GE Fanuc Automation
Computer Numerical Control Products
αα Series Control Motor Amplifier Servo Amplifier Unit
Maintenance Manual
GFZ-65195EN/01 August 1995
GFL-001
Warnings, Cautions, and Notes as Used in this Publication
Warning
Warning notices are used in this publication to emphasize that hazardous voltages, currents, temperatures, or other conditions that could cause personal injury exist in this equipment or may be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment, a Warning notice is used.
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note Notes merely call attention to information that is especially significant to understanding and operating the equipment.
This document is based on information available at the time of its publication. While efforts have been made to be accurate, the information contained herein does not purport to cover all details or variations in hardware or software, nor to provide for every possible contingency in connection with installation, operation, or maintenance. Features may be described herein which are not present in all hardware and software systems. GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made.
GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or usefulness of the information contained herein. No warranties of merchantability or fitness for purpose shall apply.
©Copyright 1995 GE Fanuc Automation North America, Inc.
All Rights Reserved.
PREFACE
This manual provides information necessary for maintenance of the FANUC Control Motor Amplifier α series (servo amplifier units SVU and SVUC). There are two servo amplifier unit types, as listed below.
Name Designation Remark
SVU A06B-6089-H*** · The specification of this type is partly different from that of the C series servo amplifier.
· Conforms to VDE0160.
SVUC A06B-6090-H*** · This type is designed to satisfy the compati bility with the C series servo amplifier.
· Does not conform to VDE0160.
Part I describes the procedure to start up the servo amplifier unit. Part II describes the error recovery procedure. Part III describes the cautions that should be observed in switching from the C series servo amplifier to the α series servo amplifier unit SVU or SVUC.
This document uses the abbreviations listed below.
Model Abbreviation
A06B-6089-H*** SVU
A06B-6090-H*** SVUC
FANUC Series � FS-�
FANUC Power Mate MODEL � PM-�
In this manual, the servo parameter numbers are arranged as shown below.
FS-15 �
Function name or bit of the servo parameter �No. 1877
Overload protection coefficient (OVC1)
�
FS-16, 18, 20, 21 PM-D, F
�
FS-0C
No. 8X62No. 2062
In addition to this manual, those listed below are provided for the FANUC Control Motor Amplifier α series (servo amplifier unit). 1) FANUC CONTROL MOTOR AMPLIFIER α series
SERVO AMPLIFIER UNIT DESCRIPTIONS B-65192EN 2) FANUC AC SERVO MOTOR α series
DESCRIPTIONS B-65142E 3) FANUC AC SERVO MOTOR α series
PARAMETER MANUAL B-65150E
Examples
When maintaining or inspecting the servo amplifiers, keep the power supply switched off. Also make sure that the “CHARGING” LED (red) beside the circuit breaker on the front panel of the servo amplifier is off. (See Appendix A.)
IMPORTANT
B–65195EN/01 Table of contents
i
I. START-UP PROCEDURE
1.
2.
3.
4.
5.
6.
II. TROUBLESHOOTING AND RECOVERY
1.
2.
3.

4.
III. COMPATIBILITY OF THE SVU AND SVUC WITH THE C SERIES AMPLIFIER
1.
2.
3.

B.
I. START-UP PROCEDURE
B–65195EN/01 1. OVERVIEWSTART-UP PROCEDURE
3
1 OVERVIEW This part provides information necessary to confirm the system configuration and start up the servo amplifier units :
– Configuration
– Start- up procedure
– Operation confirmation procedure
2. CONFIGURATION B–65195EN/01START-UP PROCEDURE
4
2 CONFIGURATION
B–65195EN/01 2. CONFIGURATIONSTART-UP PROCEDURE
5
The basic configuration is shown below.
Refer to “FANUC CONTROL MOTOR AMPLIFIER α Series (SERVO AMPLIFIER UNIT) Descriptions” (B-65192EN) for detail.
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ÃÃÃ ÃÃÃ ÃÃÃ ÃÃÃ
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Ex. Tow SVU2s
Power Supply For Control Circuit
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Servo Amplifier Unit
SVU2
Servo Amplifier Unit
SVU2
1 φ AC200/220/230V +10, –15%
AC Line Filter
3φ (AC380V) (AC415V) (AC460V)
AC200V AC220V AC230V
Breaker Magnetic Contactor
Servo Motor
Servo Motor
Servo Motor
Servo Motor
(Note 1) (Note 2) (Note 3)Power Transformer
: Basic : Optional : Units prepared by the machine tool builder
Notes 1 This circuit breaker is intended to protect the power cord and related equipment. A circuit
breaker to protect a servo amplifier unit is provided within the servo amplifier unit. 2 This AC line filter should always be used,so influence by harmonic noise to the power supply
can be reduced. When the line voltage is out of specification,and a power transformer (isolation type) is used, the AC line filter can be omitted. If the AC line filter is ineffective in making the servo amplifier unit satisfy EMC standards, use an appropriate commercial noise filter.
3 The magnetic contactor is required if it is necessary to qualify for European CE marking. 4 When using the SVU,install a surge absorber between the power lines and between a power
line and a ground line at the entrance of the power magnetic cabinet in order to protect the equipment from a surge voltage. For the SVUC, it is unnecessary to install an external surge absorber because the SVUC has a built- in surge absorber as the C series amplifier.
2.1 BASIC CONFIGURATION
2. CONFIGURATION B–65195EN/01START-UP PROCEDURE
6
(1) SVU 1
Model Oder specification
Wiring board specification
P. C. B. specification
Remark
SVU1-12 A06B-6089-H101 A16B-2202-0950 A20B-2002-0030
SVU1-20 A06B-6089-H102 A16B-2202-0951
SVU1-40 A06B-6089-H104 A20B-2002-0040 A20B-2002-0031
SVU1-80 A06B-6089-H105 A20B-2002-0041
SVU1-130 A06B-6089-H106 A20B-2002-0050
(2) SVU 2
Model Oder specification
Wiring board specification
P. C. B. specification
Remark
SVU2-12/12 A06B-6089-H201 A20B-2002-0060 A20B-2002-0032
SVU2-12/20 A06B-6089-H202 A20B-2002-0061
SVU2-20/20 A06B-6089-H203 A20B-2002-0062
SVU2-12/40 A06B-6089-H204 A20B-2002-0063
SVU2-20/40 A06B-6089-H205 A20B-2002-0064
SVU2-40/40 A06B-6089-H206 A20B-2002-0065
SVU2-40/80 A06B-6089-H207 A20B-2002-0066
SVU2-80/80 A06B-6089-H208 A20B-2002-0067
SVU2-12/80 A06B-6089-H209 A20B-2002-0068
SVU2-20/80 A06B-6089-H210 A20B-2002-0069
2.2 MAJOR COMPONENTS
2.2.1 SVU
B–65195EN/01 2. CONFIGURATIONSTART-UP PROCEDURE
7
(1) SVUC 1
Model Oder specification
Wiring board specification
P. C. B. specification
Remark
SVUC1-4 A06B-6090-H002 A16B-2202-0955 A20B-2002-0030 /03B or laterSVUC1-12 A06B-6090-H003 A16B-2202-0956 /03B or later
SVUC1-40 A06B-6090-H004 A20B-2002-0045 A20B-2002-0031 /03B or laterSVUC1-80 A06B-6090-H006 A20B-2002-0047 /03B or later
SVUC1-130 A06B-6090-H008 A20B-2002-0055
(2) SVUC 2
Model Oder specification
Wiring board specification
P. C. B. specification
Remark
SVUC2-4/4 A06B-6090-H222 A20B-2002-0151 A20B-2002-0032 /03B or laterSVUC2-4/12 A06B-6090-H223 A20B-2002-0152 /03B or later
SVUC2-4/40 A06B-6090-H224 A20B-2002-0153
SVUC2-12/12 A06B-6090-H233 A20B-2002-0154
SVUC2-12/40 A06B-6090-H234 A20B-2002-0155
SVUC2-12/80 A06B-6090-H236 A20B-2002-0156
SVUC2-40/40 A06B-6090-H244 A20B-2002-0157
SVUC2-40/80 A06B-6090-H246 A20B-2002-0158
SVUC2-80/80 A06B-6090-H266 A20B-2002-0159
2.2.2 SVUC
3. START-UP PROCEDURE B–65195EN/01START-UP PROCEDURE
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3 �� ���� ���������
B–65195EN/01 3. START-UP PROCEDURESTART-UP PROCEDURE
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Start-up procedure
1. Confirm the CNC model, nd the specifications of the control motors, detectors, and servo amplifier units.
2. Check for damage to the appernce.
3. Confirm the line voltage and power requirements. (See Section 3.2.)
4. Connect the grounding line, power cords, and motor power wires. (See Section 3.2.)
5. Check the settings. (See Section 3.3.)
6. Start up the servo amplifier units.
3.1 OVERVIEW OF THE START-UP PROCEDURE
3. START-UP PROCEDURE B–65195EN/01START-UP PROCEDURE
10
(1) Line voltge Before connecting the power source to the mchine, check the voltge of the power source.
Item Specifiction
Three-phase input for power
Voltage 200/220/230 VAC+10%, –15% Frequency 50Hz, 60Hz �� 2Hz Voltage deviation due to load (at maximum output) shall be 7% or less.
Single-phase input for control power
Voltage 200/220/230 VAC+10%, –15% Frequency 50Hz, 60Hz �� 2Hz
Single-phase input for ESP of SVUC
Voltage 100VAC +10%, –15% Frequency 50Hz �� 2Hz OR Voltage 100/110VAC +10%, –15% Frequency 60Hz �2Hz)
(2) Power requirements • The power requirement of the servo amplifier unit is the sum of the
power requirements of individual servo motors. • When servo motor accelertes or decelertes rapidly, it may require
power twice as much as the continuous rating momentarily. Check on the input voltage required when more than one servo motor accelertes or decelertes simultaneously, and keep the voltage above 170 VAC.
• Refer to Chapter 5 of “SERVO AMPLIFIER UNIT Descriptions” (B-65192EN) for details of the power requirements.
(3) When motor power and control power are input separately from each other. When supplying motor power and control power separately from each other, be sure to remove a jumper connecting L1C and L1, and a jumper connecting L2C and L2. (These jumpers have been factory-insatlled.)
When it is necessary to make a motor operating with the SVU qualify for European CE marking, ground the motor using the accessory plate terminal.
Note that installing more than one protection ground line with single screw makes it impossible for the motor to qualify for European CE marking. (See Appendix NO TAG.)
Because the drive circuit for the servo amplifier unit operates by pulse width modulation control system using IGBTs, high-frequency leakage current flows from the motor windings and power lines to the ground through stray capacitance. This leakage current may cause the ground fault interrupter or leakage protection relay installed in the power line on the power supply side to malfunction. So they must have a maesure against influence from inverters so tht they do not malfunction.
3.2 CONNECTING THE POWER SUPPLY
3.2.1 Confirming the Line Voltage and Power Requirements
3.2.2 Connecting to the Protection Ground
3.2.3 Leakage Current and Selecting a Ground Fault Interrupter
B–65195EN/01 3. START-UP PROCEDURESTART-UP PROCEDURE
11
(1) Leakage current from the motor Determine the leakage current from each motor according to the table below.
