A-53866E-387 - 02 - 050120 Startup Spindle

i series Spindle Start-up Procedure
Table of contents
1. Overview
2. Start-up procedure
3. Setting parameters to start-up
4. Parameters related to detectors
5. Parameters related to normal operation mode
18
6. Spindle parameter table
19
7. Trobleshooting
31
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01.05.24
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01.03.23
Yokota
Ed
Date
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Description
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Start-up Procedure
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1. Overview
This manual mainly describes the spindle parameters when you use i
series spindle amplifiers and start-up the spindle.
In i series spindle, please attention that parameter specifications related
to detectors are different from series.
Parameters and adjustment method are the same as series for each
function (operation mode), orientation, rigid tapping, Cs contouring control,
spindle synchronization control etc.
Regarding parameters for each motor model of i series spindle motor, see
table of parameters informed separately.
i series spindle motor amplifier does not support the following functions
now.
Orientation in spindle synchronization mode
Spindle switching control
Spindle differential speed control
Spindle EGB
Spindle tandem control
Operation mode function by check board
Magnetic sensor method spindle orientation (This function is not supported.
Please use orientation with external reference switch or orientation with
separate BZi sensor.)
Minimum time orientation (This function is abolished so use high speed
orientation function.)
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2. Start-up Procedure
A.
Ch eck t h e spin dle-r ela t ed specifica t ions.

CNC m odel (i ser ies ser vo a m plifier syst em is
1.
con n ect ed t o i ser ies CNC.)

2.
Spin dle m ot or
3.
P ower su pply m odu le
4.
Spin dle a m plifier m odule
5.
Det ect or syst em
B.
Ch eck a ll con n ect ion s.
C.
P r epa r e a n d check t h e P MC la dder pr ogr a m .
D. Ch eck t h e CNC pa r a m eter sett in g for u sin g t h e i ser ies

(Ser ia l) spin dle.
E.
P er for m a u tom a t ic pa r a m eter for i ser ies (Ser ia l)

spin dle.
Set m otor m odel code a n d t h e pa r a m eter for a u tom a t ic
pa r a m eter init ia liza t ion fu n ct ion , t hen t u r n t he CNC off
a n d t h en on a ga in .
F.
Ch a n ge pa r a m et er da te (wh en n o m odel code is u sed)

F or a m ot or for wh ich t her e is no m odel code, per for m
a u t om a tic in itia liza t ion by specifyin g 300 (or 400
wh en t h e speed r a n ge swit ch in g fu n ct ion is u sed),
t h en ch a n ge t h e pa r a m eter da ta a ccor din g t o t h e
pa r a m et er list for t h e m ot or .
G. Set
t h e pa r a met er s rela ted t o t he spin dle speed
com m a n ds a n d det ect or .
H . Ch eck t h e wa vefor m s of t he feedba ck sign a ls fr om

det ect or s.
I.
Ch eck t h e oper a tion in nor m a l oper a t ion mode.
J.
Ch eck t h e oper a tion of ea ch fun ct ion .
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3. Setting parameters to start-up

3.1 Parameters for the i series (Serial) spindle system.
Parameter No.
0
15
15i
16i/16
5606
5606
#1
#0
(*1)
1st
2nd
1st
2nd
spindle
spindle
spindle
spindle
5606
(*1)
(*1)
#0
0071
5604
5841
3701
#4
#0
(*2)
#4
Description
Whether to use i series (Serial)

spindle amplifier
Number of i series (Serial) spindle
amplifiers connected
Note
1. Optional parameter
2. For series 15i, specify an axis number in No.5841.
3.2 Automatic spindle parameter initialization

(1) Parameter list
Parameter No.
0
15
Description
15i
16i/16
5607
5607
4019
Function
#1
#0
#7
initializing
1st
2nd
1st
2nd
spindle
spindle
spindle
spindle
6519
6659
5607
#7
#7
#0
for
automatically
i series (Serial) spindle

parameters
6633
6773
3133
3273
3133
4133
Motor model code
(2) Procedure for automatic spindle parameter initialization.

Perform automatic spindle parameter initialization by the following
procedure.
1.
Set the model code for the desired motor for automatic parameter
initialization.
When there is no model code, set model code 300 (or 400 when the
speed range switching function is used) for automatic parameter
initialization, then manually change the parameter data according
to the parameter list for each model.
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Parameter No.
0
15
1st
2nd
1st
2nd
spindle
spindle
spindle
spindle
6633
6773
3133
3273
2.
15i
16i/16
3133
4133
Setting
Model code
Set the relevant parameter to 1 to enable automatic spindle

parameter initialization.
Parameter No.
15
Setting
15i
16i/16
4019#7
5607#1
5607#0
1st
2nd
1st
2nd
spindle
spindle
spindle
spindle
6519#7
6659#7
5607#0
Note
This bit is reset to its original value after automatic parameter
initialization.
3.
Turn CNC off, then on again. Then, the spindle parameters

specified with the model code is available.
4.
When no model code is available, manually change the parameter

data according to the parameter list for each model.
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3.3 Parameters related to spindle speed commands

Parameter No.
0T
0M
0013
15i
16i/16
3706
Spindle
#7,6
(enabled when input signal SSIN is set to 0)
3735
Minimum clamp speed of spindle motor
#7,6
-
0543
5618
0542
5619
command
polarity
3736
Maxmum clamp speed of spindle motor
(M system)
(*1)
6520
0539
speed
(M system)
(*1)
-
Description
15
0577
3020
3020
4020
Maxmum spindle motor speed
5613
5613
Spindle speed command offset

(always set to 0)
0516
5614
5614
Spindle speed command gain adjustment

(always set to 1000)
0540
0541
3741
0539
to
0543
0555
3744
Maximum spindle speed corresponding to the

gear
(*2)
Note
1.
Supported for the M system only. These parameters are disabled,

when the constant surface speed control option is used.
2.
When the constant surface speed control option is used with the M
system, the same parameter numbers as for the T system (No.0540
to 0543) are used.
4. Parameters related to detector

Note
In i series spindle, please attention that parameters specification related to detector are differerent from series
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4.1 List of parameter for detector

Parameter No.
Description
15
15i
16i/16
6500 #0
3000 #0
3000 #0
4000 #0
Direction of spindle and spindle motor rotation
6501 #4
3001 #4
3001 #4
4001 #4
Spindle sensor mounting direction
6502
3002
3002
4002
#3,2,1,0
#3,2,1,0
#3,2,1,0
#3,2,1,0
6503
3003
3003
4003
#7,6,5,4
#7,6,5,4
#7,6,5,4
#7,6,5,4
6504
3004
3004
4004
Setting of a reference switch signal (proximity
#3,2
#3,2
#3,2
#3,2
switch)
6507 #5
3007 #5
3007 #5
4007 #5
Whether to detect disconnection of feedback signal
6507 #6
3007 #6
3007 #6
4007 #6
Whether to detect alarm related to position
0T
0M
Setting of spindle sensor type

Setting of number of teeth of spindle sensor
feedback signal (for non Cs contouring control

mode)
6510
4010
3010
4010
#2,1,0
#2,1,0
#2,1,0
#2,1,0
6511
4011
3011
4011
#2,1,0
#2,1,0
#2,1,0
#2,1,0
6516 #5
3016 #5
3016 #5
4016 #5
Setting of motor sensor type

Setting of number of teeth of motor sensor
Whether to detect alarm related to feedback signal
(for Cs contouring control mode)
6516 #6
3016 #6
3016 #6
4016 #6
Whether to detect alarm related to position

feedback signal for thread cutting
6516 #7
3016 #7
3016 #7
4016 #7
Whether to detect the one rotation signal each time

the position control mode
0003
0028
#7,6
#7,6
65566559
5610
3706
Gear ratio between the spindle and position coder
#1,0
(x1, x2, x4, x8)

Spindle-tomotor gear ratio data
3056
3056
4056
3059
3059
4059
signals CTH1A and CTH2A.)
6935
3315
3171
4171
Denominator of arbitrary gear ratio between motor
6937
3317
3173
4173
sensor and spindle
(This data is selected by spindle control input

signals CTH1A .)
6936
3316
3172
4172
Numerator of arbitrary gear ratio between motor
6938
3318
3174
4174
sensor and spindle

signals CTH1A.)
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4.2 Detail of parameter for detector

0
15
15i
16i/16
1st
6500
3000
3000
4000
2nd
6640
3140
ROTA1
#7
ROTA1
#6
#5
#4
#3
#2
#1
#0
Relationship between the rotation directions of spindle and sipndle motor.

