Got my Fanuc red cap servo motor running!

[js412000]

I got my motor working ,on the bench, using Pico systems pwm controller, brushless servo amplifier and Fanuc encoder converter.

I had a few minor problems but Mr Elson at Pico systems was most helpful by telephone and e-mail in solving my problems.

Due to low humidity in my basement I have quite a problem with static electricity. Every time I get out of my chair it generates enough electricity to make a 1/2 inch long spark. Needless to say, I ended up zapping the servo amplifier a number of times. Even though the the damage caused by this was completely my fault, Mr Elson graciously repaired it free of charge .

I was a bit discouraged ,for a time, because the motor would not run at all with the PID tuning settings in the INI file that came with EMC. Mr Elson gave me some settings to try and it has worked like a charm ever since.

My machine won't be ready for some time so I rigged up a wooden brake on the shaft coupling to give the motor a load to work against.
I'm running the motor at 60 volts for now( I plan to up that to 100 volts later)and it runs smoothly and has a fair amount of torque. I can barely stall the motor by pinching the coupling between two fingers.

As you can see from the photos it is quite a large motor. The servo amplifier is rated 20 amps . After running for a few minutes I can feel a couple degrees of warmth on the heat sink but no sign of overheating.

My next task is to figure out how to use the HAL oscilloscope feature that is included in EMC and do some fine tuning of the motor performance.

[jmelson]

Originally Posted by js412000 I got my motor working ,on the bench, using Pico systems pwm controller, brushless servo amplifier and Fanuc encoder converter.

Great! I've been out of town, and just spotted this message. Thanks for the testimonial comments!

Jon

[dresda]

I have tried to run Fanuc ac motors with absolute encoders Fanuc analog drives, DSPMC motion board from Vital systems with no success, I think it might work with Inc, encoders. Have some problems, glitches between mach3 and DSPMC, still can't get my MPG to work.
Now I have a new project and would like to use my Fanuc AC servomotors with a drive that puts out the required step/direction, and I still don't know what step/direction means.
I also have a 3-1 Fanuc digital drive and I know that's not going to work.
My motor are:
AC servo model 0S
Torq stall 2.9 Nm
Amp stall 4.2A
3 phase 8 pole
Perm, magnet 3000rpm
127 volts.
Do you have a drive for these to run on Mach3 or could you point me in the right direction
Ray.

[Al_The_Man]

If they are quadrature/differential encoders Granite devices has drives that should work using step/dir.
You may have a problem finding a drive compatible with the absolute encoders.
Al.

[dresda]

Al, you are fast for me, I just posted on the Granite site.
The problem I'm having is trying to understand step/dir stuff, never been exposed to this, only Fanuc etc.
Ray.

[jmelson]

Originally Posted by dresda I have tried to run Fanuc ac motors with absolute encoders Fanuc analog drives, DSPMC motion board from Vital systems with no success, I think it might work with Inc, encoders. Have some problems, glitches between mach3 and DSPMC, still can't get my MPG to work. Now I have a new project and would like to use my Fanuc AC servomotors with a drive that puts out the required step/direction, and I still don't know what step/direction means. I also have a 3-1 Fanuc digital drive and I know that's not going to work. My motor are: AC servo model 0S Torq stall 2.9 Nm Amp stall 4.2A 3 phase 8 pole Perm, magnet 3000rpm 127 volts. Do you have a drive for these to run on Mach3 or could you point me in the right direction Ray.

The motors are totally standard, if you fit them with a 6-channel encoder set up for an 8-pole motor, they will work fine. You will have to align the encoder to the motor poles.
Alternatively, my Fanuc encoder converter takes the commutation signals from the Fanuc encoders on the S series motors and converts them to industry compatible "Hall" signals.
Or, you could use a sensorless drive. The Fanuc encoders on these motors have industry standard incremental quadrature plus index signals, it is just the commutation signal that is proprietary.

Jon

[dresda]

Thanks Jon, do you any drives to suit these motors?
ray.

[Al_The_Man]

If you give me the number off the encoder I can see if I have the data to let you know the format.
Al.

[jmelson]

Originally Posted by dresda Thanks Jon, do you any drives to suit these motors? ray.

Yes, I have a servo amp that I have tested with the 10S motor, which is quite
a bit bigger. The amp is tested to 20A and 122 V. The S series of motors
have a proprietary commutation output, so I also have a converter that changes
that to industry-compatible commutation signals, which my servo amp and
many others need. But, this is not a step/direction drive, but a PWM-input
servo amp. That means the amp gets a command from the controller, and
the width of the pulse is proportional to the voltage sent to the motor.
This uses a sign/magnitude scheme, so if whatever controller/interface
you are using can send a sign/magnitude PWM output, it will work.

I generally work with EMC2, which is a more integrated servo motion
package. You can do the drive tuning and watch following error right
in EMC2, without needing other packages to handle the drive tuning.

So, I have a set of boards for these motors/encoders. The Universal PWM
Controller is the interface to the PC and EMC2, and reads the encoder
quadrature signals and gives position feedback to the PC. It also
generates the PWM signals. The Fanuc encoder converter takes the
encoder signals and sends commutation signals to the servo amp, and
the quadrature signals to the PWM controller. (It uses the C1 C2 C4 C8
signals from the Fanuc encoder until the motor has passed the index pulse
the first time, it then counts encoder pulses to give more accurate commutation.)
And, the brushless PWM servo amp drives the motor, based on the PWM
from the controller board and the commutation signals from the Fanuc
converter.

You can see these products on my web store at
Pico Systems :

I'm sorry I don't have a complete one-source solution for Mach, I did discuss
a driver for our products at one time with Art Fenerty, but there wasn't any
effort put into developing it.

Jon

[dresda]

So yours are +- 10v analog right. I have that setup at the moment on a mill with SEM dc motors and servo dynamic drives but then I have to use the $1500 motion board, that hurts..So emc doesn't need a motion controller?
Ray.

[jmelson]

Originally Posted by dresda So yours are +- 10v analog right.

No, the command input to our PWM servo amp is a PWM digital signal.
That is true for both the brush and brushless models. But, you do need
an interface to this to read the encoder signals and send the PWM
out. Our Universal PWM Controller is $250 for 4-axes. The brush
PWM servo amp is $125, the brushless is $150 per axis.

I have that setup at the moment on a mill with SEM dc motors and servo dynamic drives but then I have to use the $1500 motion board, that hurts..So emc doesn't need a motion controller? Ray.

No, I have a cheaper interface for analog velocity servos. It is $780 with card cage
and power supply, but that is better than $1500. It is not a "motion controller", just
an interface to the encoders and analog input to the servo amp. EMC2 is the
motion controller.

Jon

[dresda]

Now I'm really confused my head is spinning. The DSPMC from vital systems works good on my Servo dynamics drives, he does sell a less expensive card to use with EMC2.