ADDITIONAL INFORMATION

Notice of the Update of Digital Servo Software for Series 30i/31i/32i (90D0 & 90E0)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
Parameter manual
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function 1. Illegal Parameter Setting Detection of the Add 2008.01
Denominator of Reference Counter Capacity
has been supported.
2. Standard Parameter Table has been changed. Add 2008.01

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another The description of Adaptive Resonance Elimination Filter

function in B-65270EN/07-002 (Edition 01) is deleted. (02)

TITLE
Notice of the Update of Digital Servo
Software for Series 30i /31i /32i (90D0 &
02 2008/03/14 K.Takayama Delete Adaptive Resonance Elimination Filter 90E0)
DRAW. No. CUST.
01 2008/01/08 Y.Ueno Newly designed B-65270EN/07-002 (Edition02)
SHEET
Ed. Date Name Description FANUC LTD 1/5
 Notice of the Update of Digital Servo Software for Series 30i/31i/32i (90D0 & 90E0)

1. Update Edition
ROM series New edition Available CNC
90D0 17 FS30i /31i (For HRV4 control)
90E0 17 FS30i /31i /32i (For HRV2 and HRV3 control)

2. Contents of change

- Illegal Parameter Setting Detection of the Denominator of Reference Counter Capacity

If we set Reference Counter Capacity by using a fraction, large denominator may induce a system
alarm because the calculation time is prolonged. So the following functions are added,

If the Denominator of Reference Counter Capacity is more than 100, Illegal Parameter Setting
Alarm occurs.
A funciton bit that ignores the Illegal Parameter Setting Alarm is added for the systems that
have already worked on a large value of Denominator of Reference Counter Capacity.

- Change of Standard Parameter Table

Standard Parameter Table has been changed.

3. Attached

Attached 1 Illegal Parameter Setting Detection of the Denominator of Reference Counter

Capacity
Attached 2 Change of Standard Parameter Table

TITLE
Notice of the Update of Digital Servo
Software for Series 30i /31i /32i (90D0 &
90E0)
DRAW. No. CUST.
01 2008/01/08 Y.Ueno Newly designed
B-65270EN/07-002 (Edition02)
SHEET
Ed. Date Name Description FANUC LTD 2/5
 Attached 2. Illegal Parameter Setting Detection of the Denominator of Reference
Counter Capacity

(1) Outline
It is recommended that the denominator of Reference Counter Capacity is 100 or
less. But in case that the denominator of Reference Counter Capacity is more than
100, the processing time increases and there is a case that system alarm occurs.
This time, the following functions are added.
If the Denominator of Reference Counter Capacity is more than 100, Illegal
Parameter Setting Alarm occurs.
A funciton bit that ignores the Illegal Parameter Setting Alarm is added for the
systems that have already worked on a large value of Denominator of
Reference Counter Capacity.

(2) Available Servo software

(Series 30i, 31i, 32i )
90D0 series version 17(Q) and subsequent editions
90E0 series version 17(Q) and subsequent editions

(3) Parameters
new parameters
#7 #6 #5 #4 #3 #2 #1 #0
No.2299(FS30i) IGNRFA
IGNRFA(#5) Illegal parameter setting detection of the denominator of Reference Counter
Capacity is
0: done.
1: not done.
* If this parameter is changed, CNC must be turned OFF/ON.

related parameters (existing)

No.1821(FS30i) Reference Counter Capacity （numerator）

［setting range］ 0～999999999

No.2179(FS30i) Reference Counter Capacity （denominator）

［setting range］ 0～100
※ After this edition of servo software, if the denominator of Reference Counter
Capacity is set to more than 100, illegal parameter setting alarm will occur
(detail No.1793).
※ This alarm can be ignored if IGNRFA is set to “1”.
(4) Notice
After this edition of servo software, if the denominator of Reference
Counter Capacity is set to more than 100, illegal parameter setting alarm
will occur. If the denominator can not be changed, please set parameter
No.2299#5 to “1”.

TITLE
Notice of the Update of Digital Servo
Software for Series 30i /31i /32i (90D0 &
90E0)
DRAW. No. CUST.
01 2008/01/08 Y.Ueno Newly designed
B-65270EN/07-002 (Edition02)
SHEET
Ed. Date Name Description FANUC LTD 3/5
Attached 3. Changes of Standard Parameter Table

- Series and editions of applicable servo software

(Series 30i, 31i, 32i )
Series 90D0/17(Q) and subsequent editions
Series 90E0/17(Q) and subsequent editions

Standard parameters of the following synchronous built-in servo motor are added.

List of Motor Model and ID No. for newly added Motors:

Motor Model Motor ID No. Notice
DiS22/1500 449 200V for HRV3
* These parameters are only for HRV3. They can not be used with HRV2 in place of HRV3.
* Please refer to Table 1 about the standard parameters.

Standard parameters of the following βi servo motors are added.

List of Motor Model and ID No. for newly added Motors:

Motor Model Motor ID No. Notice
βiS22/3000 313 200V HRV2, 3
βiS22/3000HV 314 400V HRV2, 3
* Please refer to Table 1 about the standard parameters.

Standard parameters of the following αi servo motors are added.

List of Motor Model and ID No. for newly added Motors:

Motor Model Motor ID No. Notice
αiS22/6000 452 200V HRV2, 3
αiS22/6000HV 453 400V HRV2, 3
* Please refer to Table 1 about the standard parameters.

TITLE
Notice of the Update of Digital Servo
Software for Series 30i /31i /32i (90D0 &
90E0)
DRAW. No. CUST.
01 2008/01/08 Y.Ueno Newly designed
B-65270EN/07-002 (Edition02)
SHEET
Ed. Date Name Description FANUC LTD 4/5
[table1] Addition of new standard parameters
DiS22
βiS22 βiS22 αiS22 αiS22
Motor model /1500
3000 3000HV 6000 6000HV
(200V)
Motor specification 0082 0083 0482-B12x 0262 0263
Motor ID number 313 314 449 452 453
Symbol FS 30i, 31i, 32i
2003 00001000 00001000 00001000 00001000 00001000
2004 00000011 00000011 00000011 00000011 00000011
2005 00000000 00000000 00000000 00000000 00000000
2006 00000000 00000000 00000000 00000000 00000000
2007 00000000 00000000 00000000 00000000 00000000
2008 00000000 00000000 00000000 00000000 00000000
2009 00000000 00000000 00000000 00000000 00000000
2010 00000000 00000000 00000000 00000000 00000000
2011 00000000 00000000 00000000 00000000 00000000
2012 00000000 00000000 00000000 00000000 00000000
2013 00001000 00001000 00000001 00000000 00000000
2014 00001000 00001000 00000000 00000000 00000000
2210 00000000 00000000 00000100 00000000 00000000
2211 00001110 00001110 00001010 00001010 00001010
2300 00000000 00000000 10000110 00000000 00000000
2301 00000000 00000000 00000000 00000000 00000000
PK1 2040 1157 1146 562 605 605
PK2 2041 -5102 -5267 -1568 -2393 -2393
PK3 2042 -1332 -1332 -2948 -1335 -1335
PK1V 2043 198 192 202 102 102
PK2V 2044 -1766 -1722 -1811 -914 -914
PK3V 2045 0 0 0 0 0
PK4V 2046 -8235 -8235 -8235 -8235 -8235
POA1 2047 4297 4406 4657 4150 4150
BLCMP 2048 0 0 0 0 0
DPFMX 2049 0 0 0 0 0
POK1 2050 956 956 956 956 956
POK2 2051 510 510 510 510 510
RESERV 2052 0 0 0 0 0
PPMAX 2053 21 21 21 21 21
PDDP 2054 1894 1894 1894 1894 1894
PHYST 2055 319 319 319 319 319
EMFCMP 2056 0 0 0 0 0
PVPA 2057 -6174 -6174 -17944 -12039 -12039
PALPH 2058 -2843 -2843 -2257 -2000 -2000
PPBAS 2059 0 0 0 0 0
TQLIM 2060 5462 5462 7282 7282 7282
EMFLMT 2061 0 0 0 0 0
POVC1 2062 32520 32548 32439 32511 32501
POVC2 2063 3097 2755 4109 3215 3332
TGALMLV 2064 4 4 4 4 4
POVCLMT 2065 9212 8192 10559 9565 9912
PK2VAUX 2066 0 0 0 0 0
FILTER 2067 0 0 0 0 0
FALPH 2068 0 0 0 0 0
VFFLT 2069 0 0 0 0 0
ERBLM 2070 0 0 0 0 0
PBLCT 2071 0 0 0 0 0
SFCCML 2072 0 0 0 0 0
PSPTL 2073 0 0 0 0 0
AALPH 2074 12288 8192 0 4096 4096
OSCTPL 2077 0 0 0 0 0
PDPCH 2078 0 0 0 0 0
PDPCL 2079 0 0 0 0 0
DPFEX 2080 0 0 0 0 0
DPFZW 2081 0 0 0 0 0
BLENDL 2082 0 0 0 0 0
MOFCTL 2083 0 0 0 0 0
RTCURR 2086 2121 2069 2576 1977 1977
TDPLD 2087 0 0 0 0 0
MCNFB 2088 0 0 0 0 0
BLBSL 2089 0 0 0 0 0
ROBSTL 2090 0 0 0 0 0
ACCSPL 2091 0 0 0 0 0
ADFF1 2092 0 0 0 0 0
VMPK3V 2093 0 0 0 0 0
BLCMP2 2094 0 0 0 0 0
AHDRTL 2095 0 0 0 0 0
RADUSL 2096 0 0 0 0 0
SMCNT 2097 0 0 0 0 0
DEPVPL 2098 0 0 0 0 0
ONEPSL 2099 400 400 400 400 400
INPA1 2100 0 0 0 0 0
INPA2 2101 0 0 0 0 0
DBLIM 2102 0 0 0 0 0
ABVOF 2103 0 0 0 0 0
ABTSH 2104 0 0 0 0 0
TRQCST 2105 848 869 348 819 819
LP24PA 2106 0 0 0 0 0
VLGOVR 2107 0 0 0 0 0
RESERV 2108 0 0 0 0 0
BELLTC 2109 0 0 0 0 0
MGSTCM 2110 1289 1289 2049 1288 1288
DETQLM 2111 7268 7268 16720 12830 12830
AMRDML 2112 0 0 0 0 0
NFILT 2113 0 0 0 0 0
NINTCT 2127 1967 3894 0 1000 2000
MFWKCE 2128 6000 6000 6500 1000 1000
MFWKBL 2129 2315 2315 792 3854 3854
LP2GP 2130 0 0 0 0 0
LP4GP 2131 0 0 0 0 0
LP6GP 2132 0 0 0 0 0
PHDLY1 2133 5647 5647 30735 7690 7690
PHDLY2 2134 12820 12820 10270 8990 8990
DGCSMM 2159 0 0 0 0 0
TRQCUP 2160 0 0 0 0 0
OVCSTP 2161 0 0 0 140 0
POVC21 2162 32765 32765 0 32765 32765
POVC22 2163 40 38 0 34 34
POVCLMT2 2164 7166 6815 0 6222 6222
MAXCRT 2165 85 45 25 165 85

TITLE
Notice of the Update of Digital Servo
Software for Series 30i /31i /32i (90D0 &
90E0)
DRAW. No. CUST.
01 2008/01/08 Y.Ueno Newly designed
B-65270EN/07-002 (Edition02)
SHEET
Ed. Date Name Description FANUC LTD 5/5
 Notice of the Update of Digital Servo Software for Series 30i/31i/32i (90D0 & 90E0)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
Parameter manual
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function ・ Adaptive Resonance Elimination Filter function Correct 2008.03
has been supported.
・ Standard parameter table has been changed. Add 2008.03

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90D0 & 90E0)
DRAW. No. CUST.
B-65270EN/07-004
01 08.03.14 K.Takayama Newly designed SHEET

Ed Date Design Description 01／009

 Notice of the Update of Digital Servo Software for Series 30i/31i/32i (90D0 & 90E0)

1. Update Edition
ROM series New edition Available CNC
90D0 19 FS30i /31i (For HRV4 control)
90E0 19 FS30i /31i /32i (For HRV2 and HRV3 control)

2. Contents of change

- Adaptive Resonance Elimination Filter function

Resonance Elimination Filter is a function that realizes high velocity gain due to the elimination of
the mechanical resonance.
“Adaptive Resonance Elimination Filter function” enables one of the four Resonance Elimination
Filters to dynamically adapt the changeable mechanical resonance caused by the following factors,

Changeable resonance depending on machine position.

Changeable resonance depending on slight differences of each machine.
Changeable resonance depending on the process of time.
Changeable resonance depending on the stiffness of work piece.

NOTE
We already reported about Adaptive Resonance Elimination Filter function in the previous
technical reports, B-65270EN/06-011 and B-65270EN/06-009. However, some specifications of
this function has been changed in servo software 90D0, 90E0 / S(19) . When you use Advance
Resonance Elimination Filter, please use servo software 90D0, 90E0/S(19) or later and follow
the specification described on this document.

- Standard parameter table has been changed

Standard parameters for αiF40/3000 and αiF40/3000 with FAN has been changed.

3. Attached

Attached 1 Adaptive Resonance Elimination Filter function

Attached 2 Changes of Standard Parameter Table

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90D0 & 90E0)
DRAW. No. CUST.
B-65270EN/07-004
01 08.03.14 K.Takayama Newly designed SHEET

Ed Date Design Description 02／009

 Attached 1. Adaptive Resonance Elimination Filter function

(1) Outline
Former “ Active Resonance Elimination Filter” was “Resonance Elimination
Filter” which enabled to follow up the changeable mechanical resonance. Lately
“Adaptive Resonance Elimination Filter” was developed which enabled to adapt
to wider frequency band of resonance. This function can be applied to the
changeable mechanical resonance like the following cases.

Changeable resonance depending on machine position.

Changeable resonance depending on an individual difference of machine.
Changeable resonance depending on the process of time.
Changeable resonance depending on the stiffness of work piece.

1) Follow-up mode and Search mode

There are two modes for this function. One of them is follow-up mode. This
mode is applied in case that the high following speed within a narrow bandwidth is
required, such as the changeable resonance depending on machine position.
Another is search mode. This mode is applied in case that the adaptation with
wide bandwidth is required, such as the changeable resonance depending on the
stiffness of work piece.
Characteristic of filter; Characteristic of filter;
Follow-up mode Search mode

Following up gradual change Adapting to large change

of resonance F(Hz) of resonance F(Hz)

2) How to use
Normally follow-up mode is effective during axis feed except stop or PMC
signal ON (G322). Start / Stop of search mode is controlled by PMC signal
(G324).

3) Automatic renewal of parameter

Normally the adaptive result is lost by NC power off. But if N2290#5 is set to 1,
the adaptive result is automatically reflected in parameter (N2113) of Resonance
Elimination Filter 1. If the movable of resonance frequency is detected, the
parameter is renewed after follow-up mode OFF.
In case of search mode, if the movable of resonance frequency is detected, the
detective signal (F370) in PMC becomes ON.
It is possible to confirm the adaptive result on diagnostic display N763.

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90D0 & 90E0)
DRAW. No. CUST.
B-65270EN/07-004
01 08.03.14 K.Takayama Newly designed SHEET

Ed Date Design Description 03／009

(2) Available Servo software
90D0 series version S(19) or later (Series 30i, 31i )
90E0 series version S(19) or later (Series 30i, 31i, 32i )
90E3 series version B(02) or later (Series 30i, 31i, 32i )
(3) Notice
This function is available with first filter (N2113) out of four resonance
elimination filters.
Damping parameter (N2359) is available in this function.
This function is effective after a release of emergency stop.
The following CNC software is required to use parameter automatic renewal.
G002,G012,G022,G032,G101,G111,G121,G131,G201/30 or later
G003,G013,G023,G033,G103,G113,G123,G133,G201/13 or later

(4) Parameters

#7 #6 #5 #4 #3 #2 #1 #0
No.2270 (FS30i) ACREF
ACREF (#3) Adaptive resonance elimination filter
0: Ineffective.
1: Effective.
Set “1” to the axis you want to use this function.

#7 #6 #5 #4 #3 #2 #1 #0
No.2290 (FS30i) FRFPWE FRFDES FRFATE
FRFATE (#3) Executive condition for follow-up mode
0: During axis feed or PMC signal ON (G322)
1: During axis feed except cutting mode or PMC signal ON (G322)
Normally follow-up mode is effective during axis feed or PMC signal ON.
But if this parameter is set, this mode is effective during axis feed except cutting
mode.

FRFDES (#4) Executive condition for follow-up mode

0: Depending on FRFATE (#3)
1: Only depending on PMC signal (G322)
If this parameter is set, follow-up mode depends on PMC signal only.

FRFPWE (#5) Parameter automatic renewal

0: Unavailable
1: Available
Normally the adaptive result isn’t reflected to parameter (N2113) after
adaptation. But if this parameter is set, the result is reflected.

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90D0 & 90E0)
DRAW. No. CUST.
B-65270EN/07-004
01 08.03.14 K.Takayama Newly designed SHEET

Ed Date Design Description 04／009

 No.2113 (FS30i) Resonance Elimination Filter1 : Attenuation center frequency
Data unit Hz
Valid data range 100 to 1kHz (HRV2), to 2kHz (HRV3), to 4kHz (HRV4)
Follow-up range 100 to 990Hz (HRV2), to 1270Hz (HRV3,HRV4)

When this function is effective (N2270#3=1), this filter can adapt attenuation center
frequency to changeable machine resonance within bandwidth (N2351 or N2459).
But if the setting is out of follow-up range, this function is unavailable.
If this parameter is rewritten by manual, the adaptive result is lost .

No.2177 (FS30i) Resonance Elimination Filter1 : attenuation bandwidth

Data unit Hz
Valid data range 10 to (N2113)

No.2359 (FS30i) Resonance Elimination Filter1 : Damping

Data unit Hz
Valid data range 0 to 100

No.2351 (FS30i) Adaptive Resonance Elimination Filter : Follow-up bandwidth

Data unit Hz
Standard setting 0 (If 0 is set, this parameter is internally handled as 40Hz.)

This parameter decides follow-up bandwidth for follow-up mode.

No.2352 (FS30i) Adaptive Resonance Elimination Filter : Detective level

Data unit Torque command (7282 per Imax)
Standard setting more than 48 (If 0 is set, this parameter is internally handled as 16.)

Note
This parameter decides the detective revel of resonance spectrum.
If there is the large noise to disturb the correct detection, please increase this
value. When you use this function, you should confirm the effectiveness of
this function on your machine.

No.2459 (FS30i) Adaptive Resonance Elimination Filter : Search bandwidth

Data unit Hz
Standard setting 0 (If 0 is set, this parameter is internally handled as 890Hz.)

This parameter decides search bandwidth for search mode.

The search range will be from (N2113–N2459)Hz to (N2113+N2459)Hz.

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90D0 & 90E0)
DRAW. No. CUST.
B-65270EN/07-004
01 08.03.14 K.Takayama Newly designed SHEET

Ed Date Design Description 05／009

(5) PMC Signals
Follow-up mode and Search mode

Follow-up mode can adapt the attenuation center frequency (N2113) to

resonance within follow-up bandwidth (N2351). When high-speed follow-up
within narrow bandwidth (+-40Hz) are required, this mode is effective.

Search mode can adapt the attenuation center frequency (N2113) to resonance
within search bandwidth (N2459). When wide bandwidth for search is required
such as the work change with different resonance, this mode is effective.

Follow-up mode signal G322

[Classification] Input signal
[Function] Control start / stop for follow-up mode
[Operation] Normally this mode is effective during axis feed. If this
signal is ON, this mode is effective even if it is stop state.

Search mode signal G324

[Classification] Input signal
[Function] Control start / stop for search mode
[Operation] Search mode is effective while this signal is ON.

Search mode detective signal F370

[Classification] Output signal
[Function] Inform the finish for search mode
[Operation] If resonance is detected, this signal becomes ON

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90D0 & 90E0)
DRAW. No. CUST.
B-65270EN/07-004
01 08.03.14 K.Takayama Newly designed SHEET

Ed Date Design Description 06／009

 Timing chart

1) Follow-up mode(N2290#5=1) ON

G322
Rapid Cutting
Velocity Stop
Follow-up Follow-up
Condition
Detect Detect
Detection
ON ON
Parameter
renewal

2) Search mode(N2290#5=1)
ON
OFF
G324

Velocity Stop
Search
Condition

Detection
ON
F370
ON
Parameter
renewal

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90D0 & 90E0)
DRAW. No. CUST.
B-65270EN/07-004
01 08.03.14 K.Takayama Newly designed SHEET

Ed Date Design Description 07／009

 Attached 2. Changes of Standard Parameter Table

(1) Outline
The standard parameters of αiF40/3000 and αiF40/3000 with FAN are
changed to promote stability.

(2) Available Servo software

90D0 series version S(19) or later (Series 30i, 31i )
90E0 series version S(19) or later (Series 30i, 31i, 32i )

(3) Changed Standard paremeter

・ αiF40/3000(HRV2 control)[Motor ID =307]

Symbol Parameter No. Before Changed
PK1 No.2040 1613 1500
PK2 No.2041 -7446 -8224
AALPH No.2074 16384 0

・ αiF40/3000 with FAN(HRV2 control) [Motor ID No=308]

Symbol Parameter No. Before Changed
No.2211 00000010 00001010
PK1 No.2040 1613 1500
PK2 No.2041 -7446 -8224
AALPH No.2074 16384 0

* Please refer to Table 1 about the standard parameters.

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90D0 & 90E0)
DRAW. No. CUST.
B-65270EN/07-004
01 08.03.14 K.Takayama Newly designed SHEET

Ed Date Design Description 08／009

 Table1) Standard parameter table for changes

Motor Model αiF40/3000 αiF40/3000Fan

Motor Specification 0257 0257
Motor ID No. 307 308
Symbol FS 30i, 31i, 32i
2003 00001000 00001000
2004 00000011 00000011
2005 00000000 00000000
2006 00000000 00000000
2007 00000000 00000000
2008 00000000 00000000
2009 00000000 00000000
2010 00000000 00000000
2011 00100000 00100000
2012 00000000 00000000
2013 00000000 00000000
2014 00000000 00000000
2210 00000000 00000000
2211 00001010 00001010
2300 00000000 00000000
2301 00000000 00000000
PK1 2040 1500 1500
PK2 2041 -8224 -8224
PK3 2042 -1348 -1348
PK1V 2043 191 191
PK2V 2044 -1712 -1712
PK3V 2045 0 0
PK4V 2046 -8235 -8235
POA1 2047 2216 2216
BLCMP 2048 0 0
DPFMX 2049 0 0
POK1 2050 956 956
POK2 2051 510 510
RESERV 2052 0 0
PPMAX 2053 21 21
PDDP 2054 1894 1894
PHYST 2055 319 319
EMFCMP 2056 0 0
PVPA 2057 -2570 -2570
PALPH 2058 -2000 -2000
PPBAS 2059 0 0
TQLIM 2060 7282 7282
EMFLMT 2061 0 0
POVC1 2062 32511 32431
POVC2 2063 3215 4212
TGALMLV 2064 4 4
POVCLMT 2065 9565 12545
PK2VAUX 2066 0 0
FILTER 2067 0 0
FALPH 2068 0 0
VFFLT 2069 0 0
ERBLM 2070 0 0
PBLCT 2071 0 0
SFCCML 2072 0 0
PSPTL 2073 0 0
AALPH 2074 0 0
OSCTPL 2077 0 0
PDPCH 2078 0 0
PDPCL 2079 0 0
DPFEX 2080 0 0
DPFZW 2081 0 0
BLENDL 2082 0 0
MOFCTL 2083 0 0
RTCURR 2086 1957 2593
TDPLD 2087 0 0
MCNFB 2088 0 0
BLBSL 2089 0 0
ROBSTL 2090 0 0
ACCSPL 2091 0 0
ADFF1 2092 0 0
VMPK3V 2093 0 0
BLCMP2 2094 0 0
AHDRTL 2095 0 0
RADUSL 2096 0 0
SMCNT 2097 0 0
DEPVPL 2098 0 0
ONEPSL 2099 400 400
INPA1 2100 0 0
INPA2 2101 0 0
DBLIM 2102 12000 12000
ABVOF 2103 0 0
ABTSH 2104 0 0
TRQCST 2105 1839 1839
LP24PA 2106 0 0
VLGOVR 2107 0 0
RESERV 2108 0 0
BELLTC 2109 0 0
MGSTCM 2110 1291 1291
DETQLM 2111 5220 5140
AMRDML 2112 0 0
NFILT 2113 0 0
NINTCT 2127 3041 3041
MFWKCE 2128 6000 2000
MFWKBL 2129 1560 1553
LP2GP 2130 0 0
LP4GP 2131 0 0
LP6GP 2132 0 0
PHDLY1 2133 2590 3085
PHDLY2 2134 8990 8990
DGCSMM 2159 0 0
TRQCUP 2160 0 0
OVCSTP 2161 140 140
POVC21 2162 32765 32718
POVC22 2163 33 629
POVCLMT2 2164 6099 10707
MAXCRT 2165 165 165

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90D0 & 90E0)
DRAW. No. CUST.
B-65270EN/07-004
01 08.03.14 K.Takayama Newly designed SHEET

Ed Date Design Description 09／009

 Notice of the Update of Digital Servo Software for Series 30i/31i/32i (90D0 & 90E0)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function ・ Speed Arrival Signal and Zero-Speed Detecting Add 2008.05
Signal have been supported
Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90D0 & 90E0)
DRAW. No. CUST.
B-65270EN/07-005
01 08.05.21 Y.Ueno Newly designed SHEET

Ed Date Design Description 01／005

 Notice of the Update of Digital Servo Software for Series 30i/31i/32i (90D0 & 90E0)

1. Update Edition
ROM series New edition Available CNC
90D0 20 FS30i /31i (For HRV4 control)
90E0 20 FS30i /31i /32i (For HRV2 and HRV3 control)

2. Contents of change

- Speed Arrival Signal and Zero-Speed Detecting Signal

From this edition, Speed arrival signal (SVSAR) and Zero-speed detecting signal (SVSST) that are
used in spindle control by servo motor have been supported.

3. Attached

Attached 1 Speed Arrival Signal and Zero-Speed Detecting Signal

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90D0 & 90E0)
DRAW. No. CUST.
B-65270EN/07-005
01 08.05.21 Y.Ueno Newly designed SHEET

Ed Date Design Description 02／005

 Attached 1. Speed Arrival Signal and Zero-Speed Detecting Signal

(1) Outline
Speed arrival signal (SVSAR) and Zero-speed detecting signal (SVSST) that are used in spindle
control by servo motor have been supported.
Up to now, to judge speed arrival and zero speed, it’s necessary to observe actual speed by PMC. By
this modification, Speed arrival signal (SVSAR) and Zero-speed detecting signal (SVSST) can be
used as same as spindle control.
These signals are effecive in using Spindle control by servo motor. Please refer to “FANUC Series
30i/31i/32i-A CONECTION MANUAL (FUNCTION)” for the detail of Spindle control with servo motor.

(2) Available Servo software

90D0 series version T(20) and subsequent editions (Series 30i, 31i )
90E0 series version T(20) and subsequent editions (Series 30i, 31i, 32i )

(3) Available System software

Please use the following system software in using Speed arrival signal and Zero-speed detecting signal.

(system software)
31.0 and subsequent editions of the following system software series are available.

FS30i-A
G003, G013, G023, G033
G00C, G01C, G02C, G03C
FS31i-A5
G123, G133
G12C, G13C
FS31i-A
G103, G113
FS32i-A
G203

48.0 and subsequent editions of the following system software series are available.

FS30i-A
G002, G012, G022, G032
G00B, G01B, G02B, G03B
FS31i-A5
G121, G131
G12B, G13B
FS31i-A
G101, G111
FS32i-A
G201

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90D0 & 90E0)
DRAW. No. CUST.
B-65270EN/07-005
01 08.05.21 Y.Ueno Newly designed SHEET

Ed Date Design Description 03／005

(4) Parameters

2482 (FS30i) Detection level of speed arrival (SARLV)

[setting range] 0～1000
[setting unit] 0.1%
[default value] 0（Setting value “0” means “15”% internally.）
Detection level of speed arrival means the ratio to commanded speed. When the
subtraction of actual speed from commanded becomes lower than (commanded
speed) × (ratio), actual speed is judged as reach to the commanded speed, and
Speed arrival signal, SVSARn becomes “1”.

Commanded speed for the

judgment of speed arrival
speed
The range that speed arrival signal (SVSAR) is “1”
(speed command)×(1±SARLV/1000)
Actual speed

Speed command for speed control

(acceleration or deceleration is included)

time

SVSAR=0 SVSAR=1

2483 (FS30i) Detection level of speed zero (SSTLV)

[setting range] 0～10000
[setting unit] 1/min
[default value] 0（Setting value “0” means “45”/min internally.）
Detection level of zero speed means the revolution speed(1/min) that is used to judge
stopping. When the actual speed becomes lower than detection level of zero speed,
motor is judged to be stopped, and Zero-speed detecting signal, SVSSTn becomes
“1”.

speed commanded speed for the judgment

of zero speed

actual speed
the range that Zero-speed
detecting signal (SVSST) is “1”
±SSTLV[rpm]

time

SVSST=0 SVSST=1

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90D0 & 90E0)
DRAW. No. CUST.
B-65270EN/07-005
01 08.05.21 Y.Ueno Newly designed SHEET

Ed Date Design Description 04／005

(5) PMC Signals

Speed arrival signal SVSAR1~SVSAR8<Fn377>

[Classification] Output signal
[Function] This signal shows that the actual speed of the servo motor arrives at the preset
range arround the commanded speed at spindle control by servo motor.
[Operation] - SVSARn becomes “1” when the actual speed arrives at the commanded speed.
- SVSARn becomes “0” when the actual speed has not arrived at the commanded
speed.

Zero-speed detecting signal SVSST1~SVSST8<Fn376>

[Classification] Output signal
[Function] This signal shows that the actual speed of the servo motor that is controled by
spindle control by servo motor comes into detection level of zero speed.
[Operation] - SVSSTn becomes “1” when the actual speed is zero.
- SVSSTn becomes “0” when the actual speed is not zero.

signal address
#7 #6 #5 #4 #3 #2 #1 #0

Fn376 SVSST8 SVSST7 SVSST6 SVSST5 SVSST4 SVSST3 SVSST2 SVSST1

#7 #6 #5 #4 #3 #2 #1 #0
Fn377 SVSAR8 SVSAR7 SVSAR6 SVSAR5 SVSAR4 SVSAR3 SVSAR2 SVSAR1

- SVSARn is “0” at emergency stop. So, aftter emergency stop, SVSARn becomes “0” even if the
motor is rotating and in the range of speed arrival. Also in case of some alarms and rotating with
dynamic brake, SVSARn becomes “0”.

- In the case of servo off, SVSARn will be “0”.

- As servo software always watches zero speed condition, SVSSTn will be changed according to
the real motor speed. (The signal condition will not relate to emergency stop, alarm, and servo off.)

- But when the motor feedback alarm (such as communication alarm by disconnection of encoder)
occurs, the feedback data will be unstable. Is such case, there is a possibility tha the output of the
signal might be wrong.

- You can’t use these two signals for safety function, which protects workers from danger by the
machine.

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90D0 & 90E0)
DRAW. No. CUST.
B-65270EN/07-005
01 08.05.21 Y.Ueno Newly designed SHEET

Ed Date Design Description 05／005

 Notice of the update of Digital Servo Software for Series 0i/16i /18i /21i etc. (90B8/L, 90B1/L)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series
FANUC AC SERVO MOTOR βi series
LINEAR MOTOR LiS series
SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN/07

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function 1. Changes of standard parameter table Add 2008.05

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the update of Digital Servo
Software for Series 0i/16i /18i /21i etc.
(90B8/L, 90B1/L)
DRAW. No.
B-65270EN/07-006
CUST.
01 2008.05.21 Ueno Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 1/7
 Notice of the update of Digital Servo Software for Series 0i/16i/18i/21i etc.
(90B8/L, 90B1/L)

.
1. Update Edition

ROM series New edition Available CNC

90B8 12 FS0i-C, FS0iMate-C

90B1 12 FS15i, 16i, 18i, 21i, PMi -D, PMi -H

2. Contents of change

- Changes of standard parameter table

Standard parameter table has been changed.

3. Attached

Attached 1 Changes of Standard Parameter Table

TITLE
Notice of the update of Digital Servo
Software for Series 0i/16i /18i /21i etc.
(90B8/L, 90B1/L)
DRAW. No.
B-65270EN/07-006
CUST.
01 2008.05.21 Ueno Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 2/7
 Attached 1. Changes of Standard Parameter Table

Standard parameters of the following synchronous built-in servo motor are added.

List of Motor Model and ID No. for newly added Motors:

Motor Model Motor ID No. Notice
DiS 22/1500 449 200V for HRV3
* When you load standard parameters by using this motor ID number, HRV3 control will be effective.
* In the case, you have to take care of the restrictions regarding HRV3 control (such as axis card and
number of control axes).
* When you want to use HRV2 control, please change following parameters.
- No.1707#0(Series15i)、No.2013#0(Series16i and etc.)=0
- No.1707#6(Series15i)、No.2013#6(Series16i and etc.)=1
* Please refer to “APPENDIX E VELOCITY LIMIT VALUES IN SERVO SOFTWARE” in parameter
manual about velocity limit of series 16i-B, etc.
* Please refer to Table 2 about the standard parameters.

Standard parameters of the following αi servo motors are added.

List of Motor Model and ID No. for newly added Motors:

Motor Model Motor ID No. Notice
αiS 300/2000 242 200V for HRV1
αiS 22/6000 452 200V for HRV2,3
αiS 22/6000HV 453 400V for HRV2,3
* Please refer to Table 1,2 about the standard parameters.
* If you have used ID number 115 (α300/2) for HRV1 control of αiS300/2000 ,
please use ID number 242 from this edition.

Standard parameters of the following βi servo motors are added.

List of Motor Model and ID No. for newly added Motors:

Motor Model Motor ID No. Notice
βiS 22/3000 213 200V for HRV1
βiS 22/3000HV 214 400V for HRV1
βiS 22/3000 313 200V for HRV2, 3
βiS 22/3000HV 314 400V for HRV2, 3
* Please refer to Table 1 about the standard parameters.

TITLE
Notice of the update of Digital Servo
Software for Series 0i/16i /18i /21i etc.
(90B8/L, 90B1/L)
DRAW. No.
B-65270EN/07-006
CUST.
01 2008.05.21 Ueno Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 3/7
 In order to promote stability, standard parameters of the following large servo motor are changed.

List of Motor Model and ID No. that standard parameters are changed:
Motor Model Motor ID No. Notice
αiF 40/3000 207 200V for HRV1
αiF 40/3000 FAN 208 400V for HRV1
αiF 40/3000 307 200V for HRV2,3
αiF 40/3000 FAN 308 400V for HRV2,3
* Please refer to Table 1 about the standard parameters.

In order to reduce the heat generation at high-speed rotation, standard parameters of the following large servo
motor are changed.

List of Motor Model and ID No. that standard parameters are changed:
Motor Model Motor ID No. Notice
αiS 2000/2000HV
340 400V NOTE1
（A06B-0091-B040）
* Please refer to Table 2 about the standard parameters.

Standard parameters of the following large servo motors are added. With these parameters, the optimal control
can be done by making use of DC link voltage information, and heat generation at high-speed rotation can be
reduced.
To apply these parameters, the following conditions on servo software, servo amplifier, and power supply module
must be satisfied.

List of Motor Model and ID No. for newly added Motors:

Motor Model Motor ID No. Notice
αiS 2000/2000HV NOTE1
454 400V
（A06B-0091-B040）
αiS 3000/2000HV NOTE1
455 400V
（A06B-0092-B040）
* Please refer to Table 2 about the standard parameters.
NOTE1: To use these parameters, PDM is necessary. HRV3 (No.2013#0=1) is set for PDM, but the current
control is equivalent to HRV2.

<Condition>
servo software: Series 90B1,90B8/C(3) and subsequent editions
（L(12) and subsequent editions can execute parameter auto loading.）
servo amplifier: A06B-6127-H109 (αi SV-360HV)
power supply module: A06B-6150-H075 (αi PS-75HV)
A06B-6150-H100 (αi PS-100HV)

TITLE
Notice of the update of Digital Servo
Software for Series 0i/16i /18i /21i etc.
(90B8/L, 90B1/L)
DRAW. No.
B-65270EN/07-006
CUST.
01 2008.05.21 Ueno Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 4/7
 <Notice>
* If servo software, servo amplifier, or power supply module are older version than listed above, do not
use these parameters. (Use motor ID number 340 if αiS2000/2000HV has already used.)
* 90B1,90B8/L(12) and subsequent editions can execute parameter auto loading.

