GE Fanuc Automation

Computer Numerical Control Products

AC Servo Motor

Descriptions Manual

GFZ-65002E/06 April 1993

 GFL-001
Warnings, Cautions, and Notes
as Used in this Publication

Warning
Warning notices are used in this publication to emphasize that hazardous voltages, currents,
temperatures, or other conditions that could cause personal injury exist in this equipment or
may be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment, a
Warning notice is used.

Caution
Caution notices are used where equipment might be damaged if care is not taken.

Note
Notes merely call attention to information that is especially significant to understanding and
operating the equipment.

This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein
which are not present in all hardware and software systems. GE Fanuc Automation assumes
no obligation of notice to holders of this document with respect to changes subsequently made.

GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory

with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.

©Copyright 1993 GE Fanuc Automation North America, Inc.

All Rights Reserved.
PREFACE

This manual describes following products:

1) Motor

Series name Model name

FANUC AC SERVO MOTOR MODEL 4-0S, MODEL 3-0S,

S series (200V input) MODEL 2-0S, MODEL 1-0S, MODEL 1-0S/3000,
MODEL OS, MODEL 58, MODEL 5S/3000,
MODEL 1 OS, MODEL 1OS/3000,
MODEL 20S/1500, MODEL 20S,
MODEL 20S/3000, MODEL 30S,
MODEL 30S/3000, MODEL 408/2000,
MODEL 50S, MODEL 60S, MODEL 70S,

FANUC AC SERVO MOTOR MODEL 5-0, MODEL 30/2000,

S series (185V input) MODEL 40

FANUC AC SERVO MOTOR SP MODEL 2-0SP, MODEL 1-0SP,

series MODEL 1-0SP/3000, MODEL 0-0SP

FANUC AC SERVO MOTOR MODEL OL, MODEL 5L, MODEL 6L,

L series (200V input) MODEL 7L, MODEL 1OL

FANUC AC SERVO MOTOR MODEL OT/3000, MODEL 5T/2000,

T series (200V input) MODEL 5T/3000, MODEL 1OT/2000,
MODEL 10T/3000

FANUC AC SERVO MOTOR MODEL 5F/3000, MODEL 1OF/2000,

F series (200 - 230V input) MODEL 20F/2000, MODEL 30F/2000

2) SERVO AMPLIFIER

Series name Corresponding motor (Note)

FANUC A.C SERVO AMPUF!ER "·-- .Af:

..I="AI\IIIf: ,_ --· ... - ···- . -· .. - --·....... ..... - .......... . ·- .... ,
~r=~Vn MnTn~ ~ <:PriP<: I <:AriA<:
}

C series SP series, T series, F series

FANUC AC SERVO AMPLIFIER FANUC AC SERVO MOTOR S series, SP series,

S series T series

FANUC AC SERVO AMPLIFIER FANUC AC SERVO MOTOR L series

L series (185V input)

Note) Please refer to the text for a concrete correspondence.

 CONTENTS

PREFACE

I. FANUC AC SERVO MOTOR s eries

1. GENERAL ... . .. . . .. ........ . . . .. .. ...... . . . . . .. •.. ... .. .... . . . ... • . . ... .. . . . . . . • .. 1-1
2. PRECAUTIONS ON USE • . . . . . . . . . .. . ... ..... . .• . ...... . ..... . .......... . ... . ...... 1- 1
2.1 Ins ta ll ation ... . ...........••. . ....... . . . .. . ......• . . .. ......••.• .' .. •...... 1-1
2.2 Coupl ing ................................•.......••..•.. . .......•..... . ...... 1-2
2.3 Axis Load ......... . ........... ... ....•..• . .. . ........•... . ..•..•............ 1-2
2 .4 Env ironment .. ••. ...........•. . .... . .• . ... . .... . ..... . .... . ...•...... • .... . . 1-3
2.5 Ac ce ptan ce and Storage ... ....... ... . ....... . ... .. .. . .... . . .. . .. . ..... ... . 1-4
3. INSTRUCTIONS ... . . . ............. •• ............ . ...••. .. . . . . . ..... . . . . .... . . .•. . 1-5
3.1 Drive Shaft Coupling ...... .. . . .......... . ........................ . . . .... . 1-5
3.2 Mach i ne Movement per 1 Revo lution of Motor Shaft .................. . 1-7
4 . SELECTING A MOTOR ............. • . . ......... ... . ••...... . . . . . •. . ..•.... . . . . •... 1-8
4.1 Cal culating Conditions f or Select i ng a Mo tor ... .. ................. .. 1-9
4.1.1 Ca lculating the load t orque and load inertia ......... .. ...... .. 1-9
4.1. 2 Calculating t he acceleration torque .......... .. ... . .. .. . . . .... . . 1- 13
4.1.3 Calculating the root-mean-square value of the torques .. . •.... 1-16
4.1.4 Calculating the percentage duty c ycle with the maximum
cutting torque . . . .•.•.. . . .. ......•..•.• . ...........•••.... . •......... 1-17
4.2 Precaut ions for Using Linear Scale .... .. .. ... .... .. .. . ... .... .. . .. . .. 1-18
4.3 Motor Selection .......•...•. . ......•.....• . •.......... . .. • ....... • • . ....• 1-20
4.3.1 Blanks for those other than data . ............................... . l-20
4.3.2 Da ta ..............•........ . ..••••....•.... . .. . ......•.•.......... . .... 1-21
4. 4 Characteristic Curve and Data Sheet .. .. .. . .... .. ... . . .. . ...... . . .. .. . 1-3 1
5. FEEDBACK DETECTOR .... . • . . . ...... . ..... . . . . .• . ... • , • , .• . .• •• . .... • •. .. . . . : . , • 1- 3 3
5.1 Built-in Det e ctor ....................... ~ ........... .. .......... .. ...... . 1-33
5 .1.1 Incremental pul s e coder (standa rd) ......................... . .. . .. 1-33
5 .1.2 Absolute pul s e coder . . . • ......... . . . . . .• . •..•. . .. . . .••.• • .•...• . •.. 1-33
5 .1. 3 Hi gh resolut ion puls e coder ............................. . ....... .. 1-3 3
5 .1.4 Se ri a l pul se c oder A ............... . ......... . .. .. ... . .. . .. .. .. .. .. l- 34
S . 1 . 5 Se r i a l pul ses coder B and B2 .............. . ........ . ............ .. 1-34
5 .1. 6 Serial puls e coder C .... ...... .. . . . .. ...... , .. . ................... . 1- 34
5.1.7 Buil t - in detec t ors f o r model 2-0SP/1-0SP/0-0SP ..•...... •. •.. . . 1-34
5 .1. 8 Built-in detectors for model 4- 0S/3-0S ........... . ............ .. 1-35
5.1.9 Built-in detect or of mod e l 5-0 ................................. .. 1-35
5. 2 Ex t ernal Posi t i o n Detector .. .... ... .. .. ........ .. . . .. . .. ... .. .. . ... . . . . 1-36
5.3 De t ector Si gnal Out put ............................................. . .. .. 1- 39
6. BUILT- IN BRAKE . • .. . •. ....• . •.•... . .• • ••...•. . .• . •..... , • , .••.••.•• , • , , .•...•. 1-43
6 .1 Br ake Spec ificat ion s ••.........•...... ,,,,, .........•.•..••......• . •...• 1-43
6.2 Connection of t he b rakes . .. . . ......................................... . 1- 45
7. CONNECTOR PLUG OF CONNECTION CABLE . .. . . •. • .• . . . .. . .... . . •.••.. • •.•. . • • ..• 1-47
7.1 Specification s f or Connec to rs ........ .. ..... .. .. .... ........ . .. .. .... . 1-47
1. 2 Combination of Waterproof MS Plugs ................................. .. 1-47
7. 3 Connector s f or Model s 2-0 SP , 1-0SP and 0-0SP ...... . ............... . 1- SO
8. COOLING FAN FOR MODELS 40 AND 40S/2000 .. ... .... . ..... .. ................ . 1-51

II. FANUC AC SERVO MOTOR S s eries

1. GENERAL . ........••.•..•..•.•.•.••.....•.••. . • .. .. . •....... .. ...........•. • ..... . 2- 1
2. TYPES OF MOTORS AND DESIGNATION ....................................... . .. . 2-2
3. SPECI FICATIONS AND CHARACTERISTICS ....... . ........ ... .. . ................. . 2-6
3.1 Type s of Motor s and Spec if i c ati ons ........ . ..... .. ........... ... ... . .. 2-6
3.2 Charac teris t i c Curve and Da t a Sheet . ............................... .. . 2-8
3 .3 Out line Drawings· .. . •.•. . ..• . • . ...... .. . •. . •.. . . .. •.. . .. • .. . ..•..•........ 2-25
3.4 Connec ting Powe r Lines .... .. ................. . ...... . .............. . ... . 2-38

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 4. OLD MOTORS . . ........... . .•...... . .....•. . . . • .... . ............ . ......•.•..• · · . . 2- 40
4 . 1 Types and Specificatio n s ... . ........•......... . ...... . ..•......• .... . . . 2-40
4.2 Outline Drawings .......... . ......... .. •....................... . .....•.... 2-40
4.3 Conne ction of Power Line ..........•. . . . ...........•.....•.......•.•.... 2-43

III . FANUC AC SERVO MOTOR L series

1. GENERAL ...............•....... . .•..•. . .......... . .......................... ••. •. 3-1
2. TYPES OF MOTORS AND DESIGNATION ........................................ .. . . 3-2
3. SPECIFICATIONS AND CHARACTERISTICS ....................................... . 3-4
3.1 Types of Motors and Specifications . . ....................... . ......... . 3-4
3.2 Characteristic Curve and Data Sheet ................................ . . . 3-4
3. 3 External Dimensions •.•. . . . ...................••....................•. . •. 3-10
3.4 Connection of Power Line .............................................. . 3- 11

IV. FANUC AC SERVO MOTOR T series

1 • GENERAL . . . . . . . . • . . . . . . . . . . . . . • . . . . . . . . . • . • . . . . . . . . . . . . . . . . . . . . . . . • . • . • . . . . . . . . . . 4-1
2. TYPES OF MOTORS AND DESIGNATION . . . . . .. . . . . . . . .. .. .. .. .. . . . . . . . . . . . . . . . .. .. 4-2
3. SPECIFICATIONS AND CHARACTERISTICS . . . . .. . .. . . . . . .. • .. . . .. . .. . ... .. . . .. .. .. 4-3
3.1 Type s of Motors and Specifica ti ons ......... ....................... . ... 4-3
3.2 Characteristic Curve and Da t a Sheet . . .. . . . . . . . .. . . . . .. • .. .. . .. . . . . . .. . 4-4
3. 3 Drawi ngs . . . . . . . • . . . . . . . • . • . . • • . • . . . . . • . . . . . . .. • . . • . • • . .. •. . . . . . . . . . . . • . . • • • • 4-8
3.4 Connecting Power and Brake Li nes ..... . •... .. . ... . ........ ... . ... • • . . . . 4-10
4. BUILT-IN BRAKE .................. •• • .• . . ••• .•..•..•....•••.•.•.••...........• 4-11
4.1 Brake Connection Diagram . . • .. . . . . . . . . .. . . . . .. . • . . • • . . • . • . .. . ... . . . . • • . • 4-11
4. 2 Dedicated Power for the Brake Solenoid .... . .. . . ... .. .... .... .. • . . .. . 4-1 2
5. SPECIFICATIONS FOR AIR COOLING . . . • .. • .. .. .. . .. • .. • • .. . • . . . • .. .. .. . .. .. .. . . 4-13
5.1 Compressed-Air Cooling .................................................. 4-13
6. PRECAUTIONS ON USE .. • . . • . . • . . . . . .. . . . . . • . • . . • . . . . . . . . • . •. . . . • . • . .. • . • .. • . • . • 4- 14
6.1 Installation ................ •. . . ..• .. . •.• •.•.•..••...•.••.• • .•.•.•........ 4-14
6.2 . Coupling the Output Shaft . .. .. ... . ..... . ......... ... .. . ................ 4-14
6. 3 Axis Load .••..•...•..• . .. . ...................•..........•........ . . . .. . •. .. 4-14
6. 4 Environment • . . • . . . . • • • • • • • • . . . • . . . • . . • • • . • • . . . • • . • . . . • . . . . . . . . . • . • . . . • • . • . 4-1 5
6.5 Lubricating the Bal l Screw ......... . . . . ...................... . ........ . 4-15
6.6 Maintaining the Motor . . .... . ....... . ..... . ... . ......... ... . ..... . . .. .. .. 4-15

V. FANUC AC SERVO AMPLIFIER F series

1. GENERAL ..... .. . • .•. . ..... . .. . . . .. ... . .. . .•... . ... • . . •.....•............... • •.... S-1
2. TYPES OF MOTORS AND DESIGNATION . . .... .. .. . .............................. . . S-1
3. SPECIFICATIONS AND CHARACTERISTICS ................................ .. .. ... . 5-2
3.1 Types of Mo t ors and Specifi c a t ions ................................ . . .. 5-2
3.2 Characteristic Curve and Dat a Sheet ....... . ......................... .. 5-2
3.3 Outline Drawings .....•..••.•.. . ... .•.. .•. .• •.•......•.......•.••...••..... 5-7
3.4 Connecting Power Lines (without the brake) ......................... . 5-10
3.5 Connecting Power Lines (with the brake) .................. . ........ .. 5-1 0

VI. FANUC AG SERVO AMPLIFIER C series (FOR A SINGLE MOTOR AND TWO MOTORS)
1. OUTLINE • ••••• • .• • ...•....• . • ••. . •...•.• . •• •..•. · • •••.•. • • · •. • ... · • • • · • ... · • • · • • • 6- 1
2 • CONFIGURATION •• . .•.•. . .. .. .• • •. . . ••• ••• . ••• . • . • ••••••• • ••••• ••• •••••••••••.•.• 6-1
2.1 Unit Types and Specification s .... . ................ .. ..... . ... . .... . .. .. 6- 2
3. SPECIFICATIONS .....••• . . . •. . .. . . ..•• .. • . . ... . ... ..... .. . .. •...• • . . . . . ...•....• 6- 5
3.1 Specifications .... . ..•.••.... •• •.•.•............ . ........• . •.. . ...• . . . .. . . 6-5
3.2 Pro t ection and Error Detection Functions ........................ . .. .. 6-7
4. AC LINE FILTER AND REGENERATIVE DISCHARGE UNIT ....................... .. 6-9
4 .1 AC Line Fil t er (Optional) .. .. ................. . ........................ . 6-9
4. 2 Sepa rate Regenerative Discharge Unit ......................... . ....... . 6-9
4. 2 .1 For horizontal ope ra t ion . • • . ..... •. . • . ..............••.•• . .. .. •. • .. 6-9
4.2.2 For v er t ical operation .......... .. ................................ . 6- 10

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 4.2.3 Capacity of the regenerative discharge resistance units
(built-in and separate) •.•...•........•...•...•....•.•.••.••••.•... 6-10
5. POWER SUPPLY ...........•.•......•.•.•.•........................•......•••.... 6-12
5 .1 Input Power ..•..••.•..•..••.•...••..•........•....•.•...........•...•...•. 6-12
5.2 Capacity .......•.•...•..•.•.•.•.•...•.•......•.......•...•...•.•..•.....•.. 6-12
5. 2 .1 Three-phase power ...................•.••......•..••.••..•.•..•..••.. 6-12
5.2.2 Single-phase 100 V power ......................................... . 6-13
5.2.3 Capacity of the single-phase power supply
for control purposes .•.........•.......•........•.....•...•••.•.••• 6-13
5.3 Power Transformer ....................................................... . 6-13
6. HEAT DISSIPATION ......••........................•.•.•...•......•.•....•...•.• 6-14
7, INSTALLATION CONDITIONS AND NOTES .•..•.••..••...•.•.••...•.•.•..•..•.•..• 6-16
8. OUTLINE DRAWINGS ...•.••......................•..•..•••••..••..••.•....•.•.••. 6-17
9 • CONNECT I ON .................•..•....•.•.........•.•.......•.......••..•.•...... 6-24
9.1 Connection Diagram ....................................................... . 6-24
9. 2 Cable Kl ...............•...•....•.•....•..•.•.••..•.•.••.•.•.••••.•....•... 6-27
9.2.1 Wire for cable Kl ...•..••.....•.•......•..••...•••......•..•...•..•. 6-29
9.2.2 Small type connector for cable Kl .............................. .. 6-32
9.3 Terminal Block Connection ............................................ .. 6-34
9.3.1 Signal comparison between the S and C Series amplifiers .... . 6-37
9.3.2 Connecting the separate regenerative discharge unit •...•....• 6-40
9.3.3 Connecting the power transformer ................................ . 6-42
9.3.4 Using terminals LlC and L2C ...................................... . 6-43
9.3 .5 Using terminals MC1 and MC2 ..................................... .. 6-44
10. CHANGES FROM S SERIES SERVO AMPLIFIER ................................. .. 6-45

VII. FANUC AC SERVO AMPLIFIER S series (200V INPUT FOR 1 AXIS)

1. GENERAL ••.•.............•.•..•.•.••.••.•••.•••••.••..••.•.••••. • •• • •• · • · • • • • • • · · 7-1
2. CONFIGURATION .•.......•.....••.•..•.•••.•••..•.•...••••••.•..•••••..•.•.•..•.• 7-1
2,1 Types of Unit and Specifications ...................................... . 7-2
3. SPECIFICATIONS ............................................................... . 7-4
3.1 Specifications •.......•.........••....•..•.•..••.•.•..•.•••.•.•••••.•..... 7-4
3. 2 Protection and Error Detection Function ............................. . 7-6
4, AC LINE FILTER AND SEPARATE TYPE REGENERATIVE DISCHARGE UNIT ••••.•.• 7-7
4.1 AC Line Filter (Option) ................................................. . 7-7
4.2 Separate Type Regenerative Discharge Unit .......................... .. 7-7
4. 2.1 Horizon tal move axis .•.••.•.•.•.•.....•...••......•.••••..••.•...•.• 7-7
4.2.2 Vertical move axis .................................................. . 7-8
5, POWER SOURCE ......•.....•....•....•...•...•••.••••..•.•.••••••.••••.••.••••.•. 7-9
5 .1 Input Power Source ..•.•......•....•.•.••.•.• , •••.•.•.••.•.•..••••.•.•••.•• 7-9
5. 2 Capacity of Power Source ............................................... . 7-9
5. 2.1 Capacity of three-phase power source ............................ . 7-9
5.2.2 Capacity of single-phase 100 VAC power source ................ .. 7-9
5.3 Power Transformer ....................................................... . 7-10
5 .3.1 Specification •..•...•••.•...•••.•...•..••••••..••••...••.••.•••....•• 7-10
5.3.2 Selecting method of power transformer ....................·...... . 7-11
5 .3. 3 Accessories .•...•..•..... , ..........••••••.•..•.••.•...•.•...••••••.• 7-12
6. HEAT LOSS .....•••.•.•••.•••••..•......•....•....••••••.•..••.•....•..•••....•. 7-13
7. INSTALLATION CONDITION AND NOTES .•••.•.•....••..••.•....•..••.•.•••.....• 7-15
7.1 Installation Condition .............•....•.••.••••• , ••.•.•.•.•••••••.•••• 7-15
7.2 Caution on Installation ............................................... .. 7-15
7.2.1 When amplifiers are housed in a closed type cabinet .•..••.•.• 7-15
7.2.2 When amplifiers are housed in an open-air
ventilation type cabinet ......................................... .. 7-15
7 .2.3 Mounting position and other cautions .......................... .. 7-15
7 .2.4 Selection of ground fault detector .............................. . 7-15
8. EXTERNAL DIMENSIONS ••..•..•.••.....•..•...•..•••••• , •.•.••••.•....•.••.••••• 7-17

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 9. CONNECTION • • • . • . • . . . . . . • • . . . . . • . . . . . • . . . . . . . . • • . • • • • . . . • . • • • . • . • . • . • . • . • • • . • • • 7-28
9.1.1 Connection diagram (for A06B-6058-HOOx, x = 2 to 6) ..•.••. .•. 7-28
9.1.2 Connection diagram for AC servo amplifier A06B-6058-H007 •••. 7-29
9. 2 Connection of Power Transformer for Export • • . • •. . • •• •• •• • . • . • . . • • . • • 7-30

VIII. FANUC AC SERVO AMPLIFIERS series (200V INPUT FOR 2 AXES)

1. GENERAL . . . . . . . • • . . . . • • • . • . . • • • • . • • . . . • . . • • . . • . . . . . . • . • • • . • . • . • . . . . • • . • • • . . • • • . . • 8-1
2. CONFIGURATION . . . . . .. • . • . . . • . • • . . .. .. . . . • • . • . . . • . • • . . . • . . . .. .. • . . . . . . . . . • • • • • • • 8-2
2.1 Types of Units and Specifications ..................................... 8-3
3. SPECIFICATIONS • . •. . . . . . . . . . . • . • . . . . . . • . • • . • . • . • . . . • • . • • . . . • . • . • . • . . .. • . • • . . • • . 8-5
3.1 Specifications ••••...•...••••••••••••••••••••••••••••••••••••••••••••••••• 8-5
3.2 Protection and Error Detection Function .. • .. .. • .. . • .. .. .. • . . .. .. .. .. • 8-5
4. AC LINE FILTER AND SEPARATE TYPE REGENERATIVE DISCHARGE UNIT •.••.••• 8-5
4.1 AC Line Filter (Option) .. .. .. .. .. . .. • • . • .. .. .. • . . • .. .... .. .. .. .. • • . • • .. .. 8-5
4.2 Separate Type Regenerative Discharge Unit ....................... ..... 8-5
5. POWER SOURCE ............................................................ ,',.... 8-6
5 .1 Input Power Source • • • . • • • . • . . • • • • • • • . • • . • . . . • . • • . • • . . . . . • . . . . . • . • . . • • • . . • • 8-6
5. 2 Capacity of Power Source .. .. .. .. .. • • .. • .. .. .. • • .. .. .. .. .. .. .. .. • • • • • .. • • 8-6
5.2.1 Capacity of three-phase power source ....... ........ .............. 8-6
5.2.2 Capacity of single-phase 100 VAG power source .................. 8-6
5. 3 Power Transformer . • . . . • • . • • . . • . . . • . . . . . • • . . . • • . • • . • . • . • • . . • • . • . • . • . • • • . • • • 8-6
6. HEAT LOSS • • • • • • • • • • . • . • . . • . . • • • . • • • • • • • • • • • • • • • • • . • • • • . . . . . . • . . . • . • • . . . . • • • . • • • 8-6
7. INSTALLATION CONDITION AND NOTES . . • . • . • • . . . . . • • • • • • • • • • • • • • • • • • • • • • • • • • • • . 8-6
8. EXTERNAL DIMENSIONS • . . . . . . . . • • . • . . . • . • . • • . . . . • . • • . . . . . • . • . . . • . • . . . . . . . • • . . . • • 8-7
9. CONNECTION . • . • • . . • . • • . . • • • • • • . . . . . . . . . . . • • . . . . • • . . . • . . . • • • . • . • . • . • • • • • • . • . • . • . 8-13
9.1 Connection Diagram {for A06B-6058-HOOx, x = 2 to 6) ..••......•..•. 8-13

IX. FANUC AC SERVO AMPLIFIER S series (200V INPUT FOR 3 AXES)

1. GENERAL . . • . • • • • • • • • • • • . . . • • . . . • . • • • • • • • • • • • • • • • • • • • • . • • . • • • . . • . . . • . • . • • • . . . • • • . • 9-1
2. CONFIGURATION . . . . . . • . • • . • . • • • • . • • • . . . . • • • • . . . . • . • • • • • • • • • . • • • . • • • • • • • • • • • • • • . • 9-2
2.1 Types of Units and Specifications . . .• .. .. • . • . ... . . . . . . . . . . . . . . . . • . . . . . 9-3
3. SPECIFICATIONS •. . . • • • • • • • • • • • • • • • • • • • • • • • • . . • . . . . . • • . . • . • . • . • . • •• •• • . • . • . • . • . . 9-5
3.1 Specifications •••.......•...••.....••..••.••••••••••••••••••.•••...•.•.•.. 9-5
3.2 Protection and Error Detection Function .. . .. • • .. .. .. .. .. .. .. .. .. .. .. . 9-5
4. AC LINE FILTER AND SEPARATE TYPE REGENERATIVE DISCHARGE UNIT •••••••• 9-5
4.1 AC Line Filter {Option) • .. ... .. .. • .. .. • .. .. .. . .. .. .. .................. ... 9-5
4.2 Separate Type Regenerative Discharge Unit ............................ 9-5
5. POWER SOURCE • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • . . • . • • . • • • • • • • • • . • . • • • . • • • . 9-5
5 .1 Input Power Source • . • • • • • • . • . • . • . • . . • . • • • . . . . • • • • • • • • • • • • • • . • . . . • • • • • • • • • • 9-5
5. 2 Capacity of Power Source • .. .. . .. • .. .. .. .. • .. • .. • .. .. .. .. .. .. .. .. • • .. . .. • 9-5
5.2 .1 Capacity of three-phase power source ... .. .. . .. • .. . .. ... .. .... • .. • 9-5
S .2. 2 Capacity of single-phase 100 VAC power source .. .. .. • .. .. • .. .. .. 9-5
5.3 Power Transformer • .. .. .. • .. • .. •• .. • .. .. .. .. • . • .. • .. • .. .. .. .. .. .. .. • .. • • • .. 9-5
6. HEAT LOSS • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • . • . . • . • • • • • . • • • • • • • . • . • . • • • • • • • • • 9-6
7. INSTALLATION CONDITION AND NOTES • . • • • . . • • • • . • • • • • • • • • • • • • • • • • • • • • • • • • • • • . • 9-6
8. EXTERNAL DIMENSIONS • • . • • • • • • • • • • . • . . • • • • • . • . . • • . • . • • • . . . . • . • . • • • . . • • • • • • • • • • • 9-6
9. CONNECTION • • • • • • • • • • • • • • . • . • • • • • • • • • • • • • • • • • • • • . • . • . • • . • • • . • • • • • • . • . • • • . . • • • • • . 9-9
9.1 Connection Diagram ........................................................ 9-9

