CENTROID Fanuc Retrofit Installation Manual
CENTROID Fanuc Retrofit Installation Manual
CENTROID Fanuc Retrofit Installation Manual
Software Setup 40
AC Encoder Alignment 47
READ YOUR CNC11 OPERATORS MANUAL AND AC/DC USERS GUIDE BEFORE PERFORMING A FANUC RETROFIT.
FAILURE TO FOLLOW THE INSTRUCTIONS AND SAFETY PRECAUSTIONS IN THOSE MANUALS COULD RESULT IN
SERIOUS INJURY OR DEATH.
The information provided by CENTROID relating to wiring, installation, and operation of CNC components is intended only
as a guide, and in all cases a qualified technician and all applicable local codes and laws must be consulted. CENTROID makes
no claims about the completeness or accuracy of the information provided, as it may apply to an infinite number of field conditions.
As CNC control products from CENTROID can be installed on a wide variety of machine tools NOT sold or support by
CENTROID, you MUST consult and follow all safety instructions provided by your machine tool manufacture regarding
the safe operation of your machine and unique application.
The procedures detailed in this manual are designed to be used by someone familiar with the AC/DC drive and MPU11
software. This documentation is designed to be used in correlation with the available manuals and technical bulletins, and is not
intended to replace any pre-existing documentation.
Only Fanuc motor handling safety procedures are described in this procedure. Additional safety information can be found
in the CNC 11 Operators Manual and the AC/DC Users guide.
• NEVER pick up or carry the motor by the cables or the shaft. (Always carry by the frame.) Use a crane or lift to
move the motor when necessary.
• NEVER drop or subject the motor to impact. The servo motor is a precision device.
• NEVER set heavy or sharp objects on the motor or cables. Do not step or sit on the motor or cables.
• NEVER use a metal hammer on any part of the motor. If it is absolutely necessary to use a hammer, use a plastic
hammer.
Keep the motor properly secured and away from the edge of the work area when servicing the motor, as a dropped motor could
cause personal injury or destroy the motor.
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□ Check for >100 MΩ between the motor chassis and motor power terminals.
To be performed with motors connected to drive:
□ Confirm continuity between the drive chassis and the motor chassis.
□ On the drive terminals, check for >100 MΩ between motor shield and power terminals.
□ Check VM wiring for correct polarity.
□ Check motor wiring for correct polarity/phase.
□ Check that all screws are tightened down properly. Driving a motor with a terminal loosened
could result in the terminal block overheating and causing a fire.
□ If you are unsure of the condition of a motor, have it inspected by a qualified professional.
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• Be safely dressed when handling a motor. Wear safety shoes and gloves. Avoid loose clothing which can get caught
on the motor. Be careful not to let hair get caught in the rotary section of the motor. Do not handle the motor with wet hands.
• Shut off the power before working on a motor. Wait at least 5 minutes after the motor is shut off before touching any
power terminals.
• Always use the correct cables. Centroid cables are shown in the motor compatibility table. Wiring diagrams and pin outs
for motors are provided in Appendix B.
• Ensure that the motor and motor related components are mounted securely. Ensure that the base or frame to which the
motor is mounted to is strong enough.
• Do not touch the rotary section of the motor when it is running unless instructed to.
• When attaching a component having inertia to the motor, ensure any imbalance between the motor and component is
minimized.
• Use the motor in appropriate environmental conditions. Do not store flammables in close proximity to the motor. When
not in use, store the motor in a dry location between 0° to 40° C.
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Table of Contents
Getting Started
Introduction.................................................................................................................................................................... 7
Motor Compatibility Tables
AC Motors......................................................................................................................................................... 8
DC Motors....................................................................................................................................................... 10
Spindles Motors.............................................................................................................................................. 12
DC Motors
Black End Cap (Fanuc ● Gettys) with Tachogenerator...................................................................................15
DC Motors with Stock Encoders.....................................................................................................................22
AC motors
Early red cap and S Series............................................................................................................................. 30
α and αC Series.............................................................................................................................................. 31
Software Setup
Software Setup
Control Configuration...................................................................................................................................... 41
Motor Parameters........................................................................................................................................... 42
Temperature Coefficients................................................................................................................................ 43
PID and Motor Setup....................................................................................................................................... 44
AC Encoder Alignment
Introduction..................................................................................................................................................... 48
Procedure........................................................................................................................................................ 49
Tuning the Fanuc Motor on a AC/DC
Maximum Feed Rate....................................................................................................................................... 53
Introduction to PID.......................................................................................................................................... 54
PID Tuning Setup............................................................................................................................................ 55
Acceleration Tuning......................................................................................................................................... 56
Inertia Tuning.................................................................................................................................................. 57
Position Kp Tuning.......................................................................................................................................... 58
Position Kd Tuning.......................................................................................................................................... 59
Performing a System Test............................................................................................................................... 60
Appendices
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Fanuc Retrofits
Introduction
With the large number of aging FANUC equipped CNC machine tools in the world, CENTROID has answered the call for
an affordable and reliable upgrade! Directly control FANUC servo motors with CENTROID's MPU11 based AC/DC drive.
Retaining the Fanuc servo motor while eliminating the Fanuc user interface and motion control provides savings in time and
money.
If the Fanuc motor has a yellow or black end cap, it is a DC motor. If the Fanuc motor has a red cap, it is an AC motor.
The first step in retrofitting a motor to find your motor in our Motor Compatibility Tables listed on the following pages. Samples of
Fanuc motor labels are shown in Appendix to help identify your motor.
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Fanuc AC Motor Compatibility Table [1]
AC/DC
Fanuc Motor Motor Power Encoder Encoder
Motor Type Drive
Series Model Cable[4] Model Retrofit Kit Cable
0 A06B-0511-Bxxx Medium AC or DC Cable
Drawing #. S13370 Retrofit Kit # 12859
5 A06B-0512-Bxxx AC/DC–30[2]
Installation
Early Red Caps 10 A06B-0501-Bxxx
Large AC Power Cable Instructions
20 A06B-0502-Bxxx
Drawing # S13362 AC/DC - 60 Page 31
30 A06B-0503-Bxxx
0-0SP A06B-0374-Bxxx
0S A06B-0313-Bxxx
5S A06B-0314-Bxxx Medium AC or DC Cable
5S/3000 A06B-0514-Bxxx Drawing # S13370
AC/DC – 30[2]
6S A06B-0316-Bxxx Retrofit Kit # 12859
6S/3000 A06B-0320-Bxxx or # 12876
10S A06B-0315-Bxxx
10S/3000 A06B-0317-Bxxx Large AC Power Cable See next page to
20S A06B-0502-Bxxx Sub assembly # 12894 choose a kit for your
S Series 20S/1500 Drawing # S13362 application.
A06B-0505-Bxxx
20M[7]
30S A06B-0590-Bxxx AC/DC - 60
30R Extra Large AC Power Cable
A06B-0506-Bxxx
30/2000 Drawing # S13371
40 A06B-0581-Bxxx
20S/3000 A06B-0318-Bxxx
30S/3000 A06B-0319-Bxxx Not Recommended [3]
40S/2000 A06B-0583-Bxxx
α3/3000 A06B-0123-Bxxx
Medium AC or DC Cable
α6/2000 A06B-0127-Bxxx
Drawing # S13370
α6/3000 A06B-0128-Bxxx
AC/DC – 30[2]
αC12/2000 A06B-0141-Bxxx AC/DC Encoder Cable
α12/2000 A06B-0142-Bxxx
Retrofit Kit # 12876 Sub assembly #12912
α12/3000 A06B-0143-Bxxx Drawing # S13369
Large AC Power Cable
αC22/1500 A06B-0145-Bxxx
Sub assembly # 12894 Installation
α22/1500 A06B-0145-Bxxx
α (Alpha) Series α22/1500 A06B-0146-Bxxx
Drawing # S13362 Instructions
Page 28
α30/1200 A06B-0151-Bxxx
AC/DC - 60
α22/2000 A06B-0147-Bxxx
& α30/2000 A06B-0152-Bxxx
Extra Large AC Power Cable
A06B-0157-Bxxx
α40/2000 Drawing # S13371
(Without fan)
αC Series[6] αC3/2000 A06B-0121-Bxxx
αC6/2000 A06B-0126-Bxxx
α22/3000 A06B-0148-Bxxx
α30/3000 A06B-0153-Bxxx
α40/2000
A06B-0158-Bxxx Not Recommended [3]
(With fan)
α1/3000 A06B-0371-Bxxx
α2/2000 A06B-0372-Bxxx
α2/3000 A06B-0373-Bxxx
β3/3000 A06B-0033-Bxxx
β6/2000 A06B-0034-Bxxx
β (Beta) Series β4/4000is A06B-0063-Bx0x TBD[5]
Please contact Centroid for a retrofit solution.