TITLE
Notice of the update of Digital Servo
Software for Series 0i/16i /18i /21i etc.
(90B8/L, 90B1/L)
DRAW. No.
B-65270EN/07-006
CUST.
01 2008.05.21 Ueno Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 5/7
 Table1) Standard paramter table for changes and new added models (Checked parameters are changed.)
αiF40 αiF40 βiS22 βiS22 αiS300 αiF40 αiF40 βiS22 βiS22
Motor model
3000 3000Fan 3000 3000HV 2000 3000 3000Fan 3000 3000HV
Motor specification 0257 0257 0082 0083 0292 0257 0257 0082 0083
Motor ID number 207 208 213 214 242 307 308 313 314
Symbol FS15i FS 16i, 18i, 21i
1808 2003 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000
1809 2004 00000110 00000110 00000110 00000110 00000110 00000011 00000011 00000011 00000011
1883 2005 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1884 2006 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1951 2007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1952 2008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1953 2009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1954 2010 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1955 2011 00100000 00100000 00000000 00000000 00100000 00100000 00100000 00000000 00000000
1956 2012 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1707 2013 00000000 00000000 00001000 00001000 00000000 00000000 00000000 00001000 00001000
1708 2014 00000000 00000000 00001000 00001000 00000000 00000000 00000000 00001000 00001000
1750 2210 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1751 2211 00001010 00001010 00001110 00001110 00000000 00001010 00001010 00001110 00001110
2713 2300 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2714 2301 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
PK1 1852 2040 1289 1289 646 775 1357 1500 1500 1157 1146
PK2 1853 2041 -5048 -5048 -2486 -3580 -4212 -8224 -8224 -5102 -5267
PK3 1854 2042 -2696 -2696 -1298 -2663 -2710 -1348 -1348 -1332 -1332
PK1V 1855 2043 191 191 198 192 114 191 191 198 192
PK2V 1856 2044 -1712 -1712 -1766 -1722 -1023 -1712 -1712 -1766 -1722
PK3V 1857 2045 0 0 0 0 0 0 0 0 0
PK4V 1858 2046 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235
POA1 1859 2047 2216 2216 4297 4406 3709 2216 2216 4297 4406
BLCMP 1860 2048 0 0 0 0 0 0 0 0 0
DPFMX 1861 2049 0 0 0 0 0 0 0 0 0
POK1 1862 2050 956 956 956 956 956 956 956 956 956
POK2 1863 2051 510 510 510 510 510 510 510 510 510
RESERV 1864 2052 0 0 0 0 0 0 0 0 0
PPMAX 1865 2053 21 21 21 21 21 21 21 21 21
PDDP 1866 2054 1894 1894 1894 1894 3787 1894 1894 1894 1894
PHYST 1867 2055 319 319 319 319 319 319 319 319 319
EMFCMP 1868 2056 0 0 0 0 0 0 0 0 0
PVPA 1869 2057 -2570 -2570 -6174 -6174 -3850 -2570 -2570 -6174 -6174
PALPH 1870 2058 -2000 -2000 -2843 -2843 -800 -2000 -2000 -2843 -2843
PPBAS 1871 2059 0 0 0 0 0 0 0 0 0
TQLIM 1872 2060 7282 7282 5462 5462 7282 7282 7282 5462 5462
EMFLMT 1873 2061 0 0 0 0 0 0 0 0 0
POVC1 1877 2062 32511 32431 32520 32548 32391 32511 32431 32520 32548
POVC2 1878 2063 3215 4212 3097 2755 4714 3215 4212 3097 2755
TGALMLV 1892 2064 4 4 4 4 4 4 4 4 4
POVCLMT 1893 2065 9565 12545 9212 8192 23263 9565 12545 9212 8192
PK2VAUX 1894 2066 0 0 -10 -10 0 0 0 0 0
FILTER 1895 2067 0 0 0 0 0 0 0 0 0
FALPH 1961 2068 0 0 0 0 0 0 0 0 0
VFFLT 1962 2069 0 0 0 0 0 0 0 0 0
ERBLM 1963 2070 0 0 0 0 0 0 0 0 0
PBLCT 1964 2071 0 0 0 0 0 0 0 0 0
SFCCML 1965 2072 0 0 0 0 0 0 0 0 0
PSPTL 1966 2073 0 0 0 0 0 0 0 0 0
AALPH 1967 2074 8192 8192 8192 8192 12288 0 0 12288 8192
OSCTPL 1970 2077 0 0 0 0 0 0 0 0 0
PDPCH 1971 2078 0 0 0 0 0 0 0 0 0
PDPCL 1972 2079 0 0 0 0 0 0 0 0 0
DPFEX 1973 2080 0 0 0 0 0 0 0 0 0
DPFZW 1974 2081 0 0 0 0 0 0 0 0 0
BLENDL 1975 2082 0 0 0 0 0 0 0 0 0
MOFCTL 1976 2083 0 0 0 0 0 0 0 0 0
RTCURR 1979 2086 1957 2593 2121 2069 2483 1957 2593 2121 2069
TDPLD 1980 2087 0 0 0 0 0 0 0 0 0
MCNFB 1981 2088 0 0 0 0 0 0 0 0 0
BLBSL 1982 2089 0 0 0 0 0 0 0 0 0
ROBSTL 1983 2090 0 0 0 0 0 0 0 0 0
ACCSPL 1984 2091 0 0 0 0 0 0 0 0 0
ADFF1 1985 2092 0 0 0 0 0 0 0 0 0
VMPK3V 1986 2093 0 0 0 0 0 0 0 0 0
BLCMP2 1987 2094 0 0 0 0 0 0 0 0 0
AHDRTL 1988 2095 0 0 0 0 0 0 0 0 0
RADUSL 1989 2096 0 0 0 0 0 0 0 0 0
SMCNT 1990 2097 0 0 0 0 0 0 0 0 0
DEPVPL 1991 2098 0 0 0 0 0 0 0 0 0
ONEPSL 1992 2099 400 400 400 400 400 400 400 400 400
INPA1 1993 2100 0 0 0 0 0 0 0 0 0
INPA2 1994 2101 0 0 0 0 0 0 0 0 0
DBLIM 1995 2102 15000 15000 0 0 15000 12000 12000 0 0
ABVOF 1996 2103 0 0 0 0 0 0 0 0 0
ABTSH 1997 2104 0 0 0 0 0 0 0 0 0
TRQCST 1998 2105 1839 1839 848 869 10871 1839 1839 848 869
LP24PA 1999 2106 0 0 0 0 0 0 0 0 0
VLGOVR 1700 2107 0 0 0 0 0 0 0 0 0
RESERV 1701 2108 0 0 0 0 0 0 0 0 0
BELLTC 1702 2109 0 0 0 0 0 0 0 0 0
MGSTCM 1703 2110 1291 1291 1289 1289 16 1291 1291 1289 1289
DETQLM 1704 2111 5140 5140 7268 7268 1606 5220 5140 7268 7268
AMRDML 1705 2112 0 0 0 0 0 0 0 0 0
NFILT 1706 2113 0 0 0 0 0 0 0 0 0
NINTCT 1735 2127 3041 3041 1967 3894 0 3041 3041 1967 3894
MFWKCE 1736 2128 2000 2000 6000 6000 5500 6000 2000 6000 6000
MFWKBL 1752 2129 1553 1553 2315 2315 791 1560 1553 2315 2315
LP2GP 1753 2130 0 0 0 0 0 0 0 0 0
LP4GP 1754 2131 0 0 0 0 0 0 0 0 0
LP6GP 1755 2132 0 0 0 0 0 0 0 0 0
PHDLY1 1756 2133 3087 3087 5647 5647 1556 2590 3085 5647 5647
PHDLY2 1757 2134 8990 8990 12820 12820 20494 8990 8990 12820 12820
DGCSMM 1782 2159 0 0 0 0 0 0 0 0 0
TRQCUP 1783 2160 0 0 0 0 0 0 0 0 0
OVCSTP 1784 2161 140 140 0 0 140 140 140 0 0
POVC21 1785 2162 32765 32718 32765 32765 32738 32765 32718 32765 32765
POVC22 1786 2163 33 629 40 38 375 33 629 40 38
POVCLMT2 1787 2164 6099 10707 7166 6815 13952 6099 10707 7166 6815
MAXCRT 1788 2165 165 165 85 45 365 165 165 85 45

TITLE
Notice of the update of Digital Servo
Software for Series 0i/16i /18i /21i etc.
(90B8/L, 90B1/L)
DRAW. No.
B-65270EN/07-006
CUST.
01 2008.05.21 Ueno Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 6/7
 Table2) Standard paramter table for changes and new added models (Checked parameters are changed.)
αiS2000 DiS22 αiS22 αiS22 αiS2000 αiS3000
Motor model
2000HV 1500(200V) 6000 6000HV 2000HV 2000HV
Motor specification 0091 0482-B12x 0262 0263 0091 0092
Motor ID number 340 449 452 453 454 455
Symbol FS15i FS 16i, 18i, 21i
1808 2003 00001000 00001000 00001000 00001000 00001000 00001000
1809 2004 01000011 00000011 00000011 00000011 01000011 01000011
1883 2005 00000000 00000000 00000000 00000000 00000000 00000000
1884 2006 00000000 00000000 00000000 00000000 00000000 00000000
1951 2007 00000000 00000000 00000000 00000000 00000000 00000000
1952 2008 00000000 00000000 00000000 00000000 00000000 00000000
1953 2009 00000000 00000000 00000000 00000000 00000000 00000000
1954 2010 00000000 00000000 00000000 00000000 00000000 00000000
1955 2011 00000000 00000000 00000000 00000000 00000000 00000000
1956 2012 00000000 00000000 00000000 00000000 00000000 00000000
1707 2013 00000001 00000001 00000000 00000000 00000001 00000001
1708 2014 00000000 00000000 00000000 00000000 00000000 00000000
1750 2210 00000000 00000100 00000000 00000000 00000000 00000000
1751 2211 00011110 00001010 00001010 00001010 00011110 00011010
2713 2300 00000000 10000110 00000000 00000000 00000000 00000000
2714 2301 00000000 00000000 00000000 00000000 00000000 00000000
PK1 1852 2040 643 562 605 605 643 772
PK2 1853 2041 -3600 -1568 -2393 -2393 -3600 -3819
PK3 1854 2042 -1358 -2948 -1335 -1335 -1358 -1357
PK1V 1855 2043 502 202 102 102 502 652
PK2V 1856 2044 -4500 -1811 -914 -914 -4500 -5836
PK3V 1857 2045 0 0 0 0 0 0
PK4V 1858 2046 -8235 -8235 -8235 -8235 -8235 -8235
POA1 1859 2047 843 4657 4150 4150 843 650
BLCMP 1860 2048 0 0 0 0 0 0
DPFMX 1861 2049 0 0 0 0 0 0
POK1 1862 2050 956 956 956 956 956 956
POK2 1863 2051 510 510 510 510 510 510
RESERV 1864 2052 0 0 0 0 0 0
PPMAX 1865 2053 21 21 21 21 21 21
PDDP 1866 2054 3787 1894 1894 1894 3787 3787
PHYST 1867 2055 319 319 319 319 319 319
EMFCMP 1868 2056 0 0 0 0 0 0
PVPA 1869 2057 -2595 -17944 -12039 -12039 -3363 -2088
PALPH 1870 2058 -3200 -2257 -2000 -2000 -3200 -5000
PPBAS 1871 2059 0 0 0 0 0 0
TQLIM 1872 2060 7282 7282 7282 7282 7282 7282
EMFLMT 1873 2061 0 0 0 0 0 0
POVC1 1877 2062 32309 32439 32511 32501 32309 32309
POVC2 1878 2063 5734 4109 3215 3332 5734 5734
TGALMLV 1892 2064 4 4 4 4 4 4
POVCLMT 1893 2065 27346 10559 9565 9912 27346 27346
PK2VAUX 1894 2066 0 0 0 0 0 0
FILTER 1895 2067 0 0 0 0 0 0
FALPH 1961 2068 0 0 0 0 0 0
VFFLT 1962 2069 0 0 0 0 0 0
ERBLM 1963 2070 0 0 0 0 0 0
PBLCT 1964 2071 0 0 0 0 0 0
SFCCML 1965 2072 0 0 0 0 0 0
PSPTL 1966 2073 0 0 0 0 0 0
AALPH 1967 2074 12288 0 4096 4096 12288 12288
OSCTPL 1970 2077 0 0 0 0 0 0
PDPCH 1971 2078 0 0 0 0 0 0
PDPCL 1972 2079 0 0 0 0 0 0
DPFEX 1973 2080 0 0 0 0 0 0
DPFZW 1974 2081 0 0 0 0 0 0
BLENDL 1975 2082 0 0 0 0 0 0
MOFCTL 1976 2083 0 0 0 0 0 0
RTCURR 1979 2086 2893 2576 1977 1977 2893 3187
TDPLD 1980 2087 0 0 0 0 0 0
MCNFB 1981 2088 0 0 0 0 0 0
BLBSL 1982 2089 0 0 0 0 0 0
ROBSTL 1983 2090 0 0 0 0 0 0
ACCSPL 1984 2091 0 0 0 0 0 0
ADFF1 1985 2092 0 0 0 0 0 0
VMPK3V 1986 2093 0 0 0 0 0 0
BLCMP2 1987 2094 0 0 0 0 0 0
AHDRTL 1988 2095 0 0 0 0 0 0
RADUSL 1989 2096 0 0 0 0 0 0
SMCNT 1990 2097 0 0 0 0 0 0
DEPVPL 1991 2098 0 0 0 0 0 0
ONEPSL 1992 2099 400 400 400 400 400 400
INPA1 1993 2100 0 0 0 0 0 0
INPA2 1994 2101 0 0 0 0 0 0
DBLIM 1995 2102 0 0 0 0 0 0
ABVOF 1996 2103 0 0 0 0 0 0
ABTSH 1997 2104 0 0 0 0 0 0
TRQCST 1998 2105 6221 348 819 819 6221 8472
LP24PA 1999 2106 0 0 0 0 0 0
VLGOVR 1700 2107 0 0 0 0 0 0
RESERV 1701 2108 0 0 0 0 0 0
BELLTC 1702 2109 0 0 0 0 0 0
MGSTCM 1703 2110 784 2049 1288 1288 784 267
DETQLM 1704 2111 1510 16720 12830 12830 1510 2218
AMRDML 1705 2112 0 0 0 0 0 0
NFILT 1706 2113 0 0 0 0 0 0
NINTCT 1735 2127 3449 0 1000 2000 3449 3029
MFWKCE 1736 2128 3000 6500 1000 1000 3000 2700
MFWKBL 1752 2129 1291 792 3854 3854 1291 777
LP2GP 1753 2130 0 0 0 0 0 0
LP4GP 1754 2131 0 0 0 0 0 0
LP6GP 1755 2132 0 0 0 0 0 0
PHDLY1 1756 2133 2060 30735 7690 7690 2060 2068
PHDLY2 1757 2134 12820 10270 8990 8990 12820 6410
DGCSMM 1782 2159 0 0 0 0 0 0
TRQCUP 1783 2160 0 0 0 0 0 0
OVCSTP 1784 2161 140 0 140 0 140 140
POVC21 1785 2162 32745 0 32765 32765 32745 32745
POVC22 1786 2163 292 0 34 34 292 292
POVCLMT2 1787 2164 13952 0 6222 6222 13952 13952
MAXCRT 1788 2165 0 25 165 85 0 0
ACCBSLM 2717 2304 2720 0 0 0 2720 0
ACDCEND 2718 2305 4114 0 0 0 4114 22
DCIDBS 2723 2310 0 0 0 0 1236 1112

TITLE
Notice of the update of Digital Servo
Software for Series 0i/16i /18i /21i etc.
(90B8/L, 90B1/L)
DRAW. No.
B-65270EN/07-006
CUST.
01 2008.05.21 Ueno Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 7/7
 Notice of the Update of Digital Servo Software for Series 30i/31i ( 90D0)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function 1. Addition of the function setting bit for Add 2008.07
Synchronous Built–in Servo Motor DiS with
high-resolution serial output circuit H or C

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i (90D0)
DRAW. No. CUST.
B-65270EN/07-007
01 08.07.04 Tang Newly designed SHEET

Ed Date Design Description 1／4

 Notice of the Update of Digital Servo Software for Series 30i/31i ( 90D0)

1. Update Edition
ROM series New edition Available CNC
90D0 21 FS30i /31i (For HRV4 control)

2. Contents of change

- The function setting bit for Synchronous Built–in Servo Motor DiS with
high-resolution serial output circuit H or C has been added.

3. Attachment

Attached 1 Addition of the function setting bit for Synchronous Built–in Servo Motor DiS with
high-resolution serial output circuit H or C

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i (90D0)
DRAW. No. CUST.
B-65270EN/07-007
01 08.07.04 Tang Newly designed SHEET

Ed Date Design Description 2／4

 Attached 1. Addition of the function setting bit for Synchronous Built–in
Servo Motor DiS with high-resolution serial output circuit H or C

(1) Outline
The function bit for 2048-magnification interpolation circuit has been supported to an analog output
type rotary encoder (using for Synchronous Built-in Servo Motor ), which connects with
high-resolution serial output circuit H （A860-0333-T701）or C（A860-0333-T801）.

(2) Available Servo software

90D0 series version U(21) and subsequent editions (Series 30i, 31i,)

(3) Parameters
Please use the function bit to an analog output type rotary encoder with 2n pulse per motor
revolution, when it connects with high-resolution serial output circuit H or C.
Both HP2048 and DD2048 bits need to be set to 1 in the case of using Synchronous Built-in Servo
Motor. And the setting value of FFG, position pulse and velocity pulse are same as the case of using
512-magnification interpolation circuit.
#7 #6 #5 #4 #3 #2 #1 #0
2274 (FS30i) DD2048 HP2048
HP2048(#0) The 2048-magnification interpolation circuit is
0: Not used
1: Used

DD2048(#6) For DiS motors, HP2048 is

0: Not available
1: Available

(Magnification to be used at parameter setting)

No.2274#6 No.2274#0 Interpolation magnification as high-resolution
serial output circuit H or circuit C is used
（DD2048） （HP2048）
DiS Motor LiS Motor
0 0 x 2048
x 2048
0 1
x 512
1 1 x 512

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i (90D0)
DRAW. No. CUST.
B-65270EN/07-007
01 08.07.04 Tang Newly designed SHEET

Ed Date Design Description 3／4

(4) Example of parameter setting
Please refer following table to set parameters for the rotary encoders, which have signal interval
4096 λ /rev, 8192λ /rev, 16384λ /rev and 32768 λ /rev, for DiS motor

Signal interval
4096 8192 16384 32768

Detection Detection Detection Detection Detection Detection Detection Detection

Symbol No. Unit Unit Unit Unit Unit Unit Unit Unit
0.001° 0.0001° 0.001° 0.0001° 0.001° 0.0001° 0.001° 0.0001°
DD2048 2274#6 1 1 1 1 1 1 1 1
HP2048 2274#0 1 1 1 1 1 1 1 1
LINEAR 2010#2 0 0 0 0 0 0 0 0
AMRDL 2112 0 0 0 0 0 0 0 0
AMR2 2138 0 0 -1 -1 -2 -2 -3 -3
PLC0 2000#0 0 0 0 0 1 1 1 1
AMR 2001 Poles/2 (binary) Poles/2 (binary) Poles/2 (binary) Poles/2 (binary)
PULCO 2023 8192 8192 16384 16384 3277 3277 6554 6554
PPLS 2024 12500 12500 25000 25000 5000 5000 10000 10000
REFCOUN
1821 360000 3600000 180000 1800000 90000 900000 360000 3600000
T
FFG 2084 9 90 9 90 9 90 9 90
FFG 2085 25 25 50 50 100 100 200 200
PSMPYL 2185 0 0 0 0 0 0 0 0
DECAMR 2220#0 0 0 0 0 0 0 0 0
800PLS#0 2275#0 0 0 0 0 0 0 1 1

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i (90D0)
DRAW. No. CUST.
B-65270EN/07-007
01 08.07.04 Tang Newly designed SHEET

Ed Date Design Description 4／4

 Notice of the update of Digital Servo Software 90B5 & 90B6 series

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series,
FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN/07

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function 1. Changes of standard parameter table Add 2008.07

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the Update of Digital Servo
Software 90B5 & 90B6 series

DRAW. No.
1 2008.07.10 B-65270EN/07-008
CUST.
01 Tang Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 1/5
 Notice of the update of Digital Servo Software 90B5 & 90B6 series

.
1. Update Edition

ROM series New edition Available CNC

90B5 06 FS0i –C, 0i Mate –C, FS20i–B
(with servo card equipped with 320C5410)
90B6 06 FS15i –B, 16i–B, 18i–B, 21i–B, 0i –B, 0i Mate –B,
Power Mate i –D, -H
(with servo card equipped with 320C5410)

2. Contents of change

- Changes of standard parameter table

Standard parameter table has been changed.

3. Attached

Attached 1 Changes of Standard Parameter Table

TITLE
Notice of the Update of Digital Servo
Software 90B5 & 90B6 series

DRAW. No.
1 2008.07.10 B-65270EN/07-008
CUST.
01 Tang Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 2/5
 Attached 1. Changes of Standard Parameter Table

Standard parameters of the following αi servo motors are added.

List of Motor Model and ID No. for newly added Motors:

Motor Model Motor ID No. Notice
αiS300/2000 242 200V for HRV1
αiS22/6000 452 200V for HRV2,3
αiS22/6000HV 453 400V for HRV2,3
* Please refer to Table 1,2 about the standard parameters.
* So far, HRV1 control of αiS300/2000 uses motor ID number 115 (α300/2).
And motor ID number 242 for αiS300/2000 with HRV1 is officially supported from this edition.

Standard parameters of the following βi servo motors are added.

List of Motor Model and ID No. for newly added Motors:

Motor Model Motor ID No. Notice
βiS22/3000 213 200V for HRV1
βiS22/3000HV 214 400V for HRV1
βiS22/3000 313 200V for HRV2, 3
βiS22/3000HV 314 400V for HRV2, 3
* Please refer to Table1,2 about the standard parameters.

In order to improve stability, standard parameters of the following servo motors are changed.

List of Motor Model and ID No. that standard parameters are changed:
Motor Model Motor ID No. Notice
αiF40/3000 207 200V for HRV1
αiF40/3000 FAN 208 400V for HRV1
αiF40/3000 307 200V for HRV2,3
αiF40/3000 FAN 308 400V for HRV2,3
* Please refer to Table1,2 about the standard parameters.

TITLE
Notice of the Update of Digital Servo
Software 90B5 & 90B6 series

DRAW. No.
1 2008.07.10 B-65270EN/07-008
CUST.
01 Tang Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 3/5
 Table1) Standard paramter table for changes and new added models for HRV1 (Bordered parameters are changed.)
αiF40/3000 αiF40/3000 βiS22 βiS22 αiS300
Motor model
Fan 3000 3000HV 2000
Motor specification 0257 0257 0082 0083 0292
Motor ID number 207 208 213 214 242
Symbol FS15i FS 16i, 18i, 20i, 21i, 0i, PMi
1808 2003 00001000 00001000 00001000 00001000 00001000
1809 2004 00000110 00000110 00000110 00000110 00000110
1883 2005 00000000 00000000 00000000 00000000 00000000
1884 2006 00000000 00000000 00000000 00000000 00000000
1951 2007 00000000 00000000 00000000 00000000 00000000
1952 2008 00000000 00000000 00000000 00000000 00000000
1953 2009 00000000 00000000 00000000 00000000 00000000
1954 2010 00000000 00000000 00000000 00000000 00000000
1955 2011 00100000 00100000 00000000 00000000 00100000
1956 2012 00000000 00000000 00000000 00000000 00000000
1707 2013 00000000 00000000 00001000 00001000 00000000
1708 2014 00000000 00000000 00001000 00001000 00000000
1750 2210 00000000 00000000 00000000 00000000 00000000
1751 2211 00001010 00001010 00001110 00001110 00000000
2713 2300 00000000 00000000 00000000 00000000 00000000
2714 2301 00000000 00000000 00000000 00000000 00000000
PK1 1852 2040 1289 1289 646 775 1357
PK2 1853 2041 -5048 -5048 -2486 -3580 -4212
PK3 1854 2042 -2696 -2696 -1298 -2663 -2710
PK1V 1855 2043 191 191 198 192 114
PK2V 1856 2044 -1712 -1712 -1766 -1722 -1023
PK3V 1857 2045 0 0 0 0 0
PK4V 1858 2046 -8235 -8235 -8235 -8235 -8235
POA1 1859 2047 2216 2216 4297 4406 3709
BLCMP 1860 2048 0 0 0 0 0
DPFMX 1861 2049 0 0 0 0 0
POK1 1862 2050 956 956 956 956 956
POK2 1863 2051 510 510 510 510 510
RESERV 1864 2052 0 0 0 0 0
PPMAX 1865 2053 21 21 21 21 21
PDDP 1866 2054 1894 1894 1894 1894 3787
PHYST 1867 2055 319 319 319 319 319
EMFCMP 1868 2056 0 0 0 0 0
PVPA 1869 2057 -2570 -2570 -6174 -6174 -3850
PALPH 1870 2058 -2000 -2000 -2843 -2843 -800
PPBAS 1871 2059 0 0 0 0 0
TQLIM 1872 2060 7282 7282 5462 5462 7282
EMFLMT 1873 2061 0 0 0 0 0
POVC1 1877 2062 32511 32431 32520 32548 32391
POVC2 1878 2063 3215 4212 3097 2755 4714
TGALMLV 1892 2064 4 4 4 4 4
POVCLMT 1893 2065 9565 12545 9212 8192 23263
PK2VAUX 1894 2066 0 0 -10 -10 0
FILTER 1895 2067 0 0 0 0 0
FALPH 1961 2068 0 0 0 0 0
VFFLT 1962 2069 0 0 0 0 0
ERBLM 1963 2070 0 0 0 0 0
PBLCT 1964 2071 0 0 0 0 0
SFCCML 1965 2072 0 0 0 0 0
PSPTL 1966 2073 0 0 0 0 0
AALPH 1967 2074 8192 8192 8192 8192 12288
OSCTPL 1970 2077 0 0 0 0 0
PDPCH 1971 2078 0 0 0 0 0
PDPCL 1972 2079 0 0 0 0 0
DPFEX 1973 2080 0 0 0 0 0
DPFZW 1974 2081 0 0 0 0 0
BLENDL 1975 2082 0 0 0 0 0
MOFCTL 1976 2083 0 0 0 0 0
RTCURR 1979 2086 1957 2593 2121 2069 2483
TDPLD 1980 2087 0 0 0 0 0
MCNFB 1981 2088 0 0 0 0 0
BLBSL 1982 2089 0 0 0 0 0
ROBSTL 1983 2090 0 0 0 0 0
ACCSPL 1984 2091 0 0 0 0 0
ADFF1 1985 2092 0 0 0 0 0
VMPK3V 1986 2093 0 0 0 0 0
BLCMP2 1987 2094 0 0 0 0 0
AHDRTL 1988 2095 0 0 0 0 0
RADUSL 1989 2096 0 0 0 0 0
SMCNT 1990 2097 0 0 0 0 0
DEPVPL 1991 2098 0 0 0 0 0
ONEPSL 1992 2099 400 400 400 400 400
INPA1 1993 2100 0 0 0 0 0
INPA2 1994 2101 0 0 0 0 0
DBLIM 1995 2102 15000 15000 0 0 15000
ABVOF 1996 2103 0 0 0 0 0
ABTSH 1997 2104 0 0 0 0 0
TRQCST 1998 2105 1839 1839 848 869 10871
LP24PA 1999 2106 0 0 0 0 0
VLGOVR 1700 2107 0 0 0 0 0
RESERV 1701 2108 0 0 0 0 0
BELLTC 1702 2109 0 0 0 0 0
MGSTCM 1703 2110 1291 1291 1289 1289 16
DETQLM 1704 2111 5140 5140 7268 7268 1606
AMRDML 1705 2112 0 0 0 0 0
NFILT 1706 2113 0 0 0 0 0
NINTCT 1735 2127 3041 3041 1967 3894 0
MFWKCE 1736 2128 2000 2000 6000 6000 5500
MFWKBL 1752 2129 1553 1553 2315 2315 791
LP2GP 1753 2130 0 0 0 0 0
LP4GP 1754 2131 0 0 0 0 0
LP6GP 1755 2132 0 0 0 0 0
PHDLY1 1756 2133 3087 3087 5647 5647 1556
PHDLY2 1757 2134 8990 8990 12820 12820 20494
DGCSMM 1782 2159 0 0 0 0 0
TRQCUP 1783 2160 0 0 0 0 0
OVCSTP 1784 2161 140 140 0 0 140
POVC21 1785 2162 32765 32718 32765 32765 32738
POVC22 1786 2163 33 629 40 38 375
POVCLMT2 1787 2164 6099 10707 7166 6815 13952
MAXCRT 1788 2165 165 165 85 45 365

TITLE
Notice of the Update of Digital Servo
Software 90B5 & 90B6 series

DRAW. No.
1 2008.07.10 B-65270EN/07-008
CUST.
01 Tang Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 4/5
 Table2) Standard paramter table for changes and new added models for HRV2,3 (Bordered parameters are changed.)
αiF40/3000 αiF40/3000 βiS22 βiS22 αiS22 αiS22
Motor model
Fan 3000 3000HV 6000 6000HV
Motor specification 0257 0257 0082 0083 0262 0263
Motor ID number 307 308 313 314 452 453
Symbol FS15i FS16i, 18i, 20i, 21i, 0i, PMi
1808 2003 00001000 00001000 00001000 00001000 00001000 00001000
1809 2004 00000011 00000011 00000011 00000011 00000011 00000011
1883 2005 00000000 00000000 00000000 00000000 00000000 00000000
1884 2006 00000000 00000000 00000000 00000000 00000000 00000000
1951 2007 00000000 00000000 00000000 00000000 00000000 00000000
1952 2008 00000000 00000000 00000000 00000000 00000000 00000000
1953 2009 00000000 00000000 00000000 00000000 00000000 00000000
1954 2010 00000000 00000000 00000000 00000000 00000000 00000000
1955 2011 00100000 00100000 00000000 00000000 00000000 00000000
1956 2012 00000000 00000000 00000000 00000000 00000000 00000000
1707 2013 00000000 00000000 00001000 00001000 00000000 00000000
1708 2014 00000000 00000000 00001000 00001000 00000000 00000000
1750 2210 00000000 00000000 00000000 00000000 00000000 00000000
1751 2211 00001010 00001010 00001110 00001110 00001010 00001010
2713 2300 00000000 00000000 00000000 00000000 00000000 00000000
2714 2301 00000000 00000000 00000000 00000000 00000000 00000000
PK1 1852 2040 1500 1500 1157 1146 605 605
PK2 1853 2041 -8224 -8224 -5102 -5267 -2393 -2393
PK3 1854 2042 -1348 -1348 -1332 -1332 -1335 -1335
PK1V 1855 2043 191 191 198 192 102 102
PK2V 1856 2044 -1712 -1712 -1766 -1722 -914 -914
PK3V 1857 2045 0 0 0 0 0 0
PK4V 1858 2046 -8235 -8235 -8235 -8235 -8235 -8235
POA1 1859 2047 2216 2216 4297 4406 4150 4150
BLCMP 1860 2048 0 0 0 0 0 0
DPFMX 1861 2049 0 0 0 0 0 0
POK1 1862 2050 956 956 956 956 956 956
POK2 1863 2051 510 510 510 510 510 510
RESERV 1864 2052 0 0 0 0 0 0
PPMAX 1865 2053 21 21 21 21 21 21
PDDP 1866 2054 1894 1894 1894 1894 1894 1894
PHYST 1867 2055 319 319 319 319 319 319
EMFCMP 1868 2056 0 0 0 0 0 0
PVPA 1869 2057 -2570 -2570 -6174 -6174 -12039 -12039
PALPH 1870 2058 -2000 -2000 -2843 -2843 -2000 -2000
PPBAS 1871 2059 0 0 0 0 0 0
TQLIM 1872 2060 7282 7282 5462 5462 7282 7282
EMFLMT 1873 2061 0 0 0 0 0 0
POVC1 1877 2062 32511 32431 32520 32548 32511 32501
POVC2 1878 2063 3215 4212 3097 2755 3215 3332
TGALMLV 1892 2064 4 4 4 4 4 4
POVCLMT 1893 2065 9565 12545 9212 8192 9565 9912
PK2VAUX 1894 2066 0 0 0 0 0 0
FILTER 1895 2067 0 0 0 0 0 0
FALPH 1961 2068 0 0 0 0 0 0
VFFLT 1962 2069 0 0 0 0 0 0
ERBLM 1963 2070 0 0 0 0 0 0
PBLCT 1964 2071 0 0 0 0 0 0
SFCCML 1965 2072 0 0 0 0 0 0
PSPTL 1966 2073 0 0 0 0 0 0
AALPH 1967 2074 0 0 12288 8192 4096 4096
OSCTPL 1970 2077 0 0 0 0 0 0
PDPCH 1971 2078 0 0 0 0 0 0
PDPCL 1972 2079 0 0 0 0 0 0
DPFEX 1973 2080 0 0 0 0 0 0
DPFZW 1974 2081 0 0 0 0 0 0
BLENDL 1975 2082 0 0 0 0 0 0
MOFCTL 1976 2083 0 0 0 0 0 0
RTCURR 1979 2086 1957 2593 2121 2069 1977 1977
TDPLD 1980 2087 0 0 0 0 0 0
MCNFB 1981 2088 0 0 0 0 0 0
BLBSL 1982 2089 0 0 0 0 0 0
ROBSTL 1983 2090 0 0 0 0 0 0
ACCSPL 1984 2091 0 0 0 0 0 0
ADFF1 1985 2092 0 0 0 0 0 0
VMPK3V 1986 2093 0 0 0 0 0 0
BLCMP2 1987 2094 0 0 0 0 0 0
AHDRTL 1988 2095 0 0 0 0 0 0
RADUSL 1989 2096 0 0 0 0 0 0
SMCNT 1990 2097 0 0 0 0 0 0
DEPVPL 1991 2098 0 0 0 0 0 0
ONEPSL 1992 2099 400 400 400 400 400 400
INPA1 1993 2100 0 0 0 0 0 0
INPA2 1994 2101 0 0 0 0 0 0
DBLIM 1995 2102 12000 12000 0 0 0 0
ABVOF 1996 2103 0 0 0 0 0 0
ABTSH 1997 2104 0 0 0 0 0 0
TRQCST 1998 2105 1839 1839 848 869 819 819
LP24PA 1999 2106 0 0 0 0 0 0
VLGOVR 1700 2107 0 0 0 0 0 0
RESERV 1701 2108 0 0 0 0 0 0
BELLTC 1702 2109 0 0 0 0 0 0
MGSTCM 1703 2110 1291 1291 1289 1289 1288 1288
DETQLM 1704 2111 5220 5140 7268 7268 12830 12830
AMRDML 1705 2112 0 0 0 0 0 0
NFILT 1706 2113 0 0 0 0 0 0
NINTCT 1735 2127 3041 3041 1967 3894 1000 2000
MFWKCE 1736 2128 6000 2000 6000 6000 1000 1000
MFWKBL 1752 2129 1560 1553 2315 2315 3854 3854
LP2GP 1753 2130 0 0 0 0 0 0
LP4GP 1754 2131 0 0 0 0 0 0
LP6GP 1755 2132 0 0 0 0 0 0
PHDLY1 1756 2133 2590 3085 5647 5647 7690 7690
PHDLY2 1757 2134 8990 8990 12820 12820 8990 8990
DGCSMM 1782 2159 0 0 0 0 0 0
TRQCUP 1783 2160 0 0 0 0 0 0
OVCSTP 1784 2161 140 140 0 0 140 0
POVC21 1785 2162 32765 32718 32765 32765 32765 32765
POVC22 1786 2163 33 629 40 38 34 34
POVCLMT2 1787 2164 6099 10707 7166 6815 6222 6222
MAXCRT 1788 2165 165 165 85 45 165 85

TITLE
Notice of the Update of Digital Servo
Software 90B5 & 90B6 series

DRAW. No.
1 2008.07.10 B-65270EN/07-008
CUST.
01 Tang Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 5/5
 Notice of the Update of Digital Servo Software for Series 30i/31i/32i ( 90E0)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function 1. Addition of the function setting bit for Add 2008.07
Synchronous Built–in Servo Motor DiS with
high-resolution serial output circuit H or C
2. Addition of the function to drive Large Servo Add 2008.07
Motor with four windings

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90E0)
DRAW. No. CUST.
B-65270EN/07-009
01 08.07.03 Tang Newly designed SHEET

Ed Date Design Description 1／007

 Notice of the Update of Digital Servo Software for Series 30i/31i/32i ( 90E0)

1. Update Edition
ROM series New edition Available CNC
90E0 21 FS30i /31i /32i (For HRV2 and HRV3 control)

2. Contents of change

- The function setting bit for Synchronous Built–in Servo Motor DiS with
high-resolution serial output circuit H or C has been added.

- The function to drive Large Servo Motor with four windings has been added

3. Attachment

Attached 1 Addition of the function setting bit for Synchronous Built–in Servo Motor DiS with
high-resolution serial output circuit H or C

Attached 2 Addition of the function to drive Large Servo Motor with four windings

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90E0)
DRAW. No. CUST.
B-65270EN/07-009
01 08.07.03 Tang Newly designed SHEET

Ed Date Design Description 2／007

 Attached 1. Addition of the function setting bit for Synchronous Built–in
Servo Motor DiS with high-resolution serial output circuit H or C

(1) Outline
The function bit for 2048-magnification interpolation circuit has been supported to an analog output
type rotary encoder (using for Synchronous Built-in Servo Motor ), which connects with
high-resolution serial output circuit H （A860-0333-T701）or C（A860-0333-T801）.

(2) Available Servo software

90E0 series version U(21) and subsequent editions (Series 30i, 31i, 32i )

(3) Parameters
Please use the function bit to an analog output type rotary encoder with 2n pulse per motor
revolution, when it connects with high-resolution serial output circuit H or C.
Both HP2048 and DD2048 bits need to be set to 1 in the case of using Synchronous Built-in Servo
Motor. And the setting value of FFG, position pulse and velocity pulse are same as the case of using
512-magnification interpolation circuit.
#7 #6 #5 #4 #3 #2 #1 #0
2274 (FS30i) DD2048 HP2048
HP2048(#0) The 2048-magnification interpolation circuit is
0: Not used
1: Used

DD2048(#6) For DiS motors, HP2048 is

0: Not available
1: Available

(Magnification to be used at parameter setting)

No.2274#6 No.2274#0 Interpolation magnification as high-resolution
serial output circuit H or circuit C is used
（DD2048） （HP2048）
DiS Motor LiS Motor
0 0 x 2048
x 2048
0 1
x 512
1 1 x 512

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90E0)
DRAW. No. CUST.
B-65270EN/07-009
01 08.07.03 Tang Newly designed SHEET

Ed Date Design Description 3／007

(4) Example of parameter setting
Please refer following table to set parameters for the rotary encoders, which have signal interval
4096 λ /rev, 8192λ /rev, 16384λ /rev and 32768 λ /rev, for DiS motor

Signal interval
4096 8192 16384 32768

Detection Detection Detection Detection Detection Detection Detection Detection

Symbol No. Unit Unit Unit Unit Unit Unit Unit Unit
0.001° 0.0001° 0.001° 0.0001° 0.001° 0.0001° 0.001° 0.0001°
DD2048 2274#6 1 1 1 1 1 1 1 1
HP2048 2274#0 1 1 1 1 1 1 1 1
LINEAR 2010#2 0 0 0 0 0 0 0 0
AMRDL 2112 0 0 0 0 0 0 0 0
AMR2 2138 0 0 -1 -1 -2 -2 -3 -3
PLC0 2000#0 0 0 0 0 1 1 1 1
AMR 2001 Poles/2 (binary) Poles/2 (binary) Poles/2 (binary) Poles/2 (binary)
PULCO 2023 8192 8192 16384 16384 3277 3277 6554 6554
PPLS 2024 12500 12500 25000 25000 5000 5000 10000 10000
REFCOUN
1821 360000 3600000 180000 1800000 90000 900000 360000 3600000
T
FFG 2084 9 90 9 90 9 90 9 90
FFG 2085 25 25 50 50 100 100 200 200
PSMPYL 2185 0 0 0 0 0 0 0 0
DECAMR 2220#0 0 0 0 0 0 0 0 0
800PLS#0 2275#0 0 0 0 0 0 0 1 1

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90E0)
DRAW. No. CUST.
B-65270EN/07-009
01 08.07.03 Tang Newly designed SHEET

Ed Date Design Description 4／007

 Attached2. Addition of the function to drive Large Servo Motor with
four windings

(1) Outline
The following Large Servo Motors, which have four windings, are available.
PDM (PWM Distribution Module)can not be used in 30i series CNCs. For the CNCs, you can drive the
motors by setting the following parameters. Tandem Control Option (J733) is necessary to use
following setting.
Motor model Servo Amplifier Motor number Remarks
αiS2000/2000HV 360HV×4 459 4 ampilefiers drive
αiS3000/2000HV 360HV×4 460 4 ampilefiers drive
* Please refer to Table 1 about the standard parameters.

(2) Servi series / edition

90E0 series / edition U(21) or later

(3) Parameters setting

New parameter
#7 #6 #5 #4 #3 #2 #1 #0
2211(FS30i) PLW4

PLW4(#7) Large Servo Motor with four windings is

0: Not used
1: Used
Note) If you change this bit, you must turn CNC off.
Note) This function bit is included in the standard parameter table for above motors.
(after this software edition)
Note) Sequent 4 numbers are necessary in No.1023 setting to drive one motor. You
must set this function bit for 4 axes.
(Example) No.1023 = from 1 to 4, from 5 to 8, from 13 to 16, from 17 to 20, or
from 21 to 24.
Note) You can not use HRV3 or HRV4 at driving these motors.
Note) You need not set No.2018#7(Motor Feedback Sharing Function) and
No.2200#1(Full-closed Feedback Sharing Function).

Related parameter

2022(FS30i) Direction of motor rotation

Note) You must set same value for Large Servo Motor with four windings.
111: Clockwise as viewed from the Pulsecoder
-111: Counterclockwise as viewed from the Pulsecoder

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90E0)
DRAW. No. CUST.
B-65270EN/07-009
01 08.07.03 Tang Newly designed SHEET

Ed Date Design Description 5／007

(4) Cable connection and parameter setting example
(Example) Large Servo Motor with four windings is used as full-closed axis.
PS1 SV1 SV2 PS2 SV3 SV4 SDU

FSSB

Power cables

FB cable

X1 (Main axis) X2 (Sub axis) X3 (Sub axis) X4 (Sub axis)

No.1023 1 2 3 4
No.1815#1 1 - - -
No.1905#6 1 - - -
No.14340 - 0 1 2 3
No.14376 - 0 - - -
No.2211#7 1 1 1 1
(Note) In semi-closed axis, you need not set gray hatching part.
(Note) You must set 4n+1, 4n+2, 4n+3, 4n+4 for No.1023. The axis, which has 4n+1 as No.1023
setting, is main axis and others are sub axes.

(5) Illegal Servo Parameter Setting

In the following case, Illegal Servo Parameter Setting Alarm will happen.
(Detail DGN352 = 2113)
• Without Tandem Contorl Option (Detail DGN will not be displayed in this case.)
• The settings of No.2211#7 of 4 axes are not all 1.
• Motor number (No.2020) of 4 axes are not all same value.
• HRV3 is used (No.2013#0=1 ).

(6) Others
1) Position control is done only by main axis, and you don’t give any position command to sub axes.
2) Basically you set same parameter values for main and sub axes.
3) You should input Detach signal to all axes (main and sub) when you use Detach function.
4) You should set the same parameters for Resonance Elimination Filter to all axes (main and sub),
when you use the filters.
5) You can measure frequency response of velocity loop only by specifying main axis as
measuremnet target in SERVO GUIDE.

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90E0)
DRAW. No. CUST.
B-65270EN/07-009
01 08.07.03 Tang Newly designed SHEET

Ed Date Design Description 6／007

 Attached：Table1：Standrard parameters for Large motor αiS2000/2000HV and αiS 3000/2000HV
Motor model αiS2000 αiS3000
2000HV 2000HV
Motor specification 0091 0092
Motor ID No. 459 460
Symbol FS30i,31i,
2003 00001000 00001000
2004 01000011 01000011
2005 00000000 00000000
2006 00000000 00000000
2007 00100000 00100000
2008 00000000 00000000
2009 00000000 00000000
2010 00000000 00000000
2011 00000000 00000000
2012 00000000 00000000
2013 00000000 00000000
2014 00000000 00000000
2210 00000000 00000000
2211 10011110 10011010
2300 00000000 00000000
2301 00000000 00000000
PK1 2040 643 772
PK2 2041 -3600 -3819
PK3 2042 -1358 -1357
PK1V 2043 502 652
PK2V 2044 -4500 -5836
PK3V 2045 0 0
PK4V 2046 -8235 -8235
POA1 2047 843 650
BLCMP 2048 0 0
DPFMX 2049 0 0
POK1 2050 956 956
POK2 2051 510 510
RESERV 2052 0 0
PPMAX 2053 21 21
PDDP 2054 3787 3787
PHYST 2055 319 319
EMFCMP 2056 0 0
PVPA 2057 -3363 -2088
PALPH 2058 -3200 -5000
PPBAS 2059 0 0
TQLIM 2060 7282 7282
EMFLMT 2061 0 0
POVC1 2062 32309 32309
POVC2 2063 5734 5734
TGALMLV 2064 4 4
POVCLMT 2065 27346 27346
PK2VAUX 2066 0 0
FILTER 2067 0 0
FALPH 2068 0 0
VFFLT 2069 0 0
ERBLM 2070 0 0
PBLCT 2071 0 0
SFCCML 2072 0 0
PSPTL 2073 0 0
AALPH 2074 12288 12288
OSCTPL 2077 0 0
PDPCH 2078 0 0
PDPCL 2079 0 0
DPFEX 2080 0 0
DPFZW 2081 0 0
BLENDL 2082 0 0
MOFCTL 2083 0 0
RTCURR 2086 2893 3187
TDPLD 2087 0 0
MCNFB 2088 0 0
BLBSL 2089 0 0
ROBSTL 2090 0 0
ACCSPL 2091 0 0
ADFF1 2092 0 0
VMPK3V 2093 0 0
BLCMP2 2094 0 0
AHDRTL 2095 0 0
RADUSL 2096 0 0
SMCNT 2097 0 0
DEPVPL 2098 0 0
ONEPSL 2099 400 400
INPA1 2100 0 0
INPA2 2101 0 0
DBLIM 2102 0 0
ABVOF 2103 0 0
ABTSH 2104 0 0
TRQCST 2105 6221 8472
LP24PA 2106 0 0
VLGOVR 2107 0 0
RESERV 2108 0 0
BELLTC 2109 0 0
MGSTCM 2110 784 267
DETQLM 2111 1510 2218
AMRDML 2112 0 0
NFILT 2113 0 0
NINTCT 2127 3449 3029
MFWKCE 2128 3000 2700
MFWKBL 2129 1291 777
LP2GP 2130 0 0
LP4GP 2131 0 0
LP6GP 2132 0 0
PHDLY1 2133 2060 2068
PHDLY2 2134 6420 6410
DGCSMM 2159 0 0
TRQCUP 2160 0 0
OVCSTP 2161 140 140
POVC21 2162 32745 32745
POVC22 2163 292 292
POVCLMT2 2164 13952 13952
MAXCRT 2165 365 365

TITLE
Notice of the Update of Digital Servo Software
for Series 30i /31i /32i (90E0)
DRAW. No. CUST.
B-65270EN/07-009
01 08.07.03 Tang Newly designed SHEET

Ed Date Design Description 7／007

 Notice of the Update of Digital Servo Software for Series 15i, 16i, 18i, 21i, PMi-D, PMi-H (90BP )

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function Changes of Standard Parameter Table Add 2008.09

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE

Notice of the Update of Digital Servo Software for

Series 15i, 16i, 18i, 21i, PMi -D, PMi -H ( 90BP)
DRAW. No. CUST.
B-65270EN/07-010
01 08.09.19 Tang Newly designed SHEET

Ed Date Design Description 01／05

 Notice of the Update of Digital Servo Software for Series 15i, 16i, 18i, 21i, PMi -D, PMi -H ( 90BP)

1. Update Edition
ROM series New edition Available CNC
90BP 04 FS15i, 16i, 18i, 21i, PMi -D, PMi –H
(with servo card equipped with 320C5410)

2. Contents of change

- Changes of Standard Parameter Table

Standard parameter table has been changed.