Motor model Leakage current of commercial power frequency component
α0.5 to α6 1.8 mA
α12 to α22 2.0 mA
α30 to α40 2.5 mA
3. START-UP PROCEDURE B–65195EN/01START-UP PROCEDURE
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There are four channel switches above the 7-segment LED behind the terminal board cover on the front of the servo amplifier. These switches should be set as described below before use of the servo amplifier.
(1) Positions The switches are sequentially numbered 1, 2, 3, and 4 with the one at the bottom as switch 1. The OFF position is on the left, and the ON position on the right.
OFF ON
�ON
4 3 2 1
(2) Switch 1 setting The setting of switch 1 varies with the interface type used between the NC and servo amplifier. � If the setting is incorrect, an alarm occurs.
If the load is light, the motor may keep running.
ON Type B interface
OFF Type A interface
• The following NC unit has the type interface. FS-0C, FS-15A, FS-15B, FS-16A, FS-16B, FS-18A, FS-21TA, PM-D, PM-F
• The following NC unit has the type B interface. FS-20, FS-21TB, FS-21GA, FS-16B, FS-18B, PM-H
(3) Switch 2 setting For the SVU, set switch 2 to off. For the SVUC, set switch 2 to on. � If the setting is incorrect, the VRDY OFF alarm my occur.
(4) Switch 3 and 4 setting The setting varies depending on the regenerative discharge resistance used.
3.3 SWITCH SETTING
B–65195EN/01 3.  START-UP PROCEDURE B–65195EN/01START-UP PROCEDURE
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Use of an absolute pulse coder requires a battery. The way the battery is connected varies with the type (A or B) of the interface used between the NC and the servo amplifier unit.
(1) Type A The battery is connected on the NC side. (Refer to the applicable NC manual for details.)
(2) Type B The battery is connected on the servo amplifier unit side.
Servo Amplifier Unit
Battery
Battery : A06B-6050-K061 Bttery Case : A06B-6050-K060 Battery Cable : A02B-0120-K809 (5m)
Connector : JA4
3.4 CONNECTING THE BATTERY FOR AN ABSOLUTE PULSE CODER
B–65195EN/01 3. START-UP PROCEDURESTART-UP PROCEDURE
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(1) Type � For SVU
A06B-6089-H101 to H102 (16Ω/100W, with natural cooling)
A06B-6089-H510
A06B-6089-H101 to H105, H201 to H210 (16Ω/200W, with natural cooling)
A06B-6089-H500 (A06B-6066-H500) Note 1)
A06B-6089-H103 to H105, H201 to H210 (16Ω/800W, with cooling fan)
A06B-6089-H713 (A06B-6066-H713) Note 1)
A06B-6089-H103 to H105, H201 to H210 (16Ω/1200W, with cooling fan)
A06B-6089-H714 (A06B-6066-H714) Note 1)
A06B-6089-H106 (8Ω/800W, with cooling fan)
A06B-6089-H711 (A06B-6066-H711) Note 1)
A06B-6066-H106 (8Ω/1200W, with cooling fan)
A06B-6089-H712 (A06B-6066-H712) Note 1)
� For SVUC
A06B-6090-H004 to H006, H2** (16Ω/200W, with natural cooling)
A06B-6089-H500 (A06B-6066-H500) Note 1)
A06B-6090-H004 to H006, H2** (16Ω/800W, with cooling fan)
A06B-6089-H713 (A06B-6066-H713) Note 1)
A06B-6090-H004 to H006, H2** (16Ω/1200W, with cooling fan)
A06B-6089-H714 (A06B-6066-H714) Note 1)
A06B-6090-H008 (8Ω/800W, with cooling fan)
A06B-6089-H711 (A06B-6066-H711) Note 1)
A06B-6090-H008 (8Ω/1200W, with cooling fan)
A06B-6089-H712 (A06B-6066-H712) Note 1)
Notes If it is unnecessary to conform to safety standards, separate regenerative discharge unit for the C series servo amplifier indicated in parentheses can be used in place of the formal model.
3.5 CONNECTING THE SEPARATE REGENERATIVE DISCHARGE UNIT
3. START-UP PROCEDURE B–65195EN/01START-UP PROCEDURE
16
(2) Connecting 1. A06B-6089-H500, H510
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Note 1)
Note 1)
Resistor 16Ω
Separate Regenerative Discharge Unit
Thermostat Normally Short
SVU, SVUC
T3
RC 1
RI
RE 2
TH1 3
TH2 4
T1
Notes To connect a separate regenerative discharge unit, remove jumper connecting RC and RI and jumper connecting TH1 and TH2. (These jumpers have been factory-installed.)
B–65195EN/01 3. START-UP PROCEDURESTART-UP PROCEDURE
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2. A06B-6089-H711, H712, H713, H714
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Note 1)
Note 1)
Resistor H711, H712 8Ω H713, H714 16Ω
Separate Regenerative Discharge Unit
Thermostat Normally Short
SVU1-130, SVUC1-130
T3
RC 1
RI
RE 2
TH1 3
TH2 4
T1
FAN1 5
FAN2 6
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Fan
Notes To connect separate regenerative discharge unit, remove jumper connecting RC and RI and jumper connecting TH1 and TH2.
3. START-UP PROCEDURE B–65195EN/01START-UP PROCEDURE
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(1) Before servo parameter initialization Before starting servo parameter initialization, confirm the following: 1. NC model (Example: Series 15–B) 2. Servo motor model (Example: α 6/2000) 3. Pulse coder built in a motor (Example: α pulse coder) 4. Whether a separate position detector is used or not (Example:
Not used) 5. Distance the machine tool moves per revolution of the motor
(Example: 10 mm per one revolution) 6. Machine detection unit (Example: 0.001 mm) 7. NC command unit (Example: 0.001 mm)
(2) Servo parameter initialization procedure 1. Switch on the NC in an emergency stop state.
Enable parameter writing (PWE = 1). 2. Initialize servo parameters on the servo setting screen.
To display the servo setting screen, follow the procedure below, using the key on the NC. – Series 15
Press the SERVICE key several times, and the servo setting screen will appear.
– Series 16, 18, 20, and 21
SYSTEM ⇒ [SYSTEM] ⇒ [ ] ⇒ [SV–PRM] If no servo screen appears, set the following parameter as shown, and switch the NC off and on again.
b7 b6 b5 b4 b3 b2 b1 b0
3111 SVS
SVS (b0)=1 (to display the servo screen) – Series 0–C
Press the PARAM key several times, and the servo setting screen will appear. If no servo screen appears, set the following parameter as shown, and switch the NC off and on again.
b7 b6 b5 b4 b3 b2 b1 b0
389 SVS
SVS (b0)=0 (to display the servo screen) When the following menu appears on the screen, move the cursor to the item you want to set and enter data directly.
3.6 INITIALIZING SERVO PARAMETERS
B–65195EN/01 3. START-UP PROCEDURESTART-UP PROCEDURE
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Servo set 01000 N0000
X axis Z axis INITIAL SET BITS 00001010 00001011 Motor ID No. 16 16 AMR 00000000 00000000 CMR 2 2 Feed gear N 1 1
(N/M) M 100 1 Direction Set 111 –111 Velocity Pulse No. 8192 819 Position Palse No. 12500 1250 Ref. counter 10000 10000
Value SETTING =
Servo setting menu
3. Start initializing
b7 b6 b5 b4 b3 b2 b1 b0
DGPR PLC0 Initial
set bits
0.1µm
PLC0 (b0) = 0
⇐ This bit is set to 1 automatically after initialization.
Start initializing (Keep the CNC switched on up until step 11.)
Increment system
1µm
PLC0 (b0) = 1
DGPR (b1) = 0
3. START-UP PROCEDURE B–65195EN/01START-UP PROCEDURE
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4. Specify the motor ID No.
Select the motor ID No. according to the model and specification (four digits in the middle segment of A06B–XXXX–BXXX) of your motor.
Motor model α12HV α22HV α30HV αC3/2000 αC6/2000 αC12/2000 αC22/1500 Motor specification 0176 0177 0178 0142 0123 0127 0128
Motor type No. 3 4 5 7 8 9 10
α0.5 α3/3000 α6/2000 α6/3000 α12/2000 α12/3000 α22/2000 α22/3000
0142 0123 0127 0128 0142 0143 0147 0148
13 15 16 17 18 19 20 21
α30/2000 α30/3000 αM3/3000 αM6/3000 αM9/3000 0152 0153 0161 0162 0163
22 23 24 25 26
α22/1500 α30/1200 α40/2000 with FAN
α40/2000 without FAN
E6/2000 E1/3000 E2/3000
0146 0151 0158 0157 0106 0101 0102
27 28 29 30 34 35 36
α2/2000 αL3/2000 αL6/3000 αL9/3000 αL25/3000 αL50/2000 α1/3000 α2/3000
0372 0561 0562 0564 0571 0572 0371 0373
46 56 57 58 59 60 61 62
5. Set AMR as described below. The setting does not depend on the model of the motor.
α pulse coder 00000000
6. Set CMR with the scale of a distance the NC instructs the machine to move.
CMR = Command unit/Detection unit
CMR 1/2 to 48 Setting value = CMR � 2
Usually, CMR=1, so specity 2.
7. Specify the flexible feed gear (F.FG). This function makes it easy to specify a detection unit for the leads and gear reduction ratios of various ball screws by changing the number of position feedback pulses from the pulse coder and separate detector.
1000000
Number of position pulses neces- sary for each revolution of the motor
Setting for the α pulse coder and serial pulse coder A in the semi–closed mode
=
(Note1)
F.FG numerator (�32767)
F.FG denominator (�32767) (as irreducible fraction)
NOTE1 For both F.FG numerator and denominator, the maximum setting value (after reduced) is 32767.
B–65195EN/01 3. START-UP PROCEDURESTART-UP PROCEDURE
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(Example of setting) For detection in 1 µm units, specify as follows:
Ball screw lead Number of necessaryposition pulses F& FG
10 (mm/rev) 10000 (pulses/rev) 1/100
20 20000 2/100 or 1/50
30 30000 3/100
(Example of setting) If the machine is set to detection in 1,000 degree units with a gear reduction ratio of 100:1 for the rotation axis, the table rotates by 360/100 degrees each time the motor makes one turn. 1000 position pulses are necessary for the table to rotate through one degree. The number of position pulses necessary for the motor to make one turn is: 360/100 _ 1000 = 3600
3600=F.FG numerator F.FG denominator 1000000
= 36 10000
Number of position pulses necessary for the motor to make one turn
Setting for use of a separate detector (full–closed)
= F.FG numerator (�32767)
F.FG denominator (�32767) (as irreducible fraction)
Number of position pulses from the separate detector when the motor makes one turn
NOTE2 DMR can also be used with the separate position detector, provided that F.FG = 0.
Example of setting) When the separate detector detects 1 µm for 10000 (pulses/rev)
Ball screw lead Number of necessaryposition pulses F& FG DMR
1 (mm/rev) 1000 (pulses/rev) 1/10 –
5 5000 1/2 2
10 10000 1/1 4
8. Specify the direction in which the motor rotates.
111 Clockwise as viewed from the pulse coder
-111 Counterclockwise as viewed from the pulse coder
3. START-UP PROCEDURE B–65195EN/01START-UP PROCEDURE
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9. Specify the number of velocity pulses and the number of position pulses.
