Académique Documents
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\ *
V.
*
MAINTENANCE MANUAL
n-a?-
B-54765E /02
FANUC LTD, 1985
J
T
vclf A0-0*6
CONTENTS
1 . STRUCTURE 3
1.1 Models and Designated Specifications of Units 4
2. CONNECTIONS 6
2.1 Connection Diagram 6
2.2 Detailed Servo System Connection Diagrams 8
2.2.1 Details of connections of cable K1 .. 8
2.2.2 Details of connections of cable K2 .. 9
2.2.3 Details of connections of cable K3 .. 9
2.2.4 Details of connections of cable K4 10
2.2.5 Details of connections of cable K5 10
2.2.6 Details of connections of cable K6 12
2.2.7 Details of connections of cable K7 15
2.2.8 Connections of separate regenerative discharge unit 16
2.3 Connection of Power Supply Transformer Tap 18
2.3.1 Primary side connection 18
2.3.2 Connections in the power supply transformer 20
2.3.3 Motors and power transformers employed for each axis . 23
2.4 Connection Diagram of Velocity Control Unit 24
2.4.1 For Model 2-0, 1-0 (A06B-6050-H002) 24
2.4.2 For Model 0, 5 (A06B-6050-H102) 25
2.4.3 For Model 10, 20M, 20, 30 (A06B-6050-H103 , H113, H104) 26
2.4.4 In case Model 30R (A06B-6050-H005) ....'. 27
2.4.5 For Model 0-30 (A06B-6050-H003 , H004) 28
4 . TROUBLESHOOTING 49
4.1 Protection and Fault Detecting Functions 49
4.2 Troubleshooting 50
1. STRUCTURE 69
1.1 Types of Units and Designated Specifications 70
r
2. CONNECTIONS
2.1 Connection Diagram
2.2 Detailed Servo System Connection Diagram ..
2.2.1 Details of connections of cable K1 ....
2.2.2 Details of connections of cable K2 ....
2.2.3 Details of connections of cable K3 .... 7
2.2.4 Details of connections of cable K4 .... 74
2.2.5 Details of connections of cable K5 .... 75
2.2.6 Details of connections of cable K6 ....
....
76
2.2.7 Details of connections of cable K7 77
2.3 Connection of Power Transformer 77
2.4 Connection Diagram of Velocity Control Unit 78
4 . TROUBLESHOOTING 86
4.1 Protection and Fault Detect Function 86
4.2 Troubleshooting 86
1 . STRUCTURE 93
1.1 Types of Unit and Specification Number 94
2 . CONNECTIONS 96
2.1 Connection Diagram 96
2.2 Detailed Servo System Connection Diagram 99
2.2.1 Details of connections of cable K1 . 99
2.2.2 Details of connections of cable K2 . 100
2.2.3 Details of connections of cable K3 . 100
2.2.4 Details of connections of cable K4 100
2.2.5 Details of connections of cable K5 101
2.2.6 Details of connections of cable K6 102
2.2.7 Details of connections of cable K7 103
2.2.8 Connections of separate discharge unit 104
2.3 Connection of Power Transformer 107
2.4 Connection Diagram of Velocity Control Unit 108
2.4.1 Model 0/5, Model 0/5 and Model 0/5 (A06B-6050-H401) 108
2.4.2 Model 0/5, Model 0/5 and Model 10 (A06B-6050-H402) 109
2.4.3 Model 0/5, Model 10 and Model 10 (A06B-6050-H403) . 110
2.4.4 Model 10, Model 10 and Model 10 (A06B-6050-H404) .. 111
4 . TROUBLESHOOTING 119
4.1 Protection and Fault Detecting Function 119
4.2 Troubleshooting 119
APPENDIX 125
APPENDIX 1 127
APPENDIX 2 131
This chapter described the maintenance of AC servo unit for 1 axis which
drives AC servo motor Model 5-0, 4-0, 3-0, 2-0, 1-0, 0, 5, 10, 20M, 20, 30 and
30R.
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1. STRUCTURE
The AC servo unit consists basically of the velocity control unit and
power transformer. In addition, the separate regenerative discharge unit may
be required according to the load conditions.
Eight types of velocity control units are available according to AC servo
motor models employed, and one velocity control unit applies to each servo
motor. Six types of power transformers are also prepared according to the
servo motor models, their combinations, loads, and primary input voltages.
One power transformer applies to one to three servo motors.
Fig. 1.1 shows and example of the structure of the AC servo unit in a
two-controlled axes NC system.
AC servo motor
X-axis X axis
velocity
control Detector
unit
NC
control
unit
Z axis
Z-axis
velocity
control Detector
unit
Power
transformer*
3-phase input
power supply * This figure indicates an example when
two axes employ one power transformer
in common.
3
1 .1 Models and Designated Specifications of Units
Name Specifications
, *
A06B-6050-H301
For Model 5-0
For Model 4-0, 3-0 i
-H001
For Model 2-0, 1-0 -H102 (Note 1)
Velocity
control For Model 0, 5, 10 -H103 (Note 2)
<'
unit -HI 13
For Model 20M
For Model 20, 30 -H104 (Note 3)
For Model..30R -HO 05
Transformer AA A06B-6050-H011
For Japan
200V, 220V Transformer MB A06B-6047-H012
II
Transformer MC -HO 13
Power For other If
Transformer MBE -H022
transformer countries
If
190V-550V Transformer MCE -H023
Transformer AAE A06B-6050-H021
Common
II
190V-550V Transformer ABE -H022
fi
Transformer ACE -H0 2 3
It
Separate regenerative discharge unit (Note 4) -H050
II
Input connector Soldering type -K100
(Note 5) II
Crimp style type -K103
II
Spare part A -K101
- 4
Table 1.1 (b) The Parts Included in Input Connector (Soldering Type)
Table 1.1 (c) The Parts Included in Input Connector (Crimp Style Type)
-5
2. CONNECTIONS
K6
o
Velocity control Detector
unit 6
o]
I
O' CN2 7
K5
l 8
K2
Electromagnetic
Power contactor Fuse
Power Emergency stop
source U transformer
O O 00 EMG
AC 30 V
W
oo 00 K4 /- +10%
-O1|O AC 100V
O O 00 -15%
10
Terminal screw M4 K3
(When 3.5mm2 cable is used, use
crimp style terminal 5.5 S4.)
K6
I
NC control unit 0]CN5 T1
A
K7
Q] CN6 1
2 Machine side
3
K1
Q] CN1 4 1
Servo motor
5
Velocity control Detector
0]
unit
CN2
6
7
K5
o
Electromagnetic
K2
T2
8
4+
;
l
Power
source u
_
contactor Fuse Power
transformer
4 6
Emergency stop
o o 00 EMG
AC 3<f>
V
W
o~~o
O O
00
00
K8
1 T3
2 Discharge K4 I-
-O)|O AC 100V
+10%
-15%
3 unit
4 1*
Terminal screw M4 K3
(When 3.5 mm2 cable is used, use
crimp style terminal 5.5 S4.)
v
!
2.2 Detailed Servo System Connection Diagrams
Velocity control unit
|jW*
NC control unit
CN 1(7)
'
:xxxxocc_ - i-'
VCMD
EC
t CN 1(201
vw
vw >
VT
OVL1 CN 113)
1*
OVL 2 CN 1(161
VRDY 1 CN 1(41
VRDY 2 CN 1(17)
L
ENBL 1
ENBL 2
CN 1(2!
CN 1(1?
AA/V
PRDY 1 CN 1(11 + 24 V
L
PRDY 2 CN 104)
wrj; W fC
rfr
*ALM1 CN 1(8)
+ALM2 CN 1(9) b Note 1)
+ALM4 CNlW
cum
,
*ALM8
COM CNIW li
Cable employed:
For VCMD/ EC
0.1 ~0.18mnT paird Connector employed MR20LFH
Note:
shielded cable.
For others; 0.18 0.3mm:
200V vinyl wire
(Honda Tsushin Kogyo, Co. Ltd.)
Vinyle sheath
Shield
BE,
on AOMN Twisted
Paper tape
pair
w B(P
PP Y l(o
0 W
W
Shield
w
RR
Shield
GN,
w w pvc Sheath V\(0 <)
1
Drain wire
Cotton fiber
(a) (b)
Fig. 2.2.1
-8
2.2.2 Details of connections of cable K2
Power transformer
Velocity control unit
1st 2nd 3rd
axis axis axis
i i l
11 'II 47 1 8A CN2(1)
-Q-
12 45 48 CT CN 2 (2)
43 46 49 18B CN 2 (3)
<>
51 T0II1 CN 2 (4)
o
52 T0H2 CN 2 (5)
Fig. 2.2.2
Fig. 2.2.3
- 9
Table 2.2.3 (b)
Input voltage of
Motor employed
velocity control unit
Model 3-0
Model 0, 5
AC 185V
Model 10, 20M, 20, 30
Model 30R
1 00B T 1 (3)
AC 100V A
1 00A T 1 (4)
1 t -a
EMG
Contact OFF at
emergency stop
Screw M4
Fig. 2.2.4
10 -
(2) For Model 2-0, 1-0
Cable material:
I
*
Screw M4
30/0.18 (0.75mm2)
/ RM15WTP-4S - 00
*Hirose Electric, Co.
Guide key
4-conductor vinyl cabtyre cable
Cannon 4o Ol
Fig. 2.2.5 (b) connector
30 02
(3) For Model 0 and 5
Velocity control unit
Tl (5) <y -o- A
Tl (6) B
Tl (7) <>
o
rc
o
Model
0, 5
6
G G
-6- i
Connector MS3106B 18-1 OS (Straight type)
Screw M4 Employed MS3108B 18-1 OS (Elbow type)
Cannon DO OA
connector
CO OB
Fig. 2.2.5 (c)
Cannon DO OA
connector
CO OB
Fig. 2.2.5 (d)
11
(5) For Model 30R
fO OA
Cannon EO OG OB
Fig. 2.2.5 (e) connector
CN5(1).(2),(3) 0V / N Gray
CN5(4),(5).(6) + 5V Red
CN5 (7) CW
i \ i
Connector: MR-20LWMH
12
(2) Model 4-0, 3-0
Motor
Velocity control unit CN5(1),(2),(3)
-6-
ov- T~ Gray, Gray/White
CN5(4),(5).(6) +5V Red, Red/White
CN5 (8) OHl Yellow
Note
CN5 (9) OH2 Yellow
CN5 (10) C8 Violet/White
CN5 (11) C4 Brawn/White
CN5 (12) C2 Orange/White
CN 5(13) Cl Yellow/White
CN5 (14) PCZ Green
CN5 (15) *PCZ Green/White
CN5 (16) PCA Black
CN5 (17) *PCA Black/White
CN5 (18) PCB Blue
-6-
CN5 (19) *PCB Blue/White
CN5 (20) SG| I Black
-a- -a-
Connector: MR-20LWMH
13 -
(3) Model 2-0 - 30R
(MS
I \ vO/ (D
AO
Cotton fiber
oo
sjj V
oy\
i
no Drain wire
Shield
Twisted pair
mm Guide key
A
M o B
o o
Lo No p oC
OT o
Cannon Ko OD
connector S R
J oE
o o
H o F
G
14 -
2.2.7 Details of connections of cable K7
C N 6 (8) 0H1
C N 6 (9) OH2
CN6M PCZ
CN 6 *PCZ
C N 6 (10 PCA
CN6a7) * PCA
CN 6 08 PCB
CN6O0 * PCB
CN 6(20 SG
Cotton fiber
W,
15
2.2.8 Connections of separate regenerative discharge unit
T 3(1)
Regenerative
T 3(2) discharge unit
Screw terminal M4
16
(2) Details of cable K2
For connections of cable K2 in 2.2.2, change the connection of T0H1 and
T0H2 as follows.
41 1 8A CN 2(1)
42 CT CN 2 (2)
43 1 8B CN 2 (3)
(Thermostat contact)
51 TOH 1 C N 2 (4)
52 T0H 2 T0H 2 CN 2(5)
Screw terminal M4
17
2.3 Connection of Power Supply Transformer Tap
More sure the input tap of the power supply transformer is set according
to the input voltage when connecting the power supply cable to the AC servo
unit .
