWER TRANSFORMER A16B- 1200-0520 PCB! 10 MoToR (PuLco} ONT peau (CNT 10 sexs) To we (Pucca)3, SETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT 3.1. Setting and Adjustment of Velocity Control Unit PCB 2.1.1. Parts location (1) A16B-1200-0520 (Mother board) ° cHiCM cn? 3 cHIEM ° cHTM CHIAL cng. CHICL ° CHIL A16B-|200-0520/ mmm A20B- 1001-0470 FS/ Fuse = 80 —(2) A20B-1001-0470 (child board) HIT p 16 HAM 5 HI2M HII sl HOM a] Oov “eh. tan ipo x0 on il] Owe woeO fp Jeno] J cneu| enon} | cnsw 3 g lo | frowe Ito | free 3 Motor Moto z - s 3 saa S34 a [ewe Tone | cNIM TeNc g q Note 1. Two PCB is | sets. Note 2, Part location on PCB may be changed without notice. -8l-3.1.2. Sotting terminal PCB A20B-1001-0470 A16B-1200-0520 Table 3.1.2 Terminal | Standard setting setting | 2-o/1-0 | 0/5 | ab he oe “Lt __| TOW setting (ore 1) | ie x x | DC alarm setting (Note 2) n | 4 | Te alarm enable _ ___ Gore 3) W mo! Sao Eae u W | current limit setcing iH H | Absolute code output enable (Note 4) e © | Compensation circuit setting @ o | VOMD gain setting (ote 5) ° | P/V circuit Filter setting sz * _| compensation circuit setting ° ° x x | F/V anput pulse width setting (Note 6) Le Gurrent Loop gain setting a W_ | 16 elarm enable ° | Setting for absolute pulse coder (Nate 7) x x | OVC alarm level setting Terminal Pulse coder ae mokteng 2o00r | 2500e | 3000P ut H__| puise coder F/V gain setting S9LM u L L S14L,M L W H ~S1SiM, H L L__| Pulse coder pole nunber and naa es a pulse number setting Note 1. I£ the power transformer is connected to terminals CN2(4) and (5), set Sl at L side. If the regenerative short-circuit state. state, Note 2. discharge unit is mounted, If it is not mounted, = 82s set $2 in set $2 in the open theNote 3. If check 1s required without connection of the motor power cable, set S10 at L side. Note 4. If S20 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 is set at H, the alarm code is always output. Note 5. If $23 is short-circuited, 7/2000 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 3¥/1000 rpm to 1.5V/1000 rpm. Normally, set it in the open state. Note 7. If ABS pulse coder is used, set S32 in the open state. Note 8. Setting operations are shown in the Pig. below. Setting plug DH ae pu Iga c (a) Set at H side (b) Set at L side e- “ea Lek tek (c) Set at Le side (d) Set at R side 3.1.3. Voriable resistor Table 3.13 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, H, N and RV3L, M, N are adjusted before shipping from the factory. Note 2. Settings of RVIL, M, and L are the sane regardless of the oumber of versions. ~ 83 -8.1.4 Check terminate Tabla 3.1.4 Check terminal | Symbol Contents CHIL,H vcMD | a x velocity conmand voltage (ore 1) CHL.M TSA | 0.8 x velocity feedback voltage CHIL,M ov | ov one ov | ov (ote 2) A Compensation circuit HEL, M CH7L,M R current command CHBL,M current command CHOL,M T current connand CHLOLM im current feedback | 1.18 A/V CHLILM IS current feedback | Motor 1-0, 2-0) CHI2L.M It__| T-phase current feedback | 4.00 A/V (Motor 0, 5) cna TR | Triangle wave (ote 3) CHIAL ER | Error voltage (Torque command voltage) (Note 4) cHIS av | HIG +isv_[_+15v cHi7 =isv | -15v Note 1. a = 0.344 when VOM is 7V/1000 rpm 2 = 0,687 when VCMD is 7¥/2000 rpm Note 2. Setting terminal 84 is on the PCB A16B-1200-0520, Note 3. Maveform of triangle wave is as follows. azeisv 360+302see ————] Wote 4. Motor load currents (peak values) can be monitored using the sane conversion as CHIO-12. Effective values can be obtain by multiplying 1/72. = 84 -ses [Regenere, tive control circuit Curent AC servo motor Detector T Tats Pracnic AP TERA | [oases ncsere motor peter z ©) Pale coder) So <* Dynamic _____ | fs iru Torque command omy ee Ly ee SY tsi command trom PO"D, pw | bprives pomece 7 Ente og. | Amputie eee So LJ ot BS Es ion detect carat To postion paver] | Rece control unit out + Beat | Cares Torque command Fig cana . oe soe Ae = Vetoity com To=>"Fioa or postion o%0, i Dag ory sel cael SL ar bate fe wy atti it tw co. *2 Amplifier circuit, cfm Bis T owe OF in Tete To position power |_| prec] contol unt cauit | —[ sea UN jonueg AyD0[9A Jo uBeIG OIG TE4. 