X. LARGE-SCALE SERVO AMPLIFIER

1. GENERAL ................................................................. , • • . . . . . . • 10-1
2. CONFIGURATION ................................................................ 10-l
2.1 Types of Units and Specifications .................................... 10-2
3. SPECIFICATIONS .. .. • • . • • • .. •• • . • . . • .. . • .. • . • . • .. . . .. • • . . . . . . . . . . . . . . . . . • • . • • • • 10-3
3.1 Specifications . • . ••••••••..•• •.. • • • •• • • • • • • . • •• . • . • •. . • •• . • • . •• • . • • . • • . •• 10-3
4. AC LINE FILTER, AC REACTOR/DISCHARGE RESISTOR UNIT .. ... .. • .. .. .. . .. • . 10-4
5. POWER SOURCE ................................................................. 10-4
6. HEAT LOSS . . . • • . . . . • • . • . . . . . • • . • . . • • • • • • • • . . . . . . . • • . . . . • . . . • . . . . • • . . . . . . . • . . . . . 10-4

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 7. INSTALLATION CONDITION AND NOTES • . • . . . • . • . . . . • . . • . . • . . • •• • •• • •• • . . . • . . . . • 10-5
7.1 Installation Conditions •.•.•.......•.•.....••...•.....•.•.....•..••.•.•. 10-5
7.2 Cautions ••.•.•.•••.•.•.•.....•••.....•....••.•••••.•.•.•••••••••••••••.••.• 10-5
7 .2.1 When amplifiers are housed in a closed type cabinet ..... .... . 10-5
7.2.2 When amplifiers are housed in an open-air ventilation
cabinet . • . • • • . • . • . . . . • . • . . . . . . . . • . . . • • • • • • • . • • . . • . . • • • • . • • • . . . . • • . • . • . 10-5
8. EXTERNAL DIMENSIONS . . • • . . . • . • • . • . • . • . • . • . . . • . • . . . . • • • • . . • • . . . . . . • • . • • . • • • • • • 10-6
9. CONNECTION . . • . . • • • • • . • . . • . • • • • . • • • • . . . . . . • • . • . . . . . . . • . . • . . . . . • • . • • . . . . • . • • . • . 10-14
9.1 Connection Diagram .••..•..•••.........•...•.•••••••.••••••••••.•.••••••• 10-14

XI. FANUC AG SERVO AMPLIFIER L series

1. GENERAL •...•..•...•....•...•....•••••.•.••.•••••••••..••.••••••.••.•.•.•••.•.•. ll-1
2. CONFIGURATION •...•..•.......•••.....•.•.•.•.....••.•.•••.•.•...•••••••••••••• ll-2
2.1 Types of Units and Specifications .................................. .. 11-3
3. SPECIFICATIONS .............................................................. . 11-5
3.1 Specifications .......................................................... . 11-5
3. 2 Protection and Error Detection Function ........................... .. ll-5
4. POWER TRANSFORMER AND SEPARATE TYPE REGENERATIVE DISCHARGE UNIT •••. 11-6
4.1 Number of Axes and Power Transformer ............................... .. 11-6
4.2 Motors and Power Transformer .......................................... . 11-6
4.3 Separate Type Discharge Unit .......................................... . 11-7
4.3.1 Horizontal move axis •.••.•••••••••••••.•....••........•..•.••.•..•. 11-7
4.3.2 Vertical move axis ................................................. . 11-7
5 • POWER SOURCE .••.•••••...••.•• ." •.....•..•..•..•..•.••••.••.••..••...•••••••••• 11-8
5 .1 Inpu t Power Source .•.••..•.•••....••..••.•••••..•••••••••••••.•.•••.•••.• 11-8
5 • 1.1 Three-phase p ower source ....•....• • . • •.. • •... • ..•.•• • ...•••.•.••••• 11-8
5.1. 2 Sing le-phase 100 VAC powe r sou rce . .. . . .. . . ........ .. .... . .. . .... . 11-9
5 . 2 Capacity of Three- phase Power Source ............................... . 11-10
6 . HEAT LOSS ... • • • .•..•• •.•.•.....• • .• • • • ••. • ••••• • ••.•••.••.. · ••.•••••••••••••• 11-11
7. INSTALLATION CONDITION AND NOTES ...... . ................ . .. . .. . ........ .. 11-12
7.1 Inst a llation Condition •...•.•..•.••.••••.••...•.. . .• • .• • •.. • • • .• • .• . • • . 11-12
7.2 Cautions on In s tallation and Housing ............................... . 11-12
7 . 2.1 Ho used in c losed type cabinet .... ........ . ........ . .... ... ..... .. 11-12
7.2.2 Housed in open air ventilation type cabinet ••. • .••.• . ..... • • • • 11-12
7 .2. 3 Mounting position and other cautions ......................... .. 11-12
8. EXTERNAL DIMENSIONS ..•...• • ••.•.• • .•.•...•.• • ••.•. • •... • .••.••..•..•..•.•.• 11-14
9. CONNECTION ...•..•.••.•••••.••••••••••••••••.. • •.•.• • • • .•.•• • .• •• • • .• • . • •.•.• • 11-2 5
9 .1 Con necti on Diagram •.•.• • ..•••••.•.••••••• • ••....• • .• • •••.•••• • .• • ..•. • .• 11-2 5
9.2 Power Tran s former Connect i ons •.••....•••.••••••••.••.•••••.•••••••••• 11-26

XII. FANUC AC SERVO AMPLIFIER S series (185V INPUT)

1. GENERAL .• • . . .• . .•.•. • .• • • • • • ••.• • • • .••..••.•••••.•••••.••• • ••••••••• • .••• • •. • .. 12-1
2. CONFIGURATION •.•.•.•••••••••• • .•.• • .•.•. • . • . • . • .•.•.. . •..•••.•••••..•••..•... 12-2
2.1 Conf iguration Example •..•...•••••• • •••••.•••...• . .. • .. • .• •• .•.. . ....• • •. 12-2
2.2 Types of Units and Spec ifi c ati o ns . ................................. .. 12-4
3. SPECIFICATIONS ••••••••••••••••••. . .•.. • •.•.••..•...••.• • .• • .•• • •...•..•....•• 12-7
3.1 Specific a ti o ns .•.• • •.••.•....••••.•••••••.•• • . . .•.. • . .• ••••.• • .•.• • . .• ••. 12-7
3.2 Pro t e c t ion and Error Detecti on Func tion ...... .. ................ .. . .. 12-7
4. POWER TRANSFORMER AND SEPARATE TYPE REGENERATIVE DISCHARGE UNIT ••• • 12-8
4.1 Number o f Axes and Power Transformer ................... . ....... . ... .. 12-8
4.2 Motor s and Power Tr ansformer .................. . ........ . .. . .......... .. 12- 8
4.3 Separate Type Discharge Unit ........ . ................................ .. 12-8
5. LINE DRIVER CIRCUIT FOR AG5-0 .......... . . . ........ .. . .... .. . .. . .. . .. . .... . 12-9
5 .1 General •.• . . . .•.•.. • .•. • .•.•...........••.••..• • . • ....•••• • .•..• .• ••••..•.. 12-9
5. 2 Installation Place .••.••• • . . .....• • • • • • ••• • • . • . ...••.••..••.• • •• • ••..••.• 12-9
5. 3 Noi s e Pr e ventive Me a sure . ...... . .......... .... ........... . .. ... .. . .. .. . 12-9

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 6. POWER SOURCE ......•....•...•..•.•.•.•..•...••.•.•..••••••.•..•..•.•••...•.•. 12-10
6.1 Input Power Source ..•.•.••••.•••.•....•.•....•......••..•.•.•..•.•....•• 12-10
6 ,1,1 Three-phase power source • . . • • . • . • • • • . • . . . . • • . . • • . . • . . • . . . • . • . • . • . . 12-10
6.1.2 Single-phase 100 VAG power source ............................... 12-10
6.2 Capacity of Three-phase Power Source ................................ 12-10
7. HEAT LOSS .................................................................... 12-11
8. INSTALLATION CONDITION AND NOTES . . .. . • . • . • • .. . • • . • . • . • • . • . • • . . • . • • • • • • . • 12-12
8.1 Installation Condition ................................................. 12-12
8.2 Cautions on Installation and Housing ................................ 12-12
8.2.1 Housed in closed type cabinet .................................... 12-12
8.2.2 Housed in open air ventilation type cabinet ................... 12-12
8.2.3 Mounting position and other cautions ........................... 12-12
9o EXTERNAL DIMENSIONS ........................................................ 12-13
lOo CONNECTIONS .••••....•...•••..•.•.•••••••••.•.•.•••...•.•..•••••.•••.....•.•.. 12-16
10.1 Standard connection diagram for AGS-0 .. .. .. .. .. • .. .. .. .. .. ... .. • .. .. 12-16
10o2 Standard connection diagram for 30/2000 and 40
(When separate type regenerative discharge unit is employed) ... 12-17
10.3 Power transformer connection .............. ...... o . o . . . . o . . . . . . . . . . . . . . 12-17

APPENDIX

APPENDIX 1 CONNECTION DETAILS OF CABLE •••.••.•••••••••.••••••••••...•....•...• Al-l

1. CABLE Kl (AMPLIFIER COMMAND SIGNAL LINE) ............................... . Al-l
2. CABLE K2 (MOTOR FEEDBACK SIGNAL LINE) ................................. .. Al-2
2.1 Cable K2I (incremental standard pulse coder) ..................... .. Al-2
2.2 Cable K2A (absolute pulse coder) .................................... .. Al-3
2o3 Cable K2S (high resolution pulse coder) ........................... .. Al-4
2o4 Cable K2N (absolute pulse coder) .................................... .. Al-5
2o5 Cable K2I (S-0) (incremental pulse coder for S-0) ................ . Al-5
2.6 Cable K2A (S-0) (absolute pulse coder for S-0) ................... .. Al-6
2o 7 Cable K2N (5-0) (absolute pulse coder for S-0) .................... . Al-6
2.8 Absolute Pulse Coder for Models 2-0SP to 0-0SP .................... . Al-7
2.9 Incremental Pulse Coder for Models 2-0SP to 0-0SP ................ . Al-8
2o10 Serial Pulse Coder A for Model OS or Subsequent Models .......... . Al-9
2oll Serial Pulse Coder A for Models 4-0S to 0-0SP .................... . Al-11
2.12 Serial Pulse Coder C for Model OS or Ensuing Models ••...•••.•.•.• Al-13
2.13 Serial Pulse Coder C for Model 4-0S to 0-0SP .................... .. Al-14
3. CABLE K3 (AMPLIFIER POWER LINE) ....................................... .. Al-15
3 o1 4-0S to 40S/2000 ••••••••••• o • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • • Al-15
3o2 50S to 70S ...•.••..••......••••••••••••••••••••.••.•.•.••.••••.•••••••••• Al-15
4. CABLE K4 (MOTOR POWER LINE) ............................................. . Al-16
5. CABLE KS (MAGNETIC CONTACTOR LINE) .................................... .. Al-18
5 ol Other than Models 50S to 70S ........................................ .. Al-18
5.2 Models 50S to 70S ..................................................... .. Al-18
6. CABLE K6 (REGENERATIVE DISCHARGE RESISTOR LINE) .................... .. Al-19
6.1 Other than Models 50S to 70S .................... o................... .. Al-19
6o2 Models 50S to 70S ..................................................... .. Al-19
7 o CABLE K7 (THERMOSTAT LINE) ••••••••••.....•..•..•.••.•••.••.•..•.••••••.••. Al-20
7.1 Other than Models SOS to 70S ......................................... . Al-20
7.2 Models 50S to 70S ..................................................... .. Al-20
8 o CABLE K8 (CONTROL POWER LINE) .••.•.•••••.•••.•••.••....•..••.••••• o • • • • • • Al-21
9 o CABLE K9 (BATTERY LINE) .•••••••.••••..•..•...••.•••••••••.•.••.••••••.•••• Al-21
9.1 Connection between Relay Unit and Battery Unit ................... . Al-21
9.2 Connection between Battery Unit and ACS-0 Motor .................. . Al-21
lOo CABLE KlO (DISCHARGE RESISTOR UNIT COOLING FAN LINE
FOR 50S to 70S) ............................................................ . Al-22

APPENDIX 2 CABLE ASSEMBLY • • • • . . . • • . . • • . • • . . • . . . • . . . • . • • • • • • . • • • • • • • • . • • • • . • . . . . . . A2-l

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APPENDIX 3 SOFTWARE SERIES AND CORRESPONDING MOTORS • • • • • • • • • • • • • • • . • • • • • • • • A3-l
1. OUTLINE • • • . • • • • • • • • • • • . . • • • • • • • • • • • • • . • • . • • • • . • . • . • • • . • • • • • • • • • • • • • • • • • • • • • • • • • A3-l
2. SOFTWARE SERIES AND CORRESPONDING MOTORS • .. . • .. .. • .. .. .. . .. .. .. .. • .. • • .. A3-1

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I. FANUC AC SERVO MOTOR series
1. GENERAL

The FANUC AC Servo Motor is specially designed for the feed ax1s of machine
tool, and has the following features.
(l) Smooth rotation
The unique magnetic pole form designed to m1n1mlze t orque ripple enables
very smooth rotation by strict current control and precise pulse coder
feedback.
(2) Fast acceleration.
un1que rotor form makes the motor compact and
providing high torque and fast acceleration.
(3) High reliability
The totally enclosed brushless structure with no wearing part permits
inspectionimaintenance free operation.
(4) Built-in high precision detector
The optical encoder (pulse coder) with very small indexing error 1s
built in, permitting high precision positioning.
The pulse coder of 2,000 to 30,000 pulse permits the indexing of 120,000
divisions maximum per motor rotation.
(This value may be limited in some types of NCimotor).
Serial pulse coder A, which features super-high res olution, enables
indexing with a resolution of up to 1,000,000 divisions.
When combined with the flexible feed gear function, serial pulse coder A
enables feeding in units of 0.1 ~m or 0.01 ~m f or almost all feed screw
pitches.

The FJ'.).NUC AC Servo Motor S 1s suitable for controlling general machine

tools, the L series is suitable for high precision po sitioning con.trol of
punch press/PCB drilling machines, and also hollow shaft type T series 1s
available.
The S series 1s available in the type requiring an input transformer~ models
5-0, 30/2000 and 40 and the . type connectable directly to 200 to 230V power
supply, models 4-0S, 3-DS, 2-0s, l-Os, OS, 5S, lOS, 205/1500, 20S, 30S, 4DS,
50S, 60S and 70S.
The SP Series has the same characteristics as the S Series models 2-0S, l-OS,
and 1-0S/3000, but offers superior air-tightness thanks to the newly developed
connector and pulse coder.
The L series is available in models 01, SL, 61, 71 and lOL, that require an
input transformer. The T series is available in models OT/3000, ST/2000,
ST/3000, lOT/2000, and lOT/3000. The F series is available in models SF/3000,
lOF/2000, 20F/2000 and 30F/2000.

2~ PRECAUTIO~JS Of\~ USE

2.1 Installation
The servo motor contains a prec1s1on detector, and is carefully machined and
assembled to provide the required precision. Pay attention to the following
items to maintain the precision and prevent damage to t he detector.
(1) Secure the servo motor uniformly using four bolt holes provided on the
front flange.
(2) The machine mounting surface needs to be sufficiently flat.
(3) When mounting on the machine, take care not to apply a shock to the
motor.
(4) When i_t is un~voidabl.e to tap the motor for adjusting the position,
etc., use a plastic hammer and tap only the front flange if possible.

1-1
2.2 Coupling
A precision de t ec t or is di rectly connected to the servo motor shaft. Pay
atent ion to the f ollowing items to prevent damage to the de tector .
(1) ~fuen connecting the power transmission elements such as a gear, a pulley
and a coupling to the shaft, take care not to apply a shock t o the shaft.
(2) Cenerally, in the case of straight shaft, use a span ring for c onnection
with the shaft.
(3) In the case of tapered shaft, rna tch the tapered surface with the power
transmission element and fix by tightening the screw at the end. When the
woodruff key is too tight, don't tap it with a hammer. Use the woodruff
key mainly for positioning, and use the tapered surface for torque
transmission. Machine the tapered surface of t he power transmission
element so that over 70% of the whole surface is contacted.
(4) To remove t he connected power transmission element, be sure to use a jig
such as a gear puller.
(5) When tapping slightly to remove the tightly contacted tapered surface, tap
in the radial direction to prevent a shock in the axial direction.
( 6) Suppres s t he rotary unbalance of the connected power transmission element
to the level as low as possible. It is usually believed that there is no
problem in the symmetrical form. Be careful when r ota ting continuously
the asymmetrical different form power transmission element. Ev en if the
vibration caused by the unbalance is as small as 0.5G, it may damage the
motor bearing or the detector.

An exclus ive large o il seal is used in the front flange of t he models 0 / 5 and
10/20 /30/40 .
The oil seal surface is made of steel plate. Take care not to apply a force to
the oi l seal when installing the motor or connecting t he pGwer transmission
elements.
2.3 Axis Load
The allowable axis load of the motor shaft lS as follows.

Motor mode Radial load Axial load Front bering (reference)

5-0 4kg - 605

4-0S/3-0S 8kg - 609

2-0S/1-0S 25kg 8kg 6002

0-0SP/2-0SP 25kg 8kg 6003

OS/SS, OL to 6L, 70kg 20kg 6205

SF
lOS to 40, 7L / lOL, 450kg 135kg 6208
lOF to 30F

50S to 70S 900kg 250kg 6312

The above va lues are the reference assum1ng the use as a feed axis on the
typical machine tool.
( 1) The allowable radial load is the value when a load is applied to the
shaft end. It indicates the total continuous force applied to t he shaft
in some methods of mounting (e.g, belt tension) and the force by load
torq ue (e.g., moment /pul ley radius).

1-2
(2) The belt tension is critical particularly when a t1m1ng belt is used.
Too tight belt causes breakage of the shaft or other fault.
(3) In some operation conditons, the pulley diameter and the gear size need
to be checked. For example, when using the model 0 with a pulley/gear
with the radius of 2.5cm or less, the radial load at the occurren~e of
l80kg.cm torque will exceed 70kg. In the case of timing balt, as the
belt tension is added to this value, it is thus necessary to support the
shaft end.
(4) Actually, when using a timing belt, a possible fault like a broken shaft
can be prevented by positioning the pulley as close to the bearing as
possible.
(5) When there is a possibility of a large load, the machine tool builder
needs to examine the life by referring to the shaft diameter, bearing,
etc.
(6) Since the standard single row deep groove ball bearing is used for the
motor bearing, a very large axial load can not be used. Particularly,
when using a worm gear and a helical gear, it is necessary to provide
another bearing.
(7) The motor bearing is generally fixed with a C-snap ring, and there 1s a
small play 1n the axial direction. When this play influences the
positioning 1n the case of using a worm gear and a helical gear, for
example, it is necessary to fix it with another bearing.
2.4 Environment
( 1) The ambient temperature should be 40°C or less. When operating the
machine at a higher temperature, it is necessary to lower the output
power so that the motor temperature does not exceed the specified
constant value.
(2) Any vibration applied to the motor should be SG or less.
(3) Up to 1,000 meters above the sea level requires, no particular provision
for attitude. When operating the machine at a higher level, special
care is unnecessary if the ambient temperature is lowered l°C at every
lOOm higher than l,OOOm. For example, when the machine is installed at
a place of 1, 500 meters above sea level, there is no problem if the
ambient temperature is 35°C or less. For higher temperatures, it is
necessary to limit the output power.

When mounted as recommended, the motor protection type meets the IEC Standard
IP55 (equivalent to JIS C4004-1980 Rotary Electric Machine General Rule JPSS-
Dust/jet-proof type). Note that as this standard defines the short time
performance, consider the following points:
(a) Protect the motor surface from the cutting fluid or lubricant. Use a
cover when there is a possibility of wetting the motor surface. Only
the telescopic cover of the sliding part can not completely prevent
leak age of the cutting fluid. Pay attention to the drop along the
structure body, too.
(b) Prevent the cutting fluid from being led to the motor through the cable.
When the motor connector is used in the up position, put a drip loop in
the c able.
(c) When the motor connector is up, the cutting fluid is collected in the
cable c onnector through the cable. Turn the motor connector sideways or
downward as far a s possible. Most of the defects caused by the cutting
fluid have occurred in the cable connector. When there is a possibility
of fluid on the cable connector , we recommend using a water proof
c onnector such as the R-class one. (The standard MS connector plug can
not prevent the entry of the liquid.)

1-3
When lubricating gears with an oil bath, keep the oil leve l h eight lower than
the oil seal lip of the shaft so that the lip is not exposed to the oi l
splash.
Th e oil seal functions to exhaust the oi l on the s haf t during r otat i on .
However, if oil pressure 1s applied fo r a long time on the motor, the oil will
seep into the mo tor.
When the shaft is up and exposed t o oil, provide another oil sea l in the
machine and pro vide a dra in so that the oil passing through t hat oi l seal
flows outside.
The motor shaft oil seal diameter is as shown below .

Motor mode Oi l seal diameter

4-0 S/3- 0S </> 9mm

2-0S/1-0S </> 15mm

2-0SP/1-0SP ¢ lSmm

OS /SS, OL to 6L ¢ 24mm

lOS to 40, 7L/ 10L </> 35mm

lOF to 30F <P 38mm

sos to 70S ¢ 55mm

2.5 Acceptance and Storage

When the servo motor is delivered , check the following items.
The motor meets the specifications.
(Specifications of the model/shaft/detector)
Damage caused by the transportation.
The shaft is normal when rotated by hand.
The brake wo r ks .
Loos eness or play in screws.

FANUC servo moto r s are completely checked before shipment, and the ins pection
at acceptanc e is normally unnecessary. When an inspection is required, chec k
the specifications (wiring, current, voltage, e tc.) of the motor and detector.
Store the motor indoors. The storage temperature is -20°C to +60°C. Avoid
storing in the following places.
Place with high humidity so condensation will form.
Place with extreme temperature changes.
Place always expose d to vibration.
(The bearing may be damaged,)
Pla ce with much dust.

1-4
3. INSTRUCTIONS

3.1 Drive Shaft Coupling

There are four methods f or connecting the motor shaft to the ball screw:
Direct connection through a flexible coupling
• Direct connection through a rigid coupling
• Connection through gears
• Connection through timing belts
It is i mpo rtant to understand the advantages and disadvantages of each method,
and sel ec t one that is most suitable for the machine.
1) Direct connection using a flexible coupling
Dire ct connection by a flexible coupling has the f ollowing advant ages over
connection using gears:
Even if the angle of t he motor shaft t o the ball screw cha nges , it can
be compensated to a certain ex tent.
Because a flexible coupl i ng connects elemen ts wi th less backlash ,
dr ivi ng no ise from j oint s can be significantly suppressed.
However, thi s me t hod has the following disadvantages:
The motor shaft and the ball screw mus t not s l ide from each other 1n the
radial direction (for single coupling).
Loose assembly may re sult in lower rigidi ty .
Wh en the motor shaft,--~needs to be connected direc t ly to t he ball screw,
connecting them using a flexible coupling facilitates a d justment and
installation of the motor.
To use a single coupling, the machine needs to be designed so that the
centers of the motor shaft and the ball screw are aligned.
If it is difficult to align the centers, a double coupling n eeds to be
e mployed.

Flexible coupling Ball screw

/ Flexible coupling

Motor shaft

\ L<lcking element ocking element

2) Direct connection using a ri gid coupling

Dire ct connection using a rig i d coupling has the fol lowi ng a dvan tages over
dire ct connection using a flexibl e coupling:
More e c onomical
The coupling r i gi di ty can be incr eased.
If the r igidity is t he same as with a flexible c oupling, the in~rtia can
be reduced.
However, this method has the fo l lowing disadvantages:

1-5
 The motor shaft and the ball screw must not slide from each other in the
radial direction, and the angle of the motor shaft to the ball screw
must be fixed.
For this reason, a rigid coupling needs to be mounted very carefully.
It is desirable that the run-out of the ball screw is 0.01 mm or less.
When a rigid coupling is used on the motor shaft, the run-out of the hole
for the ball screw must be set to 0.01 mm or less by adjusting the
tightness of the span ring.
The run-out of the motor shaft and the ball screw in the radial direction
can be adjusted or compensated to a certain extent by deflection. Note,
however, that it is difficult to adjust or measure changes in the angle.
Therefore, the structure of the machine should be such that precision can
be fully guaranteed.

3) Gears
This method is used when the motor cannot be put in 1 ine with the ball
screw because of the mechanical interference problem or when the reduction
gear is required in order to obtain large torque. The following attention
should be paid to the gear coupling method:
o Grinding finish should be given to the gear, and eccentricity, pitch
error, tooth-shape deviations etc. should be reduced as much as possible,
Please use the JIS, First Class as a reference of precision.
o Adjustment of backlash should be carefully performed. Generally, if
there is too little backlash, a high-pitched noise will occur during
high-speed operation, and if the backlash is too big, a drumming sound
of the tooth surfaces will occur during acceleration/deceleration.
Since these noises are sensitive to the amount of backlash, the
structure should be so that adjustment of backlash 1s possible at
construction time.

Servo motor Servo motor

Oil seal
Locking element

4) Timing belt
A timing belt 1s used in the same cases as gear connection, but in
comparison, it has advantages such as low cost and reduced noise during
operation, etc. However, it is necessary to corectly understand the
characteristics of timing belts and use them appropriately to maintain high
precision.
Generally, the rigidity of timing belt is sufficiently higher than that of
other mechanical parts such as ball screw or bearing, so there is no danger
of inferiority of performance of control caused by reduction of rigidity by
using timing belt. When using a timing belt with a pos1t1on detector on
the motor shaft, there are cases where poor precision caused by backlash of

1-6
 the belt tooth and pulley tooth, or elongation of belt after a long time
becomes problem, so consideration should be given to whether these errors
significantly affect precision. In case the position detector is mounted
behind the timing belt (for example, on the ball screw axis), a problem of
precision does not occur.
Life of the timing belt largely varies according to mounting precision and
tension adjustment. Please refer to the manufacturer 1 s Instruction Manual
for correct use.
5) Connection between the straight snaft and a connecting element
To use a straight shaft that has no key groove, connect the shaft with a
coupling using a span ring.
Because the span ring connects elements by the friction generated when the
screw is tightened, it is free from backlash and the concentration of
stress. For this reason, the span ring is highly reliable for connecting
elements.
To assure sufficient transmission with the span ring, factors such as the
tightening torque of the screw, the SlZ;e of the screw, the number of
screws, the clamping flange, and the rigidity of connecting elements are
important. Refer to the manufacturer 1 s specifications before using the
span r1ng.
'1-Jhen a coupling or gear is mounted using the span ring, tighten the screws
to remove a run-out of the coupling or gear including the shaft.
3.2 Machine Movement per 1 Revolution of Motor Shaft
The machine movement per l revolution of motor shaft must be determined at the
first stage of machine design referring the load torque, load inertia, rapid
traverse speed, and relation between minimum increment and resolution of the
position sensor mounted on the motor shaft. To determine this amount, the
following conditions should be taken into consideration.
0 The machine movement per l revolution of motor shaft (' 1L11 ) must be such
that the desired rapid traverse speed can be obtained. For example, -if the
maximum motor speed is 1500 rpm and the rapid traverse speed must be 12
m/min., the amount of 11 L11 must be 8 mm/rev. or higher.
o As the machine movement per 1 revolution of motor shaft is reduced, both
the load torque and the load inertia reflected to motor shaft also
decrease.
Therefore, to obtain large thrust, the amount of 11 L11 should be the lowest
value at which the desired rapid traverse speed can be obtained.
o Assuming that the accuracy of the reduction gear is ideal, it is
advantageous to make the machine movement per 1 rev. of motor shaft as low
as possible to obtain the highest accuracy in mechanical servo operations.
In addition, minimizing the machine movement per l rev. of motor shaft can
increase the servo rigidity as seen from the machine's side, which can
contribute to system accuracy and minimize the influence of external load
changes.
o If the machine is to accelerate and decelerate frequently, and the heat
generated must be minimized, the machine movement per 1 rev. of motor shaft
should be such that the motor rotor inertia will be equal to the load
inertia reflected to motor shaft. There may be some cases in punch press
or printed circuit board drilling machine applications where this optimal
condition can not be satisfied due to the limitation caused by the rapid
traverse speed. Even then, the amount 11 L11 should be as close to the
optimal value as possible.
o If the motor shaft has a position sensor, the machine movement per 1 rev of
motor shaft is limited by the sensor and NC specifications, For farther
details, refer to the manuals of each NC.