If set incorrectly, the AC servo unit may cause trouble.
(1) For Japanese model power supply transformers AA, MB, and MC.
Connection of primary-side
Supply voltage
terminals
(2) For export model power supply transformers MBE, and MCE.
18
(3) For common model power supply transformers AAE, ABE and ACE.
Delta connection
Star connection
Remarks
If more than one power supply transformer is used, both must be connected
to the tap in the same way. Also the connection of transformer overheat
must be done in the same manner.
19
2.3.2 Connections in the power supply transformer
Domestic models
Connections for power supply Connections for power supply Terminal array of power supply
transformers AA, MB, and MC transformers AA 31 to 36. transformers AA, MB, and MC
(Connection for 31-36 of AA is
as shown right.)
185V 185V 31
r-3i
185V-o
-031 32
I 185V 3t 185V
32 33
l L L-o
To 32 -o 33
1
220V 120V 34
1 o 200 V o 35 -0 34
2 185V
-ro 33 E 120 V
-0 35
2 35
220 V 18V
36 5 120 V
o36
3
4
36
41
3 o- -0 41
4 o-
200
5 o- 220V
V
II OV
18V
18V
o 42
o 43
5
6
42
43
44
W~u
6 o 200
V
II I
18V
o 45
46
45
46
47
18V
OV47 4r
0; -o
18V -o 48
TOH1 ,,
49
48
49
Go 5
nr f TOH2
o52
51
52
Export models
Connections for power supply Terminal array of power supply
transformers MBE, and MCE. transformers MBE, and MCE.
18V
T0
o
35
33
36
041
4
9
3
8
7
13
35
36
41
lip 190V 190V
OV
o42 10 14 42
OV OV 18V 43
12 16 43 11 15
.--275V TI_275 V 18V o 44 12 16 44
( OV
18V " 45
46
17
18
21
22
45
46
18V
47 19 23 47
20 0 240 OV o 48 48
20 24
18V 49
49
G LUsi
TOH2 c 52 51
52
20
Connections for power supply Terminal array of power supply
transformer AAE. transformer AAE.
550V 185V
o -O 31
2 O
3 <9-
4 O
180 V
460V
4 1 5/240V
LL 185V
185V
-O 32
5 1
31
32
33
230V -O 33 6 2 34
5 O 7 3 35
6 O
380/220V
8 4 36
200V 13
7 O 9 41
120V
34 14 10 42
ov
8 O-
9 a 550V L 120V
-O 35
15
16
11
12
43
44
1 0 o 180 V
11 O
460V L 120V
<9 36
11
22
23
11
I
19
h
45
46
47
12 O- 415/240V
24 20 48
13 O
230V
18V 49
14 O 380/220V - O 41 Cl
15 O
0V
200V
[ 0V
18V
O
O
42
43
li
52
16 O 18V
<9 44
17
18
O- 550V
O-
480V
460V
[ 18V
-O
45
46
19 O- 18V
-O 47
I
4 1 5/240V
20 CH
230V 48
21 O- 18V -O
380/22QV 49
22 O-
200V
23 O-
0V T0I1 1
24 O O 51
52
G O-
4r
Connection for power supply Terminal array of power supply
transformer ABE and ACE. transformer ABE and ACE.
l o
550V
2 O 4 80V 31
3 O 460V 32
4 O-
5 O
6 a
4 15/24 0V
230V
380 /220V
T: 31
34
5
6
7
8
I
2
3
1
33
34
35
36
7 O
8 O 0V
200V
T: 32
35
13
14
15
9
10
11
41
12
43
O- 550V
a
9 185 V 16 12 44
480V 33 21 17 45
10 O
460 V 36 22 18 46
11 O
23 19 47
12 O 4 1 5/240V
24 20 48
13 o- 230V
18V <9 49
G
14 o 380/220V 41
200V 0V <9 42 51
15 O
18V 52
<9
.6 a ov
43
18V
-O 44
17 O 550V
18 a 480V
19 O 460V
[ OV
18V
-O
-O
45
46
18V <9 47
20 O 415/240V
21 O-
230V
380/220V
[ 0V
18V <9
48
49
22 a
200V
23 O
TOH 1
24 0V -o 51
TOM 2
52
G o
A Ar
21
(1) For power supply transformers (2) For power supply transformers MB,
AA and AAE MC, MBE , MCE, ABE and MCE
185V 185V
31 31
18 5V To T1(A), (1), (2) of 18 5V To T1(A), (1), (2) of
32 velocity control unit 32
185V 185V 1st axis
for model 3-0, 0 and 5
33 33
12 0V 1 85V
34 To T1(A), (1), (2) of 34
Tiov 185V To T1(A), (1), (2) of
35
velocity control unit 35
1 20V for models 4-0 to 0 18 5V 2nd axis 3rd axis
36 36
1 8V 1 8V
41 41
0V To CN2(1), (2), (3) 0V To CN2(1), (2), (3) of
42 I2
Trans 1 8V of 1st axis Trans 18V 1st axis
formers 43 formers 43
AA and , , 1 8V 1 8V
44 MB, MC, 44
AAE 0V To CN2(1), (2), (3) MBE, 0V To CN2(1), (2), (3) of
45 of 2nd axis and 45 2nd axis
1 8V 1 8V
46 MCE 46
1 8V 1 8V
47 47
0V To CN2(1), (2), (3) 0V To CN2(1), (2), (3) of
48 of 3rd axis 48
1 8V 1 8V 3rd axis
49 49
TOH 1 T0H1
51 To CN2(4), (5) of 51
52
TOH 2 ) 1st axis 52
T0H2 ) To CN2(4), (5) of 1st axis
Note : The Model 4-0, 2-0 and 0 motor use a relatively low power supply
transformer voltage. If the higher voltage used for the other
models is applied to the velocity control unit for Model 4-0 to 0,
it will cause a fault.
22
2.3.3 Motors and power transformers employed for each axis
Table 2.3.3
Power
1st axis 2nd axis 3rd axis Remarks
transformer
Model 4-0, 3-0, 2-0 Model 4-0, 3-0, 2-0 Model 4-0, 3-0, 2-0 Transformer Model 4-0, 2-0,
AA(AAE) 1-0, and 0 employ
Model 4-0, 3-0, 2-0 Model 4-0, 3-0, 2-0 Model 5 (1.5 kVA) transformer output
terminals 34, 35,
Model 4-0, 3-0, 2-0, Model 1-0, 0 36, while Model
1-0 3-0, and 0, 5
employ transformer
Model 4-0, 3-0, 2-0, Model 5 output terminals
1-0, 0 31, 32, 33.
Model 20, 30
Model 30R
Note: Two or more transformers MC, MCE or ACE become necessary according
to the load conditions in case of Model 10, 20, 30 x 3 axis. For
details, contact FANUC LTD y referring to AC servo motor selection
data sheet.
- 23 -
2.4 Connection Diagram of Velocity Control Unit
rr
('1)1 '2
TH 1
JL LEC
9 LBD
10 LED
ic'PCB
2( SG
12 C2
13 Cl
6 + SV
7 CW
6
7
13
19 *PCB
2C SG
rr TH2
m JJ.MCI.
IT 12 LBE
PWM Circuit rr 13 LEE
K I 00A 14 LBF
A20B-1 000-0560 n NTHT 15 LEF
(=1 1=1
_cp
3 CN4
To position CNI =7 To power2 L-pTo motor1S I=J TO position CN6
control unit (VCMD> transformer K 1 (Pulse coder) control unit (Pulse coder)
I 5 n TM1
5> r n rn
c o
1
=f :s
---
c<
PO
1 5=
f 5,
f
I T1 NFBI | 21 2 1 U m 1iBJ S'|B3
f
o
A I
4-cf'o-+
1 MCC
-o o<[>
2212:: 3
+ Cl 1 !
I = 1 RM1
1H1 o-
-6-vvvfV--
Tl
To power I AC i R1
I
m
oI
-
10.171
?.5K
transformer O
NFB2
I
?
2 680m
400V
51
I
+ Jifwli-
|oj?l *
l o
2
121
MCC
-O 0-6
A2 All
AC
1
1
I
I
1
T
1
4
Motor
3 I 21 2i 21 Si
0 |B4
KS 21
B6
I
l -4 H><21 n 11
DS RM1
s m I S'
To machine
C2
flttzzn
1
ZNR
-WXNT-, 1
MCC
SSr
0.4f>
MCC
SK MCC
I
23_oi3
z Z
H
i
r
4
O-
1 00A VMCCX K>
!
2.4.2 For Model 0, 5 (A06B-6050-H102)
RM1
3-4
5-6 a.izn
16
17
OVL2
VRDY2
10
ALM2
ALM4
OVLl
VR0Y1
03 IBB
T0H1
02
C3
LEG
LEG
B2
12
LBA
LEA
02
03
BV
BV
29
i
OH2A
C8
15
16
PCZ
PCA
15
16
* PCZ
PCA
09
U3
~OH25~
03 OV
ALM8 04 CJH1 04 LE3 1 5V PCA 17 PCA 0<
11 C4
RH2
1-2
2-3
2SKfl 5W IB CLMT
S CURB 85 TGH2 C5_ QIC m LEa 05 ;v
12 C2 15 PC9 le PCB H. 5
163 270W 19
COM 11 c&_ CGVl 06 HCC 5V 12 PC3 19 -PCB II CS
C1.C2 6aauF 4tiev 23 _E_ 107 VC MU Cl
ej. CCV2 07 LBC 07 CW :o SG SG 07
C3 3JMF oa com 26 LEC
29 C0U2 09 LBO
10 TH1 IB UP
11 TH2 11
PWM circuit 12 INTL2 12 LE
11 INTLl 13 LEE
A20B-1 000-0560 14 iecA 14 LSF
11 HCC 11 LEF
To position
control unit
Ml
V To power
transformer
CN2 CN3 I I CIM 1 I
To motor
(Pulse coder)
CS5
T To position
control unit (Pulse coder)
i
1J
i i
Ul
y rM.
?rM.
sc
I r n S rWL_
T1 MCC
AO-
213 ll kC3 T> i
61
lO- I *C2
Cl 4
: v
=
ei
a,
fil
s M "12
71
II NF=Z. 3 C2 C3
3?], T
90
MCC L
. .3 ; v. F: a ...
20-
p3 nr rrri -06
a
30- r- 5
Sk 3 k. K
Motor
OS
r
ijf
Ly- s It
RM1 5.
MCC
r - -4--1
i__ J I J r:
n
H
3
Cl
!|
-,\j
MCC
f rr
TMil
TH
40
tag A 2
)
1
RM2
3- 4.7- 3
11-12
1-2
2-3
0.611 3.350
2 CKO 5W
160 27CW
12J VR0Y2
J_SJ
191
_
23]
CLMT
E
131
121
131
*ALM4
ALMB
COM
34 1
C5I
061
_VR3Y1
CURB
VCMP'
04
C5
06T
TCH1
TCH2
04
05
06 1
B7|
com
QIC
C3V1
C0V2
04 1
051
06 1
07 1
LBB
LE3
HCC
L3C
341
C5I
061
07]
_
5V
5V
5V
CW
lai
111
121
131 _
ca
C4
C2
Cl_
171
lai
131
23|
PCA
pea
FC3
SG
M * PCA
;ai
2U
FCB
_sc.
91 pCB
111
12!
