1383 A

GFZ-1383A B-1383A
GE Fanuc CNC
Power Mate H
Startup Guide
Presented By: CNC Center
For Product Needs Please Visit:
http://www.cnccenter.com/
OR Email:
sales@cnccenter.com
OR Call:
1-800-963-3513
GE Fanuc CNC Manuals www.cnccenter.com
GE Fanuc Automation
PowerMotion Products
Power Mate H
Startup Guide
GFK - 1383A April 1997
GFL-001
Warnings, Cautions, and Notes
as Used in this Publication
Warning
Warning notices are used in this publication to emphasize that hazardous voltages, currents,
temperatures, or other conditions that could cause personal injury exist in this equipment or
may be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment, a
Warning notice is used.
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note
Notes merely call attention to information that is especially significant to understanding and
operating the equipment.
This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or 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 no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.
Copyright 1997 GE Fanuc Automation North America, Inc.
All Rights Reserved.
Preface
GFK-1383A iii
This guide provides a quick, easy way to get the Power Mate H functioning, by leading you step-
by-step through the process, beginning with unpacking the Power Mate H and ending with
generating motion. Along the way, you will become familiar with the Power Mate H control and
associated servos and options.
This guide does not replace any of the existing Power Mate H documentation, but it will help you
become more familiar with the Power Mate H manuals. As you cover the topics in this guide, you
will find a cross-reference to more in-depth or related information in the Power Mate H and servo
manuals.
Note
There are many different combinations of models, motors, servos, and options available
with the Power Mate H. This guide does not attempt to address all of these combinations.
Instead, we have focused on the more popular combinations. Hopefully, it is close to what
you have purchased.
The following Power Mate H configuration was considered when creating this manual:
Component Model Number or Series
Power Mate H XA02B-0211-H501#8880
44A728464-GPM6R00
Built-In I/O Card A02B-0166-K020
9-inch CRT/MDI Terminal Unit A02B-0166-C201#R
AC Servo Amplifiers
(SVU) or Series
AC Servo Motors with Built-In Serial Encoder
(SVU) or Series
Standard Length Cables from Motion/CNC Express See below
Where applicable, we will also make reference to the following options:
Component Model Number
DPL/MDI Handheld Display Unit A02B-0118-C043
I/O Unit Model A A03B-0807-C001
Series 90-30 I/O Link Module (Slave) IC693BEM320
If you need more information or have any questions during your startup, please contact GE Fanuc
Technical Service Hotline at 1-800-GE FANUC (1-800-433-2682).
Preface
iv Power Mate H Startup Guide - April 1997 GFK-1383A
Cabling
Typical cables (when supplied by GE Fanuc) used with the Power Mate H are:
FANUC Part
Number
GE Fanuc Part
Number
Connection Figure P-1 Cable
Designations
Description
A02B-0124-K841
(50 cm)
Same as FANUC I/O J49/50 Power Mate Built-in
I/O/Terminal Board
(44A736236-001)
(See Table 3-1.) Motor Power Servo Amplifier to Motor
Power
44C742196-001
(1 meter)
Servo Amplifier J93-J98 Power Mate: Command Cable
A03B-0807-K801
(5 meters)
44C741558-003
(2 meters)
I/O Unit Model A
I/O Link Cable
J22 Power Mate H to I/O Unit
Model A I/O Link Cable
A02B-0124-K831
(5 meters)
44C741560-003
(2 meters)
Power Source J24 I/O Unit Model A or Operator
Panel 24V dc Power Source
A02B-0124-K815
(10 meters)
44C741866-001
(10 meters)
CRT/MDI Unit J45 Power Mate H
A02B-0118-K820 44C741867-001
(2 meters)
DPL/MDI Unit J6 Power Mate H
(See Table 3-2.) Motor Feedback Servo Amplifier to Motor
Serial Encoder Feedback
A02B-0124-K830
(5 meters)
44C741911-002
(2 meters)
Power Source J30 Power Mate H 24V dc Power
Source
A02B-0124-K830
(5 meters)
44C741911-004
(10 meters)
Power Source J48 CRT/MDI Unit
44A731257-G01 Operator Panel Operator Panel Cable Set with
Traverse Override.
A02B-0124-K821 44C741873-001
(10 meters)
Manual Pulse
Generator
J40 Power Mate H
44C742238-004
(14 meters)
Motor Brake
(Optional)
Brake Control to Optional
Motor Brake
For more information, please refer to Appendix D of GFZ-62683EN, Power Mate H Connection
Manual.
Preface
GFK-1383A Preface v
Upper Control Unit
Next Power Mate
AMP2 (JS2)
(JS1)
AMP3 (JS3)
AMP5 (JS5)
AMP6 (JS6)
Memory
CNMC
Card
Power Mate H
Power supply
DC+24V
INPUT
(CP1)
P.C. board
Base
P.C. board
Battery (BAT1) Battery 3V for RAM battery backup
+24VDC Power Supply
#
AMP3 F
N2 F
J30
P20
AMP1
ENC
P20
JSnB
Servo AMP (type B)
P20
JSnB
P20
JSnB
P20
JSnB
P20
JSnB
P20
JSnB
Servo Motor
Servo Motor
Servo Motor
Servo Motor
Servo Motor
Servo Motor
D25 F
Relay Connector
J93
P20 J94
P20 J95
P20 J96
P20 J97
P20 J98
AMP4 (JS4)
(JA12)
P20 J40
External Pulse Generator
FANUC Handy File
FANUC Cassette
RS232C (JD5)
P20 J42
Built-In I/O
Card
Power Magnetic
Y34 F
Y34 F
I/O(CB128)
Y34 F J86
Y34 F J87
I/O(CB129)
Power Magnetic
J88
J89
J90
J91
J24 BN3 F
P20 P20
CP11
JD1B
I/O Card
H50 F
H50 F
H50 F
H20 F
I/O LINK (JD1A)
CM51
CM52
CMB3
CMB4
H50 M
H50 M
H50 M
H20 M
J22
J22
J24 BN3 F
CP32
JD1B
J22
Power Magnetic
I/O Unit - Model A
D15 M J6 D15 M
DPL/MDI (M4) DPL/MDI
CPD1
JD13
selection mode
Search for
CRT/MDI Unit
DPL/MDI
CRT/PM (JD14)
J45, J43
P20
J48
P20
AMP3 F
P20 J47
JN1
PM/TMNL (JD15)
P20
I/O LINK (JD1B)
J22
(PCR connector)
Terminal Unit
P20: Honda Tsushin PCR connector (20 pins)
BN3: Bumdy, brown (3 pins)
N2: Japan Aviation Electronics (2 pins)
Y34: Yamaichi
F: Female connector
M: Male connector
H50: Honda Tsushin MR connector (50 pins)
H20: Honda Tsushin MR connector (20 pins)
AMP3: AMP Japan connector (3 pins)
D15: D-sub connector (15 pins)
D25: D-sub connector (25 pins)
NOTE 3: Connector and terminal symbols
NOTE 1: The +24VDC power supply (marked #)
NOTE 2:
switch (marked #)
All cables except the RAM battery back-up
battery cable should be prepared by the customer.
and mode selection
should be prepared by the customer.
#
a48018
I/O LINK (JD1A1)
P20
Figure P-1. Typical Power Mate H Connection Diagram
Preface
vi Power Mate H Startup Guide - April 1997 GFK-1383A
What You Will Need
You will need to provide the following items for this system setup:
24 VDC Power Source, 10% sufficient to power all components in your system:
o Power Mate H controller = 3.0 amp.
o CRT/MDI Unit = 1.0 amp.
o I/O Unit Model A (refer to GFZ-61813E, I/O Unit Model A Connection/Maintenance
Manual).
o Operator Panel Connection Unit (if applicable).
3-Phase, 220 VAC Power Source, 10%.
Power Source Cables.
Use 2-conductor, 300V, 60, 18 AWG, Type SVT, SV or SJ, UL and CSA Certified Cable for
200 VAC. Use 20 AWG, Type SO power cord for 100VAC.
Phillips Screwdriver.
Volt Meter.
Related Publications
GFZ-62682EN Power Mate-Model H Descriptions Manual
GFZ-62683EN Power Mate-Model H Connection Manual
GFZ-62684EN Power Mate-Model H Operator's Manual
GFZ-62685EN Power Mate-Model H Maintenance Manual
GFZ-61813E I/O Unit Model A Connection/Maintenance Manual
GFZ-65142E Series Servo Motor Descriptions Manual
GFZ-65150E Series Servo Motor Parameter Manual
GFZ-65165E Series Servo Motor Maintenance Manual
GFZ-65192EN Series SVU Amplifier Descriptions Manual
GFZ-65195EN Series SVU Amplifier Maintenance Manual
GFH-001 Series Servo Product Specification Guide
GFK-0720 Machine Control Station (Operator's Panel)
With the preliminaries out of the way:
Let's get started !
Contents
GFK-1383A vii
Chapter 1 Overview............................................................................................................... 1-1
Chapter 2 Unpacking the Power Mate H.............................................................................. 2-1
Unpacking the Power Mate H Unit ..................................................................................... 2-2
Unpacking the CRT Unit.................................................................................................... 2-2
Unpacking the Servo Amplifier........................................................................................... 2-3
Unpacking the Motor ......................................................................................................... 2-3
Chapter 3 Assembling the Power Mate H............................................................................. 3-1
Connecting the DPL/MDI .................................................................................................. 3-5
Connecting the CRT/MDI .................................................................................................. 3-6
Connecting the Servo Amplifier to the Power Mate H......................................................... 3-7
Connecting Motor Power to the Servo Amplifier................................................................. 3-9
Connecting the Motor Encoder to the Servo Amplifier....................................................... 3-10
Connecting the Motor Brake (Optional) ............................................................................ 3-11
Connecting the Servo Amplifier to the Line Filter (Optional)............................................. 3-12
Connecting the Machine Emergency Stop to the Servo Amplifier....................................... 3-13
Connecting 24Vdc Power to the Series Servo Amplifier................................................. 3-15
Connecting the Power Mate H to the Power Source........................................................... 3-15
Connecting Machine Input/Outputs .................................................................................. 3-16
Connecting Machine I/O Using a Built-in I/O Card........................................................... 3-20
Connecting Machine I/O Using I/O Unit Model A............................................................. 3-30
Grounding the Power Mate H Motion System................................................................... 3-34
Chapter 4 Turning On the Power Mate H............................................................................ 4-1
Chapter 5 Configuring the Power Mate H............................................................................ 5-1
Setting Parameters from the DPL/MDI............................................................................... 5-2
Setting Parameters from the CRT/MDI .............................................................................. 5-4
Required Parameter Settings............................................................................................... 5-5
Identifying the Motor ......................................................................................................... 5-7
Step 1: Setting the Parameters ........................................................................................... 5-8
Step 2. Cycle Power on the Power Mate H Controller ...................................................... 5-10
Step 3. Enter Values for Additional Basic Parameters...................................................... 5-10
Step 4. Cycle Power on the Power Mate H Controller ...................................................... 5-12
Chapter 6 Testing Your System............................................................................................. 6-1
Generating Motion ............................................................................................................. 6-1
Troubleshooting Your Motion System................................................................................ 6-5
Mission Accomplished - Closing Comments ....................................................................... 6-6
Contents
viii Power Mate H Startup Guide - April 1997 GFK-1383A
Appendix A Standard Ladder Interface..................................................................................A-1
GFK-1383A 1 - 1
Chapter
Overview
A Power Mate H motion system consists of the Power Mate H control unit, motor(s), servo
amplifiers, I/O, and a machine and its operator's interface (see Figure 1-1).