Semi–closed Full–closed
Command unit (µm) 1 0.1 1 0.1
Initialization bit b0=0 b0=1 b0=0 b0=1
Number of velocity pulses 8192 819 8192 819
Number of position pulses 12500 1250 Np Np/10
Np:Number of position pulses from the separate detector when the motor makes one turn
When using a separate detector (full–closed mode), also specify the following parameters: – Series 15, 16, 18, 20, 21
b7 b6 b5 b4 b3 b2 b1 b0
1807
PFSE
⇑ Must be specified only for Series 15
PFSE(b3) The separate position detector is:
0:Not used 1:Used
NOTE This parameter is used only for Series 15.
b7 b6 b5 b4 b3 b2 b1 b0
1815 OPTX
⇑ Must be specified for all NCs.
OPTX(b1) The separate position detector is:
0:Not used 1:Used
NOTE For Series 16, 18, 20, and 21, setting this parameter causes bit 3 of parameter No. 2002 to be set to 1 automatically.
– Series 0–C
b7 b6 b5 b4 b3 b2 b1 b0
37 STP8 STP7 STP4 STPZ STPY STPX
STPX to 8 The separate position detector is:
0:Not used for the X–axis, Y–axis, Z–axis, fourth axis, seventh axis, or eighth axis
1:Used for the X–axis, Y–axis, Z–axis, fourth axis, seventh axis, and eighth axis
10. Specify the reference counter. The reference counter is used in making a return to the reference position by a grid method. The value to be specified is the number of pulses necessary for the
B–65195EN/01 3. START-UP PROCEDURESTART-UP PROCEDURE
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motor to make one turn, or a value obtained by dividing the number by an integer. (Example of setting)
α pulse coder, semi–closed (detection in 1 µm units)
Ball screw lead Number of nec- essary position
pulses
Reference counter Grid width
10mm/rev 10000pulses/rev 10000 10mm
20 20000 20000 20
30 30000 30000 30
11. Switch the NC off and on again. This completes servo parameter initialization. If a servo alarm related to pulse coders occurs for an axis for which a servo motor or amplifier is not connected, specify the following parameter.
b7 b6 b5 b4 b3 b2 b1 b0
1953
8X09 SERD
2009
SERD(b0) The serial feedback dummy function is:
0:Not used 1:Used
12. When you are going to use an α pulse coder as an absolute pulse coder, use the following procedure. The procedure for setting absolute position communication using the α pulse coder is somewhat different from the procedure using serial pulse coder A. 1. Set the following parameter, and switch the CNC off.
– Series 15, 16, 18, 20, 21
b7 b6 b5 b4 b3 b2 b1 b0
1815 APCX
Bit 5 (APCX) 0:Does not perform as absolute position pulsecoder. 1:Performs absolute position as communication pulsecoder.
– Series 0–C
b7 b6 b5 b4 b3 b2 b1 b0
21 APC8 APC7 APC4 APCZ APCY APCX
STPX to 8 0:Does not perform absolute position communication for the
X–, Y–, Z–, 4–, 7–, or 8–axis. 1:Performs absolute position communication for the X–, Y–,
Z–, 4–, 7–, or 8–axis. 2. After making sure that the battery for the pulse coder is
connected, switch the NC on.
These steps were added.
⇐
3. START-UP PROCEDURE B–65195EN/01START-UP PROCEDURE
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3. Absolute position communication is performed, and a request to return to the reference position is displayed.
4. More motor more than one revolution by JOG Feed.
5. Turm off and on the CNC.
6. Absolute position communication is performed, and a request to return to the reference position is displayed.
7. Return to the reference position.
B–65195EN/01 4. OPERATION CONFIRMATION
METHODSTART-UP PROCEDURE
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4 ��� ���� � �� �� ���� � �����
4. OPERATION CONFIRMATION METHOD B–65195EN/01START-UP PROCEDURE
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3. After confirming the NC parameters,release the emergency stop condition.
1. Supply power.
See Section 4.3.
2. The STATUS indicator indicates “–”.
The STATUS indicator does not indicate “–”.
The STATUS indicator does not indicate “0”.
See Section 4.3.
4. The STATUS indicator indicates “0”.
5. Check the servo motor operation.
Alarm is issued
See Chapter II.
The motor malfunctions.
Refer to “FANUC AC SERVO MOTOR α Series Parameters.”
4.1 CONFIRMATION PROCEDURE
B–65195EN/01 4. OPERATION CONFIRMATION
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The check pins in the servo amplifier unit enable checking the control power supply voltage and motor current. There are six check pins in the servo amplifier unit. Open the terminal cover on the servo amplifier unit front panel,and you will see the six check pins below the 7-segment LED. (See Appendix NO TAG.)
OFF ON
�ON
4 3 2 1
IRL IRM
ISL ISM
IRL, IRM ISL, ISM
Motor instantaneous current
Power supply for control circuit
ISL
0V +5V
+5V, 0V
The voltage across the 0V and +5V check pins should be 5V +5%.
The motor instantaneous current can be measured by observing the voltage across the 0V and IRL, IRM, ISL, or ISM check pins on an oscilloscope. This measurement cannot be done correctly with a volt-ohm-milliammeter. The relationships between the motor instantaneous current and the measured voltage are as described below. The servo amplifier name has a number enclosed in a box “�”. This number is a limit to the motor instantaneous current. It is determined so that when the motor current reaches the limit,the measured voltage is �4V. Therefore, the coefficient to calculate the motor current is obtained as follows.
Coefficient to calculate = the motor current
Limit to Motor instantaneous current
4V [A/V]
4.2 SERVO AMPLIFIER UNIT CHECK PINS
4.2.1 Checking the +5V Power Supply Voltage
4.2.2 Checking the Motor Instantaneous Current
4. OPERATION CONFIRMATION METHOD B–65195EN/01START-UP PROCEDURE
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Then the motor instantaneous current can be obtained by multipling this coefficient to the voltage observed on the check-pin.
For example SVU1-40
Coefficient to calculate = the motor current 4V
40A = 10 [A/V]
The servo amplifier name SVU (C) 1-�
Limit to Motor instantaneous current �
SVU (C) 2-�/�
M axis : Limit to Motor instantaneous current L axis : Limit to Motor instantaneous current
� �
Limit to Motor instantaneous current [A]
Coefficient to caliculate the motor current [A/V]
4 1
12 3
20 5
40 10
80 20
130 32.5
B–65195EN/01 4. OPERATION CONFIRMATION
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The STATUS indicator is a 7-segment LED indicator above the check pins.
Indication Description
The 7-segment indicator is off.
– The control power is not supplied.
– The power supply circuit in the servo amplifier unit is defective. (Replace the fuse if necessary. If the indicator is still off,replace the servo amplifier unit. )
The servo amplifier unit is waiting for the ready signal from the NC. (The name of the ready signal is *MCON.)
The servo amplifier unit is in a ready state.
The motor is being energized.
ex. All indications other than those described above mean an alarm condition.
– See chapter II for the troubleshooting and recovery procedures.
4.3 STATUS INDICATOR
5. AXIS LEFT UNUSED IN A MULTI-AXIS AMPLIFIER B–65195EN/01START-UP PROCEDURE
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5 ����� ��� � � ����� � � �� ��� ������� �� ������ If an axis is left unused, for example, in a two-axis amplifier, remove the cable between the NC and servo amplifier unit, and insert a dummy connector,with pins 8 and 10 strapped, into the JV*B (for type A interface) or JS*B (for type B interface) connector of that axis.
If a dummy connector is inserted, it prevents the motor of the corresponding axis from being energized. In this state, the dynamic brake is not applied to the motor, leaving it in a free state. Be careful especially about vertical- axis motors in this situation.
Servo Amplifier
JV*B or JS*B
�� Dummy Connector with pins 8 and 10 strapped
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6 SERVO CHECK BOARD (1) General
The servo check board receives the digital value used for control inside the digital servo as numerical data and converts it to an analog form.
(2) Servo check board specifications
Specification Name
A06B–6057–H602 Servo check board (with a cable having a provision to pre- vent incorrect insertion)
A02B–0120–C211 Servo adaptor board (not required for Series 0–C or 15–A)
(3) Connecting the servo check board When connecting the check board, always keep the NC switched off. If you do not obtain a correct waveform, install strapping on the 5 MHz side of clock pin S1 on the check board.
6. SERVO CHECK BOARD B–65195EN/01START-UP PROCEDURE
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NC
MAIN CPU
Connector JA8A
Adaptor cable
Servo check board first and second axes
Servo check board third and
fourth axes
OPTION–2 JA8B
Preventing reverse insertion cable
To the analog spindle
Adaptor board
Fifth to eight axes
Do not mix up CN0 with CN1.
Axis control board Servo check board
TEST1 TEST2
CN0 CN1
Preventing reverse insertion cable
� Series 15–B, 16, 18, 20, 21, Power Mate MODEL D, Power Mate MODEL F
� Series 0–C, 15–A
(4) Location of signal output
Check pin TSAL TSAM CH1 CH2 CH3 CH4 CH5 CH6
Signal L axis VCMD
L axis TCMD
M axis VCMD
M axis TCMD
L axis TSA
M axis TSA
(Check terminal TSAL or TSAM is not used.)
(5) VCMD signal The VCMD signal is used to output a speed command. It can also be used to measure a very small vibration or uneven movement of the motor. The VCMD signal conversion mode can be switched by a parameter. Because the VCMD signal is clamped at +5 V, the waveform may become difficult to observe. In such a case, switch for easier observation.
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b7 b6 b5 b4 b3 b2 b1 b0
1956
8X12 VCM2 VCM1
2012
VCM2 VCM1 Specified speed / 5V
0 0 0.9155 rpm
0 1 14 rpm
1 0 234 rpm
1 1 3750 rpm
To check small vibrations, monitor the entire vibration on the DC mode of the ascilloscope then enlarge monitor the desired range on the AC mode.
GND
DC mode
Enlarge
AC mode
VCMD
GND E
1/f
When the signal conversion result for the VCMD waveform is W (rpm/5 V), the voltage per positional shift pulse is:
Voltage (V) per positional deviation pulse = 300 _ Position gain (S–1)
Number of positional feedback pulses/motor revolution _ W
(Example) Assume the conditions: Position gain = 30 (S–1), the number of positional feedback pulses/motor revolution = 1000 pulses, and signal conversion result for the VCMD waveform = 14 rpm/5 V with 1 µm/pulse)
Under these conditions, if you observe E = 300 mV and 1/f = 20 ms: Voltage per positional deviation pulse = 64 mv/pulse Therefore, table vibration = 300 _ 1/64 = 4.6 µm, with a vibration period of 50 Hz
(6) TCMD signal The TCMD signal outputs a motor torque command. It may be different from the actual current (IR, IS) of the motor rotating at high speed, because the motor produces a back electromotive force.
6. SERVO CHECK BOARD B–65195EN/01START-UP PROCEDURE
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Maximum current
Signal output for maximum
current Ap/V Applicable servo moter
12Ap 4.44V 2.7 α0.5, α1/3000 α/2000, α2/3000
20Ap 4.44V 4.5 αC3/2000, αC6/2000, αC12/2000
40Ap 4.44V 9 α12HV, α22HV, α30HV αC22/1500, αC30/1200 αM3/3000 α3/3000, α6/2000 α12/2000, α22/1500 αL3/3000
80Ap 4.44V 18 αM6/3000, αM9/3000 α6/3000, α12/3000 α22/2000, α30/1200 αL6/3000, αL9/3000
130Ap 4.44V 29 α22/3000, α30/2000, α30/3000 α40/2000 αL25/3000, αL50/2000
Root mean square value (RMS) = TCMD signal output (Ap) � 0.71
(7) TSA signal The TSA signal outputs a motor speed.