3. Attached

Attached 1 Changes of Standard Parameter Table

TITLE

Notice of the Update of Digital Servo Software for

Series 15i, 16i, 18i, 21i, PMi -D, PMi -H ( 90BP)
DRAW. No. CUST.
B-65270EN/07-010
01 08.09.19 Tang Newly designed SHEET

Ed Date Design Description 02／05

 Attached 1. Changes of Standard Parameter Table

- Series and editions of applicable servo software

(Series 15i, 16i, 18i, 21i, PMi -D, PMi -H)
Series 90BP/D(04) and subsequent editions

Soft thermal(OVC) alarm level for the following servo motors are optimized.

HRV1 HRV2,3
Motor Model Motor ID No. Motor ID No.
αiF 30/3000 203 303
αiF 40/3000 207 307
αiF 40/3000Fan 208 308
αiS 22/4000 215 315
αiS 30/4000 218 318
αiS 40/4000 222 322
αiS 22/6000 - 452
* Please refer to Table1, 2 about the standard parameters.

Standard parameters of the following Large Servo Motor are added. With these parameters, the
optimal control can be done by making use of DC link voltage information, and heat generation at
high-speed rotation can be reduced.

Motor Model Motor ID No. Notice

αiS1000/2000HV
458 400V
（A06B-0098-B010）
* Please refer to Table 2 about the standard parameters.

To apply the parameters, the following conditions on servo software, servo amplifier, and power supply module
must be fulfilled.
<Condition>
Servo software: Series 90BP/D(4) and subsequent editions
Servo amplifier: A06B-6127-H109 (αi SV-360HV)
Power supply module: A06B-6150-H100 (αi PS-100HV)

<Notice>
Parameter auto loading can be executed by Motor ID No. 458 for 90BP/D(04) and subsequent
editions.
αiS1000/2000HV (A06B-0098-B010) is upper compatible with the previous motor αiS1000/2000HV
(A06B-0298-B010).
Do not use the parameters specified by Motor ID No.458 to the old model αiS1000/2000HV
(A06B-0298-B010).

TITLE

Notice of the Update of Digital Servo Software for

Series 15i, 16i, 18i, 21i, PMi -D, PMi -H ( 90BP)
DRAW. No. CUST.
B-65270EN/07-010
01 08.09.19 Tang Newly designed SHEET

Ed Date Design Description 03／05

Table1) Standard parameter table for changes models (Checked parameters are changed.) (HRV1)

αiF30 αiF40 αiF40 αiS22 αiS30 αiS40

Motor model
3000 3000 3000Fan 4000 4000 4000
Motor specification 0253 0257 0257 0265 0268 0272
Motor ID number 203 207 208 215 218 222
Symbol FS15i FS16i,18i,21i,PMi
1808 2003 00001000 00001000 00001000 00001000 00001000 00001000
1809 2004 00000110 00000110 00000110 00000110 00000110 00000110
1883 2005 00000000 00000000 00000000 00000000 00000000 00000000
1884 2006 00000000 00000000 00000000 00000000 00000000 00000000
1951 2007 00000000 00000000 00000000 00000000 00000000 00000000
1952 2008 00000000 00000000 00000000 00000000 00000000 00000000
1953 2009 00000000 00000000 00000000 00000000 00000000 00000000
1954 2010 00000000 00000000 00000000 00000000 00000000 00000000
1955 2011 00000000 00100000 00100000 00000000 00000000 00000000
1956 2012 00000000 00000000 00000000 00000000 00000000 00000000
1707 2013 00000000 00000000 00000000 00000000 00000000 00000000
1708 2014 00000000 00000000 00000000 00000000 00000000 00000000
1750 2210 00000000 00000000 00000000 00000000 00000000 00000000
1751 2211 00001010 00001010 00001010 00001010 00001010 00001010
2713 2300 00000000 00000000 00000000 00000000 00000000 00000000
2714 2301 00000000 00000000 00000000 00000000 00000000 00000000
PK1 1852 2040 597 1289 1289 714 689 748
PK2 1853 2041 -2334 -5048 -5048 -2904 -2675 -3055
PK3 1854 2042 -2694 -2696 -2696 -2674 -2683 -2682
PK1V 1855 2043 230 191 191 69 82 92
PK2V 1856 2044 -2057 -1712 -1712 -616 -733 -827
PK3V 1857 2045 0 0 0 0 0 0
PK4V 1858 2046 -8235 -8235 -8235 -8235 -8235 -8235
POA1 1859 2047 1845 2216 2216 6163 5175 4589
BLCMP 1860 2048 0 0 0 0 0 0
DPFMX 1861 2049 0 0 0 0 0 0
POK1 1862 2050 956 956 956 956 956 956
POK2 1863 2051 510 510 510 510 510 510
RESERV 1864 2052 0 0 0 0 0 0
PPMAX 1865 2053 21 21 21 21 21 21
PDDP 1866 2054 1894 1894 1894 1894 1894 1894
PHYST 1867 2055 319 319 319 319 319 319
EMFCMP 1868 2056 0 0 0 0 0 0
PVPA 1869 2057 -5170 -2570 -2570 -7689 -6415 -5648
PALPH 1870 2058 -1000 -2000 -2000 -2000 -3000 -3000
PPBAS 1871 2059 0 0 0 0 0 0
TQLIM 1872 2060 7282 7282 7282 7282 7282 7282
EMFLMT 1873 2061 0 0 0 0 0 0
POVC1 1877 2062 32515 32515 32431 32515 32515 32515
POVC2 1878 2063 3166 3166 4212 3166 3166 3166
TGALMLV 1892 2064 4 4 4 4 4 4
POVCLMT 1893 2065 9418 9418 12545 9418 9418 9418
PK2VAUX 1894 2066 0 0 0 0 0 0
FILTER 1895 2067 0 0 0 0 0 0
FALPH 1961 2068 0 0 0 0 0 0
VFFLT 1962 2069 0 0 0 0 0 0
ERBLM 1963 2070 0 0 0 0 0 0
PBLCT 1964 2071 0 0 0 0 0 0
SFCCML 1965 2072 0 0 0 0 0 0
PSPTL 1966 2073 0 0 0 0 0 0
AALPH 1967 2074 8192 8192 8192 4096 4096 4096
OSCTPL 1970 2077 0 0 0 0 0 0
PDPCH 1971 2078 0 0 0 0 0 0
PDPCL 1972 2079 0 0 0 0 0 0
DPFEX 1973 2080 0 0 0 0 0 0
DPFZW 1974 2081 0 0 0 0 0 0
BLENDL 1975 2082 0 0 0 0 0 0
MOFCTL 1976 2083 0 0 0 0 0 0
RTCURR 1979 2086 2306 1957 2593 1627 1836 2073
TDPLD 1980 2087 0 0 0 0 0 0
MCNFB 1981 2088 0 0 0 0 0 0
BLBSL 1982 2089 0 0 0 0 0 0
ROBSTL 1983 2090 0 0 0 0 0 0
ACCSPL 1984 2091 0 0 0 0 0 0
ADFF1 1985 2092 0 0 0 0 0 0
VMPK3V 1986 2093 0 0 0 0 0 0
BLCMP2 1987 2094 0 0 0 0 0 0
AHDRTL 1988 2095 0 0 0 0 0 0
RADUSL 1989 2096 0 0 0 0 0 0
SMCNT 1990 2097 0 0 0 0 0 0
DEPVPL 1991 2098 0 0 0 0 0 0
ONEPSL 1992 2099 400 400 400 400 400 400
INPA1 1993 2100 0 0 0 0 0 0
INPA2 1994 2101 0 0 0 0 0 0
DBLIM 1995 2102 0 15000 15000 0 0 0
ABVOF 1996 2103 0 0 0 0 0 0
ABTSH 1997 2104 0 0 0 0 0 0
TRQCST 1998 2105 1170 1839 1839 1216 1470 1701
LP24PA 1999 2106 0 0 0 0 0 0
VLGOVR 1700 2107 0 0 0 0 0 0
RESERV 1701 2108 0 0 0 0 0 0
BELLTC 1702 2109 0 0 0 0 0 0
MGSTCM 1703 2110 1032 1291 1291 519 775 776
DETQLM 1704 2111 7735 5140 5140 6224 6450 5682
AMRDML 1705 2112 0 0 0 0 0 0
NFILT 1706 2113 0 0 0 0 0 0
NINTCT 1735 2127 1688 3041 3041 2041 1871 1853
MFWKCE 1736 2128 2500 2000 2000 2500 4000 4000
MFWKBL 1752 2129 2829 1553 1553 2580 2574 2063
LP2GP 1753 2130 0 0 0 0 0 0
LP4GP 1754 2131 0 0 0 0 0 0
LP6GP 1755 2132 0 0 0 0 0 0
PHDLY1 1756 2133 5140 3087 3087 5150 5150 5150
PHDLY2 1757 2134 8995 8990 8990 8990 8990 8988
DGCSMM 1782 2159 0 0 0 0 0 0
TRQCUP 1783 2160 0 0 0 0 0 0
OVCSTP 1784 2161 128 128 128 128 128 128
POVC21 1785 2162 32764 32764 32717 32766 32765 32765
POVC22 1786 2163 48 46 637 28 37 38
POVCLMT2 1787 2164 8124 8124 10815 5177 6687 6846
MAXCRT 1788 2165 165 165 165 165 165 165
ACCBSLM 2717 2304 0 0 0 0 0 0
ACDCEND 2718 2305 0 0 0 0 0 0
DCIDBS 2723 2310 0 0 0 0 0 0

TITLE

Notice of the Update of Digital Servo Software for

Series 15i, 16i, 18i, 21i, PMi -D, PMi -H ( 90BP)
DRAW. No. CUST.
B-65270EN/07-010
01 08.09.19 Tang Newly designed SHEET

Ed Date Design Description 04／05

Table2) Standard parameter table for changes and new added models (Checked parameters are changed.) ( HRV2,HRV3)
αiF30 αiF40 αiF40 αiS22 αiS30 αiS40 αiS22 αiS1000
Motor model
3000 3000 3000Fan 4000 4000 4000 6000 2000HV
Motor specification 0253 0257 0257 0265 0268 0272 0262 0098
Motor ID number 303 307 308 315 318 322 452 458
Symbol FS15i FS16i,18i,21i,PMi
1808 2003 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000
1809 2004 00000011 00000011 00000011 00000011 00000011 00000011 00000011 01000011
1883 2005 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1884 2006 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1951 2007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1952 2008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1953 2009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1954 2010 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1955 2011 00000000 00100000 00100000 00000000 00000000 00000000 00000000 00000000
1956 2012 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1707 2013 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1708 2014 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1750 2210 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1751 2211 00001010 00001010 00001010 00001010 00001010 00001010 00001010 00011010
2713 2300 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2714 2301 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
PK1 1852 2040 768 1500 1500 581 799 712 605 1260
PK2 1853 2041 -4492 -8224 -8224 -3844 -4447 -4138 -2393 -8010
PK3 1854 2042 -1347 -1348 -1348 -1337 -1317 -1341 -1335 -1362
PK1V 1855 2043 230 191 191 69 82 92 102 263
PK2V 1856 2044 -2057 -1712 -1712 -616 -733 -827 -914 -2357
PK3V 1857 2045 0 0 0 0 0 0 0 0
PK4V 1858 2046 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235
POA1 1859 2047 1845 2216 2216 6163 5175 4589 4150 1610
BLCMP 1860 2048 0 0 0 0 0 0 0 0
DPFMX 1861 2049 0 0 0 0 0 0 0 0
POK1 1862 2050 956 956 956 956 956 956 956 956
POK2 1863 2051 510 510 510 510 510 510 510 510
RESERV 1864 2052 0 0 0 0 0 0 0 0
PPMAX 1865 2053 21 21 21 21 21 21 21 21
PDDP 1866 2054 1894 1894 1894 1894 1894 1894 1894 3787
PHYST 1867 2055 319 319 319 319 319 319 319 319
EMFCMP 1868 2056 -20500 0 0 0 0 0 0 0
PVPA 1869 2057 -8465 -2570 -2570 -7687 -6412 -5645 -12039 -2320
PALPH 1870 2058 -1657 -2000 -2000 -2000 -2300 -3000 -2000 -2500
PPBAS 1871 2059 0 0 0 0 0 0 0 0
TQLIM 1872 2060 7282 7282 7282 7282 7282 7282 7282 7282
EMFLMT 1873 2061 0 0 0 0 0 0 0 0
POVC1 1877 2062 32515 32515 32431 32515 32515 32515 32515 32309
POVC2 1878 2063 3166 3166 4212 3166 3166 3166 3166 5734
TGALMLV 1892 2064 4 4 4 4 4 4 4 4
POVCLMT 1893 2065 9418 9418 12545 9418 9418 9418 9418 27346
PK2VAUX 1894 2066 0 0 0 0 0 0 0 0
FILTER 1895 2067 0 0 0 0 0 0 0 0
FALPH 1961 2068 0 0 0 0 0 0 0 0
VFFLT 1962 2069 0 0 0 0 0 0 0 0
ERBLM 1963 2070 0 0 0 0 0 0 0 0
PBLCT 1964 2071 0 0 0 0 0 0 0 0
SFCCML 1965 2072 0 0 0 0 0 0 0 0
PSPTL 1966 2073 0 0 0 0 0 0 0 0
AALPH 1967 2074 4096 0 0 4096 4096 4096 4096 12288
OSCTPL 1970 2077 0 0 0 0 0 0 0 0
PDPCH 1971 2078 0 0 0 0 0 0 0 0
PDPCL 1972 2079 0 0 0 0 0 0 0 0
DPFEX 1973 2080 0 0 0 0 0 0 0 0
DPFZW 1974 2081 0 0 0 0 0 0 0 0
BLENDL 1975 2082 0 0 0 0 0 0 0 0
MOFCTL 1976 2083 0 0 0 0 0 0 0 0
RTCURR 1979 2086 2306 1957 2593 1627 1836 2073 1977 2960
TDPLD 1980 2087 0 0 0 0 0 0 0 0
MCNFB 1981 2088 0 0 0 0 0 0 0 0
BLBSL 1982 2089 0 0 0 0 0 0 0 0
ROBSTL 1983 2090 0 0 0 0 0 0 0 0
ACCSPL 1984 2091 0 0 0 0 0 0 0 0
ADFF1 1985 2092 0 0 0 0 0 0 0 0
VMPK3V 1986 2093 0 0 0 0 0 0 0 0
BLCMP2 1987 2094 0 0 0 0 0 0 0 0
AHDRTL 1988 2095 0 0 0 0 0 0 0 0
RADUSL 1989 2096 0 0 0 0 0 0 0 0
SMCNT 1990 2097 0 0 0 0 0 0 0 0
DEPVPL 1991 2098 0 0 0 0 0 0 0 0
ONEPSL 1992 2099 400 400 400 400 400 400 400 400
INPA1 1993 2100 0 0 0 0 0 0 0 0
INPA2 1994 2101 0 0 0 0 0 0 0 0
DBLIM 1995 2102 0 12000 12000 0 0 0 0 0
ABVOF 1996 2103 0 0 0 0 0 0 0 0
ABTSH 1997 2104 0 0 0 0 0 0 0 0
TRQCST 1998 2105 1170 1839 1839 1216 1470 1701 819 27963
LP24PA 1999 2106 0 0 0 0 0 0 0 0
VLGOVR 1700 2107 0 0 0 0 0 0 0 0
RESERV 1701 2108 0 0 0 0 0 0 0 0
BELLTC 1702 2109 0 0 0 0 0 0 0 0
MGSTCM 1703 2110 1032 1291 1291 519 775 776 1288 785
DETQLM 1704 2111 7735 5220 5140 6224 6450 5682 12830 2300
AMRDML 1705 2112 0 0 0 0 0 0 0 0
NFILT 1706 2113 0 0 0 0 0 0 0 0
NINTCT 1735 2127 1688 3041 3041 2041 1871 1853 1000 11851
MFWKCE 1736 2128 2500 6000 2000 2500 4000 4000 1000 4500
MFWKBL 1752 2129 2829 1560 1553 2580 2574 2063 3854 1038
LP2GP 1753 2130 0 0 0 0 0 0 0 0
LP4GP 1754 2131 0 0 0 0 0 0 0 0
LP6GP 1755 2132 0 0 0 0 0 0 0 0
PHDLY1 1756 2133 5140 2590 3085 5150 5150 5150 7690 2570
PHDLY2 1757 2134 8995 8990 8990 8990 8990 8988 8990 12810
DGCSMM 1782 2159 0 0 0 0 0 0 0 0
TRQCUP 1783 2160 0 0 0 0 0 0 0 0
OVCSTP 1784 2161 128 128 128 128 128 128 128 140
POVC21 1785 2162 32764 32764 32717 32766 32765 32765 32765 32745
POVC22 1786 2163 48 46 637 28 37 38 44 292
POVCLMT2 1787 2164 8124 8124 10815 5177 6687 6846 7743 13952
MAXCRT 1788 2165 165 165 165 165 165 165 165 365
ACCBSLM 2717 2304 0 0 0 0 0 0 0 0
ACDCEND 2718 2305 0 0 0 0 0 0 0 22
DCIDBS 2723 2310 0 0 0 0 0 0 0 1112

TITLE

Notice of the Update of Digital Servo Software for

Series 15i, 16i, 18i, 21i, PMi -D, PMi -H ( 90BP)
DRAW. No. CUST.
B-65270EN/07-010
01 08.09.19 Tang Newly designed SHEET

Ed Date Design Description 05／05

 Notice of the Update of Digital Servo Software for Series 30i, 31i, 32i (90E0)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function Changes of Standard Parameter Table Add 2008.10

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i (90E0)
DRAW. No. CUST.
B-65270EN/07-011
01 08.10.17 Tang Newly designed SHEET

Ed Date Design Description 01／04

 Notice of the Update of Digital Servo Software for Series 30i, 31i, 32i (90E0)

1. Update Edition
ROM series New edition Available CNC
90E0 23 FS30i, 31i, 32i (For HRV2 and HRV3 control)

2. Contents of change

- Changes of Standard Parameter Table

Standard parameter table has been changed.

3. Attached

Attached 1 Changes of Standard Parameter Table

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i (90E0)
DRAW. No. CUST.
B-65270EN/07-011
01 08.10.17 Tang Newly designed SHEET

Ed Date Design Description 02／04

 Attached 1. Changes of Standard Parameter Table

- Series and editions of applicable servo software

(Series 30i, 31i, 32i)
Series 90E0/W(23) and subsequent editions

Soft thermal(OVC) alarm level for the following servo motors are optimized.

Motor Model Motor ID No.

αiF 30/3000 303
αiF 40/3000 307
αiF 40/3000Fan 308
αiS 22/4000 315
αiS 30/4000 318
αiS 40/4000 322
αiS 22/6000 452
* Please refer to Table1 about the standard parameters.

Standard parameters of the following Large Servo Motor are added. With these parameters, the
optimal control can be done by making use of DC link voltage information, and heat generation at
high-speed rotation can be reduced.

Motor Model Motor ID No. Notice

αiS1000/2000HV
458 400V
（A06B-0098-B010）
* Please refer to Table 2 about the standard parameters.

To apply the parameters, the following conditions on servo software, servo amplifier, and power supply module
must be fulfilled.
<Condition>
Servo software: Series 90E0/W(23) and subsequent editions
Servo amplifier: A06B-6127-H109 (αi SV-360HV)
Power supply module: A06B-6150-H100 (αi PS-100HV)

<Notice>
Parameter auto loading can be executed by Motor ID No. 458 for 90E0/W(23) and subsequent
editions.
αiS1000/2000HV (A06B-0098-B010) is upper compatible with the previous motor αiS1000/2000HV
(A06B-0298-B010).
Do not use the parameters specified by Motor ID No.458 to the old model αiS1000/2000HV
(A06B-0298-B010).

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i (90E0)
DRAW. No. CUST.
B-65270EN/07-011
01 08.10.17 Tang Newly designed SHEET

Ed Date Design Description 03／04

Table1) Standard parameter table for changes and new added models (Checked parameters are changed.) (HRV2,HRV3)
αiF30 αiF40 αiF40 αiS22 αiS30 αiS40 αiS22 αiS1000
Motor model
3000 3000 3000Fan 4000 4000 4000 6000 2000HV
Motor specification 0253 0257 0257 0265 0268 0272 0262 0098
Motor ID number 303 307 308 315 318 322 452 458
Symbol FS16i,18i,21i,PMi
2003 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000
2004 00000011 00000011 00000011 00000011 00000011 00000011 00000011 01000011
2005 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2006 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2010 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2011 00000000 00100000 00100000 00000000 00000000 00000000 00000000 00000000
2012 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2013 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2014 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2210 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2211 00001010 00001010 00001010 00001010 00001010 00001010 00001010 00011010
2300 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2301 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
PK1 2040 768 1500 1500 581 799 712 605 1260
PK2 2041 -4492 -8224 -8224 -3844 -4447 -4138 -2393 -8010
PK3 2042 -1347 -1348 -1348 -1337 -1317 -1341 -1335 -1362
PK1V 2043 230 191 191 69 82 92 102 263
PK2V 2044 -2057 -1712 -1712 -616 -733 -827 -914 -2357
PK3V 2045 0 0 0 0 0 0 0 0
PK4V 2046 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235
POA1 2047 1845 2216 2216 6163 5175 4589 4150 1610
BLCMP 2048 0 0 0 0 0 0 0 0
DPFMX 2049 0 0 0 0 0 0 0 0
POK1 2050 956 956 956 956 956 956 956 956
POK2 2051 510 510 510 510 510 510 510 510
RESERV 2052 0 0 0 0 0 0 0 0
PPMAX 2053 21 21 21 21 21 21 21 21
PDDP 2054 1894 1894 1894 1894 1894 1894 1894 3787
PHYST 2055 319 319 319 319 319 319 319 319
EMFCMP 2056 -20500 0 0 0 0 0 0 0
PVPA 2057 -8465 -2570 -2570 -7687 -6412 -5645 -12039 -2320
PALPH 2058 -1657 -2000 -2000 -2000 -2300 -3000 -2000 -2500
PPBAS 2059 0 0 0 0 0 0 0 0
TQLIM 2060 7282 7282 7282 7282 7282 7282 7282 7282
EMFLMT 2061 0 0 0 0 0 0 0 0
POVC1 2062 32515 32515 32431 32515 32515 32515 32515 32309
POVC2 2063 3166 3166 4212 3166 3166 3166 3166 5734
TGALMLV 2064 4 4 4 4 4 4 4 4
POVCLMT 2065 9418 9418 12545 9418 9418 9418 9418 27346
PK2VAUX 2066 0 0 0 0 0 0 0 0
FILTER 2067 0 0 0 0 0 0 0 0
FALPH 2068 0 0 0 0 0 0 0 0
VFFLT 2069 0 0 0 0 0 0 0 0
ERBLM 2070 0 0 0 0 0 0 0 0
PBLCT 2071 0 0 0 0 0 0 0 0
SFCCML 2072 0 0 0 0 0 0 0 0
PSPTL 2073 0 0 0 0 0 0 0 0
AALPH 2074 4096 0 0 4096 4096 4096 4096 12288
OSCTPL 2077 0 0 0 0 0 0 0 0
PDPCH 2078 0 0 0 0 0 0 0 0
PDPCL 2079 0 0 0 0 0 0 0 0
DPFEX 2080 0 0 0 0 0 0 0 0
DPFZW 2081 0 0 0 0 0 0 0 0
BLENDL 2082 0 0 0 0 0 0 0 0
MOFCTL 2083 0 0 0 0 0 0 0 0
RTCURR 2086 2306 1957 2593 1627 1836 2073 1977 2960
TDPLD 2087 0 0 0 0 0 0 0 0
MCNFB 2088 0 0 0 0 0 0 0 0
BLBSL 2089 0 0 0 0 0 0 0 0
ROBSTL 2090 0 0 0 0 0 0 0 0
ACCSPL 2091 0 0 0 0 0 0 0 0
ADFF1 2092 0 0 0 0 0 0 0 0
VMPK3V 2093 0 0 0 0 0 0 0 0
BLCMP2 2094 0 0 0 0 0 0 0 0
AHDRTL 2095 0 0 0 0 0 0 0 0
RADUSL 2096 0 0 0 0 0 0 0 0
SMCNT 2097 0 0 0 0 0 0 0 0
DEPVPL 2098 0 0 0 0 0 0 0 0
ONEPSL 2099 400 400 400 400 400 400 400 400
INPA1 2100 0 0 0 0 0 0 0 0
INPA2 2101 0 0 0 0 0 0 0 0
DBLIM 2102 0 12000 12000 0 0 0 0 0
ABVOF 2103 0 0 0 0 0 0 0 0
ABTSH 2104 0 0 0 0 0 0 0 0
TRQCST 2105 1170 1839 1839 1216 1470 1701 819 27963
LP24PA 2106 0 0 0 0 0 0 0 0
VLGOVR 2107 0 0 0 0 0 0 0 0
RESERV 2108 0 0 0 0 0 0 0 0
BELLTC 2109 0 0 0 0 0 0 0 0
MGSTCM 2110 1032 1291 1291 519 775 776 1288 785
DETQLM 2111 7735 5220 5140 6224 6450 5682 12830 2300
AMRDML 2112 0 0 0 0 0 0 0 0
NFILT 2113 0 0 0 0 0 0 0 0
NINTCT 2127 1688 3041 3041 2041 1871 1853 1000 11851
MFWKCE 2128 2500 6000 2000 2500 4000 4000 1000 4500
MFWKBL 2129 2829 1560 1553 2580 2574 2063 3854 1038
LP2GP 2130 0 0 0 0 0 0 0 0
LP4GP 2131 0 0 0 0 0 0 0 0
LP6GP 2132 0 0 0 0 0 0 0 0
PHDLY1 2133 5140 2590 3085 5150 5150 5150 7690 2570
PHDLY2 2134 8995 8990 8990 8990 8990 8988 8990 12810
DGCSMM 2159 0 0 0 0 0 0 0 0
TRQCUP 2160 0 0 0 0 0 0 0 0
OVCSTP 2161 128 128 128 128 128 128 128 140
POVC21 2162 32764 32764 32717 32766 32765 32765 32765 32745
POVC22 2163 48 46 637 28 37 38 44 292
POVCLMT2 2164 8124 8124 10815 5177 6687 6846 7743 13952
MAXCRT 2165 165 165 165 165 165 165 165 365
ACCBSLM 2304 0 0 0 0 0 0 0 0
ACDCEND 2305 0 0 0 0 0 0 0 22
DCIDBS 2310 0 0 0 0 0 0 0 1112

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i (90E0)
DRAW. No. CUST.
B-65270EN/07-011
01 08.10.17 Tang Newly designed SHEET

Ed Date Design Description 04／04

 Correction of the description about the setting for DiS motor with Heidenhain’s encoder

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function

Optional
Function
Unit

Maintenance
Parts
Notice

Correction Description about the setting for DiS motor with Correct 2008.11
Heidenhain’s encoder

Another

TITLE
Correction of the description about the
setting for DiS motor with Heidenhain’s
encoder
DRAW. No. CUST.
B-65270EN/07-012
01 08.11.18 Tang Newly designed SHEET

Ed Date Design Description 01／02

 Correction of the description about the setting for DiS motor with Heidenhain’s encoder

We inform you that there is a mistake in the description of the following table.

[Before correction] Table 4.15.1 (m) For RCN223, RCN723, or RCN727

Parameter number Parameter setting
Symbol
Detection unit Detection unit
name FS30i,16i FS15i
1/1000deg 1/10000deg
AMRDL 2112 1705 0 0
AMR2 2138 1761 -4 -4
PLC0 2000#0 1804#0 1 1
Parameter No.2001
Number of Number of
is incorrect in this AMR 2001 1806
poles/2 (binary) poles/2 (binary)
table.
PULCO 2023 1876 6554 6554
PPLS 2024 1891 10000 10000
REFCOUNT 1821 1896 360000 3600000
FFG 2084 1977 9 9
FFG 2085 1978 200 20
PSMPYL 2185 2628 0 0
DECAMR 2220#0 2608#0 0 0
800PLS#0 2275#0 2688#0 1 1
800PLS#1 2275#1 2688#1 1 1
DMASK 2394 2807 8 8
Table 4.15.1 (m) For RCN223, RCN723, or RCN727
[After correction]
Parameter number Parameter setting
Symbol
Detection unit Detection unit
name FS30i,16i FS15i
1/1000deg 1/10000deg
AMRDL 2112 1705 0 0
AMR2 2138 1761 -4 -4
PLC0 2000#0 1804#0 1 1
This is the correct
Number of Number of
setting. AMR 2001 1806
poles (binary) poles (binary)
PULCO 2023 1876 6554 6554
PPLS 2024 1891 10000 10000
REFCOUNT 1821 1896 360000 3600000
FFG 2084 1977 9 9
FFG 2085 1978 200 20
PSMPYL 2185 2628 0 0
DECAMR 2220#0 2608#0 0 0
800PLS#0 2275#0 2688#0 1 1
800PLS#1 2275#1 2688#1 1 1
DMASK 2394 2807 8 8
TITLE
Correction of the description about the
setting for DiS motor with Heidenhain’s
encoder
DRAW. No. CUST.
B-65270EN/07-012
01 08.11.18 Tang Newly designed SHEET

Ed Date Design Description 02／02

 Notice of the Update of Digital Servo Software for Series 30i, 31i, 32i (90E0)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function 1. Motor control stop judgment in quick stop at Add 2009.02
emergency stop has been added.
2.DI signal to invalidate Integrator copy function has
Add 2009.02
been added.
3.Preload function with time constant has been added. Add 2009.02

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i (90E0)
DRAW. No. CUST.
B-65270EN/07-013
01 09.02.04 Tang Newly designed SHEET

Ed Date Design Description 01／07

 Notice of the Update of Digital Servo Software for Series 30i, 31i, 32i (90E0)

1. Update Edition
ROM series New edition Available CNC
90E0 25 FS30i, 31i, 32i (For HRV2 and HRV3 control)

2. Contents of change

- Motor control stop judgment in quick stop at emergency stop has been added.
- DI signal to invalidate Integrator copy function has been added.
- Preload function with time constant has been added.

3. Attached

Attached 1 About an addition of Motor control stop judgment in quick stop at emergency stop
Attached 2 About DI signal to invalidate Integrator copy function
Attached 3 Improvement of Preload function (Addition of time constant)

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i (90E0)
DRAW. No. CUST.
B-65270EN/07-013
01 09.02.04 Tang Newly designed SHEET

Ed Date Design Description 02／07

 - Attached 1. About an addition of Motor control stop judgment in quick
stop at emergency stop

(1) Summary
When Large Spindle Motor like αiS2000/2000HV is used in the axis of rotation of a large lathe, there
are some cases where it takes several seconds or more to stop rotation even if it uses maximum torque
because of its large inertia.
When qiuck stop at emergency stop is applied to such an axis, timer setting for an emergency stop
signal needs to be set more than several seconds in order to secure the time of control stop. Since it is
difficult to estimate the time correctly and longer time has to be set as a result, this function has been
added to make ampilifier MCC off just after the motor stop has been added.
When emergency stop occurs, motor is
decelerated by control and the amplifier
Actual Speed
MCC will be turned off, as soon as motor
stop.
A motor stop state is judged by SVSSTn
signal.

Emergency stop
signal

SVSSTn
Timer setting value for Quick
Stop at Emergency Stop
Amplifier Mcc off

(2) Servo software Series / edition

Series 90E0 / Y(25) and subsequent editions in Series-30i/31i/32i
Following system software is needed for this function.
(System soft)
[ FS30i -A ]
G002, G012, G022, G032 / 48.0 and subsequent editions
G00B, G01B, G02B, G03B / 48. and subsequent editions
G003, G013, G023, G033 / 31.0 and subsequent editions
G00C, G01C, G02C, G03C / 31.0 and subsequent editions

[ FS31i -A5 ]
G121, G131 / 48.0 and subsequent editions
G12B, G13B / 48.0 and subsequent editions
G123, G133 / 31.0 and subsequent editions
G12C, G13C / 31.0 and subsequent editions

[ FS31i -A ]
G101, G111 / 48.0 and subsequent editions
G103, G113 / 31.0 and subsequent editions

[ FS32i-A ]
G201 / 48.0 and subsequent editions
G203 / 31.0 and subsequent editions

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i (90E0)
DRAW. No. CUST.
B-65270EN/07-013
01 09.02.04 Tang Newly designed SHEET

Ed Date Design Description 03／07

 (3) Parameters
New parameter

#7 #6 #5 #4 #3 #2 #1 #0
No.2294(FS30i) SSTMCC

SSTMC (#4) During qiuck stop at emergency stop, function to cut off amplifier MCC just
after motor stop is
0: Used
1: Not used ← Use this setting.
Because the above function cut off amplifier’s MCC when a motor stop state is detected, it needs to
judge whether motor stops or not .
Therefore, the following detection level of speed zero parameter needs to be set.

No.2483 (FS30i) Detection level of speed zero (SSTLV)

[setting range] 0～10000
[setting unit] 1/min
[default value] 0（Setting value “0” means “45”/min internally.）
Please specify the revolution speed(1/min) that is judged to be stopping in
detection level of zero speed. When the actual speed becomes lower than detection
level of zero speed, motor is judged to be stopping, and Zero-speed detecting signal,
SVSSTn becomes “1”.
In order to set the timer more than several seconds to Quick stop function at emergency stop, not
only the break control timer but also emergency stop signal timer of αiPS need to be extended.
Because the maximum setting to emergency stop signal timer in αiPs is 400ms, if you want to
delay motor deactivation more, please add an outside timer.
(For details please refer to B-65270EN/07 4.10 BRAKE CONTROL FUNCTION and 4.11
QUICK STOP FUNCTION).

No.2083 (FS30i) Brake control timer

[Unit of data] ms
[Recommended value] 0 to 32000 ms

#7 #6 #5 #4 #3 #2 #1 #0
No.2210 (FS30i) ESPTM1 ESPTM0
Emergency stop timer built into the amplifier
ESPTM1 ESPTM0 Delay time

0 0 50ms (default value)

0 1 100ms
1 0 200ms
1 1 400ms

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i (90E0)
DRAW. No. CUST.
B-65270EN/07-013
01 09.02.04 Tang Newly designed SHEET

Ed Date Design Description 04／07

 - Attached 2. About DI signal to invalidate Integrator copy function

(1) Summary
When you drive two axes with synchronous control, vibration between master and slave axes or
problem of heat generation by pulling each other might be caused by a slight difference of
characteristics. In order to solve these problems, there is the velocity loop integrator copy function that
copies the velocity loop integrator from master axis to slave axis, thereby preventing above
phenomena.
There are some machines that need to switch off/on synchronous control dynamically. They use
synchronous control when two axes need to move synchronously , and they don’t use it when two axes
need to move separately. The integrator copy function has not been able to be applied to such machines,
because it always copies the velocity loop integrator from master axis to slave axis.
This time, we have added a specification that makes Integrator copy function invalidated by DI
signal.

Velocity feedback
Master axis
Proportional gain
- +
VCMD + + TCMD
∑ Integral gain

G0321
1
Slave axis
0
+
∑ Integral gain
+
VCMD TCMD
- +
Proportional gain
Velocity feedback

(2) Servo software Series / edition

Series 90E0 / Y(25) and subsequent editions

(3) Parameters
New parameter
#7 #6 #5 #4 #3 #2 #1 #0
2286 (FS30i) WCCNCK
WCCNCK(#4) DI signal to invalidate integrator copy is
0: Used
1: Not used
(Specify only the slave axis)
When WCCNCK=1, the integrator copy function can be turned OFF/ON dynamically by DI
signal G0321.

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i (90E0)
DRAW. No. CUST.
B-65270EN/07-013
01 09.02.04 Tang Newly designed SHEET

Ed Date Design Description 05／07

 Existing parameter
#7 #6 #5 #4 #3 #2 #1 #0
2273 (FS30i) WSVCP
WSVCP(#1) Integrator copy function is
0: Not used
1: Used
(Specify only the slave axis)
The integrator of the master axis is copied to the slave axis.

(4) Signals
Connection status flag
SVDI21～SVDI28
[Classification] Input signal
[Function] This signal invalidates servo fucntions to make two axes that use synchronous
control stable (unconnected) and enables independent operation
[Operation] When 1 is set in this signal, the status of two axes becomes “unconnected”.
When the signal is 0, the status becomes “connected”.

Signal address
#7 #6 #5 #4 #3 #2 #1 #0
G0321 SVDI28 SVDI27 SVDI26 SVDI25 SVDI24 SVDI23 SVDI22 SVDI21
SVDI21～SVDI28:Connection status flag
0: The status of two axes is “Connected” (Two axes move synchronously.)
1: The status of two axes is “Unconnected” (Two axes move independently.)
(Specify only the slave axis)

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i (90E0)
DRAW. No. CUST.
B-65270EN/07-013
01 09.02.04 Tang Newly designed SHEET

Ed Date Design Description 06／07

 Attached 3. Improvement of Preload function (Addition of time constant)

(1) Summary
In Tandem control, there is a Preload function as a function to absorb the effect of backlash between
Main and Sub axes by giving offset torque of a reverse direction for the two motors.
Because the present Preload function has been added by time constant 0, there is a possibility that a
shock occurs at a moment of excitation. In ordet to reduce this shock, Preload function with
exponential time constant has been added.

\(2) Servo software Series / edition

Series 90E0 / Y(25) and subsequent editions in Series-30i/31i/32i
Series 90E3 / D(04) and subsequent editions in Series-30i/31i/32i for Learning control.

(3) Parameters
New parameter

#7 #6 #5 #4 #3 #2 #1 #0
No.2417(FS30i) TIMCAL TIMPR2

TIMCAL (#4) Preload function with expoenential time constant is

0: Not used
1: Used

This exponential time constant is decided by the reciprocal number of Position

loop gain (No.1825).
For exmaple, in case of No.1825 = 3000(30 s-1), preload is added with
exponential time constant (1/Pg = 33.3ms) from the moment when amplifier
becomes ENBL.

Note
Please don’t use this constant in case that of torque offset canseling function
(No2215#1) under Unexpected Disturbance Torque Detection function is using.

TIMPR2 (#2) Exponential time constant of Preload function is

0: the reciprocal number of Position loop gain (No.1825)
1: 4 times of the reciprocal number of Position loop gain (No.1825)

In some machine, there is a possibility that time constant is not enough and
mechanical shock occurs. In this case, time constant can be extended by setting
this bit.
Existing parameter

No.2087 (FS30i) Preload

[Valid data range] from -1000 to 1000
[Unit of data] TCMD unit
[Recommend value] Maximun value is recommended about one third of rated torque.
In order to absorb the effect of backlash between main axis and sub axis, torque of reverse
polality is added.

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i (90E0)
DRAW. No. CUST.
B-65270EN/07-013
01 09.02.04 Tang Newly designed SHEET

Ed Date Design Description 07／07

 Notice of the update of Digital Servo Software for Series 0i/16i /18i /21i etc. (90B8/M,
90B1/M )

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series
FANUC AC SERVO MOTOR βi series
LINEAR MOTOR LiS series
SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN/07

2. Summary of Change
Group Name / Outline New, Add Applicable
Correct, Del Date
Basic Function 1. Changes of standard parameter table Add 2009.03

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the update of Digital Servo
Software for Series 0i/16i /18i /21i etc.
(90B8/M, 90B1/M)
DRAW. No.
1 2009.03.04 B-65270EN/07-014
CUST.
01 Tang Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 1/5
 Notice of the update of Digital Servo Software for Series 0i/16i/18i/21i etc.
(90B8/M, 90B1/M)

.
1. Update Edition

ROM series New edition Available CNC

90B8 13 FS0i-C, FS0iMate-C

90B1 13 FS15i, 16i, 18i, 21i, PMi -D, PMi -H

2. Contents of change

- Changes of Standard parameter table

Standard parameter table has been changed.

