Fanuc Series 0-Model A/B/C/D is legacy Fanuc controller. It supports Fanuc alpha series and S-series servo system. Both alpha and S-Series servo system's servo motors supports incremental and absolute encoders. It can be verified by encoder part numbers.
In case of S-Series Servo motor model 0, 00, 0S, 5S,10S, 20S check the encoder label as below:
The part number is for incremental encoder.
The part number is for absolute encoder.
In case of Alpha Servo motors which has a serial communication encoder label as below;
The part number is for incremental encoder and model αI64, "I" stands for incremental type encoder.
The part number is for incremental encoder and model αA64, "A" stands for incremental type encoder.
The referencing procedure is as below for 1st axis:
- Move and align the reference mark on slide and fixed part in a axis.
- Make the PWE=1 and input 1in the parameter number 22#0.
- P/S Alarm 000 will pop up for power reset.
- Turn the machine off and ON again.
- Verify the machine position should now be showing 000.000.
- 1st axis is referenced successfully.
Parameter for absolute referencing in Fanuc Series 0-Model A/B/C/D.
21#0 1st axis
21#1 2nd axis
21#2 3rd axis
21#4 4rth axis
21#0/1/2/3 BITS ARE APC: Absolute encoder is used/Not used.
0 = Not used
1= Used
22#0 1st axis
22#1 2nd axis
22#2 3rd axis
22#4 4rth axis
22#0/1/2/3 Bits are APZ: Reference position established or not
0= Not established
1= Established
If you want to check machine is absolute or not simply check the parameter 21 and 22.
If all the bits are 0 machine is incremental.
If some bits are showing 1 then machine can be absoute