3.

SERVO MOTOR ORIGIN

B-85314EN/01 MAINTENANCE RESTORATION

3 SERVO MOTOR ORIGIN RESTORATION

When the pulse coder connector of the servo motor is reconnected after disconnection, for example, the
position of the origin will be lost, causing an alarm to be issued to request servo motor origin return. In
such a case, servo motor origin return must be performed. (Here, manual origin return operation is
generally referred to as origin restoration.) Origin restoration is based on the marks provided on the
X-axis, Y-axis, and Z-axis. (See the figure below.)

Z-axis

X-axis

Y-axis

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3. SERVO MOTOR ORIGIN
RESTORATION MAINTENANCE B-85314EN/01

Follow the procedure below.

(1) First, select handle mode. Next, turn the handle through one or more turns along a desired
restoration axis (12 mm or more along the each axis). Then, turn the machine power off, then back
on again.
(2) Display QUICK screen, then “6: MAINTENANCE/SETTING”.

(3) Select “2. MOTOR ORIGIN”. Key in <2> and <INPUT>. The following screen appears.

(4) With the cursor, select an axis to be recovered.

The message "In the handle mode, make one rotation or more on an axis to be recovered ..." is
displayed.
This operation is not necessary if this operation is already done in step (1).

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 3. SERVO MOTOR ORIGIN
B-85314EN/01 MAINTENANCE RESTORATION

(5) Press the [EXEC] soft key. The following screen appears.

(6) Separate the diamond mark from the notch mark by at least 30 mm, according to guidance 1. This
operation is not required if the two marks are already separated by 30 mm or more.

(7) Turn the handle in the negative (–) direction in handle mode until the diamond mark is aligned with
the notch mark, then press the [EXEC] soft key, according to guidance 2.

Carefully move the tool along the X– and Y–axes so that the rhombus mark is always between the
two circles.
Press the [EXEC] soft key. The following screen appears.

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3. SERVO MOTOR ORIGIN
RESTORATION MAINTENANCE B-85314EN/01

(8) On the displayed screen, press the [MODE CHANGE] soft key according to guidance 3. The
message "ORGN REST. MODE ON" appears.

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 3. SERVO MOTOR ORIGIN
B-85314EN/01 MAINTENANCE RESTORATION

(9) Press the [ORIGIN REST.] soft key, according to guidance 4. This operation causes a very slight
movement along the axis to establish the origin. Check that the two diamond marks are precisely
aligned with each other after this operation. If the marks are not so aligned, the position of the origin
may be displaced. In such a case, contact your local FANUC service center.

Correct origin position Incorrect origin position

The rhombus mark is aligned The rhombus mark is not aligned with the right circle.
with the right circle.

X-axis

The rhombus mark is The rhombus mark is not aligned with the left circle.
aligned with the left circle.

Y-axis

The rhombus mark is aligned The rhombus mark is not aligned with the upper circle.
with the upper circle.

Z-axis

(10) Display the alarm screen by pressing the <RESET> key, then check that the origin return request
alarm for the origin restoration axis has been cleared. To perform origin restoration for another axis,
repeat the above procedure.

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4. AUTOMATIC TURRET
RESTORATION MAINTENANCE B-85314EN/01

4 AUTOMATIC TURRET RESTORATION

The ROBODRILL features a turret restoration function, which enables the automatic restoration of the
normal state if a tool change operation should be interrupted or upon the issue of an alarm during or after
tool change. If a problem related to tool replacement occurs, you can use this function to restore the
system to the normal status in most cases. You can also perform operations according to the instructions
displayed on the screen to complete restoration easily.
Follow the procedure below.

(1) Display QUICK screen, then “6: MAINTENANCE/SETTING”.

(2) Select “1. TURRET RESTO.”. Key in <1> and <INPUT>. The following screen is displayed:

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 4. AUTOMATIC TURRET
B-85314EN/01 MAINTENANCE RESTORATION

(3) Press the [MODE CHANGE] soft key, according to guidance 1. The following screen appears. To
help ensure successful restoration, the mode is fixed after this point, thus disabling any unnecessary
operations. (The only way to stop restoration is to turn off the power.)

(4) Clear any alarm by pressing the <EMERGENCY STOP> button, according to guidance 2. (The
alarm is released.)
(5) After checking that the program number displayed at the top of the screen is O9040, press the cycle
start button, according to guidance 3. Then, restoration starts. If any unusual sound is heard, stop the
operation immediately. Upon the completion of restoration, the following screen appears.

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4. AUTOMATIC TURRET
RESTORATION MAINTENANCE B-85314EN/01

(6) Check and enter the selected tool number. When the tool number located at the bottom of the turret
is “11”, press <1> <1> <INPUT> key.
When a tool number is entered, the following screen appears.

An input tool number is

displayed

(7) Turn the power off, then back on again, according to the message. If, however, the lowest side of the
turret is not level, as shown below, when restoration is completed, a mechanical problem is involved.
In such a case, contact your local FANUC service center.