Signal Conversion 3750 rpm/5V
If the TSA signal is clamped at 5 V, check whether the following parameter is specified.
Be sure to specify 0.
1726
Not used
2115
II. TROUBLESHOOTING AND RECOVERY
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1 �������� This part describes troubleshooting and recovery procedures.Each item should be carefully followed to find the cause of trouble and take necessary actions.
First, check the alarm No. (displayed on the CNC) and the STATUS indicator in the servo amplifier unit to find the cause of trouble by referring to Chapter 2. Second, take appropriate actions according to Chapter 3.
2. ALARM NUMBER AND BRIEF DESCRIPTIONS B–65195EN/01TROUBLESHOOTING AND RECOVERY
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2 � �� � �� ���� ���� ������ ������ �����
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Alarm No. SVU, SVUC Description Remark
SV001 Overload alarm (OVC) 3.3.2
SV003 8 L axis over-current alarm (HCL) 3.1.2
8. L axis IPM alarm (IPML) 3.1.2
9 M axis over- current alarm (HCM) 3.1.2
9. M axis IPM alarm (IPMM) 3.1.2
b L, M axis over-current alarm (HCLM) 3.1.2
b. L, M axis IPM alarm (IPMLM) 3.1.2
SV004 1 DC link over- voltage alarm (HV) 3.1.2
SV005 4 Regenerative discharge control circuit failure alarm (DCSW) 3.1.2
5 Over-Regenerative discharge alarm (DCOH) 3.1.2
SV005 SV006
7 Dynamic brake circuit failure alarm (DBRLY) 3.1.2
SV006 2 Low control power voltage alarm (LV) 3.1.2
3 Low DC link voltage (LVDC) 3.1.2
SV015 Feedback disconnected alarm 3.3.3
SV023 Overheat alarm (motor) 3.3.4
SV027 Invalid servo parameter setting alarm 3.3.5
SV110 α pulse coder error alarm 3.3.6
SV114 Rotation speed data error alarm 3.3.7
SV115 Pulse coder communication error alarm 3.3.8
SV117 Current conversion error alarm 3.2
2.1 ALARM NUMBER IN Series 15 (SERVO ALARMS)
2. ALARM NUMBER AND BRIEF DESCRIPTIONS B–65195EN/01TROUBLESHOOTING AND RECOVERY
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Alarm No. SVU, SVUC Description Remark
309 Alarm 3 α pulse coder error alarm (OVC) 3.3.6
309 Alarm 4 Pulse coder communication error alarm 3.3.8
400 Alarm1 Bit7 Overheat alarm (motor) 3.3.4
414 Alarm1 Bit5 Overload alarm (OVC) 3.3.2
414 Alarm1 Bit3 1 DC link over- voltage alarm (HV) 3.1.2
414 Alarm1 Bit6 2 Low control power voltage alarm (LV) 3.1.2
3 Low DC link voltage (LVDC) 3.1.2
414 Alarm1 Bit 2 4 Regenerative discharge control circuit failure alarm (DCSW) 3.1.2
5 Over-Regenerative discharge alarm (DCOH) 3.1.2
414 Alarm1 Bit2 Alarm1 Bit6
7 Dynamic brake circuit failure alarm (DBRLY) 3.1.2
414 Alarm1 Bit4 8 L axis over- current alarm (HCL) 3.1.2
8. L axis IPM alarm (IPML) 3.1.2
9 M axis over- current alarm (HCM) 3.1.2
9. M axis IPM alarm (IPMM) 3.1.2
b L, M axis over-current alarm (HCLM) 3.1.2
b. L, M axis IPM alarm (IPMLM) 3.1.2
416 Alarm1 Bit1 Feedback disconnected alarm 3.3.3
417 Invalid servo parameter setting alarm 3.3.5
� To interpret alarms 1 to 4, see Section 3.3.1 or diagnose No. listed on the right.
Alarm1 Diagnose No. 720 to 723 Alarm2 Diagnose No. 730 to 733 Alarm3 Diagnose No. 760 to 763 Alarm4 Diagnose No. 770 to 773
2.2 ALARM NUMBER IN Series 0-C (SERVO ALARMS)
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Alarm No. SVU, SVUC Description Remark
350 Alarm3 α pulse coder error alarm 3.3.6
350 Alarm4 bit6 Rotation speed data error alarm 3.3.7
351 Alarm4 Pulse coder communication error alarm 3.3.8
400 Alarm1 bit7 Overheat alarm (motor) 3.3.4
414 Alarm5 bit6 Current conversion error alarm 3.2
414 Alarm1 bit5 Overload alarm (OVC) 3.3.2
414 Alarm1 bit3 1 DC link over-voltage alarm (HV) 3.1.2
414 Alarm1 bit6 2 Low control power voltage alarm (LV) 3.1.2
3 Low DC link voltage (LVDC) 3.1.2
414 Alarm1 bit2 4 Regenerative discharge control circuit failure alarm (DCSW) 3.1.2
5 Over-Regenerative discharge alarm (DCOH) 3.1.2
414 Alarm5 bit5 7 Dynamic brake circuit failure alarm (DBRLY) 3.1.2
414 Alarm1 bit4 8 L axis over- current alarm (HCL) 3.1.2
8. L axis IPM alarm (IPML) 3.1.2
9 M axis over- current alarm (HCM) 3.1.2
9. M axis IPM alarm (IPMM) 3.1.2
b L, M axis over- current alarm (HCLM) 3.1.2
b. L, M axis IPM alarm (IPMLM) 3.1.2
416 Alarm1 bit1 Feedback disconnected alarm 3.3.3
417 Invalid servo parameter setting alarm 3.3.5
� To interpret alarms 1 to 5, see Section 3.3.1 or diagnose No.listed on the right.
Alarm1 Diagnose No. 200 Alarm3 Diagnose No. 202 Alarm4 Diagnose No. 203 Alarm5 Diagnose No. 204
2.3 ALARM NUMBER IN Series 16, 18, 20 (SERVO ALARMS)
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3 ����� ������ ��� ���� ��������� ���������
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If an alarm condition related to the servo amplifier unit occurs, the 7-segment LED indicator on the amplifier front panel behaves as listed below.
Type LED indication
Description
Over-voltage alarm (HV)
This alarm occurs if the DC voltage of the main circuit power supply is abnor- mally high.
Low control power voltage alarm (LV)
This alarm occurs if the control power voltage is abnormally low.
Low DC link voltage alarm (LVDC)
This alarm occurs if the DC voltage of the main circuit power supply is abnor- mally low or the circuit breaker trips.
Regenerative dis- charge control circuit failure alarm (DCSW)
This alarm occurs if : – The short-time regenerative discharge energy is too high. – The regenerative discharge circuit is abnormal.
Over-regenerative discharge alarm (DCOH)
This alarm occurs if : – The average regenerative discharge energy is too high
(too frequent acceleration/deacceleration). – The transformer overheats.
Dynamic brake circuit failure alarm (DBRLY)
This alarm occurs if the relay contacts of the dynamic brake welds together.
L-axis over-current alarm (HCL)
This alarm occurs if an abnormally high current flows in the L-axis motor.
M-axis over-current alarm (HCM)
This alarm occurs if an abnormally high current flows in the M-axis motor.
L-and M-axis over-current alarm (HCM)
This alarm occurs if an abnormally high current flows in the L-and M-axes motor.
L-axis IPM alarm (IPML)
This alarm is detected by the IPM (intelligent power module) of the L-axis. (Note 1)
M-axis IPM alarm (IPML)
This alarm is detected by the IPM (intelligent power module) of the M- axis. (Note 1)
L-and M-axis IPM alarm (IPMLM)
This alarm is detected by the IPM (intelligent power module) of the L-and M- axes. (Note 1)
Circuit breaker Trips The circuit breaker trips if an abnormally high current (exceeding the working current of the circuit breaker) flows through it. Note 2)
3.1 SERVO AMPLIFIER UNIT
3.1.1 LED Indications and Meanings
3. TROUBLESHOOTING AND RECOVERY PROCEDURES B–65195EN/01TROUBLESHOOTING AND RECOVERY
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Notes 1 The IPM can detect the following alarms.
– Over-current – Over-heat – Drop in IPM control power voltage
2 When the control power is separated from the main power, if the circuit breaker of the servo amplifier is off, low DC link voltage alarm (LVDC) is detected.
Type LED Action
Over-voltage alarm (HV)
(1) The three-phase input voltage is probably higher than the rating. Check the voltage and correct it as required.
(2) The connection of the separate regenerative discharge unit is probably incor rect. Check the connection.
(3) The resistor of the separate regenerative discharge unit is probably defec tive.Disconnect the wiring of the regenerative discharge unit and check the resistance. If it is not within +20% of the rating (described in Section 3. 5), replace the regenerative discharge unit.
� If any of the above three items does not fit the case,replace the servo amplifier.
Low control power voltage alarm (LV)
(1) The single-phase input voltage (for control circuit) is probably lower than the rating. Check the voltage and correct it as required.
(2) The emergency stop input signal is probably short- circuited. Remove the CX4 connector from the amplifier. If the alarm condition disap pears,check the connection of the external cable.
(3) For the type B interface,the pulse coder is probably short- circuited. Remove the JF* connector from the amplifier. If the alarm condition disap pears,check the connection of the external cable.
� If any of the above three items does not fit the case,replace the servo amplifier.
Low DC link voltage alarm (LVDC)
(1) The circuit breaker is probably off. Check the circuit breaker.
(2) The three-phase input voltage is probably lower than the rating. Check the volt age and correct it as required.
� If either of the above two items does not fit the case, replace the servo am plifier
Regenerative discharge control circuit failure alarm (DCSW)
(1) The connection of the separate regenerative discharge unit is probably incor rect. Check the connection.
(2) The resistor of the separate regenerative discharge unit is probably defec tive.Disconnect the wiring of the regenerative discharge unit and check the resistance. If it is not within +20% of the rating (described in Section 3. 5), replace the regenerative discharge unit.
� If either of the above two items does not fit the case, replace the servo amplifier
3.1.2 Actions to be Taken on Each Alarm
B–65195EN/01 3. TROUBLESHOOTING AND
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Type LED Action
Over-regenerative discharge alarm (DCOH)
(1) The average regenerative discharge energy is probably too high. Reduce the frequency of acceleration/deceleration.
(2) The connection of the thermostat line to the separate regenerative discharge unit is probably incorrect. Check the connection.
(3) The thermostat of the separate regenerative discharge unit is probably defec tive.Disconnect the wiring of the regenerative discharge unit, and check the thermostat. If the thermostat is open when the regenerative discharge unit is not hot, replace the regenerative discharge unit.
(4) The transformer has probably overheated. Check the ambient temperature, motor output, and transform rating.
� If any of the above four items does not fit the case,replace the servo amplifier.
Dynamic brake circuit failure alarm (DBRLY)
The connection between the NC and servo amplifier is probably incorrect. Check the connection.
� If the above items does not fit the case,replace the servo amplifier.