3. Attached

Attached 1 Changes of Standard parameter table

TITLE
Notice of the update of Digital Servo
Software for Series 0i/16i /18i /21i etc.
(90B8/M, 90B1/M)
DRAW. No.
1 2009.03.04 B-65270EN/07-014
CUST.
01 Tang Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 2/5
 Attached 1. Changes of Standard parameter table

Soft thermal(OVC) alarm level for the following servo motors are optimized.

HRV1 HRV2,3
Motor Model Motor ID No. Motor ID No.
αiF 30/3000 203 303
αiF 40/3000 207 307
αiF 40/3000Fan 208 308
αiS 22/4000 215 315
αiS 30/4000 218 318
αiS 40/4000 222 322
αiS 22/6000 - 452
* Please refer to Table1, 2 about the standard parameters.

Standard parameters of the following Large Servo Motor are added. With these parameters, the
optimal control can be done by making use of DC link voltage information, and heat generation at
high-speed rotation can be reduced.

Motor Model Motor ID No. Notice

αiS1000/2000HV
458 400V
（A06B-0098-B010）
* Please refer to Table 2 about the standard parameters.

To apply the parameters, the following conditions on servo software, servo amplifier, and power supply module
must be fulfilled.
<Condition>
Servo software: Series 90B1/M(13), 90B8/M(13) and subsequent editions
Servo amplifier: A06B-6127-H109 (αi SV-360HV)
Power supply module: A06B-6150-H100 (αi PS-100HV)

<Notice>
Parameter auto loading can be executed by Motor ID No. 458 for 90B1/M(13), 90B8/M(13) and
subsequent editions.
αiS1000/2000HV (A06B-0098-B010) is upper compatible with the previous motor αiS1000/2000HV
(A06B-0298-B010).
Do not use the parameters specified by Motor ID No.458 to the old model αiS1000/2000HV
(A06B-0298-B010).

TITLE
Notice of the update of Digital Servo
Software for Series 0i/16i /18i /21i etc.
(90B8/M, 90B1/M)
DRAW. No.
1 2009.03.04 B-65270EN/07-014
CUST.
01 Tang Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 3/5
 Table1) Standard parameter table for changes models (Checked parameters are changed.) (HRV1)
αiF30 αiF40 αiF40 αiS22 αiS30 αiS40
Motor model
3000 3000 3000Fan 4000 4000 4000
Motor specification 0253 0257 0257 0265 0268 0272
Motor ID number 203 207 208 215 218 222
Symbol FS15i FS16i,18i,21i,PMi
1808 2003 00001000 00001000 00001000 00001000 00001000 00001000
1809 2004 00000110 00000110 00000110 00000110 00000110 00000110
1883 2005 00000000 00000000 00000000 00000000 00000000 00000000
1884 2006 00000000 00000000 00000000 00000000 00000000 00000000
1951 2007 00000000 00000000 00000000 00000000 00000000 00000000
1952 2008 00000000 00000000 00000000 00000000 00000000 00000000
1953 2009 00000000 00000000 00000000 00000000 00000000 00000000
1954 2010 00000000 00000000 00000000 00000000 00000000 00000000
1955 2011 00000000 00100000 00100000 00000000 00000000 00000000
1956 2012 00000000 00000000 00000000 00000000 00000000 00000000
1707 2013 00000000 00000000 00000000 00000000 00000000 00000000
1708 2014 00000000 00000000 00000000 00000000 00000000 00000000
1750 2210 00000000 00000000 00000000 00000000 00000000 00000000
1751 2211 00001010 00001010 00001010 00001010 00001010 00001010
2713 2300 00000000 00000000 00000000 00000000 00000000 00000000
2714 2301 00000000 00000000 00000000 00000000 00000000 00000000
PK1 1852 2040 597 1289 1289 714 689 748
PK2 1853 2041 -2334 -5048 -5048 -2904 -2675 -3055
PK3 1854 2042 -2694 -2696 -2696 -2674 -2683 -2682
PK1V 1855 2043 230 191 191 69 82 92
PK2V 1856 2044 -2057 -1712 -1712 -616 -733 -827
PK3V 1857 2045 0 0 0 0 0 0
PK4V 1858 2046 -8235 -8235 -8235 -8235 -8235 -8235
POA1 1859 2047 1845 2216 2216 6163 5175 4589
BLCMP 1860 2048 0 0 0 0 0 0
DPFMX 1861 2049 0 0 0 0 0 0
POK1 1862 2050 956 956 956 956 956 956
POK2 1863 2051 510 510 510 510 510 510
RESERV 1864 2052 0 0 0 0 0 0
PPMAX 1865 2053 21 21 21 21 21 21
PDDP 1866 2054 1894 1894 1894 1894 1894 1894
PHYST 1867 2055 319 319 319 319 319 319
EMFCMP 1868 2056 0 0 0 0 0 0
PVPA 1869 2057 -5170 -2570 -2570 -7689 -6415 -5648
PALPH 1870 2058 -1000 -2000 -2000 -2000 -3000 -3000
PPBAS 1871 2059 0 0 0 0 0 0
TQLIM 1872 2060 7282 7282 7282 7282 7282 7282
EMFLMT 1873 2061 0 0 0 0 0 0
POVC1 1877 2062 32515 32515 32431 32515 32515 32515
POVC2 1878 2063 3166 3166 4212 3166 3166 3166
TGALMLV 1892 2064 4 4 4 4 4 4
POVCLMT 1893 2065 9418 9418 12545 9418 9418 9418
PK2VAUX 1894 2066 0 0 0 0 0 0
FILTER 1895 2067 0 0 0 0 0 0
FALPH 1961 2068 0 0 0 0 0 0
VFFLT 1962 2069 0 0 0 0 0 0
ERBLM 1963 2070 0 0 0 0 0 0
PBLCT 1964 2071 0 0 0 0 0 0
SFCCML 1965 2072 0 0 0 0 0 0
PSPTL 1966 2073 0 0 0 0 0 0
AALPH 1967 2074 8192 8192 8192 4096 4096 4096
OSCTPL 1970 2077 0 0 0 0 0 0
PDPCH 1971 2078 0 0 0 0 0 0
PDPCL 1972 2079 0 0 0 0 0 0
DPFEX 1973 2080 0 0 0 0 0 0
DPFZW 1974 2081 0 0 0 0 0 0
BLENDL 1975 2082 0 0 0 0 0 0
MOFCTL 1976 2083 0 0 0 0 0 0
RTCURR 1979 2086 2306 1957 2593 1627 1836 2073
TDPLD 1980 2087 0 0 0 0 0 0
MCNFB 1981 2088 0 0 0 0 0 0
BLBSL 1982 2089 0 0 0 0 0 0
ROBSTL 1983 2090 0 0 0 0 0 0
ACCSPL 1984 2091 0 0 0 0 0 0
ADFF1 1985 2092 0 0 0 0 0 0
VMPK3V 1986 2093 0 0 0 0 0 0
BLCMP2 1987 2094 0 0 0 0 0 0
AHDRTL 1988 2095 0 0 0 0 0 0
RADUSL 1989 2096 0 0 0 0 0 0
SMCNT 1990 2097 0 0 0 0 0 0
DEPVPL 1991 2098 0 0 0 0 0 0
ONEPSL 1992 2099 400 400 400 400 400 400
INPA1 1993 2100 0 0 0 0 0 0
INPA2 1994 2101 0 0 0 0 0 0
DBLIM 1995 2102 0 15000 15000 0 0 0
ABVOF 1996 2103 0 0 0 0 0 0
ABTSH 1997 2104 0 0 0 0 0 0
TRQCST 1998 2105 1170 1839 1839 1216 1470 1701
LP24PA 1999 2106 0 0 0 0 0 0
VLGOVR 1700 2107 0 0 0 0 0 0
RESERV 1701 2108 0 0 0 0 0 0
BELLTC 1702 2109 0 0 0 0 0 0
MGSTCM 1703 2110 1032 1291 1291 519 775 776
DETQLM 1704 2111 7735 5140 5140 6224 6450 5682
AMRDML 1705 2112 0 0 0 0 0 0
NFILT 1706 2113 0 0 0 0 0 0
NINTCT 1735 2127 1688 3041 3041 2041 1871 1853
MFWKCE 1736 2128 2500 2000 2000 2500 4000 4000
MFWKBL 1752 2129 2829 1553 1553 2580 2574 2063
LP2GP 1753 2130 0 0 0 0 0 0
LP4GP 1754 2131 0 0 0 0 0 0
LP6GP 1755 2132 0 0 0 0 0 0
PHDLY1 1756 2133 5140 3087 3087 5150 5150 5150
PHDLY2 1757 2134 8995 8990 8990 8990 8990 8988
DGCSMM 1782 2159 0 0 0 0 0 0
TRQCUP 1783 2160 0 0 0 0 0 0
OVCSTP 1784 2161 128 128 128 128 128 128
POVC21 1785 2162 32764 32764 32717 32766 32765 32765
POVC22 1786 2163 48 46 637 28 37 38
POVCLMT2 1787 2164 8124 8124 10815 5177 6687 6846
MAXCRT 1788 2165 165 165 165 165 165 165
ACCBSLM 2717 2304 0 0 0 0 0 0
ACDCEND 2718 2305 0 0 0 0 0 0
DCIDBS 2723 2310 0 0 0 0 0 0

TITLE
Notice of the update of Digital Servo
Software for Series 0i/16i /18i /21i etc.
(90B8/M, 90B1/M)
DRAW. No.
1 2009.03.04 B-65270EN/07-014
CUST.
01 Tang Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 4/5
 Table2) Standard parameter table for changes and new added models (Checked parameters are changed.) ( HRV2,HRV3)
αiF30 αiF40 αiF40 αiS22 αiS30 αiS40 αiS22 αiS1000
Motor model
3000 3000 3000Fan 4000 4000 4000 6000 2000HV
Motor specification 0253 0257 0257 0265 0268 0272 0262 0098
Motor ID number 303 307 308 315 318 322 452 458
Symbol FS15i FS16i,18i,21i,PMi
1808 2003 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000
1809 2004 00000011 00000011 00000011 00000011 00000011 00000011 00000011 01000011
1883 2005 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1884 2006 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1951 2007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1952 2008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1953 2009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1954 2010 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1955 2011 00000000 00100000 00100000 00000000 00000000 00000000 00000000 00000000
1956 2012 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1707 2013 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1708 2014 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1750 2210 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1751 2211 00001010 00001010 00001010 00001010 00001010 00001010 00001010 00011010
2713 2300 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2714 2301 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
PK1 1852 2040 768 1500 1500 581 799 712 605 1260
PK2 1853 2041 -4492 -8224 -8224 -3844 -4447 -4138 -2393 -8010
PK3 1854 2042 -1347 -1348 -1348 -1337 -1317 -1341 -1335 -1362
PK1V 1855 2043 230 191 191 69 82 92 102 263
PK2V 1856 2044 -2057 -1712 -1712 -616 -733 -827 -914 -2357
PK3V 1857 2045 0 0 0 0 0 0 0 0
PK4V 1858 2046 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235
POA1 1859 2047 1845 2216 2216 6163 5175 4589 4150 1610
BLCMP 1860 2048 0 0 0 0 0 0 0 0
DPFMX 1861 2049 0 0 0 0 0 0 0 0
POK1 1862 2050 956 956 956 956 956 956 956 956
POK2 1863 2051 510 510 510 510 510 510 510 510
RESERV 1864 2052 0 0 0 0 0 0 0 0
PPMAX 1865 2053 21 21 21 21 21 21 21 21
PDDP 1866 2054 1894 1894 1894 1894 1894 1894 1894 3787
PHYST 1867 2055 319 319 319 319 319 319 319 319
EMFCMP 1868 2056 -20500 0 0 0 0 0 0 0
PVPA 1869 2057 -8465 -2570 -2570 -7687 -6412 -5645 -12039 -2320
PALPH 1870 2058 -1657 -2000 -2000 -2000 -2300 -3000 -2000 -2500
PPBAS 1871 2059 0 0 0 0 0 0 0 0
TQLIM 1872 2060 7282 7282 7282 7282 7282 7282 7282 7282
EMFLMT 1873 2061 0 0 0 0 0 0 0 0
POVC1 1877 2062 32515 32515 32431 32515 32515 32515 32515 32309
POVC2 1878 2063 3166 3166 4212 3166 3166 3166 3166 5734
TGALMLV 1892 2064 4 4 4 4 4 4 4 4
POVCLMT 1893 2065 9418 9418 12545 9418 9418 9418 9418 27346
PK2VAUX 1894 2066 0 0 0 0 0 0 0 0
FILTER 1895 2067 0 0 0 0 0 0 0 0
FALPH 1961 2068 0 0 0 0 0 0 0 0
VFFLT 1962 2069 0 0 0 0 0 0 0 0
ERBLM 1963 2070 0 0 0 0 0 0 0 0
PBLCT 1964 2071 0 0 0 0 0 0 0 0
SFCCML 1965 2072 0 0 0 0 0 0 0 0
PSPTL 1966 2073 0 0 0 0 0 0 0 0
AALPH 1967 2074 4096 0 0 4096 4096 4096 4096 12288
OSCTPL 1970 2077 0 0 0 0 0 0 0 0
PDPCH 1971 2078 0 0 0 0 0 0 0 0
PDPCL 1972 2079 0 0 0 0 0 0 0 0
DPFEX 1973 2080 0 0 0 0 0 0 0 0
DPFZW 1974 2081 0 0 0 0 0 0 0 0
BLENDL 1975 2082 0 0 0 0 0 0 0 0
MOFCTL 1976 2083 0 0 0 0 0 0 0 0
RTCURR 1979 2086 2306 1957 2593 1627 1836 2073 1977 2960
TDPLD 1980 2087 0 0 0 0 0 0 0 0
MCNFB 1981 2088 0 0 0 0 0 0 0 0
BLBSL 1982 2089 0 0 0 0 0 0 0 0
ROBSTL 1983 2090 0 0 0 0 0 0 0 0
ACCSPL 1984 2091 0 0 0 0 0 0 0 0
ADFF1 1985 2092 0 0 0 0 0 0 0 0
VMPK3V 1986 2093 0 0 0 0 0 0 0 0
BLCMP2 1987 2094 0 0 0 0 0 0 0 0
AHDRTL 1988 2095 0 0 0 0 0 0 0 0
RADUSL 1989 2096 0 0 0 0 0 0 0 0
SMCNT 1990 2097 0 0 0 0 0 0 0 0
DEPVPL 1991 2098 0 0 0 0 0 0 0 0
ONEPSL 1992 2099 400 400 400 400 400 400 400 400
INPA1 1993 2100 0 0 0 0 0 0 0 0
INPA2 1994 2101 0 0 0 0 0 0 0 0
DBLIM 1995 2102 0 12000 12000 0 0 0 0 0
ABVOF 1996 2103 0 0 0 0 0 0 0 0
ABTSH 1997 2104 0 0 0 0 0 0 0 0
TRQCST 1998 2105 1170 1839 1839 1216 1470 1701 819 27963
LP24PA 1999 2106 0 0 0 0 0 0 0 0
VLGOVR 1700 2107 0 0 0 0 0 0 0 0
RESERV 1701 2108 0 0 0 0 0 0 0 0
BELLTC 1702 2109 0 0 0 0 0 0 0 0
MGSTCM 1703 2110 1032 1291 1291 519 775 776 1288 785
DETQLM 1704 2111 7735 5220 5140 6224 6450 5682 12830 2300
AMRDML 1705 2112 0 0 0 0 0 0 0 0
NFILT 1706 2113 0 0 0 0 0 0 0 0
NINTCT 1735 2127 1688 3041 3041 2041 1871 1853 1000 11851
MFWKCE 1736 2128 2500 6000 2000 2500 4000 4000 1000 4500
MFWKBL 1752 2129 2829 1560 1553 2580 2574 2063 3854 1038
LP2GP 1753 2130 0 0 0 0 0 0 0 0
LP4GP 1754 2131 0 0 0 0 0 0 0 0
LP6GP 1755 2132 0 0 0 0 0 0 0 0
PHDLY1 1756 2133 5140 2590 3085 5150 5150 5150 7690 2570
PHDLY2 1757 2134 8995 8990 8990 8990 8990 8988 8990 12810
DGCSMM 1782 2159 0 0 0 0 0 0 0 0
TRQCUP 1783 2160 0 0 0 0 0 0 0 0
OVCSTP 1784 2161 128 128 128 128 128 128 128 140
POVC21 1785 2162 32764 32764 32717 32766 32765 32765 32765 32745
POVC22 1786 2163 48 46 637 28 37 38 44 292
POVCLMT2 1787 2164 8124 8124 10815 5177 6687 6846 7743 13952
MAXCRT 1788 2165 165 165 165 165 165 165 165 365
ACCBSLM 2717 2304 0 0 0 0 0 0 0 0
ACDCEND 2718 2305 0 0 0 0 0 0 0 22
DCIDBS 2723 2310 0 0 0 0 0 0 0 1112

TITLE
Notice of the update of Digital Servo
Software for Series 0i/16i /18i /21i etc.
(90B8/M, 90B1/M)
DRAW. No.
1 2009.03.04 B-65270EN/07-014
CUST.
01 Tang Newly designed

Design.
SHEET
Ed. Date Description FANUC LTD 5/5
 Notice of the Update of Digital Servo Software for Series 30i, 31i, 32i -A (90E0) Ver.3

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./ Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function 1. Power Consumption Monitor Function New 2009. 05
2. Changes of Standard Parameter Table Add 2009. 05

Optional
Function
Unit

Maintenance
Parts
Notice

Correction Corrected the mistake of motor model in page 4. Correct 2009.10

(Correct βiS8/6000 to βiS1/6000.)
Another

TITLE
03 09.10.14 Tang Page 4 was changed.
Notice of the Update of Digital Servo Software for
02 09.06.16 Tang Page 4 was changed. Series 30i, 31i, 32i -A(90E0)
DRAW. No. CUST.
01 09.05.11 Tang Newly designed B-65270EN/07-015
SHEET
Ed Date Design Description 01／05
 Notice of the Update of Digital Servo Software for Series 30i, 31i, 32i -A(90E0) Ver.3

1. Update Edition
ROM series New edition Available CNC
90E0 27.0 Series30i, 31i, 32i -A (For HRV2 and HRV3 control)

2. Contents of change
- Power Consumption Monitor Function
The calculation of electric power for Power Consumption Monitor Function has been added.

- Changes of Standard Parameter Table

Standard parameter table has been changed.

3. Attached
Attached 1 About Power Consumption Monitor Function
Attached 2 Changes of Standard Parameter Table

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E0)
DRAW. No. CUST.
01 09.05.11 Tang Newly designed B-65270EN/07-015
SHEET
Ed Date Design Description 02／05
 Attached 1. About Power Consumption Monitor Function
(1) Outline
Power consumption monitor function has been developed. The electric power consumption and
integral power consumption servo motor and spindle motor can be read through the interface of PMC
window, FOCAS2 interface or etc. Custom application can observe consumed power and regenerative
power of servo and spindle axes. Then you can use them to appeal your machine with the energy saving
ability.
For details of Power Consumiption Monitor Function, please refer to A-92345 [FANUC Series 30i /
31i /32i -A Power Consumption Monitor Function Descriptions] to be pubished soon.

Spindle Servo CNC

motor motor

Servo Control
PS SP SV Electric power consumption of
FSSB Servo motor
Loss of Servo Amplifier
Loss of power supply

Spindle control System soft Integral power consumption

Electric Power Consumption of servo axes ( SV)
Integral power consumption of
of Spindle motor
Loss of Spindle amplifier spindle axes( (SP)
Loss of power supply

PMC
Electric power consumption
FOCAS2 Fuction Integral power consumption
Electric power consumption
Integral power consumption

(2) Available System Software ,Servo software and Spindle software

■ Applicable servo software
90E0/27.0 and subsequent editions
■ Applicable System Soft (CNC)
・Series 30i-A： G004, G014, G024, G034/ 4.0 and subsequent editions
・Series 31i-A： G104, G114 / 4.0 and subsequent editions
・Series 31i-A5：G124, G134 / 4.0 and subsequent editions
・Series 32i-A： G204 / 4.0 and subsequent editions

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E0)
DRAW. No. CUST.
01 09.05.11 Tang Newly designed B-65270EN/07-015
SHEET
Ed Date Design Description 03／05
 Attached 2. Changes of Standard Parameter Table

(1) Standard parameters of the following servo motors are optimized for the stablity at high speed.

Motor Model Motor ID No.

3 βiS1/6000 282
αiS8/6000 290
αiS8/6000HV 292
* Please refer to Table1 about the standard parameters.

(2) High speed modles are added in αi series servo motor.

Motor Model Motor ID No.

αiS12/6000 462
αiS12/6000HV 463
* Please refer to Table 1 about the standard parameters.

(3) Parameter about torque constant for Large Servo Motor αiS2000/2000HV and αiS3000/2000HV
has been changed.

Motor Model Motor ID No. Notice

For 30i-A series
αiS2000/2000HV 459
4 winding motor
For 30i-A series
αiS3000/2000HV 460
4 winding motor
* Please refer to Table 1 about the standard parameters.
Currently in the above motors, the 1/10 of torque constant value is set to avoid overflow of N2105. Therefore, 10
times of the torque command should have been given when you use torque control with these motors.
In this edition function bit N2301#7 that makes setting format of N2105 1/10 times smaller has been prepared.

<Notice>
1． To use torque control with this parameter, following system software is needed.
2 ・Series 30i-A： G004, G014, G024/11 and subsequent editions
・Series 31i-A： G104, G114 / 11 and subsequent editions
・Series 31i-A5：G124, G134 / 11 and subsequent editions
・Series 32i-A： G204 / 11 and subsequent edition

2. If the system software does not support it, illegal parameter alarm will happen. Please set N2301#7=0
first, then please give the 10 times torque command as usual.

03 09.10.14 Tang Corrected the mistake of Motor Model. TITLE

Notice of the Update of Digital Servo Software for
Series and edition of system software
02 09.06.16 Tang has been added Series 30i, 31i, 32i -A(90E0)
DRAW. No. CUST.
01 09.05.11 Tang Newly designed B-65270EN/07-015
SHEET
Ed Date Design Description 04／05
Table1) Standard parameter table for changes and new added models (Checked parameters are changed.) (HRV2,HRV3)
βiS1 αiS8 αiS8 αiS2000 αiS3000 αiS12 αiS12
Motor model
6000 6000 6000HV 2000HV 2000HV 6000 6000HV
Motor specification 0116 0232 0233 0091 0092 0230 0237
Motor ID number 282 290 292 459 460 462 463
Symbol FS30i,31i,32i
2003 00001000 00001000 00001000 00001000 00001000 00001000 00001000
2004 00000011 00000011 00000011 01000011 01000011 00000011 00000011
2005 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2006 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2007 00000000 00000000 00000000 00100000 00100000 00000000 00000000
2008 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2009 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2010 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2011 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2012 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2013 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2014 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2210 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2211 00001010 00001010 00001010 10011110 10011010 00001010 00001010
2300 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2301 00000000 00000000 00000000 10000000 10000000 00000000 00000000
PK1 2040 312 460 381 643 772 471 471
PK2 2041 -1360 -1760 -1749 -3600 -3819 -2249 -2249
PK3 2042 -1203 -1305 -1305 -1358 -1357 -1321 -1321
PK1V 2043 6 53 53 502 652 43 43
PK2V 2044 -53 -478 -478 -4500 -5836 -387 -387
PK3V 2045 0 0 0 0 0 0 0
PK4V 2046 -8235 -8235 -8235 -8235 -8235 -8235 -8235
POA1 2047 -7176 -794 -794 843 650 -980 -980
BLCMP 2048 0 0 0 0 0 0 0
DPFMX 2049 0 0 0 0 0 0 0
POK1 2050 956 956 956 956 956 956 956
POK2 2051 510 510 510 510 510 510 510
RESERV 2052 0 0 0 0 0 0 0
PPMAX 2053 21 21 21 21 21 21 21
PDDP 2054 1894 1894 1894 3787 3787 1894 1894
PHYST 2055 319 319 319 319 319 319 319
EMFCMP 2056 -12850 0 0 0 0 0 0
PVPA 2057 -15114 -16398 -16398 -3363 -2088 -12808 -12808
PALPH 2058 -1200 -1000 -1000 -3200 -5000 -1800 -1800
PPBAS 2059 0 0 0 0 0 0 0
TQLIM 2060 7282 7282 7282 7282 7282 7282 7282
EMFLMT 2061 0 0 0 0 0 0 0
POVC1 2062 32695 32520 32548 32309 32309 32688 32688
POVC2 2063 915 3101 2755 5734 5734 998 998
TGALMLV 2064 4 4 4 4 4 4 4
POVCLMT 2065 2714 9224 8192 27346 27346 2960 2960
PK2VAUX 2066 0 0 0 0 0 0 0
FILTER 2067 0 0 0 0 0 0 0
FALPH 2068 0 0 0 0 0 0 0
VFFLT 2069 0 0 0 0 0 0 0
ERBLM 2070 0 0 0 0 0 0 0
PBLCT 2071 0 0 0 0 0 0 0
SFCCML 2072 0 0 0 0 0 0 0
PSPTL 2073 0 0 0 0 0 0 0
AALPH 2074 20480 8192 8192 12288 12288 12288 12288
OSCTPL 2077 0 0 0 0 0 0 0
PDPCH 2078 0 0 0 0 0 0 0
PDPCL 2079 0 0 0 0 0 0 0
DPFEX 2080 0 0 0 0 0 0 0
DPFZW 2081 0 0 0 0 0 0 0
BLENDL 2082 0 0 0 0 0 0 0
MOFCTL 2083 0 0 0 0 0 0 0
RTCURR 2086 1212 2075 2075 2893 3187 1181 1181
TDPLD 2087 0 0 0 0 0 0 0
MCNFB 2088 0 0 0 0 0 0 0
BLBSL 2089 0 0 0 0 0 0 0
ROBSTL 2090 0 0 0 0 0 0 0
ACCSPL 2091 0 0 0 0 0 0 0
ADFF1 2092 0 0 0 0 0 0 0
VMPK3V 2093 0 0 0 0 0 0 0
BLCMP2 2094 0 0 0 0 0 0 0
AHDRTL 2095 0 0 0 0 0 0 0
RADUSL 2096 0 0 0 0 0 0 0
SMCNT 2097 0 0 0 0 0 0 0
DEPVPL 2098 0 0 0 0 0 0 0
ONEPSL 2099 400 400 400 400 400 400 400
INPA1 2100 0 0 0 0 0 0 0
INPA2 2101 0 0 0 0 0 0 0
DBLIM 2102 0 0 0 0 0 0 0
ABVOF 2103 0 0 0 0 0 0 0
ABTSH 2104 0 0 0 0 0 0 0
TRQCST 2105 89 346 346 6221 8472 837 837
LP24PA 2106 0 0 0 0 0 0 0
VLGOVR 2107 0 0 0 0 0 0 0
RESERV 2108 0 0 0 0 0 0 0
BELLTC 2109 0 0 0 0 0 0 0
MGSTCM 2110 1556 1284 1284 784 267 528 528
DETQLM 2111 10290 10255 10255 1510 2218 10260 10260
AMRDML 2112 0 0 0 0 0 0 0
NFILT 2113 0 0 0 0 0 0 0
NINTCT 2127 881 801 1600 3449 3029 1146 2292
MFWKCE 2128 1500 1000 1400 3000 2700 667 667
MFWKBL 2129 5135 5388 5390 1291 777 3850 3850
LP2GP 2130 0 0 0 0 0 0 0
LP4GP 2131 0 0 0 0 0 0 0
LP6GP 2132 0 0 0 0 0 0 0
PHDLY1 2133 15400 10250 10260 2060 2068 7690 7690
PHDLY2 2134 12840 12830 12835 6420 6410 8990 8990
DGCSMM 2159 0 0 0 0 0 0 0
TRQCUP 2160 0 0 0 0 0 0 0
OVCSTP 2161 0 0 0 140 140 0 0
POVC21 2162 32767 32765 32765 32745 32745 32764 32764
POVC22 2163 12 38 38 292 292 45 45
POVCLMT2 2164 2340 6857 6857 13952 13952 1721 1721
MAXCRT 2165 25 85 45 365 365 165 85
ACCBSLM 2304 0 0 0 2720 0 0 0
ACDCEND 2305 0 0 0 4114 22 0 0
DCIDBS 2310 0 0 0 1236 1112 0 0

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E0)
DRAW. No. CUST.
01 09.05.11 Tang Newly designed B-65270EN/07-015
SHEET
Ed Date Design Description 05／05
 Notice of contents of Learning Control

1. Type of applied documents

Name FANUC AC SERVO MOTOR ai series

FANUC AC SERVO MOTOR bi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
Parameter manual
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function

Optional Addition of explanation about the contents of Learning Add 2010.2

Function Control

Unit

Maintenance
Parts
Notice

Correction

Another

TITLE

Notice of contents of Learning Control

DRAW. No.
B-65270EN/07-016
CUST.
01 2010.02.15 N. Sonoda Newly designed
SHEET
Ed. Date Description FANUC LTD 1/6
 Notice of contents of Learning Control
1. Outline
Learning Control is the control method to minimize the effect of disturbance and following error in
the reiterating command or disturbance. This control enables to automatically minimize control
deviation by repetition of the same movement. The compensation data (Learning data) to minimize
control deviation are generated into the special volatile memory (Learning memory). Furthermore it
is possible to preserve the generated Learning data in CNC’s memory or other external memory
(Learning data transmission function) and also to reuse it. In this case, the learning operation to
minimize control deviation becomes unnecessary and it is possible to realize high precision from the
beginning of the machining.
Learning Control is applied to Cam or Clank-pin grinding machine, gear cutting machine to requite
high speed and high precision. Learning Control limited to the application of Rigid Tap and the mass
production of same shape parts are also prepared. (cf. the following figure)

According to the application, the following options for Learning Control should be selected.

Option “Learning Control” or “Preview Repetitive Control” works under High Speed cycle cutting
(G05) or High-speed binary operation. It needs the servo card which has large memory. It is possible
to save each learning data into plural learning memory corresponding to each works and possible to
transfer each learning data to CNC’s memory or external memory. This function is applied for Cam
or Crank-pin grinding. Option “Preview Repetitive Control” is applied to machining with gradually
changing command such as the one in piston lathe. It enables to suppress the bad effect of
changing command.

Option “Compact Learning Control” works under the reiterating command programmed by the
normal ISO code. It doesn’t adopt the time but adopt the position or angle as the base of learning
cycle. And as it realizes the Learning control with less memory, the standard servo card can be
used for it. But there is a limitation that it is impossible to save the plural learning data and to
transfer learning data to CNC’s memory etc.. This option is applied to oscillation processing in
grinding machine and gear cutting.

Option “Learning Control for Parts cutting” is the special option for parts cutting at manufacturing
plenty of the same parts. Option “Learning Control for Rigid Tap” is the Special option for Rigid Tap.

TITLE

Notice of contents of Learning Control

DRAW. No.
B-65270EN/07-016
CUST.
01 2010.02.15 N. Sonoda Newly designed
SHEET
Ed. Date Description FANUC LTD 2/6
 Option Application CNC Servo card

Learning Control Cam grinding

Crank-pin grinding Large memory
/ Preview Repetitive 30i /31i
Piston lathe type
Control
Lens cutting
General
Gear cutting
Compact Learning Standard type
Jig grinding 30i /31i
Control Oscillation cutting

Learning Control Parts cutting Large memory

for Parts Cutting type
Limitation 30i /31i /32i
Learning Control Standard type
Rigid Tap
for Rigid Tap

2. Available Servo Software

The following table shows a comparison between servo software for standard and for Learning
Control.

Software series for standard Software series for Learning Control Remark
Servo series name Applied CNC Servo series name Applied CNC
90D0 Series30i-A 90D3 Series30i-A HRV2, HRV3, HRV4
Series31i-A (A02B-0303-H590 Series31i-A
#90D3)
90E0 Series30i-A 90E3 Series30i-A HRV2, HRV3
90E1 Series31i-A (A02B-0303-H590 Series31i-A
Series32i-A #90E3) Series32i-A

Note)
When the following options are used, please pay attention to the edition of servo software.
Compact Learning Control 90E3 series edition 05 or later
Learning Control for Rigid Tap 90D3 series edition 03 or later or
90E3 series edition 01 or later

TITLE

Notice of contents of Learning Control

DRAW. No.
B-65270EN/07-016
CUST.
01 2010.02.15 N. Sonoda Newly designed
SHEET
Ed. Date Description FANUC LTD 3/6
 3. Number of controlled axis
Maximum number of controlled axes of CNC system depends on the applied servo card and the
kind of HRV control. On the other hand, when Learning Control is used, the number of available
axes might decrease depending on the number of axes for Learning Control (learning axis). The
following table gives the information of available number of controlled axis when Learning
Control is used.

Option 30i /31i (32i)

Learning Control (Max. number of controlled axes)

／Preview Repetitive Control −(Max. number of learning axes)

Compact Learning Control (Max. number of controlled axes)

−(Max. number of learning axes)
Learning Control Max. number of controlled axes
for Parts Cutting （Regardless of number of learning
axes）
Learning Control Max. number of controlled axes
for Rigid Tap （Regardless of number of learning
axes）
Example) Suppose
that option “Learning Control” is used, 90E3 series is used, servo card L24 is used, and HRV3 is used.
If the number of learning axes is 4, the available number of controlled axes becomes 8 because of the
number of max. controlled axes of L24 is 12.

4. Order specification

1) Options and Hardware

Option ＣＮＣ CPU card Servo card
Learning Control
(A02B-xxxx-J705) 30i /31i D3（A02B-0303-H010） Large memory type
Preview Repetitive Control L24 (A02B-0303-H088)
(A02B-xxxx-J706)
Compact Learning Control 30i /31i All types Standard type
(A02B-030x-R692)
Learning Control A6（A02B-0303-H013） Large memory type
for Parts cutting 30i /31i /32i C6（A02B-0308-H016） L24 (A02B-0303-H088)
(A02B-030x-R510) D3（A02B-0303-H010）

Learning Control A6（A02B-0303-H013）

for Rigid Tap 30i /31i /32i C6（A02B-0308-H016） Standard type
(A02B-030x-R539) D3（A02B-0303-H010）

TITLE

Notice of contents of Learning Control

DRAW. No.
B-65270EN/07-016
CUST.
01 2010.02.15 N. Sonoda Newly designed
SHEET
Ed. Date Description FANUC LTD 4/6
 2) Software options
When either “Learning Control” or “Preview Repetitive Control” is used, one of the following
options is indispensable.
High Speed cycle cutting A02B-030x-J832
High-speed binary operation A02B-030x-R516

When the above options are used, the following related options should be selected as the
occasion demands.
High-speed cycle machining skip function A02B-030x-S662
High-speed cycle machining retract function A02B-030x-J663
High-speed cycle cutting additional variables A / B A02B-030x-J745/J746
High-speed cycle cutting additional variables C / D A02B-030x-S640/R513
High-speed binary operation retract function A02B-030x-S658
Superimposed control for high-speed cycle machining
A02B-030x-R554
Superimposed control A02B-030x-S818
（Indispensable option to use “Superimposed control for high-speed cycle machining”）

High-speed cycle machining operation information output function

A02B-030x-R609
Spindle control switching function for High-speed cycle machining
A02B-030x-R608

In cam and crank-pin grinding using the plural profiles, the following option is necessary.
Learning memory expanded function A02B-030x-J976
Note) This option requires either option “Learning Control” or “Preview Repetitive Control”.

In case of machining by reciprocation to in Jig grinding machine, the following option is necessary.
High precision oscillation function A02B-030x-R662

Note) The above specification “xxxx” is different value corresponding to each CNC.

5. Axis allocation
In case of servo software 90D3, learning axis should be allocated to odd axis 1, 3, 5, 7… in
No.1023. On the other hand, in case of servo software 90E3, learning axis should be allocated to
1, 5, 9, 13… in No.1023.

CNC Servo software series No.1023

90D3 1, 3, 5, 7…
30i /31i /32i
90E3 1, 5, 9, 13…

TITLE

Notice of contents of Learning Control

DRAW. No.
B-65270EN/07-016
CUST.
01 2010.02.15 N. Sonoda Newly designed
SHEET
Ed. Date Description FANUC LTD 5/6
 6. Related documents
Please refer to the following documents to know the detail of each option because various
parameters setting and operations are necessary to use Learning Control.

Learning Control / Preview Repetitive Control

“FANUC AC Servo software 90D3/90E3 series Learning Function Operator’s Manual” (A-63639-
108)

Compact Learning Control

”FANUC AC Servo software 90E3 series Compact Learning Control Operator’s Manual”(A-63639-
188)

Learning Control for Parts Cutting

”FANUC AC Servo software 90D3/90E3 series Learning Control for Parts Cutting Operator’s
Manual”(A-63639-115)

Learning Control for Rigid Tap

”FANUC AC Servo software 90D3/90E3 series Learning Control for Rigid Tap Operator’s
Manual”(A-63639-131)

Reference)

Spindle Learning Control (Option)

Spindle Learning Control is applied to spindle motor control. Especially this is used with gear
cutting using Electric Gear Box (EGB). If servo option either “Learning Control” or “Preview
Repetitive Control” is available, Spindle Learning Control is available also even without this
option itself.

Spindle Learning Control

“FANUC AC SPINDLE MOTOR αi series Spindle Learning Control Description” (A-63639-132)

TITLE

Notice of contents of Learning Control

DRAW. No.
B-65270EN/07-016
CUST.
01 2010.02.15 N. Sonoda Newly designed
SHEET
Ed. Date Description FANUC LTD 6/6
 Notice of the Update of Digital Servo Software for Series 0i-D, 0i Mate-D (90C5,90E5)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function 1 Supporting Trouble Diagnosis Function New 2009. 08
2 Changes of Standard parameter table Add 2009. 08

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the Update of Digital Servo Software
for Series 0i-D, 0i Mate-D (90C5,90E5)
DRAW. No. CUST.
01 09.08 .06 Tang Newly designed B-65270EN/07-017
SHEET
Ed Date Design Description 01／06
 Notice of the Update of Digital Servo Software for Series 0i -D, 0i Mate -D(90C5, 90E5)

1. Update Edition
ROM series New edition Available CNC
90C5 04 Series 0i-D, 0i Mate-D

Series 0i-D
90E5 04
(for two-path system of Series 0i-TD)

2. Contents of change
- Supporting Trouble Diagnosis Function
Trouble Diagnosis Function has been supported.

- Changes of Standard Parameter Table

Standard parameter table has been changed.

3. Attached
Attached 1 Supporting Trouble Diagnosis Function
Attached 2 Changes of Standard Parameter Table

TITLE
Notice of the Update of Digital Servo Software for
Series 0i-D, 0i Mate -D (90C5,90E5)
DRAW. No. CUST.
01 09.08 .06 Tang Newly designed B-65270EN/07-017
SHEET
Ed Date Design Description 02／06
 Attached 1. Supporting Trouble Diagnosis Function
(1) Outline
Trouble Diagnosis Function is a function which can forecast trouble, send imformation to PMC,
and diagnose trouble to stop trouble cause at earlier time.
According to the guidance message, servo alarms can be diagnosed easily. And when the thermal
simulation or disturbance level of servo axis exceeds the trouble forecast level, a trouble forecast
signal can be output.
For details of Trouble Diagnosis Function, please refer to A-92727 [FANUC Series 0i-TD/MD
FANUC Series 0i Mate-TD/MD TROUBLE DIAGNOSIS FUNCTION Specifications]

(2) Available Servo software

90C5/04 and subsequent editions
90E5/04 and subsequent editions (For two-path system of Series 0i -TD)

(3) Step of diagnosis

Trouble Diagnosis Guidance Screen includes : Trouble Code ,Contents of Trouble, Probable
Cause, Guidance message and Status display.

When alarm happens, please answer the questions in the trouble diagnosis guidance screen by
pushing soft keys [ YES ]/[ NO ]. The probable cause of alarm and the method to remove the
problem will be shown at the end.
Trouble Code

Contents of trouble

Probable cause

Guidance message

Status display

Fig.(a) Trouble diagnosis guidance screen

See the servo/spindle monitor information in the trouble diagnosis monitor screen and
waveform of servo/spindle in the trouble diagnosis graphic screen in case of need according to
the guidance message.

Fig. (b) Trouble diagnosis monitor screen

TITLE
Notice of the Update of Digital Servo Software for
Series 0i-D, 0i Mate -D (90C5,90E5)
DRAW. No. CUST.
01 09.08 .06 Tang Newly designed B-65270EN/07-017
SHEET
Ed Date Design Description 03／06
 Attached 2. Changes of Standard Parameter Table

(1) Standard parameters for OVC alarm of the following servo motors are the optimized .

Motor Model Motor ID No.

αiF 30/3000 303
αiF 40/3000 307
αiF 40/3000Fan 308
αiS 22/4000 315
αiS 30/4000 318
αiS 40/4000 322
Note) Please refer to Table1 about the standrad parameters.

(2 ) Standard parameters of the following servo motors are the optimized for the stablity at high speed.

Motor Model Motor ID No.

βiS 1/6000 282
αiS 8/6000 290
αiS 8/6000HV 292
Note) Please refer to Table1 about the standard parameters.

(3) Serval αi series servo motor modles are added

Motor Model Motor ID No.