The Power Mate H unit consists of two parts: the motion control and the machine control. The
motion control translates motion commands into signals, which are then sent to the servo
amplifier. The servo amplifier receives the control signals from the motion control and amplifies
them to the required power level of the motor.
In addition, the motion control provides the link between you, the operator, and the Power Mate H
control. This link is either a CRT/MDI unit or a DPL/MDI programmer. This numerical control
communicates with the other part of the Power Mate, the machine control. The machinecontrol
is a Programmable Logic Controller (PLC) embedded within the Power Mate H.
Within the GE Fanuc Power Mate H, this PLC is considered a Programmable Machine Control
(PMC). It supports the interface between the Power Mate and the machine. For example, the
switches, buttons, and lights (start, stop, etc.) used to run or support the machine are all managed
by the machine control.
a48019
POWER
MATE H
Machine
Control
Motion
Control
Machine
DI/DO
Machine
Operator
Panel
Servo
Amplifier CRT/MDI
DPL/MDI
Figure 1 - 1. Power Mate Motion Control System Block Diagram
1
GFK-1383A 2 - 1
Chapter
Unpacking the Power Mate H
Carefully unpack the Power Mate H components. Keep all documentation and shipping papers
that accompanied the Power Mate H motion system. Verify that all the items listed on the bill of
material have been received.
Occasionally, the same part may have two different order numbers, with one number appearing on
the paperwork and a different number on the part. For example, a spare fuse identified on the
paperwork as A06B-6066-K207 is actually labeled A60L-0001-0175. If you have any
discrepancies or did not receive all of your material, please call the GE Fanuc Motion Express
team at 1-800-GE FANUC, and select the PowerMotion option.
The following manuals are shipped with your Power Mate H system. These manuals are intended
to accompany your machine when shipped to your customer. Please confirm that you have
received these manuals.
Table 2 - 1. Power Mate H User Documentation Shipped with the System
Publication Number Title Quantity
GFK-1383 Power Mate H Startup Guide 1
GFZ-62683EN Power Mate-Model H Connection Manual 1
GFZ-62684EN Power Mate-Model H Operator's Manual 1
GFZ-62685EN Power Mate-Model H Maintenance Manual 1
2
2 - 2 Power Mate H Startup Guide - April 1997 GFK-1383A
2
During the integration of the Power Mate H motion system with your machine, you may also need
the following manuals:
Table 2 - 2. Additional Useful Documentation
Publication Number Title Quantity
GFH-001
Series Servo Product Specification Guide
1
GFK-0720 Machine Control Station (Operator's Panel) 1
GFZ-61863E PMC RA/RB/RC/NB Ladder Language Programming Manual 2
GFZ-65142E Alpha Series Servo Motor Description Manual 1
GFZ-65150E
Series Servo Motor Parameter Manual
1
GFZ-65165E Alpha Series Servo Motor Maintenance Manual 1
GFZ-65192EN
Series SVU Amplifier .Description Manual
1
GFZ-65195EN Alpha Series SVU Amplifier Maintenance Manual 1
Copies of these manuals may be obtained through your local GE Fanuc sales office.
Unpacking the Power Mate H Unit
As you unpack the Power Mate H unit, visually inspect the unit for damage. Even though GE
Fanuc carefully packs your Power Mate before shipment, there is always the possibility of damage.
You should check for damaged connectors and cracked or broken plastic parts.
Make sure you locate the Warranty Registration Card. When the machine is shipped to your
customer, complete the card and return it to GE Fanuc. This will provide you with up to six
months of additional warranty service.
Unpacking the CRT Unit
The CRT unit is shipped in a double-layered box. The inner layer has hand cutouts on each side
for easy removal from the outer layer. Use these cutouts to remove the inner layer and the CRT.
Once free, the sides of the inner box will fold out. Lift the CRT out of the inner box. Inspect the
CRT for damage.
Confirm that a PROM is located in the center of the printed wiring board (PWB) on the back
of the CRT. Refer to Figure 3-2 for the location of this PROM.
Confirm that three cables are properly connected to the CRT. The cables should run from
JA1 to CN1; between JA2 and the keyboard; and from CPD2 to the CRT power connector
(see Figure 3-2).
Confirm that the plastic shield on the back of the CRT is firmly in place.
GFK-1383A Chapter 2 Unpacking the Power Mate H 2 - 3
2
Unpacking the Servo Amplifier
Like the CRT unit, the servo amplifier is also shipped in a double-layered box. Remove the top
layer of packing material covering the amplifier. This will expose two hand cutouts. Using these
hand cutouts, carefully remove the inner box from the outer layer. Then, lift the amplifier out of
the inner box.
Two screws are loosely packed in the box containing the amplifier. Be sure to save these screws
for later use. For Series servo amplifiers, a gasket, which will be used for mounting the
amplifier, is also included.
Note
Series servo amplifiers are shipped with several factory-installed jumpers on their
terminal strips. Do not remove these jumpers.
Unpacking the Motor
GE Fanuc motors are packed differently, depending on their size. The largest motors are covered
with cardboard and attached to a wooden pallet. The majority of motors, however, are packed in
cardboard boxes.
For those motors packed in boxes, open the box from the top. The motors are packed in two
pieces of form-fitted foam material. Carefully lift the top piece from the box. This should give
sufficient clearance for removing the motor.
If the motor is attached to a pallet, remove the cardboard covering. This will provide access to the
bolts holding the motor to the pallet. Remove these bolts to free the motor from the pallet.
Inspect the motor for damage. Confirm that the motor turns by hand.
Note
If your motor includes an optional holding brake, you will not be able to rotate the motor
shaft until the brake is energized.
Lets start . . . .
Assembling the Power Mate H !
GFK-1383A 3 - 1
Chapter
Assembling the Power Mate H
While assembling your Power Mate H motion system, please observe these guidelines:
1. Always make sure connectors lock into the sockets.
2. The Power Mate H control unit, CRT/MDI unit, Operator's Panel Connection Unit, and I/O
Unit Model A require a regulated 24Vdc power source. This power supply is not provided by
GE Fanuc. When selecting a power source, remember that the Power Mate H requires a 3
amp supply with 24Vdc 10%, which includes ripple and noise.
3. Do not overlook the importance of proper grounding for the Power Mate system. Grounding
information is included in this chapter.
4. The Power Mate H has connections on both the face and the bottom of the unit. In general,
connections to motors and external I/O are on the front. Internal I/O and operator interfaces
are connected on the bottom (see Figure 3-1). Before beginning, take time to familiarize
yourself with these connections.
Note
The Power Mate H control should be mounted so that the bottom connections of
the unit are easily accessible.
3
3
JA23
SV/CHK
(Front Face)
(Bottom View)
Power Mate H
CB128
DI/DO
DI/DO
M4
DPL/MDI
FAS1
Frame
JA24
SV/CHK1
Ground
CB129
a48020
F1
C
CP1
CNM
JS1
AMP1
JS2
AMP2
JS3
AMP3
JS4
AMP4
JS5
AMP5
JS6
AMP6
JA12
ENC
JD1A1
I/O LINK
JD14
CRT/PM
JD15
PM/TMNL
JD1B
I/O LINK
JD1A
I/O LINK
JE1
I/O
JD5
RS232C
(Front Face View)
Power Mate H
Figure 3 - 1. Power Mate H Connector Locations
Figure 3-2 identifies the components and connectors located on the back of the CRT/MDI unit.
PLASTIC SHIELD
JA2 JA1 PROM
a48021
JD13 CPD1
PCB
MDI
CPD2 JN1
Figure 3 - 2. Rear View of CRT/MDI Unit
GFK-1383A Chapter 3 Assembling the Power Mate H 3 - 3
3
Figure 3-3 locates the connection on the Series Servo Amplifier DPL/MDI unit.
FANUC
OUTPUT VOLAGE : 240V~
3.2A
EA6550030
A06B - 6093 - H101
BAT
CAUTION:
DISCHARGE
TIME
2 min.
POWER
READY
ALM
CAUTION
CHARGED
JX5
CHK
JS1B
PWM
JF1
ENC
3
1
5
CX5X
BAT
CX5Y
L2/L1
DCC/
DCP
V/U
/W
CX11
/L3
TH2/
TH1
SERVO AMPLIFIER UNIT
RATED INPUT : 200-240V~
50Hz/60Hz 1-Ph/3-Ph
MAX
RATED OUTPUT CURRENT
B
401-05 JAPAN Yamanashi
SERVO AMPLIFIER UNIT
/
0V/
+24V
4
6
5.1A / (1-ph) / 2.3A (3-ph) at 200v
2
a45678
0V/
+24V
Figure 3 - 3. Series Servo Amplifier Connector Locations
3
Figures 3-4 and 3-5 describe the connectors for the Series (SVU) servo unit and the I/O Unit
Model A base unit.
Front Face
JS1B
JF1
JA4
CX4 CX3
(Bottom View)
JV1B
FANUC
AC Servo
Unit
ALPHA
Series
Status
a48022
Figure 3 - 4. Series Servo Amplifier Connector Locations
The I/O Unit Model A consists of a base unit, interface module and I/O modules. Five-slot and
ten-slot base units are available, as well as vertical and horizontal modules.
a48023
LINK PWR
BA0
BA1
A1F01A
JD1B JD1A
CP32 JD2
FANUC
I/O Modules Base Unit Interface Module
Figure 3 - 5. I/O Unit Model A Connector Locations
For more information, refer to the general connection diagram in Section I.4 of GFZ-62683EN.
