Spindle Unexpected Rotation Detection function

1. Type of applied documents

Name FANUC AC SPINDLE MOTOR αi series
FANUC AC SPINDLE MOTOR βi series
FANUC BUILT-IN SPINDLE MOTOR Bi series
PARAMETER MANUAL
Spec. No./Ver. B-65280EN/06

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Spindle Unexpected Rotation Detection Add 2006.06
Function function
Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Spindle Unexpected Rotation
Detection function

DRAW. No.
1 060628 Takahashi Newly designed B-65280EN/06-02
CUST.

Design.
SHEET
Ed. Date Description FANUC LTD 1/6
 Spindle Unexpected Rotation Detection function

1. Overview................................................................................................................................................................... 3
2. Series and Editions of Applicable Spindle Software.................................................................................................. 3
3. Alarm for Unexpected rotation detection................................................................................................................... 3
4. Parameter ................................................................................................................................................................. 4

TITLE
Spindle Unexpected Rotation
Detection function

DRAW. No.
1 060628 Takahashi Newly designed B-65280EN/06-02
CUST.

Design.
SHEET
Ed. Date Description FANUC LTD 2/6
 1. Overview
This is the alarm function to detect an unexpected rotation occurred in
spindle motor drive. If spindle amplifier (SP) detects such a state, SP will
stop spindle motor by generating spindle alarm.

2. Series and Editions of Applicable Spindle Software

Series Edition Remark

Series 9D50 R(18) and subsequent editions
Series 9D53 I(09) and subsequent editions
Series 9D70 H(08) and subsequent editions
Series 9D80 B(02) and subsequent editions

3. Alarm for Unexpected rotation detection

The following alarms were added for an unexpected rotation detection.

Alarm No. LED display Description

15i 16i 30i SP
SP0090 9090 SP9090 90 Unexpected rotation alarm
SP0091 9091 SP9091 91 Pole position count miss alarm
SP0092 9092 SP9092 92 Over speed 2

These alarms were added basically for synchronous spindle motor drive. In
case of asynchronous spindle motor, the unusable alarm is included. Refer
to the following applicable list of these alarms.

Asynchronous spindle drive Synchronous spindle drive

Alarm 90 − Ο
Alarm 91 − Ο
Alarm 92 Ο Ο
Ο: Applicable

NOTE
1 In a case of synchronous spindle motor drive, please mount
Sub Module SM (SSM) to spindle amplifier (SP) for safety stop
if this function is used.

TITLE
Spindle Unexpected Rotation
Detection function

DRAW. No.
1 060628 Takahashi Newly designed B-65280EN/06-02
CUST.

Design.
SHEET
Ed. Date Description FANUC LTD 3/6
 The following is each alarm contents for unexpected rotation detection. In
case of synchronous spindle drive, if these alarms were detected, spindle
amplifier (SP) will lost the pole position and will set the pole position status
signal to “0”. The pole detection is necessary if you want to reboot
synchronous spindle motor.

Alarm 90: Unexpected rotation alarm

If the motor shaft is slipped, or SP detects the wrong pole position, an
unexpected rotation may occur. This alarm detects an unexpected rotation
status to occur in such case, and will stop synchronous spindle motor.

Alarm 91: Pole position count miss alarm

If the motor feedback is miscounted, an unexpected rotation may occur.
This alarm will prevent an unexpected rotation to occur in such case.

Alarm 92: Over speed alarm 2

This alarm detects the status that an actual motor speed is over the
over-speed level of depending on the velocity-command.
This alarm is sub function for the unexpected rotation detection and is used
for a purpose of, in addition, protecting the system from the over-speed in
the situation that wants to prohibit the high speed rotation by a
mechanical condition.

4. Parameter

15i 16 i 30 i #7 #6 #5 #4 #3 #2 #1 #0
3399 4399 4399 NCHAMR

NCHAMR: Neglect “Pole position count miss alarm (Alarm 91)”

0: Alarm 91 detection is valid.
1: A larm 91 detection is invalid.
Pole position count miss alarm (Alarm 91) is enabled by the default setting if the drive
motor is synchronous spindle motor (if the drive motor is asynchronous spindle motor,
alarm 91 itself is invalid.). But the following parameters must be set again by the
reason why alarm 91 is enabled after the execution of AMR-offset.
No.4008#6(NEGREF) = “0 (AMR-offset is enabled)”
No.4084 (AMR-offset) = “Tuning value”

TITLE
Spindle Unexpected Rotation
Detection function

DRAW. No.
1 060628 Takahashi Newly designed B-65280EN/06-02
CUST.