131
"41
r::l
US I
071
G60uF 4C3V 081 CCU1 08 1 LEC
C2 C230uF 4C0V 39 1 C0U2 391 L=0
C3 2.3uF 131 TH1 101 LED
111 TH2 11 1 HCE
PWM circuit 121 IHTL2 12| LBE
A20B-1000-0560 131
uT IW
IHTL1 13 1
14 1
LEE
L5F
15 j HCC 15 1 LEF I
(Z=) ( ]
on
To position
CNl
To power
CM3 I I CN4 I I
To motor
CN5 I
_J
I
To position
CSS
_ _ ___
control unit transformer (Pulse coder) control unit (Pulse coder)
i n T2
jj
si
CJ i_a
nI
hO
Ml
----_ _
ON
I r u 0365
J* rIHJ~. 2r-l
T1
AO IUO
MCC
"5i 11
>C3
**?__
=TJ tJ : T1
'
*C2
! i 20K
5W
i ISO
27CW
81
I
< 81
k. 1
RMl
i J
t
lO l\ 05
T
30
C2 C3
H2fei MCC U. fl (9
~ i 3 I
C El 1
I 6 i
20
3 sr
-.1
Jr-. 5
i '
SI
5 is
l
I
i 10
' I- 06
07
Motor
30
3 B2
---
_ _ U
L J K II (S2
I
QIC I
DS I RMl
i
It? I ! 7
I
i
1
j 1
sk
I J I J
iL 8
B2
12
40 1004
r4
MCC
i ---
l
- --- J
A:
5 5
MCC
n
r t 11
TH
I
RMl
I
61
Fig. 2.4.3 Connection Diagram for Velocity Control Unit t
-?S;
.v
* .
> 4
JB
CDU2
TH1
s
J|
LBO
LED
PWM CIRCUIT BOARD J1 TH2 11 HCE
J2 IHTL2 il LBE
A20B-1 000-0560 2
"u
IHTLl JJ LEE
15
_1C0A_ J4 LBF
HCC LEF
CZZ1 c=]
cm I I
TO POSITION
CONTROL UNIT
TO POWER
TRANSFORMER
CN2 CHS I CM I
TO MOTER
(PLUSE CODER)
'T TO POSITION
CONTROL UNIT
5=
T2
i
N)
60
II I
50 UCSG
J
40-
I r n S r1*--, Sr*-,
AO-
10-
T1 HCC
nf*a -A.CZ. *i tg
r n RH
33 33 ei ei
33;
.5
ei RH
T1
,!
.
L:sJ *i tC2 a -05
20- J
9
HCC
55 a
1 AC1
r- 3! .
3! 1
3L--J4
i2
7 -06
D
-t- j
S I
30-
s L. J"
Tlj I )f>lCs B2 B4
-MB.-,
Lin
13
L-J L~] ; I J I J I J
BlTT B3|T
nn
HCC
SK HCC TH
i
IA_
40-
! i
\
D
mP
v
T2
D2 U06G
CNl CN3 CN4 CN5 c:N6
s 2:
To position To power
control unit <vD) transformer
5= *=P
1 1
To motor
(Pulse coder
To position
control unit (Pulse coder)
%
jt.
1/
. >
x X X
TM3 n 2
> TM1
e on
r rn
cr. -< !
-
Ir ,;y
---
1
< c
I fO
I RM2 2 r r r
I 03
I 5 I to |
ho
Tl NFBl | li li 21 r I
71 O >
00 I MCC
i;
rfcs f
r
1 201
o- -UCOD-4
1
-o
21
o-i Af3
11 T
<
I
If 16 ,
1
I
IBI
I m I RM1 Tl
I l > El ri 2 5
To power I Cl + C2 C3 1* rr I
E o
AC ML 1200m hI 'C 2 I
_--- _
1
transformer 2 680m - 400V
r I k3 \AMA | 4 6
O- 400V r-
mm + O
l NFB2 0 IC2
MCC AC o 01 I E1 I I
2
o- 'V'o-J 1
HF"
r I
~K2 I
1
T
1
7
O
Motor
r-
I li li li to w to I
__ rr4 *8? r o 1I | 03
3 PI co B2
r -PC* Bl B3 L
1 l
,
PS
i;s| m 1 B
I RMl Im
-E I
1
ZNR
O
c 1 1 c 5! 3 03
To machine 1 MCC f
C2 I I I J
TH
SK MCC
MCC
A 2_o Q- A 1 n w
4
a 1 00A \MCC
I I
-i
2
H
z Oi o
X
< v
< s
!
v
3. SETTING AND ADJUSTMENT FOR VELOCITY CONTROL UNIT
CN4
9
-*
resistor
i
=5?
Si
n
k
'9.
flflB
"a
o
'9.
9
s9 ODf Tils
<</v
"9 fiiL.
9
9
:
9 =|O=KD
9 Bs- 0=0
cn
O
o
r
9
-o
"o
CN5
? 6 CN2
- 29 -
(b) PCB A20B-1000-0560 (Edition number E)
CNl
RV4
o
o
m
o
o
i _
n /
1
Fuse
?
m CD
CN * y Fuse resistor
CN3
s ss
o S2U H IS 16
c.1o
C,T6V
c,fo
so 000
6 TON H 12 13 s
o
PRDV
1*9
s1: 6
20 HV
HC
c,Ho6 ovc
LV
c?o T
S2 1 TG
c,o DC
C,JO S28
N
RV 1 RV 2 RV3
c,lO DS
y alo m o
32
CJ
cuoov
cyo
ov
JO
D3oo S8S9 S 10
O o
$ 1
9 9
;o To Motor To NC
S 18
o -o
S30 n CNl
i ts CN2
- 30
(c) PCB A20B-1000-0560 (Edition number C or D)
CNI
RV 1
o
0 -
o
o
i _:/ Fuse
y\
? 1=1
S
CM O Fuse resistor
CN.i
osu20 s ss
If 1516
BO
SO
SO
BO
rw
'"o
LR
noo
sss 0s O
I (IN 11 12 13
o :> PRDY HV <*
o
CH IS
HC
10O ovc
CH 1R LV <
*o S21 TO
6 DC
c,)6 S28
N
o RV I RV2 RV3
CH,o m TJ
CHtO DODD ODD p X p
ov
CH,o
ov
c,JO
S I
S7
S8S9 S 10
p X p
cro iSrD0D S 19 To Motor To NC
S 18
-O-
CNI
I 1 CN2
- 31
(d) PCB A20B-1000-0560 (Edition number A or B)
I/IC'1
CN1
RV4
o
0
-o
in
a
o PI '
i _ Fuse
! _ (=
CD
ex
i J-y Fuse resistor
H h CN3
ODO
1,0 D
-Q s ss
'it
S2 14 1516
7 0
CII-V
16 o
CII+,5V
.sO DC LV TG HCHV
Cll +5V
14 O
CH En
ODD bb6dd'o
.3 0 sss
CHTWM
,=
CH ,T
o ! 1 1213 PRDY
1*0
CH IS
10
CII 1R
o
?o
CH T.
8O
CII S
70
CH "
RVl RV2 RV3
sO
CH
iO u u
c;o DODD
Q Q
ov
"o
CM OV
S4 S7ODD
"o
:o
S8S9 SlO
DD04> X
s s s To MotorlTo NC
Q
--
17 18 19
-O O
CNl
I ft CN2
- 32
a
% + +
(AD
CN3
CH170
-15
CH16Q
+15 o
RV4
CH150
+5
(+5V ADJ)
CH14Q
ER
FI
CH130
TRW
CH120 OOOOO
IT LV TG HC HVPRDY
CHllQ S S
15 16 S10
IS (H) [ ]
CHIOO
1R (L)
(L) (R)
CH9 O
T
CH8 Q >
to
s (R)
3=
CH7 Q I IS8
R g
?
CH6 O S
VO
CH5 O
CH4 O
ov
CH3 O
0V
CH2 O
CHI O R
2X2
(H)
I
@
n
1
C
N
5
0
QCN1 Q3> RV3
&
F
.
MOTOR NC
+ C
N
[ 2
<I> (L)S1(R)
- 33
(b) A20B-1000-0590 (Edition number A)
+ + +
(ADCN3
CH170
-15
CH160
+ 15
o
RV4
CH15Q (+5V ADJ)
+5
CH140
ER FI
CH130
TRW
CH120 OOOOO
LV TG HC HVPRDY
IT
S S
CHllO
IS
15 16 S10
CHIOQ
1R
(H)
(L) OB [
(L)(R)
]
CH9 O
T
CH8 O >
S (R) O
[ ] 58 00
CH7 Q o
R o
CH6 O g
o
CH5 Q
CH4
CH3
CH2
CHI
0
ov
Q
OV
Q
O R
V
m
I
1
CN1 ID Q.
c
N
5
c
N
9
r
MOTOR NC
C
N
] 2
<I> (L)S1(R)
- 34
(c) For Model 4-0, 3-0 (A20B-1000-0600)
CN3
RLY1 +5 ADJ
RV4
o
o
o
22
s<
"t
z
U FETA FETC FETE
FETB FETD
uu u
FETF
MCC
RP4 RP6
RP5 RP7
FS2
i
FS1 T1
*
*
- 35
(3) Model 5-0
(a) PCB A20B-1001-0420
I T -12 4 / 03 | 1 5 10 CN3 15 20 25
B >
Z
A
C
I>
a
on m
i?o z
rH_15v
So +15V >
so +5V
-D
>
Z
CHQ
14 ER
SO
JTRW
1 HC HV OVC K
O O O O O O
9?0
12 IT LVTG PRDY >
so IS
S2S4 2 OAIFI ro
o
00
so 1R o
o
OMQ
9 I
T O
TOs !\)
O
9
TO
TO
C40R
(OV)
S3
I
TO Y 0
(OV)
% TO
(TSA)
0 9 0
TO
(VCMD) * *
**
0) CN5
<s> CN6
)L
CN1 SI
RV1 RV2 RV3 CN2
- 36
-
T 4 1 2/0 3 1 5 10 15 20 25
B
CN3
A
L
>
o
H RV4 PI
-3 (+5V ADJ)i-
>
-o
>
z
n
>
z
c
o
L 1
r T >
L o
00
o
o
o
4*
o
MCC
-3
r
L i
Q
I
T1
FSI
- 37
I
S6 H H H H H H
Compensation circuit setting
S7 H H H H H H
Sll H H L L L H
S17 H H H H H L
S19 H H H H H H
S8 L L H
Pulse coder F/V gain setting
m L
'r-r .
S9 > H L
S14 L I H H
Pulse coder pole number, and
S15 H L L pulse number setting
S16 H L H
- 38
Setting Standard setting
Remarks
terminal
2-0,1-0 0 5 10 20M 20,30 30R
S21
Compensation circuit setting
S22
S28
S29
** I
r
i
.-v'
- 39
B
Table 3.1.2(b)
2-0,l-0,0,5,10,20M,20,30,30R
Setting
terminal Pulse coder Remarks
S8 L L H
Pulse coder F/V gain setting
S9 H L L
S14 L H H
Pulse coder pole number, and
S15 H L L pulse number setting
S16 H L H
- 40 -
Setting Standard setting
Remarks
terminal
2-0,1,0 0,5 10, 20M 20,30 30R
S21
Compensation circuit setting
S22
S7 H H H H H
S17 H H L L L
S18 H H H H H Current limit setting
S19 H H H H H
- 41
2-0,1-0,0, 5,10, 20, 30, 30R
Setting
terminal Pulse coder Remarks
S8 L L H
Pulse coder F/V gain setting
S9 H L L
S14 L H H
Pulse coder pole number, and
S15 H L L pulse number setting
S16 H L H
S21
Compensation circuit setting
S22
S25 o o o o o
S26
Compensation circuit setting
S27
S28
S4
S5
All H or All L Compensation circuit setting
S6
S7
- 42 -
2-0,1-0,0,5,10, 20, 30, 30R
Setting
terminal Pulse coder Remarks
S8 L L H
Pulse coder F/V gain setting
S9 H L L
S14 L H H
Pulse coder pole number, and
S15 H L L pulse number setting
S16 H L H
* )H
Setting plug
J)L )L
(a) Setting of H side (b) Setting of L side
- 43 -
(2) For Model 4-0, 3-0 (PCB A20B-1000-0590)
Table 3.1.2(e)
Pulse coder
Setting terminal Remarks
2000P 2500P
SI R TOH setting (Note 1)
S8 R OPEN Pulse coder F/V Gain
S10 L TG alarm enable (Note 2)
S15 L L Pulse coder
S16 L H
Pole number, pulse number setting
S20 L L
Note 1. If power transformer is connected across terminals CN2 (4) and (5),
set SI to open (R side) .