3
Connecting the DPL/MDI
Follow these steps to connect the DPL/MDI (when not using a CRT/MDI).
1. Locate GE Fanuc Cable 44C741867-001 or FANUC Cable A02B-01180K820. Insert one
end into the 15-Pin D shell socket located at the bottom of the DPL/MDI unit.
2. Locate the M4 socket on the bottom of the Power Mate unit. Insert the other end of the
DPL/MDI cable into this socket (see Figure 3-6).
a48012
DPL/MDI
GE Fanuc
Power Mate
GE Fanuc Cable: 44C741867-001
Fanuc Cable: A02B-0118-K820
Connectors: A02B-0118-K900 (D-SUB 15 Pin Female)
(Front Face)
(Bottom View)
Power Mate H
CB129
M4
DPL/MDI
Figure 3 - 6. DPL/MDI Connection
For more information, refer to Section I.7.4 of the Power Mate H Connection Manual, GFZ-
62683EN.
3
Connecting the CRT/MDI
Follow these steps to connect the CRT/MDI (when not using a DPL/MDI).
1. Locate the cable that connects the CRT to the Power Mate. The cable is identified as GE
Fanuc part number 44C741866-001 or FANUC part number A02B-0124-K815.
2. Connect one end of this cable to the connector labeled JD13 on the CRT/MDI (see Figure 3-7).
3. Connect the other end to the JD14 connector located on the face of the Power Mate H.
F1
C
CP1
CNM
JS1
AMP1
JS2
AMP2
JS3
AMP3
JS4
AMP4
JS5
AMP5
JS6
AMP6
JA12
ENC
JD1A1
I/O LINK
JD14
CRT/PM
JD15
PM/TMNL
JD1B
I/O LINK
JD1A
I/O LINK
JE1
I/O
JD5
RS232C
(Front Face View)
Power Mate H
a48014
24V
1 2
0V
Power
24Vdc
Source
CPD1
JD13
Fanuc Cable:
44C741911-004
A02B-0124-K830
GE Fanuc Cable:
Fanuc Cable:
44C741866-001
A02B-0124-K815
GE Fanuc Cable:
Rear of CRT/MDI Unit
Figure 3 - 7. CRT/MDI Connection
For more information, see Section I.7.1 of the Power Mate H Connection Manual, GFZ-
62683EN.
3
4. Locate the CRT/MDI power cable GE Fanuc part number 44C741911-004 or FANUC part
number A02B-0124-K830. This cable is connected to the CRT at connector CPD1. The
other end is connected to a regulated 24Vdc power source. The 24V line within the power
cable is connected to the plus (+) terminal, and the 0V line is connected to the minus ()
terminal (see Figure 3-7).
Note
The CRT/MDI will not work when the DPL/MDI is connected. If the CRT/MDI
unit is to be used, disconnect the DPL/MDI unit.
Connecting the Servo Amplifier to the Power Mate H
To connect the servo amplifier to the Power Mate H:
1. Locate cable 44C742196-00x. Insert one end of this cable into the connector JS1B located on
the bottom of the Series servo amplifier or on the front of the Series amplifier (see Figure
3-8).
2. Insert the other end of the cable into the connector labeled AMP1 JS1 on the front of the
Power Mate H.
Note
We recommend that you label connector JS1, along with the axis with which it
corresponds. For example, if this connection is to the X axis, place the letter X on
the connector JS1.
3
3. If you are connecting an additional servo, insert this second connection into AMP2 JS2 and
so on, up to six amplifiers.
(Front Face View)
Series Amplifier
FANUC
AC Servo
Amplifier
ALPHA
Series
Status
Motor
Power
Encoder
12
11
10
9
8
7
6
5
4
3
2
1
19
18
17
16
15
14
13
G
W
V
U
Terminal Of
Series Amp
C
A
A = Phase U
B = Phase V
C = Phase W
D = Ground
JF1
a48015
B
C D
3
JS1B
CX11
JS1
JS2
JS3
JS4
JS5
JS6
Cable
44C742196-00X
JS1B
Motor
Power
Encoder
Cable To
Second
Amplifier
CX11-3
V U
W
Figure 3 - 8. Power Mate H Connection to and Series Amplifiers
For more information, refer to "Connecting Power Lines" in Section 9.2.2 of the Series Servo
Amplifier (SVU) Descriptions Manual, GFZ-65192EN, Section I.7.7 in the Power Mate H
Connection Manual, GFZ-62683EN, or the connection section of the Series Servo Product
Specification Guide, GFH-001.
3
Connecting Motor Power to the Servo Amplifier
The cable used to connect the motor stator to the servo amplifier unit depends on the size of motor
ordered with your system. Locate one of the following cables, and then proceed to Step A below if
you have Series amplifiers or Step B if you have Series amplifiers:
Table 3 - 1. Cross Reference of Motor Power Cabling and Motor Part Numbers
GE Fanuc Severe Duty Cable GE Fanuc Cable Motor Model Number Amplifier Series
44C742434-001 44C742380-001
0.5/3000
Alpha
44C742204-001 44C741938-001
2/3000
Alpha
44C742236-008 44C742242-008
3/3000
Alpha
44C742236-008 44C742242-008
6/3000
Alpha
44C742236-004 44C742242-004
12/3000
Alpha
44C742236-004 44C742242-004
22/3000
Alpha
44C742236-004 44C742242-004
30/1200
Alpha
44C742237-004 44C742243-004
30/3000
Alpha
44C742237-004 44C742243-004
40/2000
Alpha
44C742427-001 44C742427-001
0.5/3000
Beta
44C742430-002 44C742430-002
2/3000
Beta
44C742430-002 44C742430-002
6/2000
Beta
44C742429-002 44C742429-002
C 12/2000
Beta
A. For Series Amplifiers
1. One of the ends of this cable has four wires, which connect to the Series amplifier's
terminal strip. Connect the four wires to the terminal strip, as shown in Figure 3-8.
2. Remove the plastic cap protecting the motor's connector, and attach the other end of the
cable to the motor.
Note
The motor cables are keyed and can only be properly attached to the proper motor
connection point.
3
B. For Series Amplifiers
1. One end of the cable has a four-terminal square plastic connector that plugs into
connector CX11-3 on the front face of the Series amplifier, as shown in Figure 3-8.
Caution
Be sure to sure to observe the markings on CX11-3 to insure proper
connection. Inserting the motor power cable into the lower of the three
CX11-3 slots (marked with a double Ground symbol) may damage the
amplifier when power is applied.
Connecting the Motor Encoder to the Servo Amplifier
Note
This document assumes Series (SVU) amplifiers, that can be configured for
Type B feedback (encoder connects to the Servo amplifier). Older model
amplifiers using Type A feedback (encoder connects to the Power Mate) cannot be
used. Be sure to verify the switch settings on the amplifier are configured for
Type B feedback as follows: switch 1 - on, switch 2, 3, and 4 - off. The OFF
position is to the left, the ON position is to the right.
To connect the motor encoder to the servo amplifier:
1. Remove the plastic protective cap from the connector on the motor, and locate the proper
cable for your motor and amplifier series from Table 3-2.
2. The cable has two distinct connectors. Plug one end into the connection labeled JF1 on the
bottom of the amplifier for Series and on the front face for Series amplifiers.
3. The other end of the cable is configured so that it can only be attached to one connection on
the motor (see Figure 3-8).
3
Note
It is recommended that you label connector JF1, along with the axis with which it
corresponds. For example, if this connection is to the X axis, place the letter X on
the connector JF1.
If you are connecting more than one motor, do not cross the amplifier and
feedback connections. The first motor must be connected to JF1 on the amplifier,
and JS1B of that amplifier must be connected to AMP1 JS1 on the Power Mate
H. The second motor must be connected to JF1 and JS1B of the servo amplifier
that is connected to AMP2 JS2 on the Power Mate H, and so on for all axes in the
system.
Table 3 - 2. Motor Encoder Feedback Cables
GE Fanuc Severe Duty
Cable
GE Fanuc Cable Motor Model Number
44C742355-001 44C741944-001
2 only
44C742241-004 44C742162-004
All other Series motors
44C742435-001 A02B-0200-K802 0.5 only
44C742355-001 44C741944-001
2 and 6
Connecting the Motor Brake (Optional)
and Series servo motors are available with optional holding brakes. If your motor is equipped
with a brake, you will not be able to rotate the motor shaft by hand.
To connect the brake:
1. Locate cable 44C742238-004, except for 0.5, 1, or 2 motors. (These motors include the
brake wiring as part of the motor power cable.) Attach the end with the connector to the
keyed 3-pin connector on the motor.
2. Connect the other end of the cable to a 90Vdc power supply with specifications as stated in
the motor manuals. The connection information is:
Connector Pin Loose End Description
A +V To supply positive.
B -V To supply negative.
C PE To earth ground.
3
Caution
Brakes are electrically released. You cannot command motion until the brake has been
energized. Brakes are for holding stationary loads only. Using the brake to stop a
moving load may cause damage or reduce the operating life of the brake.
Connecting the Servo Amplifier to the Line Filter (Optional)
Figures 3-9 and 3-10 illustrates the connection of the servo amplifier to the line filter. You must
supply the cable for both the connection between the line filter and the servo amplifier and for the
connection between the line filter and the power source (200-240Vac, 3 phase).
Use 4-conductor, 300V, 50, Type SVT, SV, or SJ, UL or CSA-approved cable between the line
filter and the servo amplifier. The wire gauge used for connecting the line filter to the power
source must be sized based on the rating of the circuit breaker between the power source and the
line filter and the number of servos connected to the line filter.
12
11
10
9
8
7
6
5
4
3
2
1
19
18
17
16
15
14
13
a48024
1 2
3 4
5 6
R
S
T
R
S
T
Source
Power
To
Line Filter
Ground Lug
Connection Strip
aSeries Amplifier
Figure 3 - 9. Series Amplifier Connection to the Line Filter and Power Source
a48025
1 2
3 4
5 6
R
S
T
R
S
T
Source
Power
To
Line Filter
Connection Strip
bSeries Amplifier Ground Lug
L3
L2
L1
CX11-
Figure 3 - 10. Series Amplifier Connection to the Line Filter and Power Source
3
Connecting the Machine Emergency Stop to the Servo Amplifier
Figure 3-11, 3-12, and 3-13 illustrates the connection of the servo amplifier and the machine
emergency stop (ESP). You must supply the cable for this connection. Connectors are supplied
with the servo amplifier. This connection should be connected in series with the machine
emergency stop connection.