1-7
 When the flexible feed gear function of the NC is used, the machine travel
per motor ro t ation can be selected from a wider range.
Because the flexible feed gear function rounds off fractions, a position
detector whose resolution is sufficient to minimize the effect of fractions
needs to be used.

4. SELECTING A MOTOR

When selecting an applicable motor, the load, rapid traverse feedrate,

increment system, and other conditions must be considered. This section
describes how to calculate the load and other conditions, showing an example
of a table with a horizontal axis.
A motor is subjected to two types of load: load torque (including friction)
and load inertia. Calculate the two loads accurately and select a motor that
satisf i es the following conditions:
Condition CD When the machine is operating without any load. the torgue 1s
lower than or equal t o the continuous torque rating.
If the rated torque is exceeded because of an increase in the
friction coefficient when the machine tool is stopped or operated
at an extremely low speed, the motor may be overheated by the
current flowing when the machine tool is stopped. If the rated
torque is exceeded due to viscosity when the machine tool is
operated at a high speed, a sufficient acceleration torque may not
be obtained, resulting in need for a considerable increase in the
acceleration time constant. (It would appear that no current
flows through the motor when the machine tool stops. Actually,
however, a current continuously flows to balance the torque with
the friction produced at a low speed.)
Condition ® Acceleration can be made with a desired time constant.
Generally, the load torque helps deceleration. If acceleration
can be executed with a desired time constant, deceleration can be
made with the sqme time constant. Calculate the acceleration
torque and check that the torque required for acceleration is
within the intermittent operating zone of the motor.
Condition (D The frequency of positioning in rapid traverse is set to a desired
val ue.
The greater the frequency of positioning in rapid traverse, the
greater the ratio of acceleration time to the entire operation
time. This may overheat the motor. When the acceleration time
constant is increased according to the rapid traverse feedrate and
pos1t1oning frequency constant, the amount of produced heat
decreases in inverse proportion to the acceleration time constant.
Condition GDif the load condition varies during a single cycle, the root-mean-
square value of the torques is smaller than or equal to the rated
torque.
Condition CDThe time for which the table can be moved with the maximum cutting
torque (percentage duty cycle and ON time) is within a desired
range.
The procedure for selecting a motor is described below:

1-8
4.1 Calculating Conditions for Selecting a Motor
This section describes the proc edure for selecting a servo motor best suited
for a table with a hor izontal axis (figure below).

Sample mechanical specifications of the table and workpiece

w: Weight of movable parts (table and workpiece) (kgf) = 1000 (kgf)
~: Frict ion coefficient of the sliding surface 0.05
r; : Efficiency of the driving system (including a ball screw) = 0.9
fg: Gib fastening force (kg£) = 50 (kgf)
Fe: Thrust counterforce caused by the cutting force (kgf) = 100 (kgf)
Fcf: Force by which the table is pressed against the sliding surface, caused
by the moment of cutting force (kg£) = 30 (kg£)
Gear reduction ratio = 1/1

Sample specifica tions of the feed screw (ball screw)

Db: Shaft diameter = 32 (mm)
Lb: Shaft length = 1000 (mm)
P: Pitch = 8 (mm)

Sample specifications of the operation of the-motor shaft

Ta: Acceleration torque (kgf.cm)
Vm: Motor speed in rapid traverse (min-1)= 3000 (min-1)
ta: Acceleration time (s) = 0.10 (s)
JM: Motor inertia (kgf.cm.sec2)
JL: Load inertia (kgf.cm.sec2)
ks: Servo position loop gain (sec-1) 30 (sec-1)

4.1 .1Calculating the load torque and load inertia

1) Calculating the load torque
The load torque applied to the motor shaft 1s generally given by the
following equat ion :
FX L

Tm: Load torque applied to the mo tor shaft (Nm)

F: Force required to move a movable part (table or tool post) along the
axis (kg£)
L: Traveling distance of the machine tool per revolution of the mo to r = P x
(Zl/Z2) = 8 (mm )
Tf: Fri ction torque of the nut of the ball screw or bearing applied to the
motor shaft = 2 (Nm)

1-9
F depends on the weight of the table, friction coefficient, whether cutting 1s
in progress, and whether the axis is horizontal or vertical. If the axis is
vertical, F also depends on the presence of a counterbalance. For a table
with a horizontal axis, F is calculated as follows:
When cutting is not execu ted : F = ~ (W + fg)
Exampl e) F = 0.05 X (1000 + SO) ::; 52.5 (kgf)
Tm = (52.5 X 0. 8)/(2 X 7C X 0.9) + 2 = 9.4 (kgf.cm ) 0.9 ( Nm )
When cut ting is in progress: F =Fe + ~ (W + f g + Fcf)
Example) F = 100 + 0.05 X (10 00 + 50 + 30) = 154 (kgf)
Tmc = (154 X 0.8)/(2 X rc X 0.9) + 2 = 21.8 (kgf.cm) = 2.1 (Nm)

To satisfy condition CD, check the data sheet and sel ect a motor whose load
torque (rated t orque at stall) when cutting is not executed is 0.9 (Nm) or
higher and the maximum speed is 3000 (min-1) or higher. Considering the
acceleration/ deceleration conditions, provisionally select 1-0SP/3000 ( rated
torque at stall is 2.0 (Nm)).
Note) When calculating the torque, take the following precautions:
CD Allow for t he friction torque caused by the gib fast ening force (fg).
The torque calculated only from the we ight of a movable part and the
friction coefficient is generally quite small. The gib fastening
force and precision of the sliding surface may have a great effect on
the torque.
GD The pre-load of the bearing or nut of the ball screw, pre-tension of
the screw, and other factors may make Fe of the rolling contact
considerable. In a small, lightweight machine tool, the friction
torque will greatly affect the entire torque.
Q) Allow for an increase in friction on the sliding surface (Fcf) caused
by the cutting resistance. The cutting resistance and the driving
force generally do not act through a common point as illustrated
below. When a large cutting resistance is applied, the moment
increases the load on the sliding surface.
When calculating the torque during cutting, allow for the friction
torque caused by the load.

Cutting force

@ The feedrate may cause the friction torque to vary greatly. Obtain
an accurate value by closely examLn1ng variations in friction
depending on variations in speed, the mechanism for supporting t h e
table (sliding contact, rolling contact, static pressure, e tc .),
material of the sliding surface, lubricating system, and other
factors.
~ The friction torque of a single machine varies widely due to
adjustment conditions, ambient temperature, and lubricatio n
conditions. Collect a great amount of measurement data of identical
models so that a correct load torque can be calculated. When
adjus ting t he gib fastening force and backlash, monitor the friction
torque. Avoid generating an unnecessarily great torque.

1-10
2) Calculating the load inertia
Unlike the load torque, an accurate load inertia can be obtained just by
calculation. The inertia of all objects moved by the revolution of a
driving motor forms the load inertia of the motor. It does not matter
whether the object is rotated or moved along a straight line. Calculate
the inertia values of individual moving objects separately, then add the
values together, according to a rule, to obtain the load inertia. The
inertia of almost all objects can be calculated according to the following
basic rules:

CD Inertia of a cylindrical object (ball screw, gear, coupling, etc.)

---t-t-iJ D (em) l
I~ L (em)
.I
The inertia of a cylindrical object rotating about its central axis lS
calculated as follows:
rry
J =
32X 980
J: Inertia (kgf.cm.s2)
y: Weight of the object per unit volume (kg/cm3)
Db: Diameter of the object (em)
Lb: Length of the object (em)
If the object is made of steel (y = 7.8xlo-3 kg/cm3), an approximation
of the inertia is:

Example) When Db is 32 (mm) and Lb is 1000 (mm), inertia Jb of the shaft

of a ball screw is calculated as follows:
Jb = 0.78xlo-6x3.24XlOO = 0.0082 (kg.cm.s2)

@ Inertia of a heavy object moving along a straight line (table 1 work-

12iece 1 etc.2

w L 2
J = x( ) (kg£. em. s2)
980 2rr
W: Weight of the object moving along a straight line (kg)
L: Traveling distance along a straight line per revolution of the
motor (em)

Example) When W is lOOO(kg) and L lS 8(mm), Jw of a table and workpiece

is calculated as follows:
Jw ~ 1000+980x(0.8+2+rr) 2 = O.Ol65(kgf.cm.s 2 )

l-11
(D Inertia of an object whose speed 1s increased above or decreased below
the speed of the motor shaft

The inertia applied to the motor shaft by inertia Jo is calculated as

follows:

J
Zl-
=(-Z- )2 X Jo
(kg£. em. s2)
2
Jo: Inertia before the speed is changed (kgf.cm.s2)

@ Inertia of a cylindrical object in which the center of rotation 1s

displaced

rotation

M
J = Jo + X &2 (kgf.cm.s2)
980
Jo: Inertia around the center of the object (kgf.cm.s2)
M: Weight of the object (kg)
R: Radius of rotation (em)

The above equation is used to calculate the inertia of, for example, a
large gear which is hollowed out in order to reduce the inertia and
weight.
The sum of the inertia values calculated above is J (load inertia) for
accelerating the motor.
In this example, the sum of Jb and Jw obtained in CD and ® above is
load inertia JL.
JL = 0.0082 + 0.0165 = 0.0247 (kgf.cm.s2)

1-12
 Note) Limitations on load inertia
The load inertia has a great effect on the controllability of the
motor as well as the time for acceleration/deceleration in rapid
traverse. When the load inertia is increased, the following two
problems may occur: When a command is changed, it takes more time
for the mot or t o reach the speed specified by the new command.
When a machine tool is moved along two axes at a high speed to cut
an arc or curve, a larger error occurs.
When the load inertia is smaller than or equal to the rotor
inertia of the motor, those problems will not occur. When the
load inertia is up to three times the rotor inertia, the
controllability may have to be lowered a little. Actually, this
will not adversely affect the operation of an ordinary metal
cutting machine. If a router for woodworking or a machine to cut
a curve at a high speed i s used, it is recommended that the load
inertia be smaller than or equal to the rotor inert ia.
If the load inertia much larger than three times the rotor
inertia, the controllability will be lowered significantly. If
the load inertia much larger t han three ti mes the rotor inertia,
an adjustment in the normal range may be insufficient. Avoid
using a machine with such a great load inertia. If the machine
design does not allow a smaller load inertia, contact a FANUC
engineer.

4.1.2 Calculating the acceleration torque

Following the procedure described below, calculate the torque required for
acceleration:
1) Assumin g that the motor shaft operates ideally in the
acceleration/d eceleration mode determined by the NC, calculate the
acceleration. Multiply t he acceleration by the entire inertia (motor
inertia + load inertia). The product is the acceleration torqu e. The
equat io n is given below.
(Q In linear acceleration/deceleration

Speed Torque
! Command

Operation of the motor

Time Speed

Speed variation Acceleration required to achieve the speed

1- 13
 Vm 1
Ta = X 2n: X X Jm X (1-e-ks.ta)
60 ta
Vm 1
+ X 2n: X X JL X (l-e-ks. ta) r;
60 ta

Vr = Vm x {r 1 - 1

ta.ks
(l-e-ks • ta )}

Ta: Acceleration torque (kgf.cm)

Vm: Motor speed in rapid traverse (min-1)
ta: Acceleration time (sec)
JM: Motor inertia {kgf.cm.sec2)
JL: Load inertia (kgf.cm.sec2)
Vr: Point from which the acceleration torque starts to decrease
(difference from Vm) (min-1)
k~: Servo position loop gain (sec-1)
r;: Machine tool efficiency

Example) When 1-0SP/3000 is used, the load inertia is calculated as

follows. JM motor inertia is 0.0061 (kgf.cm.s2), Vm is 3000
(min-1), ta is 0.1 (s), ks is 30 (sec-1), and JL = 0.0247
(kgf.cm.s2).
3000 1
Ta = X 2n:X X 0.0061 X (1-e-30>'<0 .1)
60 0.1
3000 1
+ X 2rr X X 0.0247 X (l-e-30*0 .1) .,. 0.9
60 0.1
= 100.1 (kgf.cm) = 9.81 (Nm)
Torque(Nml Torque (Nm)
s ------~----~----~ 20

6 ~----~----~------1 15 ~-- L - - t
1-..

--,.....-----
4~----~-----+--~_, 10
13. 9 (Nm)
....__ ""
1
2049 Jmin- 1 )
5
I

0~----~----~----~ 0 I
0 1000 2000 3000 Spe ed (min·l) 0 1000 2000 3000 Speed (min· 1)

Speed-torgue characteristics of Speed-torgue chara cteristics of OS

1-0SP/3000

The speed-to rque characteristics of l-OSP/3000 show that the

acceleration torque of 9.81 (Nm) is beyond the intermittent operati ng
zone of 1-0SP/3000 (see the characteristic curve above and data sheet) .
(The torque is insufficient for 1-0SP/3000.)
If the operation specifications of the shaft (for instance , the
acceleration time) cannot be changed, a larger motor must be selected.
Select .an OS (JM is 0.02 (kgf.cm.s2)) and calc ulate the acceleration
torque again.

l-14
 Ta = 141.6 (kgcm) = 13.9 (Nm)
Vr = 2049 (min-1)
In acceleration, an acceleration torque of 13.9 (Nm) is required at 2049
(min-1). The speed-torque characteristic curve shown above shows that
the acceleration is possible with OS.
As 1-0SP/3000 is changed to OS, the size of the attachment flange is
increased from 90 mm x 90 mm to 130 mm x 130 mm. If the machine tool
does not allow a larger motor, the specifications must be changed. For
example, the acceleration time must lengthen.

GQ When acceleration/deceleration is not controlled

Speed Torque
Command

Ta
/I
I
! Operation of the motor
I
L-4-------------------~>- Speed
Time Vm

Assume these equations.

Vm 1 1
ITa = 60
X 2n: X
ts
(Jm + JL), ts =
ks

2) To obtain T (torque) required by the motor shaft, add Tm (friction torque)

to Ta acceleration torque.

Ira= Ta + Tm
T = 13.9 (Nm) + 0.9 (Nm)
= 14.8 (Nm)
3) Check that T obtained in (2) above is smaller than or equal to the torque
lirni t determined by the amplifier. Using the speed-torque characteristic
curve on the data sheet of the corresponding motor, check that T obtained
in (1) above is within the intermittent operating zone at Vr.
As Vr is 2049 (rnin-1) and T is 14.8 (Nm), the acceleration is possible with
the specified time constant (condition QD).

1-15
4.1.3 Calculating the root-mean-square value of the torques
(1) Calculating the frequency of positioning in rapid traverse
Generate an operation cycle which includes rapid traverse. Write the speed-
time graph and torque-time graph as shown below.
In a common cutting machine~ the frequency of positioning in rapid traverse
will cause no problems. In a special machine tool which frequently executes
rapid traverse, however, the motor must be checked to see whether it ~s
overheated by the current required for acceleration or deceleration.

Speed A Torque!

r- .Ta+Tf .....--

I
I
Tf
-
Time
I
I ra-HUiro Time

t II . ~2 tl b tI t2 ltll tJ

!~
I I i
to to
a-1 I

From the torque-time graph, obtain the root-mean-square value of torques

applied to the motor during the single operation cycle. Check whether the
value is smaller than or equal to the rated torque (condition (D).

Trms
to
Ta Acceler-ation torque
Tm Friction torque
To Torque when stopped

If Trms is smaller than or equal to the rated torque at stall (Ts), the motor
can be used.

Example) When an OS (Ts = 30 (kgfcm) = 2.9 (Nm)) is used under the following
conditions: Ta = 13.9 (Nm), Tm = To = 0.9 (Nm), tl = 0.1 (s), t2 =
1.8 (s), t3 = 7.0 (s)

(13. 9+0. 9 ) 2 X 0.1 +0. gZ X 1. 8+(13, 9-0,9) z X Q.1 +0, 9 2 X 7

Trms =
9
= 2.26(Nm) < Ts=2.9(Nm)

The OS can be used for operation. (Condition (D)

1-16
(2) Calculating the torgue in a cycle in which the load varies
If the load conditions (cutting load, acceleration/deceleration condition s,
etc.) vary widely in a single cycle, write a torque-time graph accord ing to
the operation cycle, as in (1) above. Obtain the root-mean-square val ue of
the torques and check that the value is smaller t han or equal to the r ated
torque (condition~).

nl·
lh' t nltJ ,.
J3
T;
;:.

;)II
i:t rlI
l j •
t
l ~
I
'
> ! •
t3 I t .1• ts I
~I o
..., I
j I I I

i
~ t0
~
to = t1 +tr········+ tn

T2ltl+T22t2+T33t3+ ••••••···· +T2ntn

Trms
to
to=t 1+t 2 +tn

4.1.4 Calculating the percentage duty cycle with the maximum cutting torque
Check that the time for which the table can be moved with the maximum cutting
torque, Tmc, (percentage duty cycle and ON time) is within a desired range of
cutting time. (Condition @) -
If Tmc (maximum load torque) applied to the motor shaft during cutting, which
is obtained in 4.1.1, is smaller than the product of rated torque at stall of
the motor (Tc) and a (thermal efficiency), the motor can be used in continuous
cutting. If Tmc is greater than the product (Tmc > Tc X a), follow the
procedure below to calculate the percentage ratio of time (toN) Tmc can be
applied to the motor to total time (t) of a single cutting cycle. (a 1s
assumed to be 0.9. Calculate the percentage considering the specifications of
the machine.)
Tmc < Tc x a Operation can be continued with the maximum cutting
torque. (The percentage duty cycle with the maximum
cutting torque is 100%.)
Tmc > Tc X a • • • Calculate the percentage duty cycle, according to t he
following figure and expressions.

Example) As calculated in Section 4.1.1,

Tmc = 21.8 (kgfcm) = 2.1 (Nm)
OS: Tc = 30 (kgfcm) = 2.9 (Nm)
2.9 x 0.9 = 2.6 (Nm) > 2.1 (Nm) = Tmc
No problems wil l occur in continuous cutting.

1-17
Calculating the percentage duty cycle with the maximum cutting torgue

Torque
Maximum cutting torque (Tmc)

ON
.. Time

1~~~------t~-----~1
toN Time max1mum cutting torque (Tmc) is applied
toFF Time no cutting torque is applied
t Maximum time of a single cutting cycle

Calculate the root-mean-square value of torques applied in a single cutting

cycle as described in Section 4.1.3. Specify toN and toFF so that the value
does not exceed the product of rated torque at stall of the motor (Tc) and
thermal efficiency (a). Then, calculate the percentage duty cycle with the
maximum cutting torque as shown below.
t
Percentage duty cycle with the maximum cutting torque (Tmc) = ___Q!!_x 100 (%)
T

Example) Assume that Tmc is 4.0(Nm) (Tm = 0.9(Nm)).

< 2.6(Nm)

Therefore,
toN 1
<
toFF 1.6

The ratio of non::.cutting time to cutting time must be 1.6 or greater. The
percentage duty cycle ii calculated as follows:
toN
xlOO = 38.5%
2.6toN
Finally, the OS that satisfies conditions CD to ~ is selected.

4.2 Precautions for Using Linear Scale

In the case where the machine moves 1n a linear direction and movemen,t is
directly detected by linear scale such as inductosyn, magne-scale etc.,
special considerations are necessary in comparison with the method where
feedback is produced by detecting the motor shaft rotation. This is because
the machine movement now directly influences the characteristics of the
control system.

1-18
 ,.
1) Machine system natural frequency
Linear scale

Tacho generator

i
I
~r-----,
Position 1--+---'-~ Servo
control amplifier
circuit

----+--·_j
This method is shown in the figure above by block diagram. The response of
this control system is determined by the adjustment value (position loop
gain) of the position control circuit. In other words, the position loop
gain is determined by the specified response time of the control system.
In the diagram above, the section enclosed by the broken line is called the
velocity loop. Unless the response time of this section where position
signal is detected is sufficiently shorter than the response time
determined by the position loop gain, the system does not operate properly.
In other words, when a command signal is put into point A, response time of
the machine where pos~t1on signals are detected must be sufficiently
shorter than the response time defined by the position loop gain.
When the response of the detector section is slow, the position loop gain
must be redu~ed to have the system operate normally, and as a result, the
response of the whole system is slow. The same problem is caused when
inertia is great (see section 3.3, item 5)).
The main causes for slow response are the mass of the machine and the
elastic deformation of the machine system. The larger the volume, and the
greater the elastic deformation, the slower the response becomes.
As an index for estimating the response of this machine system, the natural
frequency of the machine is used, and this is briefly calculated by the
following equation.

l
w (Hz)
21T

w : Natural frequency (Hz)

J£: Lo ad inertia reflected to motor shaft (kgf-cm-s2)

Km: Rigidity of machine system (kgf-cm/rad)

Torque necessary to elastically deform l rad at the motor shaft
when the machine table is clamped.

The above values can be obtained by calculating the elastic deformation for
each section of the driving system. If the value of this natural frequency
(Hz) 1s more than the value of position loop gain (see-1), it operates
normally in most cases. That is to say, when setting 20 sec-1 as the value
of position loop gain, natural frequency of machine system must be more
than 20 Hz. In this case, attention must be paid to the fact that response
becomes a problem for extremel y small amounts of movement.
Consequ~ntly, the natural frequency should be calculated from the rigidity
at extremely small displacement such as less than 10 pm.

1- 19
2) Stick slip
If machine movement causes a stick slip, the control system does not
operate normally. That is, it does not stop where it is supposed to, but a
phenomenon occurs where it goes beyond and then back within an extremely
small range (hunting). To avoid stick slip, the machine rigidity should be
increased, or friction characteristics of the sliding surface should be
improved. When the sliding surface friction characteristic is as in the
figure below, stick slip occurs easily.
Friction coefficient

/Proper friction characteristic

-- -- Friction characteristic which causes stick slip

L------------- Speed

3) Value of machine overrun (Damping coefficient of machine system)

When the machine is floated by static pressure, etc., there are cases where
the machine keeps on moving within the range of backlash although the motor
shaft has stopped. If this amount is large, hunting will also occur. To
avoid this, backlash should be reduced (especially the backlash of the last
mass where position detector is mounted) and the appropriate damping should
be considered.

4.3 Motor Selection

Select a suitable motor according to the load condition, rapid traverse rate,
increment system, and so on. To aid in selecting the correct motor, fill out
the "servo motor selection data table" at the end of this section.
Fill in blanks of machine tool data items (No. 1, 2 and 3) of this table with
necessary data, and send this table to our representative.
The representative will fill in blanks of item No. 4 to 8 with suitable data
of motor and send this table back.
Details of each item in this selection data table are as described 1n
paragraph 3.6.1.

4.3.1 Blanks tor those other than data

1) Address blank
Fill in this blank with machine tool builder's company name. However, this
entry is not always needed.
2) Kind of machine tool
Fill in this blank with a general name of machine tools, such as lathe,
milling machine, machining center, and others.
3) Type of machine tool
Fill in this blank with the type of machine tool decided by machine tool
builder.
4) CNC equipment
Fill in this blank with the name of CNC (1ST, 16M, 10M, OM, etc.) employed.
Enter the cabinet type (self-standing type, separate type, etc.) 1n
parentheses.
5) Spindle motor output
Fill in this blank for reference when examining the servo motor output.
6) Names of axes
Fill in this blank with names of axes practically employed in NC command. If
the number of axes exceeds 4 axes, enter them in the second sheet.
If names of axes other than entered X, Y, Z are used, delete these entered
symbols with 11 / / " , and write correct names of axes aside.

1-20
7) Blanks of version number, date, name, and reference number.
These blanks are left blank by the MTB.

4.3.2 Data
Machine tool builders are requested to fill·in data blanks No. 1, 2, 3. Fill in
No. 4 items and higher blanks with decided values or desired values, if any,
from the viewpoints of specifications.
If these values are unknown or undecided, the representative will decide these
values according to the contents in item No. 1, 2, and 3. So leave them
blank.
For details of entry contents, refer to the following description.
1) No. 1 blank
Data in this blank are used for determining approximate values of motor load
conditions (inertia, torque). Fill in blanks of all items.
a) P~is movement direction
Enter the movement directions of driven parts such as table, tool post,
etc. Write the angle from the horizontal level, if their movement
directions are slant (Example: Slant 60°)
Whether their movement directions are horizontal or vertical (or slant) is
necessary for calculating the regenerative energy. Fill in this blank
.vithout fail.
b) Weight of driven parts
Enter the weight of driven parts, such as table, tool post, etc. by the
maximum value including the weight of workpiece, jig, and so on. Do not
include the weight of the counter balance in the next item in this item.
c) Counter balance
Enter the weight of the counter balance in the vertical axis, if provided.
Write the force in case of hydraulic balance.
d) Table support
Enter the type of table slide as to rolling, sliding, or static pressure
type. If a special slide way material like Turcite is used, note it.
e) Feed screw
Enter the diameter, pitch, and axial length of the lead screw ~n order.
Example: ¢40 x 10 x 1500 (when the diameter is 40 mm, pitch lS 10 mm,
and axial length is 1500 mm)
f) Total gear ratio
Enter the gear ratio between the ball screw and the servo motor, gear
ratio between the final stage pinion and the servo motor in case of the
rack pinion drive, or gear ratio between the table and the motor in case
of rotary table.
2) No. 2 blank
Data in this blank serve as the basis for selecting the motor. Enter these
data correctly. For details of calculating methods of respective items,
refer to para. 3.2 to 3.4.
a) Movement per rotation of motor
Enter the movement of the machine tool when the motor rotates one turn.
Example: * When the pitch of ball screw is 12mm and the gear ratio
is 2/3,
12 x 2/3 "' 8 mm
* When the gear ratio is 1/72 in rotary table;
360 x l/72 "' 5 deg
b) Least input increment of CNC
Enter the least input increment of NC command. The standard value ~s
0.001 mm in Series O, 15, 16 and 18 CNCs.
c) Rapid traverse rate and cutting feedrate
Enter the rapid traverse rate and cutting feedrate required for machine
tool specifications.