If power transformer is not connected across terminals CN2 (4) and
(5), set SI to short (L side).
Note 2. Set S10 to R side, if it is needed to check with motor power cable
disconnected.
Note 3. If the absolute pulse coder is used set S32 at H side.
Note 4. The way of setting is shown as following figures.
il)H
Setting plug
EDL 0|)L
(a) Setting of H side (b) Setting of L side
<
FI Pol
L R L R
(c) Setting of L side (d) Setting of R side
(3) For Model 5-0
- 44 -
T
.
Table 3.1.3
Note 1. RV2-RV4 have been adjusted before the shipment from works.
Note 2. RV4 is not employed after edition number F of PCB A20B-1000-0560.
- 45 :*
3.1.4 Check terminals
Check
Symbol Description
terminal
3 OV OV
4 OV OV
5
Compensation circuit
6
15 +5V +5V
16 +15V +15V
17 -15V -15V
- 46
23
1 2 + 1.5V
36030j!Zsec
Note 5. Motor load currents (peak values) can be monitored using the same
conversion as CH10-12. Effective value can be obtained by
multiplying l//2~.
- 47
'4 '
\
3.2 Block Diagram of Velocity Control Unit
'
AC servo moter
Current detector
-c>
AC
$ m
Control
circuit
(Pulse coder)
detector
5,
A.
<: t- -s T <; t "V
V Current command
CH7
Q R
l *1 + *2
CH5CH6
oo
I
Velocity
command
. r+
CHI ? CH8 -
1
IR
OCH1 0
VCMD from
position
+ 2! +
IS
*2 PWM
driver
>
i
i
4. TROUBLESHOOTING
The AC servo unit provides the following functions to protect the motor
from being overloaded and also detecting abnormal conditions inside the servo
loop.
Table 4.1
4 High voltage alarm LED HV lights If the DC voltage of the main power supply is
abnormally high, the motor is stopped by dynamic
braking with HV lamp lit.
5 Low voltage alarm LED LV lights If control voltage is abnormally low, or if the
fuse for +5V on the PCB has blown out, the motor
is stopped by dynamic braking with LV lamp lit.
6 Circuit faul LED HC lights If abnormal current flows to the main circuit,
Detection the motor is stopped by dynamic braking with HC
lamp lit.
.i - 49 -
4.2 Troubleshooting
2 Thermostat of the servo Remove the wires connected Change the cutting conditions.
transformer is to transformer terminals 51
operating and 52 and measure the
resistance across them.
(See section 2.3.2.)
The normal value is 10 ohms Replace the transformer.
or less, if the circuit is
open (more than lOOkft) , the
thermostat is operating.
If the thermostat is
operating and the surface
temperature of the
transformer is 80 to 90C,
check the motor current
during cutting. If the
surface temperature is 60
or less, the transformer is
defective.
3 Radiation fins of the Check the motor current. Change the cutting
unit are overheated. conditions.
4 Thermostat of the servo Check the motor current. Change the cutting
motor is operating. conditions.
- 50
(2) TG alarm
1 Motor power line is not If TG alarm occurs without Reconnect power cable.
connected to terminals giving any move command
(5), (6), (7) of after turning on the power
terminal board T1 of supply, it may possibly be
velocity control unit, caused by the disconnection
or the motor power line failure.
is disconnected
halfway.
2 PCB setting failure Check the set condition Change the setting properly.
according to 3.1.
3 Pulse coder feedback Check the feedback cable. Reconnect .the feedback cable.
signal is disconnected
4 Motor current exceeds Check the motor current. Change the cutting
Note the ratings conditions.
- 51
(4)
Item
HV alarm
(5) LV alarm
1 Input AC power voltage Check if the input AC power Correct the tap connection
is lower than specified voltage and tap connection
of servo transformer are
correct.
3 Fuse for +5V is blown check if the fuse for +5V is Replace the fuse
blown.
A*
- 52
(6) HC alarm
1 Wrong connection of HC alarm does not occur when Reconnect the motor power
motor power line turning on the power supply line correctly.
after disconnecting the If the motor power line is
motor power line, checked with disconnecting
(Since the gravity axis may it, set setting terminal S10
drop in this case, support to L side, otherwise TG alarm
it or disconnect the drive occurs.
cable of gravity axis brake)
*
- 53
(7) DC alarm
1 AC 100V is not supplied Check if AC 100V is supplied Check the emergency stop
to velocity control across terminals No. (3) and button on the operation panel
unit (4) of terminal board T1 of
velocity control unit.
2 The velocity control Check if red alarm LED For countermeasures against
unit is in alarm status indicators light on PCB or these alarms, see (2),
not. (4)-(7)
3 PCB control power Check the voltage at check Change the tap connection of
voltage +5V or +15V is terminals CH15, CH16, servo transformer.
abnormal CH17-CH3 on PCB mounting Correct the connection
diagram. between servo transformer and
Check the connection between PCB CH2, and replace PCB.
servo transformer terminals
and PCB CH2.
- 54 -
(9) Motor does not rotate when the move command is given.
1 Power line is not 1G alarm occurs and the Connect the power line
connected motor does not rotate at properly
all.
3 PCB is defective or PCB Check if +24V, +15V, and +5V Replace PCB or reconnect the
is not properly on PCB are normal. cable properly
connected
4 Velocity command Observe PCB CHI (VCMD)-CH3 Give the velocity command
voltage (VCMD) is not (GND) on an oscilloscope. voltage (VCMD)
applied
2 Motor current exceed Check motor current. Change the cutting condition
nominal value
- 55
5. PARTS SPECIFICATIONS AND LOCATIONS ON VELOCITY UNIT
a nr El
m m
Ui
ON s
;
0 fvELOCITY CONTROL UNTrl
[A06B- 6*050 -H30T|
|FANUC LTD MADE IN JAPAN]
e
B 5
160 160 max -
Fig. 5.1
y
210
L o
M
oEI
m Resistor module
m 0 0@i to
H G
A40L-0001-0160
&
I
Ln
HI @
8 Capacitor
I
o A42L-0001-0121
RT
q
O si
O ttJ
i r Terminal block
kn ny
A65 L-000 1-0135/104
160 max
Fig. 5.2
\
5.3 Model 2-0, 1-0, Velocity Unit (A06B-6050-H002)
230
A n Holder
Transistor module A98L-0001-0358
A50L-0001-01 11
n
tF Resistor
A40L-0001-
Connector
01 18/40W502 3 A63L-0001-0222/A1
[3
A74L-0001-
0008/10D50
3RHHBJ A50L-2001-0139
Capacitor
Circuit breaker 37 A42L-0001-0121
3
3 A60L-0001-0143/15A o o
3 Terminal block
3
3
J A65L-00010134
P.C.B
SA nS
f
5 Fig. 5.3
150
160 max
!
5
I
l
ijs *\
> \
1 Holder
A98L-000 1 - 0358
I loj
I
I
Thermostat
I
i A57L 0001-00-13 100 $ 4 Transistor module
i
i A50L-0001 0091
Resistor module
A40L-I0001-0144
I
I
i Capacitor
l Diode e
A42L- 000 1-0100
A50L-200 1-0135
I Transistor
I
I Diode module A50L 000 1 -0097
I A50L 2001 -0175
I
i ' D Connector
l
Ln
VO
I
I
I
J A63L000 1 -0222/Al
o
to
Heat sink
\ A50L-600 1 -0262
Spacer
/
Magnetic ar s A98L-0004 -0069/6N
n
i \
contactor
l
i
\
O i
/ i Resistor module
/ A58L-000 1-0197
\
Capacitor I A4 0L-000 1-0178
A40L 0001
n
31
-0132/681
r;
l
i
\
i
fo
/
\ / P.C.B T T
\ / Surge absorber Circuit breaker U Terminal block
A50L-200 1 -0139 A60L-000 1 -01 43//15A A65L-000 1-0134
r 1
i
A 1 2 3 4 5 678
L J
JL r Fig. 5.4 \\
.
Ui
1 50
/SI I
:
i 6o max.
t
/
5.5 Model 10 Velocity Unit (A06B-6050-H103)
2 2 5 Terminal board
A65L-0001 -0244/A
Holder
I
A98L-0001 -0358
I a i
tZ3
i A50L-200 1 -0097/U06G
i
i
* Resistor module
A40L- 0001-0144
e 9 \ Capacitor
A50L-200 1 -0 1 3 5 " A42L-0001-0100
!
Diode module
A50L-2001 -0175
'O Connector
A63L-0001 -0222/Al
l
ON
xn Transistor
A50L-000 1 -0097
o o
m
I i I 0. Heat sink
I T
Ii
/'
Capacitor
A42L-0001 H tttltid A50L-600 1 -0262
-0132/681
/ Magnetic 2 >
Spacer
c oI
\
contactor < 2D
nmnffl
i i
i
A58L-000 1 -0 1 97 A98L-0004-0069/6N
\ sQ
/
Capacitor Yin OZL 7D Resistor module
A65L-000 1-0177
/ A42L-0001 1(0 9 0
-0132/122
/ H
I
I
i
\
y o:y Surge absorber
P.C.B Breaker
I I Terminal board
\ A65L-000 1-0134
A50L-2001 -0139
A60L-0001-0143/15A
l 1
i
A123456 78
i l
En fy
Fig. 5.5 150
i 6 o max.
5.6 Model 20M Velocity Unit (A06B-6050-H113)
mm
P.C.B
Diode A50L-200 1-0135
I Diode module A50L -2001-0175
I]
Capacitor is i r Transistor A50L-000I -0092
A42L-000 I -0132/68 I
i
0 Magnetic
contactor A58L-QQ0I -0?36
I
O'
o
in
J
L | Capacitor
A42L-000 I -0132/122
E D 0 &' isnl
i
--- 1
1
i
Terminal board A65L-000I -0134
A I 2345678
im
yji rb
150
160 max.
Fig. 5.6
V
5.7 Model 20f 30 Velocity Unit (A06B-6050-H104) \ylC* 'f
2 2 5
"T
I Terminal board
A A Holder
A65L-000 1 -0244/A
r n A98L-000 1-0358
V-TTT-
Thermostat Transistor module
""1
A57L-000 1-0043/100 A50L-000 1 -0 1 18
I
O'*
hO
I
o
in
_ I I J
Capacitor
/AA4 2L-0001
M
Diode
A50L-2001-0135
Diode module
A50L- 2001-0175
n
u
4J
v _
9
L*
Capacitor
A42L 0001 0100
Transistor
A50L-000 1-0097
Connector
A63L-000 1 -02 2 2/A 1
Heat slunk
A50L-600 1-0261
-0132/681 Spacer
Magnetic >
1 *
contactor A98L-0004 -0069/6N
Q O 3D
HH
1
i
\ / A58L-000 1 -0197
/
Capacitor
6D * Resistor module
.
/ A42L-0001
-0132/122
- Q n
IQ 9Q
A40L-000 1-0176
\
iQ ii
vSI
\
O; /
Surge absorber
\PC.B
Breaker
A60L-0001 -0143/1 5A
r~i i r~r~i Terminal board
.I
s. /
A50L-2001 -0139 X A65L-000 1-0134
!I 1
i I
i i A 1 23 45678
I I
I Fig. 5.7
tn fB
I 150
16 0 max.