If a normally closed contact is not connected between CX4-2 and CX4-3 on an Series amplifier
or between JX5-17 and JX5-20 on a Series amplifier, the amplifier will not energize the motor
and an alarm will be initiated. If no E-Stop switch is used, this connection must be made with a
wire jumper.
3
Amplifier
Of First
CX4
SVU
2
+24V
a48026
Series SVU AMPs a
Up to 6
can be connected
3
2
Front Face
JS1B
JF1
JA4
CX4 CX3
(Bottom View)
JV1B
ESP
Machine E-STOP Device(s)
Normally Closed
3
Amplifier
Of Second
CX4
SVU
2
in series
ESP
*
Figure 3 - 11. Machine Emergency Stop Connection to Series (SVU) Servo Amplifier
For more information, refer to Section 9.3.5 or 9.3.13 in the Series Servo Amplifier (SVU)
Descriptions Manual, GFZ-65192EN.
3
(Front Face View)
Series Amplifier
Machine E-STOP Device(s)
Normally Closed
+24
20
17
20
17
EPS
Amplifier
Of First
JX5
Series
Amplifier
Of Second
JX5
Series
JX5
a48006
Part of Kit - A02B-0120-K301
JX5 Connector can be connected
Up to 6 AMPS
in series
CX11
Figure 3 - 12. Machine Emergency Stop Connection to Series (SVU) Servo Amplifier
02 04 06 08 10
01 03 05 07 09
12 14 16 18 20
11 13 15 17 19
10 01
20 11
HONDA 20 Pin PCR Type Connector (JX5)
a48007
01 03 05 07 09
02 04 06 08 10
11 13 15 17 19
12 14 16 18 20
10 01
20
HIROSE 20 Pin PCR Type Connector (JX5)
11
Note: Connectors viewed from solder/crimp side.
Figure 3 - 13. 20-Pin PCR Type Connector (JX5) on Series Amplifier
For more information, refer to the connection section in the Series Servo Product Specification
Guide, GFH-001.
3
Connecting 24Vdc Power to the Series Servo Amplifier
To connect 24Vdc power to the Series amplifier:
1. Locate prefabricated cable 44C742432 (if ordered), and insert the end with the connector into
terminal CX11-4 on the Series amplifier face (see Figure 3-3).
2. The other end of the cable must be connected to a regulated 24Vdc ( 10%) source capable of
supplying at least 450 mA of current. Observe the proper polarity indicated on the face of the
amplifier. Do not apply power at this time.
Connecting the Power Mate H to the Power Source
To connect the Power Mate H to the power source:
1. Locate GE Fanuc cable 44C741911-002 or FANUC cable A02B-0124-K830. Plug the
connector side of this cable into the connection labeled CP1 INPUT on the front face of the
Power Mate H.
2. Connect the other end to a regulated 24V dc power supply. This cable consists of two lines.
Connect the +24V line (pin 1) to the positive terminal at the power source and the line
labeled 0V(pin 2) to the common of the power source (see Figure 3-14).
1
(Housing) 1-17-8288-3
FANUC Cable: A02B-0124-K830
GE Fanuc Cable: 44C741911-002
Connector (AMP Japan)
(Contact) 1-175218-5
2
+24V
3
0V
a48027
CP1
Power Source
24VDC
(supplied by customer)
Figure 3 - 14. Connection of the Power Mate H to a Power Source
For more information, see Section I.5.2 of the Power Mate H Connection Manual, GFZ-62683EN.
3
Connecting Machine Input/Outputs
The Power Mate H motion system is shipped with a standard machine interface (ladder logic
program) stored in memory. The standard interface supports up to 4 axes. For systems with
higher axis counts the standard ladder will have to be modified. The standard interface is intended
to facilitate rapid startup of basic system configurations to the point where motors can be jogged.
It is not intended to perform all functions necessary to control a complete machine. However, the
standard interface can be used as a starting point for many applications.
This program also supports several available I/O interfaces:
1. Built-in I/O Card: 32 inputs/24 outputs installed as an optional card inside the Power Mate H
housing. Connections are made to separately mounted screw terminal adapter boards
connected to the Power Mate H via ribbon cables.
2. I/O Unit Model A: Up to 1024 inputs/1024 outputs can be assembled using I/O modules
which plug onto a separately mounted rack. The rack includes an interface module which
uses GE Fanuc I/O Link to connect to the Power Mate H.
3. Genius I/O: 16 inputs/2 outputs installed as an optional card inside the Power Mate H
housing. This card also allows the Power Mate H to be connected as a slave node on a GE
Fanuc Genius network. Connections are made to a separately mounted screw terminal adapter
board connected to the Power Mate H via a ribbon cable.
Note
Parameter 3001#3 (BIO) enables the Power Mate H to work with the proper I/O
configuration. Be sure to set this parameter for the I/O option you are using, as
defined in Table 5-1, Basic Parameter Settings.
A list and brief definition of the I/O functions supported by the standard interface are shown in
Table 3-3 and Table 3-4 below. Each I/O configuration uses a different hardware interface and
different I/O addresses. Each I/O option uses the same basic mnemonic name for each I/O
function shown in Table 3-3 but with a suffix to indicate the I/O option. For example, a "B" suffix
indicates Built-in I/O; an "A" suffix indicates I/O Unit Model A, and a "G" indicates Genius I/O.
The following sections show connection details and signal lists for each option. Once you have
determined which I/O configuration you have, proceed to the appropriate section and connect your
machine control I/O.
Note
An asterisk (*) preceding a name indicates active low logic. When the input is
active (switch closed), the input condition is not active.
3
Table 3 - 3. Standard Interface Input Function Names and Definitions
Input Name Definition
*DEC1 Home reference switch input for axis 1. Used in a Home reference cycle. When Home switch is
activated during a Home reference cycle, axis will slow down to the speed set by parameter number
1425, until axis moves off switch. Then axis will look for next marker pulse of encoder and
reference to that point. This signal is not needed if using the switchless reference routine.
*DEC2 Home reference switch input for axis 2 (see *DEC1)
*ESP Emergency stop. When this input is high, Power Mate H is not in emergency Stop. When this input
is low, emergency stop is active.
*RI LK High Speed Interlock input. When this signal is low, all axis motion is inhibited. Parameter 3003#1
is used to enable/disable this input.
*SP Feed-Hold input. When this signal is low during AUTO Mode (see Aut below) or MDI mode
operation, motion stops and Power Mate H enters the feed-hold state. To begin operation again, this
input must be set back to the active state (high logic) and the Cycle Start input (ST) must be turned
on and off again. (See definition of ST below).
+ J1 When in JOG mode (see JOG below), the first axis is jogged in the positive direction when this input
is active. If both +J1 and -J1 are active motion is stopped.
+ J2 When in JOG mode (see JOG below), the second axis is jogged in the positive direction when this
input is active. If both +J2 and -J2 are active motion is stopped.
+ J3 When in JOG mode (see JOG below), the third axis is jogged in the positive direction when this
+ J4 When in JOG mode (see JOG below), the fourth axis is jogged in the positive direction when this
- J1 When in JOG mode (see JOG below), the first axis is jogged in the negative direction when this
- J2 When in JOG mode (see JOG below), the second axis is jogged in the negative direction when this
- J3 When in JOG mode (see JOG below), the third axis is jogged in the negative direction when this
- J4 When in JOG mode (see JOG below), the fourth axis is jogged in the negative direction when this
AUT Sets Power Mate H into AUTO mode when active. Power Mate H must be in AUTO mode to run a
motion profile.
EDT Sets Power Mate H into EDIT mode. Power Mate H must be in EDIT mode to edit programs.
ERS External Reset (momentary input). Resets the Power Mate H and will clear non-fatal alarms when
activated.
(continued)
3
Table 3-3. Standard Interface Input Function Names and Definitions (continued)
Input Name Definition
FIN Miscellaneous (M-Code) function completed input. After an M-Code is processed, activate FIN so
that the motion program will continue.
JOG Sets Power Mate H into JOG mode when activated. Power Mate H must be in the JOG mode to jog
and reference axes.
KEY Key switch input. When this input is active it allows editing of motion programs, tool compensation,
parameter data, macro variables and pre-setting absolute coordinate values. This input allows
machine builders to restrict access to program and parameter changes.
MLK Machine Lock allows program to run in AUTO mode or axes to be jogged, but no servo commands
are outputted. Used to test motion programs.
PN0
PN1
These two input select one of three motion programs. When both inputs are off, the current program
is used. Set PN0 and PN1 to choose program 1, 2 or 3 as shown below and then activate the Cycle
Start (ST) input while in AUTO mode.
PN0 PN1 Action
0 0 Run current program
0 1 Run program number 1
SKI P If this input is active when the motion program encounters a G31 (skip) command during a move,
the coordinate values at the moment SKIP goes high are stored in custom macro variables, the
current block or line of the motion program is terminated and the next block is executed. Check
settings of parameter 3005 for all SKIPn settings (see Table 5 - 2)
SKI P2 The second skip functions the same as SKIP except a G31P2 command must be encountered in the
motion program during a move.
SKI P3 The third skip functions the same as SKIP except a G31P3 command must be encountered in the
SKI P4 The fourth skip functions the same as SKIP except a G31P4 command must be encountered in the
ST Cycle Start (momentary contact). When this input is activated and then released while the Power
Mate H is in AUTO mode, the current motion program will start. To change the current program
use input PN0 and PN1.
ZRN Manual position reference return input. When this input is activated while in JOG mode will put the
Power Mate H in HOME reference mode.
3
Table 3 - 4. Standard Interface Output Function Names and Definitions
Output Name Definition
AL Alarm Signal output. Turns on at the occurrence of any alarm on the Power Mate H.
DEN Distribution End Signal output. Turns on after an M-Code has been issued from the motion program
and all axis motion has stopped. Remains on until the FIN input is activated.
M03 This output is activated and remains on when M03 is commanded in the motion program. Turns off
after FIN is turned on.
M10 This output is activated and remains on when M010 is commanded in the motion program. Turns
off after FIN is turned on.
MA This output is activated when the Power Mate H is ready.
MAUT This output is activated when the Power Mate H is in AUTO mode.
MEDT This output is activated when the Power Mate H is in EDIT mode.
MF This output is activated when any M-Code is issued by the Power Mate H. Turns off after the FIN
input is activated.
