FANUC Series 0i-MODEL D, FANUC Series 0i Mate-MODEL D. MAINTENANCE MANUAL

7.EMBEDDED ETHERNET FUNCTION

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#5 SI2 Soft key input of the characters shown below and switching between the uppercase and

lowercase input modes by a soft key are:

0: Disabled.

1: Enabled.

( ) ? * & @ _

For embedded Ethernet port

14880

PCH

[Input type] Setting input

[Data type] Bit

#1 PCH When communication based on the FTP file transfer function starts, an FTP server

presence check based on PING is:

0: Made

1: Not made

NOTE

Generally, set this parameter to 0 so that an FTP server presence

check based on PING is performed.

Otherwise, if the server is not present in the network, it takes

several tens of seconds to detect an error.

Some PCs are set not to response to the PING command mainly

for security purposes. To communicate with such a PC, set this

parameter to 1.

14890

Selects the host computer 1 OS.

14891

Selects the host computer 2 OS.

14892

Selects the host computer 3 OS.

[Input type] Parameter input

[Data type] Word

[Valid data range] 0 to 2

0: Windows2000/XP/Vista.

1: UNIX, VMS.

2: Linux.

NOTE

Some FTP server software products do not depend on the OS. So,

even when the above parameters are set, it is sometimes

impossible to display a list of files properly.

7.2.2.3 Example of setting the FTP file transfer function

The following shows a setting example required for the FTP file transfer function to operate.

In this example, one personal computer is connected to two CNCs through the FTP file transfer function.

• On Personal Computer 1, the FTP server function operates.

• On CNC 1 and CNC 2, the FTP client operates as the FTP file transfer function.

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HUB

10BASE-T or

100BASE-TX

CNC 1

CNC 2

PC 1

CNC 1

CNC 2

IP address

192.168.0.100

192.168.0.101

Subnet mask

255.255.255.0

Router IP address

None

Connection

Port number

The Ethernet parameter screen is used for

host 1

IP address

192.168.0.200

setting.

User name

user

Password

user

None

The parameter screen is used for setting.

NC parameter No. 20

"Microsoft TCP/IP property" of the

PC 1

personal computer (Windows 2000 / XP /

IP address

192.168.0.200

Vista) is used for setting.

Subnet mask

255.255.255.0

"User acount of the personal computer

Default gateway

None

(Windows 2000 / XP / Vista) is used for

User name

user

setting.

Password

user

Default

"Internet service manager" of the

personal computer (Windows 2000 / XP)

is used for setting.

"FTP Publishing Service" (Windows

7.2.3

Setting Up the DNS/DHCP Function

The DHCP/DNS function is set up by using the COMMON screen (DETAIL) and NC parameters.

7.2.3.1 Setting up DNS

This subsection describes the procedure for setting up a DNS.

Procedure

Enable the DNS function, with reference to "Related NC Parameters," which will be seen later.

Set up the DNS server of the host computer.

Connect the host computer on which the DNS server is working (hereafter referred to as a DNS

server), reboot the CNC, then press function key

Press soft keys [EMBED] and [COMMON] in that order. The COMMON screen (DETAIL)

appears.

Enter the IP address of the DNS server in the corresponding DNS IP address field.

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COMMON screen (DETAIL)

After pressing soft key [COMMON], press either page key

to call a desired COMMON

screen (DETAIL). Specify a DNS IP address.

COMMON screen (DETAIL)

Setting items

Item

Description

DNS IP ADDRESS 1, 2

Up to two DNS IP addresses can be specified.

The CNC searches for the DNS server using DNS IP addresses 1 and 2 in that

order.

7.2.3.2 Setting up DHCP

This subsection describes the procedure for setting up a DHCP.

Procedure

Enable the DHCP function, with reference to "Related NC Parameters," which will be seen later.

Set up the DHCP server of the host computer.

Connect the host computer on which the DHCP server is working (hereafter referred to as a DHCP

server), reboot the CNC, then press function key

Press soft keys [EMBED] and [COMMON] in that order. The COMMON screen appears.

If the DHCP function of the CNC has been enabled and if the DHCP server is connected

successfully, the DHCP server automatically specifies the following items.

IP ADDRESS

SUBNET MASK

ROUTER IP ADDRESS

DNS IP ADDRESS

DOMAIN

If the DHCP server cannot be connected, "DHCP ERROR" is displayed in each field.

If the DNS function has also been enabled and if the DHCP server and the DNS server work

together (if the DNS server supports dynamic DNS), enter a host name.

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COMMON screen (basic and detail)

After pressing soft key

[COMMON], press either page key

to call a desired Ethernet

common setting screen (basic, detail).

If the DHCP server is connected successfully and if the setting data can be obtained, the screen is

displayed as shown below.

When the DHCP server is connected successfully (1st page)

When the DHCP server is connected successfully (2nd page)

If the host name is not specified, the CNC automatically assigns a host name in the

"NC-<MAC-address>" format.

Example of automatically assigned host name

If the DHCP server cannot be connected, the screen is displayed as shown below.

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Setting items

Item

Description

HOST NAME

Enter the host name of the CNC.

If a DHCP server and a DNS server work together, the DHCP server notifies the

DNS server of this host name.

If the host name is left blank, a host name is automatically assigned in the

"NC-<MAC-address>" format.