αiS 60/3000Fan 328

αiS 60/3000HVFan 329

αiS 12/6000 462

αiS 12/6000HV 463

αiS 4/6000 466

αiS 4/6000HV 467

αiS 50/2000 468

αiS 50/2000HV 469

αiS 60/2000 470

αiS 60/2000HV 471

Note) Please refer to Table 2 about the standard parameters.

TITLE
Notice of the Update of Digital Servo Software for
Series 0i-D, 0i Mate -D (90C5,90E5)
DRAW. No. CUST.
01 09.08 .06 Tang Newly designed B-65270EN/07-017
SHEET
Ed Date Design Description 04／06
Table1) Standard parameter table for changes (Checked parameters are changed.)
Motor model βiS1 αiS8 αiS8 αiF30 αiF40 αiF40 αiS22 αiS30 αiS40
6000 6000 6000HV 3000 3000 3000Fan 4000 4000 4000
Motor specification 0116 0232 0233 0253 0257 0257 0265 0268 0272
Motor ID number 282 290 292 303 307 308 315 318 322
Symbol FS0i-D
2003 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000
2004 00000011 00000011 00000011 00000011 00000011 00000011 00000011 00000011 00000011
2005 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2006 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2010 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2011 00000000 00000000 00000000 00000000 00100000 00100000 00000000 00000000 00000000
2012 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2013 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2014 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2210 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2211 00001010 00001010 00001010 00001010 00001010 00001010 00001010 00001010 00001010
2300 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2301 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
PK1 2040 312 460 381 768 1500 1500 581 799 712
PK2 2041 -1360 -1760 -1749 -4492 -8224 -8224 -3844 -4447 -4138
PK3 2042 -1203 -1305 -1305 -1347 -1348 -1348 -1337 -1317 -1341
PK1V 2043 6 53 53 230 191 191 69 82 92
PK2V 2044 -53 -478 -478 -2057 -1712 -1712 -616 -733 -827
PK3V 2045 0 0 0 0 0 0 0 0 0
PK4V 2046 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235
POA1 2047 -7176 -794 -794 1845 2216 2216 6163 5175 4589
BLCMP 2048 0 0 0 0 0 0 0 0 0
DPFMX 2049 0 0 0 0 0 0 0 0 0
POK1 2050 956 956 956 956 956 956 956 956 956
POK2 2051 510 510 510 510 510 510 510 510 510
RESERV 2052 0 0 0 0 0 0 0 0 0
PPMAX 2053 21 21 21 21 21 21 21 21 21
PDDP 2054 1894 1894 1894 1894 1894 1894 1894 1894 1894
PHYST 2055 319 319 319 319 319 319 319 319 319
EMFCMP 2056 -12850 0 0 -20500 0 0 0 0 0
PVPA 2057 -15114 -16398 -16398 -8465 -2570 -2570 -7687 -6412 -5645
PALPH 2058 -1200 -1000 -1000 -1657 -2000 -2000 -2000 -2300 -3000
PPBAS 2059 0 0 0 0 0 0 0 0 0
TQLIM 2060 7282 7282 7282 7282 7282 7282 7282 7282 7282
EMFLMT 2061 0 0 0 0 0 0 0 0 0
POVC1 2062 32695 32520 32548 32515 32515 32431 32515 32515 32515
POVC2 2063 915 3101 2755 3166 3166 4212 3166 3166 3166
TGALMLV 2064 4 4 4 4 4 4 4 4 4
POVCLMT 2065 2714 9224 8192 9418 9418 12545 9418 9418 9418
PK2VAUX 2066 0 0 0 0 0 0 0 0 0
FILTER 2067 0 0 0 0 0 0 0 0 0
FALPH 2068 0 0 0 0 0 0 0 0 0
VFFLT 2069 0 0 0 0 0 0 0 0 0
ERBLM 2070 0 0 0 0 0 0 0 0 0
PBLCT 2071 0 0 0 0 0 0 0 0 0
SFCCML 2072 0 0 0 0 0 0 0 0 0
PSPTL 2073 0 0 0 0 0 0 0 0 0
AALPH 2074 20480 8192 8192 4096 0 0 4096 4096 4096
OSCTPL 2077 0 0 0 0 0 0 0 0 0
PDPCH 2078 0 0 0 0 0 0 0 0 0
PDPCL 2079 0 0 0 0 0 0 0 0 0
DPFEX 2080 0 0 0 0 0 0 0 0 0
DPFZW 2081 0 0 0 0 0 0 0 0 0
BLENDL 2082 0 0 0 0 0 0 0 0 0
MOFCTL 2083 0 0 0 0 0 0 0 0 0
RTCURR 2086 1212 2075 2075 2306 1957 2593 1627 1836 2073
TDPLD 2087 0 0 0 0 0 0 0 0 0
MCNFB 2088 0 0 0 0 0 0 0 0 0
BLBSL 2089 0 0 0 0 0 0 0 0 0
ROBSTL 2090 0 0 0 0 0 0 0 0 0
ACCSPL 2091 0 0 0 0 0 0 0 0 0
ADFF1 2092 0 0 0 0 0 0 0 0 0
VMPK3V 2093 0 0 0 0 0 0 0 0 0
BLCMP2 2094 0 0 0 0 0 0 0 0 0
AHDRTL 2095 0 0 0 0 0 0 0 0 0
RADUSL 2096 0 0 0 0 0 0 0 0 0
SMCNT 2097 0 0 0 0 0 0 0 0 0
DEPVPL 2098 0 0 0 0 0 0 0 0 0
ONEPSL 2099 400 400 400 400 400 400 400 400 400
INPA1 2100 0 0 0 0 0 0 0 0 0
INPA2 2101 0 0 0 0 0 0 0 0 0
DBLIM 2102 0 0 0 0 12000 12000 0 0 0
ABVOF 2103 0 0 0 0 0 0 0 0 0
ABTSH 2104 0 0 0 0 0 0 0 0 0
TRQCST 2105 89 346 346 1170 1839 1839 1216 1470 1701
LP24PA 2106 0 0 0 0 0 0 0 0 0
VLGOVR 2107 0 0 0 0 0 0 0 0 0
RESERV 2108 0 0 0 0 0 0 0 0 0
BELLTC 2109 0 0 0 0 0 0 0 0 0
MGSTCM 2110 1556 1284 1284 1032 1291 1291 519 775 776
DETQLM 2111 10290 10255 10255 7735 5220 5140 6224 6450 5682
AMRDML 2112 0 0 0 0 0 0 0 0 0
NFILT 2113 0 0 0 0 0 0 0 0 0
NINTCT 2127 881 801 1600 1688 3041 3041 2041 1871 1853
MFWKCE 2128 1500 1000 1400 2500 6000 2000 2500 4000 4000
MFWKBL 2129 5135 5388 5390 2829 1560 1553 2580 2574 2063
LP2GP 2130 0 0 0 0 0 0 0 0 0
LP4GP 2131 0 0 0 0 0 0 0 0 0
LP6GP 2132 0 0 0 0 0 0 0 0 0
PHDLY1 2133 15400 10250 10260 5140 2590 3085 5150 5150 5150
PHDLY2 2134 12840 12830 12835 8995 8990 8990 8990 8990 8988
DGCSMM 2159 0 0 0 0 0 0 0 0 0
TRQCUP 2160 0 0 0 0 0 0 0 0 0
OVCSTP 2161 0 0 0 128 128 128 128 128 128
POVC21 2162 32767 32765 32765 32764 32764 32717 32766 32765 32765
POVC22 2163 12 38 38 48 46 637 28 37 38
POVCLMT2 2164 2340 6857 6857 8124 8124 10815 5177 6687 6846
MAXCRT 2165 25 85 45 165 165 165 165 165 165
ACCBSLM 2304 0 0 0 0 0 0 0 0 0
ACDCEND 2305 0 0 0 0 0 0 0 0 0
DCIDBS 2310 0 0 0 0 0 0 0 0 0

TITLE
Notice of the Update of Digital Servo Software for
Series 0i-D, 0i Mate -D (90C5,90E5)
DRAW. No. CUST.
01 09.08 .06 Tang Newly designed B-65270EN/07-017
SHEET
Ed Date Design Description 05／06
Table2) Standard parameter table for new added models
Motor model αiS60 αiS60 αiS12 αiS12 αiS4 αiS4 αiS50 αiS50 αiS60 αiS60
3000Fan 3000HVFan 6000 6000HV 6000 6000HV 2000 2000HV 2000 2000HV
Motor specification 0278 0279 0230 0237 0210 0214 0042 0043 0044 0045
Motor ID number 328 329 462 463 466 467 468 469 470 471
Symbol FS0i-D
2003 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000
2004 00000011 01000011 00000011 00000011 00000011 00000011 00000011 00000011 00000011 00000011
2005 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2006 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2010 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2011 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2012 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2013 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2014 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2210 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2211 00001010 00001010 00001010 00001010 00001010 00001010 00001010 00001010 00001010 00001010
2300 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2301 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
PK1 2040 1191 1131 471 471 395 432 1539 1539 1358 1358
PK2 2041 -6320 -5966 -2249 -2249 -1606 -1673 -7321 -7321 -6767 -6767
PK3 2042 -1347 -1345 -1321 -1321 -1277 -1266 -1344 -1344 -1344 -1344
PK1V 2043 69 69 43 43 76 77 90 90 103 103
PK2V 2044 -617 -617 -387 -387 -678 -688 -802 -802 -925 -925
PK3V 2045 0 0 0 0 0 0 0 0 0 0
PK4V 2046 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235
POA1 2047 6152 6152 -980 -980 5601 5516 4731 4731 4103 4103
BLCMP 2048 0 0 0 0 0 0 0 0 0 0
DPFMX 2049 0 0 0 0 0 0 0 0 0 0
POK1 2050 956 956 956 956 956 956 956 956 956 956
POK2 2051 510 510 510 510 510 510 510 510 510 510
RESERV 2052 0 0 0 0 0 0 0 0 0 0
PPMAX 2053 31979 31979 21 21 21 21 31979 31979 31979 31979
PDDP 2054 3 3 1894 1894 1894 1894 3 3 3 3
PHYST 2055 319 319 319 319 319 319 319 319 319 319
EMFCMP 2056 0 0 0 0 0 0 0 0 0 0
PVPA 2057 -4619 -4620 -12808 -12808 -13326 -13326 -3867 -3867 -3097 -3097
PALPH 2058 -2000 -2000 -1800 -1800 -2500 -2500 -3393 -3393 -2995 -2995
PPBAS 2059 0 0 0 0 0 0 0 0 0 0
TQLIM 2060 7282 7282 7282 7282 7282 7282 7282 7282 7282 7282
EMFLMT 2061 0 0 0 0 0 0 0 0 0 0
POVC1 2062 32388 32388 32688 32688 32310 32288 32515 32501 32515 32501
POVC2 2063 4744 4745 998 998 5728 5995 3166 3332 3166 3332
TGALMLV 2064 4 4 4 4 4 4 4 4 4 4
POVCLMT 2065 14138 14140 2960 2960 17091 17893 9418 9912 9418 9912
PK2VAUX 2066 0 0 0 0 0 0 0 0 0 0
FILTER 2067 0 0 0 0 0 0 0 0 0 0
FALPH 2068 0 0 0 0 0 0 0 0 0 0
VFFLT 2069 0 0 0 0 0 0 0 0 0 0
ERBLM 2070 0 0 0 0 0 0 0 0 0 0
PBLCT 2071 0 0 0 0 0 0 0 0 0 0
SFCCML 2072 0 0 0 0 0 0 0 0 0 0
PSPTL 2073 0 0 0 0 0 0 0 0 0 0
AALPH 2074 8192 4096 12288 12288 16384 16384 8192 8192 0 0
OSCTPL 2077 0 0 0 0 0 0 0 0 0 0
PDPCH 2078 0 0 0 0 0 0 0 0 0 0
PDPCL 2079 0 0 0 0 0 0 0 0 0 0
DPFEX 2080 0 0 0 0 0 0 0 0 0 0
DPFZW 2081 0 0 0 0 0 0 0 0 0 0
BLENDL 2082 0 0 0 0 0 0 0 0 0 0
MOFCTL 2083 0 0 0 0 0 0 0 0 0 0
RTCURR 2086 1937 1937 1181 1181 2585 2586 1856 1856 2018 2018
TDPLD 2087 0 0 0 0 0 0 0 0 0 0
MCNFB 2088 0 0 0 0 0 0 0 0 0 0
BLBSL 2089 0 0 0 0 0 0 0 0 0 0
ROBSTL 2090 0 0 0 0 0 0 0 0 0 0
ACCSPL 2091 0 0 0 0 0 0 0 0 0 0
ADFF1 2092 0 0 0 0 0 0 0 0 0 0
VMPK3V 2093 0 0 0 0 0 0 0 0 0 0
BLCMP2 2094 0 0 0 0 0 0 0 0 0 0
AHDRTL 2095 0 0 0 0 0 0 0 0 0 0
RADUSL 2096 0 0 0 0 0 0 0 0 0 0
SMCNT 2097 0 0 0 0 0 0 0 0 0 0
DEPVPL 2098 0 0 0 0 0 0 0 0 0 0
ONEPSL 2099 400 400 400 400 400 400 400 400 400 400
INPA1 2100 0 0 0 0 0 0 0 0 0 0
INPA2 2101 0 0 0 0 0 0 0 0 0 0
DBLIM 2102 0 0 0 0 0 0 0 0 0 0
ABVOF 2103 0 0 0 0 0 0 0 0 0 0
ABTSH 2104 0 0 0 0 0 0 0 0 0 0
TRQCST 2105 4411 4411 837 837 104 104 2569 2569 2942 2942
LP24PA 2106 0 0 0 0 0 0 0 0 0 0
VLGOVR 2107 0 0 0 0 0 0 0 0 0 0
RESERV 2108 0 0 0 0 0 0 0 0 0 0
BELLTC 2109 0 0 0 0 0 0 0 0 0 0
MGSTCM 2110 519 519 528 528 3092 3092 1032 1032 1544 1544
DETQLM 2111 5220 5220 10260 10260 8208 8208 4954 4954 3151 3151
AMRDML 2112 0 0 0 0 0 0 0 0 0 0
NFILT 2113 0 0 0 0 0 0 0 0 0 0
NINTCT 2127 2852 5393 1146 2292 660 1368 2825 5651 5498 5498
MFWKCE 2128 5000 3000 667 667 3000 3000 4601 4601 4004 4004
MFWKBL 2129 1300 1300 3850 3850 4365 4365 1296 1296 1302 1302
LP2GP 2130 0 0 0 0 0 0 0 0 0 0
LP4GP 2131 0 0 0 0 0 0 0 0 0 0
LP6GP 2132 0 0 0 0 0 0 0 0 0 0
PHDLY1 2133 5150 5150 7690 7690 7690 7690 2570 2570 4146 4146
PHDLY2 2134 8990 8990 8990 8990 12830 12830 12814 12814 12821 12821
DGCSMM 2159 0 0 0 0 0 0 0 0 0 0
TRQCUP 2160 0 0 0 0 0 0 0 0 0 0
OVCSTP 2161 0 0 0 0 0 0 128 0 128 0
POVC21 2162 32742 32742 32764 32764 32763 32763 32764 32764 32761 32764
POVC22 2163 327 327 45 45 58 63 51 48 81 51
POVCLMT2 2164 5973 5974 1721 1721 9912 10651 6831 6829 8124 7077
MAXCRT 2165 365 185 165 85 25 10 165 85 165 85
ACCBSLM 2304 0 0 0 0 0 0 0 0 0 0
ACDCEND 2305 0 0 0 0 0 0 0 0 0 0
DCIDBS 2310 0 0 0 0 0 0 0 0 0 0

TITLE
Notice of the Update of Digital Servo Software for
Series 0i-D, 0i Mate -D (90C5,90E5)
DRAW. No. CUST.
01 09.08 .06 Tang Newly designed B-65270EN/07-017
SHEET
Ed Date Design Description 06／06
 Specification of expansion tandem function for 30i series CNC

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
Parameter manual
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function

Optional In Feed axis synchronization control or Tandem Add immediately

Function control, Expansion Tandem control enables to drive
the plural number motors or the large motor with plural
windings.
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Specification of expansion tandem function
for 30i series CNC

DRAW. No.
B-65270EN/07-018
CUST.
01 2009.11.02 K. Maeda Newly designed
SHEET
Ed. Date Description FANUC LTD 1/10
 (1) Summary
In a method to control one axis with two motors, there are Torque Tandem
control and Synchronous control (Position Tandem control). Synchronous
control gives the same position command to two axes of a master and a slave,
and it is a method to control a position. A position of a master and a slave is
controlled separately. On the other hand in Tandem control, Position is
controlled by main axis only. In sub axis, only torque is controlled.
In case to control one axis with more than 2 motors, you put Synchronous
control and Torque Tandem control together such as a following example.
Furthermore we recommend you to use Expanded Tandem function together
for stability.

Synchronous Synchronous Synchronous Synchronous

Master Slave-1 Slave-2 Slave-3

Gears Gears Gears Gears

Box Box Box Box

Fig 1 (a) Example for 4 axes control (4 axes Synchronous control)

Synchro. Master Synchro. Slave

Tandem Main Pinion Tandem Main

Gear Gear
Box Box

Tandem Tandem
Gear Gear
Box Box

Tandem Sub Tandem Sub

Synchronous control

Synchro. Slave Synchro. Slave

Tandem Main Tandem Main

Gear Gear
Box Box
Tandem Tandem
Gear Gear
Box Box
Tandem Sub Tandem Sub

Rack

Fig 1 (b) Example for 8 NC axes using (4 pair Tandem control, 4 axes Synchronous control)

TITLE
Specification of expansion tandem function
for 30i series CNC

DRAW. No.
B-65270EN/07-018
CUST.
01 2009.11.02 K. Maeda Newly designed
SHEET
Ed. Date Description FANUC LTD 2/10
 The situation is similar in Large servo motors (2 windings type : αiS300/2000,
αiS500/2000, and αiS1000/2000HV) or Large servo motors (4 windings type :
αiS2000/2000HV, and αiS3000/2000HV).

Synchro. Master Synchro. Slave

Pinion

Gear Gear
Box Box
Large servo motor Large servo motor
(2 amp. type) (2 amp. type)

Synchronous control

Synchro. Slave Synchro. Slave

Gear Gear
Box Box
Large servo motor Large servo motor
(2 amp. type) (2 amp. type)

Rack

Fig 1 (c) Example for 8 NC axes using (4 pair of two windings motors, 8 axes Synchronous control )

Synchro. Master Synchro. Slave

Pinion

Gear Gear
Box Box
Large servo motor Large servo motor
(4 amp. type) (4 amp. type)

Synchronous control

Rack
Fig 1 (d) Example for 8 NC axes using (2 pair of four windings motors, 8 axes Synchronous control)

TITLE
Specification of expansion tandem function
for 30i series CNC

DRAW. No.
B-65270EN/07-018
CUST.
01 2009.11.02 K. Maeda Newly designed
SHEET
Ed. Date Description FANUC LTD 3/10
 Expanded Tandem function can support the followings.
Integrator copy function from 1 to 8 axes in servo software 90E0 series

In case of followings, you should use “Integrator copy function for 4 axes”.
When you drive two motors with Synchronous control, there is a possibility
that interference occurs by slight difference of stop position between axes in
case of mechanically high rigidity, and torque offset occurs. (There is a
possibility that OVC alarm occurs at the worst case.) In such a situation,
interference between axes is suppressed by copying integrator of master
velocity loop to integrator of slave velocity loop.
As a similar problem might occur in case of driving an axis with synchronized 4
motors or 2 pair tandem motors, we developed the function to copy integrator of
main axis to integrator one axis in 4 axes. This function is available to
maximum 8 axes between synchronous axes.
Form : Copying integrator of master axis to integrators of tree other axes in
four synchronous axes. Fig.1(a)
Form : A Form that there are four pairs of tandem control axes, and to copy
integrator between main axes of tandem. Fig.1(b)
Form : A Form that there are four large servo motors (with two windings)
that are occupied by two axes, and to copy integrator between the
master axis and the slave axes. The above four large servo motors are
controlled by Feed Axis Synchronization control function. Fig.1(c)
Form : A Form that there are two large servo motors (with four windings)
that are occupied by four axes, and to copy integrator between the
master axis and the slave axis. The above two large servo motors are
controlled by Feed Axis Synchronization control function. Fig.1(d)
It is similar in the case of four linear motors instead of large servo
motors with four windings .

(2) Applicable servo software series and editions

(Series 30i,31i,32i)
Series 90E0/U(21) and subsequent editions
Series 90E1/A(01) and subsequent editions

(3) Parameters setting method

(Note) In this manual, servo axis is called by the following name respectively
according to the setting value of No.1023.
No.1023 = 4n+1 L axis
= 4n+2 M axis
= 4n+3 J axis
= 4n+4 K axis

TITLE
Specification of expansion tandem function
for 30i series CNC

DRAW. No.
B-65270EN/07-018
CUST.
01 2009.11.02 K. Maeda Newly designed
SHEET
Ed. Date Description FANUC LTD 4/10
 Setting for Integrator copy function for 4 axes

#7 #6 #5 #4 #3 #2 #1 #0
- SLTMAS SLTAN
2223(FS30i)

SLTAN (#5) 1: Enables Expanded Tandem control. Power must be off

(Set to all axes of master and slave)
Series 90E0/J(10)
∗ In case of changing this parameter, you must turn CNC power off.
∗ By setting this parameter to 1, you can use “Integrator copy function” and
“The servo alarm of plural axes simultaneous monitor function” for more than
3 axes. L axis is the master of Integral copy function. In case that you use
conventional “Integrator copy function” for 2 axes (L and M axes, or K and J
axes), this bit must be set to 0.

In following case, you must set “1” to SLTAN for all synchronous axes.
• Integrator copy function for more than 3 axes in 90E0

SLTMAS (#6) 0: Slave axis

Power must be off
1: Master axis
Series 90E0/J(10)
∗ In case of changing this parameter, you must turn CNC power off.
∗ You must set 1 to master axis. It is possible to set SLTMAS=1 only in L axis
of each DSP. If you set SLTMAS=1 to an axis except L axis, the illegal
parameter alarm will occur.

#7 #6 #5 #4 #3 #2 #1 #0
- WSVCP
2273(FS30i)

WSCCP (#1) 1: Enables copying integrator of master to integrator of slave

(You set 1 to axes which need sharing integrator.) Power must be off

Series 90E0/J(10)
∗ By using this function together with SLTAN, “Integrator copy function” is
available for more than 3 axes
∗ You should set 1 to axes which need sharing integrator. (It doesn’t include the
sub axis of Torque tandem.)
∗In case of SLTAN = 0, Integrator copy function is available for two axes
(between L and M axes or between J and K axes).

TITLE
Specification of expansion tandem function
for 30i series CNC

DRAW. No.
B-65270EN/07-018
CUST.
01 2009.11.02 K. Maeda Newly designed
SHEET
Ed. Date Description FANUC LTD 5/10
 #7 #6 #5 #4 #3 #2 #1 #0
- PLW4
2211(FS30i)

PLW4(#7) 1: Enables large servo motor with 4 windings. Power must be off
(Set to all four axes.)
Series 90E0/U(21)
∗ In case of changing this parameter, you must turn CNC power off.
∗ By setting this parameter to 1, you can use “Integrator copy function” and
“Position feedback copy function" for four axes.
∗ In case of using this parameter, you need Tandem control option.

Setting for “Velocity Command (Vcmd) Tandem control"

#7 #6 #5 #4 #3 #2 #1 #0
- VCMDTM
2008 (FS30i)

VCMDTM (#5) 1: Enables Velocity Command (Vcmd) Tandem control.

(Set to master axis under Tandem control)
* Please use this function in the axes using Tandem control
* We recommend Feed axis synchronous control rather than this function.

Setting for “Servo alarm of plural axes simultaneous monitor function” for 4 axes

#7 #6 #5 #4 #3 #2 #1 #0
- ESP2AX
2007(FS30i)

ESP2AX (#0) 1: Enables Servo alarm of plural axes simultaneous monitor function.
Series 90E0/J(10)
∗ In case of SLTAN = 0, “Integrator copy function” is available for 2 axes.
(Conventional spec.)
∗ By using this function together with SLTAN, “Servo alarm of plural axes
simultaneous monitor function” for more than 3 axes becomes effective.

TITLE
Specification of expansion tandem function
for 30i series CNC

DRAW. No.
B-65270EN/07-018
CUST.
01 2009.11.02 K. Maeda Newly designed
SHEET
Ed. Date Description FANUC LTD 6/10
 Setting for “Preload function in case of above 2 axes”

#7 #6 #5 #4 #3 #2 #1 #0
- TIMCAL TIMPR2
2417 (FS30i)

TIMCAL (#4) Preload time constant is : 90E0/25(Y)

0 : Not available. Time constant is 0. (Conventional spec.)
1 : Available.
∗ When you use this function, a mechanical shock at the start of excitation will
be reduced because motor outputs preload torque with time constant.
∗ As for time constant, please refer to the below bit (TIMPR2).

TIMPR2 (#2) Exponential time constant for preload is : 90E0/25(Y)

0 : Reciprocal of position loop gain (1/s).
1 : 4 times of reciprocal of position loop gain (1/s).

- Preload value (PRLOAD)

2087 (FS30i)

To add each reverse torque offset to master and slave axes enables to reduce a backlash among
tandem axes. In case that you set preload value to more than 2 axes, please set it so that the
summation of preload value is 0.

(Example)
Synchronous Synchronous Synchronous Synchronous
Master Slave-1 Slave-2 Slave-3

Gears Gears Gears Gears

Box Box Box Box

Axis allocation Expansion Expansion Integrator Preload Remarks

number No.1023 Tandem Tandem Master copy No.2087
2223#5 No.2223#6 No.2273#1
1 1 (L) 1 1 1 +600 Synchronous Master
2 2 (M) 1 0 1 -300 Synchronous Slave
3 3 (J) 1 0 1 +300 Synchronous Slave
4 4 (K) 1 0 1 -600 Synchronous Slave

TITLE
Specification of expansion tandem function
for 30i series CNC

DRAW. No.
B-65270EN/07-018
CUST.
01 2009.11.02 K. Maeda Newly designed
SHEET
Ed. Date Description FANUC LTD 7/10
(4) Examples of parameters setting

(4-1) In case of driving 4 axes by synchronous control, and using Integrator copy function for 4 axes. (Form )
Position DSP1
Command Velocity L axis Master axis
CNC Control
Feedback
M1
Velocity
M axis Slave axis
Control Feedback
M2
Feed Axis Integrator
Synchronization copy
Control
J axis
Velocity Slave axis
Control Feedback
M3
K axis
Velocity Slave axis
Control Feedback
Integrator M4
copy

Axis Tandem Expanded Exp. Tandem Integrator

Axis
Allocation control Tandem Master copy Remarks
Number
No.1023 No.1817#6 No.2223#5 No.2223#6 No.2273#1
1 1 (L) 0 1 1 1 Master of Synchronous control
2 2 (M) 0 1 0 1 Slave for 1st. axis
3 3 (J) 0 1 0 1 Slave for 1st. axis
4 4 (K) 0 1 0 1 Slave for 1st. axis
*1) Set Feed Axis synchronous control to four axes (from 1st. axis to 4th. axis).

(4-2) In case of driving 2 axes (M1 and M2) by synchronous control, and those axes are controlled by Torque Tandem
control, and those axes use Integrator copy function. (Form )
Position
Command DSP1 Velocity L axis Master axis
CNC Control
Feedback
Tandem
M1
control
Velocity M axis Sub axis
Control (Vcmd Tandem)
Feed Axis
Synchronization M3
Control Integrator
copy

Velocity J axis Slave axis

Control
Feedback
Tandem
M2
control
Velocity K axis Sub axis
Control (Vcmd Tandem)
Integrator M4
copy

Axis Tandem Vcmd Expanded Exp. Tandem Integrator

Axis
Allocation control Tandem Tandem Master copy Remarks
Number
No.1023 No.1817#6 No.2008#5 No.2223#5 No.2223#6 No.2273#1
Master of Synchronous control
1 1 (L) 1 1 1 1 1
(1st. tandem main)
Slave for 1st. axis
2 3 (J) 1 1 1 0 1
(2nd. tandem main)
3 2 (M) 1 0 1 0 1 1st. tandem sub
4 4 (K) 1 0 1 0 1 2nd. tandem sub
*1) Pair of 1st. axis and 3rd. axis, and pair of 2nd. axis and 4th. axis are Tandem control (Vcmd Tandem).
*2) Set Feed Axis synchronous control to 1st. axis and 2nd. axis.

TITLE
Specification of expansion tandem function
for 30i series CNC

DRAW. No.
B-65270EN/07-018
CUST.
01 2009.11.02 K. Maeda Newly designed
SHEET
Ed. Date Description FANUC LTD 8/10
 (4-3) In case of driving 4 axes by synchronous control, and using Integrator copy function for 4 axes with 2 windings
motor. (Form )
Position
Command DSP1 Velocity 1-L axis
CNC Master axis
Control
Feedback
M1
1-M axis Sub axis
Integrator
Feed Axis copy Torque (Torque Copy)
Synchronization Command
Control
Velocity 1-J axis Slave axis
Control
Feedback
M2
1-K axis Sub axis
Integrator
(Torque Copy)
copy
DSP2
Velocity 2-L axis Slave axis
Control
Feedback
M3
2-M axis Sub axis
Integrator
copy Torque (Torque Copy)
Command
Velocity 2-J axis Slave axis
Control
Feedback
M4
2-K axis Sub axis
(Torque Copy)

Axis Tandem Position FB Expanded Exp. Tandem Integrator

Axis
Allocation control copy Tandem Master copy Remarks
Number
No.1023 No.1817#6 No.2018#7 No.2223#5 No.2223#6 No.2273#1
Master of Synchronous
1 1 (1-L) 1 0 1 1 1 control
(1st. tandem main)
Slave for 1st. axis
2 3 (1-J) 1 0 1 0 1
(2nd. tandem main)
Slave for 1st. axis
3 5 (2-L) 1 0 1 0 1
(3rd. tandem main)
Slave for 1st. axis
4 7 (2-J) 1 0 1 0 1
(4th. tandem main)
5 2 (1-M) 1 1 1 0 0 1st. tandem sub
6 4 (1-K) 1 1 1 0 0 2nd. tandem sub
7 6 (2-M) 1 1 1 0 0 3rd. tandem sub
8 8 (2-K) 1 1 1 0 0 4th. tandem sub
*1) Set Feed Axis synchronous control to 1st. axis, 2nd., 3rd. and 4th. axis.
*2) Integrator of 1st. axis will be copied to 2nd. axis, 3rd. axis and 4th. axis
*3) Pair of 1st. axis and 5th. axis, pair of 2nd. and 6th. axis, pair of 3rd. and 7th. axis and pair of 2nd. axis and 6th.
axis are Tandem control.

TITLE
Specification of expansion tandem function
for 30i series CNC

DRAW. No.
B-65270EN/07-018
CUST.
01 2009.11.02 K. Maeda Newly designed
SHEET
Ed. Date Description FANUC LTD 9/10
 (4-4) In case of driving 2 axes by synchronous control, and using Integrator copy function for 2 axes with 4 windings
motor. (Form )
Position
Command DSP1 Velocity 1-L axis
CNC Master axis
Control
Feedback
M1
1-M axis Sub axis
(Torque Copy)
Torque
Feed Axis Command
Synchronization 1-J axis Sub axis
Control
(Torque Copy)

1-K axis Sub axis

Integrator
copy (Torque Copy)

DSP2
Velocity 2-L axis Slave axis
Control
Feedback
M2
2-M axis Sub axis
(Torque Copy)
Torque
Command
2-J axis Sub axis
(Torque Copy)

2-K axis Sub axis

(Torque Copy)

Axis Ext axis Tandem 4 Amp. drive Expanded Exp. Tandem Integrator
Axis
Allocation name *4 control motor Tandem Master copy Remarks
Num.
No.1023 No.1025 No.1817#6 No.2211#7 No.2223#5 No.2223#6 No.2273#1
Master of
1 1 (1-L) 49 (_1) 0 1 1 1 1
Synchronous control
Slave of Synchronous
2 5 (2-L) 50 (_2) 0 1 1 0 1
control
3 2 (1-M) 51 (_3) 0 1 1 0 0 Sub for 1st. axis
4 3 (1-J) 52 (_4) 0 1 1 0 0 Sub for 1st. axis
5 4 (1-K) 53 (_5) 0 1 1 0 0 Sub for 1st. axis
6 6 (2-M) 54 (_6) 0 1 1 0 0 Sub for 2nd. axis
7 7 (2-J) 55 (_7) 0 1 1 0 0 Sub for 2nd. axis
8 8 (2-K) 56 (_8) 0 1 1 0 0 Sub for 2nd. axis
*1) Set Feed axis synchronous control to 1st. axis and 2nd. axis.
*2) Integrator of 1st. axis will be copied to 2nd. axis.
*3) By using 4 windings motor function, feedback data and torque data will be copied from 1st. axis to 3rd, 4th, and
5th. axis and from 2nd. axis to 6th, 7th, and 8th. axis.
Each sub axis doesn’t need Position feedback copy function (No.2018#7).
*4) In this case, you must set the other program axis name, which is different from 1st and 2nd axis, to the axes from
3rd to 8th . If not, real speed will smaller than your command speed.
You should set the other value to No.1025 with No.1000#0 = 1.

TITLE
Specification of expansion tandem function
for 30i series CNC

DRAW. No.
B-65270EN/07-018
CUST.
01 2009.11.02 K. Maeda Newly designed
SHEET
Ed. Date Description FANUC LTD 10/10
 Notice of the Update of Digital Servo Software for Series 30i/ 31i (90D0)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function 1. Changes of Standard Parameter Table Add 2009. 10

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the Update of Digital Servo Software for
Series 30i / 31i (90D0)
DRAW. No. CUST.
01 09.10.15 Tang Newly designed B-65270EN/07-019
SHEET
Ed Date Design Description 01／05
 Notice of the Update of Digital Servo Software for Series 30i /31i (90D0)

1. Update Edition
ROM series New edition Available CNC
90D0 22 Series30i / 31i (For HRV4 control)

2. Contents of change
- Changes of Standard Parameter Table
Standard parameter table has been changed.

3. Attached
Attached 1 Changes of Standard Parameter Table

TITLE
Notice of the Update of Digital Servo Software for
Series 30i / 31i (90D0)
DRAW. No. CUST.
01 09.10.15 Tang Newly designed B-65270EN/07-019
SHEET
Ed Date Design Description 02／05
 Attached 1. Changes of Standard Parameter Table

(1) Soft thermal(OVC) alarm level for the following servo motors are optimized.

Motor Model Motor ID No.

αiF 30/3000 303

αiF 40/3000 307
αiF 40/3000Fan 308
αiS 22/4000 315
αiS 30/4000 318
αiS 40/4000 322
αiS 22/6000 452
* Please refer to Table1 about the standard parameters.

(2 ) Standard parameters of the following servo motors are optimized for the stablity at high speed.

Motor Model Motor ID No.

βiS 1/6000 282

αiS 8/6000 290
αiS 8/6000HV 292
* Please refer to Table2 about the standard parameters.

(3) High speed modles are added in αi series servo motor.

Motor Model Motor ID No.

αiS 12/6000 462

αiS 12/6000HV 463
* Please refer to Table 2 about the standard parameters.

TITLE
Notice of the Update of Digital Servo Software for
Series 30i / 31i (90D0)
DRAW. No. CUST.
01 09.10.15 Tang Newly designed B-65270EN/07-019
SHEET
Ed Date Design Description 03／05
Table1) Standard parameter table for changes (Checked parameters are changed.)
αiF30 αiF40 αiF40 αiS22 αiS30 αiS40 αiS22
Motor model
3000 3000 3000Fan 4000 4000 4000 6000
Motor specification 0253 0257 0257 0265 0268 0272 0262
Motor ID number 303 307 308 315 318 322 452
Symbol FS16i,18i,21i,PMi
2003 00001000 00001000 00001000 00001000 00001000 00001000 00001000
2004 00000011 00000011 00000011 00000011 00000011 00000011 00000011
2005 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2006 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2007 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2008 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2009 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2010 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2011 00000000 00100000 00100000 00000000 00000000 00000000 00000000
2012 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2013 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2014 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2210 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2211 00001010 00001010 00001010 00001010 00001010 00001010 00001010
2300 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2301 00000000 00000000 00000000 00000000 00000000 00000000 00000000
PK1 2040 768 1500 1500 581 799 712 605
PK2 2041 -4492 -8224 -8224 -3844 -4447 -4138 -2393
PK3 2042 -1347 -1348 -1348 -1337 -1317 -1341 -1335
PK1V 2043 230 191 191 69 82 92 102
PK2V 2044 -2057 -1712 -1712 -616 -733 -827 -914
PK3V 2045 0 0 0 0 0 0 0
PK4V 2046 -8235 -8235 -8235 -8235 -8235 -8235 -8235
POA1 2047 1845 2216 2216 6163 5175 4589 4150
BLCMP 2048 0 0 0 0 0 0 0
DPFMX 2049 0 0 0 0 0 0 0
POK1 2050 956 956 956 956 956 956 956
POK2 2051 510 510 510 510 510 510 510
RESERV 2052 0 0 0 0 0 0 0
PPMAX 2053 21 21 21 21 21 21 21
PDDP 2054 1894 1894 1894 1894 1894 1894 1894
PHYST 2055 319 319 319 319 319 319 319
EMFCMP 2056 -20500 0 0 0 0 0 0
PVPA 2057 -8465 -2570 -2570 -7687 -6412 -5645 -12039
PALPH 2058 -1657 -2000 -2000 -2000 -2300 -3000 -2000
PPBAS 2059 0 0 0 0 0 0 0
TQLIM 2060 7282 7282 7282 7282 7282 7282 7282
EMFLMT 2061 0 0 0 0 0 0 0
POVC1 2062 32515 32515 32431 32515 32515 32515 32515
POVC2 2063 3166 3166 4212 3166 3166 3166 3166
TGALMLV 2064 4 4 4 4 4 4 4
POVCLMT 2065 9418 9418 12545 9418 9418 9418 9418
PK2VAUX 2066 0 0 0 0 0 0 0
FILTER 2067 0 0 0 0 0 0 0
FALPH 2068 0 0 0 0 0 0 0
VFFLT 2069 0 0 0 0 0 0 0
ERBLM 2070 0 0 0 0 0 0 0
PBLCT 2071 0 0 0 0 0 0 0
SFCCML 2072 0 0 0 0 0 0 0
PSPTL 2073 0 0 0 0 0 0 0
AALPH 2074 4096 0 0 4096 4096 4096 4096
OSCTPL 2077 0 0 0 0 0 0 0
PDPCH 2078 0 0 0 0 0 0 0
PDPCL 2079 0 0 0 0 0 0 0
DPFEX 2080 0 0 0 0 0 0 0
DPFZW 2081 0 0 0 0 0 0 0
BLENDL 2082 0 0 0 0 0 0 0
MOFCTL 2083 0 0 0 0 0 0 0
RTCURR 2086 2306 1957 2593 1627 1836 2073 1977
TDPLD 2087 0 0 0 0 0 0 0
MCNFB 2088 0 0 0 0 0 0 0
BLBSL 2089 0 0 0 0 0 0 0
ROBSTL 2090 0 0 0 0 0 0 0
ACCSPL 2091 0 0 0 0 0 0 0
ADFF1 2092 0 0 0 0 0 0 0
VMPK3V 2093 0 0 0 0 0 0 0
BLCMP2 2094 0 0 0 0 0 0 0
AHDRTL 2095 0 0 0 0 0 0 0
RADUSL 2096 0 0 0 0 0 0 0
SMCNT 2097 0 0 0 0 0 0 0
DEPVPL 2098 0 0 0 0 0 0 0
ONEPSL 2099 400 400 400 400 400 400 400
INPA1 2100 0 0 0 0 0 0 0
INPA2 2101 0 0 0 0 0 0 0
DBLIM 2102 0 12000 12000 0 0 0 0
ABVOF 2103 0 0 0 0 0 0 0
ABTSH 2104 0 0 0 0 0 0 0
TRQCST 2105 1170 1839 1839 1216 1470 1701 819
LP24PA 2106 0 0 0 0 0 0 0
VLGOVR 2107 0 0 0 0 0 0 0
RESERV 2108 0 0 0 0 0 0 0
BELLTC 2109 0 0 0 0 0 0 0
MGSTCM 2110 1032 1291 1291 519 775 776 1288
DETQLM 2111 7735 5220 5140 6224 6450 5682 12830
AMRDML 2112 0 0 0 0 0 0 0
NFILT 2113 0 0 0 0 0 0 0
NINTCT 2127 1688 3041 3041 2041 1871 1853 1000
MFWKCE 2128 2500 6000 2000 2500 4000 4000 1000
MFWKBL 2129 2829 1560 1553 2580 2574 2063 3854
LP2GP 2130 0 0 0 0 0 0 0
LP4GP 2131 0 0 0 0 0 0 0
LP6GP 2132 0 0 0 0 0 0 0
PHDLY1 2133 5140 2590 3085 5150 5150 5150 7690
PHDLY2 2134 8995 8990 8990 8990 8990 8988 8990
DGCSMM 2159 0 0 0 0 0 0 0
TRQCUP 2160 0 0 0 0 0 0 0
OVCSTP 2161 128 128 128 128 128 128 128
POVC21 2162 32764 32764 32717 32766 32765 32765 32765
POVC22 2163 48 46 637 28 37 38 44
POVCLMT2 2164 8124 8124 10815 5177 6687 6846 7743
MAXCRT 2165 165 165 165 165 165 165 165
ACCBSLM 2304 0 0 0 0 0 0 0
ACDCEND 2305 0 0 0 0 0 0 0
DCIDBS 2310 0 0 0 0 0 0 0