5.8 Model 30R Velocity Unit (A06B-6050-H0050)
240
Fan
A90L-0001-0100/A
n n Holder A98L-0001-0358
: Q-
Terminal block
A65L-0001-0234/3P01 Diode A50L-2001-0097/U06G
'CL
Thermostat C'
r-i
I--4
J.J -i
i
Magnetic contactor
Heat sink A50L-600 1-0242
Spark killer A74L-000 1-0008/1 0D50
A58L-0001-0181
Surge absorber A50L-2001-0139
=e Rnnflfi
Circuit breaker A60L-0001-0143/20A
\ P.C.B. Qlva TgJw
r : ! ! 5 1 II II II II II II II
2n IM
Terminal block A65L-000 1-0280
150
Fig. 5.8
160 max
\
r
r Magnetic contactor
ribHHH
O O
A58L-0001-0181 Capacitor A42L-0001-0122
E Spark killer
InmB Surge absorber A50L-2001-0139
Ky
f
1 150
Diode A50L-2001-0097/U06G
A5 7 L-0001-0043/ 100
Connector A63L-000 1-0222/A 1
Diode module O O
O O
A50L-2001-0134 Transistor
module A50L-0001-0103
Diode
/2\
0
A40L-0001-0144 A50L-2001-0135
K7 oO O Capacitor A42L-000 1-0 1 00
ZD o
Transistor
A50L-000 1-0097
Spacer A98L-0004-0069/6N
I
Resistor module Z7L7 O O
Magnetic contactor
Heat sink A50L-600 1-0242
Un
I
5:
o A5 8L-000 1-0181 rftltftJH
H O
Capacitor A42L-0001-0122
E A40L-0001-
0145
Spark killer
A74L-0001-0008/1 0D50 InmE Surge absorber A50L-2001-0139
E T
Circuit breaker Capacitor A42L-0001-0121
E o o
E A60L-0001-0143/15A
a
\
II. AC SERVO UNIT FOR 2 AXES
This chapter describes the maintenance of AC servo unit for 2 axes which
drives AC servo motor Model 2-0, 1-0, 0, 5.
Combination of two motors are described in Table 1,1.1. Refer to Table
1.1.1.
I
1. STRUCTURE
The AC servo unit for 2 axes consists of the velocity control unit and
power transformer. Three types of velocity control units are available
according to the combinations of AC servo motor models employed. One velocity
control unit applies to two servo motors. The specifications of the power
transformer are the same as those of a power transformer employed when two
servo units for one axis are used according to the combinations of motor
models.
Fig. 1.1 shows a configuration example in an NC system of 2 controlled
axes.
I
AC servo moter
X axes
Transducer
NC control Velocity control
unit unit
(2 axes type)
Z axes
Transducer
3-phase input
power supply Power transformer
- 69 -
1.1 Types of Units and Designated Specifications
Applicable motor
Name Specifications Remarks
L axis M axis
Note : The input connector is used for the cable connected to the velocity
control unit, and it comprises the following parts. One set of the
input connector is required for 2 axes.
Parts contained in the input connector (soldered type) are indicated
in the Table 1.1(b).
Parts contained in the input connector (crimp style type) are
indicated in the Table 1.1(c).
- 70 -
Table 1.1 (c) Parts Included in Input Connector (Crimp style type)
71
2. CONNECTIONS
0 o: CN6L
CN5L
CD 0
0 D] CN6M
CN5M
CD
Tl
-
0
A
NC control unit
0 ] CN1L Velocity
1
2 Machine tool
D] CN1M control
unit for 3
1
0: 2 axes.
4 \ Servo motor
N5
I
CN2 5L
6L
0 Trans
ducer
Electromagnetic
0 7L
5M
0
contactor Fuse
6M Servo motor
LC F 7M Transducer
Power
source
AC 30 V
U
o
-0-0 Power
4>
W transformer
O O -OO-
Terminal screw M4
0
4- 0 -1 5#
l <t>
unit
Tr
..
_____
2.2 Detailed Servo System Connection Diagram
NC control
MXXXm l
y2--
.__s
l
VCMDL.Mj CN1 L,M(7)
ECL,M?~CN1L,MW
Y
0VL1L.M CN1L,M(3)
0VL2L,MT CNIL.MQO
Velocity control unit
AA/V
AA/V
cr
>-
AAA.
VRDY1L,MY CN1L,M(4)
VRDY2L,Ml CN 1 L,M(Tfl
ENBL1L,mY CN1 L,M(2)
-- A
A/W
ENBL2L,MX X
CN1L,M(1$,
l X
-0 -
PRDY2L.MI
PRDY 1 L,Ml CN1L,M(1) +24V
WV
CNlL,M(l4 X
77"
ALMl L,Ml CN1 L,M(8)
*ALM2L,Ml CN1L,M(9) /
* ALM4 L,MY CNIL.MM
ALM8L,MY CNIL.MX
*
COML.MY CN1L,M(13 2
Cable employed: Connector MR20LFH (Honda Tsushin Co., Ltd.)
VCMD/EC; 0.1~0.18mm2 paired (For the connector terminal arrangement, see 8.4)
shielded cable
Other cases; 0.18~0.3mm2 200V
vinyl wire
Vinyle sheath
& i
o
IMM
/AV
l
9)/
\
5]
/,
Drain wire
Cotton fiber
Fig. 2.2.1
- 73 -
2.2.2 Details of connections of cable K2
51 TOHl CN 2 (4)
52 T0H2 CN2 (5)
Connector SMS6PW-5
Screw terminal M4 employed RC16M-SCT3
}(Burndy Japan Ltd.)
Fig. 2.2.2
Contact OFF at
emergency stop
Screw M4
(Cable employed: 0.75mm2, 200 V vinyl wire)
Fig. 2.2.4
- 74 -
2.2.5 Details of connections of cable K5
G
1 -0
*
Screw M4
(Cable employed: 30/0.18 (0.75 mm2)
\ / RM15WTP-4S-(10)
* Hirose Electric Co.
Guide key
4-conductor vinyl cabtyre cable
---
Tl ( 7L,M) C
6 <> 0,5
6
G G D
3 -6
T-O
*
Connector employed
i MS3106B18-10S (Straight type)
Screw M4 l MS3108B18-10S (Elbow type)
CO OB
75
2.2.6 Details of connections of cable K6
Cannon connector
Connector employed: MR-20LWMH MS3 1 06B20-29SW (Straight type)
(Honda Tsushin Co., Ltd.) { MS3108B20-29SW (Elbow type)
Guide key
fT(B)VA&\
KsiO.
TMQA
Cotton fiber
PoI
A\
L o
M0
No p
-co
Drain wire OT o
Braided wire Qo .AN HO
Ko
jo o
S
O
R
oD
OE
4 27 O O
Twisted paired H O
G F
wire
MS 3 1 0 2 A 20-29 PW
Fig. 2.2.6
- 76 -
2.2.7 Details of connections of cable K7
CN 6 L , M Q4> 1 PCZL,M
CN 6 L , M Cl9Y*PCZL ,M
CN6L,M(19 PCAL.M
CN6L,MgT)Y*PCAL,M
CN6L,MQ8I PCBL.M
CN6L ,M(H) X*PCBL,M
CN 6 L , M GO) SGL,Ml j V. J
Cotton fiber
Fig. 2.2.7
1
77
2.4 Connection Diagram of Velocity Control Unit
PWM
BOARD
CIRCUITHflB
:: _
H201 H202 H203 15 Si 3 Bfi 3 B i tQ S S
11 III T T 'T TTT i
TI
DS
1 pf 1 LBEL
'Bl* I
LBCL
I
rB|l
Si
n
I
LBAL
0j i
u
=
3
o
TI
NFBl
i
IA A il I
I
l
I LEAL
RM!_
r--B
a
A
da MCC
-o o-
21 II
I
I
RM2 1
r-jfi
3C L= LEEL
I LECL
T
T
I d
&7L
o
S
LBFL LBDL .81 LBBL iBI
I I I I I S B
00 a
I l ;
T
; Jin
%V01 + CI
LEL
:
L J-|. LJ B4 B;
m:cL BTL
I
2
at?
Nr 62
4
2
MCC
-O O-
I
L
I
ii-A_ IAJ
VHV
T2 400V
I200UF B3
--
23 13
I
1
I
S> Is
!A
i
i
I
2i
-o-
A
j r JC'LCG
I
TC
3c;4
LBEM r;xi
'Bl1
LBCH :5s II I1
LBAH 0)i i
L.
l
LBG
:
I I
I
, LEAM CE
ORM2_o 0 i -B
ZNR L--AI J I LECH
O
3
oJ
TH
MCC
400V , I 5A|
--__
I
RMI
|M5Jl
J
- LEEH
LBFM
fy;
LBDM iBI
I
T
I
:
LBBM jBi
L
T
I
I S
B6 B6
7'-'
o
G
tii 1
O J J
L
I 2 A2 A I l LEM
kiqJyl i 3 i _i
O
4 I00A i 51 O
U1
RM2
TMIM
_i
TM3M TM2M
H202
H203
AC2-0/I-0
ACO/5
+
+
ACO/5
ACO/5
CN 1 L (TO NC.VCMO)
IgfglMjS
TO NC aiiiM'HffliBim
IM*:I:IWK
nh cknn
(VCMD) ft.
E
M3 CDML H CN2
BURNDY
I I8A
CN I M (TO NC.VCMO ) 2 CT
it bH>ma *2 ccnaciyn id:ina:i
3 I8B
TO POWER -
11-141411>fc Pulwar I=CI-MK1
ii- Hawn IE ron >x wwi:
it in pjiiMa >i!is:i*nn]
A20B- 1001-0470 4 TOHI A I 6B- 1200-0520
KMMIIK TRANSFORMER 5 T0H2
It
5B
II -3 CCMM
iirPSMgwtii
DH
*>: ::
PCB2 6 PCB I
V
apSggniE!BBflB|
TO IV a SIS
MOTOR - *
m
lit
i
i
St
Hi i 3
OT
m
(PULCO) i i P
o:
I
CN7 CN7
m, (TO MOTOR)
(TO PCB I )
YAMAICHI SOP
(TO
YAMAICHI 50P
PCB2)
vO 5J5
t= 1
=|HH
3EiCHOgit:lClrti| IE
B
P
SEEMiWjjEKPOTiflB SsE
I I] xc timiiir riw-4:i M
Ik P
SB 4 ZJ EE
m
Mi
I- ItVi M2
k SEE -
li- HE
SPE IlkV.MB
$ DEE
I
IIEMVJ Wit
CN6L (TO NC. PULCO) i
m SEB
w
me D(*:: DR* BHX
f:aua* HKK
m
lssissi> m-a
i IE!
IH- ids
It!.
ESSIE*
PWEL II dH +2EEi
MS
TO NC -
(PULCO) vt ErtlS I!
v'B-Vfl
ir-1
it:
L II-'-
Ti
H'I
sam =1 MS
MS
Ti
+5V it; is it/: -Ti It;: Ti
'4* t-rl I 'i Ml:14 3D -4*t: mw, a:
aEgaaCTOt: [a '4F.HU'a:H'4I IS
CN6M (TO NC. PULCO) 'A#.HU-,:B'X'.
MS
m
'W. HU-,
'WJ
o
PM!
SE 'if.'HU'.-'IH'/!- v
m 4CBESa<l>1::
S >r
Z!
V
1
<->:: :;c :* we IKSI
!
3. SETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT
O
CHI CM
CN7 O
CHI EM
o
CHI M
o CN9
CHI AL
I
\
o
C\J
ID
o
o
CHI CL
o O
o o CHIL
r- CVJ
o i
l CD O
vO CHI EL
o
o <
I
CD
O
OJ
<
CN8
F3/ Fuse
Fuse resistor
_FR2
M
FRI F2/ Fuse
L
CH4 RV4 CN2
o Sl0
- 80 -
(2) A20B-1001-0470 (Child board)
S3 IM
m S3 IL
(\
N
C
S29L
qm
_
s s
s
1 7L
s
1 9L
nnnri
iS S
1 7M 1 9M
S29M
r- 1 6L I 4L s s
1 6M I 4H
--3
o
I
c
c
c
I
cc S30MI
S30I
-
I I
1
a
CN7
S33L
S33M
CHI IL
CH I OL
O IS
O IR 22L
RV3L
RV2L
S20L
0 D S20M
RV3M
RV2M
E
3 IRQ
22M
iso :H I I M
:HIOM
CH6L O 3
SO :H8M
CH7L O R R0 ;H7M
CH6L o o :H6M
o
S I OL SIOM
o OHSM
CH5L
CH3L Oov 0 D ovO :H3M
TSAO ;H2M
CH2L OTSA
CHIL O VCMD VCMDO :HIM
CN I L To NC CN I M To NC
ca
<
- 81
3.1.2 Setting terminal
Table 3.1.2
S26L,M x x
Compensation circuit setting
S27L.M o o
S28L ,M x x
S29L.M X x F/V input pulse width setting (Note 6)
S30L,M Le R Current loop gain setting
S31L.M H H TG alarm enable
S32L,M o o Setting for absolute pulse coder (Note 7)
S33L,M X x OVC alarm level setting
- 82
Note 3. If check is required without connection of the motor power cable,
set S10 at L side.