Example of automatically assigned host name:

NC-00E0E4000001

Display items

Item

Description

MAC ADDRESS

MAC address of embedded Ethernet

7.2.3.3 Related NC parameters

For embedded Ethernet port

14880

DHC

DNS

D1E

[Input type] Setting input

[Data type] Bit

# 3

D1E When the DHCP function is used:

0: The default parameters for the FOCAS2/Ethernet function are specified.

PORT NUMBER (TCP)

8193

PORT NUMBER (UDP)

TIME INTERVAL

1: The default parameters for CIMPLICITY i CELL are specified.

PORT NUMBER (TCP)

8193

PORT NUMBER (UDP)

8192

TIME INTERVAL

# 5

DNS The DNS function is:

0: Not used.

1: Used.

# 6 DHC The DHCP function is:

0: Not used.

1: Used.

A change in these parameters becomes effective after the power is turned off and on or after

the

embedded Ethernet function is restarted.

7.2.4

Backing up and Restoring Communication Parameters

This section describes how to back up the embedded Ethernet communication parameters to a memory

card and to restore them from the memory card.

Press the function key

The soft keys [EMBED] and [PCMCIA] appear.

(If they do not appear, press the continuous menu

key.)

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When the soft key [EMBED] or [PCMCIA] is pressed, the Ethernet Setting screen, respectively, for

the embedded Ethernet port or the PCMCIA Ethernet card appears.

Once the soft keys [COMMON] and [(OPRT)] are pressed, pressing the soft key [+] displays the soft

keys

[BACKUP], [RESTORE], [ALLBACK], and [ALL RES] for backing up or restoring

communication parameters as shown below.

Pressing the soft key [BACKUP], [RESTORE], [ALLBACK], or [ALL RES] displays the soft keys

[EXECUTE] and [CANCEL].

Once the name of a file to be backed up or restored is entered into a key-in buffer, pressing the soft

key [EXECUTE] starts the respective operation.

"EXECUTING" blinks while backup or restoration is in progress.

BACKUP

The embedded Ethernet communication parameters are saved from the SRAM of the CNC main unit to

the memory card.

If a file name is specified in the key-in buffer, the specified file name is used when the parameters are

saved to the memory card. If no file name is specified, the file name “EMBETHER.MEM” is used.

RESTORE

The embedded Ethernet communication parameters are read from the memory card and saved to the

SRAM of the CNC main unit.

If a file name is specified in the key-in buffer, the specified file name is used when the parameters are

read from the memory card. If no file name is specified, the file name “EMBETHER.MEM” is used.

ALLBACK

All valid embedded Ethernet, Fast Ethernet/Fast Data server, PROFIBUS-DP master/slave, DeviceNet

master/slave, and FL-net communication parameters are saved from the SRAM of the CNC main unit to

the memory card.

If a file name is specified in the key-in buffer, the file name is used when the parameters are saved. If no

file name is specified, the file name “NETWORK.MEM” is used.

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ALL RES

All valid embedded Ethernet, Fast Ethernet/Fast Data server, PROFIBUS-DP master/slave, DeviceNet

master/slave, and FL-net communication parameters are read from the memory card and saved to the

SRAM of the CNC main unit.

However, if a communication function related to a valid communication parameter is disabled in the CNC,

that parameter is not saved to the SRAM.

If a file name is specified in the key-in buffer, the specified file name is used when the parameters are

read from the memory card. If no file name is specified, the file name “NETWORK.MEM” is used.

NOTE

1 Communication parameter backup and restoration are usable only in the MDI

mode and at an emergency stop.

2 Performing communication parameter restoration leads to an alarm condition

that requests to turn off the power.

3 When communication parameters are backed up or restored, the memory card is

always used no matter what the external input/output device number (NC

parameter No. 20) is.

7.3

SWITCHING BETWEEN THE EMBEDDED ETHERNET

DEVICES

There are two types of embedded Ethernet devices: the embedded Ethernet port and PCMCIA Ethernet

card.

Screen operation is required to switch between these two types of devices.

Procedure

Press the function key

Soft keys [EMBED] and [PCMCIA] appear.

(When there is no soft keys, press the continue key.)

Press soft key [EMBED] or [PCMCIA], press soft key [COMMON], and then press [(OPRT)] to

display soft key [EMB/PCM].

Pressing soft key [EMB/PCM] switches between enabled devices.

•

If you want to execute the switchover, press soft key [EXECUTE].

•

If you do not want to execute the switchover, press soft key [CANCEL].

The valid devices are switched each time Step 4 is performed.

NOTE

Information on a switched device is stored in nonvolatile memory.

On the next power-on, the device last selected can be used as is.

7.4

EMBEDDED ETHERNET OPERATIONS

7.4.1

FTP File Transfer Function

The operation of the FTP file transfer function is described below.

Host file list display

A list of the files held on the host computer is displayed.

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Embedded Ethernet host file list screen (8.4-inch LCD)

Embedded Ethernet host file list screen (10.4-inch LCD)

NOTE

When using the FTP file transfer function, check that the valid device is the

embedded Ethernet port.

The two conditions below determine a connection destination on the host file list

screen:

(1) Check that the valid device is the embedded Ethernet port. To select a

valid device, use soft key [EMB/PCM] on the Ethernet Setting screen.

(2) A host computer can be selected from connection destinations 1, 2, and 3.