β8/3000is A06B-0075-B203
& β12/300is A06B-0078-Bx0x
β22/2000is A06B-0085-Bx0x
β0.5/3000 A06B-0113-Bxxx
βis Series β1/3000 A06B-0031-Bxxx Not Recommended [3]
β2/3000 A06B-0032-Bxxx
1. This table is not a complete list of all Fanuc AC motors, just motors we have verified.
2. An AC/DC-60 may be substituted for an AC/DC-30.
3. Motors with a continuous stall current of above 30A or below 5A are not recommended with the AC/DC. (This gives the AC/DC an approximate range of 500
watts to 6,000 watts or 0.7 hp to 7.8 hp.)
4. You may reuse the existing power cables from your Fanuc with the AC/DC. Cable information is provided for ordering replacement cables and troubleshooting.
5. Encoder retrofit kit currently not available, Centroid can provide engineering to develop or installer to mount encoder.
6. Most Fanuc documentation lists the αC Series as a member of the α Series, while some Fanuc documentation lists the αC Series as a member of the β series.
7. Not to be confused with the yellow-capped DC motor also designated "20M".
Cable drawings and pinouts can be found in Appendix B, Motor RPM, torque, hp, and wattage can be found in Appendix D
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Choosing a Retrofit Kit for Your Fanuc “S” Series AC Servo Motor
In order to differentiate between the two different styles of encoder used on Fanuc's “S” series motors, it is necessary to
remove the red motor end caps and visually inspect the pulse coders.
If your servo motor's encoder resembles this one, you will need assembly #12859. Instructions found in section “AC
Motors: Early and S Series Models” on page 31.
If your servo motor's encoder resembles this one, you will need assembly #12876. Instructions found in section “AC
Motors: α (Alpha) Series Models” on page 37.
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0 A06B-0613-B0xx
Medium AC or DC Cable
AC/DC – 30[2]
Drawing # S13370 Encoder Retrofit
Tachogenerator 5 A06B-0614-Bxxx
Kit # 12903 AC/DC Encoder Cable
where xxx is 001 - 028 10 A06B-0601-Bxxx Sub assembly #12912
Large DC Power Cable Installation Instructions Drawing #S13369
20 A06B-0602-Bxxx Sub assembly # 12895 AC/DC - 60 Page 15
Drawing # S13361
30 A06B-0603-Bxxx
00 A06B-0631-B0xx TBD[4]
1. This is not a list of all Fanuc DC motors, just the motors we have verified.
3. You may reuse the existing power cables from your Fanuc with the AC/DC. Cable information is provided for ordering replacement cables and troubleshooting.
4. CENTROID Encoder retrofit kit has not been developed yet. Centroid can provide engineering services to develop an encoder kit or adapt your own.
Motors with a continuous stall current of above 30A or below 5A are not recommended with the AC/DC servo drive.
(This gives the AC/DC servo drive an approximate range of 500 watts to 6,000 watts or 0.7 hp to 7.8 hp.)
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0M A06B-0641-Bxxx
Medium AC or DC Cable AC/DC Encoder Cable
Drawing # S13370 ( Use with Retrofit
Reuse stock Fanuc
AC/DC – 30[2] encoder OR replace with Encoder )
Sub assembly #12912
5M A06B-0642-Bxxx Centroid Encoder
Pulse Coder Drawing # S13369
Retrofit
Large DC Power Cable Kit # 12896
where xxx is 011, 012, or 005 10M A06B-0651-Bxxx Sub assembly # 12895 Fanuc Coder Cable
Drawing # S13361 ( Use with Existing
Installation Instructions
Encoder)
Page 22
20M A06B-6052-Bxxx Sub assembly # 12893
Large DC Power Cable Drawing # S13357
Sub assembly # 12895 AC/DC – 60
30M A06B-6053-Bxxx Drawing # S13361
1. This is not a list of all Fanuc DC motors, just the motors we have verified.
3. You may use the existing power cables from your Fanuc with the AC/DC servo drive . Cable information is provided for ordering replacement cables and
troubleshooting.
4. CENTROID Encoder retrofit kit has not been developed yet. Centroid can provide engineering services to develop an encoder kit or adapt your own.
Motors with a continuous stall current of above 30A or below 5A are not recommended with the AC/DC servo drive.
(This gives the AC/DC servo drive an approximate range of 500 watts to 6,000 watts or 0.7 hp to 7.8 hp.)
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For more reading on AC spindle inverters, read Tech Bulletin #008 “AC Inverter Spindle Motors” and Tech Bulletin
#152 “Inverter Control”.
If connecting the spindle encoder output directly to a Centroid system (unnecessary in most situations), a Motrona Si 251
Sine/Cosine Inerpolater with Adjustable Multiplication Rate Interface is available from Centroid.
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Speed Arriv al
CN1-6 Common CN1-2 Common CN1-32
CN1-11
CN1-18 Common
CN1-12 Alarm
CN1-19 Alarm Reset
CN1-15
CN1-20 Common
CN1-16 Speed Detect
CN1-25 Orient
CN1-22
CN1-26 Common
CN1-23 ORIENT Complete
CN1-45 Forward
CN1-50 Speed Meter
CN1- 47 E-Stop
CN1-18 Common
CN1- 48 Common
If the spindle driv e has the ORIENT function, it w ill hav e a ORIENT card on top of the main card.
A20B-0008-0240 (0241)
A20B-0008-0030 (0031)
A20B-0009-0520 CN2 connector has feedback from motor, and MUST be left on.
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DC Motors
Yellow (M Series) and Black (Fanuc●Gettys) end caps are used on DC motors. At the time of this publication, black cap
motors with resolvers and yellow cap motors with tachogenerators/resolvers are not supported.
If the motor has a functioning encoder, it can be used without any modification. Skip to Software Setup section.
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Encoder Installation
1 2
Remove the two bolts holding the black end cap in place using a Remove the end cap to expose the tachogenerator assembly.
3mm hex key. Set aside the end cap bolts. You will use them
again in a later step.
3 4
Remove the mounting plate bolts using a 3mm hex key. Pull off Disconnect the temperature sensor wires and the
the mounting plate. Set aside both the mounting plate and tachogenerator wires. Cut the wires to the tachogenerator.
mounting plate bolts, you will use them again in a later step. Unscrew the wire nuts to remove the wire for the temperature
sensor. DO NOT CUT THE POWER WIRES GOING TO THE
MOTOR!
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Fanuc Retrofits
5 6
Remove the center bolt using a 5mm hex key. Remove the retaining screws on the outer stator with a Phillips
screwdriver.
7 8
Remove the rotor of the stator of the tachogenerator. Remove the retaining screws on the inner stator with a screw
driver.
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Fanuc Retrofits
9 10
Remove the remaining piece of the tachogenerator. The motor Remove the four encoder connector screws. Set aside the
should look like this. connector screws. You will use them again in a later step.
11 12
Acquire the mounting plate you removed in Step 3. If the Use a center punch to mark the holes on the mounting plate.
mounting plate is dirty or greasy, clean it with some isopropyl
alcohol. Cut out the 1-inch hole on the center of the sticker and
apply to the mounting plate. If your sticker gets lost or damaged,
a template to make a new one is included in Appendix A.
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Fanuc Retrofits
14
13
Place the encoder on the mounting plate. Insert the encoder
mounting bolts through the mounting plate.
Use a drill press and a #30 drill bit to make both holes in
the mounting plate.
15 16
Loosely mount the encoder using the nuts included in the retrofit Check to make sure the encoder collar screws are backed out.
kit. The bolts should be loose enough that the encoder can Slide the encoder assembly onto the back of the motor.
slide slightly in each direction.
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Fanuc Retrofits
17 18
Re-insert the mounting plate bolts that were removed in step 3 Tighten the encoder set screws and mounting bolts.
with a 3mm hex key.
19 20
Slide the gasket with the encoder pigtail into the black end cap. Tighten the encoder pigtail using the bolts you removed in Step
10.
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Fanuc Retrofits
21 22
Connect the encoder pigtail connector to the encoder. Apply a bead of non-corrosive RTV sealant (such as Dow
Corning 3165 or 748) onto the end cap mounting surface.
