Fanuc servo drive integration

I'm in a similar boat and am hoping that there has been some resolution that hasn't been posted?

My Hardware:

1-Axis 200V S-Series Servo Amplifier

• Module #: A06B-6058-H006
• Lower Board: A20B-1003-0080/04A
• Front Board: A20B-1003-0090/02/7B

20S Motor w/ Incremental 2500 PPR encoder

• A06B-0502-B005#7008

The NC Controller to Amplifier Interface (GND & COMx ignored):

• PWMA (ALM1)
• PWMB (ALM2)
• PWMC (ALM4)
• PWMD (ALM8)
• PWME
• PWMF
• IR
• GDR
• IS
• GDS
• MCDN
• DRDY

My Incomplete Understanding:

I'm guessing:

• DRDY is Drive Ready
• MCDN is an Enable signal
• IR/GDR and IS/GDS are RS-422 pairs similar to all the other PWMs (COMx's aren't listed). But that still doesn't tell me what IR/IS are for?

One theory that I have made up:

• IR and IS are Read and Send signals (It doesn't make sense that there would be two lines for this).
• The PWMs are for a Delta (or possibly Wye) half-bridge configuration and represent each gate-set's individual control.
• When IR is high, PWM's A-D become outputs which can be used for state feedback.

My Request:

• Information on interfacing with these digital amplifiers.
• Insight into the appropriate LinuxCNC configs to generate the appropriate control waveforms. (I have a MESA 5i20 for starters)

Cheers!

Thats the trick, getting the interface specs...
My google-Fu fails me here

Maybe Al The Man (referenced above) can be contacted...

I suspect the PWM/Status direction is controlled by DRDY
but without interface specs its all guesswork

I took the path that i was more comfortable with and got a set of 6050 drives for the servos i was using. With some minor rewiring i was able to make this function.

The 6058 drive is 200V and not 185V like the 6057 and 6050. The 20s is the only S series motor that is compatible with both the 185 and 200 volt drives. I don't have the manual with me to tell you what drive you need but i will look tonight.

If you do go this way then you will also need a transformer for 185V and 18V. from your source power

Thanks
Cory

Sorry for the delay.

You would need an A06B-6050-H104 drive with a Rev E or later top board.

Cory

PWMA / PWMB ,PWMC/PWMD,PWME/PWMF are Three phase sinusoidal PWM

IR /GDR , - R-Phase motor current

IS/GDS - S-Phase motor current

This Fanuc amplifier a three phase bridge with motor phase current feedback will block the PWM if any fault with power section like over current/under voltage

It should be easy to implement with Mesa
Hope this helps
Sivaraj

Thanks Sivaraj!

sivaraj wrote:

PWMA / PWMB ,PWMC/PWMD,PWME/PWMF are Three phase sinusoidal PWM

What is the relationship between PWM A & B (same with C/D, E/F)? Are they the High/Low control lines for half-bridges?


Any idea on the protocol for accessing the Alarm codes (ALM1,2,4,8)?

The alarm bits are just a 4 bit code(codes are listed in one of the controller manuals), This would require tri-stateable differential drivers on those PWM pins (and knowing when to change dir: DRDY?)

Yes 6-PWMs signals for 6 transistors on the 3phase bridge.
I worked on this about a year back .So If I remember right,the alarm signals are just multiplexed digital signals.No other protocal involved.

hello i am again. s700 have a Fanuc robot, buy blcd picosystem converters. I also have these drivers.
and according to my research are these,,,,,
I share all my data,
image valid for::
a06b-6058-h221
a06b-6058-h222
a06b-6058-h012
a06b-6058-h006

pwm a .....pwmf is pwm control 6 trifasic mosfets...
drdy- servo ready
mcon:mcc , activated relay power 200va in mosfets control.(voltaje power start )
ir and is,,,,,, sending to control amp power windings motor....