MJ This output is activated when the Power Mate H is in JOG mode.
MMDI This output is activated when the Power Mate H is in MDI mode. AUT, EDT and JOG inputs
have to be off for the Power Mate H to be in MDI mode.
MZRN This output is activated when the Power Mate H is in the Manual Reference Return (ZRN) mode.
Power Mate H must also have the JOG input active.
OP This output is activated when the Power Mate H is performing an automatic operation and a Motion
program is running.
REF This output is activated when the axes have been referenced to home position.
SLT This output is activated when the Cycle Start (ST) input is active.
SPL This output is activated when the Feed-Hold input is active.
3
Connecting Machine I/O Using a Built-in I/O Card
The addresses for the Built-in I/O card begin at X1000 for inputs and Y1000 for outputs. Signals
in bold italics are dedicated inputs. The "B" suffix denotes signal names used by the standard
ladder for configurations using Built-in I/O card. Terminal numbers reference the appropriate
screw terminal on the externally mounted Screw Terminal Adaptor Board shown in Figure 3-15.
Table 3 - 5. Built-in I/O Card Terminal Block Connections and Address List
Connector CB128 Connector CB129
Screw
Terminal
Number
Address Description
Screw
Terminal
Number
Address Description
1 +24E 24 Vdc Output 1 +24E 24 Vdc Output
2 +24E 24 Vdc Output 2 +24E 24 Vdc Output
3 X1000#0 SKI P2B 3 X1002#0 *DEC1B
4 X1000#1 SKI P3B 4 X1002#1 *DEC2B
5 X1000#2 SKI P4B 5 X1002#2 *DEC3B
6 X1000#3 FIN-B 6 X1002#3 *DEC4B
7 X1000#4 *ESP-B 7 X1002#4 *DEC5B
8 X1000#5 ERS-B 8 X1002#5 *DEC6B
9 DIC Com. for X1000
#0, #1, #2, #7
9 X1002#6 PN0-B
10 X1000#7 SKI P-B 10 X1002#7 PN1-B
11 X1000#6 *RI LKB 11 DOC 24 Vdc Input
12 DOC 24 Vdc Input 12 DOC 24 Vdc Input
13 X1001#0 EDT-B 13 X1003#0 +J1-B
14 X1001#1 AUT-B 14 X1003#1 -J1-B
15 X1001#2 JOG-B 15 X1003#2 +J2-B
16 X1001#3 ZRN-B 16 X1003#3 -J2-B
17 X1001#4 MLK-B 17 X1003#4 +J3-B
18 X1001#5 KEY-B 18 X1003#5 -J3-B
19 X1001#6 *SP-B 19 X1003#6 +J4-B
20 X1001#7 ST-B 20 X1003#7 -J4-B
21 Y1000#0 MF-B 21 Y1002#0 M03-B
22 Y1000#1 AL-B 22 Y1002#1 M04-B
23 Y1000#2 DEN-B 23 Y1002#2 M05-B
24 Y1000#3 MA-B 24 Y1002#3 M06-B
(continued)
3
Table 3-5. Built-in I/O Card Terminal Block Connections and Address List (continued)
Connector CB128 Connector CB129
Screw
Terminal
Number
Address Description
Screw
Terminal
Number
Address Description
25 Y1000#4 OP-B 25 Y1002#4 M07-B
26 Y1000#5 SPR1B 26 Y1002#5 M08-B
27 Y1000#6 SPR2B 27 Y1002#6 M09-B
28 Y1000#7 SPR3B 28 Y1002#7 M10-B
29 Y1001#0 MEDTB 29 Y1001#4 MMDIB
30 Y1001#1 MAUTB 30 Y1001#5 REF-B
31 Y1001#2 MJ-B 31 Y1001#6 SPL-B
32 Y1001#3 MZRNB 32 Y1001#7 SLT-B
33 0V 0V Common 33 0 V 0V Common
34 0V 0V Common 34 0V 0V Common
1. Locate cable A02B-0124-K841. Insert one end of this cable into the connector CB128
located on the bottom of the Power Mate H and the other end into the Screw Terminal
Adaptor Board 44A736236-001 (see Figure 3-15).
3
2. Locate the other cable A02B-0124-K841. Insert one end into CB129 located on the bottom
of the Power Mate H and the other end into the Screw Terminal Adapter Board 44A736236-
001 (see Figure 3-15).
(Front Face)
(Bottom View)
Power Mate H
CB129
M4
DPL/MDI
a48013
Machine Control
To
I/O
Cable: A02B-0124-K841
Connectors: MCF-34KRF
Terminal Board
44A736236-001
To
CB128
Tab
Key
B A
17
1
Viewed From
Cable Side
CB128/129
44A736236-001
Terminal Board
Figure 3 - 15. Attachment of the Machine I/O Cables
For more information on connecting I/O units to the machine interface, see Chapter 5 in the
Power Mate H Connection Manual, GFZ-62683EN.
3
3. Wire your switches or pushbuttons to the other end of the cable, as shown in Figures 3-16
through 3-21.
Note
The Emergency Stop (*ESP) switch must be connected before proceeding to the
next phase of the startup. If no Emergency Stop devices are included on the
machine, a dummy jumper must be installed.
Power Mate H Mode EDT (X1001#0) AUT (X1001#1) JOG (X1001#2)
MDI mode 0 0 0
EDIT mode 1 0 0
AUTO mode 0 1 0
JOG mode 0 0 1
3
21
Power Supply
Regulated
+24 0V
12
33,34
Load
Output
22
Y1000.0
23
24
25
26
27
28
a48008
Output Driver
Source-type
Connection
Example of
Y1000.1
Y1000.3
Y1000.4
Y1000.5
Y1000.6
Y1000.7
Y1000.2
Block Number
CB128 Terminal
Power Mate H (CB128)
DOC
0V
MF-B
AL-B
DEN-B
MA-B
OP-B
SPR1B
SPR2B
SPR3B
CB128 Terminal
Connection
Sample of
29
30
31
32
Y1001.1
Y1001.3
Y1001.2
MEDTB
MAUTB
MJ-B
MZRNB
Y1001.0
Figure 3 - 16. Connection of the Required Switches and Pushbuttons to the Built-in I/O Board
3
SPARE/SKIP2B
SPARE/SKIP3B
SPARE/SKIP4B
FIN-B
input
ERS-B
SPARE/*RILK
SPARE/SKIP
a48009
X1000.0 3
Address number
Bit number
Pin Number
X1000.1 4
X1000.2 5
X1000.3 6
X1000.4 7
X1000.5 8
X1000.6 11
X1000.7 10
1, 2
Conversion circuit
Filter and level
+24V
Connection
Sample of
stop signal
Emergency
* ESP
9
33, 34
DIC
0V
3
EDT-B
* SP-B
ST-B
a48016
X1001.0 13
Address number
Bit number
Pin Number
X1001.1 14
X1001.2 15
X1001.3 16
X1001.4 17
X1001.5 18
X1001.6 19
X1001.7 20
1, 2
Conversion circuit
Filter and level
+24V
Connection
Sample of
9
33, 34
DIC
0V
AUT-B
JOG-B
ZRN-B
MLK-B
KEY-B
3
33,34 0V
Load
Output
21
Power Supply
Regulated
+24 0V
11, 12
22
Y1002.0
23
24
25
26
27
28
a48011
Output Driver
Source-type
Connection
Example of
Y1002.1
Y1002.3
Y1002.4
Y1002.5
Y1002.6
Y1002.7
Y1002.2
Block Number
CB129 Terminal
DOC
M03-B
M04-B
M05-B
M06-B
M07-B
M08-B
M09-B
M10-B
Connection
Sample of
29
30
31
32
Y1001.4
Y1001.5
Y1001.6
Y1001.7
MMDIB
REF-B
SPL-B
SLT-B
3
SPARE/*DEC1
PN0-B
PN1-B
a48017
X1002.0 3
Address number
Bit number
Pin Number
X1002.1 4
X1002.2 5
X1002.3 6
X1002.4 7
X1002.5 8
X1002.6 9
X1002.7 10
1, 2
Conversion circuit
Filter and level
+24V
Connection
Sample of
SPARE/*DEC2
SPARE/*DEC3
* DEC4
SPARE/*DEC5
SPARE/*DEC6
3
a48010
+J1-B X1003.0 13
Connection
Example of
Block Number
CB129 Terminal
-J1-B X1003.1 14
+J2-B X1003.2 15
-J2-B X1003.3 16
+J3-B X1003.4 17
-J3-B X1003.5 18
+J4-B X1003.6 19
-J4-B X1003.7 20
1, 2
Conversion circuit
Filter and level
+24V
Switch Connection
Sample of Input
3
Connecting Machine I/O Using I/O Unit Model A
The addresses for the I/O Unit Model A or other I/O Link devices begin at X0000 for inputs and
Y0000 for outputs. The signal address list is shown in Table 3-6 below. Signals in bold italics
denote dedicated inputs. The "A" suffix denotes signal names used by the standard ladder for
configurations using I/O Unit Model A.
Table 3 - 6. I/O Unit Model A Input and Output Address List
PMC
Address
#7 #6 #5 #4 #3 #2 #1 #0
X0000 SKI P-A *RI LKA ERS-A *ESP-A FIN-A SKI P4A SKI P3A SKI P2A
X0001 ST-A *SP-A KEY-A MLK-A ZRN-A JOG-A AUT-A EDT-A
X0002 PN1-A PN0-A *DEC6A *DEC5A *DEC4A *DEC3A *DEC2A *DEC1A
X0003 -J4-A +J4-A -J3-A +J3-A -J2-A +J2-A -J1-A +J1-A
Y0000 SPARE SPARE SPARE OP-A MA-A DEN-A AL-AO MF-A
Y0001 SLT-A SPL-A REF-A MMDIA MZRNA MJA MAUTA MEDTA
Y0002 M10-A M09-A M08-A M07-A M06-A M05-A M04-A M03-A
The standard ladder assigns the inputs/outputs to the following rack configuration:
Input Address Group Base Slot Name
X0000 0 0 01 ID16D
X0001 0 0 01 ID16D
X0002 0 0 02 ID16D
X0003 0 0 02 ID16D
Output Address Group Base Slot Name
Y0000 0 0 03 OD08D
Y0001 0 0 04 OD08D
Y0002 0 0 05 OD08D
3
The Power Mate H may be connected to an I/O Link network as a master or a slave unit. If you
have a standalone Power Mate H which is not connected to another host device on the network
then your unit is a Master. The following sections show connection of both configurations.