Reinstall the end cap with the bolts removed in step 1.
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Fanuc Retrofits
DC Motors
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Fanuc Retrofits
Encoder Installation
1 2
Remove the two bolts holding the black end cap in place Remove the end cap to expose the pulse coder assembly.
using a 3mm hex key. Set aside the end cap bolts. You will
use them again in a later step.
3 4
Cut the pulse coder signal cable as well as the two temperature Using a Phillips screwdriver, remove the three pulse coder
sensor wires. DO NOT CUT THE GROUND WIRE! mounting screws. Set them aside. They will be used again in
step 21.
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Fanuc Retrofits
5 6
Remove the pulse coder. A brass coupling will remain on either Remove and inspect the coupler. It should fit snugly into the
the motor or pulse coder side. encoder and the motor. If the coupler is worn or damaged, order
a new one from Fanuc.
7 8
Using a hex key, remove the two encoder cover bolts. Remove the encoder cover.
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Fanuc Retrofits
9 10
Remove all the electronics and optics found within the Cut out the center circle on the template, peel off the backing,
encoder. Be careful, as the encoder contains a glass disk and apply it to the encoder base. If you wish, you may also cut
which may shatter during removal. Clean off all dirt and glue along the outer circle on the template and use it as an
residue. additional reference when aligning it. Position the template
such that the 6-32 hole locations will not interfere with any of
the existing holes on the encoder base. The template MUST
BE CENTERED on the encoder base. Improper alignment
could cause unstable operation as well as cause damage to
your equipment.
11 12
Using a sprung center punch, mark the two hole centers on Refer to drawing D00327 in appendix A of this manual and
the base through the template. double check the center mark locations against the drawing.
Again, THE HOLE LOCATIONS ARE CRITICAL. Ensure that
the actual locations of the center marks are within 0.005” from
their specified locations.
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Fanuc Retrofits
13 14
Using a drill press with a #35 (or 7/64”) drill bit, drill holes on Using a 6-32 tap, a tap handle, and some cutting fluid, carefully
the center marks approx 0.5” deep. The exact hole depth will thread the holes you just drilled to a minimum depth of 0.3”
vary depending on the clearance required for your tap. Once Clean the holes of burrs and shavings.
again, check the hole locations against drawing D00327.
15 16
Using a nut driver, screw the standoffs from your kit into the Slide the encoder onto the shaft.
holes you just tapped. Tighten to approximately 8 In-Lb or 0.9
Nm. Do not over-tighten.
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Fanuc Retrofits
17 18
Using a Phillips screw driver and the crews from the retrofit Using a hex key, tighten the two set screws on the encoder
kit, secure the encoder flex mount to the standoffs. Tighten to collar.
approximately 8 In-Lb or 0.9 Nm.
19 20
Re-insert the brass coupler removed in step 6. Line up the coupling and place the encoder base back into its
original location on the motor.
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Fanuc Retrofits
21 18
Re-insert the screws that were removed in step 4. If the Using a Phillips screw driver, remove the four MS connector
ground wire was originally held down by one of the mounting mounting screws. Set them aside. They will be used again in
screws, re-attach it now. Alternately, the ground wire may be step 24.
bolted to one of the unused holes in the motor chassis with a
m4 bolt or screw.
19 20
Remove the original MS connector, wiring, and gasket. Clean Install the pigtail connector and gasket from your kit using the
the mounting area. screws removed in step 22.
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Fanuc Retrofits
21 22
Connect the pigtail to the encoder. Apply a bead of non-corrosive RTV sealant (such as Dow
Corning 3165 or 748) onto the end cap mounting surface.
Reinstall the end cap with the bolts removed in step 1.
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Fanuc Retrofits
AC Motors
Red end caps are used on Fanuc AC motors. The Fanuc AC motors have coders/encoders that use a physically different
connector and a proprietary continuation protocol and must be retrofitted to use a Centroid encoder.
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Fanuc Retrofits
Encoder Installation
1 2
Remove the four bolts holding the red end cap in place using a Remove the end cap and expose the pulse coder assembly.
4mm hex key. Set aside the end cap bolts, you will use them
again in a later step.
3 4
Remove the four coder connector screws with a Phillips On two-piece connectors, remove the connector by prying the
screwdriver. Set aside the connector screws. You will use them connector apart with a flat blade screwdriver. Then remove the
again in a later step. connector from the end cap. On single-piece connectors, cut the
wires to remove the connector from the end cap.
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Fanuc Retrofits
5 6
Cut the temperature sensor wires going from the motor to the Remove the encoder mounting bolts.
pigtail connector.
7 8
Remove the rubber dust cover on the pulse encoder. Loosen Gently pull the encoder off the motor. If the encoder is stuck,
the center bolt using a 4mm hex key while holding the motor Use two allen wrenches to get under the encoder and pry up
shaft. and out on the encoder NEVER use a metal hammer or any
type of impact to remove an encoder! Once the encoder is
out then the center bolt can be removed.
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Fanuc Retrofits
9 10
Using a 7mm nut driver, screw the M4 standoffs from the Use the three plate mounting bolts with lock washers to attach
upgrade kit into the inside of the motor chassis. Tighten to the adapter plate to the M4 standoffs inside the motor chassis.
approximately 8 Lb-In or 0.9 Nm. DO NOT OVER-TIGHTEN! Use a 3 mm hex key to attach the plate mounting bolts. Tighten
to approximately 8 In-Lb or 0.9 Nm.
11 12
Place the adapter shaft from the kit onto the motor’s encoder Check to make sure the encoder collar screws are backed out.
mounting shaft. Gently slide the encoder from the kit onto the adapter shaft.
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Fanuc Retrofits
13 14
Install the encoder mounting screws using a 2mm hex key. Reuse the center bolt that was removed from the old encoder in
Leave the screws loose, as you will need the encoder to be step 7. Using a 4mm hex key, tighten the bolt into the encoder
moveable during the alignment. mounting shaft.
15 16
Slide the gasket with the encoder pigtail into the red end cap. Reusing the screws from step 3, tighten down the pigtail and
gasket into the red end cap.
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Fanuc Retrofits
17 18
Plug the pigtail connector firmly into the encoder. Use zip-ties to hold the temperature sensor wire (and any other
loose wires inside the end cap) neatly in place.
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Fanuc Retrofits
1. 1 Adapter plate assembly (PN 12986) 4. 4 Plate Mounting Bolts (PN 6417)
2. 1 Encoder, 40,000 Count (PN 7480) 5. 4 Lock Washers (PN 7484)
3. 1 Encoder Pigtail (PN 12892) 6. 1 Pigtail Gasket (PN 4602)
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Fanuc Retrofits
Encoder Installation
1 2
Remove the four bolts holding the red end cap in place using a Remove the end cap and expose the pulse coder assembly.
hex key. Set the end cap bolts aside. You will use them again in
a later step.
3 4
Cut the temperature sensor wire going from the motor to the Unplug the pigtail connector from the pulse coder.
pigtail connector.
Page 36 of 80
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Fanuc Retrofits
5 6
Remove the four bolts holding the pulse coder in place using a Remove the pulse coder. A black plastic coupling will remain on
3mm hex key. either the motor or pulse coder side. It will be used in the next
step.
7 8
Fit the plastic coupling to the shaft of the adapter plate from Fit the retrofit assembly onto your motor, making sure that the
the retrofit kit. It must be a snug fit. If the coupling is heavily black coupler mates with both the encoder shaft and the motor.
worn or damaged, a replacement should be ordered Line up the four bolt holes on the adapter plate with the
(Fanuc part# A290-0501-V535) threaded holes on the motor.
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Fanuc Retrofits
9 10
Using a hex key, secure the retrofit assembly in place with Use zip-ties to hold the temperature sensor wires (and any other
the four mounting screws and lock washers supplied with loose wires inside the end cap) neatly in place.
your kit.
11 12
Using a Phillips head screwdriver, remove the four MS Remove the original MS connector and wiring.
connector mounting screws and set them aside. You will need
them again in step 13.
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Fanuc Retrofits
13 14
Slide the encoder pigtail with the gasket into the end cap and Plug the pigtail connector firmly into the encoder.
secure them in place with the four screws removed in step 11.
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Fanuc Retrofits
Software Setup
The AC/DC needs the CNC11 software configured correctly to use the servo motor. The software configuration
procedure(s) described in this manual are intended for someone familiar with the CNC11 software, the AC/DC drive, and available
technical bulletins. This documentation is designed to be used in correlation with the manuals and technical bulletins, and is not
intended to replace any pre-existing documentation.