TITLE
Notice of the Update of Digital Servo Software for
Series 30i / 31i (90D0)
DRAW. No. CUST.
01 09.10.15 Tang Newly designed B-65270EN/07-019
SHEET
Ed Date Design Description 04／05
Table2) Standard parameter table for changes and new added models (Checked parameters are changed.)
βiS1 αiS8 αiS8 αiS12 αiS12
Motor model
6000 6000 6000HV 6000 6000HV
Motor specification 0116 0232 0233 0230 0237
Motor ID number 282 290 292 462 463
Symbol FS30i,31i,32i
2003 00001000 00001000 00001000 00001000 00001000
2004 00000011 00000011 00000011 00000011 00000011
2005 00000000 00000000 00000000 00000000 00000000
2006 00000000 00000000 00000000 00000000 00000000
2007 00000000 00000000 00000000 00000000 00000000
2008 00000000 00000000 00000000 00000000 00000000
2009 00000000 00000000 00000000 00000000 00000000
2010 00000000 00000000 00000000 00000000 00000000
2011 00000000 00000000 00000000 00000000 00000000
2012 00000000 00000000 00000000 00000000 00000000
2013 00000000 00000000 00000000 00000000 00000000
2014 00000000 00000000 00000000 00000000 00000000
2210 00000000 00000000 00000000 00000000 00000000
2211 00001010 00001010 00001010 00001010 00001010
2300 00000000 00000000 00000000 00000000 00000000
2301 00000000 00000000 00000000 00000000 00000000
PK1 2040 312 460 381 471 471
PK2 2041 -1360 -1760 -1749 -2249 -2249
PK3 2042 -1203 -1305 -1305 -1321 -1321
PK1V 2043 6 53 53 43 43
PK2V 2044 -53 -478 -478 -387 -387
PK3V 2045 0 0 0 0 0
PK4V 2046 -8235 -8235 -8235 -8235 -8235
POA1 2047 -7176 -794 -794 -980 -980
BLCMP 2048 0 0 0 0 0
DPFMX 2049 0 0 0 0 0
POK1 2050 956 956 956 956 956
POK2 2051 510 510 510 510 510
RESERV 2052 0 0 0 0 0
PPMAX 2053 21 21 21 21 21
PDDP 2054 1894 1894 1894 1894 1894
PHYST 2055 319 319 319 319 319
EMFCMP 2056 -12850 0 0 0 0
PVPA 2057 -15114 -16398 -16398 -12808 -12808
PALPH 2058 -1200 -1000 -1000 -1800 -1800
PPBAS 2059 0 0 0 0 0
TQLIM 2060 7282 7282 7282 7282 7282
EMFLMT 2061 0 0 0 0 0
POVC1 2062 32695 32520 32548 32688 32688
POVC2 2063 915 3101 2755 998 998
TGALMLV 2064 4 4 4 4 4
POVCLMT 2065 2714 9224 8192 2960 2960
PK2VAUX 2066 0 0 0 0 0
FILTER 2067 0 0 0 0 0
FALPH 2068 0 0 0 0 0
VFFLT 2069 0 0 0 0 0
ERBLM 2070 0 0 0 0 0
PBLCT 2071 0 0 0 0 0
SFCCML 2072 0 0 0 0 0
PSPTL 2073 0 0 0 0 0
AALPH 2074 20480 8192 8192 12288 12288
OSCTPL 2077 0 0 0 0 0
PDPCH 2078 0 0 0 0 0
PDPCL 2079 0 0 0 0 0
DPFEX 2080 0 0 0 0 0
DPFZW 2081 0 0 0 0 0
BLENDL 2082 0 0 0 0 0
MOFCTL 2083 0 0 0 0 0
RTCURR 2086 1212 2075 2075 1181 1181
TDPLD 2087 0 0 0 0 0
MCNFB 2088 0 0 0 0 0
BLBSL 2089 0 0 0 0 0
ROBSTL 2090 0 0 0 0 0
ACCSPL 2091 0 0 0 0 0
ADFF1 2092 0 0 0 0 0
VMPK3V 2093 0 0 0 0 0
BLCMP2 2094 0 0 0 0 0
AHDRTL 2095 0 0 0 0 0
RADUSL 2096 0 0 0 0 0
SMCNT 2097 0 0 0 0 0
DEPVPL 2098 0 0 0 0 0
ONEPSL 2099 400 400 400 400 400
INPA1 2100 0 0 0 0 0
INPA2 2101 0 0 0 0 0
DBLIM 2102 0 0 0 0 0
ABVOF 2103 0 0 0 0 0
ABTSH 2104 0 0 0 0 0
TRQCST 2105 89 346 346 837 837
LP24PA 2106 0 0 0 0 0
VLGOVR 2107 0 0 0 0 0
RESERV 2108 0 0 0 0 0
BELLTC 2109 0 0 0 0 0
MGSTCM 2110 1556 1284 1284 528 528
DETQLM 2111 10290 10255 10255 10260 10260
AMRDML 2112 0 0 0 0 0
NFILT 2113 0 0 0 0 0
NINTCT 2127 881 801 1600 1146 2292
MFWKCE 2128 1500 1000 1400 667 667
MFWKBL 2129 5135 5388 5390 3850 3850
LP2GP 2130 0 0 0 0 0
LP4GP 2131 0 0 0 0 0
LP6GP 2132 0 0 0 0 0
PHDLY1 2133 15400 10250 10260 7690 7690
PHDLY2 2134 12840 12830 12835 8990 8990
DGCSMM 2159 0 0 0 0 0
TRQCUP 2160 0 0 0 0 0
OVCSTP 2161 0 0 0 0 0
POVC21 2162 32767 32765 32765 32764 32764
POVC22 2163 12 38 38 45 45
POVCLMT2 2164 2340 6857 6857 1721 1721
MAXCRT 2165 25 85 45 165 85
ACCBSLM 2304 0 0 0 0 0
ACDCEND 2305 0 0 0 0 0
DCIDBS 2310 0 0 0 0 0

TITLE
Notice of the Update of Digital Servo Software for
Series 30i / 31i (90D0)
DRAW. No. CUST.
01 09.10.15 Tang Newly designed B-65270EN/07-019
SHEET
Ed Date Design Description 05／05
 Notice of the Update of Digital Servo Software for Series 15i/ 16i/ 18i/ 21i/ PMi-D/ PMi-H (90BP)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function 1. New Position Detection Circuits for Linear Motor have New 2009.11
been supported.
2. Changes of Standard Parameter Table Add 2009.11

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the Update of Digital Servo Software for
Series 15i, 16i, 18i, 21i, PMi -D, PMi -H ( 90BP)
DRAW. No. CUST.
01 09.11.18 Tang Newly designed B-65270EN/07-020
SHEET
Ed Date Design Description 01／06
 Notice of the Update of Digital Servo Software for Series 15i/ 16i/ 18i/ 21i/ PMi-D/ PMi-H (90BP)

1. Update Edition
ROM series New edition Available CNC
FS15i, 16i, 18i, 21i, PMi -D, PMi-H
90BP 06
(with servo card equipped with 320C5410)

2. Contents of change
- New Position Detection Circuits for Linear Motor
New Position Detection Circuits for Linear Motor have been supported.
- Changes of Standard Parameter Table
Standard parameter table has been changed.

3. Attached
- Attached 1 Changes of Standard Parameter Table
- Attached 2 New Position Detection Circuits for Linear Motor

TITLE
Notice of the Update of Digital Servo Software for
Series 15i / 16i / 18i / 21i / PMi –D / PMi -H ( 90BP)
DRAW. No. CUST.
01 09.11.18 Tang Newly designed B-65270EN/07-020
SHEET
Ed Date Design Description 02／06
 Attached 1. New Position Detection Circuits for Linear Motor

(1) Outline
The position detection circuits for linear motor (A860-2033-T201, A860-2033-T202, A860-2033-T301, A860-2033-T302)
have been supported for digital servo soft 90BP series.

(2) Available Servo software

90BP/06(F) and subsequent editions

(3)Configuration
Position detection circuits A860-2033-Txxx for linear motor have been supported. And overheat alarm of linear motor can
be detected by using the position detection circuit.
Servo amplifier
CNC
Power lead

Thermostat signal
( overheat detection signal)

Position information
Separate position
detector
Linear motor position
detection circuit

(4) Parameter setting

Please set the following parameter depending on the connection type (configuration) of overheat alarm. (Please refer
PARAMETER MANUAL B-65270JA/07 4.14.2 for details)
Note) When following parameters are changed, it is necessary to turn OFF/ON CNC.

#7 #6 #5 #4 #3 #2 #1 #0
No.2713(FS15i) CKLNOH THRMO
No.2300(FS16i)
THRMO(#3) In case that No.2300#7 is set to “1”, motor overheat alarm is
0: detected from DI signal via PMC.
1: detected from linear motor position detection circuit

CLKNOH(#7) Overheat alarm for linear motor is

1: detected from DI signal via PMC, or linear motor position detection circuit

CKLNOH THRMO meaning

1 0 Detecting overheat alarm by DI signal via PMC.

Detecting overheat alarm by thermostat signal connected to linear
1 1
motor position detection circuit.

Note) Temperature detection circuit has not been supported by 90BP series.

TITLE
Notice of the Update of Digital Servo Software for
Series 15i / 16i / 18i / 21i / PMi –D / PMi -H ( 90BP)
DRAW. No. CUST.
01 09.11.18 Tang Newly designed B-65270EN/07-020
SHEET
Ed Date Design Description 03／06
 Attached 2. Changes of Standard Parameter Table
(1) Standard parameters of the following servo motors are optimized for the stablity at high speed.

Motor Model Motor ID No.

βiS 1/6000 282
αiS 8/6000 290
αiS 8/6000HV 292
αiF 22/3000 297
* Please refer to Table1 about the standard parameters.

Note) To support the changes of αiF22/3000, following Servo Ampilfier and Power Supply Module are needed
Servo Amplifier Power Supply Module
200V Driver 200V Driver:A06B-6140-Hxxx
(1) A06B-6114-Hxxx 400V Driver:A06B-6150-Hxxx
(S/N:V078xxxxx or subsequent editions)
(2) A06B-6117-Hxxx

400V Driver
(1) A06B-6124-Hxxx
(S/N:V078xxxxx or subsequent editions)
(2) A06B-6127-Hxxx

(2) 3000/min model of αis series Large Servo motors have been added.
Motor Model Motor ID No.
αiS 300/3000HV 344
αiS 500/3000HV 347
αiS 1000/3000HV 350
with PDM
* Please refer to Table1 about the standard parameters.

(3) Following models are added in αis series.

Motor Model Motor ID No. Refer

αiS 12/6000 462

αiS 12/6000HV 463 High speed model
αiS 4/6000 466 for Live Tool

αiS 4/6000HV 467

αiS 50/2000 468
αiS 50/2000HV 469 High cost-performance model
αiS 60/2000 470 driven by 160A and 80A(HV)amplifier

αiS 60/2000HV 471

αiS 60/3000Fan 328 High power model
αiS 60/3000HVFan 329 driven by 360A and 180A(HV) amplifier

* Please refer to Table 2 about the standard parameters.

TITLE
Notice of the Update of Digital Servo Software for
Series 15i / 16i / 18i / 21i / PMi –D / PMi -H ( 90BP)
DRAW. No. CUST.
01 09.11.18 Tang Newly designed B-65270EN/07-020
SHEET
Ed Date Design Description 04／06
Table1) Standard parameter table for changes (Checked parameters are changed.)
αiS1000
βiS1 αiS8 αiS8 αiF22 αiS300 αiS500
Motor model 3000HV
6000 6000 6000HV 3000 3000HV 3000HV
With PDM
Motor specification 0116 0232 0233 0247 0290 0297 0099
Motor ID number 282 290 292 297 344 347 350
Symbol FS15i FS16i,18i,PMi
1808 2003 00001000 00001000 00001000 00001000 00001000 00001000 00001000
1809 2004 00000011 00000011 00000011 00000011 00000011 00000011 00000011
1883 2005 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1884 2006 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1951 2007 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1952 2008 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1953 2009 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1954 2010 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1955 2011 00000000 00000000 00000000 00100000 00000000 00000000 00000000
1956 2012 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1707 2013 00000000 00000000 00000000 00000000 00000000 00000000 00000001
1708 2014 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1750 2210 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1751 2211 00001010 00001010 00001010 00000000 00011010 00011010 00011010
2713 2300 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2714 2301 00000000 00000000 00000000 00000000 00000000 00000000 10000000
PK1 1852 2040 312 460 381 1750 821 1344 960
PK2 1853 2041 -1360 -1760 -1749 -6000 -5450 -7296 -6554
PK3 1854 2042 -1203 -1305 -1305 -1345 -1355 -1357 -1362
PK1V 1855 2043 6 53 53 198 91 111 191
PK2V 1856 2044 -53 -478 -478 -1775 -819 -996 -1708
PK3V 1857 2045 0 0 0 0 0 0 0
PK4V 1858 2046 -8235 -8235 -8235 -8235 -8235 -8235 -8235
POA1 1859 2047 -7176 -794 -794 2137 4633 3811 2221
BLCMP 1860 2048 0 0 0 0 0 0 0
DPFMX 1861 2049 0 0 0 0 0 0 0
POK1 1862 2050 956 956 956 956 956 956 956
POK2 1863 2051 510 510 510 510 510 510 510
RESERV 1864 2052 0 0 0 0 0 0 0
PPMAX 1865 2053 21 21 21 21 21 21 21
PDDP 1866 2054 1894 1894 1894 1894 1894 1894 1894
PHYST 1867 2055 319 319 319 319 319 319 319
EMFCMP 1868 2056 -12850 0 0 0 0 0 0
PVPA 1869 2057 -15114 -16398 -16398 -5136 -5646 -3856 -4620
PALPH 1870 2058 -1200 -1000 -1000 -2800 -1800 -2900 -2500
PPBAS 1871 2059 0 0 0 0 0 0 0
TQLIM 1872 2060 7282 7282 7282 7282 7282 7282 7282
EMFLMT 1873 2061 0 0 0 0 0 0 0
POVC1 1877 2062 32695 32520 32548 32520 32380 32380 32488
POVC2 1878 2063 915 3101 2755 3101 4850 4850 3503
TGALMLV 1892 2064 4 4 4 4 4 4 4
POVCLMT 1893 2065 2714 9224 8192 9224 12155 12155 18280
PK2VAUX 1894 2066 0 0 0 0 0 0 0
FILTER 1895 2067 0 0 0 0 0 0 0
SERIESLPH 1961 2068 0 0 0 0 0 0 0
VFFLT 1962 2069 0 0 0 0 0 0 0
ERBLM 1963 2070 0 0 0 0 0 0 0
PBLCT 1964 2071 0 0 0 0 0 0 0
SFCCML 1965 2072 0 0 0 0 0 0 0
PSPTL 1966 2073 0 0 0 0 0 0 0
AALPH 1967 2074 20480 8192 8192 12288 12288 12288 12288
OSCTPL 1970 2077 0 0 0 0 0 0 0
PDPCH 1971 2078 0 0 0 0 0 0 0
PDPCL 1972 2079 0 0 0 0 0 0 0
DPFEX 1973 2080 0 0 0 0 0 0 0
DPFZW 1974 2081 0 0 0 0 0 0 0
BLENDL 1975 2082 0 0 0 0 0 0 0
MOFCTL 1976 2083 0 0 0 0 0 0 0
RTCURR 1979 2086 1212 2075 2075 2131 2000 2482 2599
TDPLD 1980 2087 0 0 0 0 0 0 0
MCNFB 1981 2088 0 0 0 0 0 0 0
BLBSL 1982 2089 0 0 0 0 0 0 0
ROBSTL 1983 2090 0 0 0 0 0 0 0
ACCSPL 1984 2091 0 0 0 0 0 0 0
ADFF1 1985 2092 0 0 0 0 0 0 0
VMPK3V 1986 2093 0 0 0 0 0 0 0
BLCMP2 1987 2094 0 0 0 0 0 0 0
AHDRTL 1988 2095 0 0 0 0 0 0 0
RADUSL 1989 2096 0 0 0 0 0 0 0
SMCNT 1990 2097 0 0 0 0 0 0 0
DEPVPL 1991 2098 0 0 0 0 0 0 0
ONEPSL 1992 2099 400 400 400 400 400 400 400
INPA1 1993 2100 0 0 0 0 0 0 0
INPA2 1994 2101 0 0 0 0 0 0 0
DBLIM 1995 2102 0 0 0 15000 0 0 0
ABVOF 1996 2103 0 0 0 0 0 0 0
ABTSH 1997 2104 0 0 0 0 0 0 0
TRQCST 1998 2105 89 346 346 929 13494 18125 3807
LP24PA 1999 2106 0 0 0 0 0 0 0
VLGOVR 1700 2107 0 0 0 0 0 0 0
RESERV 1701 2108 0 0 0 0 0 0 0
BELLTC 1702 2109 0 0 0 0 0 0 0
MGSTCM 1703 2110 1556 1284 1284 1291 523 521 1040
DETQLM 1704 2111 10290 10255 10255 0 2960 2953 3242
AMRDML 1705 2112 0 0 0 0 0 0 0
NFILT 1706 2113 0 0 0 0 0 0 0
NINTCT 1735 2127 881 801 1600 3272 7720 8021 9876
MFWKCE 1736 2128 1500 1000 1400 4500 4300 2500 4500
MFWKBL 1752 2129 5135 5388 5390 1301 1556 1041 1556
LP2GP 1753 2130 0 0 0 0 0 0 0
LP4GP 1754 2131 0 0 0 0 0 0 0
LP6GP 1755 2132 0 0 0 0 0 0 0
PHDLY1 1756 2133 15400 10250 10260 0 3100 3093 2580
PHDLY2 1757 2134 12840 12830 12835 0 6422 6418 6418
DGCSMM 1782 2159 0 0 0 0 0 0 0
TRQCUP 1783 2160 0 0 0 0 0 0 0
OVCSTP 1784 2161 0 0 0 0 140 140 140
POVC21 1785 2162 32767 32765 32765 32765 32700 32700 32721
POVC22 1786 2163 12 38 38 40 853 853 589
POVCLMT2 1787 2164 2340 6857 6857 7229 10644 10644 13952
MAXCRT 1788 2165 25 85 45 85 0 0 0
ACCBSLM 2717 2304 0 0 0 0 0 0 0
ACDCEND 2718 2305 0 0 0 0 29 32 29
DCIDBS 2723 2310 0 0 0 1817 1700 1400 1648
TQLMSV 2715 2302 0 0 0 0 20 20 0
TQLMST 2729 2316 0 0 0 0 5394 5394 0

TITLE
Notice of the Update of Digital Servo Software for
Series 15i / 16i / 18i / 21i / PMi –D / PMi -H ( 90BP)
DRAW. No. CUST.
01 09.11.18 Tang Newly designed B-65270EN/07-020
SHEET
Ed Date Design Description 05／06
Table2) Standard parameter table for new added models

αiS60 αiS60 αiS12 αiS12 αiS4 αiS4 αiS50 αiS50 αiS60 αiS60
Motor model
3000Fan 3000HVFan 6000 6000HV 6000 6000HV 2000 2000HV 2000 2000HV
Motor specification 0278 0279 0230 0237 0210 0214 0042 0043 0044 0045
Motor ID number 328 329 462 463 466 467 468 469 470 471
symbol FS15i FS16i,18i,PMi
1808 2003 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000
1809 2004 00000011 01000011 00000011 00000011 00000011 00000011 00000011 00000011 00000011 00000011
1883 2005 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1884 2006 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1951 2007 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1952 2008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1953 2009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1954 2010 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1955 2011 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1956 2012 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1707 2013 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1708 2014 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1750 2210 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
1751 2211 00001010 00001010 00001010 00001010 00001010 00001010 00001010 00001010 00001010 00001010
2713 2300 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2714 2301 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
PK1 1852 2040 1191 1131 471 471 395 432 1539 1539 1358 1358
PK2 1853 2041 -6320 -5966 -2249 -2249 -1606 -1673 -7321 -7321 -6767 -6767
PK3 1854 2042 -1347 -1345 -1321 -1321 -1277 -1266 -1344 -1344 -1344 -1344
PK1V 1855 2043 69 69 43 43 76 77 90 90 103 103
PK2V 1856 2044 -617 -617 -387 -387 -678 -688 -802 -802 -925 -925
PK3V 1857 2045 0 0 0 0 0 0 0 0 0 0
PK4V 1858 2046 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235
POA1 1859 2047 6152 6152 -980 -980 5601 5516 4731 4731 4103 4103
BLCMP 1860 2048 0 0 0 0 0 0 0 0 0 0
DPFMX 1861 2049 0 0 0 0 0 0 0 0 0 0
POK1 1862 2050 956 956 956 956 956 956 956 956 956 956
POK2 1863 2051 510 510 510 510 510 510 510 510 510 510
RESERV 1864 2052 0 0 0 0 0 0 0 0 0 0
PPMAX 1865 2053 31979 31979 21 21 21 21 31979 31979 31979 31979
PDDP 1866 2054 3 3 1894 1894 1894 1894 3 3 3 3
PHYST 1867 2055 319 319 319 319 319 319 319 319 319 319
EMFCMP 1868 2056 0 0 0 0 0 0 0 0 0 0
PVPA 1869 2057 -4619 -4620 -12808 -12808 -13326 -13326 -3867 -3867 -3097 -3097
PALPH 1870 2058 -2000 -2000 -1800 -1800 -2500 -2500 -3393 -3393 -2995 -2995
PPBAS 1871 2059 0 0 0 0 0 0 0 0 0 0
TQLIM 1872 2060 7282 7282 7282 7282 7282 7282 7282 7282 7282 7282
EMFLMT 1873 2061 0 0 0 0 0 0 0 0 0 0
POVC1 1877 2062 32388 32388 32688 32688 32310 32288 32515 32501 32515 32501
POVC2 1878 2063 4744 4745 998 998 5728 5995 3166 3332 3166 3332
TGALMLV 1892 2064 4 4 4 4 4 4 4 4 4 4
POVCLMT 1893 2065 14138 14140 2960 2960 17091 17893 9418 9912 9418 9912
PK2VAUX 1894 2066 0 0 0 0 0 0 0 0 0 0
FILTER 1895 2067 0 0 0 0 0 0 0 0 0 0
SERIESLPH 1961 2068 0 0 0 0 0 0 0 0 0 0
VFFLT 1962 2069 0 0 0 0 0 0 0 0 0 0
ERBLM 1963 2070 0 0 0 0 0 0 0 0 0 0
PBLCT 1964 2071 0 0 0 0 0 0 0 0 0 0
SFCCML 1965 2072 0 0 0 0 0 0 0 0 0 0
PSPTL 1966 2073 0 0 0 0 0 0 0 0 0 0
AALPH 1967 2074 8192 4096 12288 12288 16384 16384 8192 8192 0 0
OSCTPL 1970 2077 0 0 0 0 0 0 0 0 0 0
PDPCH 1971 2078 0 0 0 0 0 0 0 0 0 0
PDPCL 1972 2079 0 0 0 0 0 0 0 0 0 0
DPFEX 1973 2080 0 0 0 0 0 0 0 0 0 0
DPFZW 1974 2081 0 0 0 0 0 0 0 0 0 0
BLENDL 1975 2082 0 0 0 0 0 0 0 0 0 0
MOFCTL 1976 2083 0 0 0 0 0 0 0 0 0 0
RTCURR 1979 2086 1937 1937 1181 1181 2585 2586 1856 1856 2018 2018
TDPLD 1980 2087 0 0 0 0 0 0 0 0 0 0
MCNFB 1981 2088 0 0 0 0 0 0 0 0 0 0
BLBSL 1982 2089 0 0 0 0 0 0 0 0 0 0
ROBSTL 1983 2090 0 0 0 0 0 0 0 0 0 0
ACCSPL 1984 2091 0 0 0 0 0 0 0 0 0 0
ADFF1 1985 2092 0 0 0 0 0 0 0 0 0 0
VMPK3V 1986 2093 0 0 0 0 0 0 0 0 0 0
BLCMP2 1987 2094 0 0 0 0 0 0 0 0 0 0
AHDRTL 1988 2095 0 0 0 0 0 0 0 0 0 0
RADUSL 1989 2096 0 0 0 0 0 0 0 0 0 0
SMCNT 1990 2097 0 0 0 0 0 0 0 0 0 0
DEPVPL 1991 2098 0 0 0 0 0 0 0 0 0 0
ONEPSL 1992 2099 400 400 400 400 400 400 400 400 400 400
INPA1 1993 2100 0 0 0 0 0 0 0 0 0 0
INPA2 1994 2101 0 0 0 0 0 0 0 0 0 0
DBLIM 1995 2102 0 0 0 0 0 0 0 0 0 0
ABVOF 1996 2103 0 0 0 0 0 0 0 0 0 0
ABTSH 1997 2104 0 0 0 0 0 0 0 0 0 0
TRQCST 1998 2105 4411 4411 837 837 104 104 2569 2569 2942 2942
LP24PA 1999 2106 0 0 0 0 0 0 0 0 0 0
VLGOVR 1700 2107 0 0 0 0 0 0 0 0 0 0
RESERV 1701 2108 0 0 0 0 0 0 0 0 0 0
BELLTC 1702 2109 0 0 0 0 0 0 0 0 0 0
MGSTCM 1703 2110 519 519 528 528 3092 3092 1032 1032 1544 1544
DETQLM 1704 2111 5220 5220 10260 10260 8208 8208 4954 4954 3151 3151
AMRDML 1705 2112 0 0 0 0 0 0 0 0 0 0
NFILT 1706 2113 0 0 0 0 0 0 0 0 0 0
NINTCT 1735 2127 2852 5393 1146 2292 660 1368 2825 5651 5498 5498
MFWKCE 1736 2128 5000 3000 667 667 3000 3000 4601 4601 4004 4004
MFWKBL 1752 2129 1300 1300 3850 3850 4365 4365 1296 1296 1302 1302
LP2GP 1753 2130 0 0 0 0 0 0 0 0 0 0
LP4GP 1754 2131 0 0 0 0 0 0 0 0 0 0
LP6GP 1755 2132 0 0 0 0 0 0 0 0 0 0
PHDLY1 1756 2133 5150 5150 7690 7690 7690 7690 2570 2570 4146 4146
PHDLY2 1757 2134 8990 8990 8990 8990 12830 12830 12814 12814 12821 12821
DGCSMM 1782 2159 0 0 0 0 0 0 0 0 0 0
TRQCUP 1783 2160 0 0 0 0 0 0 0 0 0 0
OVCSTP 1784 2161 0 0 0 0 0 0 128 0 128 0
POVC21 1785 2162 32742 32742 32764 32764 32763 32763 32764 32764 32761 32764
POVC22 1786 2163 327 327 45 45 58 63 51 48 81 51
POVCLMT2 1787 2164 5973 5974 1721 1721 9912 10651 6831 6829 8124 7077
MAXCRT 1788 2165 365 185 165 85 25 10 165 85 165 85
ACCBSLM 2717 2304 0 0 0 0 0 0 0 0 0 0
ACDCEND 2718 2305 0 0 0 0 0 0 0 0 0 0
DCIDBS 2723 2310 0 0 0 0 0 0 0 0 0 0
TQLMSV 2715 2302 0 0 0 0 0 0 0 0 0 0
TQLMST 2729 2316 0 0 0 0 0 0 0 0 0 0

TITLE
Notice of the Update of Digital Servo Software for
Series 15i / 16i / 18i / 21i / PMi –D / PMi -H ( 90BP)
DRAW. No. CUST.
01 09.11.18 Tang Newly designed B-65270EN/07-020
SHEET
Ed Date Design Description 06／06
 Notice of the Update of Digital Servo Software for Series 30i/31i/32i-A(90E1 & 90E3)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
Parameter manual
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function ・ Inertia Estimation function New 2009.11

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE

Notice of the Update of Digital Servo Software

for Series 30i /31i /32i (90E1 & 90E3)

DRAW. No. CUST.

01 2009.10.30 N. Sonoda Newly designed
B-65270EN/07-021
SHEET
Ed. Date Description FANUC LTD 1/9
 Notice of the Update of Digital Servo Software for Series 30i/31i/32i -A (90E1 & 90E3)

1. Update Edition

ROM series New edition Available CNC

90E1 03.0 FS30i /31i /32i-A (For HRV2 and HRV3 control)

90E3 05.0 FS30i /31i /32i -A

(For HRV2 and HRV3 control & Learning Control)

Note: 90E1 series is upper compatible with 90E0 series. 90E1 series supports revisions
up to edition 27.0 in 90E0 series. 90E3 series is servo software for Learning Control.

2. Contents of change

Inertia Estimation function

This function estimates the inertia of the machine.

Please refer to the attached document for the details.

3. Attached

Attached document 1: Inertia Estimation function

TITLE

Notice of the Update of Digital Servo Software

for Series 30i /31i /32i (90E1 & 90E3)

DRAW. No. CUST.

01 2009.10.30 N. Sonoda Newly designed
B-65270EN/07-021
SHEET
Ed. Date Description FANUC LTD 2/9
 Attached document 1: Inertia Estimation function

(1) Outline
This function estimates the inertia of machine without backlash like the rotary
table by Direct Drive. Generally since the various works are loaded on the rotary
table, the inertia of the table changes depending on these works. Therefore it is
possible to optimize “Velocity Gain” and “Time Constant of Acc./Dec.” depending
on the various inertias by estimating the inertia.

(2) Available Servo Software

(Series 30i, 31i, 32i-A )
90E1 series version C(03) or later
90E3 series version E(05) or later

(3) Notice
This function is unavailable if the target axis is fixed by clamper or something.
The accuracy of inertia estimation will be worse in machine with the large
backlash or the large torsion.
Disturbance elimination filter is unavailable during the estimation.
Since the estimation accuracy depends on the machine condition, you should
sufficiently confirm it before you apply this function in the field.

(4) Parameters

#7 #6 #5 #4 #3 #2 #1 #0
--- INESGH INESGL INESFH INESFL INESMG INESFC
2419 (FS30i)
INESFC (#2) Inertia Estimation function is
0: Ineffective.
1: Effective.

INESMG (#3) Output unit for Diagnosis screen No.764 is

0: Standard.
1: 1/32 times of standard.
If error “-3” appears on Diagnosis screen No.764 after the estimation, it means the
overflow of the result. In such case, please set this bit and estimate again.

INESFL (#4) Input frequency for Inertia Estimation is

0: Standard.
1: Low frequency.

INESFH (#5) Input frequency for Inertia Estimation is

0: Standard.
1: High frequency.

TITLE

Notice of the Update of Digital Servo Software

for Series 30i /31i /32i (90E1 & 90E3)

DRAW. No. CUST.

01 2009.10.30 N. Sonoda Newly designed
B-65270EN/07-021
SHEET
Ed. Date Description FANUC LTD 3/9
 INESGL (#6) Input gain for Inertia Estimation is
0: Standard.
1: Half of standard.
If Excess Error at stop (SV410) occurs during the estimation, you should expand
the range for Excess Error at stop (No.1829) or make this bit effective, and estimate
again.
If error “-1” appears on Diagnosis screen No.764 after the estimation, it means the
input gain is too much. In such case also, please make this bit effective and
estimate again. If it isn’t still improved, you should change “Input frequency” to
“High” (No.2419#5=1).

INESGH (#7) Input gain for Inertia Estimation is

0: Standard.
1: Twice of standard.
If error “-2” appears on Diagnosis screen No.764 after the estimation, it means the
input gain is too small. Please make this bit effective and estimate again. If it isn’t
still improved, you should change “Input frequency” to “Low” (No.2419#4=1).

No.2419 INESGH #7 INESGL #6 INESFH #5 INESFL #4

Input frequency “Standard” － － 0 0
“Low” － － 0 1
“High” － － 1 0
－ － － 1 1
Input gain “Standard” 0 0 － －
“Half” 0 1 － －
“Twice” 1 0 － －
－ 1 1 － －

TITLE

Notice of the Update of Digital Servo Software

for Series 30i /31i /32i (90E1 & 90E3)

DRAW. No. CUST.

01 2009.10.30 N. Sonoda Newly designed
B-65270EN/07-021
SHEET
Ed. Date Description FANUC LTD 4/9
 #7 #6 #5 #4 #3 #2 #1 #0
IQOB
2200 (FS30i)
IQOB (#2) Influence of control voltage saturation is
0: Neglected.
1: Eliminated. (Please set this.)

2086 (FS30i) Rated current

“Input gain” for Inertia Estimation is calculated by this parameter
and No.2419#7, #6.

2345 (FS30i) Friction compensation

[Data unit] TCMD unit (Max. current of amplifier is 7282.)
[Data range] 0 to 7282
[Initial setting] 0
This parameter means the compensation to eliminate the effect of friction torque.
You set the absolute value of torque command (TCMD) during the movement at
10min-1 (Rotary motor) or 10mm/sec (Linear motor) to this parameter.

TITLE

Notice of the Update of Digital Servo Software

for Series 30i /31i /32i (90E1 & 90E3)

DRAW. No. CUST.

01 2009.10.30 N. Sonoda Newly designed
B-65270EN/07-021
SHEET
Ed. Date Description FANUC LTD 5/9
(5) PMC Signals
PMC signal G390 controls “Start” and “Stop” for inertia estimation. Motor oscillates
in a narrow range for 2 sec after the estimation start. PMC signal F371 informs
“Finish” after the estimation. At the same time, the estimation result is shown on
Diagnosis screen No.764. The estimation result of Diagnosis screen No.764 is kept
until next estimation. This result is available with PMC program.
In case of plural winding motor, Tandem Control and Feed axis synchronization
control, PMC signal G390 should be input to both master-axis and slave-axis at the
same time. The sum of the estimation result in each axis shows the total inertia.

----------------------------------------------------------------------------------------------------------
Inertia estimation start DI signal
G390
[Classification] Input signal
[Function] Control “Start “/ “Stop” for Inertia Estimation
[Operation] The estimation is started by this signal. If this signal becomes
OFF, the estimation is stopped.

----------------------------------------------------------------------------------------------------------
Inertia estimation finish DO signal
F371
[Classification] Output signal
[Function] Inform “Finish” for inertia estimation
[Operation] If inertia estimation finishes, this signal becomes ON.

Timing chart

Estimation start ON
G390

Oscillate in a narrow
Estimating
range for 2 sec.

Estimation finish ON
F371

Show the result

Diagnosis screen
No.764 Zero

TITLE

Notice of the Update of Digital Servo Software

for Series 30i /31i /32i (90E1 & 90E3)

DRAW. No. CUST.

01 2009.10.30 N. Sonoda Newly designed
B-65270EN/07-021
SHEET
Ed. Date Description FANUC LTD 6/9
(6) Diagnosis screen
The estimation result is shown on Diagnosis screen No.764. It is possible to
calculate the inertia from this result by using the following formula.

Rotary motor
DGN764× Kt× Imax× P
Jm =
6.4557×10 12

Inertia Jm [kgm2], Torque constant Kt [Nm/Ap], Amplifier max. current Imax [Ap],
Resolution for internal encoder P [pulse]
20 20
Pulse coder αi P=2 , αiCZ sensor 1024S P=2 ,
23
Heidenhain RCN223 and RCN727 encoder P=2

Ex.) αiS8/4000 Kt=0.512 [Nm/Ap], Imax=80 [Ap], P=220 [pulse], Result

DGN764=176, Inertia is Jm=0.00117 [kgm2].

Linear motor
DGN764× Kt× Imax
M =
8.2196×106 × A
Driven weight M [kg], Thrust constant Kt [N/Ap], Amplifier max. current Imax [Ap],
Resolution for sensor A [µm]
0.1µm Linear absolute sensor A=0.1, Linear incremental sensor X[µm]＋High
resolution detection circuit A=X/512 Note) 2048 type is the same setting as 512
type.

Ex.) LiS600A1/4 Kt=25 [N/Ap], Imax=40 [Ap], A=20 [µm]/512,

Result DGN764=1358, Driven weight is M=4.2 [kg].

The estimated inertia is required to be satisfied the following formula.

Rotary motor

Jm×6.4557×1012
2 ≤
5
≤ 220
Kt× Imax× P

Linear motor

M × 8.2196×106 × A
2 ≤
5
≤ 220
Kt× Imax

TITLE

Notice of the Update of Digital Servo Software

for Series 30i /31i /32i (90E1 & 90E3)

DRAW. No. CUST.

01 2009.10.30 N. Sonoda Newly designed
B-65270EN/07-021
SHEET
Ed. Date Description FANUC LTD 7/9
 Error display and the countermeasure
The estimation will be immediately suspended when the motor moves with large
acceleration, and error “-1” appears on Diagnosis screen No.764. In this case, you
should set “Input gain” to “Half” (No.2419#6=1) and estimate again. If it isn’t
improved, you have to set “Input frequency” to “High” (No.2419#5=1).

If it is difficult to estimate the correct inertia due to small acceleration, error “-2” will
appear on Diagnosis screen No.764. In this case, you should set “Input gain” to
“Twice” (No.2419#7=1) and estimate again. If it isn’t improved, you have to set
“Input frequency” to “Low” (No.2419#4=1).

If the calculation becomes overflow, error “-3” will appear on Diagnosis screen
No.764. In this case, you should set “Output magnification” to “1/32 time”
(No.2419#3=1) and estimate again.

TITLE

Notice of the Update of Digital Servo Software

for Series 30i /31i /32i (90E1 & 90E3)

DRAW. No. CUST.

01 2009.10.30 N. Sonoda Newly designed
B-65270EN/07-021
SHEET
Ed. Date Description FANUC LTD 8/9
 (7) How to Use
The following is an explanation for the preparation and the method to apply inertia
estimation function.

1) Making PMC ladder program

You make the PMC ladder program for the control of inertia estimation referring
to above (5). In case of “Plural winding motor”, “Tandem control” and “Feed axis
synchronization control”, DI signal G390 for inertia estimation start should be
input to both master-axis and slave-axis at the same time.

2) Measurement of friction
You measure the friction. This result is set to No.2345 with the absolute value of
torque command (TCMD) during the movement at 10min-1 (Rotary motor) or
10mm/sec (Linear motor). If you use SERVO GUIDE, and set that “Kind” is
“TCMD”, “Conv. Coef.” and “Conv. Base” are “1”, you can directly read the value
on “Graph Window” for No.2345. If the friction is small, it isn’t necessary to set
this parameter.

3) Confirmation of estimation result

You should try inertia estimation with both minimum work and maximum work
which real inertia is already known. And you confirm that the estimation result
matches with real inertia. If error number (-1,-2,-3) appears on Diagnosis screen
No.764 after the estimation, refer to above (6) “Error display and the
countermeasure”.

4) How to change “Velocity Gain” and “Time Constant of Acc./Dec.”

You suitably tune “Velocity Gain” and “Time Constant of Acc./Dec.” with the work
which real inertia is already known. Next you execute inertia estimation and
memorize the estimation result on Diagnosis screen No.764 as initial value. If
the inertia is changed, you execute again and compare the result and initial
value. Please try to change “Velocity Gain” and “Time Constant of Acc./Dec.”
according to the rate. However, “Velocity Gain” is not always the direct
proportion to the changing rate of inertia. Therefore you should investigate it
beforehand.

TITLE

Notice of the Update of Digital Servo Software

for Series 30i /31i /32i (90E1 & 90E3)

DRAW. No. CUST.

01 2009.10.30 N. Sonoda Newly designed
B-65270EN/07-021
SHEET
Ed. Date Description FANUC LTD 9/9
 Detection of EXCESS ERROR from Estimated Position to Actual Position

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function - Detection of EXCESS ERROR from Estimated Position to New 2009.12
Actual Position
Detection of EXCESS ERROR that is estimating the
machine position during movement and is observing
the error from estimated position to actual position.
Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Detection of EXCESS ERROR from Estimated
Position to Actual Position
DRAW. No. CUST.
01 10.01.13 Tang Newly designed B-65270EN/07-022
SHEET
Ed Date Design Description 01／03
 Detection of EXCESS ERROR from Estimated Position to Actual Position
(1) Overview
EXCESS ERROR is detected by observing a position deviation between the actual position and the estimated position. The
estimated position is estimated by using position commands, position gain and feed forward setting. This function has an
effect that the alarm level of EXCESS ERROR automatically becomes lower when the feed rate becomes slow. This
function can shorten the time of detecting EXCESS ERROR when a trouble happens.
(Construction) (Effect)
Standard EXCESS ERROR EXCESS ERROR(SV)
Estimating Speed(Rapid) Speed(Rapid) Alarm Level
position 0.4 x Emax
Emax Error Error
Estimated (Rapid) (Rapid)
Position - Speed(Cut)
Excess Alarm Level
1.2 x Emax
Error Error
Position Actual
(Cut)
Command Position Position
Control Alarm level is decided depending
- Alarm level changes depending
on the maximum error at rapid on the position command. Alarm
traverse.
detection becomes faster when
The decided constant level is the feed rate is low.
applied to whole feed rate.
(2) Series and editions of applicable system software and servo software
System software and servo software are needed to support the detection of EXCESS ERROR from estimated position to
actual position.
System Software
FS30i -A G004, G014, G024, G034 / 2.0 and subsequent editions
FS31i -A5 G124，G134 / 2.0 and subsequent editions
FS31i -A G104, G114 / 2.0 and subsequent editions
FS32i -A G204 / 2.0 and subsequent editions
Servo software
90E0 series / 28.0 and subsequent editions

(3) Setting parameters

#7 #6 #5 #4 #3 #2 #1 #0
2419 (FS30i) DYNTQL DYNERR
DYNERR(#0) Detection of Excessive error (SV) alarm is
0: Disable
1: Enable
If DYNERR=1 is used with a CNC that does not support the function, an
illegal parameter setting alarm (detail number 4190) is issued.
DYNTQL(#1) Detection of Excessive error alarm during the torque limit is
0: Enable
1: Disable

2458 (FS30i) EXCESS ERROR detection level

[Unit of data] Detection unit
[Valid data range] from 0 to 32767
[Typical setting] 0.2 times of position error in rapid traverse
Rapid traverse feed rate[mm / min]
Setting value = × 0.2
60 × PG[1 / S ] × Detection unit[mm]

(4) Caution and note

When alarm occurs, SV653 EXCESS ERROR (SV) is expressed.
This function does not support Dual Position Feedback Function.