0 : Spindle and spindle motor rotate in the same direction.
1 : Spindle and spindle motor rotate in the opposite direction.
15
15i
16i/16
1st
6501
3001
3001
4001
2nd
6641
3141
SSDIRC
#7
SSDIRC
#6
#5
#4
#3
#2
#1
#0
Mounting direction of spindle sensor

0 : Spindle and spindle sensor rotate in the same direction.
1 : Spindle and spindle motor rotate in the opposite direction.
15
15i
16i/16
1st
6502
3002
3002
4002
2nd
6642
3142
SSTYP3 SSTYP2 SSTYP1 SSTYP0

#7
SSTYP30
#6
#5
#4
#3
#2
#1
#0
The spindle sensor type

Set a separate detector installed spindle
SSTYP3
SSTYP2
SSTYP1
SSTYP0
Spindle sensor type
Nothing (Without position control )
Use motor sensor as position feedback

(including built-in motor)
position coder
Separated BZi sensor
position coder S
15
15i
16i/16
1st
6503
3003
3003
4003
2nd
6643
3143
PCPL2PCPL1PCPL0PCTYPE
PCPL2
PCPL1
PCPL0
PCTYPE
#7
#6
#5
#4
#3
#2
#1
#0

Set these bits to 0,0,0,0 when position coder or position coder S
In case of using motor sensor as position feedback, set these bits to 0,0,0,0.
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Number of teeth of
PCPL2
PCPL1
PCPL0
PCTYPE
256/rev
128/rev
512/rev
64/rev
1024/rev
384/rev
15
15i
16i/16
1st
6504
3004
3004
4004
2nd
6644
3144
#7
EXTRFRFTYPE
#6
spindle sensor
#5
Nothing
Detect rising edge
Detect falling edge
16i/16
1st
6507
3007
3007
4007
2nd
6647
3147
#1
#0
#3
#2
#1
#0
(Proximity switch)
PCALCH
PCLS
#6
#5
#7
PCLS
#2
Reference switch signal
15i
#3
Setting of a reference switch signal
EXTRF
15
EXTRF
#4
RFTYPE
RFTYPE
#4
Specifies whether to detect disconnection of feedback signal or not

0 : Disconnection detection enabled. (Normally set to 0)
1 : Disconnection detection disabled.
When this bit is set to 0, AL-27 (position coder disconnection), AL-73 (motor
sensor disconnection), AL-84 (spindle sensor disconnection) are checked.
Set it to 1 temporarily if the disconnection alarm occurs and adjustment is
difficult when adjusting position and speed feedback signal waveforms.
After adjustment reset it to 0.
PCALCH
Specifies whether to detect alarm related to position feedback signal (for

non Cs contouring control mode) or not
0 : Alarm detection enabled.
1 : Alarm detection disabled.
When this bit is set to 0, AL-41, AL-42, AL-47, AL-81, AL-82, AL-83, AL-85,
AL-86, AL-87 are checked.
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15
15i
16i/16
1st
6510
3010
3010
4010
2nd
6650
3150
MSTYP2 MSTYP1 MSTYP0

#7
MSTYP2MSTYP1MSTYP0
#6
#5
#4
#3
#2
#1
#0
Motor sensor type

Set detectors installed in motor. (including detector of built-in motor)
MSTYP2
MSTYP1
MSTYP0
Mi sensor
MZiBZi sensor
0
0
15
15i
16i/16
1st
6511
3011
3011
4011
2nd
6651
3151
#7
VDT1VDT3
#6
Motor sensor type
#5
#4
VDT3
VDT2
VDT1
#2
#1
#0
#3
Set number of teeth of motor sensor

VDT3
VDT2
VDT1
Number of teeth of motor

sensor
64/rev
128/rev
256/rev
512/rev
192/rev
384/rev
Motor model and number of teeth of Mi sensor, MZi sensor

Motor model
Number of teeth of detection ring for

Mi sensor, MZi sensor
0.5i
64 /rev
1i to 3i
128 /rev
6i to 22i
256 /rev
P12i to P60i
0
15
15i
16i/16
1st
6516
3016
3016
4016
2nd
6656
3156
RFCHK3 RFCHK2 RFCHK1

#7
RFCHK1
#6
#5
#4
#3
#2
#1
#0
Specifies whether to detect alarm related to feedback signal (for Cs

contouring control mode)
0 : Alarm detection disabled
1 : Alarm detection enabled
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This bit is set to 1, AL-81, AL-82, AL-85, AL-86 are checked.

RFCHK2
Specifies whether to detect alarm related to position feedback signal for

thread cutting (AL-46)
0 : Alarm detection disabled.
1 : Alarm detection enabled.
RFCHK3
Function for redetecting the one rotation signal each time position contorl
mode is entered.
0 : The one rotation signal is not detected each time the operating mode
changes.
Once the one rotation signal has been detected, it is not detected again
until the power goes off
1 : The one rotation signal is detected each time the operating mode
changes.
15
15i
16i/16
1st
6556
3056
3056
4056
2nd
6696
3196
15
15i
16i/16
1st
6557
3057
3057
4057
2nd
6697
3197
15
15i
16i/16
1st
6558
3058
3058
4058
2nd
6698
3198
15
15i
16i/16
1st
6559
3059
3059
4059
2nd
6699
3199
Data unit :
Gear ratio (HIGH)
CTH1A=0CTH2A=0
Gear ratio (MEDIUM HIGH)
CTH1A=0CTH2A=1
Gear ratio (MEDIUM LOW)
CTH1A=1CTH2A=0
Gear ratio (LOW)
CTH1A=1CTH2A=1
(Motor rotation for one rotation of spindle) x100

(When parameter No. 4006#1(GRUNIT) is 1, (motor rotation) x1000)
Data range :
Standard setting :
0 to 32767
100
These parameters set the gear ratio of the spindle motor relative to the
spindle.
When the motor rotates 2.5 times for every rotation of the spindle, for
example, set 250 in the parameter.
A parameter is selected by the CTH1A and CTH2A input signals. The gear
or clutch status must correspond to the status of the CTH1A and CTH2A
input signals.
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1st
15
15i
16i/16
6935
3315
3171
4171
Denominator of arbitrary gear ratio between motor sensor and spindle (HIGH)
CTH1A=0
2nd
1st
6975
3535
15
15i
16i/16
6936
3316
3172
4172
Numerator of arbitrary gear ratio between motor sensor and spindle (HIGH)
CTH1A=0
2nd
1st
6976
3536
15
15i
16i/16
6937
3317
3173
4173
Denominator of arbitrary gear ratio between motor sensor and spindle (LOW)
CTH1A=1
2nd
1st
6977
3537
15
15i
16i/16
6938
3318
3174
4174
Numerator of arbitrary gear ratio between motor sensor and spindle (LOW)
CTH1A=1
2nd
6978
3538
Data unit :
Data range :
Standard setting :
0 to 32767
0
Set convert coefficient (numerator, denominator) in case of using multiplyed
feedback signal of motor sensor (Mi sensor or MZi sensor) by gear ratio as
spindle position feedback signal.
When the motor rotates P times for Q rotation of the spindle, setting
parameters are ( P and Q are disjoint sets integral number)
No.4171 (No.4173 in case CTH1A=1) = P
No.4172 (No.4174 in case CTH1A=1) = Q
When this parameter is set to 0, handle as it set to 1.
4.3 Procedure for setting parameters related to detector

The setting of the parameters used for typical detector cofigurations is
described below.
With i series spindle, the detector circuitry hardware is set by parameter
setting. This means that alarms such as disconnection or overheat alarms
may be output while parameter related to detector are being set.
To initialize the hardware, briefly turn off the amplifier power after setting
the parameters related to detector.
Described Parameter Nos. are 16i/16s.
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(a) In case of using position coder

[Example system configuration]
M i (or MZi sen sor ) in spin dle m ot or
J YA2
Spin dle
posit ion coder
SP M
TYP E A
J YA3
Dir ect con n ect ion , 1:1 con n ect ion

by gea r or t im in g belt
Parameter No.
4000 #0
Setting
Depends on
Description
the
configuration
4001 #4
Depends on
the
configuration
4002 #3,2,1,0
0,0,1,0
Uses position coder as spindle sensor
4003 #7,6,5,4
0,0,0,0
4010 #2,1,0
Depends on
the detector
4011 #2,1,0
Depends on
the detector
4056 to 4059
Depends on
Spindle-to-motor gear ration data
the
configuration
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(B) In case of using position coder S

M i (or MZi sen sor ) in spin dle m otor
J YA2
Spin dle
posit ion coder S
SP M
TYP E B
J YA4
Dir ect con n ect ion , 1:1 con nect ion by

gea r or t im in g belt
Parameter No.
4000 #0
Setting
Depends on
Description
the
configuration
4001 #4
Depends on
the
configuration
4002 #3,2,1,0
0,1,0,0
Uses position coders as spindle sensor
4003 #7,6,5,4
0,0,0,0
4010 #2,1,0
Depends on
the detector
4011 #2,1,0
Depends on
the detector
4056 to 4059
Depends on
Spindle-to-motor gear ratio data
the
configuration
(C) In case of using Mi sensor, BZi sensor
[Example system configuration 1]
MZi sen sor in spin dle m ot or
J YA2
SP M
TYP E A
Spin dle
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BZi sensor
Spin dle+
Spin dle m ot or
J YA2
SP M
TYP E A

MZi sen sor in spin dle m ot or
J YA2
Spin dle
SP M
TYP E A
Dir ect con n ect ion , 1:1 con n ect ion by
gea e or t im in g belt
Parameter No.
Setting
4000 #0
4002 #3,2,1,0
0,0,0,1
4010 #2,1,0
0,0,1
Description
Motor sensor is used as position feedback
MZi sensor, BZi sensor is used as motor
sensor
4011 #2,1,0
Depends on
the detector
4056 to 4059
100 or 1000
Spindle-to-motor gear ratio is 1:1
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(d) In case of using separate BZi sensor

M i (or MZi sen sor ) in spin dle
m ot or
J YA2
Spin dle
SP M
TYP E B
J YA4
Parameter No.
4000 #0
BZi sen sor
Setting
Depends on
Description
the
configuration
4001 #4
Depends on
the
configuration
4002 #3,2,1,0
0,0,1,1
4003 #7,6,5,4
Depends on
Uses BZi sensor as spindle sensor

the detector
4010 #2,1,0
Depends on
the detector
4011 #2,1,0
Depends on
the detector
4056 to 4059
Depends on
the
configuration
TITLE
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Newly designed
Description
DRAW. No.
i series Spindle
Start-up Procedure
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FANUC LTD
SHEET
CUST.
16/41
(e) In case of using a reference switch signal (proximity switch)

M i sen sor (or MZi sen sor ) in
spin dle m ot or
Spin dle
J YA2
SP M
TYP E A
Refer en ce swit ch signa l

(P r oxim it y swit ch )
Gea r or t im in g belt
J YA3
Parameter No.
4000 #0
Setting
Depends on
Description
the
configuration
4002 #3,2,1,0
0,0,0,1
4004 #2
4004 #3
Depends on
Motor sensor is used as position feedback