Control Configuration
The machine parameters need to be adjusted for your Fanuc drive before you can use it. Heating coefficients as well as
temperature warning and error levels are calculated in imperial units. The machine units must be set to inches from the Control
Configuration menu before entering or changing temperature parameters! After saving temperature parameters, the control may
be set back to millimeters if desired. Changing the machine units from inches to millimeters will “automatically” convert
temperature values.
NOTE: Cooling parameters do not change when switching from inches to millimeters because cooling parameters are
calculated as a unit-less value.
To get to the control configuration menu, press F1-Setup. Next, press F3 – Config (The default password is 137), then
F1 – Contrl. Press F10-Save when finished.
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Fanuc Retrofits
Motor Parameters
In the CNC11 software, access the machine parameters menu by pressing F1 – Setup, F3 – Config, and then F3 - Parms.
The table below contains the most important parameters for configuring the AC/DC drive. Set up the control to match your
motor combination. (note: consult the CNC11 manual for a more complete listing of all machine parameters and their uses.)
1. Tables containing temperature information and maximum RPMs are provided later in this section of the document.
Page 41 of 80
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Fanuc Retrofits
1. Most Fanuc documentation lists the αC Series as a member of the α Series, while some Fanuc documentation lists the αC
Series as a member of the β series.
Page 42 of 80
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Fanuc Retrofits
From the main menu, Press F1 - Setup, F3 - Config, then F4 – PID to enter the PID Menu as shown below.
Press F1 – PID Config to edit the configuration. Enter the settings for the PID loop from the tables below. The tables are
intended to be used as a baseline of sample values to get started. The PID values shown need some fine tuning and adjusting
before your motor can be used in a machine, which is covered in later sections. Press F10-Save & Exit when you are done.
α and β Motors
Drive Position PID S Series & Early Red Caps
Series Drive Type
Model Kp Ki Kd
α3/3000 A06B-0123-Bxxx 1 0.02 1 Position PID
Drive Model Drive Type
α6/2000 A06B-0127-Bxxx 2 0.02 3 Kp Ki Kd
α6/3000 A06B-0128-Bxxx 3 0.02 5 0 A06B-0511-Bxxx 2 0.02 3
α (Alpha) α12/2000 A06B-0142-Bxxx 3 0.02 5
Series 5 A06B-0512-Bxxx 2 0.02 5
α12/3000 A06B-0143-Bxxx 5 0.02 7 10 A06B-0501-Bxxx 5 0.02 7
α22/1500 A06B-0146-Bxxx 10 0.02 12 20M
& A06B-0505-Bxxx 10 0.02 12
α22/2000 A06B-0147-Bxxx 10 0.02 12 20S/1500
αC Series [2] α30/1200 A06B-0151-Bxxx 10 0.02 12 20
α30/2000 A06B-0152-Bxxx 10 0.02 12 A06B-0502-Bxxx 10 0.02 12
20S
α40/2000 A06B-0157-Bxxx 10 0.02 12 30 A06B-0503-Bxxx 10 0.02 12
αC12/2000 A06B-0141-Bxxx 7 0.02 9 30R
αC22/2000 A06B-0145-Bxxx 10 0.02 12 A06B-0506-Bxxx 10 0.02 12
30/2000
β3/3000 A06B-0033-Bxxx 1 0.02 1 40 A06B-0581-Bxxx 10 0.02 12
β (Beta) Series β6/2000 A06B-0034-Bxxx 2 0.02 1.8 0-0SP A06B-0374-Bxxx 2 0.02 3
β4/4000is A06B-0063-Bx0x 1 0.02 1 0S A06B-0313-Bxxx 2 0.02 3
&
β8/3000is A06B-0075-B203 2 0.02 1.8 5S A06B-0314-Bxxx 2 0.02 3
βis Series β12/300is A06B-0078-Bx0x 5 0.02 7 5S/3000 A06B-0514-Bxxx 2 0.02 3
β22/2000is A06B-0085-Bx0x 10 0.02 12 6S A06B-0316-Bxxx 3 0.02 5
6S/3000 A06B-0320-Bxxx 3 0.02 5
10S A06B-0315-Bxxx 5 0.02 7
DC Motors
10S/3000 A06B-0317-Bxxx 5 0.02 7
20S A06B-0502-B065 10 0.02 12
Drive Position PID 20S/1500 A06B-0505-Bxxx 10 0.02 12
Series Drive Type
Model Kp Ki Kd 30S A06B-0590-Bxxx 10 0.02 12
00 A06B-0631-B0xx 1 0.02 1 30/2000 A06B-0506-Bxxx 10 0.02 12
Black End Cap 0 A06B-0613-B0xx 1.25 0.02 2
5 A06B-0614-Bxxx 1 0.02 3
( Fanuc ●
Gettys ) 10 A06B-0601-Bxxx 9 0.02 10
20 A06B-0602-Bxxx 10 0.02 12
00M A06B-0632-Bxxx 0.35 0.005 0.35
0M A06B-0641-Bxxx 1 0.02 1
Yellow End Cap 5M A06B-0642-Bxxx 2 0.02 1.8
( M Series ) 10M A06B-0651-Bxxx 9 0.02 7.5
20M A06B-0652-Bxxx 10 0.02 12
30M A06B-0653-Bxxx 10 0.02 12
PID Menu
Page 43 of 80
.
Fanuc Retrofits
Drive Configuration Setup
From the main menu, press F1 - Setup, F3 - Config, F4 - PID, and then F8 – Drive to enter the Drive Configuration
menu. Press F1 – Drive PID to edit the configuration. Enter the settings for the current feedback PID loop from the tables below.
Press F10-Accept when you are done.
DC Motors
Drive Current PID
End Cap
Model Drive Type Poles (ACDC-30) (ACDC-60) Inertia Max
Color Angle Kp Ki Kd Kt
Current Current In-lb sec2 RPM
0 A06B-0613-B0xx 0 80% 40% 0 0.75 0.075 0 0.0252 2.12 2,000
Black 5 A06B-0614-Bxxx 0 80% 40% 0 2.00 0.100 0 0.0434 4.23 2,000
( Fanuc ● Gettys ) 10 A06B-0601-Bxxx 0 Not Recommended 60% 0 3.50 0.100 0 0.1736 4.72 1,500
20 A06B-0602-Bxxx 0 Not Recommended 80% 0 3.50 0.100 0 0.2864 6.74 1,500
0M A06B-0641-Bxxx 0 Not Recommended 100% 0 2.00 0.100 0 0.0220 3.73 2,000
Yellow 5M A06B-0642-Bxxx 0 60% 30% 0 6.00 0.100 0 0.0320 5.80 2,000
10M A06B-0651-Bxxx 0 80% 40% 0 3.50 0.100 0 0.1130 8.85 1,500
( M Series ) 20M A06B-0652-Bxxx 0 Not Recommended 60% 0 3.50 0.100 0 0.1649 11.28 1,500
30M A06B-0653-Bxxx 0 Not Recommended 80% 0 3.50 0.100 0 0.3211 13.89 1,200
Page 44 of 80
Fanuc Retrofits
α and β Motors
Current PID
Poles
ACDC-30 ACDC-60 Inertia Max
Angle Kp Ki Kd Kt
Current Current In-lb sec2 RPM
α3/3000 A06B-0123-Bxxx 8 40% 20% 0.00 1.50 0.050 0 0.0122 5.75 3000
α6/2000 A06B-0127-Bxxx 8 56% 28% 0.000 1.50 0.050 0 0.0234 9.56 2000
α6/3000 A06B-0128-Bxxx 8 100% 50% 0.003 1.50 0.050 0 0.0234 5.31 4000
α (Alpha) Series α12/2000 A06B-0142-Bxxx 8 88% 44% 0.000 2.00 0.100 0 0.0555 12.04 2000
α12/3000 A06B-0143-Bxxx 8 Not Recommended 75% 0.000 2.00 0.100 0 0.0555 6.82 3000
& α22/1500 A06B-0146-Bxxx 8 Not Recommended 62% 0.000 2.50 0.100 0 0.1042 15.58 1500
α22/2000 A06B-0147-Bxxx 8 Not Recommended 90% 0.000 2.50 0.100 0 0.1042 10.36 2000
αC Series[2] α30/1200 A06B-0151-Bxxx 8 Not Recommended 63% 0.000 2.50 0.100 0 0.1476 20.98 1200
α30/2000 A06B-0152-Bxxx 8 Not Recommended 100% 0.000 2.50 0.100 0 0.1476 13.10 2000
α40/2000 A06B-0157-Bxxx 8 Not Recommended 100% 0.000 2.50 0.100 0 0.1996 12.39 2000
αC12/2000 A06B-0141-Bxxx 8 60% 30% 0.010 4.00 0.075 0 0.0555 18.06 2000
αC22/1500 A06B-0145-Bxxx 8 Not Recommended 62% 0.000 4.00 0.075 0 0.1042 15.58 1500
β3/3000 A06B-0033-Bxxx 8 50% 25% 0.000 2.00 0.100 0 0.0174 4.96 3,000
β (Beta) Series β6/2000 A06B-0034-Bxxx 8 50% 25% 0.000 2.00 0.100 0 0.0347 9.29 3,000
β4/4000is A06B-0063-Bx0x 8 40% 20% 0.000 2.50 0.100 0 0.0046 6.64 4,000
&
β8/3000is A06B-0075-B203 8 60% 30% 0.001 2.50 0.100 0 0.0103 10.27 3,000
βis Series β12/300is A06B-0078-Bx0x 8 100% 50% 0.000 2.50 0.100 0 0.0208 9.56 3,000
β22/2000is A06B-0085-Bx0x 8 100% 50% 0.000 2.50 0.100 0 0.0520 15.67 2,000
From the main menu, Press F1 - Setup, F3 - Config, F2 – Mach., then F2 – Motor to access the motor parameters
menu. Navigate using the arrow keys. Fanuc motors with Centroid encoders have a 40,000 counts per revolution encoder. For
motors with the original Fanuc coder, CPR varies by model and options.