Note 4. If S20 is set at L side, absolute codes from the pulse coder is
output to NC while VRDY is on. If VRDY is turned OFF, the alarm
code is output. If S20 is set at H, the alarm code is always
output .
Note 5. If S23 is short-circuited, 7V/2000 rpm is set, and if it is open,
7V/1000 rpm is set.
--
Note 6. If S29 is short-circuited, the velocity feedback voltage is changed
from 3V/1000 rpm to 1.5V/1000 rpm. Normally, set it in the open
state .
Note 7. If ABS pulse coder is used, set S32 in the open state.
Note 8. Setting operations are shown in the Fig. below.
Setting plug fj H OH
DL
EZ3 E3
LJU \_/ \i
Le R Le R
Table 3.1.3
Note 1. RV2L, M, N and RV3L, M, N are adjusted before shipping from the
factory.
Note 2. Settings of RV1L, M, and L are the same regardless of the number of
versions .
- 83 -
3.1.4 Check terminals
Table 3.1.4
1 2 1.5 V
360i30isec
Note 4. Motor load currents (peak values) can be monitored using the same
conversion as CH10-12 .
Effective values can be obtain by
multiplying 1//2I
- 84
CO
Current AC servo motor Detector Ko
2; ;; 2:
Regenera detector N (Pulse corder) TO
AC ze> $ tive O
i 85V control n
O
circuit
i. innf Dynamic
brake
D
5'
(B
circuit
03
3
Current Q
*<* detector AC servo motor Detector
(Pulse coder) <
SL
o
2.
innt v
Dynamic
<
O
brake o
CH7L
Current circuit
3
r+
Torque command command 2.
Velocity
CHIL
CH5L CH6L I I --o
- IS
CH8L --
iCHIOL
2 c
5.
r-t
I command from 'CMD+ 2 PWM Driver
00 position control -I -IS
Cn unit (VCMD) CH2L Amplifier CHI IL
I circuit I 2
F/V n T
CH9L
Rotor posi
tion detect
circuit
a CHI2L
Velocity com
Torque command
CH5M CH6M I
TR :
CH7M command
2
mand from
CHIM
_ i jC8M" -CHIOM
position
control unit
(VCMD) CH2M |
r- Amplifier
-IS
CHI IM
2
-
PWM Driver
T<ri
F/V
1
circuit
r i
Rotor
CH9M
position
IT
Q-
t
CHISM
*1 Multiplication circuit
*2 Amplifier circuit
detect
circuit
To position Driver Receiver
control unit circuit circuit
w
4. TROUBLESHOOTING
4.2 Troubleshooting
- 86
Spacer
_
CJ1 CJ1
A98L-0004-0069/6N
TJ
I
1
r"
< A
I
=f~
I
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I
I
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TM2L TM2M
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C2 C3 3 O
Resistor module
A40L-000I -0203 B ==fzr Diode module
r apacitor
Q.
>
H
A42L-000I -0100 2
\
Name-plate
A50L-200I -01 75
Thermostat
o
CL
CD
O
z
No-fuse breaker
A370- l\)62-0036
A60L-000I -0I43/I5A
Magnetic contactor
A58L-000I -021/
A57L-000I -0043/100
>
Z
o
z ro D
4 Z
>
= mi I
g Transistor
A50L-000I -0092 3
O
o
o
\lM 4MI 3D1 JU lil w
I j > >
2M 3M JM 5M faM gj
J=
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i
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9 Li
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CD
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10
o
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00
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cn
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jl l SK M
M
o O
3 ID
I
v v
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e li I Z
INJ
Surge absorber
A50L-200I -0139
/ Capacitor Transistor module
o <
m
/ A42L-OOOI -0149 A50L-000I -0091
Name-plate O
A370- I I 19-0001 o
Spark killer H
A74L-OOOI -0008/I0D50 Connector
A63L-000I -0222/A I
-<
C
P.C.B. Spacer z
e A98L-000I -0358 H
Terminal block I
A65L-000I -0330
-
:
:u
\ 0
CM
r
Fin
I A50L-600I -0303
I
i i
--
1 |
I
I **
!
I I I ir no
MJ
I
L.-J1
=J RM2
Resistor module
-
A 4 0L 000 1 -0204
CJI
Spacer ro
A98L - 0004 0069/6N-
jr
I
i
i i
i
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i
j
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ba
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o
CL
CD
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u
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ro
TM2L TH2M O
Q)
3
C2 C3 Q-
e
Resistor module
A40L-OOOI -0202 0 y. Diode module 'Capacitor
A42L-000I -0100 O
A50L -200 1-0175 a
\
Name-plate
No-fuse breaker
/
/ Thermostat
A57L-000I -0043/100
CD
o
A370- l'062-0037 Magnetic contactor CJI
A60L-000I -0I43/I5A A58L-000I -02I2T
\ / >
o
rrelLU 3* 05
\ oqa
uju
'BBS !
I1 w eyz lei
IZ Transistor
A50L-000I -0092 s CD
<Ji
I
\IH 2H 3M 4M 5M 6M
RMI
!
I
I
pHp js
;1 [I I
m
2
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m
ro i I
n
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rvj
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00
oo 5M
6L 5C 4L 3L ?L IL !
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o
+
I
n
SK
J
T- HRHnF
m
ro
1 0
n
s [ I
N3
o
ro
i
\
\\ Surge absorber
A50L-200I -0139
s
,
'Capacitor
e I 0 0
d
Transistor module
sP 3
Name-plate
A370 I I 19-0002
Spark killer
A74L-OOOI -0008/I0D50 Connector
A63L-000I -0222/A I
P.C.B. Spacer
A98L-000I -0358
Terminal block
A65L-C00I -0330
fi x
t
Z
in
0
01
Fin
r A50L-600I -0303
I
I
,
Cr"=- 3 B ~
"!"!I r**
-- i "ZI
I i
L
i
1
I
l
"
-J RM2
/
/Resistor module
-0204
A40L-Q0QI
Spacer CJI
A98L 0004 - 0069/6N CO
-tfc-
l
I
I
i
I
i
_ J
I
I I L
I I p
I
fc-T
J u
o
CL
CD
I O
i
c_L.
CJI
TM2L TM2M 03
3
CL
C2 C3
Resistor module /Capacitor o
A40L-000! -0201 tr A50L-2001-0175
Diode module A42L-000I -0100
D.
CD
\
Name-plate /
/ = Thermostat
o
CJI
A370- l\D62-0038 No-fuse breaker Magnetic contactor A57L-000I -0043/100
A60L-000I -01 43/ ISA A58L - 000 1 - 02 \JS >
\ 7 O
\ a
> MglKm
sEEkn
I 0E]
0IHHHI Transistor
A50L-000I -0092
I
3
CD
0)
m
G
m lilS? r> o
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_
4
=
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co:
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u [
l-HHHHHISII
e I
n r
IHIilll T
1
m 3 V
CJI
o
RMI I m. m*\ j ro n
i ro I
I
+
H
ro
00
2INI
6L 5L 4L 3L 2L IL
i
! = =
-[
o n
! 5i @
m
||]|
HI II
0
<*> m
9
f i
l\J
a O
CO
HI
VO I SK r
a
j 4
I \ v
. 0 0 e
M
D 9
\8SF absorber
-2001-0139
Capacitor
A42L-000I-0I49
Transistor module
A50L-000I -0091
Name-plate
A370- I I 19-0003
Spark killer
A 74 000 1 -0008/ 1 0050 Connector
A63L-000I -0222/A I
P.C.B. Spacer
A98L-OOOI -0358
Terminal block
A65L-000I -0330
i fi x
::
in
c
CM
r
Fin
l
A50L-600I -0303
cr -, ~
I
i i
I
i
r
I
~y
1i
I
|l
I I r
I
-i I
T n
=1
L J
-*"*t / RM2
HU
7 Resistor module
A40L-G00I -0204
V
!
III. AC SERVO UNIT FOR 3 AXES
This chapter describes the maintenance of AC servo unit for 3 axes which
drives AC servo motor Model 0, 5, and 10.
Combination of three motors are described in Table 1.1.1. Refer to Table
1.1.1.
i
1. STRUCTURE
The AC servo unit for 3 axes consists of the velocity control unit, the
power transformer and the discharge unit.
Four types of velocity control unit are available according to the
combinations of AC servo motor models employed. One velocity control unit
applies to three servo motors.
One power transformer is employed according to the combinations of motor
model.
A regenerative discharge unit is a resistor unit which consumes the
regenerated energy by the motor.
If the AC servo motor models employed are rather small type having a
little regenerative energy, a regenerative discharge unit may be unnecessary.
Fig. 1.1 shows a configuration example of an NC system with 3 controlled axes.
NC control
unit
Velocity control
unit for 3 axes
- --
,
AC SERVO motor
X axis
Y axis
Z axis
T
I
Regenerative
3 phase input Power discharge
power supply transformer unit
- 93 -
r
Applicable motor
Name Specification Remarks
L M N
Note 1 10 10 10 A06B-6050-H404
- 94
Note 6. Input connector includes connectors to be employed on the connecting
cables to the velocity control unit. One set should be used for 3
axes.
Parts contained in the input connector (soldered type) are indicated
in the Table 1.1(b).
Parts contained in the input connector (crimp style type) are
indicated in the Table 1.1(c).
Table 1.1 (c) Parts Included in Input Connector (Crimp style type)
- 95
2. CONNECTIONS
NC control unit
0 {] ]CN6L CN5L [
0
0 {] ]CN6M CN5M C 0 Machine tool
TI
0 Servo motor L axis
Transducer
o
0 0 ]CNIL
A
2
I 0 Servo motor M axis
i
VO
0 {] ]CNIM 3
4
Transducer
0
Ov
i 0 {] ]CNIN 5L'
6U 0 Servo motor N axis
7L<
Transducer
5M'
D ]CN2 6M1
K2 Velocity
7 M'
5N< 0 Emergency stop
j cH ho
-
control unit 6N' AC100V
Electromagnetic
for 3 axes + 10%
U
V
contactor
o
o
o
o
Fuse Power
transformer 4 JH
7N1
L-0 -15%
10
w
Power source
o c>
<rv_o-
AC 30
Terminal screw M4
(When 3.5mm2 cable is used,
use crimp style terminal ,
0
5.5-S4) / Fig. 2.1 (a)
JJ
Fig. 2.1(b) shows connection diagram of A06B-6050-H401 - H403 with regenerative discharge unit.
TI
A
0 Servo motor L axis
0- Transducer
0
) U ]CNIL Wg>
2 Servo motor M axis
> {] ]CNIM 3
4
Transducer
0
0 {] ]CNIN 5U
6L1 0
i 7L' Servo motor N axis
5M< Transducer
i
U ]CN2 6M(
0
7M
K2
Velocity
control unit 5N< 0 Emergency stop
U
Electromagnetic
contactor
-o o
Fuse Power
transformer
for 3 axes
T2
6N<
7N<
L-0 - 1j
- -15%
V
o c>
-o~\jy
<TVJ>
4 6 4-
* 10
w
Power source
o o -cr\_o Tj 1 11 T3
AC 30
Terminal screw M4
08) '2 Regenerative
i3 discharge
(When 3.5mm2 cable is used,
,4 unit A06B-6050-H40 I -H403
use crimp style terminal /
_/
5.5-S4)
0
JJ Fig. 2.1 (b)
\
Fig. 2.1(c) shows standard connection diagram of A06B-6050-H404 .