Uses a referece switch signal
Setting of a reference switch signal type
the detector
4010 #2,1,0
Depends on
the detector
4011 #2,1,0
Depends on
the detector
4056 to 4059
Depends on
the
configuration
4171 to 4174
Depends on
the
Arbitrary gear ratio between motor sensor and

spindle
configuration
TITLE
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Newly designed
Description
DRAW. No.
i series Spindle
Start-up Procedure
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5. Parameters related to normal operation mode

5.1 List of parameters related to normal operation mode
Parameter No.
0
15
1st
2nd
1st
2nd
6540
6680
3040
3180
15i
3040
16i
Description
16
4040
Velocity loop proportional gain for normal operation

(HIGH)
6541
6681
3041
3181
3041
4041
CTH1A=0
Velocity loop proportional gain for normal operation

(LOW)
CTH1A=1
6548
6688
3048
3188
3048
4048
Velocity loop integral gain for normal operation (HIGH)
6549
6689
3049
3189
3049
4049
Velocity loop integral gain for normal operation (LOW)
CTH1A=0
CTH1A=1
6582
6722
3082
3222
3082
4082
Setting the acceleration/deceleration time
6583
6723
3083
3223
3083
4083
Motor voltage setting for normal rotation
6900
6940
3280
3500
3136
4136
Motor voltage setting for normal rotation (for low-speed

characteristics in speed range switching control)
5.2 Details of parameters related to normal operation mode

0
15
15i
16i/16
1st
6540
3040
3040
4040
2nd
6680
3180
15
15i
16i/16
1st
6541
3041
3041
4041
2nd
6681
3181
Velocity loop proportional gain for normal operation (HIGH)
CTH1A=0
Velocity loop proportional gain for normal operation (LOW)
CTH1A=1
Data unit :
Data range :
Standard setting :
0 to 32767
10
This data is used to set the velocity loop proportional gain for normal
operation. A parameter is selected with the CTH1A input signal.
15
15i
16i/16
1st
6548
3048
3048
4048
2nd
6688
3188
Velocity loop integral gain for normal operation (HIGH)
TITLE
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Newly designed
Description
DRAW. No.
CTH1A=0
i series Spindle
Start-up Procedure
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15
15i
16i/16
1st
6549
3049
3049
4049
2nd
6689
3189
Velocity loop integral gain for normal operation (LOW)
CTH1A=1
Data unit :
Data range :
Standard setting :
0 to 32767
10
This data is used to set the velocity loop integral gain for normal operation.
A parameter is selected with the CTH1A input signal.
15
15i
16i/16
1st
6583
3083
3083
4083
2nd
6723
3223
15
15i
16i/16
6900
3280
3136
4136
1st
Motor voltage setting for normal rotation
Motor voltage setting for normal rotation (for low-speed characteristics in

speed range switching control)
2nd
6940
3500
Data unit :
Data range :
Standrad setting :
1%
0 to 100
Depends on the motor model
This parameter is used to set a motor voltage in normal operation. The
motor voltage to be set depends on the motor model, the most usual setting
is 30.
6 Spindle parameter table

Spindle parameters are classified into the following types:
A : Parameters related to detectors
B : Parameters related to various functions (operating modes)
C : Parameters for driving of spindle motor
(Set parameters for each motor model)
D : Parameters related to alarm detection conditions
TITLE
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Newly designed
Description
DRAW. No.
i series Spindle
Start-up Procedure
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FANUC LTD
SHEET
CUST.
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FS0
FS15
Application
Standard
Internal
ClassInitial
data
MAIN MAIN SUB SUB
Contents
IficatiSetting
number
high low high low
on
data
F-xxx
speed speed speed speed
6500#0 6640#0 3000#0 3140#0 3000#0 4000#0
0
Spindle and motor rotation direction
A
000#8
#1
#1
#1
#1
#1
#1
0
Motion command and spindle rotaion
B
#9
direction in Cs contouring control mode

#2
#2
#2
#2
#2
#2
0
#10
#3
#3
#3
#3
#3
#3
0
Return direction for the reference
B
#11
position in Cs contouring control mode

#4
#4
#4
#4
#4
#4
0
Return direction for the reference
B
#12
position in servo mode

#5
#5
#5
#5
#5
#5
0
#13
#6
#6
#6
#6
#6
#6
0
#14
#7
#7
#7
#7
#7
#7
0
#15
6501#0 6641#0 3001#0 3141#0 3001#0 4001#0
1
Whether to use MRDY (machine
B
000#0
ready)
signal
#1
#1
#1
#1
#1
#1
0
#1
#2
#2
#2
#2
#2
#2
0
#2
#3
#3
#3
#3
#3
#3
0
#3
#4
#4
#4
#4
#4
#4
0
A
#4
#5
#5
#5
#5
#5
#5
0
#5
#6
#6
#6
#6
#6
#6
0
#6
#7
#7
#7
#7
#7
#7
0
#7
6502
6642
3002
3142
3002
4002
0,0,0,0 Setting of spindle sensor type
A
001
#3,2,1,0 #3,2,1,0 #3,2,1,0 #3,2,1,0 #3,2,1,0 #3,2,1,0

#11,10,
9,8
#4
#4
#4
#4
#4
#4
0
Rotation direction signal function in Cs
B
#12
contouring control mode

#5
#5
#5
#5
#5
#5
0
Rotaion direction signal function in
B
#13
servo mode
#6
#6
#6
#6
#6
#6
0
Rotation direction signal function in
B
#14
synchronization control mode

#7
#7
#7
#7
#7
#7
0
CMR function in servo mode
B
#15
6503#0 6643#0 3003#0 3143#0 3003#0 4003#0

0
001#0
#1
#1
#1
#1
#1
#1
0
#1
#3,2
#3,2
#3,2
#3,2
#3,2
#3,2
0,0
Rotation direction for spindle
B
#3,2
orientation
#7,6,5,4 #7,6,5,4 #7,6,5,4 #7,6,5,4 #7,6,5,4 #7,6,5,4 0,0,0,0 Setting of number of teeth of spindle
A
#7,6,5,4
sensor
6504#0 6644#0 3004#0 3144#0 3004#0 4004#0
0
002#8
#1
#1
#1
#1
#1
#1
0
#9
#3,2
#3,2
#3,2
#3,2
#3,2
#3,2
0
Setting of a reference switch signal
A
#11,10
#4
#4
#4
#4
#4
#4
0
#12
#5
#5
#5
#5
#5
#5
0
#13
#6
#6
#6
#6
#6
#6
0
#14
#7
#7
#7
#7
#7
#7
0
#15
6505#0 6645#0 3005#0 3145#0 3005#0 4005#0
0
002#0
#1
#1
#1
#1
#1
#1
0
#1
#2
#2
#2
#2
#2
#2
0
#2
#3
#3
#3
#3
#3
#3
0
#3
#4
#4
#4
#4
#4
#4
0
#4
#5
#5
#5
#5
#5
#5
0
#5
#6
#6
#6
#6
#6
#6
0
#6
#7
#7
#7
#7
#7
#7
0
#7
FS15i
1 st
2 nd
1 st
2 nd
Spindle Spindle Spindle Spindle
FS16i
/16
TITLE
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Newly designed
Description
DRAW. No.
i series Spindle
Start-up Procedure
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SHEET
CUST.
20/41
FS0
FS15
FS15i
1st
2nd
1st
2nd
spindle spindle spindle spindle
6506#0 6646#0 3006#0 3146#0 3006#0
#1
#1
#1
#1
#1
#2
#2
#2
#2
#2
#3
#3
#3
#3
#3
#4
#5
#6
#7
#4
#5
#6
#7
#4
#5
#6
#7
#4
#5
#6
#7
#4
#5
#6
#7
6507#0 6647#0 3007#0 3147#0 3007#0

#1
#1
#1
#1
#1
#2
#2
#2
#2
#2
#3
#3
#3
#3
#3
#4
#4
#4
#4
#4
#5
#5
#5
#5
#5
#6
#6
#6
#6
#6
#7
#7
#7
#7
#7
6508#0 6648#0 3008#0 3148#0 3008#0
#1
#1
#1
#1
#1
#2
#2
#2
#2
#2
#3
#3
#3
#3
#3
#4
#4
#4
#4
#4
#5
#5
#5
#5
#5
#6
#6
#6
#6
#6
#7
#7
#7
#7
#7
6509#0 6649#0 3009#0 3149#0 3009#0
#1
#1
#1
#1
#1
#2
#2
#2
#2
#2
#3
#4
#3
#4
#3
#4
#3
#4
#3
#4
#5
#6
#7
6510
#2,1,0
#5
#6
#7
6650
#2,1,0
#5
#6
#7
3010
#2,1,0
#5
#6
#7
3150
#2,1,0
#5
#6
#7
3010
#2,1,0
#3
#4
#5
#6
#7
6511
#2,1,0
#3
#4
#5
#6
#7
6651
#2,1,0
#3
#4
#5
#6
#7
3011
#2,1,0
#3
#4
#5
#6
#7
3151
#2,1,0
#3
#4
#5
#6
#7
3011
#2,1,0
#7,3
#7,3
#7,3
#7,3
#7,3
#4
#4
#4
#4
#4
#5
#6
#5
#6
#5
#6
#5
#6
#5
#6
Application
Standard
Internal
ClassInitial
data
MAIN MAIN SUB SUB
Contents
IficatiSetting
number
high low high low
on
data
F-xxx
4006#0
0
003#8
#1
0
Setting of Gear ratio unit
B
#9
#2
0
Setting of speed unit
C
#10
#3
0
Automatic detection of one-rotation
B
#11
signal for spindle synchronization

#4
0
#12
#5
0
Setting of analog override range
B
#13
#6
0
#14
#7
0
Rigid tapping by MZ sensor with
B
#15
arbitrary gear ratio for command