Set motor direction using the procedure described in Tech Bulletin # 137, “Setting Direction Reversal”.
Set motor revolutions per inch using the procedure described in Tech Bulletin # 036, “Measuring Revs. Per Inch”.
Page 45 of 80
Fanuc Retrofits
Page 46 of 80
Fanuc Retrofits
AC Encoder Alignment
Introduction
AC drives rely on knowing the motor position in order to stay synchronized while driving the motor. Before the motor is mounted
on a machine, the motors encoder commutation tracks are aligned with the motor phases. The drive applies sinusoidal voltages
to the three-phase input to rotate the motor shaft to a starting position. Typically, there will be four poles in a full rotation of the
shaft. In Centroid software, the index pulse can be aligned with any one of these.
The drive also looks at the commutation lines from the encoder to give it a coarse position of the shaft for smooth
movement on power up. These commutation signals are interpreted by the drive as zones 1 through 6. As the motor turns
clockwise looking at the output shaft the encoder counts should increase. Centroid AC motors use a differential, 8 pole, 5V,
quadrature encoder with an index pulse. The encoder resolution depends on the motor and the drive (see below).
This procedure can also be repeated if you suspect the encoder alignment is incorrect. An incorrect alignment will
show the following symptoms:
1. Axis is jumping.
2. Motor is running roughly.
3. Motor runs better in one direction than the other.
4. Motor has an uneven amount of current draw in one direction than the other.
5. Large current draw with a light load.
Prerequisites
• If connecting a motor to a drive for the first time, please completed the following steps:
◦ Check for >100 MΩ between the motor chassis and power terminals.
◦ With the motor connected to drive, confirm continuity between the drive chassis and motor chassis.
◦ On the drive terminal, check for >100 MΩ between your power and shield terminals.
◦ Check VM wiring for correct polarity
◦ Additional information on motor testing can be found in your installation manual and Technical Bulletin 155.
Page 47 of 80
Alignment Setup
The motor must be disconnected from the machine or have the machine drive belt removed for the alignment process.
This procedure is best performed on a sturdy bench where you have good lighting and easy access to the encoder. If the motor is
removed from the machine, the motor frame must be firmly secured to the bench using clamps or some other attachment method.
The motor may try to jump around during the procedure (especially if something goes wrong during the alignment). Before
starting the alignment procedure, the drive software must be configured correctly.
Alignment Procedure
1. NOTICE: Any dust, dirt, coolant, or other contamination inside the motor end cap can get inside the sensitive internal
components of the optical encoder and cause a premature failure. Make sure the inside of the motor end cap and
encoder mounting plate are clean before continuing with encoder alignment.
If there is a large amount of contamination inside the end cap, there is a high probability that the existing encoder will
work unreliably and need to be replaced. If there is liquid inside the end cap, there may also be liquid inside the
motor. A motor with liquid inside is a serious safety hazard, and will have to be replaced.
2. If installing a new encoder, remove the old encoder. Attach the new encoder. Loosely tighten the encoder ears and
encoder set screws so the encoder spins when the shaft moves.
3. Connect power cable and encoder cable from the drive to the motor.
4. Power up your drive and control system running Centroid CNC software
5. In your CNC software, access the PID menu by pressing F1-Setup, F3-Config, F4-PID as shown below in
Figure 1. Homing the motor is not necessary.
6. Looking at the motor mounting flange, manually rotate the motor shaft clockwise. The “absolute position” on the PID
screen should increase as circled in the picture above. If the position does not increase check the drive communication,
encoder cable, and encoder pigtail.
Fanuc Retrofits
1. NOTICE: The AC/DC servo drive needs the encoder correctly connected/wired before starting up the CNC11
software or drive. If the encoder is not detected upon start up, you will need to restart both the AC/DC drive and the
CNC11 software before trying to test the encoder again. Users can troubleshoot drive errors through the HSC bit
screen definitions as described in the AC/DC servo drive manual.
8. Press F2-Move Sync as circled in Figure 2. The axis selected is shown underneath PWM Kp as circled in Figure 3. If
you are not on the correct axis, press F1-Toggle Axis until the correct axis label is on the screen. Finally press F10-
GO. The shaft should rotate. The first move sync rotation may cause the motor to jerk or move roughly. Move sync a few
more times by pressing F2-Move Sync then F10-GO repeatedly. All move syncs after the first sync should cause the shaft
to rotate smoothly. If the motor oscillates wildly, moves erratically, or makes loud unusual noises, kill the motor
power immediately!
1. DANGER: An incorrectly wired or configured motor may move violently or unpredictably when attempting move sync.
Keep your body (and others) away from the motor when move syncing for the first time, and be prepared to hit the
emergency stop.
2. DANGER: Large motors may have a tendency to oscillate violently during a move sync due to nature of the current
feedback loop. It is recommended for 3KW and larger motors that you adjust the motor current to half of the
recommended value in the current feedback menu while move syncing. After the encoder alignment process is
complete, set the current back to the recommended setting.
3. NOTICE: If the motor slightly oscillates after move syncing or continues to move a little rough while move syncing,
grab the motor on the shaft carefully with your hand. Move sync the motor while gently squeezing the motor shaft. If
the oscillations and/or jerky movements go away after applying a small amount of load to the shaft, this is normal.
This problem will not occur during normal motor operation.
4. NOTICE: If no motor movement occurs, an error was encountered. AC/DC users can troubleshoot drive errors
through the HSC bit screen definitions as described in the AC/DC manual.
Page 49 of 80
Fanuc Retrofits
11. Move the encoder until the encoder reading is as close to zero as reasonably possible.
12. Tighten the encoder collar set screws. The encoder collar usually has two set screws on most encoders; make sure both
are tight if applicable.
13. Loosen up the encoder ears and use them to fine tune the adjustment. When the encoder is within specifications, a red
message will appear on the control saying “*** Tighten Encoder Now ***” as circled in Figure 4. For a 40,000 count
encoder, it needs to be aligned with +/- 25 counts of zero. Tighten the encoder ears. The encoder mounting plate is
usually made out of aluminum, so DO NOT OVERTIGHTEN! If the screws do not fit tightly in the encoder mounting
plate, Loctite blue (242) or similar may be used.
14. Press F2-Move Sync and F10 - Go to rotate the motor shaft several full revolutions. Verify that the software still displays
“*** Tighten Encoder Now ***” when closest to the zero position. Some encoder re-adjustment may be needed. Observe
the commutation count goes 1 through 6 consecutively. The commutation count is displayed below encoder reading as
circled in Figure 4. At rest position the commutation zone should be either a 1 or a 6 only. A 0 or a 7 as the commutation
value indicates a bad encoder or wiring problem.
15. Loosely tighten the end cap onto the motor. Be careful placing the encoder cable in the end cap. If the cable is causing
any strain or pushing on the encoder, it will twist the encoder out of alignment.