Design.
SHEET
Ed. Date Description FANUC LTD 4/6
 If alarm 91 must be invalidated for adjustment temporarily, or etc, set this parameter to
“1 (alarm 91 is invalid)”
If alarm 91 is enabled, whenever spindle amplifier (SP) detects the reference signal of
the motor sensor, SP compares the pole position (corresponded to the reference signal of
motor sensor) and AMR-offset value (parameter No.4084). And if the difference between
both values is larger than 10degrees (electrical angle), SP will generate alarm 91 and
will set the pole position status signal (EPFIX: F048#7) to “0 (pole position in lost
status)”.

15i 16 i 30 i
3463 4463 4463 Unexpected rotation detection level (Alarm 90 detection level)
Unit of data: 0.1rev
Valid data range: -1, 0 to 500
Standard setting value: 0
This parameter specifies the unexpected rotation detection level (Alarm 90 level).
Alarm 90 is enabled by the default setting if the drive motor is synchronous spindle
motor (if the drive motor is asynchronous spindle motor, alarm 90 itself is invalid.). This
parameter is considered internally as “10(=1.0rev)” in case of the default setting “0”.
If alarm 90 must be invalidated for adjustment temporarily, or etc, set this parameter to
“-1 (alarm 90 is invalid)”
If alarm 90 is valid, spindle amplifier (SP) begins to sum the velocity error when the sign
of run-away is detected, and SP subtracts the velocity error from the summation of it
when SP judges that the motor rotation is normal.
And if the summation of velocity error is larger than this alarm level, SP will generate
alarm 90 and will set the pole position status signal (EPFIX: F048#7) to “0 (pole position
in lost status)”.

15i 16 i 30 i
3464 4464 4464 Over speed 2 offset level
Unit of data: 0.1%
Valid data range: -1, 0 to 500
Standard setting value: 0
This parameter specifies the offset speed of over-speed 2 (Alarm 92).
This alarm detection is useable by the default setting regardless of kind of the drive
motor. This parameter is considered internally as “150(=15%)” in case of the default
setting “0”.
If alarm 90 must be invalidated for adjustment temporarily, or etc, set this parameter to
“-1 (alarm 90 is invalid)”
If alarm 92 is valid, spindle amplifier (SP) calculates the level of over-speed 2 according
to the velocity command. This level will change when the velocity command is entered
newly, or when the mode is changed (e.g. velocity mode ÅÆ orientation mode).

TITLE
Spindle Unexpected Rotation
Detection function

DRAW. No.
1 060628 Takahashi Newly designed B-65280EN/06-02
CUST.

Design.
SHEET
Ed. Date Description FANUC LTD 5/6
 And if the absolute value of actual speed is over this level, SP will generate alarm 92. In
addition, SP will set the pole position status signal (EPFIX: F048#7) to “0 (pole position
in lost status)” if the drive motor is synchronous spindle motor.

Calculation of over-speed 2 level (OVS2LV):

In case of changing velocity command (VCMD):
(OVS2LV)new = Max( [ abs(VCMDnew) + OFSSPD] , [OVS2LV]old )
In case of changing the mode, or becoming the status (VCMD=0 & speed zero status):
(OVS2LV)new = Max( α , [ abs(actual speed) + OFSSPD ])
(*) Offset speed of over-speed 2 (OFSSPD) = [No.4020(Max speed)*No.4464/1000]

Over-speed 2 level (OVS2LV)

OFSSPD

Velocity command (VCMD)

VCMD=0

Velocity mode Orientation mode Velocity mode

TITLE
Spindle Unexpected Rotation
Detection function

DRAW. No.
1 060628 Takahashi Newly designed B-65280EN/06-02
CUST.

Design.
SHEET
Ed. Date Description FANUC LTD 6/6