4007#0
0
003#0
#1
0
#1
#2
0
#2
#3
0
#3
#4
0
#4
#5
0
Whether to detect disconnection of
D
#5
sensor
#6
0
Whether to detect alarm related to
D
#6
position feedback signal (not Cs

contouring control mode)
#7
0
#7
4008#0
0
Reserved
C
004#8
#1
0
Reserved
C
#9
#2
0
Reserved
C
#10
#3
0
Reserved
C
#11
#4
Depends Setting of output limit method
C
#12
on the
model
#5
0
#13
#6
0
#14
#7
0
#15
4009#0
0
Setting of units of velocity loop gain
B
004#0
#1
0
#1
#2
0
Method of cutting off motor when ALD
#2
24
Occurs
#3
0
#3
#4
0
Detection of LDT signal during
B
#4
aceleration/deceleration
#5
0
Reserved
C
#5
#6
0
Analog override type
B
#6
#7
0
#7
4010 Depends Motor sensor type
A
005
#2,1,0 on the
#10,9,8
model
#3
0
#11
#4
0
#12
#5
0
#13
#6
0
#14
#7
0
#15
4011 Depends Setting of number of teeth of motor
A
005
#2,1,0 on the sensor

#2,1,0
model
#7,3 Depends Number of motor poles
C
#7,3
on the
model
#4
Depends Setting of maximum output during
C
#4
on the acceleration/deceleration
model
#5
0
#5
#6
0
#6
FS16i
/16
TITLE
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Newly designed
Description
DRAW. No.
i series Spindle
Start-up Procedure
A-53866E-387/02
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FS0
FS15
6514#0 6654#0 3014#0 3154#0 3014#0 4014#0

#1
#1
#1
#1
#1
#1
#2
#2
#2
#2
#2
#2
#3
#3
#3
#3
#3
#3
Standard
Initial
Setting
data
Depends
on the
model
0
0
0
0
1
0
0
Depends
on the
model
Depends
on the
model
0
0
0
0
#4
#4
#4
#4
#4
#4
#5
#5
#5
#5
#5
#5
#6
#6
#6
#6
#6
#6
#7
#7
#7
#7
#7
#7
6515#0 6655#0 3015#0 3155#0 3015#0 4015#0
0
0
0
0
0
FS15i
1st
2nd
1st
2nd
6512
#2,1,0
6652
#2,1,0
3012
#2,1,0
3152
#2,1,0
3012
#2,1,0
FS16i
/16
4012
#2,1,0
#3
#3
#3
#3
#3
#3
#4
#4
#4
#4
#4
#4
#5
#5
#5
#5
#5
#5
#6
#6
#6
#6
#6
#6
#7
#7
#7
#7
#7
#7
6513#0 6653#0 3013#0 3153#0 3013#0 4013#0
#1
#1
#1
#1
#1
#1
#6,5,
#6,5,
#6,5,
#6,5,
#6,5,
#6,5,
4,3,2
4,3,2
4,3,2
4,3,2
4,3,2
4,3,2
#7
#7
#7
#7
#7
#7
#1
#1
#1
#1
#1
#1
#2
#2
#2
#2
#2
#2
#3
#3
#3
#3
#3
#3
#4
#4
#4
#4
#4
#4
#5
#5
#5
#5
#5
#5
#6
#6
#6
#6
#6
#6
#7
#7
#7
#7
#7
#7
6516#0 6656#0 3016#0 3156#0 3016#0 4016#0
#1
#1
#1
#1
#1
#1
#2
#2
#2
#2
#2
#2
#3
#3
#3
#3
#3
#3
0
0
0
0
0
0
0
0
0
#4
#4
#4
#4
#4
#4
#5
#5
#5
#5
#5
#5
#6
#6
#6
#6
#6
#6
#7
#7
#7
#7
#7
#7
6517#0 6657#0 3017#0 3157#0 3017#0 4017#0

#1
#1
#1
#1
#1
#1
#2
#2
#2
#2
#2
#2
#3
#3
#3
#3
#3
#3
#4
#4
#4
#4
#4
#4
#5
#5
#5
#5
#5
#5
#6
#6
#6
#6
#6
#6
#7
#7
#7
#7
#7
#7
0
0
0
0
0
0
0
0
Setting of PWM carrier frequency
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
#11
#12
#13
#14
#15
006#0
#1
#6,5,
4,3,2
Setting of SPINDLE HRV Control
Current dead band data
PWM frequency for low-speed winding
#7
007#8
#9
#10
#11
Confirmation of MCC for both high and

low speed winding
Whether to use the spindle orientation

function
Whether to use the spindle load
monitor function
Whether to use the speed range
switching function
Whether to use the smoothing function

for feed forward control
Setting of control characteristics in Cs
contouring control or servo mode
feedback signal for Cs contouring
control
position feedback signal for thread
cutting
Setting of the one rotation signal
detection condition
Whether to use the short-cut function

during orientation from stopped state
TITLE
Application
Internal
Classdata
MAIN MAIN SUB SUB
Ificatinumber
high low high low
on
F-xxx
C
006
#10,9,8
Contents
Newly designed
Description
DRAW. No.
#12
#13
#14
#15
007#0
#1
#2
#3
#4
#5
#6
#7
008#8
#9
#10
#11
#12
#13
#14
#15
008#0
#1
#2
#3
#4
#5
#6
#7
i series Spindle
Start-up Procedure
A-53866E-387/02
FANUC LTD
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CUST.
22/41
FS15
Standard
Initial
FS15i
Contents
1st
2nd
1st
2nd
Setting
data
6518#0 6658#0 3018#0 3158#0 3018#0 4018#0
0
#1
#1
#1
#1
#1
#1
0
#2
#2
#2
#2
#2
#2
0
#3
#3
#3
#3
#3
#3
0
#4
#4
#4
#4
#4
#4
0
#5
#5
#5
#5
#5
#5
0
Whether to use the velocity command
compensation function for high-speed
orientation
#6
#6
#6
#6
#6
#6
0
Whether to use the high-speed
orientation function
#7
#7
#7
#7
#7
#7
0
6519#0 6659#0 3019#0 3159#0 3019#0 4019#0
0
#1
#1
#1
#1
#1
#1
0
#2
#2
#2
#2
#2
#2
1
Whether to use torque clamp at zero
speed
#3
#3
#3
#3
#3
#3
0
#4
#4
#4
#4
#4
#4
0
Setting of winding switching condition
during output switching
#5
#5
#5
#5
#5
#5
0
#6
#6
#6
#6
#6
#6
0
#7
#7
#7
#7
#7
#7
0
Automatic parameter setting function
FS0
FS16i
/16
TITLE
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Newly designed
Description
DRAW. No.
Application
Internal
ClassMAIN MAIN SUB SUB Ificati- data
number
high low high low
on
F-xxx
009#8
#9
#10
#11
#12
B
#13
#14
#15
009#0
#1
#2
#3
#4
#5
#6
#7
i series Spindle
Start-up Procedure
A-53866E-387/02
FANUC LTD
SHEET
CUST.
23/41
FS0
FS15
6520
6660
3020
3160
3020
6521
6661
3021
3161
3021
6522
6523
6524
6525
6526
6527
6528
6529
6530
6531
6662
6663
6664
6665
6666
6667
6668
6669
6670
6671
3022
3023
3024
3025
3026
3027
3028
3029
3030
3031
3162
3163
3164
3165
3166
3167
3168
3169
3170
3171
3022
3023
3024
3025
3026
3027
3028
3029
3030
3031
6532
6672
3032
3172
3032
Standard
Initial
Contents
Setting
data
4020 Depends Maximum motor speed
on the
model
4021
100
Maximum speed in Cs
4022
150
Speed arrival detection level
4023
30
Speed detection level
4024
75
Zero speed detection level
4025
50
Limited torque
4026
83
Load detection level 1
4027
95
Load detection level 2
4028
0
Limited output pattern
4029
100
Output limit
4030
0
Soft start/stop time
4031
0
Stop position in orientation by
position coder
4032
0
Acceleration/deceleration rate
6533
6673
3033
3173
3033
4033
10
6534
6674
3034
3174
3034
4034
6535
6675
3035
3175
3035
4035
6536
6537
6676
6677
3036
3037
3176
3177
3036
3037
4036
4037
0
0
6538
6539
6540
6678
6679
6680
3038
3039
3040
3178
3179
3180
3038
3039
3040
4038
4039
4040
0
0
10
6541
6681
3041
3181
3041
4041
10
6542
6682
3042
3182
3042
4042
10
6543
6683
3043
3183
3043
4043
10
6544
6684
3044
3184
3044
4044
10
6545
6685
3045
3185
3045
4045
10
6546
6686
3046
3186
3046
4046
30
6547
6687
3047
3187
3047
4047
30
6548
6688
3048
3188
3048
4048
10
6549
6689
3049
3189
3049
4049
10
6550
6690
3050
3190
3050
4050
10
6551
6691
3051
3191
3051
4051
10
FS15i
1st
2nd
1st
2nd
FS16i
/16
for spindle synchoronization

