GE Fanuc IC800SSI228RD2 servo electric controller

GE Fanuc IC800SSI228RD2 servo electric controller

This upgrade resolves a few issues.

• With S2K firmware revision 2.4 and prior, if the value in AIB1 (Analog Input Deadband1) waschanged, it changed the value in CCB (Cam Compile Begin point) and vice versa. This was dueto the fact that, internally,these registers were set to the same RAM address. Firmware revision2.5 resolves this problem by mapping these registers to their appropriate addresses.

• An issue existed in S2K firmware revision 2.4 and prior involving the use of dual loop positionmode. If the polarity of the main encoder feedback was opposite of the auxiliary encoder, thendual loop mode (PFE=1 andPFN>0) would be unstable, resulting in a following error fault onany move. This was due to the fact that the DIR register controlled the polarity of both theauxiliary and main encoder feedback paths in dual loopmode. The DIRX register was added toresolve this issue.

• In extremely noisy environments, false drive over-temperature faults were encountered. TheDrive Over-Temperature fault now has a software filter (1 second) on all models to eliminate thepossibility of noisetransients affecting the drive over temperature circuit.Behavioral ChangesAside from the new registers (URB, FRC, DIRX, DIRXN) the following behavioral changes must be

noted:

• Dual Loop Position Mode (PFE=1, PFN>0)In Revision 2.4 dual loop mode, DIR controlled the polarity of both the auxiliary encoder andmain encoder feedback paths (before entering the control loop summingjunction). In revision 2.5dual loop mode, DIR controls the polarity of the auxiliary feedback path while DIRX controls thedirection of the main encoder feedback path.

• CMR updateIn revision 2.4 encoder feedback S2Ks, the CMR register was used to specify certainmotor/encoder combinations. For instance, setting CMR=1 would configure the S2K tocommutate GE Fanuc S-Seriesmotors. Firmware revision 2.5 (with the addition of the FRCregister) now offers a more universal solution for commutating encoder based motors. Below is adescription of the revamped CMR:

With encoder based controllers, this register must be set to the number of motor pole pairs(firmware revision 2.5 and later).

Note: To run GE Fanuc S-Series motors, the CMR value must be set to 1, which is thecontroller default and the value set by the Motion Developer wizard. Setting CMR=1will automatically set FRC=10000 (firmwarerevision 2.5 and later). The CMR registercan be set automatically with the MOTORSET command (see MOTORSET descriptionfor procedure).

• MOTORSET Procedural Change

For encoder feedback S2Ks, the MOTORSET procedure has changed to the following: If using amotor with an encoder, the following steps are required to correctly determine the CMO andCMR of a motor.

1. Initialize RegistersSet KL and CURC accordinglySet FR and FRC to the feedback resolution of the encoderSet CMR to a value other than 1 (from 2 to 16)Execute a SAVE command

2. Determine CMRCycle the powerTurn the motor shaft at least a ¼ of a revolutionExecute a MOTORSET commandNow CMR is computed, but CMO may be incorrectExecute a SAVE command (thus saving CMR)

3. Determine The Correct CMOCycle the powerTurn the motor shaft at least a ¼ of a revolutionExecute a MOTORSET commandCMO is now computed correctlyExecute a SAVE command (saving CMO)