A computer to be connected is selected using the operation procedure

described in Subsection 7.2.2.1, "Operation on the FTP file transfer setting

screen" or “HOST CHANGE” explained later.

When a list of files is larger than one page, the screen display can be switched using the page keys

Display item

DEVICE (AVAILABLE DEVICE)

The currently selected device is displayed.

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CON HOST (CONNECT HOST)

Number of the currently connected host of the host computer

REG NUM (REGISTERED PROGRAM)

The number of files in the current folder.

DEVICE

Current device. When the embedded Ethernet host file list is selected, “EMB_ETHER” is displayed.

CURRENT FOLDER

Current work folder in the host computer

FILE LIST

Information of the files and folders in the host computer

Operation list

DEVICE (DEVICE CHANGE)

Enables a device to be selected from the program folder screen.

To select the embedded Ethernet host

file list, press soft key [EMB ETH].

DIR +

Switches between the outline and detailed file lists.

F CREAT (CREATE FOLDER)

Create a subfolder in the current work folder in the host computer.

DELETE

Deletes a file or folder in the host computer.

RENAME

Renames a file or folder in the host computer.

HOST (HOST CHANGE)

Changes the connected host computer.

Searches for a file through the current folder in the host computer.

REFRESH

Updates the information displayed on the embedded Ethernet host file list screen.

F INPUT

Transfers a program from the host computer to the CNC memory.

F OUTPUT

Transfers a program from the CNC memory to the host computer.

NOTE

The character strings enclosed in parentheses are those displayed when the

10.4-inch LCD unit is used.

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7.4.1.1 Displaying and operating the file list

DETAIL ON, DETAIL OFF

Displays can be switched between outline and detailed file lists.

Either the outline or detailed file list display is selected each time soft key [DIR+] is pressed.

The outline file list display contains only file names, while the detailed file list display contains file sizes,

creation dates, and other file information as well file names.

NOTE

1 The items displayed in the detailed list depend on the FTP server setting on the

host computer.

2 When files in the detailed file list are operated on, information displayed at the

right edge of the screen is treated as a file name. Therefore, it is likely that files

may not be operated on properly depending on displays or file names.

If this is

the case, use the outline file list display.

REFRESH

Update the contents of the file list.

Pressing soft key [REFRESH] causes the file list contents to be updated.

Moving a folder

Move a folder.

Select a folder you want to move using cursor keys

and

Press MDI key

CREATE FOLDER

Create a new folder.

Move to a folder in which you want to create a new folder.

Key in a folder name.

Press soft key [F CREAT] ([CREATE FOLDER]).

DELETE

Delete a file or folder.

Select a file or folder you want to delete using cursor keys

and

Press soft key [DELETE].

•

To execute the deletion, press soft key [EXEC].

•

To cancel the deletion, soft key [CANCEL].

DELETE (multiple files)

Delete multiple files at a time.

Press soft key [SELECT] ([SELECT START]).

Select a file or folder you want to delete using cursor keys

and

Press soft key [SELECT].

The selected file is highlighted.

Repeat steps 2 and 3 for each file you want to delete.

Press soft key [DELETE].

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To execute the deletion, press soft key [EXEC].

To cancel the deletion, soft key [CANCEL].

NOTE

1 Up to 10 files can be selected at a time.

2 Only files can be specified. If folders are specified, an error is reported when an

attempt is made to delete the folders.

RENAME

Rename a file or folder.

Select a file or folder you want to rename using cursor keys

and

Enter a new file or folder name.

Press soft key [RENAME].

Search for a file or folder through the current work folder. The file or folder found is displayed at the

top of the file list.

Key in a file or folder name you want to search for.

Press soft key [SEARCH].

HOST CHANGE

Change the connected host computer.

Press soft key [HOST] ([HOST CHANGE]).

The connected host number changes from 1 to 2 to 3, then back to 1.

7.4.1.2 Transferring programs

How programs are transferred between the host computer and CNC is explained below.

NOTE

1 Inputting or outputting programs with the embedded Ethernet host requires

setting NC parameter No. 20 with 9.

2 If an error occurs, check its cause on the Ethernet log screen.

Inputting programs

The following procedure can be used to transfer programs from the host computer to the CNC memory.

Press soft key [F INPUT].

Select a program in the host computer.

In the host computer, place the cursor on the file you want to input and press soft key [F GET], or

key in the file name.

Press soft key [F NAME].

If you want to rename a program when inputting it, key in the program number and press soft key [O

SET].

Press soft key [EXEC].

The following table summarizes what operation occurs when the input file name [F NAME] and input

program number [O SET] are omitted.

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Key input

[F NAME]

[O SET]

Input file name

Input program

Input program No.

buffer

Warning message “NO PROGRAM SELECTED” is displayed, and nothing

–

is input.

Other than

Warning message “THE WRONG DATA IS USED” is displayed, and

Oxxxx

nothing is input.

–

Continuous program

File name set in the

All programs in the input

numbers starting at one

Oxxxx

key input buffer

–

file

(xxxx) set in the key

(NOTE)

input buffer

Warning message “NO PROGRAM SELECTED” is displayed, and nothing

-9999

is input.