Spindle synchoronization
speed arrival level
Shift for phase synchoronous
control
Compensation data for
spindle phase
synchoronization
Feed forward coefficient
Feed forward coefficient for
velocity loop
Spindle orientation speed
Slip compensation coefficient
Proportional gain for velocity
loop during normal operation
(HIGH)
loop during normal operation
(LOW)
loop during orientation (HIGH)
loop during orientation (LOW)
loop in servo mode or spindle
synchoronization control
mode (HIGH)
loop in servo mode or spindle
mode (LOW)
loop in Cs contouring control
mode (HIGH)
loop in Cs contouring control
mode (LOW)
Integral gain for velocity loop
during normal operation
(HIGH)
during normal operation
(LOW)
during orientation (HIGH)
during orientation (LOW)
TITLE
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Newly designed
Description
DRAW. No.
MAIN
high
speed
Application
Internal
Classdata
MAIN SUB SUB
Ificatinumber
low high low
on
F-xxx
speed speed speed
C
010
011
B
B
B
B
B
B
B
B
B
B
012
013
014
015
016
017
018
019
020
021
022
023
024
025
B
B
026
027
B
C
B
028
029
030
031
032
033
034
035
036
037
038
039
040
041
i series Spindle
Start-up Procedure
A-53866E-387/02
FANUC LTD
SHEET
CUST.
24/41
FS0
FS15
FS15i
1st
2nd
1st
2nd
Standard
Initial
Contents
Setting
data
4052
10
in servo mode or spindle
mode (HIGH)
4053
10
in servo mode or spindle
mode (LOW)
4054
50
in Cs contouring control mode
FS16i
/16
6552
6692
3052
3192
3052
6553
6693
3053
3193
3053
6554
6694
3054
3194
3054
6555
6695
3055
3195
3055
4055
50
6556
6557
6558
6559
6560
6696
6697
6698
6699
6700
3056
3057
3058
3059
3060
3196
3197
3198
3199
3200
3056
3057
3058
3059
3060
4056
4057
4058
4059
4060
100
100
100
100
1000
6561
6701
3061
3201
3061
4061
1000
6562
6702
3062
3202
3062
4062
1000
6563
6703
3063
3203
3063
4063
1000
6564
6704
3064
3204
3064
4064
100
6565
6705
3065
3205
3065
4065
1000
6566
6706
3066
3206
3066
4066
1000
6567
6707
3067
3207
3067
4067
6568
6708
3068
3208
3068
6569
6709
3069
3209
6570
6710
3070
6571
6711
6572
MAIN
high
speed
Application
Internal
Classdata
MAIN SUB SUB
Ificatinumber
low high low
on
F-xxx
speed speed speed
B
042
043
044
045
B
B
B
B
B
046
047
048
049
050
051
052
053
054
055
control (HIGH)
Position gain in servo
mode/during synchoronization
056
1000
control (MEDIUM HIGH)

057
4068
1000
control (MEDIUM LOW)

058
3069
4069
3000
control (LOW)
Position gain in Cs contouring
059
3210
3070
4070
3000
control (HIGH)
060
3071
3211
3071
4071
3000
control (MEDIUM HIGH)

061
6712
3072
3212
3072
4072
3000
control (MEDIUM LOW)

062
6573
6574
6713
6714
3073
3074
3213
3214
3073
3074
4073
4074
0
0
B
B
063
064
6575
6715
3075
3215
3075
4075
10
065
6576
6577
6716
6717
3076
3077
3216
3217
3076
3077
4076
4077
33
0
B
B
066
067
(HIGH)
in Cs contouring control mode
(LOW)
Gear ratio (HIGH)
Gear ratio (MEDIUM HIGH)
Gear ratio (MEDIUM LOW)
Gear ratio (LOW)
Position gain during
orientation (HIGH)
orientation (MEDIUM HIGH)
orientation (MEDIUM LOW)
orientation (LOW)
Rate of change in position
gain upon completion of
orientation
control (LOW)
Grid shift in servo mode
Reference position return
speed in Cs contouring
control/ servo mode
Detection level for orientation
completion signal
Orientation speed limit
Orientation stop position shift
TITLE
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Newly designed
Description
DRAW. No.
i series Spindle
Start-up Procedure
A-53866E-387/02
FANUC LTD
SHEET
CUST.
25/41
6578
6579
6580
6718
6719
6720
3078
3079
3080
3218
3219
3220
3078
3079
3080
4078
4079
4080
6581
6721
3081
3221
3081
4081
200
0
Depends Regenerative power limit for
on the high-speed zone/regenerative
model
power limit
20
Delay time until motor power
is cut off.
TITLE
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Newly designed
Description
DRAW. No.
068
069
070
071
i series Spindle
Start-up Procedure
A-53866E-387/02
FANUC LTD
SHEET
CUST.
26/41
FS0
FS15
FS15i
1st
2nd
1st
2nd
6582
6722
3082
3222
3082
6583
6723
3083
3223
3083
6584
6724
3084
3224
3084
6585
6725
3085
3225
3085
6586
6726
3086
3226
3086
6587
6588
6727
6728
3087
3088
3227
3228
3087
3088
6589
6729
3089
3229
3089
6590
6591
6730
6731
3090
3091
3230
3231
3090
3091
6592
6732
3092
3232
3092
Standard
Initial
Contents
Setting
data
4082
10
Setting of acceleration/
deceleration time
4083 Depends Motor voltage during normal
on the rotation
model
4084 Depends Motor voltage during
on the orientation
model
4085 Depends Motor voltage in servo
on the mode/during synchronization
model control
4086 Depends Motor voltage in Cs
on the contouring mode
model
4087
115
Overspeed level
4088
75
Level for detecting excess
velocity error when motor
is restrained
4089
200
Level for detecting excess
velocity error when motor
rotates
4090
90
Overload detection level
4091
100
gain during reference position
FS16i
/16
4092
6593
6733
3093
3233
3093
4093
6594
6734
3094
3234
3094
4094
6595
6735
3095
3235
3095
4095
6596
6736
3096
3236
3096
4096
6597
6737
3097
3237
3097
4097
6598
6738
3098
3238
3098
4098
6599
6600
6739
6740
3099
3100
3239
3240
3099
3100
4099
4100
6601
6741
3101
3241
3101
4101
6602
6742
3102
3242
3102
4102
6603
6743
3103
3243
3103
4103
6604
6744
3104
3244
3104
4104
6605
6606
6745
6746
3105
3106
3245
3246
3105
3106
4105
4106
6607
6747
3107
3247
3107
4107
100
return in servo mode

gain during reference position
winding, FS15i,16i/16 only)

Disturbance torque
compensation constant
0
Adjusted output voltage of
speed meter
0
Adjusted output voltage of
load meter
0
Feedback gain of spindle
speed
0
Maximum speed of position
sensor signal detection
0
Motor active delay
Depends Base speed of motor output
on the Specifications
model
Depends Output limit for motor output
on the Specification
model
Depends Activating voltage saturation
on the speed at no load
model
Depends Base speed limit ratio
on the
model
Depends Proportional gain of current
on the Loop
model
0
Reserved
Depends Integral gain of current loop
on the
model
0
Reserved
0
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Newly designed
Description
DRAW. No.
Application
Internal
Classdata
MAIN SUB SUB
Ificatinumber
low
high low
on
F-xxx
speed speed speed
B
072
073
074
075
076
D
D
077
078
079
D
B
080
081
082
083
084
085
086
087
088
B
C
089
090
091
092
093
094
C
C
095
096
097
return in Cs contouring control

mode
Depends Value displayed on load
on the meter
model at maximum output(low-speed
TITLE
MAIN
high
speed
i series Spindle
Start-up Procedure
A-53866E-387/02
FANUC LTD
SHEET
CUST.
27/41
FS0
FS15
FS15i
1st
2nd
1st
2nd
FS16i
/16
6608
6748
3108
3248
3108
4108
6609
6749
3109
3249
3109
4109
6610
6750
3110
3250
3110
4110
6611
6751
3111
3251
3111
4111
6612
6752
3112
3252
3112
4112
6613
6753
3113
3253
3113
4113
6614
6754
3114
3254
3114
4114
6615
6755
3115
3255
3115
4115
6616
6756
3116
3256
3116
4116
6617
6757
3117
3257
3117
4117
6618
6758
3118
3258
3118
4118
6619
6759
3119
3259
3119
4119
6620
6760
3120
3260
3120
4120
6621
6761
3121
3261
3121
4121
6622
6762
3122
3262
3122
4122
6623
6763
3123
3263
3123
4123
6624
6625
6626
6627
6764
6765
6766
6767
3124
3125
3126
3127
3264
3265
3266
3267
3124
3125
3126
3127
4124
4125
4126
4127
6628
6768
3128
3268
3128
4128
6629
6769
3129
3269
3129
4129
6630
6770
3130
3270
3130
4130
Standard
Initial
Setting
data
Depends
on the
model
Depends
on the
model
Depends
on the
model
Depends
on the
model
Depends
on the
model
Contents
Velocity at which the current
loop integral gain is zero
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Application
Internal
Classdata
MAIN SUB SUB
Ificatinumber
low
high low
on
F-xxx
speed speed speed
C
098
Filter time constant for

processing saturation related
to the voltage command
Current conversion constant
099
100
Secondary current coefficient
101
102
103
104
105
106
107
108
109
110
111
Criterion level for saturation