1-21
 d) Inertia
Enter a load inertia value reflected to the motor shaft. For details of
this calculation, see para. 3.4.
It is not always necessary to enter this inertia value in detail.
Enter it as a 2-digit or 1-digit value.
(Example: 0.2865 + 0.29 or 0.3)
Do not include any inertia of the motor proper in this value.
e) Load torque
• Since the torque produced in low speed without cutting may be applied
even during the stop of motor, a sufficient allowance is necessary as
compared with the continuous rated torque of the motor. Suppress this
load torque to be lower than 60% of the rated torque.
• For the torque during rapid traverse, enter the torque during
traveling at rapid traverse steady-state speed.
Keep this value within the continuous rating. Do not include any
torque required for acceleration/deceleration in this item.
• For the cutting torque, enter the maximum value of the force being
applied during cutting by the force in the feed axis direction.
• For the maximum cutting torque, enter the torque value on the motor
shaft corresponding to the maximum value of the above cutting thrust.
Since the torque transfer efficiency may substantially deteriorate to a
large extent due to the reaction from the slide way, etc. produced by
the cutting thrust, obtain an accurate value by taking measured values
in similar machine tools and other data into due account.
• If the load torque values differ during lifting and lowering in the
vertical axis, enter both values.
£) Maximum cutting duty/ON time
Enter the duty time and ON time with the maximum cutting torque in (e)
applied. These values mean as follows.

Torque
~I E Maximum cutting torque

II,-------,1 I I
ON OFF -Time
! t

l T

ON : Time the maximum cutting torque is being applied

OFF: Time absent from the cutting torque
Duty = t/T x 100 (%)
ON time = t (min)
g) Rapid traverse positioning frequency
Enter the rapid traverse positioning frequency by the number of times per
minute. This value is used to check if the motor is overheated or not by
a flowing current during acceleration/deceleration or to check the
regenerative capacity of the amplifier.
3) No. 3 blank
Data in this blank are necessary for examining the stability of the servo
system when the position detector is attached outside the motor. Enter
these data without fail when the servo system is constructed using a linear
scale.

1- 22
 a) External position detector
If the position detector is mounted outside the motor, enter the name of
the detector. Enter the following items in the "remarks" column, if a
rotary detector such as resolver, pulse coder, or the like is used.
* Resolver Move amount of machine tool per revolution of resolver
Number of wave lengths per revolution of resolver
* Pulse coder: Move amount per rotation of pulse coder
Number of pulses of pulse coder
b) Rigidity of feed system machine tool ,
Enter the relation between the torque and the displacement when the
torque is applied to the motor shaft, assuming that the final driven
part like the table has been fully locked. Fill in this value as a
torque value required for the angular displacement of 1 radian.
Example: If displacement of 5 deg. at 500 kgf-cm torque as a calculation
results,

500 180
Rigidity = ---- x --TI- = 5730 kgf-cm/rad
5
If the relation between the displacement and the torque is nonlinear,
calculate the rigidity by the gradient in the vicinity of origin.

Torque t
kgf·cm

T
T --------- Rigidity = - (kgf·cm/rad)
e

e Displacement (rad)

c) Backlash amount
Enter the backlash amount between the motor and the final driven part like
table by converting it into the move amount of the table.
4) No . 4 blank: Motor specifications
a) Motor model Feedback (FB) type
Enter the model name of the motor employed and the specifications of the
built-in feedback unit by using symbols.
(Example)

Motor model Feedback

I
[ 10 · Model 10 l - 2 0 0 0 ; Pulse coder 2000 pulse/rev.
lOB;' Model 10 with brake

b) Option, special specifications

Enter special specifications, if any, in this blank.
5) No. 5 blank
(The acceleration/deceleration time in this item is a commanded value. It
does not mean any actual completion time of positioning)
a) Acceleration/deceleration time at rapid traverse
The a cceleration/deceleration time is determined acc ording to the load
inertia, load torque, motor output torque, and working speed. For details
of calculations, refer to para. 3.3.
The acceleration/deceleration mode at rapid traverse is generally linear
acceleration/deceleration in FANUC's CNC.

1-23
 b) Acceleration/deceleration time at cutting feed
The acceleration/deceleration at cutting feed is expotential
acceleration/deceleration in general. This blank is filled in with its
time constant.
Speed

0632Vo lL
VoL--~~
lh
~te.j ~ te: Time constant

6) No. 6 blank
a) Input multiply ratio, command multiply ratio, and detection multiply
ratio
The NC set values required for moving the machine tool at the least input
increment values are ente.red in these blanks.
The relation among these values is as illustrated below.

Input multiply ratio Command multiply ratio

Error
NC command register

'------lBI-o--------Positiort detector

Detection multiply ratio

These multiply ratios are set so that the least input increments of two
inputs (a, b) of the error register are equal to each other in the above
figure.
(Example)
IMR = 1, CMR = 1, and DMR = 4, if the least input increment of NC is l~m,
the move amount of the machine tool per revolution of motor is 8 mm, and
pulse coder 2000 P/rev is used.
b) Position loop gain
Fill in this blank with a value which 1s considered to be settable
judging it from the inertia value based on experiences.
Since this value is not always applicable due to rigidity, damping
constant, and other factors of the machine tool, it is usually
determined on the actual machine tool. If the posit ion detector is
mounted outside the motor, this value is affected by the machine tool
rigidity, backlash amount, and friction torque value. Enter these
values without fail.

1-24
7) No. 7 blank
The coasting distance of the machine tool at the machine tool stroke end is
entered in this blank. The stroke end is usually limited in 2 steps
consisting of the deceleration stop in the first step and dynamic brake stop
in the second step.
The position display accurately coincides with the stop position of the
machine tool when the first step limit switch is depressed. However, this
position is lost when the second step limit switch is depressed.
Mount this second limit switch without fail for preventing the machine tool
from being damaged, because i t is only one means of stopping the machine
tool, if the machine tool should run away due to a control failure.
a) Deceleration stop distance
Enter the coasting distance when the machine tool is decelerated and
stopped at the stroke end.

Vm: Rapid traverse rate, mm/min or deg/min

i1: Coasting distance due to delay time t1 of receiver

£2: Coasting distance due to deceleration time t2

£3: Servo deflection amount

tl: usually about 0.02 seconds.

Coasting distance Vm + t2 + _!__

60 x (t 1 2 ks
-1
ks: Po s ition loop gain sec
b ) Dynamic brake stop distance
This is the coasting distance when the machine tool is stopped by dynamic
braking with both ends of the motor power line shorted, if the machine
tool is in trouble.

Vm: Rapid traverse rate, mm/min or deg/min

£1: Coasting distance due to delay time t1 of receiver

1-25
 i2: Coasting distance due to operation time t2 of magnetic cont actor
(MCC)

i3: Coasting distance by dynamic braking after magnetic con tactor has
been operated

(tl + t2) is usually about 0.05 seconds.

Coasting distance (mm or deg) = Vm

60
(tl + t2) + (Jm + JL)
3
x (ANo + BNo ) x L
Jm: Motor inertia (kg•cm•sec2)

JL : Load inertia (kg•cm•sec2)

No: Motor speed at rapid traverse (rpm)

L : Machine movement on one-rotation of motor (mm or deg)

NoL = Vm

A and B are the constants relative to the motor modei s as shown the
table of (9).

8) No. 8 blank: Servo unit specification

a) Type of amplifier
Designate AC servo.
b) Transformer
Fill the transformer specification(input voltage specification).
c) Specifications
Fill the specifications of amplifier and regenerative discharge unit.

1-26
9) Coefficient s for cal c ulating t he dynami c brake s toppin g dis t a n ce

Model A B Jm (kgf cms2)

S Series
5-0 1.9 1.4xl0-8 0.00003
4-0S 4.3 x l0 -1 2.7xl0-8 0.00038
3-0S 1.5x10-1 1.7xl0-8 0.00074
2-0SP 4.Sxl0 -2 1.7xl0-6 0.0037
1-0SP l.Sxl0-2 6.5x1Q-9 0.0061
1-0SP/3000 2.lxl0- 2 4.6x1Q-9 0.0061
0-0SP 3.7x10 -2 2.3xl0-9 0.0085
OS 8.4xl0- 3 4 . l x 10-9 0.020
ss 5.9xl0 - 3 2.0 x l 0 -9 0.038
SS / 3000 3.6 X 10-3 1.8 x l0- 9 0.038
l OS 2. 8x1 0 -3 2.5xl0-9 0.10
l OS / 3000 6.9 x l0- 3 1.0 X lQ-9 0.10
20S 1.9xl0 - 3 6.3xlQ- lO 0.17
205/1500 2.3xlQ-3 5.2xl0-10 0.17
20S/3000 4.2 x l0- 3 2.8xl0-10 0.17
30S 6.0 x 10-4 8.9x10-10 0.24
30/2000 5.3xl0-4 l.Oxl0-9 0.24
JOS/3000 2.3xl0 - 3 2.3xlQ-10 0. 24
40 7.1xl0-4 4.1x10-10 0.31
40S / 2000 l.Oxl0- 3 2.9x1Q-10 0.31
50S l.Sxl0- 3 4. 7 xl0- 10 0 .24
60S 1.1x10- 3 2.8x10- 10 0.3 2
70S 9 . 0x10-4 1.9 x 1Q- 10 0.3 9
L Series
OL 2.3xl0- 2 3.0 x lo-s 0.0025
51 9.3 x 10 - 3 1.6 x l0-8 0 . 00 50
61 6.7 x l0- 3 3.1xl0-9 0.0100
7L 5.8xl0 -3 9.8x1Q-10 0.055
101 2.8x1Q-3 6.7xl0-10 0.100
T Series
OT/3000 14.0xl0- 3 9.6x1Q-10 0.034(0.045)
ST/2000 4.8x10-3 S.Oxl0-10 0 .065( 0 .080)
ST/3000 7.5x10-3 3.2xl0-10 0.065(0.080)
lO T/ 2000 3.l x l0-3 3.lxl0-10 0.110(0.140)
10T / 3000 5.9xl0- 3 1.4 x l0-10 0. 110(0. 140)
F Series
SF / 3000 7.8 x 1Q- 3 9 . 9xl0- 10 0.038
10F / 2000 4.0 x l0- 3 S.Jxl0-9 0.10
20F / 2000 1.7 x 10- 3 1.4xl0-9 0.17
30F/2000 l. Jx l0- 3 6.8xl0-10 0.265

1-27
The values of A and B are calculated by assuming that the resistance of the
power line is 0.05 n per phase. The values will vary slightly according to
the resistance value of the power line.
Coefficient will vary depending on the servo amplifiers. The machine may stop
by a less distance movement by the coefficient.

1-28
 AC servo motor selection data table
MTB

t1achine Kind Type

NC, spindle motor NC: FANUC Spindle motor kW

Axis
No. X y z
Item
1 Axis movement direction (horizontal, vertical rotation)
\~eight of moving component parts
(including workpiece, etc.) kg
!Counter balance kg
! Table support (sliding, rolling, static pressure)
Feed screw Diameter x pitch x axial length mm
Total gear ratio
2 Movement of machine tool per revolution of motor mm
ILeast input increment of NC mm
Rapid traverse feedrate mm/min
Cutting traverse feedr;ate mm/min i
kg-cm-s 2
! Inertia
Low feed without cutting kg-em
Load torque Rapid traverse kg-em
Cutting thrust kg
tlaxirnum cutting torque kg-ern
! Maximum cutting duty/ON time %/min
i Rapid traverse positioning frequency times/min
3 External position detector
I Feed system machine tool rigidity kg-cm/rad
Backlash amount mm
4 Motor type, model - feedback type
FB type
Number of rotation at rapid traverse
Option/special specifications
'
5 Acceleration/deceleration time at rapid traverse msec
j Acceleration/deceleration time at cutting feed msec
6 Input multiply ratio (IMR)
Command multiply ratio (CMR)
Detection multiply ratio (DMR)
Position loop gain -1
sec
7 Deceleration stop distance mm
Dynamic brake stop distance mm
8 Amplifier type I
Transformer
Specifications Amplifier
Regenerative unit

ttl
~ Version Date Name
!-1
cu 1
6
Q)
~
2
3
I A. Ar 1870-

FANUC LID.

1-29
 Servo motor sel ection data tabl e (models for posit ioning )
HTB_ _ __ _ _ __

:"lachine Model
NC modei. NC FANUC Name

rtem Axis name

Specifications of Direction of movement (horizontal, vert ic al, rotation)
moving object
\>Ieight of the movi n~ object (includi ng t he Yorkpiecel kg
Counterbalance kg
Table support ( s liding contact, rolling contact, static
pressure)(*)
Feed mechanism (Select Ball screw: Diarnet er X pitch X length
one of .: he follo1.1in~
and enter t he Rack and pini on : Diamet er of pinion ( travel i ng dist ance
of t he m.ach in e tool per revolut ion of the pini on: rnm )
corresponding data. )
o::hers
Mechanical ! rave ling di s tance. of the machine tool per revol ut i on of
speci f ications the motor
"""
Total gear reduction t"atio
Inertia (Note "before deceleration" or napplied to the
motor shaft." ) kg em sec2
Least input increment of NC ( resolution ) mm
Maximum rapid traverse feedrate mm/min
Motor speed i n rapid traverse. r pm
Acceleration/decele~ation time ir. rapid trave-rse msec
Distance of position ing i n r apid traverse 111m

Frequency of positioning in rapid travet'se times / min

In the remarks section, not e t he operation cyc le (speed
pattern) if it is deter mined.
Lo.ad torque I Low fe ed wi thout cutting kg em
I Rapi d traverse kg em
Backlash mm
'
Fill in these blank s
when an external
position detector is
Type of extet"na l pos i t ion detector (detec tion uni t ,
numbe r of pulse s, etc.)
Gear diameter and reduction ratio when a rotary encoder
I
used . (~""')
is use d
Motor speci fications Motor type (desi red size a nd output , if any)
FB t ype (when an absolute pos i t i on detector is r equired) I

Option (whe:> a brake, non-standard shaft, etc . is

required )
FANUC "ill fill in Command multiplier CMR
these blanks.
Detection mutt iplie r DMR
Position loop gain sec- 'i
Deceleratio~ stop distance mrn

I Dynamic brake stop di s tance

Specif i cati ons of amplifier
mrn

Specifications of regenerative di scharge unit

Specifi.c:acions of transformer
Note (*) Note the friction ~oeff ic ient of the sliding surfac:e: if it i s d.ete rmine.d.
(**) An external posi tion detector is required when:
-The posi t i ons of the motor and machine may be mechanically di splaced,
exampl e 1 by sl i ppa&e of a d r iving tire or an e longated driving cha i n.
for

Remarks
;
I

II I Version Date Name

1

I '
I
FANUC LTD.
2
3

IA.r.r - 1870 -

1-30
4.4 Characteristic Curve and Data Sheet
Performance of each motor model is represented by characteristic curves and data
sheet shown below.

Performance Curves
The typical characteristic curves consist of the following.
1) Torque-speed characteristics
These are known as operating curves and describe the relationship between the
output torque and speed of the motor. The motor can be operated continuously
at any combination of speed and torque within the prescribed continuous
operating zone. Outside of this zone, the motor must be operated on an
intermittent basis using the duty cycle curves.
The limit of continuous operating zone is determined under the following
conditions
The ambient temperature for the motor is 20°C •
. The drive current of the motor is pure sine wave
The limit of intermittent operating zone is determined by input voltage to
the motor.
Actual operation is limited by the current limit of servo unit.
Due to the negative temperature coefficient of the magnetic material,
continuous operating zone must be derated at the rate of 0.19% per
degree centigrade rise of magnets. (i.e. for ambient temperature above
20° derate 0.19% for each degree over)
2) Overload duty characteristic
These curves are known as duty cycle curves and provide very important
information on how to determine the "ON 11 time for intermittent overload
torque without overheating the motor. The curves shown in the following
figures are ones determined by the limit of the temperature of the motors.
When the motor is driven by some driving circ uit having thermal protect
devices such as thermal relay or fuse, the noN" time may be limited by the
characteristics of those elements.

Data Sheet
The data sheet gives the values of motor parameters relating to the
performance.
The values of parameters are those under the following conditions.
a) The ambient temperature for the motor is 20 °C.
b) Drive current of the motor is pure sine wave.
Important parameters on the data sheet are defined as follows:
i) Continuous RMS current at stall TENV: Is (Arms)
Up to 40 ° C ambient motor can be operated at this RMS current eon-
tinuously at stall (or low speed) with TENV (Totally Enclosed Non
Ventilation).
ii) Torque constant: Kt (kgf•cm/Arms)
This is known as torque sensit1v1ty and represents the torque
developed per ampere of phase current. This value can usually be
obtained by measuring the torque developed by rated current. The
torque constant is a function of the total flux and the total number
of conductors in the armature.
The back EMF constant and the torque constant are inter-related as
follows:
Kt (kgf•cm/Arms) = 30.6 Kv {Volt•sec/rad)
Thus if Kv is reduced due to demagnetization of the magnetic field,
Kt is also reduced in the same proportion.
iii) Back EMF (electromotive force) constant: Kv (volt•sec/rad)
The back EMF constant is the indication of the permanent magnet field
strength. I t is the value of the generated voltage at a specified
speed when magnetic field is rotated mechanically, and is the
function of total number of c onductors in the armature and t otal flux
of t he field .
1- 31
 The back EMF constant has the dimensions of volt-second per radian or
volts per rpm. The relationship can be given as:

volts
Volt·sec/rad X 9.55
rpm
Back EMF constant is indicated as the RMS voltage per phase, so multiply
;-Jito get actual terminal voltage.
iv) Mechanical time constant: tm (sec)
This is a function of the initial rate of rise in velocity when a step
voltage is applied. It is calcuLated from the following relationship.

tm = Jm • Ra
Kt • Kv
, when Jm: rotor inertia (kgf•cm•sec2)
v) Thermal time constant: t (min)
t
This is a function of the initial rate of rise of winding temperature at
rated current. It is defined as the time required to attain 63.2
percent of the final temperature rise.
vi) Static friction: Tf (kg•cm)
This is the no-load torque required just to rotate the rotor.
vii) Max. current before demagnetization: Im (A)
This value of current is the .instantaneous (peak) current which can be
applied to the motor without demagnetizing the permanent magnet field.
The magnet can be demagnetized even on only one pulse of high current.
Care should therefore be taken to limit peak currents to the stated
value. Repeated pulses at rated peak or less will not affect
demagnetization.

How to Use Duty Cycle Curves

Servo motors can be operated in the range exceeding continuous rated torque
depending on thermal time constant. Duty characteristics shows the Duty (%) and
the "ON" time in which motor can be operated under the given overload condi-
tions. Calculation procedure is as follows.
G)calculate Torque percent by formula (b) below.
GDMotor can be operated at any point on and inside the curve corresponding to
the given over load conditions obtained from l .
G) Calculate tF by formula (a)

100
tF tR x ( D - 1) • • • • • . • • • . • • • • • • • • . . • . • • • • (a)
uty percent

Load torque
Torque percent = Continuous rated torque
• • • . • . • • • . . • . • • (b)

tF: "OFF" time

tR: "ON" time

The values of tR and tF obtained form the above mentioned procedure shows the
ones limited by motor thermal conditions. Other circuit protectors such a
thermal relay or fuse also limit the operating zone of the motor. To
determine tR and tF for actual use, characteristics of those protectors must
be considered.

In the case of digital servo , the software protection is available to protect

against a shorter time overload. This also limits the motor operating
conditions.

1-32
5. FEEDBACK DETECTOR

5.1 Built-in Detector

A pulse coder (optical encoder) is built in every AC servo motor. The pulse
coder generates an A quad B incremental signal, a Z-phase (1 rotation) signal,
and a rotor phase signal necessary for motor control.
The pulse encoder 1s selectable to meet the machine requirements on motor
models 2-0S to 40s.
The types of pulse coders that can be built into models 5-0, 4-0S, 3-0s, 2-
0SP, and 1-0SP are limited.
Only three types of pulse coders can be built into models 50S, 60S, and 70S:
The high-resolution pulse coder and serial pulse coders A and C.

5. '1.1 Incremental pulse coder (standard)

This is the most compact standard pulse coder •
. The incremental pulse coder is available in the types of 2,000, 2,500, 3,000,
and 10,000 (A-phase) pulses per motor rotation,
When using with a digital servo, it can be used for up to 24m/min. at
resolution of l~m/pulse. For other resolutions, refer to the NC
Specifications.
When the pulse coder that generates 10,000 pulses per motor rotation and the
NC flexible feed gear function are used together, control can be performed
based on 1 pm/pulse corresponding to various feed pitches.
However, an error is detected in some types of the feed pitches when the
fractions are rounded off.
5.1.2 Absolute pulse coder
Even if the NC power is turned off, the pulse coder backed up with a battery
tracks any pos1t1on change eliminating the necessity of returning to the
reference point at turning on the NC power.
Compared with the incremental pulse coder, the outside dimensions are larger.
The interface connector specifications are different from those of the
incremental pulse coder.
The restrictions on the feed rate are the same as those of the incremental
pulse coder. A battery unit must be installed between the NC and the motor.
After the display of NC "BATTERY LOW" appears, exchange the battery as much as
possible early.
Do the battery exchange with the power supply of NC turned on.
5.1.3 High resolution pulse coder
This is available in the types of 10,000, 12,500, 15,000, 20,000, 25,000 and
30,000 (A/B-phase) pulses per motor rotation.
When the machine move distance per motor rotation is 4 to 12mm, 0 .lpm/pulse
can be detected.
The high resolution pulse coder can be used only in a digital servo NC. The
high resolution pulse coder is available in two types. One is usable for up
to 12m/min. (10,000, 12,500, 15,000, 20,000 and 25,000 pulses) at the
r e solution of O.lpm / pulse.
The other is usable for up to 24m /min (20,000, 25,000 and 30,000 pulses).
(High-speed high reso lution pulse encoder)
(The high-speed high reso lution pulse encoder needs a signal conversion circuit
f or the connection with NC.)
The high resolution pulse coder can also be used for ensuring high precision
positioning even at the resolution of lpm, and for enabling the setting of
diameter l~m in a lathe. However, in the case of l pm setting, the rapid
traverse speed and the positioning gain may be limited by the detection unit.
Generally, when the separate type positi on detector such as an optical scale
is used, it is necessary to set the resolution of the detector built in the
motor s maller than that of the position detector. When an optical scale of

1-33
lpm is used in a machine of l6mm per motor rotation, the resolution is too low
with the pulse coder of 3,000 pulses. A pulse coder of 10,000 or 20,000
pulses is necessary.
5.1.4 Serial pulse coder A
Serial pulse coder A is based on a totally different operating principle from
that of the conventional pulse coders, and features a resolution of
approximately 1,000,000 divisions per rotation.
When combined with the flexible feed gear function, serial pulse coder A can
set detection units of 1 pm, 0.1 pm, and 0.01 pm irrespective of the machine
travel, provided that the machine travel per motor rotation is not a fraction,
(The machine travel per motor rotation must be within the range selectable
with both the flexible feed gear parameter and the parameter for the capacity
of the reference counter.)
Even when the power to the NC is turned off, the pulse coder, which has a
back-up battery, stores the current pos1t1on. Therefore, the reference point
return function need not be executed when the NC is turned on next time.
Serial pulse coder A has larger external dimensions than the increment pulse
coder.
Serial pulse coders can be used only with the digital servo NC.
To use a serial pulse coder, the NC must be equipped with a serial pulse coder
interface.
5.1.5 Serial pulse coders Band B2
These serial pulse coders are based on the same theory of operation as serial
pulse coder A. However, serial pulse coder B features a resolution of approx.
250,000 pulses per rotation, and serial pulse coder B2 features a resolution
of approx. 30,000 pulses per rotation.
Serial pulse coder B is used for T series servo motors. Serial pulse coder B2
is used for model s-o.
Versatile feed systems can be specified with the flexible feed gear function.
Even when the power to the NC is cut, the pulse coder retains the position of
the machine as it has a battery backup. Reference position return is not
therefore required when the power to the NC is turned on.
Serial pulse coders can be used only for the digital servo NC.
To use the serial pulse coder, a serial pulse coder interface lS required for
the NC.
5.1.6 Serial pulse coder C
Serial pulse coder C has a resolution equivalent to that of the conventional
10,000 pulse per revolution high-resolution pulse coder.
Serial pulse coder C is connected to the NC through a serial interface.
The pulse coder is used in Series 16 and 18 when 0.1-pm resolution or the
absolute functions are not required.
When combined with the flexible feed gear function, serial pulse coder C
detects pulses in units of 1 ~m for a machine that moves up to 12 rnm per motor
rotation.
(Note that a rounding error of up to 0.2 pm occurs when the machine travel is
12 mm.)
Serial pulse coder can be used only for the digital servo NC. To use the
serial pulse coder, a serial pulse coder interface is required for the NC.
5.1.7Built·in detectors for model 2-0SP/1 -0SP/0-0SP
The incremental pulse coder with a resolution of 10,000 pulses per rotation,
the absolute pulse coders with a resolution of 2000, 2500, and 3000 pulses per
rotation, and serial pulse coders A and C can be used for model 2-0SP/1-0SP/0-
0SP.
The features and restrictions are the same as above.
A pulse coder for model 2-0SP/1-0SP/0-0SP outputs data with the 15-pin or 25-

1-34
pin D-SUB connector.
Using a dedicated waterproof cover for the connector provides good protection
extreme environments.
When the thickness of the housing does not exceed 17 nun, a commercially
available connector cover can also be used.
5.1.8 Built-in detectors for model 4-0S/3·05
The incremental and absolute pulse coders with a resolution of 2,000 pulses
per rotation (phase A) and serial pulse coders A and C can be used for model
4-0S/3-0S.
The features and restrictions are the same as above.
A pulse coder for model 4-0S/3-0S connections are by the lead or connector.
An absolute pulse coder for model 4-0S/3-0S connections are by connector.
Serial pulse coders A and C for model 4-0S/3-0S connections are by a 15-pin D-
SUB connector. Since a dedicated waterproof cover cannot be used for the
serial pulse coders for model 4-0S/3-0S, use a connector cover whose thickness
does not exceed 17 mm when connecting the serial pulse coders.