Same file name as

Continuous program

All programs in the input

program No. set by

numbers starting at one

file

[O SET] (NOTE)

set by [O SET]

File name set by [F

All programs in a file

Program No. used when

–

No relation

NAME]

specified by [F NAME]

the program was saved

Warning message “THE WRONG DATA IS USED” is displayed, and

-9999

nothing is input.

Continuous program

File name set by [F

All programs in the file

numbers starting at one

NAME]

specified by [F NAME]

set by [O SET]

O: Specified

- : Not specified

NOTE

The input file name consists of “O” followed by a 4-digit number.

If program input is executed by specifying program No. 1, for example, a file

whose file name is “O0001” is input.

If this operation is performed for path 2, the file name is suffixed with the file

extension “P-2” (for this example, “O0001.P-2”).

Outputting programs

The following procedure can be used to transfer programs from the CNC memory to the host computer.

Press soft key [FOUTPUT].

Select a program in the CNC.

Key in the program No. of the program to be output.

Press soft key [O SET].

If you want to rename a program when outputting it, key in the file name and press soft key [F

NAME].

Press soft key [EXEC].

The following table summarizes what operation occurs when the output file name [F NAME] and output

program number [O SET] are omitted.

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Key input

[F NAME]

[O SET]

Output file name

Output program

buffer

Currently selected main program

–

name (NOTE 1 and NOTE 2)

(NOTE 1)

Other than

Warning message “THE WRONG DATA IS USED” is displayed, and

–

Oxxxx

nothing is output.

Program name set in the key

Program in the CNC memory set in the

–

Oxxxx

input buffer (NOTE 2）

key input butter

O-9999

ALL-PROG.TXT (NOTE 3)

All programs in the CNC memory

-9999

Same file name as program No.

Program in the CNC memory set by [O

set by [O SET] (NOTE 2)

SET]

Currently selected main program

–

No relation

(NOTE 1)

-9999

File name set by [F NAME]

All programs in the CNC memory

Program in the CNC memory set by [O

SET]

O : Specified

- : Not specified

NOTE

1 If a file is undergoing background editing, it is output.

2 The output file name consists of “O” followed by a 4-digit number.

If a program whose program No. is 1 is output, for example, it is output under the

file name “O0001” to the host computer.

If this operation is performed for path 2, the file name is suffixed with the file

extension “P-2” (for this example, “O0001.P-2”).

3 If this operation is performed for path 2, the file name “ALL-PROG.P-2” is used.

7.4.1.3 Inputting special characters

Using bits 4 (SI1) and 5 (SI2) of NC parameter No. 13115 enables special characters and lowercase letters,

which are not available on the MDI keypad, to be entered.

Setting this NC parameter displays soft key [CHA-EXT]([CHARA EXT]). Pressing this soft key

displays the following soft keys:

Pressing soft key [ABC/abc] switches between uppercase and lowercase characters for input. Which

case can be currently input is indicated in the key input field.

Uppercase

Lowercase

letter input

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Related NC parameters

13115

SI2

SI1

[Input type] Parameter input

[Data type] Bit

# 4

SI1 Soft key input of the characters shown below and switching between the uppercase and

lowercase input modes by a soft key are:

0: Disabled.

1: Enabled.

< > ¥ % $ ! ~ : " '

# 5

SI2 Soft key input of the characters shown below and switching between the uppercase and

lowercase input modes by a soft key are:

0: Disabled.

1: Enabled.

( ) ? * & @ _

7.5

RESTART OF THE EMBEDDED ETHERNET

Communication using the embedded Ethernet can be restarted.

Procedure

Press the function key

Soft keys [EMBED] and [PCMCIA] appear.

(When there is no soft keys, press the continue key.)

Press soft key [EMBED] or [PCMCIA], press soft key [COMMON], and then press [(OPRT)] to

display soft key [RESTART].

Pressing soft key [RESTART] resets embedded Ethernet communication and then restarts it.

NOTE

1 Pressing soft key [RESTART] forcibly interrupts communication even when it is

in progress.

2 This function makes a restart by software. An actual restart may be impossible

under some conditions.

7.6

MAINTENANCE SCREEN FOR EMBEDDED ETHERNET

FUNCTION

With the embedded Ethernet function, a dedicated maintenance screen is available.

The maintenance screen enables operations to be checked when the embedded Ethernet function operates

abnormally.

Displaying and operating the PING screen

Procedure

Press the function key

Soft keys [EMBED] and [PCMCIA] appear.

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(When there is no soft keys, press the continue key.)

By pressing the [EMBED] soft key, the Ethernet Setting screen for the embedded Ethernet is

displayed.

By pressing the [PCMCIA] soft key, the Ethernet Setting screen for the PCMCIA Ethernet card can

be set.

Press soft key [PING] and then press [(OPRT)].

To send the PING command to connection destination 1 for FTP file transfer, press soft key

[P.FTP1]. Similarly, to send the PING command to connection destination 2 or 3, press [P.FTP2] or

[P.FTP3], respectively.

PING connection status screen

To send the PING command to the desired destination, enter the address of the destination on the

PING setting screen. (Page keys

are used for switching.)

PING connection setting screen

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After entering the address and the repeat count, press the soft key [P.EXEC]. The specified number

of PING commands are sent to the specified destination.

To cancel the PING command currently being sent, press soft key [P.CAN].

Displaying Communication status screen

Procedure

Press the function key

Soft keys [EMBED] and [PCMCIA] appear.