Page 50 of 80
Fanuc Retrofits
17. After a reboot, fast jog the motor in each direction to verify correct operation.
18. In the drive configuration menu, do a final move-sync check to verify that the motor is still aligned correctly. Look for the
red message saying “*** Tighten Encoder Now ***” when the motor is closest to zero.
19. If there is not a rubber O-ring or gasket between the motor and the end cap, remove the end cap again. Apply a bead of
non-corrosive RTV sealant (such as Dow Corning 3165) onto the end cap mounting surface as shown below. Reinstall
the end cap.
20. The motor is ready for normal operation after the system has been rebooted again.
Continue to Calculating and Testing Maximum Feed Rate on the next page.
Page 51 of 80
Fanuc Retrofits
Use the following equation: (maximum motor rpm / motor revolutions per inch) * 0.85 = maximum feed rate.
Enter the maximum feed rate in the Jog Parameters menu (F1 - Setup, F3 - Config, F2 – Mach., and then F1-Jog.).
Upon saving your jog parameters a message will appear that says “The # axis accel time should be changed to #.#### in the PID
menu”. Write this number down, it will be used later. This number is not an ideal acceleration rate, but how much the current
acceleration rate needs to change to keep machine performance the same.
Use MDI commands to test the calculated machine maximum feed rate. If the machine is displaying the following
symptoms the calculated feed rate is too fast and should be decreased:
• The load bar graph in the DRO display of the main menu is red, indicating excessive load on the motors
• The software is giving errors such as position errors.
Deadstart
Deadstart located in the jog parameters menu has to do with direction reversal of an axis. The deadstart usually never has
to be changed from the default value on a Milling machine. Sometimes very light wood routing tables with very low resistance and
low inertia can benefit with a deadstart change along with other "hand tuning." Call in if you have this case.
Backlash
Set backlash compensation using the procedure described in Tech Bullion #037, “Measuring Backlash”.
Page 52 of 80
Fanuc Retrofits
The general idea of the tuning process is to minimize the Absolute Error (ErrAbs), which is measured in encoder counts.
The inertia of the motor varies from machine to machine, and the ideal PID values vary from motor to motor. To achieve optimal
performance out of your Fanuc motor, the inertia, position Kp, and position Kd values will have to be manually adjusted. Under
most circumstances, the position Ki values usually do not need any adjustment. The current feedback Kp, Ki, and Kd (different
from the position feedback Kp, Ki and Kd) should be left alone unless otherwise instructed.
Altering the PID values incorrectly could cause DRAMATIC changes in the way the servo system operates, leading to
possible machine damage. Be cautious when adjusting the PID values, and be prepared to hit the E-stop as the motor may
become unstable or move unpredictably if adjusted incorrectly.
Finally, PID tuning is not a black and white process. What is “good enough” of a value will depend on your accuracy
needs and the capabilities of your system. Some experimentation is always required to find the ideal settings.
Page 53 of 80
Fanuc Retrofits
First, home the motor. Go to the PID configuration menu by pressing F1 - Setup, F3 - Config, F4 – PID, and then F1 –
PID Config from the main menu (as shown below). Press F1-Edit Program to bring up PID_Collection_Moves.txt in the default
.txt editor. Edit the G-code so that the motor axis matches the axis of the motor to be tuned. For example, changing the line “G1
w0.0” to “G1 x0.0” will change the program to modify the X-axis instead of the W-axis. Now you should be looking at the PID
configuration menu.
The colors of the text on the top left match the colors of the graphs on the right. For example, if you have a V abs value
written in blue in the top left, the graph for V abs will be displayed on blue in the top right. For the rest of the tuning procedure
when referring to motor velocity, we are referring to the V Abs value and the corresponding graph. When referring to position
error, we are referring to the Err Abs value and the corresponding graph
The graph can be manipulated with a mouse by clicking, dragging, and scrolling. The graph can be manipulated with the
keyboard by using the F3, F4, F5, F6, and F7 keys. This menu and these settings are covered in more detail in the CNC11
manual. Pressing F8 – Change Axis will toggle the axis being graphed and will change the error information displayed in the top
left of the screen. If necessary, press F8 until the selected axis matches the motor to be tuned.
Press F2-Run Program to start the tuning process. The motor should run in a continuous loop and not stop until
manually stopped the motor or the values are adjust with the keyboard. If “finished running program” is immediately displayed,
an error was encountered. Go back to the main menu, and check the message window for errors. Advanced AC/DC users can
troubleshoot drive errors through the HSC bit screen definitions as described in the AC/DC manual.
Note: When viewing the live tuning scope (graphs) be mindful of the scale. You can adjust the scale of the graphic. The
encoder counts and the overall turns ratio of the machine will determine the counts per inch. Adjust the scale of the graph to a
resonable encoder count amount for the given encoder counts per inch of that axis. In other words on a high count per inch
system you may have errors as high as 100 counts, but 100 counts would only be representing .00005” on the machine.
Page 54 of 80
Fanuc Retrofits
Acceleration Tuning
Accel is the time for the axis to reach maximum velocity. An accel rate of 0.1 second is very fast, where an accel rate of
1.0 will be considered very slow.
Record the acceleration rate suggested by the software when the maximum feed rate was saved in the jog parameters
menu. Entered this acceleration rate into the position PID menu (Press F1 - Setup, F3 - Config, F4 – PID, and then F1 – PID
Config.) The rate provided is not the ideal acceleration rate, but a baseline number.
Press F1-Edit Program; adjust PID_Collection_Moves.txt so that it runs at the maximum feed rate. Save changes.
Press F2-Run Program. Slowly decrease the acceleration time in 0.05 increments, testing the value in-between each change. If
you see any of the following symptoms the acceleration rate is too fast and needs to be slowed down:
Page 55 of 80
Fanuc Retrofits
Inertia Tuning
For Inertia, Kp, Ki, and Kd tuning adjust the feed rate in PID_Collection_Moves.txt to the average rate during a typical
machine operation.
The parameters in this menu, with the exception of inertia, do not change based on machine type, and can therefore be
set once from the provided charts. Inertia is set to the motor inertia as a starting point. Once the motor is mounted to a machine,
the inertia value will need to be increased to compensate for the additional inertia of the mechanical drive components.
Inertia is adjusted in the drive configuration menu. From the PID configuration menu press F10 – Save and exit, F8 –
Drive, and then F1 – PID. Throughout the tuning process make changes in the Drive configuration menu, and then go back to the
PID configuration menu and run the collection moves program to see how those changes affect the graph. Repeat this process
until results are acceptable.
The following plots demonstrate the effect of the inertia setting. The dark blue line is the motor velocity (V abs) and the
red line is position error (Err Abs). In the first example, inertia is set to the motor inertia, but a load has been added, so the setting
is too low. The error plot shows that the motor is behind the expected position on acceleration. In the second example, the inertia
value has been increased too much. The motor moves ahead of its expected position during acceleration. In the third example,
inertia has been set to a reasonably accurate value. The motor follows closely at the beginning of the move.
It is best practice to focus on the error around the rising edge of the motor velocity graph. Start adjusting the inertia in
increments of 0.05 at a time, later switching to smaller increments as you approach your final value. Your graph will look slightly
different than the graphs displayed below due to factors such as motor velocity, encoder count, other PID values being off, etc.
The final inertia value should fall in the range of 0.5 to 0.005.
Low Inertia
High Inertia
Page 56 of 80
Fanuc Retrofits
KP Tuning
The PID Config menu (F1 - Setup, F3 - Config, F4 – PID, then F1 – PID Config) is used to tune the remainder of the
motor control parameters. To adjust either type in a new value, or use the “Page Up” and “Page Down” keys of your keyboard to
increment or decrement the existing value. Increase Kp until some oscillation is heard or seen on the PID tuning graph. Reduce
the setting below the oscillation point to give some headroom for stability.
The following examples show the effect of Kp. The dark blue line is the motor velocity (V abs) and the red line is position
error (Err Abs). In the first example, Kp is set too low. Large error peaks show where the motor is not following the requested
path. Increasing Kp leads to the second example, where error is low throughout the move. However, there is an increasing
oscillation in the error plot, indicating that the motor will soon become unstable. The third example demonstrates a Kp reduction
to improve stability. The error plot has nearly minimal error achieved during tuning and does not have signs of instability.
Start adjusting the Kp in increments of 1.0 at a time, later switching to smaller increments as you approach your final
value. Your graph will look slightly different than the graphs displayed below due to factors such as motor velocity, encoder count,
motor performance, etc. The final Kp value should fall in the range of 1 to 12.