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. = 86Saii Resor module Nameplate Norse breaker Tp ae Nameplate Terminal block \ Spank kar saree (Capacitor ‘Teansisor module (sag 0001 0148 Tem san et Connector ose Fin (LOzH-0S09-890¥) 0-2/0-L I@POW PUR O-Z/O-L IPPON L'S LINN A.L19073A NO SNOILV907 GNV NOLLVOISIOadS SLUVd “Ss- 98 - Spacer Restor module inde module Name we priate Ate Wpe2-0037 a Noruse breaker Magnetic contactor Transistor “Transistor module 3500-0091 -0094 apacitor TSP coe ety . {20ZH-0509-890¥) S/0 POW pur O-Z/O-L IPPON Z'saes Resistor module Diode module — Thermostat Magnetie contactor 13%. 0001 0083/1 Novfuse breaker “Transistor module ‘Ase -0001-0091 Connector Spat 50091-0389. “Tepmioa lok Fin ‘Reston sale (€0ZH-0509-a90¥) S/o IePOW pue s/o ePOW E°SIll, AC 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 Deed1. 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 aveileble 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. AC SERVO motor é: Kak ¥ axie NC contro! Velocity control ‘ait unit for 3 exes Oo, Pe Regenerative 3 phase input Power discharge power supply transformer unit Fig. 1-1. A Typical Configuration Using an AC Servo Unit for 3 Axes =93-1.1. Types of Unit and Spe ication Number Table 1.1 (a) Types of Units and Specification Number Applicable motor Name Specification | Remarks L M N 0/5 ors ors A06B~6050-401 Velocity 0/5 ors 10 A06B-6050-H402 control unit o/s 10 10 ‘A06B-6050-H403 Note 1 10 10 10 A06B-6050-H404 For Japan Transformer MB | A06B-6047-HO12 200V 220V Transformer MC | A06B~6047-HO13 Power For other Transformer MBE | A06B-6047-HO22 transformer | countries l9ov - 550v | Transformer MCE | A06B-6047-#023 Common to ‘Transformer ABE | A06B-6050-4022 ALL countries Note 2 190v - 550V | Transformer ACE | A06B-6050-4023 Regenerative discharge unit DCUA A06B-6050-H050 | Note 3 Regenerative discharge unit DCUB ‘A06B-6050-H052 | Note 4 Regenerative discharge unit DCUC A06B-6050-H051 | Note 5 Input connector (Soldering type) A06B-6050-K202 | Note 6 Input connector (Crimp style type) 4068-6050-K203 | Note 7 Note Specification number differs according to a motor conbination. Note 2, If the specifications of the velocity control unit are A06B-6050-H401 or -1402, one of transformers MB, MBE and ABE should be used. If the specifications of velocity control units are A06B-6050-H403 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-H4O1. 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. 2.94 =Note 6. Input connector includes connectors to be employed on the connecting cables to the velocity control unit. One set should be used for 3 Parts contained in the input connector (soldered type) are indicated in the Table 1.1(b). Parts contained in the input connector (crinp style type) are indicated in the Table 1.1(c). Table 1.1 (b} Parts Included in Input Connector (Soldaring 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-20LWm * | A63L-0001-0134/15 Connector + cover | 3 | CN6L,M,N | MR-20LWPH * | _A63L-0001-0134/05 Housing 1 nz | susepw-5 ** | A63L-0001-0202/6w Pin 5 en2 | Rci6m-scr3 ** | A63L-0001-0226 ‘Table 1.1 (c} Parts Included in Input Connoctor (Crimp style type) Neme Q'ty | Use Model FANUC specifications Connector + cover | 3 | CNIL.M.N | MR-20L, MRP-20F01 *| A63L~0001-0134/32 Connector + cover | 3 | CNSL,M,N | MR-20LW, MRP-20M01%| A63L-0001-0134/35 Connector + cover | 3 | CN6L,M,N | MR-20LW, MRP-20F01*| AG3L-0001-0134/25 Contact. 120 | cni,6 | mep-ril2 | A63L~0001-0134/F112 Contact. 60 ns | Mrp-m112 | A63L~0001-0134/m112 Housing 1 cn2__| sus6pw-s ‘##| A63L~0001-0202/60 Pin 5 on2 | RCL6M-S23A ‘#*) A63L-0001-0127/823A| * Manufacturer: HONDA Tsushin Co., Ltd. ** Manufacturer: Burndy Japan Ltd. = 955