FANUC α iS/α iF/β iS series servo parameters

Core positioning and scope of application

Applicable Products

Servo motors: α iS, α iF, β iS series (including 200V/400V drive)

Linear motor: LiS series

Synchronous built-in servo motor: DiS series

Encoder: α i/β i series pulse encoder (α iA1000/α iA16000/β iA128, etc.)

Suitable for CNC systems

30i/31i/32i、15i-B、16i/18i/21i-B、0i-B/C、20i-B、Power Mate i-D/H

Core purpose

Servo parameter initialization, software settings, function debugging, alarm troubleshooting, and high-speed high-precision machining optimization are the core manuals for servo system startup debugging and fault maintenance.

Basic rules and safety regulations

Security classification

Warning: Improper operation may result in personal injury and equipment damage

CAUTION: Improper operation only leads to equipment damage

NOTE: Supplementary Explanation and Precautions

export control

The product is subject to Japan’s Foreign Exchange and Foreign Trade Act and US re export controls, and export/re export requires a license application.

Principle of parameter setting

Actions that are not explicitly stated as executable are considered prohibited; Parameter setting errors can cause vibrations and abnormal movements, and safety should be prioritized during debugging.

Core Content Framework

1. Overview (Chapter 1)

Clearly specify the servo software versions covered by the manual: 9096/90B0/90B5/90B6/90D0/90E0, corresponding to HRV1/HRV2/HRV3/HRV4 control

Define NC model abbreviation (such as 30i-A abbreviated as 30i)

List 7 types of supporting documents including motor specifications, amplifier manuals, maintenance manuals, etc

2. Servo parameter initialization setting (Chapter 2)

Core: The standard initialization process for semi closed loop/fully closed loop systems is the first step in startup

Pre initialization confirmation

NC model, motor model, encoder type, external detector or not, motor feed rate per revolution, system detection unit, instruction unit

Key parameter setting steps

Emergency stop power on, enable parameter writing (PWE=1)

Initialization bit setting → Motor ID number (match HRV2/HRV3 according to motor model in the table)

AMR (ordinary motor set to 00000000), CMR (command unit/detection unit, conventional set to 2)

Flexible gear ratio (F/FG): matching ball screw lead/detection resolution

Motor rotation direction (111 clockwise/-111 counterclockwise)

Number of speed pulses (fixed at 8192), number of position pulses (semi closed loop at 12500, fully closed loop calculated using an external detector)

Reference Counter: Adapt to Zero Grid Interval

Full closed-loop opening (1815 # 1=1) → Power off and restart effective

Special scenario settings

Exclusive parameters for serial external detectors, analog SDUs, α iCZ sensors, and PWM distribution modules (PDM)

Absolute encoder battery configuration and zeroing process

Parameter error alarm handling

Provide a detailed alarm code comparison table, covering faults such as parameter out of range, calculation overflow, motor ID error, direction error, etc., and clarify the correction methods

3. Servo parameter debugging (Chapter 3)

Core: Debugging methodology for high-speed and high-precision machining and positioning, including vibration, abnormal noise, overshoot, and stick slip solutions

Servo debugging interface

System key → SV-PRM → SV-TUN, can monitor position deviation, actual current, speed, alarm code

HRV Control Debugging Process

Debug in the order of “current loop → speed loop → position loop”:

Initialize high-speed and high-precision parameters

Select HRV2/HRV3/HRV4 control

Speed loop gain+resonance suppression filter debugging

Quick movement acceleration and deceleration adjustment

Position loop gain adjustment

Optimization of arc/square workpiece contour (feedforward, gap acceleration)

Typical problem solving

Stop vibration: enable stop state proportional gain switching, N-pulse suppression, speed loop high-speed processing

Operating vibration: adjust torque filter, dual position feedback, vibration suppression control, reduce speed loop gain

Sticky and slippery (low-speed crawling): Increase position/speed loop gain, enable PI control, VCMD offset

Overshoot: Optimize feedforward coefficient, position gain, and corner deceleration

High speed positioning debugging

Suitable for punch/PCB drilling machines, recommended I-P control, position gain switching, PK1V fine adjustment to shorten positioning time

Rapid Mobile Positioning Optimization

Fine acceleration and deceleration (FAD)+feedforward combination, reducing mechanical impact and improving positioning speed

4. Detailed explanation of servo function (Chapter 4)

The core chapter of the manual covers the principles, parameters, and applicable scenarios of all high-order servo functions

HRV high-speed control (core)

HRV1: Basic current control, suitable for old systems

HRV2: Standard high-speed control, full range support, filter full coverage

HRV3: DSP high-speed current control, higher response, cutting torque limit of 70%

HRV4: 30i exclusive, highest response, single axis single CPU, torque limit of 70%

Cutting/quick switching function

Speed loop gain, fine acceleration/deceleration, feedforward, and torque filters can be set separately for cutting/fast, balancing machining accuracy and fast stability

Stop state vibration suppression function

Speed loop high-speed processing, acceleration feedback, adjustable stop state proportional gain, N-pulse suppression

Mechanical resonance elimination

Intermediate frequency torque filter, high-frequency resonance suppression, low-frequency interference elimination, observer, dual position feedback

Contour error suppression

Feedforward, Advanced Preview Feedforward, Gap Acceleration, Friction Compensation, Twist Preview Control

Positioning optimization

Position gain switching, low-speed integration, fine acceleration and deceleration (FAD), fast stop, brake control

Special motor function

Linear motor/synchronous built-in motor parameters, torque control, synchronous shaft compensation, dual motor drive (Tandem)

debugging tool

SERVO GUIDE servo debugging software, supporting automatic gain, filter, and waveform analysis

5. Parameter Details and List (Chapter 5-6)

Classify by NC system (30i/16i/15i) and list the addresses, meanings, and setting ranges of all servo parameters

Exclusive parameter list for HRV1/HRV2/HRV3/HRV4 control

Appendix: Testing Unit Parameters, High Speed and High Precision Parameters, Motor ID Comparison Table, Speed Limit Values

Key technical points

HRV control priority

HRV3 is preferred for high-speed and high-precision, HRV4 is chosen for ultimate precision of 30i, and HRV2 is sufficient for general scenarios

Fully closed loop vs semi closed loop

Semi closed loop: motor encoder feedback, easy to debug; Full closed-loop: external grating ruler, higher accuracy, more complex parameters

Debugging core logic

First ensure stability (no vibration, no alarm), then improve accuracy (contour, positioning), and finally optimize speed

Quick handling of alarms

Overcurrent: Check wiring/parameters; Overheating: load reduction/acceleration/deceleration; Encoder alarm: check battery/wiring/interference; Parameter error: Correct according to alarm code