Power Mate H as an I/O Link Master Unit
Connect the I/O Unit Model A as follows:
1. Connect the I/O Link cable (GE Fanuc cable 44C741558-00x or FANUC cable A03B-0807-
K801) connector labeled JD1A to the Power Mate H connector labeled JD1A1 (see Figure 3-
22). The maximum length for this cable is 10 meters. We recommend you label this I/O
Link cable connector JD1A1.
Note
Make sure you plug the cable into the connector labeled I/O Link JD1A1 for
operation as a master. There is also a connector labeled I/O Link JD1A for
connection of slave units.
2. Plug the connector at the other end of the cable, labeled JD1B, to the connector labeled JD1B
on the I/O Unit Model A interface module.
3. If Built-In I/O is used, also connect the Built-In I/O with only the Emergency Stop (*ESP)
and Home Switch (*DEC) connections, as shown in Figure 3-16 through 3-21.
4. The 24Vdc power cable for the I/O Unit Model A unit is not sold by GE Fanuc. However,
you should have received with your unit a Burndy style 3-pin connector that is used to
connect power to the I/O Unit Model A at connector CP32. Pin 1 of this connector is +24V
and pin 2 is the ground (see Figure 3-22).
For more information, refer to the I/O Unit Model A Connection/Maintenance Manual, GFZ-
61813E, and Section I.5 of the Power Mate H Connection Manual, GFZ-62683EN.
3
a48028
LINK PWR
BA0
BA1
A1F01A
JD1B JD1A
CP32
FANUC
24V
1 2
0V
Power
24Vdc
Source
JD2
I/O Unit Model A
To Next
Source
I/O Unit Model A
FANUC Cable:
GE Fanuc Cable:
44C741558-003
A03B-0807-K801
Power Mate H
(Housing) SMS3PNS-5
CP32 Connector (Burndy Japan Ltd.)
(Contact) RC16M-SCT3
JD1A1
I/O
Figure 3 - 22. Power Mate H Using I/O Unit Model A
3
Power Mate H as an I/O Link Slave Unit
For connection of the Power Mate H as a Slave unit with I/O Unit Model A:
1. Attach the I/O Link cable (GE Fanuc cable 44C741558-00x or FANUC cable A03B-0807-
K801) connector labeled JD1B to the Power Mate connector labeled JD1B.
2. Attach the connector labeled JD1A at the other end of the cable to the I/O Link Master Unit
connector labeled JD1A (JD1A1 if the Master is another Power Mate H) (see Figure 3-23).
For more information, refer to Section I.6 of the Power Mate H Connection Manual, GFZ-
62683EN.
a48029
ie:
I/O LINK
MASTER UNIT
Series 15
Series 16
Series 18
Series 0
Series 90-70
Series 90-30
JD1A
OR
POWERMATE
JD1A1
FANUC Cable:
GE Fanuc Cable:
44C741558-003
A03B-0807-K801
JD1B
JD1A
JD1B
JD1A
JD1A1
I/O Unit Model A
(Slave)
(I/O for Master)
Power Mate H
(Slave)
To other I/O Units
for
Power Mate H
To other I/O Units
for
Master
Figure 3 - 23. Power Mate H as a Slave Unit Using I/O Link
3
Grounding the Power Mate H Motion System
The Power Mate System must be properly grounded. Many problems occur simply because this
practice is not followed. Figure 3-24 shows the proper grounding practice.
Operator's
Panel
Machine
a48030
Power
Magnetics
Customer
Control
Cabinet
Unit
Servo
Amplifiers
Power
Mate H
Ground
DISTRIBUTION BOARD
Power
Magnetics
Frame Ground
System Ground
FAS1/FG
Figure 3 - 24. Power Mate System Grounding Connections
The connection to the frame ground must be made at only one place. There is a male Faston
terminal located on the bottom rear of the unit (near the mounting tab) for this purpose. The
terminal is labeled FAS1/FG on the side of the Power Mate H (see Figure 3-24).
The resistance of the system ground should be 100 ohms or less (class 3 grounding). The cable
connecting the system ground must have sufficient cross-sectional area to allow fault current to
flow to the system ground. Typically, the cross-sectional area should be equivalent to or greater
than the ac power cable supplying power to the system.
For the operators panel and the machine, use the ground wire in the ac power cord.
For more information, see Section I.3.7 and I.5.2 of the Power Mate H Connection Manual,
GFZ-62683EN.
This should complete the required steps in assembling the Power Mate system. You will have
more work to do when interfacing to your machine, but for now you can move on to the next step:
Turning on the Power Mate H !
GFK-1383A 4 - 1
Chapter
Turning On the Power Mate H
Before turning on the power, please review these safety precautions:
Confirm that the supplied cables are properly attached to the appropriate connectors.
Confirm that all wiring to the power sources is correct (for example, Pin 1 = (+) and Pin 3 =
(-) for 24Vdc power to Power Mate and Pin 1 = (+) and Pin 2 = (-) for I/O Unit Model A and
CRT/MDI).
Make sure that the motors are properly secured but are not yet connected to the machine load.
Check that all components are properly grounded.
If you are using more than one motor, confirm that the servo motor power cables and
feedback cables are not crossed between motors. Labeling the cable connectors (JSx and JFx)
by the axis they are associated with will help.
There is a specific sequence for turning on power to the Motion Control System. In the order
listed, perform the following steps:
1. Turn on the 230Vac input power to the servos.
2. Apply power to the CRT/MDI operator's display terminal if you are using one of these units.
3. If you are using an I/O Unit Model A, apply the 24Vdc power source.
4. Apply 24Vdc power to the Power Mate H.
For more information, see Section I.5 of the Power Mate H Connection Manual, GFZ-62683EN.
If an alarm or error message is displayed on your operator input device (CRT/MDI or DPL/MDI),
do not be concerned. You will correct that when you:
Configure the Power Mate H !
4
GFK-1383A 5 - 1
Chapter
Configuring the Power Mate H
The Power Mate H is a high-performance motion controller with an extensive set of features and
can be adapted to many different applications. You can easily make adjustments to alter or
improve your motion system using data registers in the Power Mate H. These data registers are
called parameters. They are the mechanism for configuring your Power Mate H motion system
for your specific hardware configuration and application requirements.
The Power Mate H contains several hundred parameters. However, only a small number of these
must be set for most applications. The default values for the remaining parameters are typically
suitable. The parameters that must be set are defined later in this chapter.
Symbols in this chapter are used to indicate certain keys that you must press. For example, the
following symbol indicates that the key is located on the either the MDI panel of the CRT/MDI
unit or on the DPL/MDI unit.
MDI key
The symbol used to indicate pressing a softkey located underneath the CRT screen on the
CRT/MDI unit is
Softkey
These symbols are used to indicate pressing the cursor up/down, left/right, and page up/down
keys.
or
5
5
For example, when you see:
SYSTEM
+
PARAMETER
+
OPRT
+
1234
+
INPUT
+
it indicates that you should press the SYSTEM key, then the PARAMETER softkey, followed by
the OPRT softkey. Then, position the cursor on the desired item, type the string of characters
1234, and press the INPUT key. This will input the value 1234 at the point where the cursor is
located.
The following information explains how to enter parameter data using the various display
terminals available from GE Fanuc. Locate the section for the type of terminal you are using and
proceed with the setup.
Setting Parameters from the DPL/MDI
To enter parameter information from the DPL/MDI, you must first enable the parameters to be
changed. This enable is called Parameter Write Enable(PWE). When set to 1, you may change
parameters. When set to 0, no parameters can be changed.
Caution
Make sure that the Power Mate H is not running a program or moving the axes before
changing the PWE since this will stop program execution. We recommend that you
enter an EMERGENCY STOP condition before changing parameters.
Setting the PWE Bit
MENU
VAR +
1
+
INPUT
+
Press the MENU/VAR key until an H or a # is not displayed. Then, use the cursor keys to scroll
until PWE is displayed on the first line of the DPL/MDI display. When PWE is set to 1, Alarm
100 will appear, indicating PWE=1.
Note
To clear Alarm 100, simultaneously press the Cancel (CAN) and Reset keys on the
CRT/MDI unit or reset the PWE bit to zero after all parameter changes are complete.
GFK-1383A Chapter 5 Configuring the Power Mate H 5 - 3
5
Setting a Parameter
DGNOS
PARAM +
value
+
INPUT
+
Parameters are displayed with a & prefix. Press the DGNOS/PARAM key until the & symbol is
displayed in front of the parameter numbers. Use the up/down arrows to search for a desired
parameter, and enter the desired value.
Searching for and Setting a Parameter
DGNOS
PARAM +
parameter
value
+
INPUT
+
& @
NO. +
desired
parameter
number
INPUT
+
Once again, press the DGNOS/PARAM key until the & symbol is displayed in front of the
parameter numbers.
Resetting the PWE Bit
MENU
VAR +
0
+
INPUT
+
Press the MENU/VAR key until an H or a # is not displayed. Use the cursor keys to scroll until
PWE is displayed on the first line of the DPL/MDI display. Press the Zero key and then the Input
key. Parameters can no longer be changed.
5
Setting Parameters from the CRT/MDI
Confirm that the operational mode of the Power Mate H is set to Manual Data Input (MDI) or that
the Power Mate H is in the EMERGENCY STOP condition. In MDI mode, the letters MDI will
be displayed in the lower left corner of the screen. MDI is the default mode for the Power Mate H.
In EMERGENCY STOP condition, the letters ESP will be reverse-highlighted. To change
modes, use the Mode Selection switch that you connected during the assembly process (see Figure
3-13). This Mode Selection switch is interfaced via the PMC ladder program or the standard
ladder.
To enter parameter information from the CRT/MDI, you must first enable the parameters to be
changed. This enable is called the Parameter Write Enable (PWE). When set to 1, you may
change parameters. When set to 0, you cannot change the parameters.
Setting the PWE Bit
OFFSET
SETTING +
SETTING
+
OPRT
+ +
ON:1
When PWE is set to 1, Alarm 100 will appear, indicating that the PWE is enabled. Verify that
the cursor is located on the first line of this SETTING page to set Parameter Write Enable.
Searching for a Parameter
SYSTEM PARAM
+
desired
parameter
number
+ +
NO. SEARCH
Modifying a Parameter Setting after the Parameter has been Searched
desired value
+
INPUT
5
Resetting the PWE Bit
OFFSET
SETTING +
SETTING
+
OPRT
+ +
OFF:0
To clear the Alarm 100, EMERGENCY STOP must be cleared and then press
RESET
or cycle power to the Power Mate H.