Related to the voltage
command/PWM command
clamp value
Depends Slip constant
on the
model
Depends Slip compensation coefficient
on the
model
Depends PWM command clamp value
on the for deceleration
model
Depends Motor leakage constant
on the
model
Depends Steady state voltage
on the compensation coefficient for
model high-speed zone/Steady state
motor voltage coefficient
Depends Voltage compensation
on the coefficient at acceleration for
model high-speed zone/Motor
voltage coefficient at
acceleration
Depends Time costant of excitation
on the current change at
model deceleration
Depends Rectangular-wave component
on the
model zero voltage/dead-zone
Compensation data
5
Time constant for changing
the torque
0
Time constant for velocity
detecting filter
30
Short-time overload detection
time
0
Reserved
0
0
Depends Value displayed on load
on the
meter
model at maximum output
Depends Maximum torque curve
on the compensation coefficient
model
Depends Secondary current coefficient
on the for rigid tapping
model
Depends Current loop proportional gain
on the
model speed coefficient/current
phase delay compensation
coefficient
TITLE
MAIN
high
speed
Newly designed
Description
DRAW. No.
112
113
114
115
116
117
118
119
120
i series Spindle
Start-up Procedure
A-53866E-387/02
FANUC LTD
SHEET
CUST.
28/41
FS0
FS15
FS15i
1st
2nd
1st
2nd
6631
6771
3131
3271
3131
6632
6772
3132
3272
3132
6633
6773
3133
3273
3133
6634
6774
3134
3274
3134
6635
6775
3135
3275
3135
6900
6940
3280
3500
3136
6901
6941
3281
3501
3137
6902
6942
3282
3502
3138
6903
6943
3283
3503
3139
6904
6944
3284
3504
3140
6905
6945
3285
3505
3141
6906
6946
3286
3506
3142
6907
6947
3287
3507
3143
6908
6948
3288
3508
3144
6909
6949
3289
3509
3145
6910
6950
3290
3510
3146
6911
6951
3291
3511
3147
6912
6952
3292
3512
3148
6913
6953
3293
3513
3149
6914
6954
3294
3514
3150
6915
6955
3295
3515
3151
6916
6956
3296
3516
3152
Standard
Initial
Contents
Setting
data
4131
0
Time constant for velocity
detecting filter (for Cs
contouring)
4132
0
for V phase
4133 Depends Motor model code
on the
model
4134 Depends Detected level for motor
on the overheat
model
4135
0
Grid shift for Cs contouring
control mode
4136 Depends Motor voltage during
on the Normalrotation
model
4137 Depends Motor voltage in servo
on the mode/during synchronization
model control
4138 Depends Base speed of motor output
on the Specification
model
4139 Depends Output limit for motor output
on the Specifications
model
4140 Depends Activating voltage saturation
on the speed at no load
model
4141 Depends Base speed limit ratio
on the
model
4142 Depends Proportional gain of current
on the Loop
model
4143 Depends Integral gain of current
on the Loop
model
4144 Depends Velocity at which current loop
on the integral gain is zero
model
4145 Depends Filter time constant for
on the Processing saturation related
model to the voltage command
4146 Depends Current conversion constant
on the
model
4147 Depends Secondary current coefficient
on the
model
4148 Depends Criterion level for saturation
on the related to the voltage
model command/PWM command
clamp value
4149 Depends Slip constant
on the
model
4150 Depends Slip compensation coefficient
on the for a high-speed zone/slip
model compensation coefficient for
deceleration
4151 Depends PWM command clamp value
on the for deceleration
model
4152 Depends Motor leakage constant
on the
model
FS16i
/16
TITLE
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Newly designed
Description
DRAW. No.
MAIN
high
speed
Application
Internal
Classdata
MAIN SUB SUB
Ificatinumber
low
high low
on
F-xxx
speed speed speed
B
121
122
123
124,125
126,127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
i series Spindle
Start-up Procedure
A-53866E-387/02
FANUC LTD
SHEET
CUST.
29/41
FS0
FS15
FS15i
1st
2nd
1st
2nd
6917
6957
3297
3517
3153
6918
6958
3298
3518
3154
6919
6920
6959
6960
3299
3300
3519
3520
3155
3156
6921
6961
3301
3521
3157
6922
6962
3302
3522
3158
6923
6963
3303
3523
3159
6924
6964
3304
3524
3160
6925
6965
3305
3525
3161
6926
6966
3306
3526
3162
6927
6967
3307
3527
3163
6928
6968
3308
3528
3164
6929
6969
3309
3529
3165
6930
6970
3310
3530
3166
6931
6932
6971
6972
3311
3312
3531
3532
3167
3168
6933
6973
3313
3533
3169
6934
6974
3314
3534
3170
6935
6975
3315
3535
3171
6936
6976
3316
3536
3172
6937
6977
3317
3537
3173
6938
6978
3318
3538
3174
6939
6979
3319
3539
3175
Standard
Initial
MAIN
Contents
Setting
high
data
speed
4153 Depends Regular-time voltage
model high-speed zone/regular-time
motor voltage coefficient
4154 Depends Acceleration-time voltage
model high-speed zone/accelerationtime motor voltage coefficient
4155
0
Reserved
4156 Depends Slip compensation coefficient
on the
model
4157
5
Time constant for changing
the torque
4158 Depends Maximum torque curve
on the compensation coefficient
model
4159 Depends Secondary current factor for
on the rigid tapping
model
4160
0
Hysteresis of speed detection
level
4161 Depends Current loop proportional gain
on the
model speed coefficient/current
phase delay compensation
coefficient
4162
0
Integral gain of velocity loop
during cutting feed in Cs

(HIGH)
4163
0
Integral gain of velocity loop
during cutting feed in Cs

(LOW)
4164
0
for V phase
4165 Depends Deceleration-time activating
on the current change time
model constant/activating current
change time constant
4166 Depends Regenerative power limit for
on the high-speed zone/regenerative
model
power limit
4167
0
4168 Depends Current overload alarm
on the detection level (for low-speed
model characteristics)
on the detection time constant

model
on the detection time constant

model (for low-speed characteristics)
4171
0
Denominator of arbitrary gear
ratio between motor sensor

and spindle (HIGH)
4172
0
Numerator of arbitrary gear

and spindle (HIGH)
4173
0
Denominator of arbitrary gear

and spindle (LOW)
4174
0
Numerator of arbitrary gear

and spindle (LOW)
4175
0
Analog override zero level
FS16i
/16
TITLE
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Newly designed
Description
DRAW. No.
Application
Internal
Classdata
MAIN SUB SUB
Ificatinumber
low
high low
on
F-xxx
speed speed speed
C
145
146
C
C
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
i series Spindle
Start-up Procedure
A-53866E-387/02
FANUC LTD
SHEET
CUST.
30/41
TITLE
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Newly designed
Description
DRAW. No.
i series Spindle
Start-up Procedure
A-53866E-387/02
FANUC LTD
SHEET
CUST.
31/41
FS0
FS15
FS15i
1st
2nd
1st
2nd
6211
6391
3391
3611
3247
Standard
Initial
Contents
Setting
data
4247
0
Time constant for spindle load
FS16i
/16
MAIN
high
speed
Application
Internal
Classdata
MAIN SUB SUB
Ificatinumber
low
high low
on
F-xxx
speed speed speed
B
229
monitor magnetic flux

compensation (for high-speed
6212
6392
3392
3612
3248
4248
6213
6393
3393
3613
3249
4249
characteristics)
Spindle load monitor torque
constant (for high-speed
characteristics)
Spindle load monitor observer
6214
6394
3394
3614
3250
4250
gain 1
Spindle load monitor observer
6215
6395
3395
3615
3251
4251
gain 2
Time constant for spindle load
230
231
232
233
263
monitor magnetic flux

compensation (for low-speed
characteristics)
6245
6425
3425
3645
3281
4281
6276
6277
6278
6279
6456
6457
6458
6459
3456
3457
3458
3459
3676
3677
3678
3679
3312
3313
3314
3315
4312
4313
4314
4315
0
0
0
0
6284
6464
3464
3684
3320
4320
6285
6465
3465
3685
3321
4321
6286
6466
3466
3686
3322
4322
6287
6467
3467
3687
3323
4323
6290
6470
3470
3690
3326
4326
6292
6472
3472
3692
3328
6294
6474
3474
3694
6298
6478
3478
6300
6480
6301
6303
Spindle load monitor torque

constant (for low-speed
characteristics)
296
297
298
299
Motor deceleration time
constant (HIGH)
constant (MEDIUM HIGH)
constant (MEDIUM LOW)
constant (LOW)
304
305
306
307
Speed at which deceleration

time constant limit starts
(HIGH)
310
4328
Command multiplication for

spindle orientation
312
3330
4330
Speed at which deceleration

time constant limit starts
(LOW)
314
3698
3334
4334
Arbitrary pulse number

speed detector
318
3480
3700
3336
4336
The switch point for

aceleration/deceleration time
constant during spindle
synchonization
320
6481
3481
3701
3337
4337
6483
3483
3703
3339
4339
of
321
Torque clamp level
TITLE
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Yokota
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Date
Design.
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Description
DRAW. No.
323
i series Spindle
Start-up Procedure
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FS0
FS15
FS15i
1st
2nd
1st
2nd
6304
6484
3484
3704
3340
Standard
Initial
Contents
Setting
data
4340
0
Bell-shaped
acceleration/deceleration time
FS16i
/16
constant during spindle

synchonization
Abnormal torque detection
level
MAIN
high
speed
Application
Internal
Classdata
MAIN SUB SUB
Ificatinumber
low
high low
on
F-xxx
speed speed speed
B
324
325
Advanced feed-forward
coefficient
Spindle motor velocity
command detection level
Incomplete integration factor
328
329
330
331
Current detection offset

compensation
335
4355
Amplitude ratio compensation
338
3356
4356
339
3763
3357
4357
340
3722
3764
3358
4358
341
3723
3724
3725
3765
3766
3767
3359
3360
3361
4359
4360
4361
0
0
0
342
343
344
3726
3768
3362
4362
345
3727
3769
3363
4363
346
3728
3770
3364
4364
347
3729
3771
3365
4365
348
3730
3772
3366
4366
349
3731
3773
3367
4367
350
3732
3733
3734
3735
3736
3774
3775
3776
3777
3778
3368
3369
3370
3371
3372
4368
4369
4370
4371
4372
0
0
0
0
0
3391
4391
3392
4392
3393
4393
6305
6485
3485
3705
3341
4341
6308
6488
3488
3708
3344
4344
6309
6489
3489
3709
3345
4345
6310
6311
6490
6491
3490
3491
3710
3711
3346
3347
4346
4347
0
0
6315
6495
3495
3715
3351
4351
3719
3761
3355
3720
3762
3721
for motor sensor signal

Phase difference
compensation for motor
sensor signal
Amplitude ratio compensation
for spindle sensor signal
Phase difference
compensation for spindle
sensor signal
Arbitrary pulse number of

position detector
Load meter compensation 1
(high-speed characteristics)
(Low-speed characteristics)
351
352
353
354
355
Resonance elimation filter
center frequency
Resonance elimation filter
bandwidth
373
374
375
7. Troubleshooting
If the spindle motor malfunctions, correct the fault as specified in the table
below.
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Date
Design.
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Description
DRAW. No.
i series Spindle
Start-up Procedure
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Date
Design.
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Description
DRAW. No.
i series Spindle
Start-up Procedure
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Symptom
Relevant
section
The motor does not rotate.
7.1
The motor does not rotate at the command speed.
7.2
The motor vibrates and generates noise while rotating.
7.3
Overshoot or hunting occurs.
7.4
The cutting capability is sub-standard.
7.5
The time required for acceleration/deceleration is increased.
7.6
An LED indicates a status error. (Status error indication function)
7.7
An alarm occurs.
7.8
7.1 When the motor does not rotate