TITLE
Detection of EXCESS ERROR from Estimated
Position to Actual Position
DRAW. No. CUST.
01 10.01.13 Tang Newly designed B-65270EN/07-022
SHEET
Ed Date Design Description 02／03
 (5) Detection and tuning example for excessive error alarm (SV)
In general, excessive error alarm level is set to 1.2 times of rapid traverse position error. But the excessive error which is
detetcted by servo software is nearly to 0. In order to get the same detact level, it needs to set the detection alarm level 0.2
times of estimated position error in rapid traverse.
Rapid traverse feed rate[ mm / min]
Setting value = × 0 .2
60 × PG[1 / S ] × Detection unit [ mm ]
If smaller value is needed, please observe the postion error from estimed position to actual position. Then set the detection
level from the observed value to the above setting value. Please note it becomes easier to detect this alarm even in normal
movement if the setting value is too small.

1. Set the parameter to enable excessive error detection

Set the function bit N2419#0=1 and the alarm level N2458=30000. (First set this level large enough to avoid

the alarm)
2. Observe the difference from estimated position to actual position
Using SERVO GUIDE, set values as follows.
SERVE GUIDE channel setting:
Axis: the axis to set EXCESS ERROR
Type: ERR
Unit / Conversion: detection unit
Conversion reference: 1
Origin value: 0.
Extended address: the value corresponding to the servo axis number
according to the table below.
Table Extended address setting.

90E0 series No.1023 Extended address

4n+1 13069

4n+2 13197

4n+3 19213

4n+4 19341

Through the above setting, the excess error can be observed in acceleration and deceleration. Following figure
is an example. You can see the difference from estimated position to actual position is 13µm.

Speed
Difference from estimated position
to actual position
10µm

3. Set alarm level

Since the observed value is 13µm, the value of alarm level should be set from 13µm to 0.2 times of rapid
tranverse position error.

TITLE
Detection of EXCESS ERROR from Estimated
Position to Actual Position
DRAW. No. CUST.
01 10.01.13 Tang Newly designed B-65270EN/07-022
SHEET
Ed Date Design Description 03／03
 Notice of the Update of Digital Servo Software for Series 30i/ 31i/ 32i (90E0)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function 1. Detection of EXCESS ERROR from Estimated New 2009.12
Position to Actual Position New 2009.12
2. Inertia Estimation Function Add 2009.12
3. Changes of Standard Parameter Table

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E0)
DRAW. No. CUST.
01 10.01.13 Tang Newly designed B-65270EN/07-023
SHEET
Ed Date Design Description 01／05
 Notice of the Update of Digital Servo Software for Series 30i/ 31i/ 32i (90E0)

1. Update Edition
ROM series New edition Available CNC
FS30i, 31i, 32i -A
90E0 28.0
(For HRV2 and HRV3 control)

2. Contents of change

- Detection of EXCESS ERROR from Estimated Position to Actual Postion

Detection of EXCESS ERROR from estimated position to actual postion has been
developed.
Please refer to the Technical report B-65270EN/07-022 [Detection of EXCESS ERROR
from Estimated Position to Actual Postion] for the details.

- Inertia Estimation Function

This function estimates the inertia of the machine.
Please refer to the Technical report B-65270EN/07-021 [Notice of the Update of
Digital Servo Software for Series 30i/ 31i/ 32i (90E1 & 90E3)] for the details.

- Changes of Standard Parameter Table

Standard parameter table has been changed.

3. Attached
- Attached 1 Changes of Standard Parameter Table

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E0)
DRAW. No. CUST.
01 10.01.13 Tang Newly designed B-65270EN/07-023
SHEET
Ed Date Design Description 02／05
 Attached 1. Changes of Standard Parameter Table

(1) Standard parameters of the following servo motors are optimized for the stablity at high speed.

Power Supply
Motor Model Motor ID No. Servo Amplifier
Module
200V Driver 200V Driver
αiF 22/3000 297
A06B-6140-Hxxx
A06B-6117-Hxxx
αiS 1000/2000 HV 458
(A06B-0098-Bxxx)
400V Driver 400V Driver
αiS 2000/2000 HV 459 A06B-6127-Hxxx A06B-6150-Hxxx

αiS 3000/2000 HV 460

* Please refer to Table1, 2 about the standard parameters.

(2) 3000/min model of αis series Large Servo motors have been added.

Power Supply
Motor Model Motor ID No. Servo Amplifier
Module

αiS 300/3000HV 344

400VDriver 400VDriver
αiS 500/3000HV 347 A06B-6127-Hxxx A06B-6150-Hxxx

αiS 1000/3000HV 465

* Please refer to Table1,2 about the standard parameters.

(3) Following models are added in αis series.

Motor Model Motor ID No. Refer

αiS 4/6000 466 High speed model

αiS 4/6000HV 467 for Live Tool

αiS 50/2000 468

αiS 50/2000HV 469 High cost-performance model
driven by
αiS 60/2000 470 160A and 80A(HV)amplifier
αiS 60/2000HV 471
αiS 60/3000 with Fan 328 High power model
driven by 360A and 180A(HV)
αiS 60/3000HV with Fan 329 amplifier
* Please refer to Table 2 about the standard parameters.

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E0)
DRAW. No. CUST.
01 10.01.13 Tang Newly designed B-65270EN/07-023
SHEET
Ed Date Design Description 03／05
Table1) Standard parameter table for changes and new added models (Checked parameters are changed.)

Motor model
αiF22 αiS60 αiS60 αiS300 αiS500
3000 3000Fan 3000HVFan 3000HV 3000HV
Motor specification 0247 0278 0279 0290 0297
Motor ID number 297 328 329 344 347
Symbol FS30i,31i,32i
2003 00001000 00001000 00001000 00001000 00001000
2004 00000011 00000011 01000011 00000011 00000011
2005 00000000 00000000 00000000 00000000 00000000
2006 00000000 00000000 00000000 00001000 00001000
2007 00000000 00000000 00000000 00000000 00000000
2008 00000000 00000000 00000000 00000000 00000000
2009 00000000 00000000 00000000 00000000 00000000
2010 00000000 00000000 00000000 00000000 00000000
2011 00100000 00000000 00000000 00000000 00000000
2012 00000000 00000000 00000000 00000000 00000000
2013 00000000 00000000 00000000 00000000 00000000
2014 00000000 00000000 00000000 00000000 00000000
2210 00000000 00000000 00000000 00000000 00000000
2211 00000000 00001010 00001010 00011010 00011010
2300 00000000 00000000 00000000 00000000 00000000
2301 00000000 00000000 00000000 00000000 00000000
PK1 2040 1750 1191 1131 821 1344
PK2 2041 -6000 -6320 -5966 -5450 -7296
PK3 2042 -1345 -1347 -1345 -1355 -1357
PK1V 2043 198 69 69 91 111
PK2V 2044 -1775 -617 -617 -819 -996
PK3V 2045 0 0 0 0 0
PK4V 2046 -8235 -8235 -8235 -8235 -8235
POA1 2047 2137 6152 6152 4633 3811
BLCMP 2048 0 0 0 0 0
DPFMX 2049 0 0 0 0 0
POK1 2050 956 956 956 956 956
POK2 2051 510 510 510 510 510
RESERV 2052 0 0 0 4200 4200
PPMAX 2053 21 31979 31979 21 21
PDDP 2054 1894 3 3 1894 1894
PHYST 2055 319 319 319 319 319
EMFCMP 2056 0 0 0 0 0
PVPA 2057 -5136 -4619 -4620 -5646 -3856
PALPH 2058 -2800 -2000 -2000 -1800 -2900
PPBAS 2059 0 0 0 0 0
TQLIM 2060 7282 7282 7282 7282 7282
EMFLMT 2061 0 0 0 0 0
POVC1 2062 32520 32388 32388 32380 32380
POVC2 2063 3101 4744 4745 4850 4850
TGALMLV 2064 4 4 4 4 4
POVCLMT 2065 9224 14138 14140 12155 12155
PK2VAUX 2066 0 0 0 0 0
FILTER 2067 0 0 0 0 0
FALPH 2068 0 0 0 0 0
VFFLT 2069 0 0 0 0 0
ERBLM 2070 0 0 0 0 0
PBLCT 2071 0 0 0 0 0
SFCCML 2072 0 0 0 0 0
PSPTL 2073 0 0 0 0 0
AALPH 2074 12288 8192 4096 12288 12288
OSCTPL 2077 0 0 0 0 0
PDPCH 2078 0 0 0 0 0
PDPCL 2079 0 0 0 0 0
DPFEX 2080 0 0 0 0 0
DPFZW 2081 0 0 0 0 0
BLENDL 2082 0 0 0 0 0
MOFCTL 2083 0 0 0 0 0
RTCURR 2086 2131 1937 1937 2000 2482
TDPLD 2087 0 0 0 0 0
MCNFB 2088 0 0 0 0 0
BLBSL 2089 0 0 0 0 0
ROBSTL 2090 0 0 0 0 0
ACCSPL 2091 0 0 0 0 0
ADFF1 2092 0 0 0 0 0
VMPK3V 2093 0 0 0 0 0
BLCMP2 2094 0 0 0 0 0
AHDRTL 2095 0 0 0 0 0
RADUSL 2096 0 0 0 0 0
SMCNT 2097 0 0 0 0 0
DEPVPL 2098 0 0 0 0 0
ONEPSL 2099 400 400 400 400 400
INPA1 2100 0 0 0 0 0
INPA2 2101 0 0 0 0 0
DBLIM 2102 15000 0 0 0 0
ABVOF 2103 0 0 0 0 0
ABTSH 2104 0 0 0 0 0
TRQCST 2105 929 4411 4411 13494 18125
LP24PA 2106 0 0 0 0 0
VLGOVR 2107 0 0 0 0 0
RESERV 2108 0 0 0 0 0
BELLTC 2109 0 0 0 0 0
MGSTCM 2110 1291 519 519 523 521
DETQLM 2111 0 5220 5220 2960 2953
AMRDML 2112 0 0 0 0 0
NFILT 2113 0 0 0 0 0
NINTCT 2127 3272 2852 5393 7720 8021
MFWKCE 2128 4500 5000 3000 4300 2500
MFWKBL 2129 1301 1300 1300 1556 1041
LP2GP 2130 0 0 0 0 0
LP4GP 2131 0 0 0 0 0
LP6GP 2132 0 0 0 0 0
PHDLY1 2133 0 5150 5150 3100 3093
PHDLY2 2134 0 8990 8990 6422 6418
DGCSMM 2159 0 0 0 0 0
TRQCUP 2160 0 0 0 0 0
OVCSTP 2161 0 0 0 140 140
POVC21 2162 32765 32742 32742 32700 32700
POVC22 2163 40 327 327 853 853
POVCLMT2 2164 7229 5973 5974 10644 10644
MAXCRT 2165 85 365 185 0 0
ACCBSLM 2304 0 0 0 0 0
ACDCEND 2305 0 0 0 29 32
DCIDBS 2310 1817 0 0 1700 1400
TQLMSV 2302 0 0 0 20 20
TQLMST 2316 0 0 0 5394 5394

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E0)
DRAW. No. CUST.
01 10.01.13 Tang Newly designed B-65270EN/07-023
SHEET
Ed Date Design Description 04／05
Table2) Standard parameter table for changes and new added models (Checked parameters are changed.)

Motor model
αiS1000 αiS2000 αiS3000 αiS1000 αiS4 αiS4 αiS50 αiS50 αiS60 αiS60
2000HV 2000HV 2000HV 3000HV 6000 6000HV 2000 2000HV 2000 2000HV
Motor specification 0098 0091 0092 0099 0210 0214 0042 0043 0044 0045
Motor ID number 458 459 460 465 466 467 468 469 470 471
symbol FS30i,31i,32i
2003 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000
2004 01000011 01000011 01000011 00000011 00000011 00000011 00000011 00000011 00000011 00000011
2005 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2006 00001000 00000000 00000000 00001000 00000000 00000000 00000000 00000000 00000000 00000000
2007 00000000 00100000 00100000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2010 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2011 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2012 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2013 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2014 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2210 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2211 00011010 10011110 10011010 10011010 00001010 00001010 00001010 00001010 00001010 00001010
2300 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2301 00000000 11000000 11000000 10000000 00000000 00000000 00000000 00000000 00000000 00000000
PK1 2040 1260 643 772 960 395 432 1539 1539 1358 1358
PK2 2041 -8010 -3600 -3819 -6554 -1606 -1673 -7321 -7321 -6767 -6767
PK3 2042 -1362 -1358 -1357 -1362 -1277 -1266 -1344 -1344 -1344 -1344
PK1V 2043 263 502 652 191 76 77 90 90 103 103
PK2V 2044 -2357 -4500 -5836 -1708 -678 -688 -802 -802 -925 -925
PK3V 2045 0 0 0 0 0 0 0 0 0 0
PK4V 2046 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235
POA1 2047 1610 843 650 2221 5601 5516 4731 4731 4103 4103
BLCMP 2048 0 0 0 0 0 0 0 0 0 0
DPFMX 2049 0 0 0 0 0 0 0 0 0 0
POK1 2050 956 956 956 956 956 956 956 956 956 956
POK2 2051 510 510 510 510 510 510 510 510 510 510
RESERV 2052 3500 0 0 4200 0 0 0 0 0 0
PPMAX 2053 21 21 21 21 21 21 31979 31979 31979 31979
PDDP 2054 3787 3787 3787 1894 1894 1894 3 3 3 3
PHYST 2055 319 319 319 319 319 319 319 319 319 319
EMFCMP 2056 0 0 0 0 0 0 0 0 0 0
PVPA 2057 -2320 -3363 -2088 -4620 -13326 -13326 -3867 -3867 -3097 -3097
PALPH 2058 -2500 -3200 -5000 -2500 -2500 -2500 -3393 -3393 -2995 -2995
PPBAS 2059 0 0 0 0 0 0 0 0 0 0
TQLIM 2060 7282 7282 7282 7282 7282 7282 7282 7282 7282 7282
EMFLMT 2061 0 0 0 0 0 0 0 0 0 0
POVC1 2062 32309 32309 32309 32488 32310 32288 32515 32501 32515 32501
POVC2 2063 5734 5734 5734 3503 5728 5995 3166 3332 3166 3332
TGALMLV 2064 4 4 4 4 4 4 4 4 4 4
POVCLMT 2065 27346 27346 27346 18280 17091 17893 9418 9912 9418 9912
PK2VAUX 2066 0 0 0 0 0 0 0 0 0 0
FILTER 2067 0 0 0 0 0 0 0 0 0 0
FALPH 2068 0 0 0 0 0 0 0 0 0 0
VFFLT 2069 0 0 0 0 0 0 0 0 0 0
ERBLM 2070 0 0 0 0 0 0 0 0 0 0
PBLCT 2071 0 0 0 0 0 0 0 0 0 0
SFCCML 2072 0 0 0 0 0 0 0 0 0 0
PSPTL 2073 0 0 0 0 0 0 0 0 0 0
AALPH 2074 12288 12288 12288 12288 16384 16384 8192 8192 0 0
OSCTPL 2077 0 0 0 0 0 0 0 0 0 0
PDPCH 2078 0 0 0 0 0 0 0 0 0 0
PDPCL 2079 0 0 0 0 0 0 0 0 0 0
DPFEX 2080 0 0 0 0 0 0 0 0 0 0
DPFZW 2081 0 0 0 0 0 0 0 0 0 0
BLENDL 2082 0 0 0 0 0 0 0 0 0 0
MOFCTL 2083 0 0 0 0 0 0 0 0 0 0
RTCURR 2086 2960 2893 3187 2599 2585 2586 1856 1856 2018 2018
TDPLD 2087 0 0 0 0 0 0 0 0 0 0
MCNFB 2088 0 0 0 0 0 0 0 0 0 0
BLBSL 2089 0 0 0 0 0 0 0 0 0 0
ROBSTL 2090 0 2800 0 0 0 0 0 0 0 0
ACCSPL 2091 0 0 0 0 0 0 0 0 0 0
ADFF1 2092 0 0 0 0 0 0 0 0 0 0
VMPK3V 2093 0 0 0 0 0 0 0 0 0 0
BLCMP2 2094 0 0 0 0 0 0 0 0 0 0
AHDRTL 2095 0 0 0 0 0 0 0 0 0 0
RADUSL 2096 0 0 0 0 0 0 0 0 0 0
SMCNT 2097 0 0 0 0 0 0 0 0 0 0
DEPVPL 2098 0 0 0 0 0 0 0 0 0 0
ONEPSL 2099 400 400 400 400 400 400 400 400 400 400
INPA1 2100 0 0 0 0 0 0 0 0 0 0
INPA2 2101 0 0 0 0 0 0 0 0 0 0
DBLIM 2102 0 0 0 0 0 0 0 0 0 0
ABVOF 2103 0 0 0 0 0 0 0 0 0 0
ABTSH 2104 0 0 0 0 0 0 0 0 0 0
TRQCST 2105 27963 5957 8472 3807 104 104 2569 2569 2942 2942
LP24PA 2106 0 0 0 0 0 0 0 0 0 0
VLGOVR 2107 0 0 0 0 0 0 0 0 0 0
RESERV 2108 0 0 0 0 0 0 0 0 0 0
BELLTC 2109 0 0 0 0 0 0 0 0 0 0
MGSTCM 2110 785 784 267 1040 3092 3092 1032 1032 1544 1544
DETQLM 2111 2300 2022 2218 3242 8208 8208 4954 4954 3151 3151
AMRDML 2112 0 0 0 0 0 0 0 0 0 0
NFILT 2113 0 0 0 0 0 0 0 0 0 0
NINTCT 2127 11851 3449 3029 9876 660 1368 2825 5651 5498 5498
MFWKCE 2128 4500 3000 2700 4500 3000 3000 4601 4601 4004 4004
MFWKBL 2129 1038 1291 777 1556 4365 4365 1296 1296 1302 1302
LP2GP 2130 0 0 0 0 0 0 0 0 0 0
LP4GP 2131 0 0 0 0 0 0 0 0 0 0
LP6GP 2132 0 0 0 0 0 0 0 0 0 0
PHDLY1 2133 2570 2060 2068 2580 7690 7690 2570 2570 4146 4146
PHDLY2 2134 12810 12820 6410 6418 12830 12830 12814 12814 12821 12821
DGCSMM 2159 0 0 0 0 0 0 0 0 0 0
TRQCUP 2160 0 0 0 0 0 0 0 0 0 0
OVCSTP 2161 140 140 140 140 0 0 128 0 128 0
POVC21 2162 32745 32745 32745 32721 32763 32763 32764 32764 32761 32764
POVC22 2163 292 292 292 589 58 63 51 48 81 51
POVCLMT2 2164 13952 13952 13952 13952 9912 10651 6831 6829 8124 7077
MAXCRT 2165 365 365 365 365 25 10 165 85 165 85
ACCBSLM 2304 0 2720 0 0 0 0 0 0 0 0
ACDCEND 2305 22 4112 22 29 0 0 0 0 0 0
DCIDBS 2310 1112 1236 1112 1648 0 0 0 0 0 0
TQLMSV 2302 0 0 0 0 0 0 0 0 0 0
TQLMST 2316 0 0 0 0 0 0 0 0 0 0

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E0)
DRAW. No. CUST.
01 10.01.13 Tang Newly designed B-65270EN/07-023
SHEET
Ed Date Design Description 05／05
 Operation manual for Inertia Estimation function

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
Parameter manual
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function ・ Operation manual for Inertia Estimation New 2010.2
function

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Operation manual for Inertia Estimation
function

DRAW. No. CUST.

01 2010.01.20 N. Sonoda Newly designed B-65270EN/07-024
SHEET
Ed. Date Description FANUC LTD 1/8
 Operation manual for Inertia Estimation function

(1) Outline
This function estimates the inertia of machine without backlash like the rotary
table by Direct Drive. Generally since the various works are loaded on the rotary
table, the inertia of the table changes depending on these works. Therefore it is
possible to optimize “Velocity Gain” and “Time Constant of Acc./Dec.” depending
on the various inertias by estimating the inertia.

(2) Available Servo Software

(Series 30i, 31i, 32i-A )
90E0 series version 28.0 or later
90E1 series version 03.0 or later
90E3 series version 05.0 or later
The following is version to support the improvement of detective sensitivity for
acceleration and “Tandem control”.
90E0 series version 29.0 or later
90E1 series version 04.0 or later
90E3 series version 06.0 or later
90C5, 90E5 series version 05.0 or later

(Note) This function requires the following CNC software.

FS30i-A : G002, G012, G022, G032 / edition 30.0 or later
: G003, G013, G023, G033 / edition 13.0 or later
FS31i-A5 : G121, G131 / edition 30.0 or later
: G123, G133 / edition 13.0 or later
FS31i-A : G101, G111 / edition 30.0 or later
: G103, G113 / edition 13.0 or later
FS32i-A : G201 / edition 30.0 or later
: G203 / edition 13.0 or later
FS0i -MD : D4F1 / 01.0 or later
FS0i -TD : D6F1 / 01.0 or later
FS0i Mate-MD : D5F1 / 01.0 or later
FS0i Mate-TD : D7F1 / 01.0 or later

(3) Notice
This function is unavailable if the target axis is fixed by clamper or something.
“Tandem control” requires 90E0/29.0 or later, 90E1/04.0 or later, 90E3/06.0 or
later, and 90C5, 90E5/05.0 or later.
The accuracy of inertia estimation will be worse in machine with the large
backlash or the large torsion, and in machine of low stiffness applied “Tandem
control” or “Feed axis synchronization control”.
“Disturbance elimination filter” is unavailable during the estimation.
Since the estimation accuracy depends on the machine condition, you should
sufficiently confirm it before you apply this function in the field.

TITLE
Operation manual for Inertia Estimation
function

DRAW. No. CUST.

01 2010.01.20 N. Sonoda Newly designed B-65270EN/07-024
SHEET
Ed. Date Description FANUC LTD 2/
(4) Parameters

#7 #6 #5 #4 #3 #2 #1 #0
--- INESGH INESGL INESFH INESFL INESMG INESFC
2419 (FS30i)
INESFC (#2) Inertia Estimation function is
0: Ineffective.
1: Effective.

INESMG (#3) Output unit for Diagnosis screen No.764 is

0: Standard.
1: 1/32 times of standard.
If error “-3” appears on Diagnosis screen No.764 after the estimation, it means the
overflow of the result. In such case, please set this bit and estimate again.

INESFL (#4) Input frequency for Inertia Estimation is

0: Standard.
1: Low frequency.

INESFH (#5) Input frequency for Inertia Estimation is

0: Standard.
1: High frequency.

INESGL (#6) Input gain for Inertia Estimation is

0: Standard.
1: Half of standard.
If Excess Error at stop (SV410) occurs during the estimation, you should expand
the range for Excess Error at stop (No.1829) or make this bit effective, and estimate
again.
If error “-1” appears on Diagnosis screen No.764 after the estimation, it means the
input gain is too much. In such case also, please make this bit effective and
estimate again. If it isn’t still improved, you should change “Input frequency” to
“Low” (No.2419#4=1).

INESGH (#7) Input gain for Inertia Estimation is

0: Standard.
1: Twice of standard.
If error “-2” appears on Diagnosis screen No.764 after the estimation, it means the
input gain is too small. Please make this bit effective and estimate again. If it isn’t
still improved, you should change “Input frequency” to “High” (No.2419#5=1), or
you should change “Detectable minimum acceleration “ to “1/32” (No.2418#2=1).

TITLE
Operation manual for Inertia Estimation
function

DRAW. No. CUST.

01 2010.01.20 N. Sonoda Newly designed B-65270EN/07-024
SHEET
Ed. Date Description FANUC LTD 3/
 #7 #6 #5 #4 #3 #2 #1 #0
--- INESHS
2418 (FS30i)
INESHS (#2) Detectable minimum acceleration for Inertia Estimation is set to
0: normal.
1: 1/32 .
If error “-2” appears on Diagnosis screen No.764 after the estimation, please
change this bit to 1/32 and estimate again. But this parameter is available with
90E0/29.0 or later, 90E1/04.0 or later, 90E3/06.0 or later, and 90C5, 90E5/05.0 or
later.
Setting for measure to detective error
Parameter No.2419 No2418
Bit INESGH #7 INESGL #6 INESFH #5 INESFL #4 INESHS #2
Input frequency “Standard” － － 0 0 －
“Low” in case of Error-1 － － 0 1 －
“High” in case of Error-2 － － 1 0 －

Input gain “Standard” 0 0 － － －

“Half” in case of Error-1 0 1 － － －
“Twice” in case of Error-2 1 0 － － －
Detectable min. accel. － － － － 1
“1/32” in case of Error-2

#7 #6 #5 #4 #3 #2 #1 #0
IQOB
2200 (FS30i)
IQOB (#2) Influence of control voltage saturation is
0: Neglected.
1: Eliminated. (Please set this.)

Rated current
2086 (FS30i)
[Data unit] Max. current of amplifier is 6554
[Data range] 0 to 6554
“Input gain” for Inertia Estimation is calculated by this parameter
and No.2419#7, #6. This value depends on motor specification. If No.2086=0, error
“-2” will appear.

Friction compensation
2345 (FS30i)
[Data unit] TCMD unit (Max. current of amplifier is 7282.)
[Data range] 0 to 7282
This parameter means the compensation to eliminate the effect of friction torque.
You set the absolute value of torque command (TCMD) during the movement at
10min-1 (Rotary motor) or 10mm/sec (Linear motor) to this parameter.

TITLE
Operation manual for Inertia Estimation
function

DRAW. No. CUST.

01 2010.01.20 N. Sonoda Newly designed B-65270EN/07-024
SHEET
Ed. Date Description FANUC LTD 4/
 Note
In “Plural windings motor”, “Tandem control” and “Feed axis synchronization
control”, above all parameters for sub-axis should be set to the same value as
main-axis.

(5) PMC Signals

PMC signal G390 controls “Start” and “Stop” for inertia estimation. Motor oscillates
in a narrow range for 2 sec after the estimation start. PMC signal F371 informs
“Finish” after the estimation. At the same time, the estimation result is shown on
Diagnosis screen No.764. The estimation result of Diagnosis screen No.764 is kept
until next estimation. This result is available with PMC program. In case of “Plural
windings motor” or “Tandem control”, DI signal G390 for inertia estimation start
should input to main-axis only. The estimation result is shown on Diagnosis screen
No.764 of main-axis. On the other hand, in case of “Feed axis synchronization
control”, PMC signal G390 should input to both main-axis and sub-axis at the same
time. The sum of the estimation result in each axis shows the total inertia.

----------------------------------------------------------------------------------------------------------
Inertia estimation start DI signal
G390
[Classification] Input signal
[Function] Control “Start “/ “Stop” for Inertia Estimation
[Operation] The estimation is started by this signal. If this signal becomes
OFF, the estimation is stopped.
----------------------------------------------------------------------------------------------------------
Inertia estimation finish DO signal
F371
[Classification] Output signal
[Function] Inform “Finish” for inertia estimation
[Operation] If inertia estimation finishes, this signal becomes ON.

Estimation start ON
G390

Oscillate in a narrow
Estimating
range for 2 sec.

Estimation finish ON
F371

Show the result

Diagnosis screen
No.764 Zero

TITLE
Operation manual for Inertia Estimation
function

DRAW. No. CUST.

01 2010.01.20 N. Sonoda Newly designed B-65270EN/07-024
SHEET
Ed. Date Description FANUC LTD 5/
(6) Diagnosis screen
The estimation result is shown on Diagnosis screen No.764. It is possible to
calculate the inertia from this result by using the following formula.

Rotary motor

DGN 764 × (Kt/ 2 ) × Im ax × P

Jm =
6.4557 × 1012

2
Inertia Jm [kgm ], Torque constant Kt [Nm/Arms], Amplifier max. current Imax [Ap],
Note) Concerning the motor constant such as Inertia Jm or Torque constant Kt,
please refer to the manual for motor.

Resolution for internal encoder P [pulse]

αiCZ 512A P=2
19

αiCZ 768A P=786432

αi pulse coder, αiCZ 1024A, P=220
RCN220 (Refer to the following example)
RCN223, RCN723, RCN727 P=223
Binary encoder or Non-binary encoder P=(Number of sine waves per
+High resolution serial output circuit detector revolution λ)×256
Note) Variable P is set to resolution for internal encoder not only in semi-closed
system but also in full-closed system.

Ex.) αiS8/4000 Kt=0.72 [Nm/Arms], Imax=80 [Ap], P=2

20
[pulse], Result
2
DGN764=176, Inertia is Jm=0.00116 [kgm ].

Linear motor

DGN 764 × ( Kf / 2 ) × Im ax
M=
8.2196 × 10 6 × A

Driven weight M [kg], Force constant Kf [N/Arms], Amplifier max. current Imax [Ap],
Resolution for sensor A [μm]
Linear incremental sensor A=Signal pitch [μm]/512
+High resolution serial output circuit (Refer to the following example)
Linear absolute sensor A=Resolution [μm]

Ex.) LiS600A1/4 Kf=41.1 [N/Arms], Imax=40 [Ap], A=20 [μm]/512,

Result DGN764=1358, Driven weight is M=4.9 [kg].

TITLE
Operation manual for Inertia Estimation
function

DRAW. No. CUST.

01 2010.01.20 N. Sonoda Newly designed B-65270EN/07-024
SHEET
Ed. Date Description FANUC LTD 6/
 The estimated inertia is required to be satisfied the following formula.

Rotary motor

Jm × 6.4557 × 1012
25 ≤ ≤ 2 20
( Kt / 2 ) × Im ax × P

In case of Stall current = Is [Arms]

0.81× Kt × Is × P 0.81× Kt × Is × P×22
≤ Jm ≤
π × 106 × 214 π 2 × 108
90E0/29.0 or later, 90E1/04.0 or later, 90E3/06.0 or later, and 90C5,
90E5/05.0 or later are as follows.
Kt × Is × P Kt × Is × P × 2 7
≤ Jm ≤
π × 10 × 2
2 6 13
π2 × 10 7

Linear motor

M × 8.2196 × 10 6 × A
25 ≤ ≤ 2 20
( Kf / 2 ) × Im ax

In case of Continuous force = Ic [Arms]

0.81 × Kf × Ic 0.81 × Kf × Ic
≤M ≤
A× 2 14
25π × A
90E0/29.0 or later, 90E1/04.0 or later, 90E3/06.0 or later, and 90C5,
90E5/05.0 or later are as follows.
Kf × Ic Kf × Ic × 27
≤M ≤
π× A × 213
π× A × 10
Note) Concerning Stall current Is or Continuous force Ic, please refer to
the manual for motor.

Error display and the countermeasure

If some errors appear on Diagnosis screen No.764, you should confirm the above
numerical formula for inertia. If this formula is satisfied, refer to the following
countermeasures.

The estimation will be immediately suspended when the motor moves with large
acceleration, and error “-1” appears on Diagnosis screen No.764. In this case, you
should set “Input gain” to “Half” (No.2419#6=1) and estimate again. If it isn’t
improved, you should set “Input frequency” to “Low” (No.2419#4=1).

If it is difficult to estimate the correct inertia due to small acceleration, error “-2” will
appear on Diagnosis screen No.764. In this case, you should set “Input gain” to

TITLE
Operation manual for Inertia Estimation
function

DRAW. No. CUST.

01 2010.01.20 N. Sonoda Newly designed B-65270EN/07-024
SHEET
Ed. Date Description FANUC LTD 7/
 “Twice” (No.2419#7=1) and estimate again. If it isn't improved, you should set
"Input frequency" to "High" (No.2419#5=1), or you should change “Detectable
minimum acceleration “ to “1/32” (No.2418#2=1).

If the calculation becomes overflow, error “-3” will appear on Diagnosis screen
No.764. In this case, you should set “Output magnification” to “1/32 time”
(No.2419#3=1) and estimate again.

(7) How to Use

The following is an explanation for the preparation and the method to apply inertia
estimation function.

1) Making PMC ladder program

You make the PMC ladder program for the control of inertia estimation referring
to above (5). In case of “Plural windings motor” or “Tandem control”, DI signal
G390 for inertia estimation start should input to main-axis only. On the other
hand, in case of “Feed axis synchronization control”, DI signal G390 should input
to both main-axis and sub-axis at the same time.

2) Measurement of friction
You measure the friction. This result is set to No.2345 with the absolute value of
torque command (TCMD) during the movement at 10min-1 (Rotary motor) or
10mm/sec (Linear motor). If you use SERVO GUIDE, and set that “Kind” is
“TCMD”, “Conv. Coef.” and “Conv. Base” are “1”, you can directly read the value
on “Graph Window” for No.2345. If the friction is small, it isn’t necessary to set
this parameter.

3) Confirmation of estimation result

You should try inertia estimation with both minimum work and maximum work
which real inertia is already known. And you confirm that the estimation result
matches with real inertia. If error number (-1,-2,-3) appears on Diagnosis screen
No.764 after the estimation, refer to above (6) “Error display and the
countermeasure”.

4) How to change “Velocity Gain” and “Time Constant of Acc./Dec.”

You suitably tune “Velocity Gain” and “Time Constant of Acc./Dec.” with the work
which real inertia is already known. Next you execute inertia estimation and
memorize the estimation result on Diagnosis screen No.764 as initial value. If
the inertia is changed, you execute again and compare the result and initial
value. Please try to change “Velocity Gain” and “Time Constant of Acc./Dec.”
according to the rate. However, “Velocity Gain” is not always the direct
proportion to the changing rate of inertia. Therefore you should investigate it
beforehand.

TITLE
Operation manual for Inertia Estimation
function

DRAW. No. CUST.

01 2010.01.20 N. Sonoda Newly designed B-65270EN/07-024
SHEET
Ed. Date Description FANUC LTD 8/8
 Notice of the Update of Digital Servo Software for Series 30i/ 31i/ 32i (90E1)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function 1. Supporting Electric Power Consumption Monitor for New 2010.03
βiSV amplifier
2. Improving Inertia Estimation Function Add 2010.03
3. Changes of Standard Parameter Table Add 2010.03

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E1)
DRAW. No. CUST.
01 10.03.08 Tang Newly designed B-65270EN/07-025
SHEET
Ed Date Design Description 01／06
 Notice of the Update of Digital Servo Software for Series 30i/ 31i/ 32i (90E1)

1. Update Edition
ROM series New edition Available CNC
FS30i, 31i, 32i -A
90E1 04.0
(For HRV2 and HRV3 control)

2. Contents of change

- Supporting Electric Power Consumption Monitor for βiSV amplifier

Electric Power Consumption Monitor for βiSV amplifier has been supported.

- Improveing Inertia Estimation Function

Inertia Estimation function has been improved so that even large inertia is correctly
detected by increasing the detective sensitivity. Besides “Tandem Control” has been also
available.

For the detailed information, please refer to Technical Report TMS10/007

(B-65270EN/07-024) [Operation manual for Inertia Estimation function].

- Changes of Standard Parameter Table

Standard parameter table has been changed.

3. Attached
- Attached 1 Supporting Electric Power Consumption Monitor for βiSV amplifier
- Attached 2 Changes of Standard Parameter Table

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E1)
DRAW. No. CUST.
01 10.03.08 Tang Newly designed B-65270EN/07-025
SHEET
Ed Date Design Description 02／06
 Supporting Electric Power Consumption Monitor for βiSV amplifier
(1) Overview
Electric Power Consumption Monitor for βiSV amplifier has been supported.

(2) Series and editions of servo software

90E1 series /04.0 and subsequent editions

(3) Setting parameters

Please set following paramete when using Electric Power Consumption Monitor for βiSV amplifier
(New) #7 #6 #5 #4 #3 #2 #1 #0
2281 RDPRR
RDPRR (#2) Type of regeneration
0: electric power regeneration
1: resistance regeneration

*)There is no regeneration power from amplifier to power supply for the regeneration resistance type
amplifier.

Therefore the instantaneous power of Electric Power Consumption Monitor must be big than 0.

Refer the following table for loss coefficinet of βiSVamplifiers.

Parameter No.
No.2469 No.2490 No.2463 No.2491

Amplifier B C D
Spec A
HRV2 HRV3
621
βiSV4 6130-H001 960 320 416 0
(1024)*
621
βiSV20 6130-H002 960 320 416 0
(1024)*
βiSV40 6130-H003 960 294 378 0 646

βiSV80 6130-H004 960 275 371 0 646

512 320 416
βiSV20/20 6136-H201
416
0 710
512 320
512 288 365
βiSV40/40 6136-H203
365
0 710
512 288

βiSV10HV 6131-H001 960 525 947 0 320

βiSV20HV 6131-H002 960 563 928 0 320

βiSV40HV 6131-H003 960 563 979 0 320

*) For single phase use

For other parameters setting details, please refer technical report TMN09/074 (A-92737E Edition 02 )
[FS30i /31i /32i-A, 31i-A5 Power consumption monitoring (Edition 02)]

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E1)
DRAW. No. CUST.
01 10.03.08 Tang Newly designed B-65270EN/07-025
SHEET
Ed Date Design Description 03／06
 Attached 2. Changes of Standard Parameter Table

(1) Standard parameters of the following servo motors are optimized for the stablity at high speed.

Power Supply
Motor Model Motor ID No. Servo Amplifier
Module
200V Driver 200V Driver
αiF 22/3000 297
A06B-6140-Hxxx
A06B-6117-Hxxx
αiS 1000/2000 HV 458
(A06B-0098-Bxxx)
400V Driver 400V Driver
αiS 2000/2000 HV 459 A06B-6127-Hxxx A06B-6150-Hxxx

αiS 3000/2000 HV 460

* Please refer to Table1, 2 about the standard parameters.

(2) 3000/min model of αis series Large Servo motors have been added.

Power Supply
Motor Model Motor ID No. Servo Amplifier
Module

αiS 300/3000HV 344

400VDriver 400VDriver
αiS 500/3000HV 347 A06B-6127-Hxxx A06B-6150-Hxxx

αiS 1000/3000HV 465

* Please refer to Table1,2 about the standard parameters.

(3) Following models are added in αis series.

Motor Model Motor ID No. Refer

αiS 4/6000 466 High speed model

αiS 4/6000HV 467 for Live Tool

αiS 50/2000 468

αiS 50/2000HV 469 High cost-performance model
driven by
αiS 60/2000 470 160A and 80A(HV)amplifier
αiS 60/2000HV 471
αiS 60/3000 with Fan 328 High power model
driven by 360A and 180A(HV)
αiS 60/3000HV with Fan 329 amplifier
* Please refer to Table 2 about the standard parameters.

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E1)
DRAW. No. CUST.
01 10.03.08 Tang Newly designed B-65270EN/07-025
SHEET
Ed Date Design Description 04／06
Table1) Standard parameter table for changes and new added models (Checked parameters are changed.)