NC control unit {K7> {] ]CN6L CN5L [
(>
0 {] ]CN6M CN5M [ 00 Machine tool
[0
Servo motor L axis
0 {] ]CN6N CN5N
TI
Transducer
0
0 Q ]CNIL
A
2
0 Servo motor M axis
0 {] ]CNIM 3
4
Transducer
0
0 {] ]CNIN 5L'
6L 0
i 7U Servo motor N axis
5M< Transducer
00
i
0 ]CN2 6M< GH
K2
Velocity
control unit
7M'
5N' 0 Emergency stop
U
Electromagnetic
contactor Fuse
Power
for 3 axes
T2
6N1
7N<
L-0 J hO AC100V
+ 10%
-15%
o o- CPVJCH transformer 4 6
V
a <rx_o
W
Power source
o o- in 1 T3
AC 30
Terminal screw M4
(When 3.5mm2 cable is used,
L-0 2 Regenerative
discharge
unit
4 A06B-6050-H404
use crimp style terminal
5.5-S4) I 11 T3
'2 Regenerative
0 13 discharge
,4Unit
Fig. 2.1 (c)
0
2.2 Detailed Servo System Connection Diagram
NC control unit
J~h~
------- yCMDL,M,NlCNlL,M,N(7)
mOOOOfr { j ECL,M,F|LCNIL,M,NW
0VLlL,M,NlCNlL,M,N(3)
OVL2L,M,nYcN1L,M,N0$'
VRDY1 L,M,NlCNlL,M,N(4)
A/W
A/W
--
Velocity control unit
|
-(+
WV
VRDY2L,M,nYcN1L,M,N(1T)
ENBLIL,MNYCNIL,M,N(2) AA/V-
ENBL2L,MjNlCNlL,lVl,Na9 X
PRDYlL,MNYcNlL,M,Na: +g4Y
PRDY2L,MNYCT4IL,M,NQI X
*ALMIL,MNICNIL,M,N(8) 777-
1
*ALM2L,MNTCN1L,M,N(9)
*ALM4L,MNYO11L,M,N0()
*ALM8L,MNYCN1L,M,NQ]) 7
C0ML,MNjjCNlL,M,Nq3 ) [
Vinyle sheath
__
---
-
Shield
-
o ok 1 Twisted pair
Paper tape
o
m-M
vA \VX
0)y
)
I
Shield O
I
\
Drain wire Cotton fiber
Fig. 2.2.1
- 99
2.2.2 Details of connections of cable K2
Fig. 2.2.2
Fig. 2.2.3
100B Tl(3)
AC 100V
\<t> -
O1 1 '0
1 00A : T 1 (4)
EMG
Contact OFF at
emergency stop Screw M4
Fig. 2.2.4
100 -
2.2.5 Details of connections of cable K5
(1) Model 5, 0
Cannon DO OA
connector
CO OB
(2) Model 10
Cannon DO OA
connector
CO OB
101
2.2.6 Details of connections of cable K6
Canon connector
Connector employed: MR-20LWMH MS3 1 06B20-29SW (Straight type)
(Honda Tsushin Co., Ltd.) MS3 1 08B20-29SW (Elbow type)
Guide key
m
1!
w
B
O
M0 0
(D Cotton fiber
L
O
NO C
O
O O P O
Ko OD
0 Cannon
connector Jo OS
It
OE
uoi m
O
Braided wire (Dk: Drain wire O O o
H G F
r
Twisted paired
wire MS 3 1 0 2 A 20-29 PW
Fig. 2.2.6
102
2.2.7 Details of connections of cable K7
CN6L,M,N(14) PCZL,M,N
CN6L,M,N(15) T *PCZL,M,N
CN6L,M,N(16)~T PCAL,M,N
CN6L,M,N( nT)CPCAL-M]N
CN6L,M,N( 18)~Y PCBL,M,N
CN6L,M,N( 1 9)~I *PCBL,M,N
CN6L,M,N(20) SGL,M,N
Cotton fiber
W
SNA \kyj/ AW Paper tape
!GNJ
BKY 0
AVAB]
P4j BK
Braided wire
GY
BK W,
Y W 0
(GY] Sheath (black)
Fig. 2.2.7
103 -
2.2.8 Connections of separate discharge unit
LCC T2 (4)
T2 (5)
HCA T2 (6)
Regenerative
T3 (1) discharge unit
T3 (2)
Cable employed: 2.0mm2 (37/0.26)
600V heat-resistive vinyl cable
Screw terminal M4
104
(ii) Details of connection of cable K2
For connections of cable K2 in 9.1.2, change the connection of T0H1
and T0H2 as follows.
Screw terminal M4
105
(2) In case of A06B-6050-H404 (standard)
(i) Details of connection of regenerative discharge unit
LCG T2 (4)
i T2 (5)
HCA T2 (6)
Regenerative
T3 (1) discharge unit
T3 (2)
Regenerative
n
discharge unit
T3 (1)
T3 (2)
106
(ii) Details of connection of cable K2
For connections of cable K2 in 2.2.2, change the connection of T0H1
and T0H2 as follows.
41 18A CNZll)
42 CT CN2 (2)
43 1 8B CN2 (3)
(Thermostat contact)
51 TOHl CN2 (4)
52 T0H2 T0H2 CN2 (5)
(Thermostat contact)
T3 (3)
-
-O:--
I T 3 (4) I-"- ] Regenerative
discharge unit
107
2.4 Connection Diagram of Velocity Control Unit
Soto 0-6
4
u
T
4 4 a
S CV
8
I
M.
5
PH s
I pPcp 5
o i i i I ! l i
5
= 4cp P? i PH
i\ 4 5 5 a 5 s
5
z
?38rl
s
M-
u ? 5 5 3 5 I 5 I I 5
d ii
5
z
$1 $1 $1
=:,f
rv 'A,
s-
i
si aLZJS
u
Sit;; T
5
jSE*3- *
n
o
o
r o
i- o
3 8 (I,
c
o
4
i
o
is
a
3
< X
ii i y S C nT
!
C
I
Q it
-
2 -- ; 5
7
u
B
5l
B
I
i
! <6 o OJQ 6 o-6
108 -
2.4.2 Model 0/5, Model 0/5 and Model 10 (A06B-6050-H402)
- *>P!0
* u *
5o o
ftrt-
8
\Z __
0*jgp| 0-6
s-m
; i
~r
"i5S55- =w53~
BS
=;
I
2 I I! i i 4
i
t
PS i
! 3 I
I
u1
4 4 5 '
E! S3 ;| *
a-f
4
15
-to | |
5 4 3, 3 I S 5 i I
KA
2 ! 2
1
X
z
iEWa ii
-i
*
3 o
: S +
r- Bg T 8 !
u 8 9
i?? SirSii
>o
o
S I o
is i i
ri
iM rritiJ o
i
5 l y; % E c
'
v
:
ffii
I u
V
y
i
c
5
i c[ <6 -6 -o | o-6
109 -
2.4.3 Model 0/5, Model 10 and Model 10 (A06B-6050-H403)
s g-
fi
1 r* j- ~fr~ 1
5
|
o
s i s 3 I 1 I I l
sr
Ui
g
i
2
3
s
%
3
r~ar
3
ZZKril
r 5
t
i
5 f f
-~arr=i.1 I
I 3
ZZriZ
I
L) 3 I 3 i 3 I I l I I i 5
2 * I
8
CE
z
u
15
iiifpp
B
s r
I
iZjs o
11 o --4--: s I
r r-- o
a
o o
r- o
2 v m
u o
UH
Sg 2 c- -
u< i
iS S3< -4S--J O
0.
B
I1I I I :!i S
o
C Crm
P r+:
Is
2
; =n:-"
2
2:
% u
gw
CM c
n v
n
*
n
fl *[ Si sT
1
i
5 -6 <M( "6 1 * o-*
110
2.4.4 Model 10, Model 10 and Model 10 (A06B-6050-H4Q4)
!i i
r
, H-
1 rur*n a~ I
0|
5 3 4 I ! I I 1 I
6
_i r ~ W~,
f ---
T
I IIsL I
il i
t\ \i\ s i
i
i5 ~~
r j-
_ s
ifrnJ.
J
r
"iTrnJ.
I
*"
THL
~V~
f
z
u ! i * 5 I f i 5 i i 5
2 2 2
S
Z
u
is
233! ail
v:,l 031
Ld
&
u
g
I s-
! 6 fe' i :
O
s
? o
\
L ii
04
1
a
s< s1- o
w
I!s 1! I I l i
c r *92
c
"5
* 2 7
i
m c
T
"A "A % P
i
?
KEZZ -6 -6 | o oIs
111
CN2
BURNDY CN I L ( TO
NC , VCMD ) CN5L (TO PULCO) CN6L(T0 NC.PULCO FEEDBACK)
I I 8A
(EmoaiGiiHinioin m
Sfi.
OV
Ov
P81 PHIAL 1141 PCZL]
sfeMraamiK mjemm IK
m
OH IBL mi ov
XMWA-.)
iKiasi KZA vienuftiH
2 CT ~fc 0VL2L II* mOVL IL St: ov i C8L 16 PCAL m IE
PCAL
in m
w
VRDY2L in ALM8L SE VRDY I L SE CAL 17 PCAL I*.
3 I8B 18 Q MIL IF m 5V PC3L IE PCB l IF CLMT IL m
4 TOHI 2C EL
IK I CO ML SE
MR
CURRL
tti VCMDL
SE
a
5V
I
I -Sfr-ti PCBL
CWL MR- /"VOSfec SGL
IE PCBL m E:LMTQL SR
gg SGL MR- / ICLHT2LI
5 TOH2
6
CN7 CN9
HIROSE HIROSE N5M(T0 PULCO) CN6M (TO NC.PULCO FEEDBACK
CN 1 M (TO NC , VCMD)
T\ CDV2N m IE IflrlilFKl >1- DIUMIIII >11 lit'Iffil I OV SE KiUEJ IE 2&GM gfSISiSi V
CPU IN Sgl L ov SE IUaM2l V
PCAM n
IK SEKZnl SKi?gSMCl
CDU2N ft L M IE 0VL2M IKS X OVL IM ov 1C 8M m PCAM
E PCAM ft ov
CDV IM SE L M IK VRPY2M m SE Y IM 4 11 4M IK PCAM SE
: RM
l I
IV2M
IUIM
SK L M
SE L M
ft LM
H* :LMTM IF
IK
EI
IK SE
ft VCMDM
|K
I
5V
*5V
CWM
IS
13
C2M
ClM
I Hr PCBM
IF. PCBM
(R-/20g;EI SGM
DE
ggaram
IF MIMEI*
Hr EUij:]J IK: SE
a
st: LE'AN
KJ
1 MCC
I OOA
1C CDV I L
SE
IE L iN
LM.
I i IV2L 111 !_ :N
I IF L :N
I IK L IN
7 HI IE L N
Tc IH2 IK LEEN
PCB A20B-1001-0770
A20B- 1 00 1 -0770/ [ ][ ]
rr
Fuse resistor
F I / Fuse
3.2A
n
CNIO
Q PRDY
tt LV
Cl HC
O HV S3IL
S3 1 M S3 IN
LT
O DC
Q TGL
O OVCL
Cl TGM
0 n
Cl OVCM
Cl TGN
Cl OVCN SIOL SIOM SION CN9
S30N S33N
--
cH?2p Q S9L S9N
Fuse
CHYIL CHTIM
CH 10 DDEKL 2.0A \OF2
LT
a?,[
RV3L S29L RV3M <& RV3N S29N
CH9
8l[ |RV2L |
S22L sp
CYBIQRVRM
RVIM
T "sHcYQRvaN
rjmpap RVIN
=tS22N n
CH6C
CH5L
CH3L
SI7L
SI 8L
CHpM
CHCH
Sl 7M/ //
SI8M
cp?N
CH3N
SI9L SI9M
CH2L CH2K CH2N
cm L CHIM CHIN
CN7
C:NL CNbL CNv>M CN3M CN)N CNbN
Fig. 3.1.1
113
3.1.2 Setting terminal
PCB A20B-1001-0770
Table 3.1.2
Standard setting
Terminal Remarks
setting 0/5 10
SI L L TOH setting (Note 1)
S2 X x DC alarm setting (Note 2)
S10L,M,N H H TG alarm enable (Note 3)
S17L,M,N H H
S18L,M,N L L Current limit setting
S19L,M,N H H
S20L,M,N H H Absolute code output enable (Note 4)
S22L,M,N o x Compensation circuit setting
S23L,M,N o x VCMD gain setting (Note 5)
S24L,M,N o o F/V circuit filter setting
S25L,M,N X x
S26L,M,N x x
Compensation circuit
S27L,M,N X x
S28L,M,N x x
S29L,M,N x X F/V input pulse width setting (Note 6)
S30L,M,N L L Current loop gain setting
S31L,M,N H H TG alarm enable
S32L,M,N o o Setting for absolute pulse coder (Note 7)
S33L,M,N x X OVC alarm level setting
Pulse coder
Terminal Remarks
setting 2000P 2500P 3000P
S8L.M.N L L H
Pulse coder F/V gain setting
S9L,M,N H L L
S14L,M,N L H H
S15L,M,N H L L Pulse coder pole number and
pulse number setting
S16L,M,N H L H
114
NC system
Terminal
setting FS0,FS1,FS2, FS10 ,FS11 ,FS12 Remarks
FS3 ,FS6 ,FS9
Table 3.1.3
Note 1. RV2L,M,N and RV3L,M,N are adjusted before shipping from the factory.