Low KP High KP
(Unstable)
Kp Set Correctly
Page 57 of 80
Fanuc Retrofits
KD Tuning
After Kp has been adjusted, continue to tuning Kd. The Kd term adds stability to the effects of Kp. If Kp or Kd have been
adjusted far from the default values, a second iteration of the tuning procedure is recommended. Because the two terms are
dependent on each other, a better Kd setting may allow Kp to be adjusted for higher performance.
Incorrect Kd settings create oscillations. A low Kd setting creates low frequency oscillations. As Kd is increased, a high
frequency oscillation will become noticeable. Often the high frequency oscillation will be audible before it is noticeable on the error
plot. The example shows an extreme case of oscillation due to Kd set too high. When Kd is set properly, it will dampen the Kp
contribution, giving a smooth error plot.
Start adjusting the Kd in increments of 1.0 at a time, later switching to smaller increments as you approach your final
value. Your graph will look different slightly than the graphs displayed below due to factors such as motor velocity, encoder count,
motor performance, etc. The final Kd value should fall in the range of 1 to 15.
High KD
(Unstable)
Low KD
KD Set Correctly
KD Set to Low
Page 58 of 80
Fanuc Retrofits
Page 59 of 80
Fanuc Retrofits
Page 60 of 80
Fanuc Retrofits
Fanuc Retrofits
PN 2 7 9 1
14
9
ORG/BLK TO ENC. H
13
8
BLK TO ENC. J
12
7
PN 4 2 0 7 BLK/WHT TO ENC. K
11
6
BLU/WHT TO ENC. L
GRN/WHT TO DB15HD 9 (U)
GRN/WHT TO ENC. M
RED TO DB15HD 12 (+5V)
Bac k RED TO ENC. N
V iew RED/BLK TO DB15HD 14 (/V)
RED/BLK TO ENC. P
PN 4 3 9 5
CO NTA CTS : PN 43 9 4 HEA T S HRINK TUB ING PN DRAIN TO ENC. T
HO O D: PN 9 9 0 SHIELD TO DB15HD CASE 1 9 7 0 ON S HIELD W IRE
A CDC e n c o de r c a b le f o r A C mo to rs o r Fa n u c DC mo to rs
w ith Ce n tro id e n c o d er u p g rad e .
A 130912
Date: M o nd a y, S e p te m b e r 3 0 , 2 0 1 3 Sheet 1 of 1
Page 62 of 80
Filename: sv n://sof tware/hardware/Cables/FANUC_CABLES.DSN Auth: M RR
Fanuc Retrofits
L e n g th a s Re q u e s te d
En c od e r Co n n e c to r
S trip Ca b le 3 /4 " S tr ip Ca b le 3 /4 " A
M B
L N C
DB 1 5 HD FEMA L E K
T P
D
B L U TO A
B L U TO 1 J S R E
W HT TO B H F
W HT TO 2 G
RED TO C
G RN TO 3 B a c k V ie w
15
10
RED TO J
B L K /B L U TO 6
5
PN 2 7 9 1
14
RED TO K
9
B L K /W HT TO 7
4
CA B L E: 2 2 G A 4 PR S HIEL DED
13
PN 1 7 5 4 B L K /B L U TO D
8
B L K /G RN TO 8
3
12
B L K /W HT TO E
7
Pin S ig n a l Co lo r
B L K /RED TO 1 1
2
11
G RN TO F
6
A A BLU
RED TO 1 2
1
B B WHT
B L K /G RN TO G C +5V RED
S HIEL D TO CA S E D /A BLK/BLU
L a b e l: Fa n u c DC S HIEL D TO H E /B BLK/WHT
B a c k V ie w F Z GRN
B L K /RED TO N G /Z BLK/GRN
H SHIELD
PN 1 2 1 1 B L K /RED TO P J +5V RED
K +5V RED
HO O D: PN 9 9 0 B L K /RED TO T L
M
N 0V BLK/RED
P 0V BLK/RED
Pin S ig n a l Co lo r R TEMP SW
S TEMP SW
12 +5VDC RED T 0V BLK/RED
11 SIGNAL GROUND BLK/RED
3 Z GRN
8 /Z BLK/GRN
2 A WHT
7 /A BLK/WHT
1 B BLU
6 /B BLK/BLU
A 130830
Date: W e d ne s d a y, S e p te m b e r 0 4 , 2 0 1 3 Sheet 1 of 1
Filename:sv n://sof tware/hardware/Cables/MOTOR_CABLES.DSN Auth: M RR
Page 63 of 80
Fanuc Retrofits
4"
PN 6 3 3 C-g rid Ho u s in g
PN 8 6 5 Fe ma le Pin s
W HT TO A W HT
Enc o d e r Co n n e c to r B L K /W HT TO E B L K /W HT
B L U TO B BLU
A
B M B L K /B L U TO F B L K /B L U
C N L
P T K
G RN TO G G RN
D
R S B L K /G RN TO H B L K /GRN
J
E
H
F G RED TO N RED
B L K /RED TO J B L K /RED
Bac k G RY TO T 2 2 G A G RY PN3 0 2 2
V ie w
CA B L E: 2 2 G A 4 PR S HIEL DED
CONNECTOR: PN 1 7 5 4
PN 5112 Re mo v e s h ie ld a n d ja c ke t, u s e w ire s o n ly
Fill all connector
locations w ith pins
4"
w hen using the crimp
style connector. Co v e r w ith PN 1 9 7 0
SHIELD He a ts h r in k Tu b e
BLK (COM)
RED (+5V)
YEL (/Z)
ORG (Z)
BLU (/B)
GRN (B)
Pin Signal
Encoder
Color MS Color
BRN (/A)
En c o d e r PN ?
A
B
B
W
BLU WHT
WHT (A)
Q D2 0 0 -0 5 /0 5 -1 0 0 0 0 -0 -0 1 - T8 - 0 1 -0 2
C /B GRN BLU
D /W
E A BRN BLK/WHT
S ub. A s s y .: 12890 D W G N O : S 13363
PN 8 5 9 Ho u s in g
F /A WHT BLK/BLU Title
G
H
Z
/Z
ORG
YEL
GRN
BLK/GRN
PN 2 5 8 6 Pin s QD200 Wiring for Fanuc Black Cap with AC/DC
J 0V BLK BLK/RED
K /U Size Rev ision
L
M
N
V
U
5V RED RED
A 130905
P /V
R SPARE Date: T hurs d a y, S e p te m b e r 0 5 , 2 0 1 3 Sheet 1 of 1
S N/C
T SHIELD
Filename:sv n://sof tware/hardware/Cables/FANUC_CABLES.DSN Auth: M RR
Page 64 of 80
Fanuc Retrofits
BLU TO A
WHT/YEL TO B
GRN TO C
WHT/ORG TO D
Enc o d e r Co n n e c to r
BRN TO E
B
A WHT TO F
M
C N L ORG TO G
P T K
D
R S YEL TO H
J
E
F
H BLK TO J
G
VIO TO K En c o d e r Pig ta il PN 7 4 8 1
Bac k WHT/RED TO L
V iew GRY TO M
CONNECTOR: RED TO N
PN 12885
WHT/BRN TO P
PN 12885 is PN 5112
w ith slotted screw
holes
Fill all connector locations w ith pins w hen using the crimp
style connector.