5.~.9 Built-in detector of model 5·0

In the model 5-0, an incremental and an absolute pulse coder of 1,000 pulses
or serial pulse coder B2 of 30,000 (A-phase) pulses is available.
The features and restrictions are the same as those described above.
The pulse coder of model 5-0 connections are through lead wires.
A signal conversion circuit is required when incremental and absolute pulse
coders for model 5-0 are used for the digital servo.
Install the signal conversion circuit as close as possible to the motor.
The signal conversion circuit is not required when a serial pulse coder is
used for the digital servo.
Signal conversion circuit for model 5-0
Order specification A16B-1700-0130
For the details, refer to the NC connecting manual.
I
External dimensions I
I
70 70 I
I
I
- I
I I
,..--- r..L..- -'---------,
0 I I
,_; I
I
I
I
I
I
I
I
I I
0 CN2 'cN1 L - - - - - - - _ _ _ ...J
0
0

l
1'~-'1
I

rk
'Y
0
,_;

'--- 1-

Unit: mm

1-35
5.2 External Position Detector
For detecting a position by attaching directly to a ball screw or a machine,
use an external (separate type) pos1t1on detector. Pay attention to the
following items when using the separate type position detector.
Increase the machine rigidity between the servo motor and the pos1t1on
detector to minimize mechanical vibration. If the machine rigidity is low
or the structure vibrates, poor performance is likely to occur.
Generally, when the separate type detector is used, the influence of gear,
ball screw pitch error or table inclination is decreased and the
pos1t1oning accuracy and geometrical accuracy (roundness, etc.) are
increased, but the smoothness may deteriorate due to the elasticity in the
machine between the servo motor and the position detector.
It is necessary to use the built-in pulse coder with a resolution equal to
or finer than that of the separate type position detector. Design the
built-in pulse coder so that the ratio of resolution to that of the
separate type is an integer value if possible. Namely, when an optical
scale of lpm is used in a machine of 8mm per motor rotation, use the pulse
coder of 2,000 or 1,000 pulses, rather than that of 2,500 pulses.

To connect the separate type position detector to the NC, connect only the
signals described in the connecting manual. (A, B, Z, OV, 5V and REQ if
necessary) When the other signal is connected, the unit may malfunction. FANUC
provides the following external position (rotary) detector.

(1) Pulse coder unit

Available in the following specifications. The feature and restrictions
on the feed rate, etc. are the same those of the built-in pulse coder.

A860-0301-TOD~ (Incremental pulse coder)

01 2000P/rev (up to 3000min-1)

02 2500P/rev (up to 2400min-l)
03 3000P/rev (up to 2000min-l)
04 4000P/rev (up to lSOOmin-1)

For the external dimensions, refer to item 4.2 (4).

(2) Absolute pulse coder unit

A860-0324-Tl0~ (Absolute pulse coder)

01 2000P/rev (up to 3000min-l)

02 2500P/rev (up to 2400min-l)
03 3000P/rev (up to 2000min-l)
04 4000P/rev (up to lSOOmin-1)

For the external dimensions refer to item 4.2 (5).

(3) High-speed high resolution pulse coder unit

A860-0314-Tl0~ (High-speed high resolution pulse coder)

11 20000P/rev (up to 3000min-l)

12 2SOOOP/rev (up to 2400min-l)
13 30000P/rev {up to 2000min-1)

1-36
 A signal conversi on c ircuit l S required for the connec tion with NC. For
th e external dimensions, refer to item 4.2 (5).

(4) Pul se coder uni t

040
MS3 102A- 20- 29P
_l L
00

.
+I

:a
00
0
0

....,
2.4l 1F. ~-y

n
t--
....,
N X
co a-
<
;:;z
""
--
0
0
00
+I ... .____,I - :a"'
...,-~ :a ~
- h
.,
\0
N ....~
\0
r-'
~
\0
.....
!==

~
1- ~3. 2
12
30 67 7MAX

Note: Use flexible coupling.

Power supply SV ±5% 0.35A or less

Output
-
A, A, B, B, Z,
-
z
No . of pulses 2000, 2500, 3000 P/rev.

Maximum pulse rate 100kHz

Working temperature range 0°C -60 °C

Radial 2 . 0 kg
Rated loads
Axial 1. 0 k g

Shaft diameter runout 0.02 mm

Wei ght 2 . 0 kg
2
Rotor i nertia Max . 0.057 g-em- sec

Friction torque Max. 0 . 8 kg-em

1-37
(5) Absolute pulse coder un it
High speed/high re solution pulse coder unit

30 84.5
12 .2
3 .2

X
2
Q.
0.
<

MS3102A22-14 P

Key

1-38
5.3 Detector Signal Output
The built-in and separate detector signals are output as follows.
(1) For S series and L series
Incremental, absolute, and high resolution pulse coder
Separate type incremental, absolute pulse coder unit

Pin names of the connector

Signal names Incremental Absolute High-resolution
of the pulse MS310A20-29PW MS3102A22-14P MS3102A22-14P
coder (Separate) (Separate) (NOT AVAILABLE
(MS3102A2029P) (MS3102A22-14P) SEPARATE)
A A (A) A (A) A
>'<A D (D) B (B) B

B B (B) c (C) c
>'<"B E (E) D (D) D

z F (F) E (E) E
>'<Z G (G) F (F) F

Cl c (-) G (G) G
C2 p (-) H (H) H
C4 L (-) J (J) J
CB M (-) K (K) K
+SV J, K (CJK) L (L) L, T
ov N, T (NPT) M (M) M, U
Shield H (H) N (N) N
OHl R (-) p (-) p
OH2 s (-) R (-) R
REQ - - s (S) -
+6VA - - T (T) -
OVA - - u (U) -
MS3 102A20-29P MS3102A20-29PW MS3102A22-14P

M
0 0
K U N
0 0 0
T V
0 0 0 0
H S R
0 0 0 0
G F E
0 0 0

1-39
(2) For S ser1es and L ser1es
High-speed, high-resolution pulse coder separate type high-speed and
high-resolution pulse coder unit

Pin names of the connector

Signal names High-speed, high-resolution
of the pulse MS3102A22-14P
coder (Separate)
(MS3102A22-14P)
A A (A)
AR B (B)
B c (C)
BR D (D)
z E (E)
*Z F (F)
Cl G (G)
C2 H (H)
C4 J (J)
C8 K (K)

+SV L, T (L, T)
ov M, u (M, U)
Shield N (N)
OHl p (-)
OH2 R (-)

( 3) For S series, L series and F series

Serial pulse coder A and c
For T series
Serial pulse coder B
For S series model 5-0
Serial pulse coder B2

Pin names of the Pin names of the

connector connector Signal pulse
Signal names
of the pulse coder B2
Serial pulse Serial pulse colors of
coder coder A coder C lead wires
MS3102A22-14P MS3102A20-29PW
SD A A Black
*SD B D Black/White
REQ E F Blue
*REQ F G Blue/White
+SV L J, K Red
ov M N, T Gray
Shield N H -
+6VA T - Orange
OVA u - Brown

For a serial pulse coder, the overheat signals, signals Cl, C2, C4, C8, and z,
need not be connected because they are included in serial data.

1-40
(4) Models 2-0SP, 1-0Sp, 0-0SP, 3-0S, 4-0S (Serial)
10000P incremental (2-0SP, 1-0SP and 0-0SP)
2000P, 2SOOP, 3000P absolute (2-0SP, 1-0SP and 0-0SP)
Serial A, Serial C

Pin No. of D-SUB 25P Pin No. of D-SUB lSP

Signal Signal
name lOOOOP 2000P, 2SOOP, name Serial A Serial c
Incremental 3000P Absolute
A 23 23 SD 12 12
1~A 22 22 *SD 13 13
B 21 21 REQ 5 s
*B 20 20 >'<REQ 6 6
z 9 9 +SV 8 , 15 8, 15
>'<Z 8 8 ov 1, 2, 3 1, 2, 3
Cl 19 19
Shield - -
C2 18 18
+6VA 14 -
C4 17 17
OVA 10 -
C8 16 16
+SV 12, 13, 25 12, 13, 25
ov 1, 2' 14 1, 2, 14
OHA 5 5
OHB 6 6

REQ - 7
+6V - 4

2 3 4 5 6 7 8 9
0 0 0 0 0 0 0 0 D-SUB 25P (Convexity)
0 0 0 0 0 0 0 0 0 0 0 0 Pin arrangement

14 15 16 17 18 19 20 21 22 23 24 25

2 3 4 5 6 7
0 0 0 0 0 0 D-SUB 15P (Convexity)
0 0 0 0 0 0 0 Pin arrangement

9 10 11 12 13 14 15

l-41
(5) Model 4-0S/3-0S Incremental pulse coder
Model 5-0 Incremental and absolute pulse coder
(LEAD WIRES ONLY - COLOR CODED)

Signal name I 4-0/3-0 I s-o I 5-0

i
Incremental
l Incremental
I
Absolute

A Black i Black Black

*A Black/White

B Blue I Blue Blue

*B Blue/White - -
I
z I Green Green Green
*Z i Green/White - -
'
I
Cl Yellow/White - -
C2 Orange/White Yellow/White Orange/White
C4 Brown/White Orange/White Brown/White
C8 Purple/White Brown/White I Purple/White
I
+SV Red, Red/White Red ! Red
ov Gray, Gray/White Gray Gray
Shield Black Black (thick line) Black (thick line)
REQ - - Orange
+6VA - - Red/Gray
OVA - - Gray/White

l-42
6. BUILT-IN BRAKE

Some of the S Series Models 2-0SP TO 40 and T Series Models use motors that
contain a holding brake to prevent falling along a vertical axis.
Motors with a built-in brake have different outlines and weight from other
types of motors. For their outlines, refer to appropriate outline drawings.

6.1 Brake Specifications

The specifications of built-in brakes are listed below:
S series, 1 series

Motor model 2-0 to 0-0s OS, ss, OL to 61 lOS to 30S, 71, 101
Brake torque 20 kgf·cm 60 kgf•cm 180 kgf•cm
Response Release 60 ms 80 ms 100 ms
time
Brake 10 ms 20 ms 60 ms
Supply voltage 90 VDC 90 VDC 90 VDC
(±10%) 0.3 A or less 0.4 A or less 0.6 A or less
Current
Weight 1ncrease Approx. Approx. Approx.
1.5 kg 3 kg 6 kg
Inertia increase 0.0002 0.0007 0.006

Motor model 20S, 30S, 71, 101 40, 40S 50S - 70S
Brake torque 400 kgf·cm 400 kgf•cm 1000 kgf·cm
Response Release 130 ms 130 ms 160 ms
time
Brake 60 ms 60 ms 70 ms
Supply voltage 90 VDC 90 VDC 90 VDC
(±10%) 0.8 A or less 0.8 A or less 0.8 A or less
Current
Weight 1ncrease Approx. Approx. Approx.
7 kg 10 kg 15 kg
Inertia increase 0.006 0.006 0.010

Note) Motor model lOT with a built-in brake requires dedicated power to
energize the brake. The supply voltage and current listed under 11 l0T 11
apply where the dedicated power is used.

1-43
T Series

Motor model OT, 5T lOT

Brake torque 100 kgf•cm 200 kgf•cm Note) Motor lOT with a built-
Response Release 50 msec 50 msec in brake requires a spe-
time cial power supply which
Brake 20 msec 10 msec energizes the brake.
Supply voltage 90 VDC 90 VDC The supply voltage and
(+10%) 0.3 A or 0.6 A or current in the lOT
Current less less column are the values
when thls special power
Weight increase About 3.8 kg About 3.8 kg supply is used.
Inertia increase 0.006 0.007

F Series

Motor model SF/3000 lOF-30F

Brake torque 80 kgf•cm 350 kgf•cm Note) The power line and brake
Response Release 80 msec 150 msec line are connected by an
time identical connector.
Brake 40 msec 20 msec For details, see the
Supply voltage 90 VDC 90 VDC connection diagram of
( ± 10%) 0.4 A or 0.6 A or the power line of the F
Current less less Series motor.
Weight increase About 3 kg About 5 kg
Inertia increase 0.0007 0.006

Common notes to each ser1es

Use the full-wave rectified AGlOOV or DC90V as a power supply. Don't use the
half-wave rectified AC200V. The surge suppressor may be damaged.
Use a rectifier with dielectric strength of 400V or higher. Connect CR as
shown in the drawing, to protect the contact of the switch. The equivalent CR
is the Fujitsu S2-A.

Note 1) This brake is used to hold the machine when the servo motor control
is turned off. It is possible to brake the machine by turning off
the brake power at emergency stop such as at the stroke end, but it
is impossible to use this brake to reduce the stop distance in normal
operation.
Note 2) Allow sufficient time to start the servo motor before releasing the
brake. Don't use the brake as an aid for the axis to stop at the
same position for a long time, such as an index table. Turn the
servo off when holding the axis by the built-in brake or another
holding means. At this time, allow sufficient time to set the brake
before turning off the servo.
Note 3) Built-in brakes manufactured in 1989 or earlier use resin-molded
asbestos in the friction plate.
Note 4) Models 40 and 405/2000 are longer because they contain a brake. If
an excessive load is applied to the opposite side of the flange, the

1-44
 flange may be damaged. Do not apply any load to the opposite side of
the flange, and do not subject the motor to excessive force.

6.2 Connection of the brakes

The example of the connection of the brakes are as follows.

MODEL OS, 5S, lOS, 20S, 30S

Ao-------------~
0 90VDC Surge Brake
suppressor coil
MS3102A 10SL-4P Bo---~---------

Magnetics cabinet

500VDC Motor

Surge Brake
'----+-----'""'"· ~ soo Q ;o. 2 11 r
lOOVAC

MODEL 2-0S, l-OS

Magnetics cabinet

500VDC Motor
+
Surge
suppre- Brake
500Q/0.2uF ssor 10SL-4P coil
lOOVAC

Manufactured by
Matsushita Denshi Buhin Co., Ltd.
ERZ-C20DK221, ERZ-Cl0DK221, or equivalent

1-45
MODEL 2-0SP, 1-0SP

Motor

Magnetics cabinet w

500VDC
+ _ Motor body
Surge
suppre- 5 Brake
500Q / 0.2 11 r -ssor coil
lOOVAC
6
Manufactured by
Matsushita Denshi Buhin Co., Ltd.
ERZ-C20DK221, ERZ-Cl0DK221, or equivalent

MODELS 50S, 60S, 70S, 01, 5L, 61 , 71, lOL

~\
( c'J ~'-A) 90VDC
Ao---,---------~
Surge Brake
suppressor
\ 0 coil
~ MS3102A 10SL- 3P Bu---~--------~

Magnetics cabinet

500VDC Motor

Surge Brak
SOOQ/0. 2.uF suppressor coil
lOOVAC

1-46
7. CONNECTOR PLUG OF CONNECTION CABLE

7.1 Specifications for Connectors

The specifications for the connector plug of the cable corresponding to the
specifications for the connector receptacle used in the FANUC AC servo motor
are as follows.

No. of pins Receptacle Straight plug Angle plug I Cable clamp

!
;

2 MS3102A 10SL-4P MS3106B l0SL-4S MS3108B lOSL-4S • MS3057-4A

3 MS3102A 10SL-3P MS3106B 10SL-3S MS3108B 10SL-3S MS3057-4A
4 MS3102A 18-lOP MS3106B 18-lOS MS3108B 18-lOS MS3057-10A
4 MS3102A 22-22P MS3106B 22-22S MS3108B 22-22S MS3057-12A
7 MS3102A 24-lOP MS3106B 24-lOS MS3108B 24-lOS MS3057-16A
7 MS3102A 20-15P MS3106B 20-lSS MS3108B 20-15S MS3057-12A
17 MS3102A 20-29PW I MS3106B 20-29SW ! MS3108B 20-29SW I MS3057-l2A
19 MS3102A 22-14P , MS3106B 22-14S MS3108B 22-14S I MS3057-l2A
I
4 RM15WTR-4P RM15TP-4S
4 RM12BRB-4P
I RM12BPG-4S

Note) Keep the connector plug away from the splash of cutting fluid or other
liquid. When there is a possibility of wetting the connector plug, use
a water-proof plug shown in 6.2 for the MS connector and the water-proof
plug such as RM15WTP-4S for the RM15 connector. Mount the motor so the
connector is downward in the gravity direction as far as possible. When
it must be set to side or up, make drip loop to prevent the cutting
fluid running along the cable to wet the connector plug. In any case,
when there is a possibility of wetting the connector plug, use a cover
or take the other suitable means to protect it.

7.2 Combination of Waterproof MS Plugs

Water proofing can be assured to some extent by adopting the following plugs
and adapters:
(1) Use a waterproof MS plug manufactured by Japan Aviation Electronics
Industry, Ltd., Daiichi Denshi Kogyo K. K., or Hirose Electric Co., Ltd.
(2) When a flexible conduit is used, connect a conduit connector
manufactured by Nippon Flex Co., Ltd. or Daiwa Dengyo Co., Ltd to the
conduit.
(3) For a power cord, clamp it using a connector manufactured by Nippon Flex
or Daiwa Dengyo.
(Use the cable clamp manufactured by Hirose Electric Co., Ltd. for the
plug manufactured by the company.)
The following table lists the plugs, conduit connectors, and flexible conduits
corresponding to the receptacle used for each motor model.

1-47
Examples of how to connect the AC servo motor with waterproof MS plugs and
flexible conduits

Motor model MS compatible plug Conduit connector Conduit Inside

Pulse coder location specifications Daiwa Dengyo diameter
(straight) (mm)
Japan Aviation Daiwa Dengyo
(L-shaped)
Receptacle Daiichi Densi Kogyo
specifications Nippon Flex
(Outside diameter of Hirose Electric (straight)
the standard cable) Nippon Flex
(L-shaped)
OS, SS, OL, 51, 6L JA06A-18-10S-Jl BOS 18-15 MPFlS 14
JL04-6A18-10S BOL 18-15
Power line
MS3106A18-10S(D190) RCC-104RL-MS18F VF-04 14
MS3102Al8-10P H/MS3106A18-10S-D(03) RCC-304RL-MS18F SR-04
(¢12)
lOS, 20S, 30S JA06A-22-22S-Jl BOS 22-19 MPF19 17
JL04-6A22-22S BOL 22-19
Power line
MS3106A22-22S(Dl90) RCC-106RL-MS22F VF-06 19
MS3102A22-22P H/MS3106A22-22S-D(03) RCC-306RL-MS22F SR-06
(~14)

205/3000, 30/2000, JA06A-24-10S-J1 BOS 24-19 MPF19 19

40, etc. JL04-6A24-10S BOL 24-19 MPFlS
7L, lOL, etc. MS3106A24-10S(Dl90) RCC-106RL-MS24F VF-06 17
Power line H/MS3106A24-10S-G(03) RCC-306RL-MS24F SR-06
MS3102A24-10P
(fl7)
Incremental Serial c JA06A-20-29SW-Jl BOS 20-15 MPFlS 14
pulse coder signal MS3106A20-29SW(Dl90) BOL 20-15
line
H/MS3106A20-29SW(04) RCC-104RL-MS20F VF-04 14
MS3102A20-29PW RCC-304RL-MS20F SR-04
( ¢ll)

Absolute Serial A, B JA06A-22-14S-Jl BOS 22-15 MPFlS 14

pulse coder signal MS3106A22-14S(D190) BOL 22-15
line H/MS3106A22-14S(03) RCC-104RL-MS22F VF-04 14
MS3102A22-14P RCC-304RL-MS22F SR-04
( ¢ll)

This table is only for reference. For details, contact the manufacturer.
The specifications of a plug manufactured by Daiichi Denshi Kogyo, (190), must
be specified.
The specifications of a plug manufactured by Hirose Electric Co., Ltd., (03)
or (04), must be specified.
When JL04 series plugs manufactured by Japan Aviation Electronics Industry and
plugs manufactured by Hirose Electric Co., Ltd. are used for power lines, they
conform to JIS-B6015.
Do not connect the 0 V signal line of the pulse coder to the connector shell.

1-48
Examples of how to connect the AC servo motor with waterproof MS plugs and
flexible conduits

Motor model MS compatible plug Power cord connectors Outside

Pulse coder specifications Daiwa Dengyo(straight) diameters
location Japan Aviation Daiwa Dengyo(L-shaped) (mm) of
Receptacle Daiichi Densi Kogyo applicable
specifications Hirose Electric cables
(straight)
(Outside diameter Hirose Electric Nippon Flex(straight) Except
of the standard (L-shaped) Nippon Flex(L-shaped) Hi rose-made
cable) cables

OS, SS, OL, 5L, 6L JA06A-18-10S-Jl YSO 18-12-14 ¢11.3-¢14.5

Power line JL04-6A18-10S YLO 18-12-14 ¢11.3-¢14.5
MS3102A18-lOP
(¢12) MS3106Al8-10S(Dl90) ACS-12RL-MS18F .pB-¢12
ACS-16RL-MS18F ¢12-¢16
¢11.3-¢14.5 H/MS3106A18-10S-D ACA-12RL-MS18F ¢8-.pl2
¢11.3-¢14.5 H/MS3108B18-10S-D ACA-16RL-MS18F ¢12-¢16
lOS, 20S, 30S JA06A-22-22S-Jl YSO 22-12-14 ¢11.3-¢14.5
Power line JL04-6A22-22S YLO 22-12-14 ¢11.3-.p 14.5
MS3102A22-22P MS3106A22-22S(Dl90)
(¢14) ACS-16RL-MS22F ¢12-.p 16
H/MS3106A22-22S-D ACA-16RL-MS22F ¢12-¢16
H/MS3108B22-22S-D
20S/3000, 30/2000, JA06A-24-10S-Jl YSO 24-15-17 ¢14.5-¢17.5
40, etc. JL04-6A24-10S YLO 24-15-17 ¢14.5-¢17.5
7L, 101, etc. MS3106A24-10S(Dl90)
Power line ACS-20RL-MS24F .pl6-.p20
H/MS3106A24-10S-G ACA-20RL-MS24F ¢ 16-.p20
MS3102A24-10P
( .pl7) H/MS3108B24-lOS-G

Incremental Serial JA06A-20-29SW-Jl YSO 20-9-11 ¢8 .3-.pll. 3

C pulse coder MS3106A20-29SW(Dl90) YLO 20-9-11 ¢8 .3-.pll. 3
signal line
MS3102A20-29W H/MS3106A20-29SW(Ol) ACS-12RL-MS20F rj>8-cpl2
(¢11) H/MS3108B20-29SW(Ol) ACA-12RL-MS20F .p8-.p 12
Absolute Serial A, JA06A-22-14S-Jl YSO 22-9-11 ¢8.3-¢11.3
B pulse coder MS3106A22-14S(D190) YLO 22-9-11 ¢8.3-.pll.3
signal line
H/MS3106A22-14S ACS-12RL-MS22F p8-p12
MS3102A22-14P
( ¢11) H/MS3108B22-14S ACA-12RL-MS22F ¢8-¢12

This table is only for reference. For details, contact the manufacturer.
The specifications of a plug manufactured by Daiichi Denshi Kogyo, (190), must
be specified.
The specifications of a plug manufactured by Hirose Electric Co., Ltd., (01),
must be specified.
The cable clamp manufactured by Hirose Electric Co., Ltd. is used for the plug
manufactured by the company. However, use the same plug for the connector for
the cable covered with rubber manufactured by Nippon Flex or Daiwa Dengyo as
for the conduit connector.
When JL04 series plugs manufactured by Japan Aviation Electronics Industry and
plugs manufactured by Hirose Electric Co., Ltd. are used for power lines, they
conform to JIS-86015.
Do not connect the 0 V signal line of the pulse coder to the connector shell.

1-49
7.3 Connectors for Models 2-0SP, 1-0SP and 0-0SP
Models 2-0SP, 1-0SP and 0-0SP of the FANUC AC servo motors are equipped with
special connectors to improve the water-tightness.
The specifications for the connectors used exclusively for cables are as
follows.

Name Applicable motor (pulse coder) Specifications

Connector kit Models 2-0SP, 1-0SP, 1-0SP/3000, and 0-0SP A06B-6050-K111
(power line)
Connector kit Models 2-0SP, 1-0SP, 1-0SP/3000, and 0-0SP A06B-6050-Kll0
(signal line 25) Incremental pulse coder (lOOOOP)
Absolute pulse coders (2000P, 2500P, and
3000P)
Connector kit Models 2-0SP, 1-0SP, 1-0SP/3000, and 0-0SP A06B-6050-Kll5
(signal line 15) Serial pulse coder A and C

Parts included in the connector kit (signal line 25)

Manufacturer's
FANUC
Item Quantity Manufacturer specifications
specifications
and remarks
Contact 1 A63L-0001-0434 Hirose HDBB-255,
i/BB25SNO Electric Co., soldering type
Ltd.
Waterproof 1 A63L-0001-0442 Hirose HDBW-25CV
cover Electric Co.,
Ltd.

Parts included in the connector kit (signal line 15)

Manufacturer's
FANUC
Item Quantity Manufacturer specifications
specifications
and remarks
Contact 1 A63L-000l-0434 Hirose HDAB-15S,
4/ABlSSNO Electric Co., soldering type
Ltd.
Waterproof 1 A63L-0001-0496 Hirose HDAW-lSCV
cover Electric Co.,
Ltd.

1-50
Parts included 1n the connector kit (power line)

Manufacturer's
FANUC
Item Quantity Manufacturer specifications
specifications
and remarks
Connector 1 A63L-0001-0428/GJ Nippon AMP 176346-4, cr1mp
Co., Ltd. type(>'<)
Outside diameter
of an applicable
cable:
9.9 to 10.9 mm

-k Special crimping tool specifications: A97L-0200-0979 Nippon AMP Co., Ltd.

914596-3
>'c Special pulling tool specifications: A97L-0200-0980/D3 Nippon AMP Co.,
Ltd. 914677-1
Prepare the crimping and extracting tools if necessary.

8_ COOLING FAN FOR MODELS 40 AND 40S/2000

Models 40 and 405/2000 each have a cooling fan to which single-phase 200 VAC
needs to be supplied.
The connections and the currents are as follows. Note that the magnetics
cabinet needs to be equipped with a fuse or breaker because the fan motor does
not have a protection circuit.

