B-64423EN_01_PDSA.pdf脉冲输入型伺服控制器是伺服控制器的翘楚，通过其实际应用，及

文件名称: B-64423EN_01_PDSA.pdf

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详细说明：脉冲输入型伺服控制器是伺服控制器的翘楚，通过其实际应用，及参数意义，可以应用该方面提供好的参考。B-64423EN/01 PREFACE PREFACE This manual describes the electrical and structural specifications required for connecting the FANUC Pulse Input Typc Digital Servo Adapter to a machinc The modcls covcred by this manual, and thcir abbreviations, arc Product name Abbreviations FANUC Pulse Input Type Digital Servo Adapter Pulse Input Type dsa PDSA B-64423EN/01 TABLE OF CONTENTS TABLE OF CONTENTS PREFACE HARDWARE NSTALLATION 3 ENVIRONMENTAL REQUIREMENTS 3 POWER SUPPLY CAPACITY AND HEAT OUTPUT 1.3 THERMAL DESIGN OF THE MACHINE MAGNETICS CABINET 4 1.3.1 Temperature Rise within the Machine Magnetics Cabinet 1.3.2 Cooling by Hcat Exchanger 1.4 ACTION AGAINST NOISE 14.1 di rounding 1. 1. 1 About grounding types 1.4.1.2 Grounding methods 1. 4.1.3 Shield clamps 4.1.4 Cabinet 1. 4.2 Scparating Signal Lincs 1.4.3 Connecting thc Ground for Signal of the Control Unit 1. 4.4 Noise Suppressor 中·· 14 1. 4.5 Measures Against Surges due to Lightning 15 5 Pulse Input Type DSA MAIN UNIT 1.5. 1 Configuration of Pulsc Input type dsa main Unit *· 1.5.2 Installation of the Pulse Input Type DSA...……….17 5. 3 Fan unit 1.6 CABLING DIAGRAM 19 1.7 CONNECTOR LAYOUT OF Pulse Input type dsa 20 2 TOTAL CONNECTION DIAGRAMS ■■■D■■■DDB■■■ 21 3 POWER SUPPLY CONNECTION 23 3.1 DETAILS OF 24 VDC 23 3.2 DETAILS OF POWER TO Pulse Input Type dSA 23 3.3 POWER CONNECTIION DIAGRAMS OF SYSTEMS 24 3.4 POWER-ON SEQUENCE 24 3.5 POWER-OFF SEQUENCE 25 3.6 INSTANT DISCONNECTION OF POWER SOURCE 25 3.7 BATTERY FOR MEMORY BACKUP(3VDC)…… .25 4 COMMAND PULSE/ FEEDBACK PULSE INTERFACE .28 4.1 OVERVIEW .28 4.1,1( ommand Pulse signal Timing rules……,,…,, 4.1. 1 1 Phase A/B pulse 29 4.1.1.2 Sign pulse 30 4.1.1.3 CCW/CW pulse 4.1 Command Pulse signal voltage Rules 32 4.1.3 Feedback Pulse Signal rules 4.1.3.1 Timing for the frcqucncy-fixcd output mcthod 4.1.3.2 Timing for the uniform output method 4. 1. 4 Voltage Rules 36 TABLE OF CONTENTS B-64423EN0 4.2 DETAILS OF CABLE CONNECTION 37 5 CONNECT| ON TO THE BUILT-NWO………………………………………40 5.1 OVERVIEW 40 5.2 O SIGNAL SPECIFICATIONS 41 5.2. 1 Input Signal specifications 5.2.2 Output Signal specifications ·+··:* ·*·· 5.3 SIGNAL LIST 242 54MACH|NE丨 NTERFACE 43 5.5 DI CONNECTION DETAILS 44 5.6 DO CONNECTION DETAILS 48 6 ANALOG OUTPUT FUNCTION .51 6.1 OVERVIEW 51 6.2 ANALOG OUTPUT FUNCTION SPECIFICATION 51 6.3 DETAIL OF CABLE CONNECTION 52 7 SERVO CONNECTIONmm 53 7.1 SERVO INTERFACE(FSSB .53 7.1.1 FSSB Connection ····· 7.2 SEPARATE DETECTOR INTERFACE UNIT 54 7. 