(When there is no soft keys, press the continue key.)

By pressing the [EMBED] soft key, the Ethernet Setting screen for the embedded Ethernet is

displayed.

By pressing the [PCMCIA] soft key, the Ethernet Setting screen for the PCMCIA Ethernet card can

be set.

To display the communication status of the embedded Ethernet, press soft key [COM STS].

Page keys

can be used to switch between the sending state and the receiving state.

Communication status screen (1st page)

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Communication status screen (2nd page)

Display items

Display item

Explanation

BAUDRATE

Indicates the communication speed and communication mode.

Communication speed:

100 or 10 Mbps

Communication mode:

Full or half duplex

--------: Not connected to HUB

SEND PACKET

Indicates the number of packets sent.

COLLISION

Indicate the number of errors detected during packet transmission.

CARRIER SENSE LOST

DELAYOVER

UNDERRUN

SEND PARITY ERROR

RECEIVE PACKET

Indicates the number of packets received.

ALIGNMENT ERROR

Indicate the number of errors detected during packet reception.

CRC ERROR

OVERRUN ERROR

FRAME LENGTH ERROR

RECV PARITY ERROR

Displaying Task status screen

Procedure

Press the function key

Soft keys [EMBED] and [PCMCIA] appear.

(When there is no soft keys, press the continue key.)

3 To display the Ethernet Setting screen for the embedded Ethernet port or the PCMCIA Ethernet card,

press soft key [EMBED] or [PCMCIA], respectively.

Pressing soft key [TSK STS] causes the task status of the embedded Ethernet function to be

displayed.

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Task status screen

The following symbols are used.

Symbol and meaning

FOCAS2 #0

C: Waiting for a connection from the host

(FOCAS2/Ethernet)

W: Data processing in progress (1)

D: Data processing in progress (2)

N: FOCAS2 out of service

FOCAS2 #1,#2

W: Data processing in progress (1)

(FOCAS2/Ethernet)

D: Data processing in progress (2)

X: Not yet executed

PMC

W: Data processing in progress (1)

(FANUC LADDER-III)

D: Data processing in progress (2)

X: Not yet executed

UDP

W: Data processing in progress (1)

(CIMPLICITY iCELL)

D: Data processing in progress (2)

X: Not yet executed

FTP

C: Execution wait

(FTP file transfer function)

W: Data processing in progress (1)

D: Data processing in progress (2)

X: Not yet executed

7.7

LOG SCREEN OF THE EMBEDDED ETHERNET

FUNCTION

This screen displays the log of the embedded Ethernet function.

NOTE

If alarm SR2032, “EMBEDDED ETHERNET/DATA SERVER ERROR” is issued

during data transfer using the embedded Ethernet function, check the error

details on the log screen of the embedded Ethernet function.

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Displaying the log screen

Procedure

Press the function key

To display the log screen for the embedded Ethernet port or PCMCIA Ethernet card, press soft key

[EMB LOG] or [PCM LOG], respectively. (When there is no soft keys, press the continue key.)

LOG screen

The newest error log appears at the top of the screen. The date and time when an error occurred are

displayed at the right end of the line. The format of date and time data is “MMM.DD hh:mm:ss” where

MMM represents a month, DD represents a day, hh represents hours, mm represents minutes, and ss

represents seconds.

The date and time of the upper item shown above is January 28, 12:28:17.

To clear the log, press soft keys [(OPRT)] and [CLEAR] in that order.

The log for each function can be displayed by using soft keys on the embedded Ethernet log screen.

(1) Soft key [ALL]

Displays all log related to the embedded Ethernet.

(2) Soft key [COMMON]

Displays the log related to the parameter settings of the embedded Ethernet function and the basic

communication function.

(3) Soft key [FOCAS2]

Displays the log related to the FOCAS2/Ethernet function.

(4) Soft key [FTPTRNS]

Displays the log related to FTP file transfer.

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Error and message

Error No.

Log message

Description and necessary action

E-0118

Error occurred while wait for FOCAS2

A communication error has occurred because of any of

E-0119

pdu

the following:

→ The network quality has been lowered to such a level

that data cannot be received from a PC at the other

end. The communication channel has been logically

shut down.

→ Software running on a PC at the other end has

logically shut down the communication channel.

→ The Ethernet cable has been disconnected.

E-011A

All communication paths are busy

All the FOCAS2/Ethernet communication channels are

busy.

E-0200

Received message from FTP server

A message sent by the FTP server is directly displayed.

E-0202

Connection failed with FTP server

Software of the FTP server may not be running. Start

the software of the FTP server.

E-0207

The router is not found

The specified IP address of the router may be wrong.

Alternatively, the router may be turned off. Check

whether the IP address of the router has been correctly

specified and whether the router is turned on.

E-0208

The FTP server is not found

The specified IP address of the FTP server may be

wrong. Alternatively, the FTP server may be turned off.

Check whether the IP address of the FTP server has

been correctly specified and whether the FTP server is

turned on.

E-020B

Cannot login into FTP server

Check whether a correct user name and password are

specified when logging into the FTP server.

E-020C

The parameters of FTP server are

Check whether a correct user name and password are

wrong

specified when logging into the FTP server.

E-020D

Changing a work folder of host failed

Check the work folder logging into the FTP server.

