Fanuc Motors

This is the TI-3000JX support for Fanuc motors with serial, incremental and absolute encoders. This support comes with the basic TI-3000JX unit. Motors with Fanuc ABS, incremental, and serial encoders are supported by the TI-3000JX. The current revision software supports 8 pole Fanuc motors on all encoders (that we know of) except the Alpha 16000i. Most Fanuc motors are 8 poles, so the number of poles defaults to 8 whenever a new type of Fanuc encoder is selected. Some 6 pole Fanuc motors are supported.

General Comments

Fanuc serial encoders are used only with Fanuc motors. There are significant differences in the various Fanuc models, but the test software takes that into account when displaying the results. The test procedure and commutation pulse patterns are basically the same for the various serial encoders.

Types Suppoerted

The following list shows the Fanuc encoders that are currently supported by the TI-3000JX option.

The Pulsecoder A, B, B2, and C are some of the earlier style encoders. They generally use 17 and 19 pin
round MS type and DB15 type connectors.

The Alpha series motors use the Alpha series encoders. They generally use 17 and 19 pin round MS type and the DB15 type connectors, but some of the built-in Alpha 8 encoders on smaller motors will use AMP D3100 two row connectors.

Fanuc has converted the Alpha encoders to a new, more compact package. These encoders commonly employ the 17 pin round MS connector, but it will be on a short cable that plugs into the encoder case via a 14 pin dual row header type connector.

A new series of Alpha i motors utilizes Alpha i encoders. These encoders look very similar to the Alpha encoders in the new package, and the data is very similar. However, they use a small 10 pin circular JAE connector.

The Beta series motors use built-in Beta encoders. The earlier motors employ the Beta I32B and A32B encoders. These encoders use DB15 connectors but also AMP D3100 two row connectors.

BetaM motors use built-in Beta I64B and Beta A64B encoders. These encoders use the small 10 pin circular JAE connector.

Identification

The serial pulsecoders will normally have identification such as Pulsecoder A, Pulsecoder C, Pulsecoder Alpha A64, etc. on the label. Otherwise, the part number starting with A860 may have to be used to identify it by a reference to a Fanuc manual or a call to Fanuc.

The incremental and ABS encoders are easily identified due to the fact that they will have a 2000P, 3000P, etc. following the A860 part number. This is the number of pulses per revolution for the encoder, and it identifies it as and ABS or incremental. These encoders should be tested as Generic Incremental encoders.

Feedback Type Selection

Pressing the FBK TYPE key will provide the following selections for Fanuc:

1. P* Alfa/Beta32/C – Older Alpha and Beta series and Pulsecoder C using the TI-5005, TI-5006 and TI-5070 cables.
2. P* Alphai – Newer Alpha i series encoders using the TI-5047 cable.
3. P* Beta64/128 – Newer Beta series encoders using the TI-5047 cable.
4. P* Inc & ABS – Incremental and ABS encoders using the TI-5007, TI-5016, and TI-5029 cables.
5. P6 A, B, & B2 – Pulsecoder A, B & B2 for 6 pole motors using the TI-5004, TI-5005, and TI-5006 cables.
6. P8 A, B, & B2 - Pulsecoder A, B & B2 for 8 pole motors using the TI-5004, TI-5005, and TI-5006 cables.
   
   Note: The P* means that this selection should work with both 6 and 8 pole motors. See the following explanation for more details.

Select the appropriate type and connect the encoder cable for the type selected.

All the Fanuc encoder selections, except for the A, B, and B2 encoders have a position count and a commutation count. The TI-3000JX uses the commutation count to produce commutation for the drive, and the number of commutation count cycles should already match the number of pole pairs of the motor. Therefore it is not necessary to specify the number of poles for those motors. That is why the selections are shown as ‘P*’.

For the Pulsecoder A, B, and B2, the TI-3000JX uses the position count for the commutation. Therefore, the selection must be made that corresponds to the number of poles for the motor. The TI-3000JX can then product the correct number of commutation cycles per revolution.

One customer had an 8 pole Alpha A64 encoder on a 6 pole motor. In that case, the Alpha selection could not be used because it could not produce the correct number of commutation cycles per revolution. This customer was able to use the 6 pole Pulsecoder A, B, B2 selections to run the motor. Contact Mitchell Electronics, Inc. for suggestions, if unusual situations such as this occur.

Debugging

Section 2.2.3 provides general information about debugging the TI-3000JX setup. You will want to be familiar with that material.

After the type selection and cable connections have been made, a simple debugging sequence can verify that the motor is ready to run. Performing this debugging check can save a great deal of time and provide confidence in the setup. Skipping this debugging check can cost a great deal of time, and could cause damage to the amplifier or possibly even the motor.

The debugging sequence is as follows:

1. Press the DEBUG key to put the TI-3000JX in DEBUG mode.
   
   
2. Rotate the motor in the forward direction (CCW looking at the shaft for Fanuc) and verify that the UVW pulses on the display are correctly moving through the commutation pattern as follows: HLL, HHL, LHL, LHH, LLH, and HLH. It is essential that these six commutation steps are generated on the TI-3000JX.
   
   
3. Connect a bench power supply to the armature leads (amplifier not connected) with the polarity +U and –V. Verify that, at each rotor lockup position, this produces a commutation pattern of V =H, W=L and U at the position where it will toggle between H and L with a very small motion of the motor shaft.
   
   
4. Move the minus lead of the power supply from the V to the W lead. Verify that, at each rotor lockup position, this produces a commutation pattern of U=L, V =H, W at the position where it will toggle between H and L with a very small motion of the motor shaft.

Passing the above debugging checks is a necessary condition for running the motor. If any of these checks failed, there is absolutely no point in trying to run the motor, and you risk damaging the amplifier or possibly the motor by doing so.

If it does not pass the Debug check, review your setup and correct any mistakes. Only attempt to run the motor after it passes the Debug check.

After the initial successful debugging, it is no longer necessary to go to debug mode before each run. However, it does provide a chance to check that the brake is released (if it has one) and that the motor is indeed ready to run.

Running

Section 2.2.4 provides general information about running motors with the TI-3000JX. You will want to be familiar with that material.

Section 2.2.5 provides safety information to be observed when running motors with the TI-3000JX. Please read this section carefully and exercise all safety considerations.

After a successful Debug check, perform the following sequence to run the motor.

1. Connect the motor armature leads to the amplifier using the appropriate connectors.
   
   
2. Press the RUN key to enable the amplifier. The following check list will appear on the display.
   a) Are hands and clothing clear of moving parts?
   b) Is the motor mounted securely?
   c) Is the speed pot set to the zero (stopped) position?
   
   
3. Press the RUN key again after insuring that the check list is satisfied.
   
   
4. The RED LED on the amplifier should change to GRN. If it does not, make sure that the cable from the TI-3000JX to the amplifier is connected correctly and that power has been applied to the amplifier.
   
   
5. Turn the potentiometer either direction from the zero setting, and the motor should begin turning. The bottom line of the display should show the RPM reading.
   
   
6. Returning the pot to zero and moving it the other direction from zero should reverse the direction of the motor.