For more information, refer to the Appendixes in the Power Mate H Connection Manual,
GFZ-62683EN.
Required Parameter Settings
Note
The intent of this publication is to guide you through a process which will allow
you to move an axis. The following information describes the minimum
parameter settings that will accomplish this task. After you have successfully
moved an axis, you should become familiar with all parameters described in
Appendix H of the Power Mate H Connection Manual, GFZ-62683EN. Most
problems you will encounter with the Power Mate H motion system can be
corrected by simply modifying a parameter.
There are four steps that you must perform:
1. Enter values for the parameters described in Table 5-1. Some of these items are on a per-axis
basis, and you must enter values for all axes when you are using a multiple-axis Power Mate
H motion system.
Note
Ignore Alarm 000 (MUST CYCLE POWER) until all parameters in Table 5-1 are
set.
2. Cycle power on the Power Mate H controller.
3. Enter values for the parameters described in Table 5-2.
4. Cycle power on the Power Mate H controller.
5
If your Power Mate motion system consists of more than one axis, remember to enter valid values
for the axis-specific parameters for the other axes. Parameters which are axis specific use the form
Parameter Name x, where x signifies the appropriate axis number (1-6 or X, Y, Z, A, B, C, U, V,
W). These axis number labels are defined by the user using parameter #1020 (see Table 5-1).
Parameters with no x axis designation pertain to all axes or are parameter settings which are not
axis related (for example, CRT/MDI, I/O, and COMMUNICATIONS parameters).
Parameters can be in bit-type (binary) or word-type format. Bit-type parameters are used for
parameters which can only be in one of two states (ON/OFF, True/False, Enabled/Disabled).
Word-type parameters are used for parameters requiring a numerical value.
Bit-type parameters are arranged in groups of 8 bits per parameter number (for example:
01100101). Word-type parameters contain decimal values (for example: 47). In bit-type
parameters, bit 7 (#7) is the far-left bit, and bit 0 (#0) is the far-right bit, as shown below:
#7 #6 #5 #4 #3 #2 #1 #0
. . . .
&0012X 0 0 1 1 0 0 1 1
Bit-type parameters are referenced using the form:
para number # bit number
For example, 1004#7 is parameter 1004 bit 7.
The format of the parameters is:
Parameter Number Bit Type Value Word Type Value Parameter Description
&1084 X 00110011
Y 00110100
X47
Y3000
This is not a real setting.
X 00110011 is a bit-type (binary) parameter setting for the first axis (X).
Y 00110100 is a bit-type (binary) parameter setting for the second axis (Y).
X 47 is a word-type parameter setting for the first axis (X).
Y 3000 is a word-type parameter setting for the second axis (Y).
Note
After the parameters are set, make sure to back up the parameters using either a Flash
Memory Card (see Section 3 in the Power Mate-Model H Maintenance Manual, GFZ-
62685EN), Handy File, or via RS-232 communications. Also, remember to update the
parameter backup after changing parameters.
5
Identifying the Motor
For proper setup, the Power Mate H requires information that is provided by the model number of
the motor. This model number is located on the tag affixed to each motor. Figure 5-1 breaks
down the motor number into components and identifies the elements required as setup parameters
(Parameter #2020 in Table 5-1).
Figure 5 - 1. Motor Type and Encoder Type Definition
Motor Model: A06B-xxxx-Byzz
Identifies the Motor Encoder Type
75
75
77
77
78
88
Serial Encoder Type
Alpha 64k Absolute
Beta 32k Absolute
Alpha 64k Incremental
Beta 32k Incremental
Beta 8k Absolute
Alpha 1M Absolute
zz Motor Type
xxxx
0031
0032
0033
0034
0101
0102
0106
0113
0121
0123
0126
0127
0128
0142
0143
0145
0146
0147
0148
0151
0152
0153
0157
0158
0176
0177
0178
0371
0372
0373
0561
0562
0564
0571
0572
35
36
33
34
35
36
34
13
7
15
8
16
17
18
19
10
27
20
21
28
22
23
30
29
3
4
5
61
46
62
56
57
58
59
60
Identifies the Motor Type Number
5
Step 1: Setting the Parameters
Enter values for the parameters identified in Table 5-1 below.
Table 5 - 1. Basic Parameter Settings
Parameter Name Description
1001#0 INM
Defines whether the input units for axis commands (machine setup) are English or metric:
0 = millimeters.
1 = inches.
1002#1 DLZ Sensorless Home Reference mode disabled/enabled for all axes:
0 = Sensorless mode disabled. Home reference position is set using a Home switch (*DEC).
1 = Sensorless mode enabled. (See parameter 1005#1 below.)
1004#7 IPR Sets the minimum least command increment:
0 = Least command increment (0.001 mm, 0.0001", 0.001 degrees).
1 = 10 times least command increment.
1005#0 ZRN Return to Reference alarm (Set to 1 for now):
0 = Alarm 224 is generated when a command in AUTO (MEM) mode is given
before a Return to Reference operation is completed.
1 = Alarm is not generated before a Return to Reference operation is completed.
1005#1 DLZx Sensorless Home Reference mode disabled/enabled independently for each axis. This
parameter is enabled only when parameter 1002#1=0.
0 = Sensorless Home Reference mode disabled per axis.
1 = Sensorless Home Reference mode enabled per axis. (Allows setting the home
reference position for each axis without using a Home Switch.)
1006#0 ROTx Sets the type of axis motion (per axis):
0 = linear axis.
1 = rotary axis (see 1008#0 Table 5-2 for setting Position Rollover function).
1006#5 ZMIx Sets the Return to Reference and Backlash Compensation direction (per axis):
0 = positive direction.
1 = negative direction.
1010 Defines the number of axes controlled by the motion program, typically the same as the number
of available axes:
1 = 1-axis Power Mate H.
1020 Defines the axis letter used for the motion program reference for each axis. Replace the default
values (1-6) with the desired letter name for each axis which will be used in the motion
program. (These labels are also displayed for axis-specific parameters on the CRT/MDI unit.)
65 = A 85 = U 88 = X
66 = B 86 = V 89 = Y
67 = C 87 = W 90 = Z
1023 Servo axis number for each control axis (command connector assignment per axis):
1 = Axis 1 interfaced via JS1 command connector on front of Power Mate H.
2 = Axis 2 interfaced via JS2 command connector on front of Power Mate H.
-1 = No servo attached (demo mode).
(continued)
5
Table 5-1 Basic Parameter Settings (continued)
1815#4 APZx Home reference for absolute encoder has been completed (per axis):
0 = Home reference cycle has not been completed.
1 = Home reference cycle has been completed.
Note: This parameter is automatically changed to 1 after a valid home reference search
has been completed on a new system or when an encoder is replaced. This parameter
should be set to 0, cycle power on the Power Mate H, and then execute a Home
Reference cycle (see Section 10 of the Power Mate H Connection Manual, GFZ-
62683EN).
1815#5 APCx Absolute encoder mode is being used (per axis):
0 = Absolute encoder mode is not used.
1 = Absolute encoder mode is used.
Note: If set to 1, 300 level alarms will occur until the encoder battery is connected and
the axis has been referenced. It is recommended that this function be set later.
2000#1 DGPRM Set to 0 when setting parameter 2020. This sets specific default parameters for each
motor type. After power is cycled, this bit resets back to 1.
2000#3 PRMCAL Set to 1
2020 Defines the motor type. Enter a value based on the motor type code described in Figure
5-1. Parameter 2000#1 must be set to 0 before setting this parameter.
2022 DIRCTL Defines motor rotation direction:
111 = Clockwise rotation. (Viewed from encoder end of motor for a positive
command.)
-111 = Counter-clockwise rotation. (Viewed from encoder end of motor for a
positive command.)
2023 PULCO Feedback pulses for velocity detection. Enter 8192 if increment system=0.001 mm
(parameter 2000#0=0).
2024 PPLS Feedback pulses for position detection. Enter 12500 if increment system=0.001 mm
(parameter 2000#0=0).
2084 SDMR1 Numerator of scaling multiplier (flexible feed gear) for user unit scaling.
Note: SDMR1/SDMR2=desired number of position feedback pulses per revolution of
the motor / Maximum number of detection pulses. The values of 2084 and 2085 must
both be less than 32,767 and their ratio (2084/2085) must be less than or equal to 1.
2085 SDMR2 Denominator of scaling multiplier (flexible feed gear) for user unit scaling.
Note: SDMR1/SDMR2=desired number of position feedback pulses per revolution of
the motor / Maximum number of detection pulses. The values of 2084 and 2085 must
both be less than 32,767 and their ratio (2084/2085) must be less than or equal to 1.
3001#3 BIO Configures the Power Mate H for proper I/O configuration:
0 = Use I/O Unit Model A.
1 = Use Internal I/O, Built-in I/O card, or Genius I/O.
3111#0 SVS Enable/disable the display of the servo setting screen on the CRT/MDI.
0 = Screen display is disabled.
1 = Screen display is enabled.
5
Step 2. Cycle Power on the Power Mate H Controller
This can be accomplished by removing and re-inserting the 24Vdc connector (CP1) on the front of
the Power Mate H.
Step 3. Enter Values for Additional Basic Parameters
If you have more than two axes, be sure to enter values for all axes for the parameters listed in
Table 5-2 below.
Table 5 - 2. Additional Basic Parameters
1008#0 ROAx Enables/disables position register rollover to zero for a rotary axis (1006#0=1).
0 = Rollover function is disabled for rotary axis (1006#0=0).
1 = Rollover function is enabled for rotary axis (1006#0=1).
The position value will roll over to zero when the position set in parameter 1260 is
reached.
1008#1 RABx Defines the direction for a rotary axis when executing absolute position commands and
when the Rollover function is enabled (1008#0=1).
0 = Absolute commands will command longest distance for rotary axis.
1 = Absolute commands will command shortest distance for rotary axis.
1260 Defines the value of the position at which the position register will roll over to zero for a
rotary axis (1006#0=1) if the Rollover function is enabled (1008#0=1).
If using Increment System B (0.001 deg), setting to 360000 will cause the position
register to roll over to 0.000 at 360 degrees.
Note: Parameter 1008#0 (see above) enables/disables this rollover function.
1300#6 LZR Determines if software overtravel limits will/will not be checked before completing a
Return to Home Reference position:
0 = Limits are checked.