E-041A

Frame transmission failed (TCP)

A communication error has occurred because of any of

the following:

→ The network quality has been lowered to such a level

that data cannot be received from a PC at the other

end. The communication channel has been logically

shut down.

→ Software running on a PC at the other end has

logically shut down the communication channel.

→ The Ethernet cable has been disconnected.

E-0901

Cannot read MAC address

The MAC address is not written in the hardware.

Alternatively, the hardware has been damaged.

E-0A06

Network is too busy

An excessive amount of data is flowing over the network.

One possible solution is to divide the network.

E-0B00

The own IP address is wrong

Specify a correct IP address in the designated format.

E-0B01

The own IP address is not set

Specify an IP address.

E-0B02

Subnet mask is wrong

Specify a correct subnet mask in the designated format.

E-0B03

Subnet mask is not set

Specify a subnet mask.

E-0B04

Router IP address is wrong

There may be class disagreement between the IP

address of the local node and the IP address of the

router.

E-0B05

IP address of DNS server is wrong

There may be class disagreement between the IP

address of the local node and the IP address of the DNS

server.

E-0B06

The own host name is wrong

Check whether a correct host name is specified.

E-0B07

The own domain name is wrong

Check whether a correct domain name is specified.

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7.EMBEDDED ETHERNET FUNCTION

B-64305EN/03

Error No.

Log message

Description and necessary action

E-0B08

TCP port number is wrong

A value beyond the permissible setting range may be

specified.

E-0B09

UDP port number is wrong

A value beyond the permissible setting range may be

specified.

E-0B0B

IP address of remote FTP server is

Specify a correct IP address in the designated format.

wrong

E-0B0B

IP address of remote FTP server is

Specify a correct IP address in the designated format.

wrong

E-0B0C

Port No of a remote FTP server is

A value beyond the permissible setting range may be

wrong

specified.

E-0B0D

User name of remote FTP server is

The specified user name may contain a prohibited

wrong

character.

E-0B0E

Password of remote FTP server is

The specified password may contain a prohibited

wrong

character.

E-0B0F

The specified log-in folder name may contain a prohibited

character.

E-0B18

Cannot set because DHCP is available

To allow a set-up, disable the DHCP client function.

E-0B19

Embedded Ethernet hardware isn't

The software or hardware of embedded Ethernet function

E-0B1A

found

cannot be recognized. Check whether the software has

been incorporated. Check whether the hardware is

sound.

E-XXXX

(No message)

An internal error has occurred.

Make a notification of the error number.

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B-64305EN/03

8.DIGITAL SERVO

8 DIGITAL SERVO

This chapter describes servo tuning screen required for maintenance of digital servo and adjustment of

reference position.

8.1 INITIAL SETTING SERVO PARAMETERS

307

8.2 FSSB DISPLAY AND SETTING SCREEN

316

8.3 SERVO TUNING SCREEN

322

8.4 ADJUSTING REFERENCE POSITION (DOG METHOD)

328

8.5 DOGLESS REFERENCE POSITION SETTING

330

8.6 αi SERVO WARNING INTERFACE

332

8.7 αi SERVO INFORMATION SCREEN

333

8.1

INITIAL SETTING SERVO PARAMETERS

This section describes how to set initial servo parameters, which is used for field adjustment of machine

tool.

Turn on power at the emergency stop condition.

Set parameters for displaying the servo setting screen and servo tuning screen.

3111

SVS

[Input type] Setting input

[Data type] Bit path

#0 SVS Servo setting screen or servo tuning screen is:

0: Not displayed.

1: Displayed.

Set the parameter for the display format of the servo setting screen as required.

13117

SVO

[Input type] Parameter input

[Data type] Bit

#2 SVO On the servo setting screen,

0: Two screens, machine constant input screen and parameter

input

screen, are

displayed.

1: Only the parameter input screen is displayed.

Remark

When bit 2 (SVO) of parameter No. 13117 is set to 0, after displaying the servo setting screen,

press soft key [(OPRT)], continuous menu key [+], and soft key [SWITCH] to display the

parameter input screen.

When bit 2 (SVO) of parameter No. 13117 is set to 1, the parameter input screen is displayed

directly by performing the procedure for displaying the servo setting screen.

This section describes operations using the parameter input screen of the servo setting screen.

Therefore, setting this parameter makes operations described in this section easy.

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8.DIGITAL SERVO

B-64305EN/03

Turn off the power once then turn it on again.

Display the servo parameter setting screen by the following operation: Function key

→

→ [SV.SET].

When bit 2 (SVO) of parameter No. 13117 described above is set to 0, also press soft key [(OPRT)],

continuous menu key [+], and soft key [SWITCH] to display the parameter input screen.

Input data required for initial setting using the cursor and page key.

Parameter No.2000

Parameter No.2020

Parameter No.2001

Parameter No.1820

Parameter No.2084

Parameter No.2085

Parameter No.2022

Parameter No.2023

Parameter No.2024

Parameter No.1821

(1) Initial set bit

2000

DGPRM

PLC01

#0 PLC01 0: Values of parameters Nos. 2023 and 2024 are used as they are:

1 : Values of parameters Nos. 2023 and 2024 are multiplied by 10.

#1 DGPRM 0: Initial setting of digital servo parameter is done.

1: Initial setting of digital servo parameter is not done.

(2) Motor ID No.