3. TROUBLESHOOTING AND RECOVERY PROCEDURES B–65195EN/01TROUBLESHOOTING AND RECOVERY
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Type LED Type LED Type LED
L-axis over- current alarm (HCL)
M-axis over- current alarm (HCM)
L-and M-axes over-current alarm (HCL)
(1) Check that following parameters are set to standard values. If they are not, normal current control is impossible.
No. 1809
No. 2004 No. 8X04
No. 1884
No. 2006 No. 8X06
No. 1954 (15-A), 1955 (15-B)
No. 2011 No. 8X10
No. 1852
No. 2040 No. 8X40
No. 1853
No. 2041 No. 8X41
No. 1967
No. 2074 No. 8X74
No. 1991
No. 8X98No. 2098
(2) Disconnect the power wires from the amplifier terminals,and release the emergency stop condition. � If an overcurrent alarm is issued, replace the amplifier. � If an overcurrent alarm is not issued,go to (3).
(3) Disconnect the power wires from the amplifier terminals, and check the U, V, and W wires for isolation from the grounding wire sequentially. � If they are isolated from the grounding wire, go to (4) and (5).
If any of the power wires is short-circuited to the grounding wire, disconnect the power wires from the motor connector, and check the U, V, and W terminals of the motor for isolation from the ground terminal sequentially.
� If the U,V,or W terminal of the motor is short- circuited to the ground terminal,replace the motor.
� If they are isolated from the ground terminal,replace the power wires.
(4) Connect the wires again,and observe the motor current(IR,IS)waveforms when the motor is accelerating or decelerating. (See Subsec. 4.2.2 in Part I for how to measure) � If the motor current waveforms are abnormal,replace the
amplifier.
(5) Check that noise is induced on the motor current (IR, IS) waveforms. � If there is noise,shield the wires and ground the shielding. � If there is no noise,replace the amplifier.
(6) If any of the above five items does not fit the case,the pulse coder,command cable or the hardware inside the CNC is probably defective.
Action
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Type LED Type LED Type LED Remarks
L-axis IPM alarm (IPML)
M-axis IPM alarm (IPMM)
L-and M-axes IPM alarm (IPMLM)
Both figure and period appear simultaneously.
(1) Only the SVU1- 20(A06B- 6089- H102)has a built- in fan. If this fan stops,an IPM alarm (“8.” in the LED indicator) is issued. So, if this alarm is issued on the SVU1- 20, first check that the fan is rotating. A spare of the fan motor can be ordered using the spare list code A06P- 6089- H102.
(2) After keeping the amplifier switched off for about ten minutes, release the emergency stop condition. � If the alarm was due to IPM overheat, it will not be issued this
time because the IPM is not hot any longer. The probable causes of IPM overheat include high ambient temperature and excessively strict operating condition for the motor.Check for these conditions.
� If the IPM alarm is still issued, go to (3).
(3) Disconnect the power wires from the amplifier terminals, and release the emergency stop condition. � If the IPM alarm is still issued, the probable cause is the operation
of the IPM protection function (overcurrent or power supply failure). Replace the IPM or amplifier.
� If the IPM alarm is not issued, go to (4).
(4) Disconnect the power wires from the amplifier terminals, and check the U, V, and W wires for isolation from the grounding wire sequentially. � If they are isolated from the grounding wire, go to (5) and (6).
If any of the power wires is short- circuited to the grounding wire, disconnect the power wires from the motor connector, and check the U, V, and W terminals of the motor for isolation from the ground terminal sequentially.
� If the U, V, or W terminal of the motor is short-circuited to the ground terminal, replace the motor.
� If they are isolated from the ground terminal, replace the power wires.
(5) Connect the wires again,and observe the motor current (IR, IS) waveforms when the motor is accelerating or decelerating. (See Section 4.2.2 for how to measure.) � If the motor current waveforms are abnormal, replace the
amplifier.
(6) Check to see if noise is induced on the motor current (IR, IS) waveforms. � If there is noise, shield the wires and ground the shielding. � If there is no noise, replace the amplifier.
(7) Any of the above six items does not fit the case,the pulse coder, command cable or the hardware inside the CNC is probably defective.
Action
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(1) Exchange the command cables as shown in the example below. Turn on CNC in an emergency stage. – If the alarm is issued on the same axis, go to (2). – If the alarm is issued now on the axis that was normal, go to (3).
(2) The module for current conversion in the CNC is defective.
(3) Disconnect the command cable from the axis on which the alarm was issued, and connect it to a normal axis. – If the alarm is issued on the same axis, go to (4) – If the alarm is issued now on the axis that was normal, go to (5).
(4) The servo amplifier is defective.
(5) The command cable is defective. Replace it.
Defective Axis (L)
Normal Axis (M)
Servo AmplifierM-axis command cable
�
CableExchange
L-axis
M-axis �
L-axis command cable
CNC
3.2 CURRENT CONVERSION FAILURE ALARM
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Cause the servo adjustment screen to appear, and check the position error, actual current, and actual speed on it.
Using the keys on the CNC, enter the required value according to the following procedure.
� Series 15-B Press the SERVICE key several times to cause the servo setting screen to appear. Then press the key, and the servo adjustment screen will appear.
� Series 0-C, 16, 18, 20, or 21 SYSTEM ⇒ [SYSTEM] ⇒ [ ] ⇒ [SV–TUM] If the servo setting screen does not appear, specify the following parameter, then switch the NC off and on again.
Series 16, 18, 20, 21 b7 b6 b5 b4 b3 b2 b1 b0
3111 SVS
SVS (b0)=1 (to display the servo setting screen)
Series 0-C b7 b6 b5 b4 b3 b2 b1 b0
389 SVS
SVS (b0)=0 (to display the servo setting screen)
Servo adjustment 01000 N0000
X axis
Func bit 00000000 Alarm1 00000000
Loop goin 3000 Alarm2 00000000
Tuning st 0 Alarm3 10000000
Set period 0 Alarm4 00000000
Int. gain 113 Alarm5 00000000
Prop. gain –1015 Loop gain 3000
Filter 0 Pos error 5555
Veloc gain 100 Current(%) 5
Speed(rpm) 1000
Servo adjustment screen
The cause and detailed information of servo alarms are indicated with alarms 1 to 5.
3.3 SERVO SOFTWARE
3.3.1 Servo Adjustment Screen
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(1) Make sure that the motor is not vibrating.
⇒ If a motor vibrates, the current flowing in it becomes more than necessary, resulting in an alarm.
(2) Make sure that the power line to the motor is connected correctly. ⇒ If the connection is incorrect, an abnormal current flows in the
motor, resulting in an alarm.
(3) Make sure that the following parameters are set correctly. ⇒ An overload alarm is issued based on the result of calculation of
these parameters. Be sure to set them to the standard values.
8X62
1877 Overload protection coefficient (OVC1)
2062
8X63
1878 Overload protection coefficient (OVC2)
2063
8X65
1893 Overload protection coefficient (OVCLMT)
2065
(4) Attach the check board (A06B–6071–K290) to connector JX5 to measure the waveform of the actual current (IR and IS) of the servo amplifier module. Start the motor and measure the actual current (IR and IS). ⇒ If the actual current exceeds 1.4 times the rated current, the constant
for the acceleration/deceleration duration is too small,or the load on the machine is too heavy for the capacity of the motor.
⇒ If the actual current exceeds 1.4 times the rated current during normal operation, the load on the machine is too heavy for the capacity of the motor.
This alarm is detailed with alarms 1 and 2 on the servo adjustment screen (⇒ 3.3.1).
Alarm1 Alarm details
Alarm2
b7 b2 Alarm details
b7 b4
0 1 CM alarm (α pulse coder) 1 1
0 1 Pulse coder disconnected (soft ware) 0 0
0 1 Separate pulse coder disconnected (hard ware) 1 1
For the CM alarm, go to 3.3.7. For software disconnected, go to (1). For hardware disconnected, go to (3).
(1) For a full–closed Series 0–C system, make sure that the phase C signal is not connected to full–closed feedback pins 10 to 13. When the connection is correct, or when the system is not a Series 0–C, go to (2).
(2) If there is a large backlash; or if the number of position feedback pulses divided by the motor one–rotation signal is equal to or less than 640, and a software disconnected alarm is detected when it should not, change the alarm level.
3.3.2 Overload Alarm
3.3.3 Feedback Disconnected Alarm
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RECOVERY PROCEDURESTROUBLESHOOTING AND RECOVERY
51
b7 b6 b5 b4 b3 b2 b1 b0
1808
8X03 TGAL
TGAL (b1)=1 (the software disconnected alarm level is changed.)
2003
8X64
1892 Software disconnected alarm level
Standard value: 4 ⇒ The setting is increased by 4. 2064
(3) If the alarm is a separate detector hardware disconnected alarm, check the specification and wiring of the separate detector.
(1) Check whether the motor has overheated; it is dangerous to touch the motor by the hand or any other part of you body. If the motor is overheated, use it less frequently.
(2) When the motor is cooled enough, check whether an overheat alarm occurs. ⇒ If it occurs, the thermostat is defective. ⇒ If not, use the motor less frequently.
The following table contains actions to be taken for invalid servo parameter setting alarms.
Find the relevant guideline under ”Decision criterion,” and proceed to the corresponding ”Adjustment item.”
Alarm Decision criterion Adjustmentitem
POA1 overflow Try resetting POA1 to 0. Parameter: No. 8X47–1859–2047–1047 = 0
Adjustment1
1 pulse suppression level overflow Disable the pulse suppression function. Function bit: No. 8X03–1808–2003–1003,B4 = 0
Adjustment2
Feed–forward coefficient overflow Reset the feed–forward coefficient to 0. Parameter: No. 8X68–1961–2068 = 0 Parameter: No. 8X92–1985–2092 (advance) = 0
Adjustment3
Position gain overflow Reset the position gain to 0. Parameter: No. 517–1825–1825 = 0
Adjustment4
Number of position pulses overflow The number of position pulses is greater than 13100 (No. 8X00–1804–2000, bit 0 = 1). Parameter: No. 8X00–1804–2000, B0
Adjustment5
Motor ID No. Check whether the motor ID No. is correct. Parameter: No. 8X20–1874–2020
Adjustment6
Invalid axis selection parameter setting Check whether the setting is correct. Series 0–C: No. 269 to 274 Series 15, 16: No. 1023
Others
Number of position pulses � 0 Number of velocity pulses � 0 Direction of travel = 0 Feed gear numerator � 0, denominator � 0 Numerator > denominator(Serial A, α and semi-closed mode)
3.3.4 Motor Overheat Alarm
3.3.5 Invalid Servo Parameter Setting Parameters
3. TROUBLESHOOTING AND RECOVERY PROCEDURES B–65195EN/01TROUBLESHOOTING AND RECOVERY
52
NOTE The parameter numbers in the table are in the following order:
No. (Series 0–C)–(Series 15)–(Series 16, 18, 20, 21)
Survey If the adjustments described below cannot eliminate overflow, let us work out the setting procedure individually.
Adjustment 1: POA1 overflow (No. 8X47–1859–2047)
Use the tenfold POA1 setting function. Note) This function is available for 9060/L. 9070/C, 9046/A, and later versions.