Page 65 of 80
Fanuc Retrofits
4"
PN 6 3 3 C- g r id Ho u s in g
PN 8 6 5 Fe ma le Pin s
W HT TO E W HT
En c o d e r Co n n e c to r B L K /W HT TO F B L K /W HT
B L U TO A BLU
A
B M B L K /B L U TO C B L K /B L U
C N L
P T K
G RN TO G G RN
D
R S B L K /G RN TO H B L K /G RN
J
E
H
F G RED TO N RED
B L K /RED TO J B L K /RED
Bac k G RY TO T 2 2 G A G RY PN3 0 2 2
V ie w
CA B L E: 2 2 G A 4 PR S HIEL DED
CONNECTOR: PN 1 7 5 4
PN 5112 Re mo v e s h ie ld a n d ja c ke t, u s e w ir e s o n ly
Fill all connector
locations w ith pins
4"
w hen using the crimp
style connector. Co v e r w ith PN 1 9 7 0
SHIELD He a ts h r in k Tu b e
BLK (COM)
RED (+5V)
YEL (/Z)
ORG (Z)
BRN (/A)
WHT (A)
Encoder
Pin Signal Color MS Color BLU (/B) En c o d e r PN 7 5 4 6
A B BLU BLU
B W GRN (B) Q D2 0 0 - 0 5 /0 5 - 1 0 0 0 0 - 0 - 0 1 - T8 - 0 1 - 0 2
C /B GRN BLK/BLU
D /W
E A BRN WHT
S ub. A s s y .: 1298 2 D W G N O : S 14428
PN 8 5 9 Ho u s in g
F /A WHT BLK/WHT Title
G Z ORG GRN PN 2 5 8 6 Pin s
H /Z YEL BLK/GRN QD200 Wiring for Fanuc Yellow Cap with AC/DC
J 0V BLK BLK/RED
K /U Size Rev ision
L
M
N
V
U
5V RED RED
A 140317
P /V
R SPARE Date: M o nd a y, M a rc h 1 7 , 2 0 1 4 Sheet 1 of 1
S N/C
T SHIELD SHIELD GRY
Filename: sv n://sof tware/hardware/Cables/FANUC_CABLES.DSN Auth: M RR
Page 66 of 80
Fanuc Retrofits
Motor Pow er
Connector
Us e tu b in g PN 5 53 0 to ma ke la b els
ONE to A
ONE (Label: U) L en g th a s re q u e s te d
TWO to B
TWO (Label: U) F A
THREE to C
FOUR (Label: V) FOUR to D E G B
FIVE (Label: W) FIVE to D
CA B L E: 14 G A 7 CO ND SHIEL DED D C
PN ? SIX to E
SIX (Label: W)
GRN/YEL to G
THREE (Label: V)
MS3102A24-10P
GRN/YEL
DRAIN Fanuc Connection Centroid Connection
Y e llo w Crimp S p a d e HEA TS HRINK PN 1 42 4 Pin Signal AC/DC H1
HEA T S HRINK A U U
PN 1 8 23 B U U
TUB ING PN 2 7 2 0 C V V
O N DRA IN W IRE D V V
E W W
F W W
4" G EARTH Chassis
C ab le : A L P H A 654 07 C Y or A LP H A S F 612 21 C Y O R 0 05
Mo to r c ab le f o r Fa n u c Red Ca p 30 R, A lph a 2 2 , A lp h a
30 /2 0 0 0 , A lp h a 30 /3 0 0 0 , A lp h a 40
S ub . A s s y .: ? D W G N O : S 1 33 71
Title
A 130916
Date: M o nd a y, S e p te m b e r 1 6 , 2 0 1 3 Sheet 1 of 1
Filename: sv n://sof tware/hardware/Cables/FANUC_CABLES.DSN Auth: M RR
Page 67 of 80
Fanuc Retrofits
Motor Pow er
Connector
Us e tu b in g PN 55 3 0 to ma ke la b e ls
ONE to A
ONE (Label: U) Le n g th a s re q ue s te d
TWO to B D A
TWO (Label: V)
THREE to C
THREE (Label: W)
C B
CA BL E: 1 2 GA 4 CO ND SHIEL DED GRN/YEL to D
GRN/YEL PN 7 3 9 8
MS3106E22-22S
DRAIN
Y e llow Crimp S p a de HEA TS HRINK PN 1 4 2 4 Back View
PN 1 82 3 HEA T S HRINK
TUB ING PN 27 2 0 PN ?
O N DRA IN W IRE
4"
Fanuc Connection Centroid Connection
Pin Signal ACDC H1
A U U
B V V
C W W
D EARTH Chassis
Mo to r c ab le f o r Fa n u c Re d Ca p 1 0 , 20 , 2 0 M, 3 0 , Be ta 2 2is ,
A lp h a 1 2, A lp h a 2 2 , A lp h a 3 0/1 2 0 0
A 130830
Date: Thurs d a y, S e p te m b e r 1 2 , 2 0 1 3 Sheet 1 of 1
Filename: sv n://sof tware/hardware/Cables/FANUC_CABLES.DSN Auth: M RR
Page 68 of 80
Fanuc Retrofits
BLK J A
L e n gth a s Re q u e s te d BLK TO PIN C
GRN H B
GRN TO PIN D
RED N K
RED TO PIN G
WHT G P C
WHT TO PIN F
L M
1 " X 3 /8 " CA B L E: 1 6 G A 4 CO ND S HIELDED DRAIN TO PIN P
DRAIN HEA TS HRINK PN 1 4 32 F D
PN 1 4 2 6 E
Y e llow Crimp S p a de
PN 1 82 3
MS3106E28-20S
1 /8 " HEA TS HRINK O N EX PO SED B a c k V ie w
DRA IN W IRES PN 2 7 2 0
PN ?
A 130903
Date: Thurs d a y, S e p te m b e r 1 2 , 2 0 1 3 Sheet 1 of 1
Filename: sv n://sof tware/hardware/Cables/FANUC_CABLES.DSN Auth: M RR
Page 69 of 80
Fanuc Retrofits
Mo to r Co nn e c tor
Us e tu bin g PN 55 3 0 to ma ke la b e ls
TWO
ONE (Label: U) L e ng th a s re q u e s te d
ONE A B
TWO (Label: V)
GRN/YEL
THREE (Label: W) D C
CA B L E: 1 2 G A 4 CO ND S HIELDED THREE
GRN/YEL PN 7 3 98
HEA T S HRINK TUB ING PN B a c k V ie w
DRAIN 2 72 0 O N S HIEL D W IRE
Y e llo w Crimp S p a de HEA TSHRINK PN 1 4 24 PN 27 8 9
PN 1 82 3 HEA T S HRINK
TUB ING PN 2 7 2 0
O N DRA IN W IRE
4"
Mo to r c a b le f or Fa nu c Re d Ca p 0 , 5, B e ta 8 is , B eta 1 2 is , A lp h a 3 , A lph a 6 ,
Y e llo w Ca p 0M, 5 M, B la c k Ca p 0 , 5 , 0 L , 5L , mo s t Ce n tro id A C mo to rs
S ub. A s s y .: ? D W G N O : S 1 33 70
Title
AC/DC Medium Weight Motor Power Cable
Size Rev ision
A 130912
Date: Thurs d a y, S e p te m b e r 1 2 , 2 0 1 3 Sheet 1 of 1
Filename: sv n://sof tware/hardware/Cables/MOTOR_CABLES.DSN Auth: M RR
Page 70 of 80
Fanuc Retrofits
MS3102A18-10P
MS3102A18-10P
F D
MS3102A22-22P
E
MS3102A18-10P
Pin Signal
Fanuc Connection Centroid Connection En c o d e r Co n n e c to r A B
Pin Signal ACDC ENCODER (P1) B W
C /B
En c o d e r Co n n e c to r A A 1 A
B B 2 M B D /W
C +5V 12 N E A
A L C
B D /A 6 F /A
M T P
E /B 7 K D G Z
L N C
F Z 3 S R H /Z
T P J E
K D G /Z 8 J 0V
H F
S R H SHIELD K /U
J E G
J +5V 12 L V
H F K +5V 12 M U
G
L N/C MS3102E20-29P N +5V
M N/C P /V
MS3102A20-29P N 0V 11 PN 5112 R SPARE
P 0V 11 S SPARE
R THERMAL SW T SHIELD
S THERMAL SW
T 0V 11
F D
E
MS3102A28-20P
Page 72 of 80
Fanuc Retrofits
Model Number
Model Number
Type Type
Rotation Measurement Model Number
Rotation Measurement Model Number Technology
Technology
Page 73 of 80
Fanuc Retrofits
Model
Type
Page 74 of 80
Fanuc Retrofits
Model
Type
Page 75 of 80
Fanuc Retrofits
Model
Type
Page 76 of 80
Fanuc Retrofits
Fanuc 6055/6044 Spindle Drive Inverters
Supported, Analog input (Tags on Bottom)
Tag Containing
Drive Type
Page 77 of 80
Fanuc Retrofits
Page 78 of 80
Fanuc Retrofits
Appendix D
1. The numbers in this chart are calculated from the Fanuc motor data sheets. Centroid has not verified these numbers.
Page 79 of 80
Fanuc Retrofits
1. The numbers in this chart are calculated from the Fanuc motor data sheets. Centroid has not verified these numbers.
2. Data sheet information on Hp and Kw power could not be found; instead these numbers are calculated from torque
specifications.
3. Most Fanuc documentation lists the αC Series as a member of the α Series, while some Fanuc documentation lists the αC
Series as a member of the β series.
Page 80 of 80