Select the motor type No. of a servo motor to be used from the following table according to a motor

model and specification (four digits in the middle part of “A06B-xxxx-Bxxx).

Table 8.1 (a) αiS series servo motor

Motor model

Motor specification

Motor type No.

αiS 2 /5000

0212

262

αiS 2 /6000

0218

284

αiS 4 /5000

0215

265

αiS 8 /4000

0235

285

αiS 8 /6000

0232

290

αiS 12 /4000

0238

288

αiS 22 /4000

0265

315

αiS 22 /6000

0262

452

αiS 30 /4000

0268

318

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B-64305EN/03

8.DIGITAL SERVO

Motor model

Motor specification

Motor type No.

αiS 40 /4000

0272

322

αiS 50 /3000

0275-Bx0x

324

αiS 50 /3000 FAN

0275-Bx1x

325

αiS 100 /2500

0285-Bx0x

335

αiS 100 /2500 FAN

0285-Bx1x

330

αiS 200 /2500

0288-Bx0x

338

αiS 200 /2500 FAN

0288-Bx1x

334

αiS 300 /2000

0292

342

αiS 500 /2000

0295

345

The value for an x varies depending on whether an option is provided or not.

Table 8.1 (b) αiS (HV) series servo motor

Motor model

Motor specification

Motor type No.

αiS 2/5000HV

0213

263

αiS 2/6000HV

0219

287

αiS 4/5000HV

0216

266

αiS 8/4000HV

0236

286

αiS 8/6000HV

0233

292

αiS 12/4000HV

0239

289

αiS 22/4000HV

0266

316

αiS 22/6000HV

0263

453

αiS 30/4000HV

0269

319

αiS 40/4000HV

0273

323

αiS 50/3000HV

0276-Bx0x

327

αiS 50/3000HV FAN

0276-Bx1x

326

αiS 100/2500HV

0286-Bx0x

336

αiS 100/2500HV FAN

0286-Bx1x

331

αiS 200/2500HV

0289-Bx0x

339

αiS 200/2500HV FAN

0289-Bx1x

337

αiS 300/2000HV

0293

343

αiS 500/2000HV

0296

346

αiS 1000/2000HV

0298

348

The value for an x varies depending on whether an option is provided or not.

Table 8.1 (c) αiF series servo motor

Motor model

Motor specification

Motor type No.

αiF 1/5000

0202

252

αiF 2/5000

0205

255

αiF 4/4000

0223

273

αiF 8/3000

0227

277

αiF 12/3000

0243

293

αiF 22/3000

0247

297

αiF 30/3000

0253

303

αiF 40/3000

0257-Bx0x

307

αiF 40/3000 FAN

0257-Bx1x

308

The value for an x varies depending on whether an option is provided or not.

Table 8.1 (d) αiF (HV) series servo motor

Motor model

Motor specification

Motor type No.

αiF 4/4000HV

0225

275

αiF 8/3000HV

0229

279

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8.DIGITAL SERVO

B-64305EN/03

Motor model

Motor specification

Motor type No.

αiF 12/3000HV

0245

295

αiF 22/3000HV

0249

299

Table 8.1 (e) βiS series servo motor

Motor model

Motor specification

Driver amp

Motor type No.

βiS 0.2/5000

0111

260

βiS 0.3/5000

0112

261

βiS 0.4/5000

0114

20A

280

βiS 0.5/6000

0115

20A

281

βiS 1/6000

0116

20A

282

20A

253

βiS 2/4000

0061 ^{(Note 1)}

40A

254

20A

256

βiS 4/4000

0063 ^{(Note 1)}

40A

257

20A

258

βiS 8/3000

0075 ^{(Note 1)}

40A

259

20A

269

βiS 12/2000

0077 ^{(Note 1)}

40A

268

βiS 12/3000

0078

40A

272

βiS 22/2000

0085

40A

274

βiS 22/3000

0082

80A

313

NOTE

If the motor specification is “A06B-XXXX-Bxx6”, be sure to use parameters for

“-Bxx6” shown in Table 8.1(g) below.

Table 8.1 (f) βiS series servo motor (energized at 400V)

Motor model

Motor specification

Driver amp

Motor type No.

βiS 2/4000HV

0062

10A

251

βiS 4/4000HV

0064

10A

264

βiS 8/3000HV

0076

10A

267

βiS 12/3000HV

0079

20A

270

βiS 22/2000HV

0086

20A

278

βiS 22/3000HV

0083

40A

314

Table 8.1 (g) βiS series servo motor (for -Bxx6)

Motor model

Motor specification

Driver amp

Motor type No.

20A

306

βiS 2/4000

0061-Bxx6

40A

310

20A

311

βiS 4/4000

0063-Bxx6

40A

312

20A

283

βiS 8/3000

0075-Bxx6

40A

294

20A

298

βiS 12/2000

0077-Bxx6

40A

300

20A

302

βiS 22/1500

0084-Bxx6

40A

305

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B-64305EN/03

8.DIGITAL SERVO

Table 8.1 (h) αCi series servo motor

Motor model

Motor specification

Motor type No.

αC4/3000i

0221

271

αC8/2000i

0226

276

αC12/2000i

0241

291

αC22/2000i

0246

296

αC30/1500i

0251

301

(3)

Arbitrary AMR function

2001

AMR7

AMR6

AMR5

AMR4

AMR3

AMR2

AMR1

AMR0

Set "00000000".