2.1 Overview 7.2.2 Connection of Power Supply 54 7.2.3 Scparatc Detector Intcrface(Scrial Interfacc) 7.24 Scparatc Detcctor Intcrfacc( Parallel interfacc).………… 57 7.2.5 Input Signal 7.2.6 Connection of Battery for Absolute Position Detector 7.2.7 Connector locations 7. 2 8 Install 62 7.2.9 Notes on Installing a Separate Detector Interface Unit 63 73 ANALOG INTERFACE MODULE TYPE O(AM2)……… 65 7.3.1 Overview 7.3.2 External view 7.3.3 Connection Diagram(Example) .67 7.3.4 Connection of Power Supply 68 7.3.5 Connection of^ nalog Voltage Input…… 70 7.3.6 Installati 7.3.7 Notes on Installing an Analog Interface Module 7.3. 8 Fuse replacement ····:····*···:··*········*···:····. 74 7.3.9 LED Indications 75 8 PERIPHERAL EQUIPMENT AND CONNECTION...........76 8. 1 CONNECTION WITH THE DPL/MD 76 8.1.1 Overview 76 8. 1. 2 DPL/MDI Adapter .76 8. 1.3 J161 Cable Connection ···中· 77 8. 1. 4 J6 Cable 8.1.5 Restrictions on Cable length…… ···,,···1 …78 8.1.6 Other notes ∴78 8.2Rs-232C 8.2.1 Overview.……… 79 8.2.2 J204 Cable connection 80 B-64423EN/01 TABLE OF CONTENTS 8.2.3 J146B Cable connection 81 8.2.4 J205 Cable Connection 82 8.2.5 J146 Cable Connection 8 8.2.6 J206 Cable Connection ····:*··* 8. 3 FAST ETHERNET BOARD .85 8.3.1 Overview 中···*··中··········:···· 8.3.2 Installing a board …………….86 8.3.3 Ovcrall Connection Diagram 8 8.3.4 Connecting to et 87 8.3.5 Leading out the Ethernet cable………..... 88 8.3.6 100BASE-TX Connector(CD3&R, CD3&T)Pin Assignments 88 8.3.7 Cable Connection .88 8.3. 8 Action against Noise .........89 8. 3. 9 Installation Checklist 92 9 EMERGENCY STOP 93 9.1 EMERGENCY STOP SIGNAL .93 9.2 Pulse Input Type DSA…… 93 SERVO 93 L。 FUNTION 1 OVERVIEW ■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■ 97 2 START UP PROCEDURE 100 2.1 OVERVIEW 100 2.2 SETTING PARAMETERS AT INITIAL SET-UP .100 2.3 CLOCK FUNCTION 102 2. 4 SET-UP OF THE HOST CONTROLLER AND Pulse Input Type DSA......105 3 CONTROL METHOD ■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■口■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■口 110 3.1 COMMAND PULSE 0 3.2 FEEDBACK PULSE OUTPUT 111 3.3 REFERENCE POINT SETTING METHOD ..111 3.4ANAL○ G OUTPUT.…… 112 3.5 ANALOG VOL TAGE OUTPUT OFFSET FUNCTION 115 3.5. I Parameters…… 115 3. 6 SYNCHRONIZED FUNCTION 116 3.6. 1 Torquc Tandem Control 3.6.2 Master Pulse Copy Function…… 118 3.6.3 The Vclocity Loop Copy Function 120 3.7 MACHINE POSITION READOUT (VIA RS-232-C) 121 3.7.1 Goneral of communication data format 123 3.7.2 Details of Communication Data Format 124 3.7.3 Exccution result 3.74 Example.