115
3.1.4 Check terminals
Table 3.1.4
12 1.5 V
36030/sec
Note 3. Motor load currents (peak values) can be monitored using the same
conversion as CH10-12. The effective values can be obtained by
multiplying 1//2T
116
CO
to
AC 30
o
+
.1
Regenerative
7T7T-? .. Current
detector
AC servo motor Detector
(Pulse coder)
DO
o
o
ZS 7ZZZ control
185V
o- circuit D
5*
to
Dynamic
V brake 3
1 circiut 3
o
-l n 2;
Current
detector
AC servo motor Detector
(Pulse coder)
<
o
2.
<
O
o
Dynamic r-f
brake
circuit C
3.
I
-t -J
I c*
-n AC servo motor
c5 2i 2i 2i
Current Detector
detector (Pulse coder)
*1 co
I ro
~s f 1 f Dynamic
brake
circuit
!
r
CH7L Current
command
R
Velocity CH5L CH6L I *2
command
from posi
CHIL C@8L ->CHIOL
tion control Amplifier Ts 2 PWM Driver
unit circuit f - IS
( VCMD ) CH2L 3
CHI IL
TSC-. CHI4L *I
- IT
F/V ER
CH9l_
T
<>
CHI2L
Rotor posi
tion detect
3-
circuit
To position Driver Receiver
control unit circuit circuit Current
CH7M
Torque command _ R
command
Velocity CH5M CH6M l Q- 2
I
command
from posi
tion control
CH I M
Tv CMD Amplifier
CH8M
Ts _
iCH|QM
2 PWM Driver
unit circuit \ -is
OO
( VCMD ) CH2M CHI IM
CHUM I 2
I
ER T -i IT
F/V
CH9M CHI 2M
Rotor posi
tion detect
circuit
d CHI 3
4.2 Troubleshooting
- 119 -
5. PARTS SPECIFICATION AND LOCATIONS ON VELOCITY UNIT
5.1 Model 0/5, Model 0/5 and Model 0/5 (A06B-6050-H401)
CAPACITOR<C2.C3.C41 TM2L TM2M TM2N
A42L-000I -0100 /3
03
C3 C4
z
A65L-000I-34I /t II,
Ball o o o
SIJHHI
* O O | anas 3 HEAT SINK
E: T1 fl 1 I A50L-600 1 -03 1 I
ana SSi !D
/I
03
ZD
O ro
a
u
,: o o O
I
I
E
n
n
3
z
n
n 0 SR
o o o o o
mt-
LM |g 'I
I
/ TRANSISTOR
A5QL-000I
RESISTOR (RM3 )
(01)
-0097 /I
IL-.0SHBR
MAGNETIC C0NTACTCR(MCCI ) I I A40L-000 I -0066/20T203J /I
A58L-000I -0221 /I (3A2B)
l
ro
o
o
o+
0)n
o
o+
0)0
o
O
o
sT
_jl_ r~ i
I
THERMOSTAT ( TH)
A57L-QOOI-OQ43/IOO /I
B i
1
i
i
I Ol I I
Ol r o
,ir
O O
II
B RESISTOR M00ULE (RM2)
A40L-OQOI -0219/16 /I
z
CAPACITOR (CD
A42L-000I -0156 /I
L3
isru
i'I o E h
I
I 3
ZD
inro MAGNETIC C0NTACTCPIMCC2)
110 B O1
A50L-OOOI -0222 /III A4B)
B M
_
Q
I1*-1 O O O RESISTOR MODULE (RMIL.IM.IN)
/I I I
-
A4 OL 0001-0176 /3
TERMINAL BLOCK! 72)
A65L-OOOI-0244/B /I
1
CI00E (0D
A50L-200I-0097/UC6G /I
1 t~ O
- J L __ _ J
I HOLDER
0* A96L-000 I -0358 /4
I o o O |
RU6BER
i| I I A230-0 I 68-X008 /2
-Il I
r i I
o O II
I I
-=.*=.-13
s- I
5.2 Model 0/5, Model 0/5 and Model 10 (A06B-6050-H402)
CAPACIT0RtC2.C3.C4J TM2L TM2M
A42L-OOOI-OIOO /3 TM2N
W CD
C3 C4
s3
"n
CP
ZD
rag z
~n
CO
IV)
(j is
Tr
i
M
HEAT SINK
A50L-600 1 -03 I I /I
3OS
3
a TRANSISTOR (Ol )
c
05
C_
3
3
= n
n
MAGNETIC C0NT ACTOR (MCC I )
pEp
a
HD o=,2
O
m
=>
Ol => o
2
7
i i c o
.ft
A50L-000 I -0 1 2fe /I
RESISTOR <RM3)
a
a [ A56L -0001 -022 1 /K3A2B)
PIP I i
I
o
Ca
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A42L-000I -0155 /I II
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A40L -000 1 -0219/10
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/ 1 I A40L-000I -0178 /2
TERMINAL BLOCK I T2) I
A65L-OOOI -0244/B /I
RESISTOR MOOULE (RMIN)
A40L-000 1-0177 /I
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A50L -200 1 -0097/U06G /I
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A9QL-000 I -0358 /4
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A50L -2001 -0139 /I LOi
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5.3 Model 0/5, Model 10 and Model 10 (A06B-6050-H403)
CAPAC1T0R(C2.C3.C4)
A42L-OOOI -OlOO /3 TM2L TM2M TM2N
CD O) CD >
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A56L -000 I -022 I / I ( 3A2B )
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CAPACIT0RIC2.C3.C4) TM2l_
A42L-OOOI-OIOO /3 TM2M TM2N
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MAGNETIC CONTACTOR (MCC I
A58L-OOOI -0221 /I (3A2B)
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A65L-000 I -0244/B /I '
RESISTOR MODULE (RMIL.IM.lN)
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A50L-200I -C097/U06G /I O O O o
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A96L-0O0I-0358 /4
SURGE ABSORBER { ZNR ) H
A5QL-200I-0I39 /I o
r
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AG3L -0001 -0222/A I /4
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A23O-0I 66-XC08 *2
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l.
APPENDIX
1
APPENDIX 1
1. REVERSE CONNECTION
For AC servo unit there are connection cables of power supply, feedback
signals and motor power.
There are standard connection and reverse connection for the feedback
signal cable and motor power cable according to the rotational direction which
follows the feed command from the control unit.
The rotational direction corresponding to the (+) feed command
1.2 Method
127
Detail of connection of cable K6 in reverse connection.
Change the connection mof connector mounted on velocity control unit side
of cable K1 and K7 between NC and velocity control unit.
128
Detail of connection of cable K7 in reverse connection.
Velocity control NC
unit CN 6 tl),(2),(3) OV f
CN6 PCZ
CN6 09 *PCZ
CN6 oo PCB
CN6 (ID *PCB
CN6 Q0 PCA
CN6Q0 *PCA
CN 6 CQ SG
EC CN 1 (7)
t
T\
I
i
I
i A XU
I
i VCMD CNI eo A/VV
77-
OVL1 CNI (3)
OVL2 CNI 00
VRDY1 CNI (4)
VRDY2 CNl 07)
ENBLl CNI (2)
-VW
ENBL2 CNI 09
L PRDY1
PRDY2
CNI (1)
CNI 01
+AA/V-
24V
Signal PCA and PCB should be replaced each other in cable K6.
(D Signal CW and OV (terminal 1 or 2 or 3) should be connected.
129
Detail of connection of cable K6 in reverse connection.
C N 5 (7) CW
CN5(10 C8 Brown/White
CN5ai) C4 Orange/White
CN502 C2 Y ellow/White
CN5fl9 *PCZ Green
CN5flQ PCB Blue
CN5fl8 PCA Black
CN5CQ SG Black (thick)
130
APPENDIX 2
1.1 Outline
o Whether servo motor is exactly the specified one (check the type,
detector type) .
o Whether there is any mechanical damage sustained in transit or not.
o Whether the rotating part can be normally turned by hand.
o In the case of the motor with brake, whether the brake is normal.
o Whether there is any loosened screw or play.
1.3 Mounting
131
Motor model Oil seal specification
1-0, 2-0 AB0598E0 (SB type)
0, 5 AB1314F0 ( )
10, 20M, 20, 30, 30R AB2057G0 ( )
The oil seals used for the servo motors are the products of JAPAN OIL
SEAL INDUSTRY Co., Ltd.
(3) The servo motor is coupled with the load through the direct coupling,
gears, timing belt or such. In any case the force exerted on the motor
shaft must not exceed the values shown in the following table, therefore
due care should be taken for the operating condition, mounting method,
and mounting accuracy.
o The values of permissible radial loads are the ones when the load is
imposed on the end of the shaft.
The values in this table indicate the maximum permissible loads which are
the sum of the constant force always exerted on the shaft owing to the
mounting method (e.g., the force given by the tension of the belt when
the belt coupling is used) and the force generated by the load torque
(e.g., the force transmitted from the gear face).
o As a rule, axial load to the shaft should be avoided. Servo motor
contains precise detectors, so excess axial shock may give damage to
detectors .
(4) Make the wiring between the servo motor and the control circuit without
any mistake, just as specified in the specifications. (See the
connection diagram of the machine.) A mistake made in the wiring may
cause runaway or abnormal oscillation and may give damage to the motor or
the machine. When the wiring is completed, measure the insulation
between the power line and the motor frame before turning on the power.
The measurement should be make with a 500V megger. Further, check the
insulation between the signal lines and the motor frame with a
multi-tester. Be sure not to use a megger especially for measuring the
insulation of the signal lines for the pulse coder.
132 -
1.4 Replacement of Pulse Coder
(1) Abstract
Cl C2 C4 C8
1 1 1 1
or 1 1 1 0 (1: HI, 0: LOW)
133 -
1
Motor
shaft
3 Bolt 1
Rubber
cap
(M5)
TTTTTTTT7
Coupling
B5
r
Motor housing
Bolt 2 (M4, 3pcs)
Mark -off line
Fig. 1
i
* RATED DC CURRENT AT THE CHECK OF PHASE-RELATIONSHIP IS AS FOLLOWS.
Fig. 2
#*> K
*
V
fV-.:
; A-
v
;V;. *
.. *
i
->
!
134 -
T
Standard setting
Setting
Description
pin 0 10 20 30
5 30 R
- >
ts
.
.
V.
r
s
* % 135
2) AC servo unit (for two axes)
Standard setting
Setting
Description
pin 1-0 0
2-0 5
Note) The open state for S27L,M is standard setting since A20B-1001-0470/05B
edition.
136 -
1
Standard setting
Setting
Description
pin
0/5 10
137
Revision Record
FAN UC AC SERVO UNIT MAINTENANCE MANUAL (B-54765E)
01 Dec., 83