� How to use the tenfold POA1 setting function If POA1 is specified as a negative value, the absolute value is internally multiplied by 10. If the value you want to set is a positive value, specify as follows:
(–1) � the desired setting/10
Adjustment 2: One–pulse suppress (No. 1992–2099) Reduce the setting according to the flowchart shown below. If an overflow occurs in the FS0C, stop using it, because the level parameter is fixed at a standard value of 400.
Number of velocity FB pulses
Is the system a semiclosed system with serial pulse coder A or an α pulse coder?
No Yes
One–pulse suppress parameter setting
Reduce the setting so that the value of the above formula falls within one word (32767).
Feed gear denominator Number of position FB pulses Feed gear numerator
10000 8192X X X
1 80X
One–pulse suppress parameter setting
Reduce the setting so that the value of the above formula falls within one word (32767).
Feed gear denominator Number of position FB pulses Feed gear numerator
10000 8192
1 80
One–pulse suppress parameter setting
Number of velocity FB pulses
Reduce the setting so that the value of the above formula falls within one word (32767).
Feed gear denominator Number of position FB pulses Feed gear numerator
10000 8192X X X
NOTE Number of velocity FB pulses (No. 8X23–1876–2023) Number of position FB pulses (No. 8X24–1891–2024) Feed gear numerator (No. 8X84–1977–2084) Feed gear denominator (No. 8X85–1978–2085)
B–65195EN/01 3. TROUBLESHOOTING AND
RECOVERY PROCEDURESTROUBLESHOOTING AND RECOVERY
53
Adjustment 3: Feed forward coefficient (No. 8X68–1961–2068, No. 8X92–1985–2092 (advance)) [9060, 9070, Series]
Specify the position gain setting range expansion function.
Function bit: No. 1804–2000–1000, B4=1 (Series 15–B, 16, 18, 20, 21)
� The function also expands the feed–forward coefficient range. [9046 Series] If a negative number is specified for the feed–forward coefficient, the internal processing assumes a value ten times the absolute number of the specified number. If the calculation result obtained during parameter setting exceeds 32767, specify as follows: (–1) x calculation result/10
Adjustment 4: Position gain
Use the position gain setting range expansion function.
Setting: No. 8X11–1955, B5 = 1 (Series 0–C, 15–A)
Multiply 8X24–1891 by 8 and re–enter it.
No. 2000–1804, B4 = 1 (Series 15–B, 16, 18, 20, 21)
� If an overflow still occurs :
1. Multiply the feed gear (or DMR) value by an integer.
2. Increase the following values by the same integer.
Parameter Series 0–C Series 15 Series 16, 18, 20, 21
CMR
Effective area
Limit to a position error during travel
Limit to a position error at a halt
Backlash
Reference counter
No. 100–103
500–503
504–507
593–596
535–538
570–573
No. 1820
1826,27
1828
1829
1851,52
1896
No. 1820
1826,27
1828
1829
1851,52
1821
(Example) The position gain overflows internally under the following conditions:
α pulse coder, Reduction gear ratio: 1/20, Ball screw: 1 mm/rev, Position gain: 30 (with 1µ scale) In this case, specify the position gain setting range expansion function. For 9046 series, multiply the number of position pulses by 8.
Number of position pulses (No. 8X24–1891) 50 400
�8
Adjustment 5: Number of position pulses Make the changes listed below. Value E must satisfy the following: Number of current position pulses/E < 13100
3. TROUBLESHOOTING AND RECOVERY PROCEDURES B–65195EN/01TROUBLESHOOTING AND RECOVERY
54
Current setting value/E Current setting value/E
Series 0–C Series 15 Series 16
Series 0–C Series 15 Series 16
No. 8X23 8X24 8X43 8X44 8X54 8X56 8X57
No. 1876 1891 1855 1856 1866 1868 1869
No. 2023 2024 2043 2044 2054 2056 2057
No. 8X53 8X74 8X76
No. 1865 1967 1969
No. 2053 2074 2076
Adjustment 6: Motor ID No.
The motor ID numbers valid for each series of models are listed below.
9046 series 9060 series
9070 series
15–89 (edition A) 15–89 (edition K) 3–89 (edition L) 3–89 (edition C)
Feed–forward cosfficient overflow check (9060, 9070 series)
If the result of any of the following calculations exceed 32767, an overflow occurs.
�X�X
(Advance) feed–forward parameter setting value
10000 (*) 4096X
Feed gear denominator
�X 180X
4 DMR
(X4 serial A)...�
Is 32767 exceeded?
Note) If the parameter setting value is 100 or less, use 100 instead of 1000 at a term indicated with *.
No
Number of velocity pulses
Number of position pulses
� X ...�
No
Is your system a semi–closed system with serial pulse coder A or pulse coder?
Feed gear numerator
...� Is the feed gear in use ? No
Yes
Feed gear denominator
Feed gear numerator
...�
Is 32767 exceeded?
...�
Is 32767 exceeded?
Full closed or serial C
Reference
B–65195EN/01 3. TROUBLESHOOTING AND
RECOVERY PROCEDURESTROUBLESHOOTING AND RECOVERY
55
Position gain overflow check
� X
2000 655 X
�
Number of position pulses X 4DMRX
DMR 4� X X
1 10X
DMR 4 X
When is servo softwore series ? 9060, 9070 seris
9046 seris
Position gain parameter setting value Number of velocity pulses ...�
...� ...�
No
No
No
Yes
Yes
Is 32767 exceeded?
Is the feed gear in use? No overflow has occurred.
Is you system a semi–closed system with serial pulse coder A or pulse coder?
Feed gear denominator
Feed gear numerator
Is 32767 exceeded? Is 32767 exceeded?
Feed gear denominator
Feed gear numerator
3. TROUBLESHOOTING AND RECOVERY PROCEDURES B–65195EN/01TROUBLESHOOTING AND RECOVERY
56
� X
2000 655 X
�
Number of position pulses � X
4 � X
X 1 80
(9060, 9070 series)
No
Yes
No
No
No
No
No No
No
Yes
Yes
No
Yes
No
Position gain parameter setting value ...�
Is 32767 exceeded?
Number of velocity pulses
Is 32767 exceeded?
...�
Is the feed gear in use?
Is your system a semi–closed sys- tem with serial pulse coder A or α pulse coder?
DMR ...�
Is 32767 exceeded?
Feed gear denominator
Feed gear numerator
...� � X
Feed gear denominator
Feed gear numerator
...�
Is 32767 exceeded? Is 32767 exceeded?
Is �, �, or � less than or equal to 1000?
Is �, �, or � less than or equal to 4000?
Is the specified position gain 6253 or greater?
Is the specified position gain 25012 or greater?
No overflow has occurred.
To increase precision, the value set for the parameter is multiplied by 16 internally. Restart at � using the resulting value.
To increase precision, the value set for the parameter is multiplied by 4 internally. Restart at � using the resulting value.
B–65195EN/01 3. TROUBLESHOOTING AND
RECOVERY PROCEDURESTROUBLESHOOTING AND RECOVERY
57
b7 b6 b5 b4 b3 b2 b1 b0
Alarm 3 CSAL BLAL PHAL BZAL CKAL SPH
(⇒ See Section 3.3.1.)
Whether the alarm occurs in
each pulse coder
α pulse coder
Serial A
SPH (b0) Probably, pulse coder or feedback cable is abnormal, or noise
� �
CKAL (b1) For serial pulse coder A, a clock alarm has occurred.
For α pulse coder, the pulse coder or feed- back cable is abnormal.
X �
BZAL (b2) The voltage of the pulse coder battery is 0 V. Replace the battery and cause a return to the reference position.
� �
PHAL (b4) Pulse coder or feedback cable is abnormal X �
BLAL (b5) The voltage of the pulse coder battery is dropping (warning).
� �
CSAL (b6) For serial pulse coder A, a check sum alarm has occurred.
For α pulse coder, an LED error has oc- curred.
X �
(b7) This is not an alarm.
b7 b6 b5 b4 b3 b2 b1 b0
Alarm 5 LDAL PMAL
(⇒ See Section 3.3.1.)
PMAL (b3) The pulse coder or feedback cable is ab- normal.
� X
LDAL (b4) The pulse coder LED is abnormal. � X
� Serial pulse coder A
b7 b6 b5 b4 b3 b2 b1 b0
Alarm 3 RCAL
(⇒ See Section 3.3.1.)
RCAL (b3) A rotation speed data error alarm occurred.
3.3.6 Pulse Coder Error Alarm
3.3.7 Rotation Speed Data Error Alarm
3. TROUBLESHOOTING AND RECOVERY PROCEDURES B–65195EN/01TROUBLESHOOTING AND RECOVERY
58
� α pulse coder
b7 b6 b5 b4 b3 b2 b1 b0
Alarm 1 FBAL
b7 b6 b5 b4 b3 b2 b1 b0
Alarm 2 ALDF
b7 b6 b5 b4 b3 b2 b1 b0
Alarm 3 CMAL
(⇒ See Section 3.3.1.)
CMAL (b3) A pulse count error occurred. If the CNC software does not correspond to α Series, this bit is not used for a mode other than the APC MODE. If a built–in pulse coder hardware dis- continued alarm (bit 1 of alarm 1 = 1 and bit 7 of alarm 2 = 1) occurs in a system with an α pulse coder, a pulse count error has occurred.
b7 b6 b5 b4 b3 b2 b1 b0
Alarm 4 DTER CRC STB
(⇒ See Section 3.3.1.)
STB (b5) A communication error occurred from the pulse coder
The pulse coder or feedback cable is abnormal, or the servo module is defective.
CRC (b6) A communication error occurred from the pulse coder
The pulse coder or feedback cable is abnormal, or the servo module is defective.
DTER (b7) The pulse coder does not communicate.
The pulse coder or feedback cable is abnormal.
3.3.8 Pulse Coder Communication Error Alarm
B–65195EN/01 4. REPLACING THE FUSETROUBLESHOOTING AND RECOVERY
59
4 ��� ��� �� ���� �� � When replacing the fuse,keep the power supply switched off. Also make sure that the “CHARGING” LED (red) beside the circuit breaker on the servo amplifier front panel is off.
When replacing the fuse,keep the power supply switched off. Also make sure that the “CHARGING” LED (red) beside the circuit breaker on the servo amplifier front panel is off.
�� Remove the plastic cover on the left hand side. �
�� Replace the fuse near the 7-segment LED. (See Appendix NO TAG.)
� For SVU-130, SVUC-130
Use Name Qty. Specification
For control power supply FU2 1 FANUC : A06B-6089-K250
For fan FU1 1 MAKER : HM50 250V F5.0A Daito
� For all
Use Name Qty. Specification
For control power supply FU1 1 FANUC : A06B-6089-K250
MAKER : HM50 250V F5.0A Daito
IMPORTANT
Replacement procedure
III. COMPATIBILITY OF THE SVU AND SVUC WITH THE C SERIES AMPLIFIER
B–65195EN/01 1. OVERVIEW
COMPATIBILITY OF THE SVU AND SVUC WITH THE C SERIES AMPLIFIER
63
1 �������� This part describes the cautions to be observed when replacing the C series amplifier with SVU or SVUC.
B–65195EN/01
2. COMPATIBILITY OF THE SVU AND SVUC WITH THE C SERIES AMPLIFIER
COMPATIBILITY OF THE SVU AND SVUC WITH THE C SERIES AMPLIFIER
64
2 � ���� � ��� �� ���� ���� ���� ����� � ��� ���� �
��� ��� ��� � ��
Table 1 lists the differences of the SVU and SVUC from the C series amplifier. When replacing the C series amplifier with the SVU or SVUC,observe the cautions listed below.