(1) Check all connections.
(a) Motor power line phase sequence
(b) Feedback signal cable connection
(c) DC link connection between the power supply module and amplifier
module
(2) Check the parameter setting.
(a) Parameter data for each motor model
(b) Detector-related parameter
(c) Setting of maximum motor speed
15
15i
16i/16
6520
3020
3020
4020
Description
Maximum motor speed
(d) Parameters related to spindle speed commands

(3) Check the input signal
(a) Input signals for spindle control
0
15
15i
16i/16
G229
G227
G227
G070
MRDYA
G230
G226
G226
G071
SFRA
SRVA
*ESPA
(4) Check the feedback signal.
(a) Feedback signal levels
(b) Shielding and grounding
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Design.
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Description
DRAW. No.
i series Spindle
Start-up Procedure
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7.2 When the motor does not rotate at the commanded speed
(1) Check all connections.
(a) Motor power line connection
(b) Feedback signal cable connection
(2) Check the parameter setting.
(b) Detector-related parameter
(c) Setting of maximum motor speed
0
15
15i
16i/16
6520
3020
3020
4020
Description
Maximum motor speed
(d) Parameters related to spindle speed commands

7.3 When the motor vibrates and generates noise while rotating
(2) Check parameter setting

The velocity loop gain value may be too large. Adjust the parameters
indicated below.
0
15
15i
16i/16
Description
6540
3040
3040
4040
Velocity loop proportional gain
Settings
(HIGH)
6541
6548
3041
3048
3041
3048
4041
4048

(LOW)
Specify a small
Velocity loop integral gain
value.
(HIGH)
6549
3049
3049
4049

(LOW)
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Date
Design.
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Description
DRAW. No.
i series Spindle
Start-up Procedure
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(3) Compare the conditions when the motor is driven and when the motor
is coasting.
If considerably less vibration and noise is observed while the motor is
coasting, the control circuitry is faulty. If the same degree of vibration
and noise is observed, however, the motor or machine is faulty.
The motor starts coasting and an alarm is issued if the fedback signal
cable is disconnected while the motor is rotating.
7.4 When overshoot or hunting occurs

(1) Check the parameter settings.
(a) The velocity loop gain value may be too large. Adjust the
parameters indicated below.
0
15
15i
16i/16
Description
6540
3040
3040
4040
Settings
(HIGH)
6541
6548
3041
3041
3048
4041
3048
4048
(LOW)
Specify a small
value.
(HIGH)
6549
3049
3049
4049

(LOW)
7.5 When the cutting capability is degraded

(1) Check the parameter settings
(a) Parameter data for each motor
(b) Limited output pattern and output limit
0
15
15i
16i/16
6528
3028
3028
4028
Sets a limited output pattern.
6529
3029
3029
4029
Output limit
Description
(2) Check the input signal

(a) Torque limit command (TLMH, TLML)
0
15
15i
16i/16
G229
G227
G227
G070
TLMHA
TLMLA
(3) Check the machine.

(a) Belt tension, etc.
TITLE
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Date
Design.
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Description
DRAW. No.
i series Spindle
Start-up Procedure
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7.6 When time required for acceleration/deceleration increases

(1) Check the parameter setting
(b) Limited output pattern and output limit
0
15
15i
16i/16
6528
3028
3028
4028
Sets a limited output pattern.
6529
3029
3029
4029
Output limit
Description
(c) Regenerative power limit (Make sure that the set value is the same
as the one listed in the motor model-specific parameter table)
0
15
15i
16i/16
6580
3080
3080
4080
Regenerative power limit
6930
3310
3166
4166
Regenerative power limit
Description
(for low-speed characteristics)

(2) Check the input signal.
(a) Torque limit command
0
15
15i
16i/16
G229
G227
G227
G070
TLMHA
TLMLA
7.7 Status Error indication function

If a parameter is set incorrectly, or an incorrect sequence is set, the error
LED (yellow) of the indicator section on the spindle amplifier module (SPM)
lights to indicate the corresponding error number.
If the spindle motor malfunctions, check the error number indication on the
amplifier indicator section, then take action to correct the fault as described
in the table below.
Described parameter No. is 16i/16s.
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Date
Design.
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Description
DRAW. No.
i series Spindle
Start-up Procedure
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Status error
Action
Indica
tion
01
SFR (normal rotation command), SRV (reverse rotaion
Check the sequence of *ESP and MRDY. For
command) or ORCM (orientation command) is entered
MRDY, check bit 0 of parameter No.4001,
when *ESP (emergency stop signal, which
Specifying whether to use the MRDY signal.
may be a input signal or contact signal) and MRDY

(machine ready signal) are not applied.
03
The Cs contouring control command is input although
Check the parameter setting.
parameter No. 4002 bits 3,2,1 and 0 are set to all 0 to

specify that position sensor is nothing (position control
does not perform). In such a case, the motor is not
activated.
04
The servo mode (rigid tapping, spindle positioning etc) Check the parameter setting.
or
spindle synchronization command is input although
parameter No. 4002 bits 3,2,1 and 0 are set to all
0 to specify that position sensor is nothing (position
control does not perform). In such a case, the motor is
not activated.
05
06
When the option parameter of the orientation function is
Check the parameter setting enabling the use of
not set, ORCM (orientation command) is entered.
the orientation function.
When the option parameter of the speed range Check the setting of the parameter for using the
switching
speed range switching control function, and the
control function is not set, winding for low-speed
power line status check signal (RCH).
characteristics is selected (with RCH=1).

07
When the Cs contouring control command is entered,
Check the sequence.
neither SFR (normal rotation command) nor SRV

(reverse rotation command) is entered.
08
When the servo mode (rigid tapping, spindle positioning Check the sequence.
etc) control command is entered, neither SFR (normal
rotation command) nor SRV (reverse rotation command)
is entered.
09
When the spindle synchoronization control command is Check the sequence.

entered, neither SFR (normal rotation command) nor
SRV (reverse rotation command)is entered.
10
When the Cs contouring control command is active, and
When Cs contouring contorl is specified, do not

specify another mode. To enter another mode,
another mode (such as the servo mode, spindle
first cancel the Cs contouring contorl command.
synchronous control, and orientation) is specified.
TITLE
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Yokota
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Date
Design.
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Description
DRAW. No.
i series Spindle
Start-up Procedure
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Status error
Action
Indica
tion
11
When the servo mode control command (rigid tapping,
When a servo mode is specified, do not specify
spindle positioning, etc) is active, and another mode
another mode. To enter another mode, first
(such as Cs contouring control, spindle synchronization
cancel the servo mode command.
control, and orientation) is specified.

12
When the spindle synchronization control command is When
spindle
synchronization
control
is
active, and another mode (Cs contouring control, servo specified,

mode, or orientation) is specified.
do not specify another mode. To enter another

mode, first cancel the spindle synchronization
control command.
13
14
When the orientation command is active, and another
When orientation is specified, do not specify
mode (Cs contouring contorl, servo mode, or spindle
synchronization control ) is specified.
cancel the orientation command.
SFR (normal rotation command) and SRV (reverse
Specify only SFR or SRV at one time.
rotation command) are entered at the same time.

15
When parameter No.4000 bit 5 is set to 1 to specify
Check the parameter setting and input signal.
the use of the differential speed control function, the Cs

contouring control command is entered.
16
When parameter No.4000 bit 5 is set to 0 to specify
Check the parameter setting and the differential
that the differential speed control function is not used,
speed mode command.
DEFMD (differential speed mode command) is entered.

17
The setting of parameter No. 4011 bits 2, 1, and 0 for
Check the parameter setting.
specifying a speed detector is incorrect. The specified

speed detector cannot be found.
18
When parameter No. 4002 bits 3, 2, 1 and 0 is set to
Check the parameter setting and input signal.
all 0 to specify that position sensor is nothing (position

control does not perform), Orientation by a position
coder is specified.
19
24
29
When orientation by a magnetic sensor is active, and
When orientation is specified, do not specify
another mode (Cs contouring control, servo mode, or
spindle synchoronization control) is specified.
cancel the orientation command.
In continuous indexing with orientation by a position
Check INCMD (incremental command). Before
coder, incremental operation (INCMD=1) is first
specifying absolute position commands in
performed, after which the absolute position command
succession, perform absolute position command
(INCMD=0) is entered.
orientation.
Parameters (No.4018#6=0, No.4320 to 4323 not equal In i series spindle amplifier, minimum time
0) for minimum time orientation function are set.
orientation function can not be used. Use the

other method orientation.
TITLE
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Date
Design.
Newly designed
Description
DRAW. No.
i series Spindle
Start-up Procedure
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7.8 Alarms Table

CNC monitor display
SPM
Display
15
15i
16i/16
409
OT301
SP0001
7n01
Alarm Description
(alarm
Troubleshooting
(Described parameter is No.16i/16)
code)
01
Motor overheat
1. Reconsider circumstances
temperature and load condition
(cutting condition and acceleration/
deceleration frequency).
2. If the cooling fan of the spindle
motor is stopped, replace it with a
new one.
3. Check and correct parameters.
4. Change feedback cables.
409
OT302
SP0002
7n02
02
Excessive velocity error
1. Reduce load by reconsidering

cutting condition.
2. Correct the parameter (No.4082).
409
OT399
SP0003
7n03
03
DC link fuse blown
1. Change SPM.
2. Confirm insulation condition of
motor.
409
OT399
SP0004
7n04
04
Confirm the input power supply into

PSM.
409
409
OT399
OT307
SP0006
SP0007
7n06
7n07
06
07
Thermal sensor
1. Check and correct the parameter.
disconnected.
Overspeed

2. Check the sequence (When a
spindle motor cannot rotate, spindle
synchronization is specified etc).
409
OT309
SP0009
7n09
09
Main circuit overload/IPM

overheat
1. Improve the cooling condition of

heatsink
2. Reconsider load condition.
409
OT311
SP0011
7n11
11
DC link overvoltage
409
OT312
SP0012
7n12
12
DC link overcurrent/
1. Confirm PSM selection.