1 = Limits are not checked.
1300#7 BFA When a command exceeds the stroke limit, an alarm occurs either after or before the
stroke limit is exceeded.
1320 Sets positive software overtravel limit value.
1321 Sets negative software overtravel limit value. If set to value greater than positive
overtravel limit, both positive and negative limits become infinite, and only incremental
commands are available.
1420 Sets rapid traverse velocity used when in AUTO mode (G00 command).
1423 Sets manual jog velocity.
1424 Sets rapid traverse velocity used when in Manual mode.
1425 Sets low feedrate used in reference return (homing) operation.
(continued)
5
Table 5-2 Additional Basic Parameters (cont'inued)
1610#0 CTLx Sets ACC/DEC type:
0 = Exponential (also sets 1610#1=1 for bell-shaped ACC/DEC).
1 = Linear.
1610#1 CTBx Sets ACC/DEC type:
0 = Exponential.
1 = Bell-shaped (1610#0 must be set to 0).
1610#4 JGLx Selects ACC/DEC type used for manual jog:
0 = Exponential.
1 = Applies same ACC/DEC type for feed (1610#0,#1).
1620 Sets linear ACC/DEC time in msec for rapid traverse (AUTO mode).
If bell-shaped ACC/DEC is selected (1610#1=1), this parameter specifies the time in
msec for the linear (middle) portion (T1) of the bell-shaped curve (see 1621).
1621 If bell-shaped ACC/DEC is selected (1610#1=1), this parameter specifies the time
constant for corner rounding (T2) at the beginning and end of the ACC/DEC curve.
1622 Sets ACC/DEC time constant for feed (1610#0, 1610#1).
1628 Linear ACC/DEC time for G01 moves.
1825 Servo loop gain. Range is 1 to 9999 (default=3000). (Start with default value. Raise
gain if response is poor. Lower gain if motor buzzing or oscillation occurs.)
1828 Sets following error limit during motion in detection units.
Set=Max Feedrate * 1/60 * 1/Gain * 1/DU * 1.25=Max FDRT * 1/60 * 1/(&1825/100)
* 1/(LCI/CMR) * 1.25.
1829 Sets position error limit when axes are stopped. Valid range is 0 to 32,767. (Set to 500).
1832 Sets feed stop error limit. Axis command automatically stops when servo lag is greater
than value set by this parameter. Disable this function by setting value to 0 (zero).
3003 DI/DO Enables/disables specific PMC interface bits (see Appendix H of the Power Mate H
Connection Manual, GFZ-62683EN).
3003#5 *DEC Specifies Home (*DEC) switches for home referencing as active low/high.
0 = Home Reference switch is active Low Logic.
(Deceleration starts when this signal is low.)
1 = Home Reference switch is active High Logic.
3005#0 BSKP Enables/disables SKIP function for Built-in I/O only.
0 = Disables SKIP function.
1 = Enables SKIP function.
3005#4 BSKP2 Enables/disables SKIP2 function for Built-in I/O only.
0 = Disables SKIP2 function.
1 = Enables SKIP2 function.
5
Step 4. Cycle Power on the Power Mate H Controller
Now you should be able to start your Power Mate H motion system without generating any alarms
or messages. If you do generate alarms and/or messages, refer to the troubleshooting information
in Chapter 6, "Testing Your System."
If everything seems to be in order, then it must be . . . . .
Motion Time !
GFK-1383A 6 - 1
Chapter
Testing Your System
Generating Motion
Warning
Before generating motion, make sure that your motor is securely fastened down and is
NOT connected to the load.
Jogging the Motor
The simplest way to generate motion is to manually move or jog an axis. Assuming no errors are
present, you should be able to jog the first axis simply by:
Selecting JOG mode by closing the Jog mode input switch. The letters JOG should appear
in the lower left corner of the CRT/MDI screen.
Pressing your jog pushbuttons which activate the standard ladder (PMC) interface bits for +J1
or -J1. You only have the ability to jog the first four axes with the standard, built-in interface.
If you are not able to jog, refer to the troubleshooting information later in this chapter.
Commanding Motion
Another way to generate motion is to enter a command through either the DPL/MDI or the
CRT/MDI. Registering commands by this method is called Manual Data I nput (MDI ). For
example, to position Axis X 600 USER units (millimeters, inches, degrees) from its current
position at the velocity of 500 USER units per minute, enter the command:
G91 G94 G00 X600.0 F500
Where: G91 indicates incremental movement.
G94 indicates feed per minute.
G00 specifies positioning movement.
X600.0 is the distance the X axis will move (in current USER units).
F500.0 is the rate of axis movement(in USER units per minute).
6
6
In order to enter this command , you must first set the Power Mate H to MDI mode. This mode
is selected when the Auto, Edit, and Jog mode switches are all open. The letters MDI should
appear in the lower left portion of the screen.
Note
You cannot change modes during an ESTOP condition. Mode changes should be
performed only while the system is stopped.
To enter your command from the CRT/MDI as follows:
PROG
+
MDI G 91 G 94 G 00 X 600.0 F 500
+
EOB
+
INSERT INSERT
+
+
To execute this command, activate the Cycle Start input (ST G007#2).
Note
The cycle start input must be turned on and then off in order to execute the command.
Execution starts on the ON to OFF transition of the switch.
GFK-1383A Chapter 6 Testing Your System 6 - 3
6
To enter your command from the DPL/MDI:
PRGRM
+
G91
+
INSERT
+ +
INSERT
+
G94 G00
+
INSERT
+
X600.0
+ +
INSERT
F500.
+
INSERT EOB
+ +
INSERT
To execute this command, activate the Cycle Start input.
Note
Motion Using a Program
The final way to move an axis is to create a sequence of commands and store them in the memory
of the Power Mate H. This sequence of commands is called a motion program. Each command is
called a block. A motion program contains special beginning and ending blocks. For example,
you can take your previous command and create a three-block motion program by adding:
O0001 (Designates program number 1.)
G91 G94 G00 X600.0 F500. (Previous command.)
M30 (Designates end of program.)
You can either manually enter this program into the Power Mate using the CRT/MDI or
DPL/MDI, as described below, or load it from an external source using an RS-232 serial
connection (not covered in this document).
Note
Before you can add a program into memory, you must first set the Power Mate H to EDIT
mode and turn on the KEY (G046#5) input to unlock the memory protection. Switch to
EDIT mode now by closing the Edit mode switch. Also, there must not be any Alarms,
RESET, or Emergency Stop conditions present. (See "Troubleshooting Your Motion
System" later in this chapter.)
6
To manually enter your program using the CRT/MDI:
+
INSERT PROG
+
O0001
+
EOB
+
INSERT
+
G91 G94 G00 X600.0 F500.
+
EOB
+
INSERT
+
M30
+
EOB
+
INSERT
+
PROG
To execute a program from memory, switch from EDIT mode to AUTO mode by opening the
Edit mode switch and closing the Auto mode switch. Then, cycle the Cycle Start (STG007#2)
by pressing your Cycle Start pushbutton (input).
Note
To manually enter your program from the MDI/DPL:
PRGRM
+
O0001
+
EOB
+
INSERT
+
INSERT
+
G91
+ +
INSERT
+
G94 G00
+
INSERT
+
INSERT
+
X600.0
+ +
INSERT
F500.
+
INSERT EOB
+ +
INSERT
+
M30
+
INSERT EOB
+ +
INSERT
To execute a program from memory, switch from EDIT mode to AUTO mode by opening the
Edit mode switch and closing the Auto mode switch. Then, cycle your Cycle Start pushbutton
(input) ON and OFF. The PMC interface bit for Cycle Start is STG007#2.
GFK-1383A Chapter 6 Testing Your System 6 - 5
6
Troubleshooting Your Motion System
The first step in correcting a problem is to determine if any alarms have occurred. On the
CRT/MDI, press the MESSAGE key and then the ALARM softkey. From the DPL/MDI, press
the OPR/ALARM button until the alarms are displayed. Refer to Appendix B in the Power Mate-
Model H Maintenance Manual, GFZ-62685EN, manual for a list of error codes and possible
causes.
Additionally, diagnostic information is available to help you determine the state of the Power
Mate H at the time of the alarm. From the CRT/MDI, you can display the Diagnostic Screen by
pressing the SYSTEM key and then the DGNOS softkey. Section I.6 of the Power Mate-Model H
Maintenance Manual, GFZ-62685EN, provides information about the diagnostic data. If you are
using a DPL/MDI, press the key labeled DGNOS PARAM until the diagnostic data is displayed.
Section 6 in the Maintenance section of the maintenance manual (GFZ-62685EN) provides
troubleshooting procedures for the most common types of failures. Check to see if this
information can help you.
If your system powers up with alarms, it may be due to an incorrect parameter setting. Section 5
of the maintenance manual (GFZ-62685EN) contains standard parameter settings for the servo
parameters. Comparing your parameter settings with standard values may be helpful.
If you cannot move an axis or execute a motion program, check to see that all conditions required
to perform these operations are met. Refer to the appropriate areas in the PMC interface section
of the Power Mate Model H Connection Manual, GFZ-62683EN.
If you still cannot discover the problem, contact the GE Fanuc Technical Service Hotline at 1-
800-GE FANUC (1-800-433-2682).
Once you have successfully moved an axis, its . . .
Mission Accomplished !
6
Mission Accomplished - Closing Comments
After successfully moving an axis, whats next?
This startup guide does not cover all aspects of the Power Mate H motion system. For this reason,
you should review the information provided in the manuals. Additionally, GE Fanuc offers
training courses on the Power Mate products. If your application requires a custom machine
interface, you should also attend a GE Fanuc PMC programming course. For more information,
contact the GE Fanuc Technical Service Hotline at 1-800-GE FANUC (1-800-433-2682).
Two final recommendations:
Back up your parameter settings.
Saving and restoring parameters is documented in Section 3 of the Power Mate H
Maintenance Manual, GFZ-62685EN. We recommend that you back up your parameter
settings frequently while you are developing your application.
Save the paperwork that came with your system.
These documents identify the major hardware components as well as the software versions
loaded into the Power Mate H and servo amplifier(s).
GFK-1383A A - 1
Appendix
Standard Ladder Interface
This appendix contains a printout of the standard ladder interface included with the Power Mate
H. For more information about signal names and descriptions, refer to the information on
"Connecting Machine Inputs/Outputs" in Chapter 3, "Assembling the Power Mate H."
A
GE Fanuc Automation North America, Inc., Charlottesville Virginia

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