������ 1
Item SVUC SVU
Outline Common to C series.
Common to C series.
Interface of ESP Common to C series.
DC24V (Connector : CX4)
Interface of NC Type A interface Type B interface
Type A interface Type B interface
Surge absorber to protect Input
Common to C series.
None. External surge absorber is required.
MCC confirmation contact
b contact except for SVUC1-130
b contact except for SVUC1-130
TUV Not qualified Qualified
UL/CSA Qualified Qualified
Connection and cables
Common to C series.
Common to C series except for ESP.
Connector location Much the same as C series.
Much the same as C series.
Terminal location Common to C series.
Common to C series.
Application to S series motor
Allowed Not allowed
Note 1 : Interface of ESP (Emergency Stop)
Type Input Terminal Signal Name
C series amplifier 1 φ AC100V T1 (5-6) 100A-100B
SVU DC24 CX4 (2-3) ESP, +24V
SVUC 1 φ AC100V T1 (5-6) (100A) - (100B)
Note 2 : Interface of NC C series amplifier is available to Type A interface only. The connectors JV1B (L-axis) and JV2B (M-axis) in SVU and SVUC correspond to the connectors CN1 (L- axis) and CN2 (M-axis) in C series amplifier.
Note 1
Note 2
Note 3
Note 4
B–65195EN/01
2. COMPATIBILITY OF THE SVU AND SVUC WITH THE C SERIES AMPLIFIER
COMPATIBILITY OF THE SVU AND SVUC WITH THE C SERIES AMPLIFIER
65
Note 3 : Specification of the MCC (RELAY) confirmation contact The C series amplifier makes the auxiliary contact (b-contact) of the MCC, installed on the three-phase power line for motor power, accessible to the outside. It is used to indicate when the power to the motor is shut off. On the other hand, the SVU and SVUC make the auxiliary contact of the dynamic brake circuit relay (in the SVU1-130 and SVUC1-130, a-contact, and for others, b-contact) accessible to the outside, in order to indicate when the motor power is shut off.
Type Auxiliary Contact
Terminal Signal Name
C series amplifier b contact T1 (7-8) MC1-MC2
SVU1-130, SVUC1-130 a contact T1 (7-8) RL1-RL2
Other SVU and SVUC b contact T1 (7-8) RL2-RL3
a contact : In dynamic brake, its contact is open. b contact : In dynamic brake, its contact is short.
Note 4 : Conformance to TUV Like the C series amplifier, the SVUC is not qualified for TUV (because it has a built-in surge absorber for input protection). When it is necessary to acquire qualification for CE marking, use the SVU.
B–65195EN/013. SVUC SPECIFICATION CODE
COMPATIBILITY OF THE SVU AND SVUC WITH THE C SERIES AMPLIFIER
66
3 �� �� � ��������� �� � �� “H���” in the specification code is common to both C series amplifier and SVUC. (It is not common to the SVU.)
· C series amplifier A06B-6066-H���
· SVUC A06B-6090-H���
� �
ÃÃÃÃÃÃÃÃÃÃ ÃÃÃÃÃÃÃÃÃÃ ÃÃÃÃÃÃÃÃÃÃ
Model name is common to the C series amplifier
APPENDIX
B–65195EN/01 A. SERVO AMPLIFIER UNIT
FRONT PANELAPPENDIX
69
A ���� � �� ������� ��� � �� � � ����
B–65195EN/01B. � � � � ������� � ������ � APPENDIX
70
B � � � � ������� � ������ �
IndexB–65195EN/01 [A]
Actions to be Taken on Each Alarm, 44
Alarm Number and Brief Descriptions, 38
Alarm Number in Series 0-C (Servo Alarms), 40
Alarm Number in Series 15 (Servo Alarms), 39
Alarm Number in Series 16, 18, 20 (Servo Alarms), 41
Axis Left Unused in a Multi-axis Amplifier, 30
[B] Basic Configuration, 5
[C] Checking the +5V Power Supply Voltage, 27
Checking the Motor Instantaneous Current, 27
Compatibility of the SVU and SVUC with the C Se- ries Amplifier, 64
Confirmation Procedure, 26
Confirming the Line Voltage and Power Require- ments, 10
Connecting the Battery for an Absolute Pulse Coder, 14
Connecting the Power Supply, 10
Connecting the Separate Regenerative Discharge Unit, 15
Connecting to the Protection Ground, 10
Current Conversion Failure Alarm, 48
[F] Feedback Disconnected Alarm, 50
[I] Initializing Servo Parameters, 18
Invalid Servo Parameter Setting Parameters, 51
[L] Leakage Current and Selecting a Ground Fault Inter-
rupter, 10
LED Indications and Meanings, 43
[M] Major Components, 6
Motor Grounding Connection, 70
Motor Overheat Alarm, 51
[O] Operation Confirmation Method, 25
Overload Alarm, 50
Overview of the Start-up Procedure, 9
[P] Pulse Coder Communication Error Alarm, 58
Pulse Coder Error Alarm, 57
[R] Replacing the Fuse, 59
Rotation Speed Data Error Alarm, 57
[S] Servo Adjustment Screen, 49
Servo Amplifier Unit, 43
Servo Amplifier Unit Check Pins, 27
Servo Amplifier Unit Front Panel, 69
Servo Check Board, 31
Servo Software, 49
Start-up Procedure, 8
STATUS Indicator, 29
SVU, 6
SVUC, 7
SVUC Specification Code, 66
Switch Setting, 12
[T] Troubleshooting and Recovery Procedures, 42
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· No part of this manual may be reproduced in any form.
· All specifications and designs are subject to change without notice.


Lesson Overview
- What are Pseudo-Elements?
- ::first-line
- ::first-letter
- ::before
- ::after
What are Pseudo-Elements?
- A CSS pseudo-element is used to style specified parts of an element.
- For example, it can be used to:
- Style the first letter, or line, of an element
- Insert content before, or after, the content of an element
The syntax of pseudo-elements
selector::pseudo-element {
property:value;
}
The ::first-line Pseudo-element
- The ::first-line pseudo-element is used to add a special style to the first line of a text.
p::first-line {
color: #ff0000;
text-transform: uppercase;
}
The ::first-line Pseudo-element (2)
- The ::first-line pseudo-element can only be applied to block-level elements.
- The following properties apply to the ::first-line pseudo-element:
- font properties
- color properties
- background properties
- word-spacing
- letter-spacing
- text-decoration
- vertical-align
- text-transform
- line-height
- clear
The ::first-letter Pseudo-element
- The ::first-letter pseudo-element is used to add a special style to the first letter of a text.
p::first-letter {
color: #ff0000;
font-size: 26px;
}
The ::first-letter Pseudo-element (2)
- The ::first-letter pseudo-element can only be applied to block-level elements.
- The following properties apply to the ::first-letter pseudo-element:
- font properties
- color properties
- background properties
- margin properties
- padding properties
- border properties
- text-decoration
- vertical-align (only if "float" is "none")
- text-transform
- line-height
- float
- clear
The ::before Pseudo-element
- The ::before pseudo-element can be used to insert some content before the content of an element.
- The following example inserts an image before the content of each <h1> element:
h1::before {
content: url('smiley.gif');
}
The ::after Pseudo-element
- The ::after pseudo-element can be used to insert some content after the content of an element.
- The following example inserts an image after the content of each <h1> element:
h1::after {
content: url('smiley.gif');
}
The ::selection Pseudo-element
- The ::selection pseudo-element matches the portion of an element that is selected by a user.
- The following CSS properties can be applied to ::selection:
- color
- background
- cursor
- outline
Example
::selection {
color: red;
background: yellow;
}


|
ColorPatternTracker
|
#include <cl_platform.h>
Public Member Functions | |
| cl_short | CL_ALIGNED (8) s[4] |
| cl_short | CL_ALIGNED (8) s[4] |
| cl_short | CL_ALIGNED (8) s[4] |
Public Attributes | |
| struct { | |
| cl_short x | |
| cl_short y | |
| cl_short z | |
| cl_short w | |
| }; | |
| struct { | |
| cl_short s0 | |
| cl_short s1 | |
| cl_short s2 | |
| cl_short s3 | |
| }; | |
| struct { | |
| cl_short2 lo | |
| cl_short2 hi | |
| }; | |
| __cl_short2 | v2 [2] |
| __cl_short4 | v4 |
| struct { | |
| cl_short x | |
| cl_short y | |
| cl_short z | |
| cl_short w | |
| }; | |
| struct { | |
| cl_short s0 | |
| cl_short s1 | |
| cl_short s2 | |
| cl_short s3 | |
| }; | |
| struct { | |
| cl_short2 lo | |
| cl_short2 hi | |
| }; | |
| struct { | |
| cl_short x | |
| cl_short y | |
| cl_short z | |
| cl_short w | |
| }; | |
| struct { | |
| cl_short s0 | |
| cl_short s1 | |
| cl_short s2 | |
| cl_short s3 | |
| }; | |
| struct { | |
| cl_short2 lo | |
| cl_short2 hi | |
| }; | |
Definition at line 642 of file cl_platform.h.
| cl_short cl_short4::CL_ALIGNED | ( | 8 | ) |
| cl_short cl_short4::CL_ALIGNED | ( | 8 | ) |
| cl_short cl_short4::CL_ALIGNED | ( | 8 | ) |
| __CL_ANON_STRUCT__ { ... } |
| __CL_ANON_STRUCT__ { ... } |
| __CL_ANON_STRUCT__ { ... } |
| __CL_ANON_STRUCT__ { ... } |
| __CL_ANON_STRUCT__ { ... } |
| __CL_ANON_STRUCT__ { ... } |
| __extension__ { ... } |
| __extension__ { ... } |
| __extension__ { ... } |
| cl_short2 cl_short4::hi |
Definition at line 648 of file cl_platform.h.
| cl_short2 cl_short4::lo |
Definition at line 648 of file cl_platform.h.
| cl_short cl_short4::s0 |
Definition at line 647 of file cl_platform.h.
| cl_short cl_short4::s1 |
Definition at line 647 of file cl_platform.h.
| cl_short cl_short4::s2 |
Definition at line 647 of file cl_platform.h.
| cl_short cl_short4::s3 |
Definition at line 647 of file cl_platform.h.
| __cl_short2 cl_short4::v2 |
Definition at line 651 of file cl_platform.h.
| __cl_short4 cl_short4::v4 |
Definition at line 654 of file cl_platform.h.
| cl_short cl_short4::w |
Definition at line 646 of file cl_platform.h.
| cl_short cl_short4::x |
Definition at line 646 of file cl_platform.h.
| cl_short cl_short4::y |
Definition at line 646 of file cl_platform.h.
| cl_short cl_short4::z |
Definition at line 646 of file cl_platform.h.


Use the table below to specify what specific classes and inheritors should be excluded from being checked by this inspection. This is meant for those classes which, although they inherit Serializable from a superclass, are not intended for serialization. Such classes would lead this inspection to report unnecessarily.
Use the checkbox below to ignore Serializable anonymous classes.