Connector for the fan motor

MS3102AlOSL-4P
A Single-phase
B 200 v

Input voltage Steady-state current Surge current

200 v Approx. 0.3 Arms Approx. 0.4 Arms
230 v Approx. 0.3 Arms Approx. o.s Arms

1-51
II. FANUC AC SERVO MOTOR S series
1. GENERAl

The FANUC AC Servo Motor S series is o~timum for the feed ax1s of most machine
tools, and has the following features.
(l) Smooth rotation
The unique magnetic pole form designed to mlnlm~ze torque ripple enables
very smooth rotation by strict current control and precise pulse coder
feedback.
(2) Fast acceleration performance
The unique rotor form makes the motor compact and light weight,
providing high torque and fast acceleration.
(3) High reliability
The totally enclosed brushless structure with no wearing part permits
inspection/maintenance free operation.
(4) Built-in high precision detector
An optical encoder (pulse coder) with low indexing error is built 1n,
permitting high precision positioning. The pulse coder of 2,000 to
30,000 pulses permits the indexing of 120,000 divisions maximum per
motor rotation. (This value may be limited in some types of NC/motor.)
Serial pulse coder A, which offers super-high resolution, enables
indexing with a resolution of up to 1,000,000 increments.
When combined with the flexible feed gear function, serial pulse coder A
enables feeding in units of 0.1 ~m or 0.01 pm for almost all feed screw
pitches.
(5) Sufficient stability
The motor constant permits stable control for a large machine tool.
(6) Abandant options
Other options that are available for machine design in addition to the
many types of high precision detectors are:
Built-in brake for holding (model 2-0s to 30S)
Two types of shaft form (model 2-0S to 30S)

The S series motors are available in two types. One requires an input
transformer (185 V specification): models 5-0, 30/2000 and 40, The other is
operated from 200 to 230V power supply and does not require an input
transformer (200V specification): models 4-0S, 3-0S, 2-0SP, 1-0SP, 1-0SP/3000,
0-0SP, OS, 5S, SS/3000, lOS, lOS/3000, 205/1500, 20S, 2 0S/3000S, 30S,
305/3000, 40S/2000, 50S, 60S and 70S.
The models with a subscript 11 S" are the motors optimized to the power supply
voltage of 200 to 230V. The motor winding is different in 185V and 200V
specifications, but the appearance and weight are the same.

Note 1) lOOVAC is necessary for the driving unit of all motors.

Note 2) The driving unit of 185V specification needs 18VAC with a center tap.
Note 3) 1·he driving unit of model S-O uses single-phase lOOVAC.
Note 4) Single-phase 200VAC is required for the cooling fan of model 40 and
40S/2000. .

2-1
2. TYPES OF MOTORS AND DESIGNATION

The types and specifications of s ser1.es servo motors are described as

follows.
( 1) Model 5-0
A06B-0531-B00~
01 lOOOP incremental pulse coder
31 lOOOP absolute pulse coder
69 Serial pulse coder B2

(2) Models 4-0S, 3-0S

A06B-00 D D -BOD 0

E 532 MoLl 4-=--

533 Model 3-0S
001
201
251
2000P incremental pulse coder (lead wires)
2000P incremental pulse coder (connector)
2000P absolute pulse coder (connector)
272 Serial pulse coder A (D-SUB connector)
274 Serial pulse coder C (D-SUB connector)

(3) Models 2-0SP, 1-0SP, 1-0SP/3000, 0-0SP

A06B-DDDD-BO DO

371 Model 2-0SP 10 With the incremental pulse coder (lOOOP)

372 Model 1-0SP (D-SUB connector)
373 Model 1-0SP/3000 41 With the 2000P absolute pulse coder
374 Model 0-0SP (D-SUB connector)
42 With the 2500P absolute pulse coder
(D-SUB connector)
43 With the 3000P absolute pulse coder
(D-SUB connector)
69 With serial pulse coder A (D-SUB connector)
71 With serial pulse coder C (D-SUB connector)

0 Taper shaft (2-0SP, 1-0SP, 1-0SP/3000 standard)

1 With the taper shaft brake (20 kgf · cm)
5 Straight shaft
6 With the straight shaft brake (20 kgf·cm)

Previously, the motors with 2000P, 2500P and 3000P absolute pulse coders were
designated as BD31, BD32, and B033, respectively. Now, they are designated
as BD41, B042, and B043, respectively.
Previously, a motor with a pulse coder whose resolution is 10,000
pulses/rotation was designated as BD61. Now, it is designated as BO 10.
The installation and functions are completely compatible.
The standard shafts used for models 2-0SP, 1-0SP, and 1-0SP/3000 are taper
shafts. Use a taper shaft as far as circumstances, such as the delivery time
and maintenance, permit.
The standard shafts for model 0-0SP is a 14 mm dia. straight shaft. They is
no taper shaft option.

2-2
(4) Models OS~ SS, and SS/3000

A06B-ODDO-BD DO

313 Model OS 04 With

the 2000P incremental pulse coder
314 Model SS 05 With
the 2500P incremental pulse coder
514 Model SS/3000 06 With
the 3000P incremental pulse coder
10 With
the lOOOOP incremental pulse coder
(17P connector)
41 With the 2000P absolute pulse coder
42 With the 2500P absolute pulse coder
43 With the 3000P absolute pulse coder
81 With the lOOOOP high-resolution pulse coder
(19P connector)
62-68 With the high-resolution pulse coder
(See the attached table for the number of
pulses)
72 With the serial pulse coder A
74 With the serial pulse coder C
0 Taper shaft (standard)
1 With the brake (60 kgf·cm)
5 Straight shaft
6 Straight shaft with the brake (60 kgf·cm)

For 1-p detection in the NC having the flexible feed gear function, use the
lOOOOP incremental pulse coder (17-pin connector) if possible.
The designations of the motors with the 2000P, 2500P, and 3000P incremental
and absolute pulse coders and with the serial pulse coders has been changed.
The installation and functions are completely compatible.
See item (8) for the correspondence between the motors and the old
designations.
The designations of the motors with the brake have been changed.
The position of the brake connectors and the shape of the oil seals have been
changed. The installation dimensions of the new motors are the same as those
of the old ones. However, thoroughly check whether the motors interfere with
the machine tool. (See the outline drawings.)
The motors whose dimensions are old (whose designations are B2DD and B7DD)
can be supplied only for maintenance to eliminate the problem of interference
between the motors and the machine tool.
Use the motors whose designations are BlDD and B6DD if possible, however.
The standard shafts used for models OS, 5S, and SS/3000 are taper shafts. Use
a taper shaft as far as circumstances, such as the delivery time and
maintenance, permit.

2- 3
(5) Models lOS, lOS/3000, 208/1500, 20S, 20S/3000, 30S, 30S/2000, 30S/3000,
40, and 408/2000

A06B-0000-BO CD

315 Model lOS 04 With

the 2000P incremental pulse coder
317 Model lOS/3000 OS With
the 2500P incremental pulse coder
505 Model 20S/1500 06 With
the 3000P incremental pulse coder
502 Model 20S 10 With
the lOOODP incremental pulse coder
318 Model 20S/3000 (l7P
connector)
590 Model 30S 41 With
the 2000P absolute pulse coder
506 Model 30/2000 42 With
the 25DOP absolute pulse coder
319 Model 30S/3000 43 With
the 3000P absolute pulse coder
581 Model 40 81 With
the lOOOOP high-resolution pulse coder
(lgp connector)
583 Model 40S/2000
62-68 With the high-resolution pulse coder
(See the attached table for the number of
pulses)
72 With the serial pulse coder A
74 With the serial pulse coder C
0 Standard
2 With the brake (180 kgf-cm)
3 With the brake (400 kgf-cm)
5 Taper shaft
7 Taper shaft with the brake (180 kgf-cm)
8 Taper shaft with the brake (400 kgf-cm)

For 1-p detection in the NC having the flexible feed gear function, use the
lOOOOP incremental pulse coder (17-pin connector) if possible.
The designations of the motors with the 2000P, 2SOOP, and 3000P incremental
and absolute pulse coders and the motors with the serial pulse coders have
been changed.
The installation and functions are completely compatible.
See item (8) for the correspondence between the motors and the old
designations.
The standard shafts for models lOS to 30S are straight. Use the straight
shafts if possible, considering the appointed delivery date and the
maintenance.
Only the straight shaft with a 400 kgf-cm brake can be provided for model 40.

(6) Models 50S, 60S, and 70S

A06B-033 -
0-BO
-- 0 0

1: Model 50S 61-68 With the high-resolution pulse coder

2: Model 60S (See the attached table for the number of
3: Model 70S pulses.)
69 With serial pulse coder A
71 With serial pulse coder C
0 Taper shaft (standard)
2 With the brake

2-4
(7) Motor wi th high resolution pulse coder.

A06B-0000-BDDO
Pulse number Max . speed
81 lOOOOP (3000 min-1)
61 lOOOOP (3000 min-1)
62 12SOOP (2400 min-1)
63 lSOOOP ( 2000 .min-1)
64 20000P (1500 min-1)
65 2SOOOP (1200 min-1)
66 20000P (3000 min-1) High-speed type
67 25000P (2400 min-1) High-speed type
68 30000P (2000 min-1) High- s peed type

The high speed type needs a signal conversion circuit for the connection with
NC. The maximum rotation speed is the restriction of the pulse coder. In
addition, there are restrictions in the maximum rotation speed of the motor
and the feed rate of NC.

( 8) De t ector compatibility table

The designations of the motors with the following pulse coders have been
changed in models OS to 40S/2000.
The installation and functions of the old and new motors are complet ely
compatible.
The motor with the lOOOOP incremental pulse coder of BOlO has the same shape
and the same connector as the motor with the old incremental pul se coder.
Use this new motor to enable the flexible feed gear funct ion to be used by the
lOOOOP pulse coder instead of the old incremental pulse coder during 1-p
detection.

Pulse coder New designation Old de signation

2000P Incremental (17P) B004 BOOl
2SOOP Incremental (17P) BOOS 80 02
3000P Incremental (l7P) B006 B003
lOOOOP Incremental (17P) BOlO
2000P Absolute (lgp) B0 41 B031
2500P Absolute (19P) B0 42 8032
3000P Absolute (lgp) B043 8033
lOOOOP High-resolution (lgp) 80 81 B0 61
Serial pulse coder A (19P) 80 72 80 69
Serial pulse coder c (17P) 80 74 8071

2-5
3. SPECIFICATIONS AND CHARACTERISTICS

3.1 Types of Motors and Specifications

1-0SP
5S
Item Unit s-o 4-0S 3-0S 2-0SP 1-0SP/ O-OSP OS
SS/3000
3000
Output kW 0.02 0. 05 0.1 0. 3 0.4 0. 5 0.75 0 .9
0.45 1. 0
HP 0.027 0 . 07 0.13 0.4 0.54 0.6 7 1.0 1. 2
0.6 1.3
Rated Nm 0. 10 0.25 0 . 49 1. 0 2.0 2.9 2.9 5.9
t orque
at s t al l I 2.0 5 .9
l~~C ::l 1 2 .5 5 10 20 30 30 60
20 60
Maximum mi n·1 3000 3000 3000 300 0 2000 3000 3000 20 00
speed 3000 3000
Maximum Nm 0.8 1.1 2.2 7.8 15. 7 22 26 53
theor et- 15. 7
ica l
t or que kgcm 8 11. 3 22.6 80 160 220 270 540
160
Ro t or kgm2 0.00000 29 0.000037 0.0 00073 0.00036 0. 00060 0.00083 0.0020 0.003 7
inerti a
kgcmS2 0.00003 0.0037 0 . 0061 0.0085 0.020 0.038

Maximum r a d/S2 267 000 297 00 30500 21600 26200 259 00 13500 142 00
theoret- 26200
ical
acce l e r-
ation
Weight kg 0. 7 1. 7 2.4 2. 8 4.3 5. 9 10 15

The above va l ues are ut:der the ccndition at 20 °C .

Note) The above values show!: in t he maximum t heo r eti ca l t orque ar e the theoretical
val ues. 1'h2 ac t ual ~~~:.:.!'!lcm torque i s r es t ricted by t he c urrent l i mit value of
t he dri ve amplif i er .

2- 6
 Item Un i t lOS 20S/l500 30S 40 50S 60S 70S
lOS /3000 20S 30/2000 405/2000
205/30 00 30S/3000
Output kW 1.8 2.8 3.3 3.6 8 10 13
2. 3 3.5 4.0 7.0
3.5 4.4
HP 2.4 3.8 4.4 4.8 11 13 17
3.1 4.7 5.4 9.4
4 .7 6.0
Rat ed Nm 11.8 22 .5 37.2 55.9 66 98 147
to r que 11.8 22 .5 29.4 55.9
at stall 22.5 29 .4
kgcm 120 230 380 570 670 1000 1500
120 230 300 570
230 300
Maximum min-1 2000 1500 1200 1200 2000 2000 2000
speed 3000 2000 2000 2000
3000 300 0
Maximum Nm 78 147 225 235 294 44 1 588
theoret-
ica l
to r que kg em 800 1500 2300 24 00 3000 4500 6000

Rotor kgm2 0.010 0.017 0.024 0.030 0.024 0.031 0.038

inertia
kgcmS2 0.10 0.17 0.24 0.31 0.24 0 . 32 0 . 39
Maximum rad/S2 8000 88 00 9600 7700 12500 14100 15300
theoret-
ica1
acce1er-
at ion
lWe ight kg 23 34 45 60 80 100 120

The above values are under t he cond iti on at 20°C.

Note) The above values shown in the maximum theoretical torque are the t heoretical
values . The actual maximum torque is re st ri cted by the current l imit value of
the drive ampl if ier.

2-7
3.2 Characteristic Curve and Data Sheet
1) Torque-speed characteristics
The intermittent operation zone is determined by the input voltage
applied to the drive amplifier. The curve shown 1s the value for the
rated input voltage.
The maximum torque at acceleration/deceleration is restricted by the
current limit value of the drive amplifier.
2) Overload duty curves
- The curves shown obtained at the thermal limit of the motor. The
overload duty is restricted by the drive amplifier or the
characteristics of the protecter on the built-in detector in the motor.
3) Data sheet
- Parameter of the motor for the data sheet is the value at 20°C and i ts
tolerance is ± 10%
- The maximum torque at acceleration/deceleration under the actual operating
condi tion is obtained by the intergration of the torque constant of the
motor and the current limit value of the amplifier. No te that the current
limit value of the amplifier is indicated as a maximum peak value.
Ex) Model 20S
- Torque constant of motor = 6.5 kgf•cm/Arms
- Current limit value of amplifier = 40 Apeak
-Max. torque= 40 x 0.707 .x 6.5 = 183 kgf•cm
(Convert into rated value)
The above value may deviate due to flue tua tion of power source, motor
parameter, or limit of amplifier.

2-8
Model5·0 (A06B-0531-B00 0)

speed-torque characteristics (digital) over load duty

0.4 100
90
11~
o. 3 80
- r-r-
-- -- --- ---- ----
:60 70 l ?tw.

-
-- --- -- &
:c
;:;- 40 ~
'-../
IIJIVJ/
..:.:::.
50 UM: ---- 1-- r-
r-
1--
...... ['.
r--
!'-..
""'\ \
1\

o. 1
intermitten operating :::1
"C 30 ~ ,._
20
IlilA ---r--..
"I'.
1---.h:' ~' r\
\
continuous perating 10 1\ 1\ ~
01
ll J
1000 2000 3000 2 5 10 20
Speed (rpm) "ON" time (min.)

Data sheet
Parameter Symbol Value Unit
Maximum speed Nmax 3000 min-1
Rated torque at Ts 0.1 Nm
stall(*) 1 kgfcm
Rotor ine rtia Jm 0.0000029 kgm2
0.00003 kgfcmS2
Continuous RMS current Is 0.49 A(rms}
at stall
Torque constant(*} Kt 0.20 Nm/A(rms)
2.0 kgfcm/A(rms)
Back EMF constant (RMS Ke 7.0 V/10QOmin-1
voltage per phase)(*) Kv 0.07 Vsec/rad
Arma t ure resistance( * ) Ra 15 n
Mechanical time tm 0.003 s
constant(*}
Thermal time constant tt 11 min
Static fricti on Tf 0.01 Nm
0.1 kgfcm
Maximum allowable Im 5.5 A(peak)
current
Max. torque Tm 0.78 Nm
8 kgfcm
Max. acceleration 26 7000 rad/S2
Maximum winding em 125 •c
temperature ri se
Weight 0.7 kg

Note) The values are the standard values at 20•c and the tolerance is ± 10:4.
The speed-torque characteristics var y depending on the type of software,
parameter setting , and input voltage of t he digi tal servo motor . (The
above figures show average values . )
These values may be changed without prior notice .

2-9
Model 4-0S (AOSB-0532-BDDD}

speed-torque characteristics (digital) over load duty

1 100
90
o. 8 110"
80
70 l?M: ~
------- -------- -------
~ 60 1'lnll! t-r- \
intermitten operating ~
E
50 14~ - t--r--. 1'\. 1\
'--'

t' 40 .ill!:r--1--r--.. \ \

~ 1--r---
.g 30 ::n....
lfV.>t
r--
......
1\ \
1'----- ~::--, \
0.2 20
\
continuous perating 10
I
1000 2000 3000 01 2 5 10 20 50
Speed(rpm) "ON" time (min.)

Data sheet
Parameter ISymbol I Value Unit
Maximum speed Nmax 3000 min-1
Rated torque at Ts 0.25 Nm
stall(*) 2.5 kgfcm
Rotor inertia Jm 0.000037 kgm2
0.00038 kgfcmS2
Continuous RMS current Is 0.93 A(rms)
at stall
Torque constant(*) Kt 0.26 Nm/A(rms)
2.7 kgfcm/A(rms)
Back EMF constant {RMS Ke 9.2 V/1000min-1
voltage per phase)(*) Kv 0.09 Vsec/rad
Armature resistance(*) Ra 6 n
Mechanical time tm 0.010 s
constant(*)
Thermal time constant tt 15 min
Static friction Tf 0.02 Nm
0.25 kgfcm
Maximum allowable Im 6 A( peak)
current
IMax. tormH• ~--
1.1 I
11.3 kgfcm
Max. acceleration 29700 rad/S2
Maximum winding 0 m 125 oc
temperature rise
LJ..,.~,..l-. ...
.-.-,;;;..&.6"""' 1.7 1--
~5

Note) The values are the standard values at 20°C and the tolerance is ± 10%.
The speed-torque characteristics vary depending on the type of software,
parameter setting, and input voltage of the digital servo motor. (The
above figures show average values.)
These values may be changed without prior notice.

2-10
Model 3-0S (AOSB-0533-BDOD)

speed-torque characteristics (digital) over load duty

2 100
90
110,.
80
1.5 ..........
------- -------- ------- ,..... 70 l?n.:
,-....
~
~

<ll so ..;;.;1<:~.n"'
1-t-- \
140,. r-- r-.... l\
'-' IS
<ll ~50 '\.

40 ~
::l
0'
'-' 1-- r-::-- _'l \
j..,
p
....,0 intermitten operating ::l
"C
~
30 ..,., 1--
r---, \ \
o. 5 ll~ -...I'- 'I'\ \
20
continuous perating 1\
10
01
llli
1000 2000 3000 2 5 10 20 50
Speed(rpm) "ON" time (min.)

Data sheet

Parameter Symbol Value Unit

Maximum speed Nmax 3000 min-1
Rated torque at Ts 0.49 Nm
stall(*) s kgfcm
Rotor inertia Jm 0.000073 kgm2
0.00074 kgfcmS2
Continuous RMS current Is 0.93 A(rms)
at stall
Torque constant(*) Kt 0.53 Nm/A(rms)
5.4 kgfcm/A(rms)
Back EMF constant (RMS Ke 18.4 V/lOOOmin-1
voltage per phase)(*) Kv 0.18 Vsec/rad
Armature resistance(*) Ra 8.7 n
Mechanical time tm 0.007 s
constant(*)
Thermal time constant tt 15 min
Static friction Tf 0.02 Nm
0.25 kgfcm
Maximum allowable Im 6 A(peak)
current
Max. torque Tm 2.2 Nm
22.6 kgfcm
Max. acceleration 30500 rad/S2
Maximum winding em 125 oc
temperature rl.se
Weight 2.4 kg

Note) The values are the standard values at 20°C and the tolerance is ±10%.
The speed-torque characteristics vary depending on the type of software,
parameter setting, and input voltage of the digital servo motor. (The
above figures show average values.)
These values may be changed without prior notice.

2-11
Mode12-0SP(A06B-0371-BDDD)

speed-torque characteristics (digital) over load duty

4 100
90
------- -------- ------- llO~
80
3
,-,.
:.II!
70 11?0'1::
60 lt~n'l: - I"-
.........
\
intermitten operating

'--'
<ll
G
:;::: 50 ll4oi
~
- t-- t--
1--r--
r--.
'\..
\
1\
\
.;;- 40

-
-......
::> F2-
-o 30 !-;-,., j'--.. r-.... \ \
.......... r---
111V11t \
20 !'-.. !'-. f\
continuous perating 1\
10

1000 2000 3000 01 2 5 10 20 50

Speed (rpm) "ON" time (min.)

Data sheet

Parameter Symbol Value Unit

Maximum speed Nmax 3000 min-1
Rated torque at Ts 1.0 Nm
stall(*) 10 kgfcm
Rotor inertia Jm 0.00036 kgm2
0.0037 kgfcmS2
Continuous RMS current Is 2.2 A(rms)
at stall
Torque constant(*) Kt 0.44 Nm/A(rms)
4.5 kgfcm/A(rms)
Back EMF constant (RMS Ke 15.5 V/lOOOmin-1
voltage per phase)(*) Kv 0.15 Vsec/rad
Armature resistance(*) Ra 1. 733 n
Mechanical time tm 0.010 s
constant(*)
Thermal time constant tt 15 min
Static friction Tf 0,10 Nm
1 kgfcm
Maximum allowable Im 24 A( peak)
current
Max. torque Tm 7.8 Nm
80 kgfcm
Max. acceleration 21600 rad/S2
Maximum winding 8 m 125 ·c
temperature rise
Weight 2.8 kg

Note) The values are the standard values at 20•c and the tolerance is ± 10%.
The speed-torque characteristics vary depending on the type of software,
parameter setting, and input voltage of the digital servo motor, (The
above figures show average values.}
These values may be changed without prior notice.

2-12
Model 1-0SP (AOSB-0372-BO 0 0)
Modei1-0SP/3000 (AOSB-0373-BOO D)

speed-torque characteristics (digital) over load duty

8~------~-------,--------. 100
90
---- ---- 80
110~.

6r--------r------~------__,
_,-... 70
l?M: ~
,-..,. -r- \\
E ------- -------- ~e 60 . L':iM:
z
~
8'
4~--------4---------~--------~ :;; 50 140,
'-"'
~ - -
r--...._
~
~ \
~ 40
~ intermitten operating ::s
-o b-
30 11
:--r-- '-r--
r--
\ ,\
2~----~------~------~--~
lVII
'I' \
20
continuous perating 10
0
o~------=-Io-='=o-=-o----::z""'oo=o--.....,3=-=ooo 01 2 5 10 20 50
Speed (rpm) "ONw time (min.)

Data sheet
Parameter Symbol Vah.1e Unit
Maximum speed Nmax 2000 3000 min-1
Rated torque at Ts 2.0 2.0 Nm
stall(*) 20 20 kgfcm
Rotor inertia Jm 0.00060 0.00060 kgmZ
0.0061 0.0061 kgfcms<
Continuous RMS current Is 2.2 2.9 A(rms)
at stall
Torque constant(*) Kt 0.90 0.67 Nm/A(rms)
9.2 6.9 kgfcm/A(rms)
Back EMF constant (RMS Ke 31.3 23.5 V/lOOOmin-1
voltage per phase)(*) Kv 0.30 0.22 Vsec/rad
Armature resistance(*) Ra 2.444 1.375 [l

Mechanical time tm 0.005 0.005 5

constant(*)
Thermal time constant tt 20 20 ml.n
Static friction Tf 0.15 0.15 Nm
1.5 1.5 kgfcm
Maximum allowable Im 24 32 A( peak)
current
Max. torque Tm 15.7 15.7 Nm
160 160 kgfcm
Max. acceleration 26200 26200 rad/S2
Maximum winding 8 m 125 125 •c
temperature rise
Weight 4.3 4.3 kg

Note) The values are the standard values at 20•c and the tolerance is ± 10%.
The speed-torque characteristics vary depending on the type of software,
parameter setting, and input voltage of the digital servo motor. (The
above figures show average values.)
These values may be changed without prior notice.

2-13
Model O·OSP (A06B·0374-B000)

speed-torque characteristics (digital) over load duty

10 100
------- -------- ...... 90
11~
8 ' 80
'
intermitten operating
'
' ' ,-... 70 11?~ ~
~E 60 IJ<:~n'l:: 1\
:;j 50 1409ii
r--
~
-r-r-
t> 40 ~ ~ \
'-'

- .g 30 ~
..;;...;

-- ...._1'- \ i\

-
uv.. -...I'- \
2
continuous perating
--- 20
10

1000 2000 3000 01 2 5 10 20 50

Speed(rpm) "ON" time (min.}

Data sheet
Parameter Symbol Value Unit
Maximum speed Nmax 3000 min-1
Rated torque at Ts 2.9 Nm
stall(*) 30 kgfcm
Rotor inertia Jm 0,00083 kgm2
0.0085 kgfcmS2
Cont inuous RMS current Is 8.7 A(rms)
at stall
Torque constant (*} Kt 0.34 Nm/A(rms)
3.5 kgfcm/A(rms)
Back EMF constant (RMS Ke 11.8 V/lOOOmin-1
voltage per phase)(*) Kv 0.11 Vsec/rad
Armature resistance(*) Ra 0.275 n
Mechanical time tm 0.006 s
constant(*)
Thermal time constant tt 20 min
Static friction Tf 0.2 Nm
2 kgfcm
Maximum allowable Im 83 A(peak)
current
Max. torque Tm 22 Nm
220 kgfcm
Max. acceleration 25900 rad/S2
Maximum winding em 125 •c
temperature rise
Weight 5.9 kg

Note) The values are the standard values at 2o•c and the tolerance is ± 10%.
The speed-torque characteristics vary depending on the type of software,
parameter setting, and input voltage of the di gital servo motor. (The
above figures show average values,)
These values may be changed without prior noti ce .

2-14
Model OS (AOSB-0313-BOO O )

speed-torque characteristics (digital) over load duty

20 100
90
11~
------- -------- - 80
15 11?.01 r-...1'-
'' ,--.. 70
intermitten operating '' : 60 ll~m: 1----. f\
e 14~ "I\.
<lJ 10 ' ~50
1--
"'
0'
'-" t51>' r--.... ~ 1\
....
0 .e; 40
..... ::s
-a 30 i• '" ~ r\f\
5
20 ~ f\ \
continuous perating 10 \\
01
II
1000 2000 3000 2 5 10 20 50 100
Speed(rpm) "ON" time (min.)