…… 127 3.7.5 Control Code(dcl to DC4) 128 3.7.6 Parameters 129 37.7 Alarms related to Communication 131 3.8 ABSOLUTE POSITION DETECTOR 132 3.8.1 Specifications 132 3.8.2 Parameters 133 TABLE OF CONTENTS B-64423EN/0 3. 8. 3 Alarms …134 3.9 ETHERNET FUNCTION 135 3.9.1 Ethernet Parameters 135 3.9.2 Output of Ethernet Error Information 138 3.9.3 Setting of Ethernet Fixed Address 139 3.94 FOCASI/ Ethernet function…….. 140 3.10 SPEED/TORQUE CONTROL USING ANALOG VOLTAGE INPUT...141 3.10.1 Spccifications 141 3.10.2 Signals 142 3.10.3 Parameters∴ …143 3.10.4 Alarms 3.10.5 Diagnosis Information 147 3.10.6 Caution 148 4 SIGNALS.,……… 149 DI INPUT SIGNALS (32 POINTS HOST CONTROLLER][Pulse Input Type DSA 149 4.2 DO OUTPUT SIGNAL (24 POINTS) [HOST CONTROLLER]-[Pulse Input Type DSA 152 4.3 CONNECTION OF SIGNALS 156 5 PARAMETERS 157 5.1 SETTING PARAMETERS 157 5.2 PARAMETERS COMMON TO ALL CHANNELS..158 5.3 PARAMETERS TO BE SET FOR EACH CHANNEL 158 5.3.1 Parameters of RS-232-C Channel I(I/O CHANNEL=0) 158 5.3.2 Parameters of rS-232-C Channel I(I/O CHANNEL=1) 159 5.3. 3 Parameters of RS-232-C Channel 2(1/O CHaNNEL=2) 160 5.4 PARAMETERS OF DPL/MDI, DPL/MDI Operation Package.......160 5.5 PARAMETERS OF ETHERNET 160 5.6 PARAMETERS OF AXIS CONTROL 162 5.7 FSSB PARAMETERS 167 5. 8 DIGITAL SERVO PARAMETER 175 5.9 PARAMETERS OF DATA SETTING AND DATA DISPLAY 179 5.10 PARAMETERS OF ANALOG OUTPUTS 180 5.11 PARAMETER OF MASTER PULSE COPY FUNCTION .181 5.12 PARAMETER OF CONTROL TYPE 182 6 ALARMS∴,, ■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■na■ 184 6.1 PROGRAM ERRORS 184 6.2 ABSOLUTE PULSE CODER(APC)ALARMS 185 6.3 SERIAL PULSE CODER(SPC)ALARMS .186 6.4 SERVO-RELATED ALARMS 187 6.5 OVERHEAT ALARMS 192 6.6 SYSTEM ALARMS .192 7 DIAGNOSIS INFORMATION 194 7.1 DESCRIPTION OF THE DISPLAY OF DIAGNOSIS DATA .194 7.2 STATUS DISPLAY OF INPUT/OUTPUT SIGNALS .198 B-64423EN/01 TABLE OF CONTENTS APPENDX A EXTERNAL DIMENSIONS OF EACH UNIT ■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■ 203 B 20-PIN INTERFACE CONNECTORS AND CABLES 212 B. 1 BOARD-MOUNTED CONNECTORS .212 B. 1. 1 Vertical-type Connectors 212 B 1.2 Straight and Right-angled Connectors( for Spring and Screw-fixing Connector Housings)………… 212 B 2 CABLE CONNECTORS 212 B 2. 1 Strand wire Press-mount Connector 213 B.2.2 Soldering type connector………… B3 RECOMMENDED CONNECTORS. APPLICABLE HOUSINGS AND CABLES ..:::::::::::日:::::日 214 B 3. 