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No 6, 6th Rd, Industrial Park , Taichung, Taiwan, R.O.C
http:/ /www.hartford.com.tw E-MAIL:[email protected]
Tel : 886-4-23592747
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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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7-E01-147 FANUC ABS Encoder installation & setting
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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7-E01-147 FANUC ABS Encoder installation & setting
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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7-E01-147 FANUC ABS Encoder installation & setting
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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7-E01-147 FANUC ABS Encoder installation & setting
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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7-E01-147 FANUC ABS Encoder installation & setting
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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7-E01-147 FANUC ABS Encoder installation & setting
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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7-E01-147 FANUC ABS Encoder installation & setting
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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7-E01-147 FANUC ABS Encoder installation & setting
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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7-E01-147 FANUC ABS Encoder installation & setting
6.1.3 PARAMETER WRITE = 0 DISABLE ( protect) 1 ENABLE (
unprotect )
6.1.4 Appear ALARM 100 PARAMETER WRITE ENABLE