Not level

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 4. AUTOMATIC TURRET
B-85314EN/01 MAINTENANCE RESTORATION

SUPPLEMENT
If the pull stud is broken, the broken pull stud will be left inside the spindle. This
prevents an arbor from being clamped to the spindle. To enable restoration from
the state where the pull stud is broken, first perform turret restoration without
attaching an arbor. Next, check that the broken pull stud has dropped out of the
spindle taper hole. Then, attach a tool to the turret and perform another turret
restoration operation.

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5. PARAMETER RESET, CHECK,
AND REGISTRATION MAINTENANCE B-85314EN/01

5 PARAMETER RESET, CHECK, AND

REGISTRATION FUNCTIONS
Factory–set data for various types of parameters is saved in non–volatile memory.
If parameter data is erased due to a problem such as the exhausted CNC battery, you can use the saved
data to simply restore factory–set data. This is called the parameter reset function. You can also compare
the saved parameter data with the parameter data currently set for the ROBODRILL and list the results.
This is called the parameter check function.
After changing parameter data, you can save it in non–volatile memory.
This is called the parameter registration function.

5.1 BASIC OPERATION

(1) Display QUICK screen, then “6: MAINTENANCE/SETTING”.

(2) Select “3. PARAMETER”. Key in <3> and <INPUT>. The following screen appears. Press soft key
[RESTORE], [INSPECT], or [STORE].

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 5. PARAMETER RESET, CHECK,
B-85314EN/01 MAINTENANCE AND REGISTRATION

5.2 RESETTING PARAMETERS

(1) Press the <EMERGENCY STOP> button.
Position the cursor on data to be reset and press soft key [SELECT].

(2) If you have registered your data, the following window appears.
Position the cursor on “FACTORY–SET DATA” to set factory–set data or on “STORED
PARAMETER” to set the registered data, then press soft key [SELECT].

If you have not registered your data, this window does not appear (The factory–set data is set).

(3) The following window appears. Press soft key [EXEC].

(4) When the following window appears, reset operation is complete.

Turn the power off, then on again.

(5) Check that the parameter settings are the same as the values listed in the data sheet (parameters)
supplied with the machine.
Perform motor reference position return.

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5. PARAMETER RESET, CHECK,
AND REGISTRATION MAINTENANCE B-85314EN/01

5.3 CHECKING PARAMETERS

(1) Position the cursor on data to be checked and press soft key [SELECT].

(2) If you have registered your data, the following window appears.
Position the cursor on the “FACTORY–SET DATA” to compare the current data with the
factory–set data or on the “STORED PARAMETER” to compare it with the registered data, then
press soft key [SELECT].

If you have not registered your data, this window does not appear (The current data is compared
with the factory–set data).

(3) The following window appears. Press soft key [EXEC].

(4) When the check is complete with different data found, a window as shown below appears:

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 5. PARAMETER RESET, CHECK,
B-85314EN/01 MAINTENANCE AND REGISTRATION

5.4 REGISTERING PARAMETERS

(1) The following window appears. Press soft key [EXEC].

(2) When the following window appears, registration is complete.

When registration is complete, the screen changes as follows:

(Before registration) (After registration)

ATTENTION
Never turn off the power during data registration. Otherwise, the nonvolatile
memory is destructed.

SUPPLEMENT
NC parameters, PMC parameters, and pitch error data are registered.
Machining programs and setup data such as offset data are not registered.
If the nonvolatile memory is faulty or destructed, registered data is lost. As a
precaution, it is recommended to back up data such as parameter data by using
the Handy File or memory card.
If a modification is made to a parameter, describe the modification in the data
sheet delivered with the machine.

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6. RIGID TAPPING
RETURN FUNCTION MAINTENANCE B-85314EN/01

6 RIGID TAPPING RETURN FUNCTION

If a tap bites into the workpiece and the machine stops due to an abnormality such as an operator error or
power failure, the tap can be pulled out up to a position near point R.

(1) Display QUICK screen, then “6: MAINTENANCE/SETTING”.

(2) Select “4.RIGID TAPPING”. Key in <4> and <INPUT>. The following screen appears (The
operation mode automatically changes to the MDI mode).

Press the Z AXIS button on the operator's panel. Rigid tapping return operation is executed.

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 6. RIGID TAPPING
B-85314EN/01 MAINTENANCE RETURN FUNCTION

SUPPLEMENT
When the Z AXIS button is released during return operation, the operation stops.
To restart the operation, press the Z AXIS button again.
If rigid tapping stops at emergency stop or due to a power failure, the position of
the spindle is lost.
For this reason, after return operation, the relationship between the spindle and
Z AXIS positions is not guaranteed.
By rigid tapping return operation which stops at emergency stop or due to a
power failure, then restarts, the tap may not completely be pulled out from the
workpiece. In this case, set the amount of return ( ) (NC parameter No. 5382).
By this operation, the tap is returned by the amount ( ).
The CNC internally executes a return program to perform tapping return
operation.
For this reason, when tapping return operation is performed, modal information
may partly be changed.
When the single block function is on or the front door is open, the screen is not
switched and rigid tapping return operation cannot be performed.

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