Data sheet

Pa rameter Symbol Value Unit

Maximum speed Nmalt 3000 min-1
Rated torque at Ts 2.9 Nm
stall(*) 30 kgfcm
Rotor inertia Jm 0.0020 kgm2
0.020 kgfcmS2
Continuous RMS current Is 4.6 A(rms)
at stall
Torque constant(*) Kt 0.64 Nm/A(rms)
6.5 kgfcm/A(rms)
Back EMF cons tant (RMS Ke 22 V/lOOOmin-1
voltage per phase)(*) Kv 0. 21 Vsec/rad
Armature resistance(*) Ra 0.645 n
Mechanical time tm 0.009 s
constant(*)
Thermal time constant tt 45 m1.n
Static friction Tf 0.3 Nm
3 kgfcm
Maximum allowable Im 53 A(peak)
current
Max. torque Tm 26.5 Nm
270 kgfcm
Max. acceleration 13500 rad/S2
Maximum winding 8 m 125 •c
tempet"ature rise
Weight 10 kg

Note) The values are the standat"d values at 20"C and the tolerance is ± 10%.
The speed-torque characteristics vat"y depending on the type of software,
parameter setting, and input voltage of the digital servo motor. (The
above figures s how average val ues.)
These values may be changed without prior notice.

2- 15
Model SS (A06B·0314· BD OD)
Model SS/3000 ( A06B·0514·BO 0 0)

speed-torque characteristics (digital ) over load duty

30 100
90
110~
25 ------- ---- -,-- --' 80
:-r--..
' ' ,. 120~
' ,...... 70
!

' :E 60 11:!0~ r---.

intermitten operating
~50
140~ r---..., ~
"-J
!JQ_~
17 40 r-----. ""' 1\
:::1
~ 30 ~ \_ I\ '

20 ~"\ \
5
continuous perating 10 \\
01
l
1000 2000 3000 2 5 10 20 50 100
Speed(rpm) "ON" time (min.)

Data sheet
Parameter Symbol Value Unit
Maximum speed Nmax 2000 3000 min-1
Rated torque at Ts 5.9 5.9 Nm
stall(*) 60 60 kgfcm
Rotor inertia Jm 0.0037 0.0037 kgm2
0.038 0.038 kgfcmS2
Continuous RMS current Is 5.8 10.2 A(rms)
at stall
Torque constant(*) Kt 1.01 0 . 57 Nm/A(rms)
10.3 5.9 kgfcm/ A(rms)
Back EMF constant (RMS Ke 35 20 V/lOOOmin-1
voltage per phase)(*) Kv 0.34 0.19 Vsec / rad
Armature resistance(*) Ra 0.613 0.193 n
Mechanical time tm 0.007 0.007 s
constant(*)
Thermal time constant tt 50 so min
Static friction Tf 0.3 0.3 Nm
3 3 kgfcm
Maximum allowable Im 69 120 A( peak)
current
Max. torque Tm 52.9 52.9 Nm
540 540 kgfcm
Max. acceleration 14200 14200 rad/S2
Maximum winding 8 m 125 125 •c
temperature rise
Weight 15 14 kg

Note) The values are the standard values at 20"C and the tolerance is ± 10%.
The speed-torque characteristics vary depending on the type of software,
parameter setting, and input voltage of the digital servo motor. (The
above figures show average values.)
These values may be changed without prior notice.

2-16
Model 6S (A06B·0316-BDD O )
Modei6S/3000(A06B-0320-B0 DC)

speed-torque characteristics (digital) over load duty

500 90 , . I

400
- - - - - 1- - - - -
! '
''
''
80
70 20S
I

,_
- "i.
I
1'101. ...... I

'' ,..., 60 ~ i
~ ~y~ i
l" . " 'l"" l <lJ 50
..............

' "1\' '!\

1- - - ().p.e-.a ~ n.;. ~!lot ....
e i50S
Q.)
:::>
E' 200 '' 0 40 1HiO
>.
~ 1'\.
0 ~ ~ ~
+-' ~ 30
-o !-....'- '\. 1\
20 r--...."\.1\ \
100 ~:'.."\. ,\
Conti nuous 10 "\.\.\1\
Opera tinQ Zone \' I II I
0
1000 2000 3000 2 5 10 20 50 100
Speed (rpm) ··oN" time (min.)

Data sheet
Parameter Symbol Value Unit
Maximum speed Nmax 2000 3000 rpm
Rated torque c~-:,> Ts 90 90 kgcm
Rotor i nertia Jm 0.056 0.056 kgcmS2
Rated Current Is 8.5 10.6 A(rrr.s)
Torque constant(*) Kt 10.6 8.5 kgcm/ A(rms)
Back EMF constant(**) Ke 36 29 V/krpm
Kv 0.35 0.28 Vsec/rad
Armature resistance(*) Ra 0.320 0.205 n
Mechanical time tm 0.005 o.oos s
constant(*)
Thermal time constant tt 55 55 min
Fri ction Torque Tf s 5 kgcm
Maximum current Im 120 150 A( peak)
Max. torque Tm 810 810 kgcm
Max. acceleration 14400 14400 r ad/S2
Maximum winding 8 m 125 125 ·c
temperature rise
Weight 20 20 kg

Note*) Values on 20 °C . (± 10%)

Speed-torque cha racteristics depends on digital servo software,
parameters and line input volta ge. (Typical characterist ics is show
above.)
Al l specifications are subject to change without not ice.
lJote*i<) Rated torque applicable to 4001 ambient.

2-17
Modei10S (A06B·0315·BDOO)
Modei10S/3000 (A06B·0317-B000)

speed-torque characteristics (digital) over load duty

50 100
90
110!
40 --- ---,------- -- ' 80 --r---
'' ....
''
70 1?.0!
--........I'. '
' :60 1::!0! I'\
' 8
50 140 --......... \
intermitten operati{\g :.j
'
'-'
~ 40
JQ.O --..... '\I\
:::l
"0 30 • v•
~ '\ 1\
10
1-
20 ~1\\ \
continuous perating 10
1\\
0 I
1000 2000 3000 1 2 5 10 20 50 100 200
Speed (rpm) "ON" time (min.)

Data sheet
Parameter Symbol Value Unit
Maximum speed Nmax 2000 3000 min-1
Rated torque at Ts 11.8 11.8 Nm
stall(*) 120 120 kg fern
Rotor inertia Jrn 0.010 0.010 kgm2
0.10 0.10 kgfcmS2
Continuous RMS current Is 7.6 15.3 A(rms)
at stall
Torque constant(*) Kt 1.54 0. 77 Nm/A(rms)
15.7 7.9 kgfcm/A(rms)
Back EMF constant (RMS Ke 54 27 V/lOOOmin-1
voltage per phase)(*) Kv 0.51 0.26 Vsec/rad
Armature resistance( * ) Ra 0.718 0.180 n
Mechanical time tm 0.009 0.009 s
constant(*)
Thermal time constant tt 60 60 min
Static friction Tf 0.8 0.8 Nm
8 8 k.gfcm
Maximum allowable Im 61 121 A( peak)
current
Max. torque Tm 78 78 Nm
800 800 kgfcm
Max. acceleration 8000 8000 rad/S2
Maximum winding 8 m 125 125 •c
temperature rise
Weight 23 23 kg

Note) The values are the standard values at zo•c and the tolerance is ±10%.
The speed-torque characteristi c s vary depending on the type of software,
parameter setting, and input voltage of the digital servo mot or. {The
above figures show average values.)
These values may be changed without prior notice.

2- 18
Model 20S/1500 {AOGB-0505-BD D D)
Modei20S ( AOGB-0502· B0 D 0 )
Model 20S/3000 (AOSB-0318-BO 0 0)

speed-torque characteristics (digital) over load duty

80 100
90
llOl
80 -...
60
------- ----,--- -- 70 120l
' --....!"'--
'
'' '" ~ E
60 1::\0!
-......._
' ~50
140! 1\
-- -- - --- '
' '-"
m ..............
" ~ 40
\
intermitten operating
I
::>
30 7t\Q ~ t'-.. [\I\
20 -

-----
I
"C
~ t\1\
continuous perat ng
- 20
1\'
10
01
II
1000 2000 3000 2 5 10 20 50 100 200
Speed (rpm) •oN" time (min.)

Data sheet

Parameter Symbol Value Unit

Maximum speed Nmax 1500 2000 3000 min-1
Rated torque at Ts 22.5 22.5 22.5 Nm
stall('~) 230 230 230 kgft::m
Rotor inertia Jm 0.017 0.017 0.017 kgm2
0.17 0.17 0.17 kgfcmS2
Continuous RMS current Is 16.4 19.7 32.9 A(rms)
at stall
Torque constant(*) Kt 1.37 1.14 0.69 Nm/A(rms)
14.0 11.7 7.0 kgfcm/A(rms)
Back EMF constant (RMS Ke 48 40 24 V/1000min-1
voltage per phase)(*) Kv 0.46 0.38 0.23 Vsec/rad
Armature resistance(*) Ra 0.220 0.150 0.050 n
Mechanical time tm 0.006 0.006 0.005 s
constant(*)
Thermal time constant tt 65 65 65 min
Static friction Tf 1.2 1.2 1.2 Nm
12 12 12 kgfcm
Maximum al1o..:able Im 142 170 283 A( peak)
current
Max. torque Tm 147 147 147 Nm
1500 1500 1500 kgfcm
Max. acceleration 8800 8800 8800 rad/ S2
Maximum winding (] m 125 125 125 •c
temperature r1se
Weight 34 34 34 kg

Note) The values are the standard values at 20°C and the tolerance is ± 10%.
The speed-torque ·characteristics vary depending on the type of software,
parameter setting, and input voltage of the digital servo motor. (The
above figures show average values.}
These values may be changed without prior notice.

2-19
Model 30S (A06B-0590·B000)
Model 3012000 (A06B·0506-B000)
Modei30S/3000 (AOGB-0319-BOOO)

speed-torque characteristics (digital) over load duty

150 100
90
110~
120 - -~
80 !"-
\

' \
,..... 70 :t20l
: 60 •1~m ------ !"'---
'_\. ____ e -........
------- ' I :;: 50 140l
-- -- '-" ~Ql
.e;- 40 l.h!: -......... '\
- -r----,
I

'' "' 30 I ' ~ !"\.\

---
intermitten operating' '' -o
~[\
V•
I
30 20
continuous >,rating 10 \'
0 l
1000 2000 3000 1 2 5 10 20 50 100 200
Speed(rpm) "ON" time (min.)

Data sheet
Parameter Symbol Value Unit
Maximum speed Nmax 1200 2000 3000 min-1
Rated torque at Ts 37.2 29.4 29.4 Nm
stall(*) 380 300 300 kgfcm
Rotor inertia Jm 0.0024 0.0024 0.0024 kgm2
0.24 0.24 0.24 kgfcmS2
Continuous RMS current Is 15.6 28.6 34.4 A(rms)
at stall
Torque constant(*) Kt 2.39 1.03 0.86 Nm/A(rms)
24.4 10.5 8.7 kgfcm/A(rms)
Back EMF constant (RMS Ke 84 36 30 V/lOOOmin-1
voltage per phase)(*) Kv 0.80 0.34 0.29 Vsec/rad
Armature resistance(*) Ra 0.347 0.063 0.043 n
Mechanical time tm 0.004 0.004 0.004 s
constant(*)
Thermal time constant tt 65 65 65 min
Static friction Tf 1.8 1.8 1.8 Nm
18 18 18 kg fern
Maximum allowable Im 121 283 340 A( peak)
current
Max. torque Tm 225 225 225 Nm
2300 2300 2300 kgfcm
Max. acceleration 9600 9600 9600 rad/S2
Maximum winding fJ m 125 125 125 •c
temperature rise
Weight 45 45 45 kg

Note) The values are the standard values at 20"C and the tolerance is ±10%.
The speed-torque characteristics vary depending on the type of software,
parameter setting, and input val tage of the digital servo motor. (The
above figures show average values.)
These values may be changed without prior notice.

2-20
Model 40 (AOSB-0581-BO 00)
Model 40S/2000 (AOSB-0583-80 0 0)

speed-torque characteristics (digital) over load duty

120 100
·====:: ------
--- -'
---- 90
'\ 110~
100 '
\
\
\
'1.
80 ~
' 70 1120~ ""'-
\
,.......
,..... 80 ' \
E
\
' ~E 60 l1~n"' r---.
2:
intermit ent open t'i.ng '
Ill 60 \
l ~ 50 140%
1~
"" 1\

---
::l
\
~:::---
~
0' I
.... 1 t' 40
0
+' 40 ;::l
'""" ~
~f\
30 I'
""""\
-----------
"0
continuo s operat Jig--'
20
.u,.
r\\ \
20
10 1\\
01
UL
500 1000 1500 2000 2 5 10 20 50 100
Speed (rpm) "ON" time (min.)

Data sheet
Parameter Symbol Value Unit
Maximum speed Nmax 1200 2000 min-1
Rated torque at Ts 55.9 55.9 Nm
stall(*) 570 570 kgfcm
Rotor inertia Jm 0.030 0.030 kgm2
0.31 0.31 kgfcmS2
Continuous RMS current Is 30.7 40.9 A(rms)
at stall
Torque constant(*) Kt 1.82 1.36 Nm/A(rms)
18.6 13.9 kgfcm/A(rms)
Back EMF constant (RMS Ke 64 48 V/lOOOmin-1
voltage per phase)(*) Kv 0.61 0.45 Vsec/rad
Armature resistance(*) Ra 0.130 0.078 n
Mechanical time tm 0.004 0.004 s
constant(*)
Thermal time constant tt 30 30 min
Static friction Tf 1.8 1.8 Nm
18 18 kgfcm
Maximum allowable Im 188 251 A( peak)
current
Max. torque Tm 235 235 Nm
2400 2400 kg fern
Max. acceleration 7700 7700 rad/S2
Maximum winding 8 m 125 125 •c
temperature rise
Weight 60 60 kg

Note) The values are the standard values at 2o•c and the tolerance is ± 10%.
The speed-torque characteristics vary depending on the type of software,
parameter setting, and input voltage of the digital servo motor. (The
above figures show average values.)
These values may be changed without prior notice.

2-21
Model 50S (AOSB-0331-BDOO)

speed-torque characteristics (digital) over load duty

150 100
----- ---- --- ' '
90
110~
' ' ' 80
' '
' '
' 70 120

- \
'--
intermittent oper ting ' ~ 60 1::10

Ol :;::= 50 140~ \
r--
:::1
...0
C'
- - r---
'-'

b- 40
~~
Ill! 'r-. \

----
...., 50 r-- "t-- I
.g 30 171 ......

20 "'I'..
continuous operat ng
10
0
1000 2000 t 2 5 10 20 50 100 200 500
Speed (rpm) "ON" time (min.)

Data sheet
Parameter Symbol Value Unit
Maximum speed Nmax 2000 min-1
Rated torque at Ts 66 Nm
stall(*) 670 kg fern
Rotor inertia Jm 0.024 kgmZ
0.24 kgfcmS2
Continuous RMS current Is 63 A(rms)
at stall
Torque constant(*) Kt 1.04 Nm/A(rms)
10.6 kgfr:m/A(rms)
Back EMF constant (RMS l<e 36 V/lOOOmin-1
voltage per phase){*) Kv 0.35 Vsec/rad
Armature resistance(*) Ra 0.020 n
Mechanical time tm 0.001 s
constant(*)
Thermal time constant tt 120 m1n
Static friction Tf 3.7 Nm
38 kgfcm
Maximum allowable Im 420 A(peak)
current
Max. torque Tm 294 Nm
3000 kgfcm
Max. acceleration 12400 rad/S2
Maximum winding em 125 oc
temperature rise
Weight 80 kg

Note) The values are the standard values at 2.0°C and the tolerance is ± 10%.
The speed-torque characteristics vary depending on the type of software,
parameter setting, .and input voltage of the digital servo motor. (The
above figures show average values.)
These values may be changed without prior notice.

2-22
Model 60S (A06B-0332-B000)

speed-torque characteristics (digital) over load duty

200 100
--- - - --- -- -- 90
- -- --- llO!'
' 80
150 '
' ,-., 70 112( r-
/"""'-.
intermittent open ting '' ~
60 II:!.(~ \\
z
E
Q.l

-r-r-.
' 14(~
-
'-" El
(l) 100 ' ~50
115(~
::J
8' - '-"'
r-1'- 1\
~
I til I-.
0 t; 40
;...>
.g 30 17il
r-- ~---."'
continuous operat
50 r-..1'\
20
10
0
1000 2000 1 2 5 10 20 50 100 200 500
Speed(rpm) "ON" time (min.)

Data sheet

Parameter Symbol Value Unit

Maximum speed Nmax 2000 min-1

Rated torque at Ts 98 Nm
stall (>'c) 1000 kgfcm
Rotor inertia Jm 0.031 kgm2
0.32 kgfcmS2
Continuous RMS current Is 84 A(rms)
at stall
Torque constant(*) Kt 1.17 Nm/A(rms)
12.0 kgfcm/A(rms)
Back EMF constant (RMS Ke 41 V/lOOOmin-1
voltage per phase)(*) Kv 0.39 Vsech:ad
Armature resistance(*) Ra 0.014 n
Mechanical time tm 0.001 s
constant(*)
Thermal time constant tt 130 min
Static friction Tf s.s Nm
56 kgfcm
Maximum allowable Im 575 A( peak)
current
Max. torque Tm 441 Nm
4500 kgfcm
Max. acceleration 14100 rad/S2
Maximum winding () m 125 •c
temperature rise
Weight 100 kg

Note) The values are the standard values at 20•c and the tolerance is ± 10%.
The speed-torque characteristics vary depending on the type of software,
parameter setting, and input voltage of the digital servo motor. (The
above figures show average values.)
These values may be changed without prior notice.

2-23
Modei70S (AOSB-0333-BOOO)

speed-torque characteristics (digital) over load duty

250 100
- --- -
--- --- - 90
llO~
200 ' 80
' ' '
intermittent oper ting ' --' ,...., 70 1120 r-
!'..

\
~150
'-"

~
- ~
'
~

v
e
:.:: 50
60 11~0~
140~
ll_Q_Q~_ --r-
~100 ~
'-'
t- 40 I Ill
1-- \
~
..... :::1 r-- I'--
continuous operat ng -o 30
~ .....
50 20
10
0 I
1000 2000 1 2 5 10 20 50 100 200 500
Speed (rpm) "ON" time (min.)

Data sheet
Parameter Symbol Value Unit
Maximum speed Nmax 2000 min-1
Rated torque at Ts 147 Nm
stall(*) 1500 kgfcm
Rotor inertia Jm 0.038 kgm2
0.39 kgfc:mS2
Continuous RMS current Is 113 A(rms)
at stall
Torque constant(*) Kt 1.30 Nm/A(rms}
13.3 kgfcm/A(rms}
Back EMF constant (RMS Ke 46 V/lOOOmin-1
voltage per phase)(*) Kv 0.43 Vsec:/rad
Armature resistance(*) Ra 0.011 n
Mechanical time tm 0.001 5
constant(*)
Thermal time constant tt 140 min
Static friction T£ 7.4 Nm
75 kgfcm
Maximum allowable Im 688 A(peak)
current
Max. torque Tm 588 Nm
6000 kgfcm
Max. acceleration 15300 rad/S2
Maximum winding 8 m 125 •c
temperature rise
Weight 120 kg

Note) The values are the standard values at 20•c and the tolerance is ±10%.
The speed-torque characteristics vary depending on the type of software,
parameter setting, and input val tage of the digital servo motor. (The
above figures show average values.)
These values may be changed without prior notice.

2-24
3.3 Outline Drawings
1) Model 5-0 (with t he incremental pulse coder) ....... ..... . . Fig. 3.3(a)
2) Model 5-0 (with the absolute pulse coder) ........ .. .... .. . Fig. 3.3(b)
3) Models 4-0S and 3-0S (with the incremental pulse coder,
lead wire) .............................. . ...... . .... ..... . Fig. 3.3(c)
4) Models 4-0S and 3-0S (with the incremental pulse coder,
connector) .............. ... ... ...... ..................... . Fig. 3.3(d)
5) Models 4-0S and 3-0S (with the absolute pulse coder) Fig. 3.3(e)
6) Models 4-0S and 3-0S (with the serial pulse coder) ...... . . Fig. 3.3(£)
7) Models 2-0SP and 1-0SP .......... . ........................ . Fig. 3.3(g)
8) Models 2-0SP and 1-0SP (with the brake) .................. . Fig. 3.3(h)
9) Shaft option (models 2-0SP, 1-0SP, 1-0SP/3000 ............ . Fig. 3.3(i)
10) Models 0-0SP ............................................. . Fig. 3.3(j)
11) Models 0-0SP (with the brake) ............................ . Fig. 3.3( k)
12) Models OS, SS, and SS/3000 ........... . .. .. ............... . Fig. 3.3(1)
13 ) Models OS, SS, and SS/3000 (with the brake) . ... . ...... ... . Fig. 3.3(m)
14) Shaft option (model 0. 5) ... • . ... . .. ......... ...... ... ..... Fig. 3.3(n)
15) Models OS, 5S and SS/3000 (with the old type brake) ...... . Fig. 3.3(o)
16) Models lOS to 305/3000 .......... . ..... . . ...... . .... . ... . . . Fig. 3.3(p)
17) Models lOS to 305/3000 (with the brake) .. ... . .... .. ...... . Fig. 3.3(q)
18) Shaft option (models 10, 20, and 30) .... .... . ... ... ..... . . Fig. 3.3(r)
19) Models 40 and 405/2000 ................................... . Fig. 3.3(s)
20) Models 40 and 405/2000 (with the brake) .................. . Fig. 3.3(t)
20) Models 50S, 60S, and 70S ... ... ....... .................... . Fig. 3.3(u)

2-25
 £-M..S ae plh 5
042 C.3 .C

. 10

\ ~
. 58

I
. :c(l
0
J-
::t
0(\JI
<;,
!
-. -- -. - -

'
-~
I

-
~0
- J
I I
Ll
lJ 8
~

o/
"''
~l
~ ,

c !
I
r~ ;:r

/ j

:I-
o .
~

I
i
~
1-

;;. I
~I
0.
o. :
<.
'
i

~
i
I
L- L
\1(; ll :) N01 E 2l :. t 1\1.3 1 ;,to ~ o t t f o: co 11 ~ e c : : n;, • he ca r : t • t r~ .
~ c r e *~ I t '> ~ : h "l n 3 ~ ~ ; :: · t : l 1 ;, , : r :~ t s' r ! w
1 ~ ~ lu ~ g ~: . t~ t m o:c~ ._. : ~ be d a :r; a e(C .ll ~· o t d
~ c ~: n 1 1 11 I! •J ~ ~ ~ u n o ~..: : ~ !x. 0 . 05 m::1 t ~f': r r,~ ~( ·~w b, •ht ~ ~~

Rc I e d I t• ~ ll ~ R.d ja J 39N:4~ ;:f)

Fig. 3.3(a) Model 5-0 (with the incremental pulse coder)

78
94

r=
~
'if
I '

4-~--~~4-

"'
--
I ..,,
_l
.oi

4 - ~ 3 d epth 5
04 2 O.B .C

\ ~
~J:JT E I ) Sb a f 1 d 1".: uno r.1 ~ ~ a l .0.02:o m t\OT=:: £/ u ~~ tb t M3 l lP tel e fo1 coeucctrca 1J: e e a r:h w art.
~~b~tl t • a . t tt e n1( ICJI J M3 t .C.04mm u~ ' l. ~ ( r c .. ! t '5o 'i. t b a n 311:'11 If, leli a t b I f :b e 'i c i ~ "
: e og t ~ t S lor. g e r. tbe molot wd I br Ca :u a tt d . A~:>l ~
Molll! r • or fate r 'r:.o1: 1 :r--:ax . 0 .05z:11 tollCI':Itl t It t s cr ew by the :a; .
~· . t d l 0 2; ~ R.:C t a l 39N ( ~ kef )

Fig. 3.3(b) Model 5-0 (with the absolute pulse coder)

2-26
 4 -04 . 5,e>76D B.C

.I
B
I
I
!'
f ( --r
(
~I
M
~ -
\IE <')

~!

c
' \If
r
I
oi
"'
t; j
~ ;

<

A .I ___l_

NOT E 1! S h af t dta .r~r. .:. ~t ~3 ( . O . Q2mm

l" ,:. ~ :ltt nl ~ a c ~ ~'J 11 .,. ~t r-:o _0.06mrn

R ~ t e- d I o ! h R d 101 7 8 N{ 8kg! )

Fig. 3.3(c) Models 4-0S and 3-0S (with the incremental pu lse coder, lead wire)

4 - 04. 5 ,076 C. B.C

,------- ----

~ MS3 I0 2A 2 0- 29PW
RMI2BR B -4P {~ I ROSEJ

NCT'E. ': } S ~a [ l ~ 1 a r u] o 1,1. t

Ma l. O .QOmm
R~d t .a i 78N{8kgil

Fig. 3.3(d) Models 4-0S and 3-0S (with the incremental pulse coder, connector)

2-27
 4 - 04.5. 076 D.B.C

NOTE Sh.t~l ~ .a .: 1aoat MJ,.J .0.02=~

Ra~bcl d •a. ttrta~r:c.!J M.a• . 0 . 0 4m•
Mo'lnt!2 g hce :"•oa t M• X. 0 . 06t1111
Ri:~d lc ,a d!. Rad . al 7 8 N(8 kE! )

Fig. 3.3(e) Models 4-0S and 3-0S (with the ab solute pulse coder)

I
r.c.o.4 - p4.5, P6D. B. C
100

I
I

.j
t
1\

,. :
\ \ D-SUB 15 P ( '1A!LJ
0 / .3
RM '2BRB· AP ( HIROSE;

1\CTE 1l Sh 1 f ~ ~ 1 oil • r v 1 o ~; Ma1.0 02TDZ

P:JLSECODER PULSECCDER
'oiai ,0 .06r:l'l SERIA:.. c SERPL A
R>d" : 78N I8k i~ l MOTOR B A A
MOCEL 4-0S 65 136 149
MJSEL 3-CS 97 168 181

Fig. 3.3(f) Models 4-0S and 3-0S (with the serial pulse coder)

2- 28
 ,----
4-~6.6 EQLSP ON ~ 100

!
/ _---

APPLICABLE CONNECTOR KIT (OPTION I

AI'PUCABI.E CONNECTOR K!T(OPTIONI j A06ll-6 050-ltl l0 : INCREMENTAL.AllSOLUTEt251')
. AOGil-6050-K I ll (I IIROSE'SSPECIFICATION: 11DBB·2SS,Il08W.2~CVJ
(AMPJAPAN'SSPECIFICATION: 176346-21\
I 1106ll·6050·Kll5: SERIALII, COSI')
, (IIIIIOSJI'SSPECIFICI\TION: IIDI\Jl-ISS,I lliAW· IS·CVI

WI TH I NCREMENTAL PULSE
CODER AND SERIAL A, C
MODEL A I B I c I 0
2- 0SP 165 1 1s2 I 104 I 60
D ~~lLOFSIIhPTSHAPE ( l -OSP,2-0SPSTANDARD)
1-0SP 201 1 188 1 140 I 96
WITH ABSOLUTE PULSE CODER
MODEL A I B I c I D
2-0SP 190 I 177 I 104 L 60
NOTE 1) SHAFT ROTATION RUNOUT: 0 . 02 IM1 MAX 1-0SP 226 I 213 I 140 I 96
RUNOUT DUE TO FAUCET JOINT ECCENTRI CI TY: 0.04 mm MAX
INSTALLATION SURFACE RUNOUT: 0.06 """ MAX OUTLINE DIMENSIOIIS
PERMISSIBLE RADIAL LOAD ON OUTPUT SHAFT: 245 N (25 kgf)

Fig. 3.3(g) Models 2-0SP, 1-0SP, and 1-0SP/3000

4· -6.6 F.QL SP ON - 100

/~ ~ 14 • 0.5 G.a ·qe

/
! 11. ~
, I ...............