2. Change PSM.
IPM alarm
1. Confirm insulation condition of

motor.
2. Check parameters for each motor.
3. Change SPM.
409
OT399
SP0015
7n15
15
Speed range switching/
1. Check the ladder sequence.
spindle switching alarm
2. Change the magnetic contactor for

power line switching.
408
OT300
SP098x
750
18
Program sum check
Change SPM control printed circuit
abnormal
board.
TITLE
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Yokota
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Date
Design.
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Description
DRAW. No.
i series Spindle
Start-up Procedure
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CNC monitor display
SPM
Display
15
15i
16i/16
Alarm description
(alarm
Troubleshooting
(Described parameter No. is 16i/16)
code)
408
OT300
SP098x
750
19
Excessive offset of phase
Change SPM.
U current detection circuit

408
OT300
SP098x
750
20
409
OT321
SP0021
7n21
21
Excessive offset of phase
Change SPM.
V current detection circuit
408
OT300
SP022x
749
24
Incorrect polarity of
Check and correct parameter.
position sensor
(No.4001#4)
Serial transfer data
1. Separate communicated cable
error
between CNC and spindle from

power line.
2. Change communicated cable.
409
OT327
SP0027
7n27
27
Position coder
1. Change feedback cable.
disconnection
2. Change position coder.
409
OT329
SP0029
7n29
29
Short-period overload
Check and correct load condition.
409
OT330
SP0030
7n30
30
PSM main circuit
1. Change PSM.
overcurrent
2. Confirm specification of reactor.
409
OT331
SP0031
7n31
31
Motor lock alarm
Check and correct load condition.
408
OT300
SP098x
7n32
32
Serial communication
LSI internal RAM
board.
abnormal
409
OT333
SP0033
7n33
33
DC link precharge failure
Change PSM.
409
OT334
SP0034
7n34
34
Parameter data out of
Correct parameter setting
specified range
409
OT336
SP0036
7n36
36
Error counter overflow
1. Check and correct parameters of

gear ratio, position error and
position detector mounting direction.
2. Check and correct sequence.
409
OT399
SP0037
7n37
37
Incorrect setting for
Correct
parameters of
detector.
parameter
setting
of
speed detector
409
409
OT399
OT399
SP0041
SP0042
7n41
7n42
41
42
Position coder one-
rotation signal detection
error
3. Change the position coder.
Position coder one-
rotation signal not
2. Change the position coder.
detected
TITLE
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Design.
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Description
DRAW. No.
i series Spindle
Start-up Procedure
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speed
CNC monitor display
SPM
Display
15
15i
16i/16
Troubleshooting
Alarm description
(alarm
(Described parameter No.16i/16)
code)
409
OT399
SP0046
7n46
46
One-rotation
signal
detection
during
error
3. Change position detector.
thread cutting
409
OT399
SP0047
7n47
47
Position
coder
signal
2. Change position coder.
abnormal
409
OT399
SP0050
7n50
50
Excessive
speed
command
calculation
value
1. Change Feedback cables.
during
Check and correct parameter setting of

gear ratio and position gain
spindle
synchronization
409
OT399
SP0051
7n51
51
DC link undervoltage.
1. Check and correct power supply

voltage.
2. Change the magnetic contactor.
409
OT399
SP0052
7n52
52
ITP signal abnormal 1
1. Change SPM control printed circuit

board.
2. Change spindle interface printed
circuit board for CNC side.
409
OT399
SP0053
7n53
53
ITP signal abnormal 2
1. Change SPM control printed circuit

board.
2. Change spindle interface printed
circuit board for CNC side.
409
OT399
SP0054
7n54
54
Overload current alarm
Reconsider load condition.
409
OT399
SP0055
7n55
55
Power line state abnormal
1. Change the magnetic contactor.

2. Check and correct sequence.
409
409
OT399
OT399
SP0056
SP0057
7n56
7n57
56
57
Internal control circuit
Change SPM internal control circuit
cooling fan stop.
cooling fan.
Excessive regenerated
Reduce acceleration/deceleration duty.
power
409
OT399
SP0058
7n58
58
409
OT399
SP0059
7n59
59
409
OT399
SP0062
7n62
62
Converter
main
circuit
1. Confirm cooling condition of PSM.
overload
2. Change PSM.
Converter internal
Change PSM internal cooling fan.
cooling fan stop.
409
OT399
SP0066
7n66
66
Motor velocity command
Check and correct parameters
overflow
(No.4021, 4056 to 4059)
Communication
alarm
2. Check and correct connection.
between SPMs
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Design.
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Description
1. Change cables.
DRAW. No.
i series Spindle
Start-up Procedure
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CNC monitor display
SPM
Display
15
15i
16i/16
Troubleshooting
Alarm description
(alarm
(Described parameter No.16i/16)
code)
409
OT399
SP0073
7n73
73
Motor sensor signal
disconnected
2. Confirm the shielding.

4. Adjust sensor.
409
OT399
SP0074
7n74
74
CPU test alarm
409
OT399
SP0075
7n75
75
CRC test alarm

board.
board.
409
409
OT399
OT399
SP0079
SP0081
7n79
7n81
79
81
Initial
test
operation
abnormal
board.
Motor sensor one-rotation

409
409
409
OT399
OT399
OT399
SP0082
SP0083
SP008
7n82
7n83
7n84
82
83
84
signal detection error
3. Adjust sensor.
Motor sensor one-rotation
signal not detected
2. Adjust sensor.
Motor
sensor
signal
abnormal
2. Adjust sensor.
Spindle sensor signal
Disconnection
2. Confirm the shielding.

5. Adjust sensor.
409
409
OT399
OT399
SP0085
SP0086
7n85
7n86
85
86
Spindle
sensor
One-
rotation signal detection
error
3. Adjust sensor
Spindle
sensor
one-
rotation
signal
not

2. Adjust sensor.
detected
409
409
409
OT399
OT399
OT399
SP0087
SP0088
SP0097
7n87
7n88
7n97
87
88
97
Spindle sensor signal
abnormal
2. Adjust sensor.
External control circuit
Change SPM external control circuit
cooling fan stop.
cooling fan.
Other spindle amplifier

alarm
409
OT399
SP0098
7n98
98
Other converter alarm
Check alarm display of PSM
(*) n in 16i/16s alarm number shows an axis number.
TITLE
01.05.24
Yokota
01.03.23
Yokota
Ed
Date
Design.
Newly designed
Description
DRAW. No.
i series Spindle
Start-up Procedure
A-53866E-387/02
FANUC LTD
SHEET
CUST.
44/41

A-53866E-387 - 02 - 050120 Startup Spindle

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A-53866E-387 - 02 - 050120 Startup Spindle

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i series Spindle Start-up Procedure

3. Setting parameters to start-up

4. Parameters related to detectors

5. Parameters related to normal operation mode

6. Spindle parameter table

Ch eck t h e spin dle-r ela t ed specifica t ions.

con n ect ed t o i ser ies CNC.)

P ower su pply m odu le

Spin dle a m plifier m odule

Det ect or syst em

Ch eck a ll con n ect ion s.

P r epa r e a n d check t h e P MC la dder pr ogr a m .

D. Ch eck t h e CNC pa r a m eter sett in g for u sin g t h e i ser ies

P er for m a u tom a t ic pa r a m eter for i ser ies (Ser ia l)

Ch a n ge pa r a m et er da te (wh en n o m odel code is u sed)

t h e pa r a met er s rela ted t o t he spin dle speed

com m a n ds a n d det ect or .

H . Ch eck t h e wa vefor m s of t he feedba ck sign a ls fr om

Ch eck t h e oper a tion in nor m a l oper a t ion mode.

Ch eck t h e oper a tion of ea ch fun ct ion .

3. Setting parameters to start-up

Whether to use i series (Serial)

3.2 Automatic spindle parameter initialization

i series (Serial) spindle

Motor model code

(2) Procedure for automatic spindle parameter initialization.

Set the relevant parameter to 1 to enable automatic spindle

Turn CNC off, then on again. Then, the spindle parameters

When no model code is available, manually change the parameter

3.3 Parameters related to spindle speed commands

(enabled when input signal SSIN is set to 0)

Minimum clamp speed of spindle motor

Maxmum clamp speed of spindle motor

Maxmum spindle motor speed

Spindle speed command offset

Spindle speed command gain adjustment

Maximum spindle speed corresponding to the

Supported for the M system only. These parameters are disabled,

4. Parameters related to detector

4.1 List of parameter for detector

Direction of spindle and spindle motor rotation

Spindle sensor mounting direction

Setting of a reference switch signal (proximity

Whether to detect disconnection of feedback signal

Whether to detect alarm related to position

Setting of spindle sensor type

feedback signal (for non Cs contouring control

Setting of motor sensor type

Whether to detect alarm related to position

Whether to detect the one rotation signal each time

Gear ratio between the spindle and position coder

(x1, x2, x4, x8)

signals CTH1A and CTH2A.)

Denominator of arbitrary gear ratio between motor

sensor and spindle

(This data is selected by spindle control input

(This data is selected by spindle control input

Numerator of arbitrary gear ratio between motor

sensor and spindle

4.2 Detail of parameter for detector

Relationship between the rotation directions of spindle and sipndle motor.

Mounting direction of spindle sensor

SSTYP3 SSTYP2 SSTYP1 SSTYP0