(4)

CMR

1820

Command multiply ratio

When CMR is 1/2 to 1/27

Set value＝

CMR + 100

When CMR is 1 to 48

Set value=2×CMR

(5)

Turn off the power then back on.

(6)

N/M of flexible feed gear (F⋅FG)

2084

n for flexible feed gear

2085

m for flexible feed gear

Setting for the αi Pulsecoder in the semi-closed mode

Necessary position feedback

F⋅FG numerator (≤ 32767)

pulses per motor revolution

F⋅FG denominator (≤ 32767)

1,000,000 (Note 2)

(as irreducible fraction)

(Note 1)

NOTE

1 For both F⋅FG number and denominator, the maximum setting value (after

reduced) is 32767.

2 αi Pulsecoders assume one million pulses per motor revolution, irrespective of

resolution, for the flexible feed gear setting.

3 If the calculation of the number of pulses required per motor revolution involves

p, such as when a rack and pinion are used, assume π to be approximately

355/113.

[Example]

If the machine is set to detection in 1,000 degree units with a gear reduction ratio of 10:1 for

the rotation axis, the table rotates by 360/10 degrees each time the motor makes one turn.

1000 position pulses are necessary for the table to rotate through one degree.

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8.DIGITAL SERVO

B-64305EN/03

The number of position pulses necessary for the motor to make one turn is:

360/10 × 1000 = 36000 with reference counter =36000

F⋅FG numerator

36000

F⋅FG denominator

1,000,000

1000

Other F⋅FG (numerator/denominator) setting examples (reduction ratio = 1:1)

Detection

Ball screw lead

unit

6mm

8mm

10mm

12mm

16mm

20mm

1μm

6 ／1000

8／1000

10／1000

12／1000

16／1000

20／1000

0.5μm

12 ／1000

16／1000

20／1000

24／1000

32／1000

40／1000

0.1μm

60 ／1000

80／1000

100／1000

120／1000

160／1000

200／1000

Setting for use of a separate detector (full-closed)

Number of position pulses corresponding to a

F⋅FG numerator (≤ 32767)

predetermined amount of travel

(as irreducible

F⋅FG denominator (≤ 32767)

= Number of position pulses corresponding to a

fraction)

predetermined amount of travel from a

separate detector

[Example]

To detect a distance of 1 μm using a 0.5 μm scale, set the following:

Numerator of F⋅FG

L/1

Denominator of F⋅FG

L/0.5

Other F⋅FG (numerator/denominator) setting examples

Resolution of scale

Detection unit

1μm

0.5μm

0.1μm

0.05μm

1μm

1／1

1／2

1／10

1／20

0.5μm

－

1／1

1／5

1／10

0.1μm

－

1／1

1／2

(7) Direction of travel

2022

Rotational direction of motor

111 : Normal (clockwise) / -111 : Reverse (counterclockwise)

(8)

Number of speed pulses, Number of position pulses

Semi-closed

Closed loop

loop

Parallel type

Serial linear scale

Serial rotary scale

Command unit (μm)

1/0.1

Initial bit setting

Bit 0=0

Number of speed pulses

8192

Number of position pulses

12500(*1)

(*2 - Example 1)

(*2 - Example 2)

Set 8192 as the number of speed pulses.

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B-64305EN/03

8.DIGITAL SERVO

NOTE

Setting of the number of position pulses for the semi-closed loop (indicated by

(*1) in the above table)

Set 12500.

As the number of position pulses, set the number of pulses fed back from a

separate detector when the motor makes one revolution. (The flexible feed gear

has no relevance to the calculation of the number of position pulses.)

Example 1:

When a ball screw (direct connection) with a 10-mm lead and a separate

detector with a resolution of 0.5 μm per pulse are used

When the motor makes one revolution, the following pulses are fed back from

the separate detector:

10/0.0005 = 20,000

Accordingly,

Number of position pulses = 20,000

Example 2:

When a serial rotary scale with a resolution of 1,000,000 pulses per revolution is

used, the number of position feedback pulses is exceptionally calculated by the

following:

12500 × (deceleration ratio between the motor and table)

When the deceleration ratio between the motor and table is 10:1, for example,

the number of position pulses is:

12,500 × (1/10) = 1250

When the set number of position pulses is greater than 32767

Using the position feedback pulse conversion coefficient makes setting easier as

described on the following page.

With a position feedback pulse conversion coefficient, the number of position pulses is set using the

product of two parameters.

2024

Number of position pulses

2185

Conversion coefficient for the number of position feedback pulses

(Example of setting)

When a linear scale with a minimum resolution of 0.1 (m is used and the travel distance per motor

revolution is 16 mm:

Ns = (travel distance per motor revolution (mm))/(minimum resolution of detector (mm))

= 16 mm/0.0001 mm = 160000 (>32767) = 10000 × 16

So, set the following:

A: 10000

B: 16

NOTE

If the detector of the motor is an αi Pulsecoder (the number of speed pulses =

8192), select a power of 2 (such as 2, 4, 8, and so on) as a conversion

coefficient whenever possible. (The position gain value used inside the software

becomes more accurate.)

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FANUC Series 0i-MODEL D, FANUC Series 0i Mate-MODEL D. MAINTENANCE MANUAL - page 11