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See: Description
| Interface | Description |
|---|---|
| CorrelationStrategy |
Strategy for determining how messages can be correlated.
|
| MessageGroupProcessor |
A processor for correlated groups of messages.
|
| MessageListProcessor | |
| ReleaseStrategy |
Strategy for determining when a group of messages reaches a state of
completion (i.e.
|
| Class | Description |
|---|---|
| AbstractAggregatingMessageGroupProcessor |
Base class for MessageGroupProcessor implementations that aggregate the group of Messages into a single Message.
|
| AbstractCorrelatingMessageHandler |
Abstract Message handler that holds a buffer of correlated messages in a
MessageStore . |
| AbstractCorrelatingMessageHandler.SequenceAwareMessageGroup | |
| AggregatingMessageHandler |
Aggregator specific implementation of
AbstractCorrelatingMessageHandler . |
| BarrierMessageHandler |
A message handler that suspends the thread until a message with corresponding
correlation is passed into the
trigger method or
the timeout occurs. |
| CorrelatingMessageBarrier |
This Endpoint serves as a barrier for messages that should not be processed yet.
|
| DefaultAggregatingMessageGroupProcessor |
This implementation of MessageGroupProcessor will take the messages from the
MessageGroup and pass them on in a single message with a Collection as a payload.
|
| ExpressionEvaluatingCorrelationStrategy |
CorrelationStrategy implementation that evaluates an expression. |
| ExpressionEvaluatingMessageGroupProcessor |
A
MessageGroupProcessor implementation that evaluates a SpEL expression. |
| ExpressionEvaluatingMessageListProcessor |
A base class for aggregators that evaluates a SpEL expression with the message list as the root object within the
evaluation context.
|
| ExpressionEvaluatingReleaseStrategy |
A
ReleaseStrategy that evaluates an expression. |
| HeaderAttributeCorrelationStrategy |
Default implementation of
CorrelationStrategy . |
| MessageCountReleaseStrategy | |
| MessageGroupExpiredEvent |
Event representing the expiration of a message group.
|
| MessageSequenceComparator | |
| MethodInvokingCorrelationStrategy |
CorrelationStrategy implementation that works as an adapter to another bean. |
| MethodInvokingMessageGroupProcessor |
MessageGroupProcessor that serves as an adapter for the invocation of a POJO method.
|
| MethodInvokingMessageListProcessor<T> |
A MessageListProcessor implementation that invokes a method on a target POJO.
|
| MethodInvokingReleaseStrategy |
A
ReleaseStrategy that invokes a method on a plain old Java object. |
| ResequencingMessageGroupProcessor |
This class implements all the strategy interfaces needed for a default resequencer.
|
| ResequencingMessageHandler |
Resequencer specific implementation of
AbstractCorrelatingMessageHandler . |
| SequenceSizeReleaseStrategy |
An implementation of
ReleaseStrategy that simply compares the current size of
the message list to the expected 'sequenceSize'. |
| SimpleMessageGroupProcessor |
A
MessageGroupProcessor that simply returns the messages in the group. |
| SimpleSequenceSizeReleaseStrategy |
An implementation of
ReleaseStrategy that simply compares the current size of
the message list to the expected 'sequenceSize'. |
| TimeoutCountSequenceSizeReleaseStrategy |
A
ReleaseStrategy that releases all messages if any of the following is true:
The sequence is complete (if there is one).
There are more messages than a threshold set by the user.
The time elapsed since the earliest message, according to their timestamps, if
present, exceeds a timeout set by the user.
|


Capacity Calculator for Spherical Objects
Estimate the capacity for spherical objects based on simple cubic, face-centered cubic and hexagonal close-packed system models
×
Only applicable for cuboid containers. All spherical objects are assumed to be identical.


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Template engine consolidation library.
$ npm install consolidate
NOTE: you must still install the engines you wish to use, add them to your package.json dependencies.
All templates supported by this library may be rendered using the signature (path[, locals], callback)
as shown below, which happens to be the signature that Express 3.x supports so any of these engines may be used within Express.
NOTE: All this example code uses cons.swig for the swig template engine. Replace swig with whatever templating you are using. For example, use cons.hogan for hogan.js, cons.jade for jade, etc. console.log(cons)
for the full list of identifiers.
js
var cons = require('consolidate');
cons.swig('views/page.html', { user: 'tobi' }, function(err, html){
if (err) throw err;
console.log(html);
});
Or without options / local variables:
js
var cons = require('consolidate');
cons.swig('views/page.html', function(err, html){
if (err) throw err;
console.log(html);
});
To dynamically pass the engine, simply use the subscript operator and a variable:
```js var cons = require(‘consolidate’) , name = ‘swig’;
cons[name](‘views/page.html’, { user: ‘tobi’ }, function(err, html){ if (err) throw err; console.log(html); }); ```
Additionally, all templates optionally return a promise if no callback function is provided. The promise represents the eventual result of the template function which will either resolve to a string, compiled from the template, or be rejected. Promises expose a then
method which registers callbacks to receive the promise’s eventual value and a catch
method which the reason why the promise could not be fulfilled. Promises allow more synchronous-like code structure and solve issues like race conditions.
```js var cons = require(‘consolidate’);
cons.swig(‘views/page.html’, { user: ‘tobi’ }) .then(function (html) { console.log(html); }) .catch(function (err) { throw err; }); ```
To enable or disable caching simply pass { cache: true/false }
. Engines may use this option to cache things reading the file contents, compiled Function
s etc. Engines which do not support this may simply ignore it. All engines that consolidate.js implements I/O for will cache the file contents, ideal for production environments.
js
var cons = require('consolidate');
cons.swig('views/page.html', { cache: false, user: 'tobi' }, function(err, html){
if (err) throw err;
console.log(html);
});
```js var express = require(‘express’) , cons = require(‘consolidate’) , app = express();
// assign the swig engine to .html files app.engine(‘html’, cons.swig);
// set .html as the default extension app.set(‘view engine’, ‘html’); app.set(‘views’, __dirname + ‘/views’);
var users = []; users.push({ name: ‘tobi’ }); users.push({ name: ‘loki’ }); users.push({ name: ‘jane’ });
app.get(‘/’, function(req, res){ res.render(‘index’, { title: ‘Consolidate.js’ }); });
app.get(‘/users’, function(req, res){ res.render(‘users’, { title: ‘Users’, users: users }); });
app.listen(3000); console.log(‘Express server listening on port 3000’); ```
Template engines are exposed via the cons.requires
object, but they are not instantiated until you’ve called the cons[engine].render()
method. You can instantiate them manually beforehand if you want to add filters, globals, mixins, or other engine features.
```js var cons = require(‘consolidate’), nunjucks = require(‘nunjucks’);
// add nunjucks to requires so filters can be // added and the same instance will be used inside the render method cons.requires.nunjucks = nunjucks.configure();
cons.requires.nunjucks.addFilter(‘foo’, function () { return ‘bar’; }); ```
exports.nunjucks.render
function in lib.consolidate.js
. You can pass your own engine/environment via options.nunjucksEnv
, or if you want to support Express you can pass options.settings.views
, or if you have another use case, pass options.nunjucks
(see the code for more insight).options.partials
options.loader
.options.filters
and specify an array of properties, each of which is a named filter function. A filter function takes a string as a parameter and returns a modified version of it.options.customTags
to specify an array of tag functions that follow the tinyliquid custom tag definition.options.includeDir
.React
To render content into a html base template (eg. index.html
of your React app), pass the path of the template with options.base
.Install dev deps:
$ npm install -d
Run the tests:
$ make test
(The MIT License)
Copyright (c) 2011-2016 TJ Holowaychuk
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the ‘Software’), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
 IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.


| Quest | Notes |
| 1. In Service of the Lich King | |
| 2. The Emblazoned Runeblade | Unlocks runeforging. |
| 3. Preparation For Battle | |
| 4. The Endless Hunger | |
| 5. The Eye of Acherus | |
| 6. Death Comes From On High | |
| 7. The Might of the Scourge | |
| 8. Report To Scourge Commander Thalanor | You can now leave Acheron Hold and level up by killing enemies. |


|
|
The Consortium of California Herbaria serves as a gateway to information from California vascular plant specimens that are housed in participant herbaria.
The database includes over 2 million specimen records from 35 institutions. Please cite data retrieved from this page: Data provided by the participants of the Consortium of California Herbaria (ucjeps.berkeley.edu/consortium/). |
| About this page | |||
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| Copyright © 2010 Regents of the University of California — Comments/questions to dbaxter at berkeley.edu |


I am a graduate of computer science from Long Island University in downtown Brooklyn, New York. This site contains information about my academic background, and interests, which include biking, gaming and just flat out geeking out on tech trends and topics. I have two degrees, a Bachelors in Business Adminstration - that i dont use... (1998) from American Intercontinetal University Atlanta, Georgia and a Masters degree in computer science: (2013) from Long Island University Brooklyn, New York.
A rambling and subjective biography soon to follow... stay tuned!
I enjoy full-stack development with these technologies:


features/home
/
com.whatstoday.dynamicfeatures.home.ui
/
HomeViewState
/
NavigationScreen
NavigationScreen
object
NavigationScreen
:
HomeViewState
Navigation screen mode with bottom bar.


GINGER SNAPS A film review by Steve Rhodes Copyright 2001 Steve Rhodes RATING (0 TO ****): ***
"You don't have anything I haven't seen before," says Mimi Rogers, as the canonical mother who hasn't got a clue, to her teenage daughter, Ginger (Katharine Isabelle). Ginger is in the bathtub cleaning up, something that she's been having to do frequently of late. Actually, Ginger has a lot of things that her mom has never seen before on a girl, from thick animal hair to a growing tail.
John Fawcett's GINGER SNAPS, a horror movie that's a blend of monster movie and teen slasher flick, wastes no time in getting to the blood and gore.  The shrieking mother picks up the boy and runs screaming into the street. She's ignored since the recent rash of dog maulings has left the town anesthetized to the sight of dog corpses. According to the television, it seems that there's some kind of wild animal on the loose.
We cut to our two protagonists, close sisters Brigitte (Emily Perkins) and Ginger. They get their kicks by filming themselves in various death poses. Rebels who want nothing to do with their classmates or anyone else, they have personalities both fascinating and repulsive. In the movie's subtext is a female empowerment theme. The wickedly effective performances by the two leads turn what would otherwise be a forgettable, low-budget movie into an intriguing little tale of the macabre.
After Brigitte, slightly the older of the two sisters, is bitten one night, she turns into the town slut. Or does she? One thing is certain, she won't tolerate the missionary position. And she practices very unsafe sex.
The story moves with precision until the last act, which is bloated and too traditionally over the top like a standard low-grade slasher film. Most of the movie, however, is quite original and worth recommending to fans of the werewolf genre. Those prone to nightmares will need to pass.
GINGER SNAPS runs 1:44. It is not rated but would be R for strong violence, sexual situations, drug usage and language. It would be acceptable for older teenagers.
The film is playing in very limited release now in the United States. In the Silicon Valley, it is showing at the Camera Cinemas.
Web: http://www.InternetReviews.com Email<EMAIL_ADDRESS>Want free reviews and weekly movie and video recommendations via Email? Just send me a letter with the word "subscribe" in the subject line.
========== X-RAMR-ID: 29734 X-Language: en X-RT-ReviewID: 253050 X-RT-TitleID: 1109887 X-RT-SourceID: 703 X-RT-AuthorID: 1271
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