1 Recommended Connectors B.3.2 Applicable cables ·4···· C OPTICAL FIBER CABLE D MEMORY CARD INTERFACE…… ■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■■ n226 D1 MEMORY CARDS THAT ARE ALLOWED TO BE USED 226 D2 FORMATTING OF MEMORY CARD 226 D3 NSERTING OF MEMORY CARD 26 D 4 FUNCTIONS SUPPORTED ON VARIAOUS CARDS 226 E DISPLAY AND MAINTENANCE OPERATIONS ON THE MAIN UNIT OF THE Pulse Input Type DSA 228 E1 OVERVIEW 228 E.2SPEC|FCAT○NS 面国1国日面国面日面 228 E.2.1 7-scgmcnt LED Indications 228 E3 MAINTENANCE OPERATIONS WITH THE MAIN UNIT OF THE Pulse Input Type DSA .231 E.3.1 OPERATION AT POWER ON 中······中 231 E.3.2 OPERATION IN NORMAL MODE 235 F OPERATION OF DPL/MDI .237 F.1 DPL/MDI OVERVIEW 237 F2 DISPAYING THE ALARM SCREEN :a::::a:::aa::a:日: 239 F3 DISPLAYING THE ALARM HISTORY SCREEN 239 F 4 POSITION DISPLAY 240 F5 DISPLAYING AND ENTERING SETTING DATA 240 F6 DISPLAYING AND SETTING PARAMETERS 241 F7 DISPLAYING DIAGNOSIS DATA 241 F 8 DISPLAYING DI/DO DATA 242 F 9 LIST OF OPERATIONS 242 F10 BOOT SYSTEM 243 F11 ERROR MESSAGES AND REQUIRED ACTIONS .246 G HOW TO USE DPL/MDI OPERATION PACKAGE……………………248 G1 OVERVIEW …248 TABLE OF CONTENTS B-64423EN0 G.1.1 INTRODUCTION …248 G.1.2 SYSTEM CONFIGURATION 248 G2 HOT TO INSTALL " DPL/MDI Operation Package 249 G 3 HOW TO OPERATE MAINTENANCE .250 G 3.1 IN CASE OF THE USING"DPLMDLEXE FOR THE NORMAL OPERATION 250 G.3.2 IN CASE OF USING"BOOTINITEXE FOR THE BOOT SYSTEM OR INIT OPERATION ······ 251 G.3.3 HOW TO SETRS-232 C PORT( AFTER THE POWER ON).……………252 G.3. 4 HOW TO SETRS-232-C PORT (WHEN THE POWER IS TURNED ON)..253 G4 HOW TO USE“ BOOTIN|EXE” 254 G.4.1OⅤ ERVIEW.. ······ 254 G.4.2 HOW TO START UP“ BOOTINIT.EXE” …254 G4,3 BOOT SYSTEM SCREEN CONFIGURATION AND OPERATION METHOD 255 G4 4 HOW TO OPERATE BOOT SYSTEM MONITOR 256 G.45 HOW TO OPERATE INIT SYSTEM 着自 258 G5 HOW TO USE“ DPLMD|.EXE” 259 G.51 OVERVIEW 259 G.5.2 DATA DISPLAY/SETTING SCREEN AND HOW TO OPERATE....260 G 6 FILE TRANSMITTING/PRINT FUNCTION 266 G.6.1 OUTLINE ……266 G.6.2 REFERENCING OF THE FILE G.6. 3 BACKUP OF THE CNC DATA FILE 266 G 6.4 RESTORATION OF THE CNC DATA FILE …267 G 6.5 PRINTING THE CONTENTS OF THE FILE OR THE SCREEN DISPLAY. 267 G7 NOTE 268 G 8 ERROR CODE LISTS AND ALARM MESSAGE LISTS 268 G 8.1 BOOTIPLEXE ERROR MESSAGES AND COUNTERMEASURES 268 G 8.2 BOOTINITEXEDPLMDLEXE ERROR MESSAGES AND COUNTERMEASURES 269 H SETTING AND CONNECTION FOR USING LARGE SERVO MOTOR 271 H1 OVERVIEW .271 H 2 SETTING PARAMETERS 272 H 3 CONNECTION OF CONTROL SIGNALS LINE 276

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