Motor model
αiF22 αiS60 αiS60 αiS300 αiS500
3000 3000Fan 3000HVFan 3000HV 3000HV
Motor specification 0247 0278 0279 0290 0297
Motor ID number 297 328 329 344 347
Symbol FS30i,31i,32i
2003 00001000 00001000 00001000 00001000 00001000
2004 00000011 00000011 01000011 00000011 00000011
2005 00000000 00000000 00000000 00000000 00000000
2006 00000000 00000000 00000000 00001000 00001000
2007 00000000 00000000 00000000 00000000 00000000
2008 00000000 00000000 00000000 00000000 00000000
2009 00000000 00000000 00000000 00000000 00000000
2010 00000000 00000000 00000000 00000000 00000000
2011 00100000 00000000 00000000 00000000 00000000
2012 00000000 00000000 00000000 00000000 00000000
2013 00000000 00000000 00000000 00000000 00000000
2014 00000000 00000000 00000000 00000000 00000000
2210 00000000 00000000 00000000 00000000 00000000
2211 00000000 00001010 00001010 00011010 00011010
2300 00000000 00000000 00000000 00000000 00000000
2301 00000000 00000000 00000000 00000000 00000000
PK1 2040 1750 1191 1131 821 1344
PK2 2041 -6000 -6320 -5966 -5450 -7296
PK3 2042 -1345 -1347 -1345 -1355 -1357
PK1V 2043 198 69 69 91 111
PK2V 2044 -1775 -617 -617 -819 -996
PK3V 2045 0 0 0 0 0
PK4V 2046 -8235 -8235 -8235 -8235 -8235
POA1 2047 2137 6152 6152 4633 3811
BLCMP 2048 0 0 0 0 0
DPFMX 2049 0 0 0 0 0
POK1 2050 956 956 956 956 956
POK2 2051 510 510 510 510 510
RESERV 2052 0 0 0 4200 4200
PPMAX 2053 21 31979 31979 21 21
PDDP 2054 1894 3 3 1894 1894
PHYST 2055 319 319 319 319 319
EMFCMP 2056 0 0 0 0 0
PVPA 2057 -5136 -4619 -4620 -5646 -3856
PALPH 2058 -2800 -2000 -2000 -1800 -2900
PPBAS 2059 0 0 0 0 0
TQLIM 2060 7282 7282 7282 7282 7282
EMFLMT 2061 0 0 0 0 0
POVC1 2062 32520 32388 32388 32380 32380
POVC2 2063 3101 4744 4745 4850 4850
TGALMLV 2064 4 4 4 4 4
POVCLMT 2065 9224 14138 14140 12155 12155
PK2VAUX 2066 0 0 0 0 0
FILTER 2067 0 0 0 0 0
FALPH 2068 0 0 0 0 0
VFFLT 2069 0 0 0 0 0
ERBLM 2070 0 0 0 0 0
PBLCT 2071 0 0 0 0 0
SFCCML 2072 0 0 0 0 0
PSPTL 2073 0 0 0 0 0
AALPH 2074 12288 8192 4096 12288 12288
OSCTPL 2077 0 0 0 0 0
PDPCH 2078 0 0 0 0 0
PDPCL 2079 0 0 0 0 0
DPFEX 2080 0 0 0 0 0
DPFZW 2081 0 0 0 0 0
BLENDL 2082 0 0 0 0 0
MOFCTL 2083 0 0 0 0 0
RTCURR 2086 2131 1937 1937 2000 2482
TDPLD 2087 0 0 0 0 0
MCNFB 2088 0 0 0 0 0
BLBSL 2089 0 0 0 0 0
ROBSTL 2090 0 0 0 0 0
ACCSPL 2091 0 0 0 0 0
ADFF1 2092 0 0 0 0 0
VMPK3V 2093 0 0 0 0 0
BLCMP2 2094 0 0 0 0 0
AHDRTL 2095 0 0 0 0 0
RADUSL 2096 0 0 0 0 0
SMCNT 2097 0 0 0 0 0
DEPVPL 2098 0 0 0 0 0
ONEPSL 2099 400 400 400 400 400
INPA1 2100 0 0 0 0 0
INPA2 2101 0 0 0 0 0
DBLIM 2102 15000 0 0 0 0
ABVOF 2103 0 0 0 0 0
ABTSH 2104 0 0 0 0 0
TRQCST 2105 929 4411 4411 13494 18125
LP24PA 2106 0 0 0 0 0
VLGOVR 2107 0 0 0 0 0
RESERV 2108 0 0 0 0 0
BELLTC 2109 0 0 0 0 0
MGSTCM 2110 1291 519 519 523 521
DETQLM 2111 0 5220 5220 2960 2953
AMRDML 2112 0 0 0 0 0
NFILT 2113 0 0 0 0 0
NINTCT 2127 3272 2852 5393 7720 8021
MFWKCE 2128 4500 5000 3000 4300 2500
MFWKBL 2129 1301 1300 1300 1556 1041
LP2GP 2130 0 0 0 0 0
LP4GP 2131 0 0 0 0 0
LP6GP 2132 0 0 0 0 0
PHDLY1 2133 0 5150 5150 3100 3093
PHDLY2 2134 0 8990 8990 6422 6418
DGCSMM 2159 0 0 0 0 0
TRQCUP 2160 0 0 0 0 0
OVCSTP 2161 0 0 0 140 140
POVC21 2162 32765 32742 32742 32700 32700
POVC22 2163 40 327 327 853 853
POVCLMT2 2164 7229 5973 5974 10644 10644
MAXCRT 2165 85 365 185 0 0
ACCBSLM 2304 0 0 0 0 0
ACDCEND 2305 0 0 0 29 32
DCIDBS 2310 1817 0 0 1700 1400
TQLMSV 2302 0 0 0 20 20
TQLMST 2316 0 0 0 5394 5394

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E1)
DRAW. No. CUST.
01 10.03.08 Tang Newly designed B-65270EN/07-025
SHEET
Ed Date Design Description 05／06
Table2) Standard parameter table for changes and new added models (Checked parameters are changed.)

Motor model
αiS1000 αiS2000 αiS3000 αiS1000 αiS4 αiS4 αiS50 αiS50 αiS60 αiS60
2000HV 2000HV 2000HV 3000HV 6000 6000HV 2000 2000HV 2000 2000HV
Motor specification 0098 0091 0092 0099 0210 0214 0042 0043 0044 0045
Motor ID number 458 459 460 465 466 467 468 469 470 471
symbol FS30i,31i,32i
2003 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000 00001000
2004 01000011 01000011 01000011 00000011 00000011 00000011 00000011 00000011 00000011 00000011
2005 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2006 00001000 00000000 00000000 00001000 00000000 00000000 00000000 00000000 00000000 00000000
2007 00000000 00100000 00100000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2008 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2009 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2010 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2011 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2012 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2013 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2014 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2210 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2211 00011010 10011110 10011010 10011010 00001010 00001010 00001010 00001010 00001010 00001010
2300 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000 00000000
2301 00000000 11000000 11000000 10000000 00000000 00000000 00000000 00000000 00000000 00000000
PK1 2040 1260 643 772 960 395 432 1539 1539 1358 1358
PK2 2041 -8010 -3600 -3819 -6554 -1606 -1673 -7321 -7321 -6767 -6767
PK3 2042 -1362 -1358 -1357 -1362 -1277 -1266 -1344 -1344 -1344 -1344
PK1V 2043 263 502 652 191 76 77 90 90 103 103
PK2V 2044 -2357 -4500 -5836 -1708 -678 -688 -802 -802 -925 -925
PK3V 2045 0 0 0 0 0 0 0 0 0 0
PK4V 2046 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235 -8235
POA1 2047 1610 843 650 2221 5601 5516 4731 4731 4103 4103
BLCMP 2048 0 0 0 0 0 0 0 0 0 0
DPFMX 2049 0 0 0 0 0 0 0 0 0 0
POK1 2050 956 956 956 956 956 956 956 956 956 956
POK2 2051 510 510 510 510 510 510 510 510 510 510
RESERV 2052 3500 0 0 4200 0 0 0 0 0 0
PPMAX 2053 21 21 21 21 21 21 31979 31979 31979 31979
PDDP 2054 3787 3787 3787 1894 1894 1894 3 3 3 3
PHYST 2055 319 319 319 319 319 319 319 319 319 319
EMFCMP 2056 0 0 0 0 0 0 0 0 0 0
PVPA 2057 -2320 -3363 -2088 -4620 -13326 -13326 -3867 -3867 -3097 -3097
PALPH 2058 -2500 -3200 -5000 -2500 -2500 -2500 -3393 -3393 -2995 -2995
PPBAS 2059 0 0 0 0 0 0 0 0 0 0
TQLIM 2060 7282 7282 7282 7282 7282 7282 7282 7282 7282 7282
EMFLMT 2061 0 0 0 0 0 0 0 0 0 0
POVC1 2062 32309 32309 32309 32488 32310 32288 32515 32501 32515 32501
POVC2 2063 5734 5734 5734 3503 5728 5995 3166 3332 3166 3332
TGALMLV 2064 4 4 4 4 4 4 4 4 4 4
POVCLMT 2065 27346 27346 27346 18280 17091 17893 9418 9912 9418 9912
PK2VAUX 2066 0 0 0 0 0 0 0 0 0 0
FILTER 2067 0 0 0 0 0 0 0 0 0 0
FALPH 2068 0 0 0 0 0 0 0 0 0 0
VFFLT 2069 0 0 0 0 0 0 0 0 0 0
ERBLM 2070 0 0 0 0 0 0 0 0 0 0
PBLCT 2071 0 0 0 0 0 0 0 0 0 0
SFCCML 2072 0 0 0 0 0 0 0 0 0 0
PSPTL 2073 0 0 0 0 0 0 0 0 0 0
AALPH 2074 12288 12288 12288 12288 16384 16384 8192 8192 0 0
OSCTPL 2077 0 0 0 0 0 0 0 0 0 0
PDPCH 2078 0 0 0 0 0 0 0 0 0 0
PDPCL 2079 0 0 0 0 0 0 0 0 0 0
DPFEX 2080 0 0 0 0 0 0 0 0 0 0
DPFZW 2081 0 0 0 0 0 0 0 0 0 0
BLENDL 2082 0 0 0 0 0 0 0 0 0 0
MOFCTL 2083 0 0 0 0 0 0 0 0 0 0
RTCURR 2086 2960 2893 3187 2599 2585 2586 1856 1856 2018 2018
TDPLD 2087 0 0 0 0 0 0 0 0 0 0
MCNFB 2088 0 0 0 0 0 0 0 0 0 0
BLBSL 2089 0 0 0 0 0 0 0 0 0 0
ROBSTL 2090 0 2800 0 0 0 0 0 0 0 0
ACCSPL 2091 0 0 0 0 0 0 0 0 0 0
ADFF1 2092 0 0 0 0 0 0 0 0 0 0
VMPK3V 2093 0 0 0 0 0 0 0 0 0 0
BLCMP2 2094 0 0 0 0 0 0 0 0 0 0
AHDRTL 2095 0 0 0 0 0 0 0 0 0 0
RADUSL 2096 0 0 0 0 0 0 0 0 0 0
SMCNT 2097 0 0 0 0 0 0 0 0 0 0
DEPVPL 2098 0 0 0 0 0 0 0 0 0 0
ONEPSL 2099 400 400 400 400 400 400 400 400 400 400
INPA1 2100 0 0 0 0 0 0 0 0 0 0
INPA2 2101 0 0 0 0 0 0 0 0 0 0
DBLIM 2102 0 0 0 0 0 0 0 0 0 0
ABVOF 2103 0 0 0 0 0 0 0 0 0 0
ABTSH 2104 0 0 0 0 0 0 0 0 0 0
TRQCST 2105 27963 5957 8472 3807 104 104 2569 2569 2942 2942
LP24PA 2106 0 0 0 0 0 0 0 0 0 0
VLGOVR 2107 0 0 0 0 0 0 0 0 0 0
RESERV 2108 0 0 0 0 0 0 0 0 0 0
BELLTC 2109 0 0 0 0 0 0 0 0 0 0
MGSTCM 2110 785 784 267 1040 3092 3092 1032 1032 1544 1544
DETQLM 2111 2300 2022 2218 3242 8208 8208 4954 4954 3151 3151
AMRDML 2112 0 0 0 0 0 0 0 0 0 0
NFILT 2113 0 0 0 0 0 0 0 0 0 0
NINTCT 2127 11851 3449 3029 9876 660 1368 2825 5651 5498 5498
MFWKCE 2128 4500 3000 2700 4500 3000 3000 4601 4601 4004 4004
MFWKBL 2129 1038 1291 777 1556 4365 4365 1296 1296 1302 1302
LP2GP 2130 0 0 0 0 0 0 0 0 0 0
LP4GP 2131 0 0 0 0 0 0 0 0 0 0
LP6GP 2132 0 0 0 0 0 0 0 0 0 0
PHDLY1 2133 2570 2060 2068 2580 7690 7690 2570 2570 4146 4146
PHDLY2 2134 12810 12820 6410 6418 12830 12830 12814 12814 12821 12821
DGCSMM 2159 0 0 0 0 0 0 0 0 0 0
TRQCUP 2160 0 0 0 0 0 0 0 0 0 0
OVCSTP 2161 140 140 140 140 0 0 128 0 128 0
POVC21 2162 32745 32745 32745 32721 32763 32763 32764 32764 32761 32764
POVC22 2163 292 292 292 589 58 63 51 48 81 51
POVCLMT2 2164 13952 13952 13952 13952 9912 10651 6831 6829 8124 7077
MAXCRT 2165 365 365 365 365 25 10 165 85 165 85
ACCBSLM 2304 0 2720 0 0 0 0 0 0 0 0
ACDCEND 2305 22 4112 22 29 0 0 0 0 0 0
DCIDBS 2310 1112 1236 1112 1648 0 0 0 0 0 0
TQLMSV 2302 0 0 0 0 0 0 0 0 0 0
TQLMST 2316 0 0 0 0 0 0 0 0 0 0

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E1)
DRAW. No. CUST.
01 10.03.08 Tang Newly designed B-65270EN/07-026
SHEET
Ed Date Design Description 06／06
 Notice of the correction of wrong description for Velocity Integrator copy function in
SERVO MOTOR Parameter manual

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
Parameter manual
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function

Optional
Function
Unit

Maintenance
Parts
Notice

Correction ・ Correction of wrong description for Velocity Correct 2010.05

Integrator copy function

Another

TITLE
Notice of Correct of wrong descriptionfor
Velocity Integrator copy function in SERVO
MOTOR Parameter manual
DRAW. No. CUST.
01 2010.05.20 K.Maeda Newly designed B-65270EN/07-027
SHEET
Ed. Date Description FANUC LTD 1/2
 Corrected point

TITLE
Notice of Correct of wrong descriptionfor
Velocity Integrator copy function in SERVO
MOTOR Parameter manual
DRAW. No. CUST.
01 2010.05.20 K.Maeda Newly designed B-65270EN/07-027
SHEET
Ed. Date Description FANUC LTD 2/2
 Notice of the Update of Digital Servo Software for Series 30i/ 31i/ 32i (90E0)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function 1. Changes of Standard Parameter Table Add 2010.06

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E0)
DRAW. No. CUST.
01 10.06.30 Tang Newly designed B-65270EN/07-028
SHEET
Ed Date Design Description 01／05
 Notice of the Update of Digital Servo Software for Series 30i/ 31i/ 32i (90E0)

1. Update Edition
ROM series New edition Available CNC
FS30i, 31i, 32i -A
90E0 29.0
(For HRV2 and HRV3 control)

2. Contents of change

- Changes of Standard Parameter Table

Standard parameter table has been changed.

3. Attached
- Attached 1 Changes of Standard Parameter Table

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E0)
DRAW. No. CUST.
01 10.06.30 Tang Newly designed B-65270EN/07-028
SHEET
Ed Date Design Description 02／05
 Attached 1. Changes of Standard Parameter Table

(1) N2052 has been added for servo alarm SV649 that is detected when the motor rotates over its
maximum speed by wrong velocity command or other reasons.
Motor model
βiS2 αiF1 βiS2 βiS2/4000 αiF2 βiS4 βiS4/4000 βiS8 βiS8/3000 βiS0.2 βiS0.3
4000HV 5000 4000 SVSP40A 5000 4000 SVSP40A 3000 SVSP40A 5000 5000
Motor specification 0062 0202 0061 0061 0205 0063 0063 0075 0075 0111 0112
Motor ID number 251 252 253 254 255 256 257 258 259 260 261
Symbol FS30i,31i,32i
OSPLV 2052 5600 7000 5600 5600 7000 5600 5600 4200 4200 7000 7000

Motor model
αiS2 αiS2 βi S4 αiS4 αiS4 βi S8 βi S12/2000 βiS12 βiS12 αC4 βiS12
5000 5000HV 4000HV 5000 5000HV 3000HV SVSP 40A 2000 3000HV 3000i 3000
Motor specification 0212 0213 0064 0215 0216 0076 0077 0077 0079 0221 0078
Motor ID number 262 263 264 265 266 267 268 269 270 271 272
Symbol FS30i,31i,32i
OSPLV 2052 7000 7000 5600 7000 7000 4200 2800 2800 4200 4200 4200

Motor model
αiF4 βiS22 αiF4 αC8 αiF8 βi S22 αiF8 βiS0.4 βiS0.5 βiS1 αiS2
4000 2000 4000HV 2000i 3000 2000HV 3000HV 5000 6000 6000 6000
Motor specification 0223 0085 0225 0226 0227 0086 0229 0114 0115 0116 0218
Motor ID number 273 274 275 276 277 278 279 280 281 282 284
Symbol FS30i,31i,32i
OSPLV 2052 5600 2800 5400 2800 4200 2700 3900 7000 7500 7500 7500

Motor model
αiS8 αiS8 αiS2 αiS12 αiS12 αiS8 αC12 αiS8 αiF12 αiF12 αC22
4000 4000HV 6000HV 4000 4000HV 6000 2000i 6000HV 3000 3000HV 2000i
Motor specification 0235 0236 0219 0238 0239 0232 0241 0233 0243 0245 0246
Motor ID number 285 286 287 288 289 290 291 292 293 295 296
Symbol FS30i,31i,32i
OSPLV 2052 5600 5600 7500 5600 5600 7500 2800 7500 4800 4800 2400

Motor model
αiF22 αiF22 αC30 αiF30 αiF40 αiF40 βiS22 βiS22 αiS22 αiS22 αiS30
3000 3000HV 1500i 3000 3000 3000Fan 3000 3000HV 4000 4000HV 4000
Motor specification 0247 0249 0251 0253 0257 0257 0082 0083 0265 0266 0268
Motor ID number 297 299 301 303 307 308 313 314 315 316 318
Symbol FS30i,31i,32i
OSPLV 2052 3600 3600 2100 4800 4200 4200 4200 4200 5600 5600 5400

αiS100
αiS30 αiS40 αiS40 αiS50 αiS50 αiS50 αiS50 αiS60 αiS60 αiS100
Motor model 2500HVFa
4000HV 4000 4000HV 3000 3000Fan 3000HVFan 3000HV 3000Fan 3000HVFan 2500Fan n
Motor specification 0269 0272 0273 0275 0275 0276 0276 0278 0279 0285 0286
Motor ID number 319 322 323 324 325 326 327 328 329 330 331
Symbol FS30i,31i,32i
OSPLV 2052 5400 4800 4800 4200 4200 4200 4200 4000 4000 3500 3500

Motor model
αiS200 αiS100 αiS100 αiS200 αiS200 αiS200 αiS2000 αiS300 αiS300 αiS300 αiS500
2500Fan 2500 2500HV 2500HVFan 2500 2500HV 2000HV 2000 2000HV 3000HV 2000
Motor specification 0288 0285 0286 0289 0288 0289 0091 0292 0293 0290 0295
Motor ID number 334 335 336 337 338 339 340 342 343 344 345
Symbol FS30i,31i,32i
OSPLV 2052 3100 3500 3500 3100 3100 3100 2400 2800 2800 3900 2400

αiS1000
αiS500 αiS500 αiS1000 αiS22 αiS22 αiS2000 αiS3000 αiS1000 αiS2000 αiS3000
Motor model 3000HV
2000HV 3000HV 2000HV 6000 6000HV 2000HV 2000HV 2000HV 2000HV 2000HV
PDM あり
Motor specification 0296 0297 0298 0099 0262 0263 0091 0092 0098 0091 0092
Motor ID number 346 347 348 350 452 453 454 455 458 459 460
Symbol FS30i,31i,32i
OSPLV 2052 2400 4200 2600 3800 7500 7500 2400 2800 2600 2400 2800

αiS1000
αiS12 αiS12 αiS4 αiS4 αiS50 αiS50 αiS60 αiS60
Motor model 3000HV
6000 6000HV 6000 6000HV 2000 2000HV 2000 2000HV
PDM なし
Motor specification 0230 0237 0099 0210 0214 0042 0043 0044 0045
Motor ID number 462 463 465 466 467 468 469 470 471
Symbol FS30i,31i,32i
OSPLV 2052 7500 7500 3800 7500 7500 2800 2800 2700 2700

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E0)
DRAW. No. CUST.
01 10.06.30 Tang Newly designed B-65270EN/07-028
SHEET
Ed Date Design Description 03／05
 (2) 2000/min model of βis series Servo motors have been added.

Motor Model Motor ID No. Refer

βiS 30/2000V 472 -

400VDriver
βiS 30/2000HV 473

βiS 40/2000V 474 -

400VDriver
βiS 40/2000HV 475

* Please refer to Table1 about the new added standard parameters.

(3) Following models are added in Lis series.

Motor Model Motor ID No. Refer

LiS 10000C3/2HV 395 400V Driver

* Please refer to Table 1 about the new added standard parameters.

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E0)
DRAW. No. CUST.
01 10.06.30 Tang Newly designed B-65270EN/07-028
SHEET
Ed Date Design Description 04／05
Table1) Standard parameter table for new added models
LiS10000
βiS30 βiS30 βiS40 βi S40
Motor Model C3/2HV
2000 2000HV 2000 2000HV
(400V)
Motor specification 0457-B010 0087 0088 0089 0090
Motor ID Number 395 472 473 474 475
Symbol FS30i,31i,32i,
2003 00001000 00001000 00001000 00001000 00001000
2004 00000011 00000011 00000011 00000011 00000011
2005 00000000 00000000 00000000 00000000 00000000
2006 00000000 00000000 00000000 00000000 00000000
2007 00000000 00000000 00000000 00000000 00000000
2008 00000000 00000000 00000000 00000000 00000000
2009 00000000 00000000 00000000 00000000 00000000
2010 00000100 00000000 00000000 00000000 00000000
2011 00000000 00000000 00000000 00000000 00000000
2012 00000000 00000000 00000000 00000000 00000000
2013 00000100 00000010 00000010 00000010 00000010
2014 00000100 00000010 00000010 00000010 00000010
2210 00000000 00000000 00000000 00000000 00000000
2211 00001000 00001010 00001010 00001010 00001010
2300 10000000 00000000 00000000 00000000 00000000
2301 00000000 00000000 00000000 00000000 00000000
PK1 2040 3010 1650 1650 1624 1624
PK2 2041 -6519 -6565 -6565 -7197 -7197
PK3 2042 -2695 -2681 -2681 -1341 -1341
PK1V 2043 10 214 214 208 208
PK2V 2044 -129 -1912 -1912 -1870 -1870
PK3V 2045 0 0 0 0 0
PK4V 2046 -8235 -8235 -8235 -8235 -8235
POA1 2047 -8849 3971 3971 4057 4057
BLCMP 2048 0 0 0 0 0
DPFMX 2049 0 0 0 0 0
POK1 2050 956 956 956 956 956
POK2 2051 510 510 510 510 510
OSPLV 2052 0 2800 2800 2600 2600
PPMAX 2053 21 21 21 21 21
PDDP 2054 1894 1894 1894 1894 1894
PHYST 2055 319 319 319 319 319
EMFCMP 2056 0 0 0 0 0
PVPA 2057 0 -4647 -4647 -3375 -3375
PALPH 2058 0 -3115 -3115 -3862 -3862
PPBAS 2059 0 0 0 0 0
TQLIM 2060 7282 6554 6554 6554 6554
EMFLMT 2061 120 0 0 0 0
POVC1 2062 32722 32413 32413 32413 32413
POVC2 2063 576 4431 4431 4431 4431
TGALMLV 2064 4 4 4 4 4
POVCLMT 2065 1707 13201 13201 13201 13201
PK2VAUX 2066 0 0 0 0 0
FILTER 2067 0 0 0 0 0
FALPH 2068 0 0 0 0 0
VFFLT 2069 0 0 0 0 0
ERBLM 2070 0 0 0 0 0
PBLCT 2071 0 0 0 0 0
SFCCML 2072 0 0 0 0 0
PSPTL 2073 0 0 0 0 0
AALPH 2074 -4096 8192 8192 8192 8192
OSCTPL 2077 0 0 0 0 0
PDPCH 2078 0 0 0 0 0
PDPCL 2079 0 0 0 0 0
DPFEX 2080 0 0 0 0 0
DPFZW 2081 0 0 0 0 0
BLENDL 2082 0 0 0 0 0
MOFCTL 2083 0 0 0 0 0
RTCURR 2086 961 2154 2154 2154 2154
TDPLD 2087 0 0 0 0 0
MCNFB 2088 0 0 0 0 0
BLBSL 2089 0 0 0 0 0
ROBSTL 2090 0 0 0 0 0
ACCSPL 2091 0 0 0 0 0
ADFF1 2092 0 0 0 0 0
VMPK3V 2093 0 0 0 0 0
BLCMP2 2094 0 0 0 0 0
AHDRTL 2095 0 0 0 0 0
RADUSL 2096 0 0 0 0 0
SMCNT 2097 0 0 0 0 0
DEPVPL 2098 0 0 0 0 0
ONEPSL 2099 400 400 400 400 400
INPA1 2100 0 0 0 0 0
INPA2 2101 0 0 0 0 0
DBLIM 2102 0 0 0 0 0
ABVOF 2103 0 0 0 0 0
ABTSH 2104 0 0 0 0 0
TRQCST 2105 2043 1127 1127 1503 1503
LP24PA 2106 0 0 0 0 0
VLGOVR 2107 0 0 0 0 0
RESERV 2108 0 0 0 0 0
BELLTC 2109 0 0 0 0 0
MGSTCM 2110 0 1546 1546 263 263
DETQLM 2111 0 4255 4255 3065 3065
AMRDML 2112 0 0 0 0 0
NFILT 2113 0 0 0 0 0
NINTCT 2127 0 2095 2095 2712 2712
MFWKCE 2128 0 3066 3066 3354 3354
MFWKBL 2129 0 1548 1548 1038 1038
LP2GP 2130 0 0 0 0 0
LP4GP 2131 0 0 0 0 0
LP6GP 2132 0 0 0 0 0
PHDLY1 2133 0 4110 4110 2567 2567
PHDLY2 2134 0 12814 12814 8967 8967
DGCSMM 2159 0 0 0 0 0
TRQCUP 2160 0 0 0 0 0
OVCSTP 2161 0 0 0 0 0
POVC21 2162 0 32765 32765 32765 32765
POVC22 2163 0 34 34 36 36
POVCLMT2 2164 0 7387 7387 7713 7713
MAXCRT 2165 85 85 45 85 45
ACCBSLM 2304 0 0 0 0 0
ACDCEND 2305 0 0 0 0 0
DCIDBS 2310 0 0 0 0 0
TQLMSV 2302 0 0 0 0 0
TQLMST 2316 0 0 0 0 0

TITLE
Notice of the Update of Digital Servo Software for
Series 30i, 31i, 32i -A(90E0)
DRAW. No. CUST.
01 10.06.30 Tang Newly designed B-65270EN/07-028
SHEET
Ed Date Design Description 05／05
 Notice of the Update of Digital Servo Software for Series 30i / 31i / 32i (90E1)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function Changes of Standard parameter table Add 2010. 09

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the Update of Digital Servo Software for
Series 30i/ 30i / 32i(90E1)
DRAW. No. CUST.
01 10.09.07 Tang Newly designed B-65270EN/07-029
SHEET
Ed Date Design Description 01／02
 Notice of the Update of Digital Servo Software for Series 30i/ 30i/ 32i(90E1)

1. Update Edition
ROM series New edition Available CNC
FS30i, 31i, 32i -A
90E1 05.0
(For SERVO HRV2 and HRV3 Control)

2. Contents of change
- Changes of Standard Parameter Table
Four new models for βiS series motor and one new model for LiS series motor have been added.
Furthermore parameter No.2052 has been added in order to detect servo alarm SV649 when the motor
rotates over its maximum speed by wrong command or other reasons.

Please refer to the Technical Report TMS 10/044(B-65270EN/07-028) “Notice of the Update of Digital
Servo Software for Series 30i/ 31i/ 32i (90E0)” for the details.

TITLE
Notice of the Update of Digital Servo Software for Series
30i/ 30i / 32i(90E1)
DRAW. No. CUST.
01 10.09.07 Tang Newly designed B-65270EN/07-029
SHEET
Ed Date Design Description 02／02
 Notice of the Update of Digital Servo Software for Series 15i/ 16i/ 18i/ 21i/ PMi-D/ PMi-H (90BP)

1. Type of applied documents

Name FANUC AC SERVO MOTOR αi series

FANUC AC SERVO MOTOR βi series
FANUC LINEAR MOTOR LiS series
FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series
PARAMETER MANUAL
Spec. No./Ver. B-65270EN / 07

2. Summary of Change

Group Name / Outline New, Add Applicable

Correct, Del Date
Basic Function 1. Changes of Standard Parameter Table Add 2010.08

Optional
Function
Unit

Maintenance
Parts
Notice

Correction

Another

TITLE
Notice of the Update of Digital Servo Software for
Series 15i, 16i, 18i, 21i, PMi -D, PMi -H ( 90BP)
DRAW. No. CUST.
01 10.08.25 Tang Newly designed B-65270EN/07-030
SHEET
Ed Date Design Description 01／05
 Notice of the Update of Digital Servo Software for Series 15i/ 16i/ 18i/ 21i/ PMi-D/ PMi-H (90BP)

1. Update Edition
ROM series New edition Available CNC
FS15i, 16i, 18i, 21i, PMi -D, PMi-H
90BP 07
(with servo card equipped with 320C5410)

2. Contents of change
- Changes of Standard Parameter Table
Standard parameter table has been changed.

3. Attached
- Attached 1 Changes of Standard Parameter Table

TITLE
Notice of the Update of Digital Servo Software for
Series 15i, 16i, 18i, 21i, PMi -D, PMi -H ( 90BP)
DRAW. No. CUST.
01 10.08.25 Tang Newly designed
B-65270EN/07-030
Ed Date Design Description SHEET
02／05
 Attached 1.Changes of Standard Parameter Table
(1) N2052 has been added for servo alarm SV649 that is detected when the motor rotates over its
maximum speed by wong velocity command or other reasons.

βiS2 αiF1 βiS2 βiS2/4000 αiF2 βiS4 βiS4/4000 βiS8 βiS8/3000 βiS0.2 βiS0.3
Motor model 4000HV 5000 4000 SVSP40A 5000 4000 SVSP40A 3000 SVSP40A 5000 5000
Motor specification0062 0202 0061 0061 0205 0063 0063 0075 0075 0111 0112
Motor ID numbe 251 252 253 254 255 256 257 258 259 260 261
r
Symbol FS15i FS16i,18i,21i,PMi
OSPLV 1864 2052 5600 7000 5600 5600 7000 5600 5600 4200 4200 7000 7000

αiS2 αiS2 βi S4 αiS4 αiS4 βi S8 βi S12/2000 βiS12 βiS12 αC4 βiS12

Motor model 5000 5000HV 4000HV 5000 5000HV 3000HV SVSP 40A 2000 3000HV 3000i 3000
Motor specification 0212 0213 0064 0215 0216 0076 0077 0077 0079 0221 0078
Motor ID numbe 262 263 264 265 266 267 268 269 270 271 272
r
Symbol FS15i FS16i,18i,21i,PMi
OSPLV 1864 2052 7000 7000 5600 7000 7000 4200 2800 2800 4200 4200 4200

αiF4 βi S22 αiF4 αC8 αiF8 βi S22 αiF8 βiS0.4 βiS0.5 βiS1 αiS2
Motor model 4000 2000 4000HV 2000i 3000 2000HV 3000HV 5000 6000 6000 6000
Motor specification 0223 0085 0225 0226 0227 0086 0229 0114 0115 0116 0218
Motor ID numbe 273 274 275 276 277 278 279 280 281 282 284
r
Symbol FS15i FS16i,18i,21i,PMi
OSPLV 1864 2052 5600 2800 5400 2800 4200 2700 3900 7000 7500 7500 7500

αiS8 αiS8 αiS2 αiS12 αiS12 αiS8 αC12 αiS8 αiF12 αiF12 αC22
Motor model 4000 4000HV 6000HV 4000 4000HV 6000 2000i 6000HV 3000 3000HV 2000i
Motor specification 0235 0236 0219 0238 0239 0232 0241 0233 0243 0245 0246
Motor ID numbe 285 286 287 288 289 290 291 292 293 295 296
r
Symbol FS15i FS16i,18i,21i,PMi
OSPLV 1864 2052 5600 5600 7500 5600 5600 7500 2800 7500 4800 4800 2400

αiF22 αiF22 αC30 αiF30 αiF40 αiF40 βiS22 βiS22 αiS22 αiS22 αiS30
Motor model 3000 3000HV 1500i 3000 3000 3000Fan 3000 3000HV 4000 4000HV 4000
Motor specification 0247 0249 0251 0253 0257 0257 0082 0083 0265 0266 0268
Motor ID numbe 297 299 301 303 307 308 313 314 315 316 318
r
Symbol FS15i FS16i,18i,21i,PMi
OSPLV 1864 2052 3600 3600 2100 4800 4200 4200 4200 4200 5600 5600 5400

αiS100
αiS30 αiS40 αiS40 αiS50 αiS50 αiS50 αiS50 αiS60 αiS60 αiS100
Motor model 4000HV 2500HVFa
4000 4000HV 3000 3000Fan 3000HVFan 3000HV 3000Fan 3000HVFan 2500Fan n
Motor specification 0269 0272 0273 0275 0275 0276 0276 0278 0279 0285 0286
Motor ID numbe 319 322 323 324 325 326 327 328 329 330 331
r
Symbol FS15i FS16i,18i,21i,PMi
OSPLV 1864 2052 5400 4800 4800 4200 4200 4200 4200 4000 4000 3500 3500

αiS200 αiS100 αiS100 αiS200 αiS200 αiS200 αiS2000 αiS300 αiS300 αiS300 αiS500
Motor model 2500Fan 2500 2500HV 2500HVFan 2500 2500HV 2000HV 2000 2000HV 3000HV 2000
Motor specification 0288 0285 0286 0289 0288 0289 0091 0292 0293 0290 0295
Motor ID numbe 334 335 336 337 338 339 340 342 343 344 345
r
Symbol FS15i FS16i,18i,21i,PMi
OSPLV 1864 2052 3100 3500 3500 3100 3100 3100 2400 2800 2800 3900 2400

αiS1000
αiS500 αiS500 αiS1000 αiS22 αiS22 αiS2000 αiS3000 αiS1000 αiS2000 αiS3000
Motor model 2000HV 3000HV
3000HV 2000HV 6000 6000HV 2000HV 2000HV 2000HV 2000HV 2000HV
PDM あり
Motor specification 0296 0297 0298 0099 0262 0263 0091 0092 0098 0091 0092
Motor ID numbe 346 347 348 350 452 453 454 455 458 459 460
r
Symbol FS15i FS16i,18i,21i,PMi
OSPLV 1864 2052 2400 4200 2600 3800 7500 7500 2400 2800 2600 2400 2800

αiS1000
αiS12 αiS12 αiS4 αiS4 αiS50 αiS50 αiS60 αiS60
Motor model 3000HV
6000 6000HV 6000 6000HV 2000 2000HV 2000 2000HV
PDM なし
Motor specification 0230 0237 0099 0210 0214 0042 0043 0044 0045
Motor ID numbe 462 463 465 466 467 468 469 470 471
r
Symbol FS15i FS16i,18i,21i,PMi
OSPLV 1864 2052 7500 7500 3800 7500 7500 2800 2800 2700 2700

TITLE
Notice of the Update of Digital Servo Software for
Series 15i, 16i, 18i, 21i, PMi -D, PMi -H ( 90BP)
DRAW. No. CUST.
01 10.08.25 Tang Newly designed
B-65270EN/07-030
Ed Date Design Description SHEET
03／05
(2) 2000/min model of βis series Large Servo motors have been added.
Motor Model Motor ID No. Refer

βiS 30/2000V 472 -

400VDriver
βiS 30/2000HV 473

βiS 40/2000V 474 -

400VDriver
βiS 40/2000HV 475

* Please refer to Table1 about the standard parameters.

(3) Following model is added in Lis series.

Motor Model Motor ID No. Refer

LiS 10000C3/2HV 395 400V Driver

* Please refer to Table 1 about the standard parameters.

TITLE
Notice of the Update of Digital Servo Software for
Series 15i, 16i, 18i, 21i, PMi -D, PMi -H ( 90BP)
DRAW. No. CUST.
01 10.08.25 Tang Newly designed
B-65270EN/07-030
Ed Date Design Description SHEET
04／05
Table1) Standard parameter table for new added models.
L10000
βiS30 βiS30 βiS40 βiS40
Motor model C3/2HVis
2000 2000HV 2000 2000HV
(400V)
Motor specification 0457-B010 0087 0088 0089 0090
Motor ID number 395 472 473 474 475
Symbol FS15i FS16i,18i,21i,PMi
1808 2003 00001000 00001000 00001000 00001000 00001000
1809 2004 00000011 00000011 00000011 00000011 00000011
1883 2005 00000000 00000000 00000000 00000000 00000000
1884 2006 00000000 00000000 00000000 00000000 00000000
1951 2007 00000000 00000000 00000000 00000000 00000000
1952 2008 00000000 00000000 00000000 00000000 00000000
1953 2009 00000000 00000000 00000000 00000000 00000000
1954 2010 00000100 00000000 00000000 00000000 00000000
1955 2011 00000000 00000000 00000000 00000000 00000000
1956 2012 00000000 00000000 00000000 00000000 00000000
1707 2013 00000100 00000010 00000010 00000010 00000010
1708 2014 00000100 00000010 00000010 00000010 00000010
1750 2210 00000000 00000000 00000000 00000000 00000000
1751 2211 00001000 00001010 00001010 00001010 00001010
2713 2300 10000000 00000000 00000000 00000000 00000000
2714 2301 00000000 00000000 00000000 00000000 00000000
PK1 1852 2040 3010 1650 1650 1624 1624
PK2 1853 2041 -6519 -6565 -6565 -7197 -7197
PK3 1854 2042 -2695 -2681 -2681 -1341 -1341
PK1V 1855 2043 10 214 214 208 208
PK2V 1856 2044 -129 -1912 -1912 -1870 -1870
PK3V 1857 2045 0 0 0 0 0
PK4V 1858 2046 -8235 -8235 -8235 -8235 -8235
POA1 1859 2047 -8849 3971 3971 4057 4057
BLCMP 1860 2048 0 0 0 0 0
DPFMX 1861 2049 0 0 0 0 0
POK1 1862 2050 956 956 956 956 956
POK2 1863 2051 510 510 510 510 510
RESERV 1864 2052 0 2800 2800 2600 2600
PPMAX 1865 2053 21 21 21 21 21
PDDP 1866 2054 1894 1894 1894 1894 1894
PHYST 1867 2055 319 319 319 319 319
EMFCMP 1868 2056 0 0 0 0 0
PVPA 1869 2057 0 -4647 -4647 -3375 -3375
PALPH 1870 2058 0 -3115 -3115 -3862 -3862
PPBAS 1871 2059 0 0 0 0 0
TQLIM 1872 2060 7282 6554 6554 6554 6554
EMFLMT 1873 2061 120 0 0 0 0
POVC1 1877 2062 32722 32413 32413 32413 32413
POVC2 1878 2063 576 4431 4431 4431 4431
TGALMLV 1892 2064 4 4 4 4 4
POVCLMT 1893 2065 1707 13201 13201 13201 13201
PK2VAUX 1894 2066 0 0 0 0 0
FILTER 1895 2067 0 0 0 0 0
FALPH 1961 2068 0 0 0 0 0
VFFLT 1962 2069 0 0 0 0 0
ERBLM 1963 2070 0 0 0 0 0
PBLCT 1964 2071 0 0 0 0 0
SFCCML 1965 2072 0 0 0 0 0
PSPTL 1966 2073 0 0 0 0 0
AALPH 1967 2074 -4096 8192 8192 8192 8192
OSCTPL 1970 2077 0 0 0 0 0
PDPCH 1971 2078 0 0 0 0 0
PDPCL 1972 2079 0 0 0 0 0
DPFEX 1973 2080 0 0 0 0 0
DPFZW 1974 2081 0 0 0 0 0
BLENDL 1975 2082 0 0 0 0 0
MOFCTL 1976 2083 0 0 0 0 0
RTCURR 1979 2086 961 2154 2154 2154 2154
TDPLD 1980 2087 0 0 0 0 0
MCNFB 1981 2088 0 0 0 0 0
BLBSL 1982 2089 0 0 0 0 0
ROBSTL 1983 2090 0 0 0 0 0
ACCSPL 1984 2091 0 0 0 0 0
ADFF1 1985 2092 0 0 0 0 0
VMPK3V 1986 2093 0 0 0 0 0
BLCMP2 1987 2094 0 0 0 0 0
AHDRTL 1988 2095 0 0 0 0 0
RADUSL 1989 2096 0 0 0 0 0
SMCNT 1990 2097 0 0 0 0 0
DEPVPL 1991 2098 0 0 0 0 0
ONEPSL 1992 2099 400 400 400 400 400
INPA1 1993 2100 0 0 0 0 0
INPA2 1994 2101 0 0 0 0 0
DBLIM 1995 2102 0 0 0 0 0
ABVOF 1996 2103 0 0 0 0 0
ABTSH 1997 2104 0 0 0 0 0
TRQCST 1998 2105 2043 1127 1127 1503 1503
LP24PA 1999 2106 0 0 0 0 0
VLGOVR 1700 2107 0 0 0 0 0
RESERV 1701 2108 0 0 0 0 0
BELLTC 1702 2109 0 0 0 0 0
MGSTCM 1703 2110 0 1546 1546 263 263
DETQLM 1704 2111 0 4255 4255 3065 3065
AMRDML 1705 2112 0 0 0 0 0
NFILT 1706 2113 0 0 0 0 0
NINTCT 1735 2127 0 2095 2095 2712 2712
MFWKCE 1736 2128 0 3066 3066 3354 3354
MFWKBL 1752 2129 0 1548 1548 1038 1038
LP2GP 1753 2130 0 0 0 0 0
LP4GP 1754 2131 0 0 0 0 0
LP6GP 1755 2132 0 0 0 0 0
PHDLY1 1756 2133 0 4110 4110 2567 2567
PHDLY2 1757 2134 0 12814 12814 8967 8967
DGCSMM 1782 2159 0 0 0 0 0
TRQCUP 1783 2160 0 0 0 0 0
OVCSTP 1784 2161 0 0 0 0 0
POVC21 1785 2162 0 32765 32765 32765 32765
POVC22 1786 2163 0 34 34 36 36
POVCLMT2 1787 2164 0 7387 7387 7713 7713
MAXCRT 1788 2165 85 85 45 85 45
ACCBSLM 2717 2304 0 0 0 0 0
ACDCEND 2718 2305 0 0 0 0 0
DCIDBS 2723 2310 0 0 0 0 0
TQLMSV 2715 2302 0 0 0 0 0
TQLMST 2729 2316 0 0 0 0 0

TITLE
Notice of the Update of Digital Servo Software for
Series 15i, 16i, 18i, 21i, PMi -D, PMi -H ( 90BP)
DRAW. No. CUST.
01 10.08.25 Tang Newly designed
B-65270EN/07-030
Ed Date Design Description SHEET
05／05