"'"' ~I ~
"-'-

rt
~$],
7,_ t- - -f ~-tt:-= ,' \
I I
'i I i
J
\\ ' ' _j~ ,
A
1\l'Pl..ICABI..E CONNECTOR KIT (Of'TION)
\
APPLICABLE CONNECTO R KIT <OPTION) \ 1106B·6050-Kl10: INCREMENTIIL, IIll50LUTE(25Pl
A06B·6050·Klll \ (Ill ROSE'S SPECIFICATION: II DBB·25S, HDBW.25.CVI
\AMPJAPAN'S SPECIFJCATION: 176346-2 1 \ A06B·n050·K 115, S~ RI A I. A, C (15P)
i llliROS~'SSI'ECIFICATI ON: II DAB.I5S, IIDII W-15-CV)

WI 111 INCREHEtiTAL PULSE

CODER AND SERIAL A, c
MODEL A I B I c I D
2- 0SP 215 L 202 I 104 I 60
1-0SP 2s 1 1 238 I 140 l 96
WI TII ABSOLUTE PULSE CODER
MODEL A I 8 l c l D
NOTE 1) SHAFT ROTATION RUNOUT: 0.02 mm MAX
RU NOUT DUE TO FAUCET JOINT ECCENTRIC ITY: 0.04 mm MAX 2- 0SP 240 I 22 7 I 104 I 60
INSTALLATION SURFACE RUNOUT: 0.06 mm MAX 1-0SP 276 I 263 I 140 l 96
PERMISSIBLE RADIAL LOAD ON OUTPUT SHAFT: 245 N (2 5 kg£) OUTLINE DIMENSI ONS

Fig. 3.3(h) Models 2-0SP, 1-0SP, and 1-0SP/3000 (with the brake)

2-29
 STANDARD
TAPER S'iAFT

M6 D: i . o/ 7 .5 l /10 TAP:CR

SHAF T DE' AIL

O:>T:ON (I ;
STRAI::JhT SH AFT

Q<>T : Of\' ( 2)
STRAIGW SHAF T
,.JI-H KE':'W.A.Y

Fig. 3.3(i) Shaft option (models 2·05, 1-0S, 1·05/3000, 2-0SP, 1·0SP, and 1-0SP/3000)

4-..6.6 EQL Sl' ON ~ 100

I =~
~
~~~~
; --~--~
: b--r-------------r-----.~~

r 4 1 I
•• ...,, -f..---+-}---
· - -ll-1-l- -1 ------------+---- - -11+-..-ol-

,<:j-t-~ ~-----+----+!H ffi·

I~
.hL ~-~~
\:
r-----------~
D c
6A------~~~
-i .I /
D9~
tCA f l I
'
CONNe CTOR KIT (OPTION )\
A06B-60SO·Kll I CON!>IECTORKIT <OPTIONl
A06S.60SO· Kl l 0: lNCREMENTAL, ADSOLUTE (25P)
'A06B·6050·KIIS: SI':RIALA,C(ISP)
NOTE l ) SHAFT ROTATION RUNOUT: 0 .02 mm MAX
RUNOUT DUE TO FAUCET JOINT ECCENTRICITY: 0.04 mm MAX
INSTALLATION SURFACE RUNOUT : 0.06 mm MAX
PERMISSIBLE RADIAL LOAD ON OUTPUT SUAFT: 245 N (25 kgf)

~ :#1
WITH INCREMENTAL PULSE
CODER AND SERIAL A, C
MODEL A I B I c I D
0 OSP 237 1 224 1 176 I 132
WITH ABSOLU1'E PULSE CODER
MODEL A I B I c I 0 UETAlL OFSllAF"TSIIAl'E
0-0SP 262 I 249 T 176 I 132
OUTLI NE DIMENSIONS

Fig. 3.3(j) Model O·OSP

2-30
 4-;6.6 EQL SP ON ¢100
;
/

I WITH INCREMENTAL l'li!.SE CODER

AND SERiAL A. C
I: CONNECTOR KIT(QM'lON)
AOGB-6050-K L10: INCREMENTAL, ABSOLUTE f25Pi
AQGB-6050-KLIS: SER!ALA, C(15P)
MOD2L i A
I B
I c I D

0-0SP I 287
J 274 I 176 I 132

1 WITH ABSOLUTE PULSE coo~R

MODEL I A
I B
I c ! D

o.osP I 312
I 299 I 176 I 132 '
OUTLINE DIMENSIONS
NOTE 1) Sllll£'1' ROTATION l\UNOUT: 0.02 mm MAX
RUNOUT DUE TO FAUCET JOINT ECCENTRICITY: 0.04 mm MAX
INSTALLATION SURFACE RUNOUT: 0.06 mm MAX
PERMISSIBLE RADIAL LOAD ON OUTPUT SHAFT: 245 N (25 kgf) DETAIL OF SHAFT SHAPE

Fig. 3.3(k) Model 0-0SP (with the brake)

'J u;..;.~:. 1-.uu.~ N01£Sl S~. l J I d ~ , I :1 q o \o i ~l J D.02nnc

Gr--J 145 D.B. .C
Ra ~b~1 dJ~ e~u~r1rc1r~ Ma J, 0.041llm
MG ~ n l 1 n 2: f 1 c ~ Mn. 0 .0-6 ~:~ ~
Rned lotd:s R ~ d t a l 686N l 70 k i ! l

M$31 0211 20-29P\II i INCREMENTAL_. $ERI AL -C l

MS 3 102A 22· I <PI ABSOLU~~RIAL·A
4:G~ RESOLUTION)
M$3!02A •8 - 10?

IN:PE"ME'Nl'Al PULSE CJC(R ARSOUT~ PdLS~ q8(jR

SE~IAL PUL SE CODER ~
~t~'!.._:E ULS~Lc:BD~R ~;<
r-10 'CR A I 6 I c A I 3 I ·-
MODEL 0 230 I 139 I 24:;. I i39 I
52 5L
MODEL 5 286 I 195 I 30 1 I ! 9:':· l

Fig. 3.3(1) Models OS, 5S, and SS/3000

2-31
 NOl E S ) 5 hl~ ~ d i a.tiHI.<>g> Mat . 0 . 02rna~
9 D!A, 4 ~OlE S
ON 14:;) D. B. C. R .a b -,~ 1 ¢ 1 I. ~: c ~ .1 t r 1: 1t1 M:1 1 . 0. 04 m•
; -- - Me" a: 1 a i I J. e t 1 • 2G t: : !-t.a J • ::>. 06a:a

/
Rtttd load$ Rl4•al 686N (7011tf)

\ M5310:!A IOS~-4P

~·~~D~~·~ ~~L%~
INCREM!;: NT A.L PULSE CODER
SERJAl PU. SE CODE~ C ~ALE 'cS~L -. AR

MOTOR A T B I ,.. A T B I c
MODEL 0 2 73 I • 82 T !
2 88 182 I
52 54
MOCEL 5 329 I 238 l 3U I 238 I

Fig. 3.3(m) Models OS, 55, and 5S/3000 (with the brake)

s·c.ou

STANDARD
TAPER SHAF T

1/ 10 TAPER

I• 36 I
OP,I ON (I)
;
l -_ _ _ j
STRAIGHT SHA;:"T
2-M4 D EPTH 10

0 :-0.5

0' 6 12
"' I
I (
.~ \
I b
0

0 -11
OPTI J.\l : 2 l C\Ji
~ I
S TRAIG~ T SHAFT
WIT H KE Yi~AY
I I
Fig. 3.3(n) Shaft option (models OS, 55, and 55/3000)

2-32
 9 C! A.4 HOLES
O'J IJS D. B.C . Mn . 0.02 'Uil
Ra b btl d 1 1 . e cc c ~ 1 J : c1 : J ...:~ I . 0. 0 411:11
M oe 1 t 111 I a c t ' f 0 .1011 Mal C·.06Cl%
Ra :td t oad~ R ad.:;~ l 6861"-.lDOkt l )

\ M5310?.A IOSL- 4P \
KEY
I

H'CREMENTAL PULSe CODER

SERiAL PU..SE COOE~ C S
~~~~~~~. "~:-r~{\I~C~R
!AL ULSi,' 00~
MOTOR A 1 B T c A 1 B I -
~

MODEL 0 273 T 182 I 52

258 T :82 T
5t.
MODEL 5 329 I 238 I 3~4 I 238 I

Fig. 3.3(o) Models OS, 5S, and SS/3000 (with the brake)

~~~~IE~k~!ifRCf0~1 ~~~~~~u_~~~
O~T~O ~
WlTH KEY WAY

A066 - 03~C - 8500-0069 HO;OR A -1 B I c A -, 8 I c

MODEL 6S 344 253 o2 ' 359 2 53 I 54

Fig. 3.3(p) Models 6S, and 65/3000

2-33
 -C J
-4P

S~~1_,~r>g~S£R::eOER ~W"llt~t~~~,:~
s · l AL- ··cscll.coc ~~
0
:. J
.
OPTION ~O TOR A 6 c ;\ 5 c J
WITH KEYW AY MODEL 6 5 387 296 52 <102 296 54 I
A068 - 03DC - 87DD~0069

Fig. 3.3(q) Models 6S, and GS/3000 (with AI Flange Brake)

13 . ; · alA . • HOLES TAPS F'OR E YEBDL T d"8 .OE? TH 15:0

CJ< ? OOD B C. E':'EBCL TS AR!'; NOT ATTACHED
I

Ct 7 4

\\ \ MS3102A 2~·29PW ! !NCR!':\tNTAL.SElHAL-CI

M$3102A ~ ~ 1 4~ t ABSOLu .SER ! AL A
HIGH RESOLUTION)
f\KJ i ESJ Sh a lt d:a . ra~o l.ll Mn . 0 . 05 ~:1
R~ b b e 1 d 1a .
~c t ~ I I 0 ( f aCe
te c n 1 11 t 1 : y
J u' c I :
M 11. 0 . C71l:a
MI l . 0. I Om:a
'::§~: g~~ ~n~~ !;jgU~~ 3 5§9~8§&: ~g§~~~g )305 '
Ra t ed I H<! ~ Sh du 1 4 4 10N( 4 50l.. afl
! NCilEM!':NTAL PU.SE CODER
.SC:R l Al. P LLSE CODER : ~Iso..~s-"iJLca~R
S !?tAL PULSt'
MOTOR A B c A B c
MODEL 10 27 1 196 2 86 196
MODEL 20 3 46 27 1 £9 36 1 27 1 54
MODEL 30 £ 21 34 6 4 36 346

Fig. 3.3(r) Models 1 OS, 105/3000, 205, 205/1500, 205/3000, 305, 30/2000, and 305/3000

2-34
 l APS ~oR E"' EBO L -, MB DE~ Tf-< 1 5:~
:::Y E:30_ TS ARE NO" A. T TAC:1EC

· nt1·
1
79 ~ B
.I
I ,
-~
"'
@
i v '~'
..
"' 1-- - ·-
~'rl_ '
z~ ;g
I~ ()

@ \ '--,
' ' 85 -::}:
6 h-~l ~

\MS31 02..\ I OSL- AP

\ M$ 31 02A 2 0 - ;?9PWI !NCREM E ~ TAL . SERI<L -C I

\ MSJ ! 0 2 •
2 2 -1 4P lA3 SDLU1 E ,SERJ AL- A
HI GH R<: SCLUTI ON I

Mn C .Q 5 tii:ID !NCR ::MENi AL 0 ULSE CODER •esOcl.' T- PCJLS< ceg"R

S E;' I AL PULSE CO DER c H , :';H RE~ "~L~E !:>£ R
SE~!A1.- ULS ,_ Qo(J.1' A
~~ ( 0 . Q:;'JJll HOTOR A B c A 8 c
Pd ; ~ .i i! ~ 0N t450 iq f) HODEL 0 2' =.
3 50 365 2 75
MODEL 20 425 350 49 ~4 0 350 54
MDDEL 30 500 425 :> 15 425

Fig. 3.3(s) Models 105, 105/3000, 205, 205/1500, 205/3000, 305, 30/2000, and 30S/3000
(with the brake)

STANDARD
SPAJ:GH T Sf-iA~T

M20 P= I. 5

1/ 10 TAPER

OP TI ON ( I )
T ADER SHAFT
r-j" _7o~J
1
o:g_o3&

0 '

-q ~i
LOI
ni
0 0

OP TION ( 2)
STRA I GHTSri AFT
WIT H KEYWAY

Fig. 3.3(t) Shaft option (models 105, 105/3000, 205, 205/1500, 205/3000, 305, 30/2000, 305/3000)

2-35
 HOE:NE'!I.:T Al ~SE COOCW S ~J I~ d t :a _ ,,H~t Mll , O.C'Scn:
S( ~l ~ P'...l SF ~~ C
R J U ltt 41& , CCC'rll:ll l l! J•h• 0 .Q7 a~t
A 5 t<o Y :~ taa t flr~ co:o:~t Ma l , O . I O II~t
!% I •9 R J I!d lol d~ lhdtl l (.4 10f\1 ( 4 5<)ttl )
.ao&SO..UlE Pu....St O :::E:.=!
MIOH R!S. 1)-JLS£ COO£P
SE~I Al P U..SI:: CCOE=<' ot,

A I 3 T.APS FO~ £ YEBCl. 7 ~ 1148 OEPTH 1 5:~

E"EBDL TS AI<E r".C'r .ao1'1ACHEC
511 I 5<
C!RE~ T ICJ-l Of' _.l ::t -= LOW IS OOWNWARO QM...Y

; 3 . 5 Ol.t. . ~ HCL-i:S
oN .2oo o .a. c.

\
\
I \ 1801
i \
f--------1----'-------f---~~ \ "8< )

~S~3 10 2 A
F'O~
!QSL -4P
I= AN MQTDP.
I \ _ r-~ 53 :O~A 2:)- i?9Pw ' :r..q :;•c v:E.NT A.L SERI ,;L+C J
MS ..) 0 2A 22~ 14P' { ASSCL.:?r'E . SERIA L ~ A
2:)0(Vl
H1 GH ::?ESO:.. UTI:::JN l
50 1--!Zl ~OIHZI
.:10(1'\)

2700 2900
l\;Slr_a •!(IN ~~~IS l
\c:ecc v~ : Q(IIMn)

Fig. 3.3(u) Models 40 and 40$ /2000

596 I 49
A!J~ I.IT( e>ul.Si' C OO£~
t"'IC:.~ot
I:'E$ . Pu..SE: c:COE R
SiOi A'.. Pu..S( CCXX:'! A

" 8
6 I 54

13 . 5 C IA. <!l-();..ES
:JN 200 O .O.C
--,

o 74 .I
-c ~

:;o: :;z J 60 ·:1--7.

40: ':.' ) 4 Q\ 1N)

2i'Cl0 2900

:-t-·iS C~-<T :s SPEC. ~( P. :'.IN:: r'A:-l '4C1~R. Fa~ MOT~ -.r !~tN;
PROT£: 1 != US~ :s
!'!C:- !r.£::..L.C£C t!'l " -4 --t:)T ()::)
;->;::; p .; :-:· ; tr: =-~·•n::· ~.:. :n-~ 1. Y _

Fig. 3.3(v) Models 40 and 405/2000 (with the b rake)

2-36
 18 DIA.HlOI.ES
ON300 O. B.C
132 A
,3_8 c

i
\MS3 : Q2A 22 - 14 P
B 46
14 0
1_8_0
I

MODEL A B c NOTES) Shaftdiu.runouL Mn.x. 0.03 mm

Rabbe t dia. e coenlricity M~x.O.Otlmm
50S 341 160 194 Mounting face runoul Ma x. O.OS.nm
60S 401 220 254 Rated loads Radial 8820N(900kgf)
70S 461 280 314

M36

SIIAF"I'OE:'l'AIL

Fig. 3.3(w) Models 50S, 60S, and 70S

2-37
3.4 Connecting Power Lines
(a) Model 5-0S and models 4-0S and 3-0S of lead type

Color of leads
u 0'------------------~
u: Red Motor coil
V: White vo,------.
w: Bl ack
Or label indication: U, V, and W
Be sure to connect the protective
w 0>-----------,1 'I
circuit(ground) with the ground tap
specified in the outline drawing.

(b) Models 4-0S and 3-0S of connector type

u
1 0

2 0
0

0
4

3
::
4 0
v
w
Earth

l
1~0<
Motor body
coil

RM-12BRB-4P
(manufactured by Hirose
Electric Co., Ltd.)

(c) Models 2-0SP, 1-0SP, 1-0SP/3000, and 0-0SP

u
'
D

6
D

5
D

SP series connector
D

3
CJ

2
D

::
4 0
v
w
Earth

l
~~or
Motor body
coil

5
Applicable cable plug
manufactured by Japan AMP Only for models with a brake Brake coil

176346-2 6

The surge absorber for the brake is not incorporated 1n the motor. Install
it in the power magnetics cabinet.

2-38
(d) Models OS, SS, and SS/3000

u
AO

~or
D A coil
v
0

c
0
0

B
0
::
DO
w
Earth
I '!
=:1-- Motor body
MS3102Al8-1 0P

(e ) Models lOS, lOS / 3000, 20s, zos/1soo, and 30S

:: luJ;;r
D A
0 0
v coil

c B
w
0 0 Earth
DO
=:1-- Motor body
MS3102A22-22P

(f) Models ZOS/3000, 30/2000, 30S / 3000, 40 and 40S/ 2000

coil

E G B
0 0 0
D c
0 0
Earth
MS3102A24-10P G o~---~
~ Mo tor body

(g) Models 50S, 60S, and 70S

u o--------- --.
u v w G coi l
v o------.

0 0 0 0 w o~----_,

Terminal block G O,__--~

Thread dimension: M8 ~ Motor body

2-39
4. OLD MOTORS

4.1 Types and Specifications

Motors 2-0S, l-OS, and 1-0S/3000 produce the same output as moto rs 2-0SP, 1-
0SP, and 1-0SP/3000, respectively.
These motors are supplied only as replacement parts. Orders for these motors
may not be accepted if they are going to be used in new machines. Please use
SP models in your newly designed machines.
Models 2-os, l-OS, and 1-0S/3000 are further divided into the following types,
each of which should be designated on the order sheet as listed below.

Models 2-0SP, 1-0SP, and 1-0SP/3000

A06B-O:J0 0 -BDCJO

310 Model 2-0S 1 With the 2000P pulse coder

312 Model l-OS (Except the high-resolution pulse coder)
309 Model 1-0S/3000 2 With the 2500P pulse coder
(Except the high-resolution pulse coder)
3 Wi~h the 3000P absolute pulse coder
(Except the high-resolution pulse coder)

0 With the incremental pulse coder

3 With the absolute pulse coder
61-68 With the high-resolution pulse coder
(See the attached table for the number of
pulses)
69 With the serial pulse coder A
71 With the serial pulse c oder C

r---- 0 Taper shaft (standard}

1 Taper shaft with the brake (20 kg•cm}
1---- 5 Straight shaft
~--- 6 Straight sha ft with the brake (20 kg •cm)

4.2 Outline Drawings

1) Models 2-0S, l-OS, and 1-0S / 3000 .......... .................. .. .. Fig. 4.2(a)
2) Models 2-0S, 1-os, and 1-0S / 3000 (with absolute
pulse coder or high-resolution pulse coder) . . . . . . . . . . . . . . . Fig • 4.2(b)
3) Models 2-os, l-OS, and 1-0S/3000 (with brake) ............. Fig. 4.2(c)
4) Models 2-os, 1-os, and 1-0S/3000 (with brake and with
absolute pulse coder or high-resolution pulse coder) Fig. 4 .2 (d)

2-40
4 - ;6.6, f i OO D. B. C

NOTE 1) Shaf• dia.runout Ma• . 0 .02onm

Rabbet..diil . eccenlricily Ma~. 0.04mm
MClunting face rw10ut. Max. 0.06mm
Rat.ed loads Radial 245N(25k~f)

NOTE 2) Tf!E POSITION OF SIGNAL CO NN~;CTOR

MAYDI':VIATE WITHIN ± 5°.
S H AFT QE:TA IL

Fig. 4.2(a) Model 2·05, 1-0S, 1·05/3000

4 - ~G.G, ,<100 D.ll. C

NOTE 1) Shoft dia runout Mnx. 0.02ml11

Rabbctdi:1. eccentricity Max.O.O-imm
Mounting face run.oul Max.. O.OC.nun
Hat.ed loads Radia l 245N!25kgf!
NOTE2) TilE POSITION OF SIGNAL CONNECTOil
MAY DEVIATE WJTIIIN ±s•.

Sll At'T D€T AIL

Fig. 4.2(b) Models 2-0S, 1-0S, 1·05/3000

(with the absolute pulse coder or high-resolution pulse coder)

2-41
 4- ~fi.G, ~100 D. B. C

\
\
\

090

., i "'• ~
·:

.-:1+-~'--+--+
NOTE 1) Shaft din runout
Rabbet din. eccentricity
Max.0.02mm
Max. 0.04nun
kfl ?~! .0 1/lOTAl'ER
Mounting face rWlout Max.0.06mm
Rated loads Radial 245N(25kgf)
SHAF1' DETAH. NOTE2J THE POSITION Oi"SIGNAL CONNECTOR
MAY DEVIATE WITHIN ±5".

Fig. 4.2(c) Models 2-0S, 1-0S, and 1-0S/3000

(with the brake)

4-~6.6, +100 D. B. C

-1-l-No•o 2
MS3 102 A 22- I 4P

NOTE II Shnftdia.runout Max. 0 .02mm

Rabbet dia. eccentricity M:tx.0.04mm
M ouuli ng race ruuout Max.0.06mm
R.'t<>d loads 1\adial 245N{25 kgf)

NOTE 2) THE POSITION O!'SlGNAL CONNI>CTOR

MAY DI>V!ATE WITH IN ± s•.

Fig. 4.2(d) Models 2-0S, 1-0S, 1-0S/3000

{with the brake and the absolute pulse coder or high-resolution pulse coder)

2-42
4.3 Connection of Power Line
{a) Models 2-0S, l-OS, and 1-0S/3000

u
1 0 0 4 v
2
w
2
0

RM15WTR-4P
0
3
:: Earth I ___
lL___
Motor body
___J

Hirose Electric made

2-43
Ill. FANUC AC SERVO MOTOR L series
1. GENERAL

The FANUC AC Servo Motor L series is optimum for high-speed positioning, and has
the following features.
(1) Excellent acceleration performance
The unique rotor form and high-performance magnet provides high torque
with minimum inertia, realizing excellent acceleration performance.
(2) Smooth rotation
The unique magnetic pole form designed to minimize torque ripple enables
very smooth rotation by strict current control and precise pulse coder
feedback.
(3) High reliability
The totally enclosed brushless structure with no wearing parts permits
inspection/maintenance free operation.
(4) Built-in high precision detector
The optical encoder (pulse coder) with low indexing error is built in,
permitting high precision positioning. The pulse coder of 2,000 to 30,000
pulse permits the indexing of 1,000 to 120,000 divisions per motor
rotation.
Serial pulse coder A, which ft:atures super-high resolution, enables
indexing with a resolution of up to 1000000 increments.
When combined with the flexible feed gear function, serial pulse coder A
enables feeding in units of 0.1 pm or 0.01 pm for almost all feed screw
pitches.
The L series is available in two types: the models OL, 51 and 6L that are
compatible in mounting dimensions with the models 0 and 5 of S series, and the
models 71 and lOL that are compatible in mounting dimensions with the models
10 to 40 of S series. These models are compatible in mounting dimensions with
the conventional FANUC DC motor L series. (The motor length is different.)

3-1
2. TYPES OF MOTORS AND DESIGNATION

The t ypes and specification of L series servo mot ors are described as follows.
(1) Models 01, 51, and 6L

A06B-00 0 0 -BOO 0 0

t:
With 2000P pulse coder (except high-resolution pulse
561 Model OL coder)
562 Model SL With 2SOOP pulse coder (except high-resolution pulse
564 Model 6L coder)
With 3000P pulse coder (except high-resolution pulse
coder)
0 With incremental pulse coder
3 With absol ute pulse coder
6 With high-resolution pulse coder (For the number of
pulses, see an
attached table.)
69 With serial pul se coder A
71 With serial pulse coder C
~----0 Taper shaft (standard)
~---1 With brake (60 kgf.cm)

(2) Models 71 and 10L

A06B-000D- BO DO

~el7L
With 2000P pulse coder (except high-resolution pulse

t;;; ~~~el lOL

t: 0
coder)
With 2500P pulse coder (except high-resolution pulse
coder)
With 3000P pulse coder (except high-resolution pulse
coder)
With incrementa l pulse coder
3 With absolute pulse coder
6 With high-resolution pulse coder (For t he number of
pulses, see an
attached table.)
69 With serial pulse c oder A
71 With serial pulse coder C
1-----0 Straigh t shaft (standard)
f-----2 With brake (180 kgf .em)
~---3 With brake (400 kgf.cm)

(3) Motors with high resolution pulse coder

A06B-00 0 0 -BO 60
Pulse number Max. speed
1 l OOOOP (3000 min-1)
2 12500P (2400 rnin-1 )
3 lSOOOP (2000 rnin-1)
4 20000P (1500 rnin-1)
5 25000P (1200 min-1)
6 20000P (3000 rnin-1) High speed type
7 25000P (2400 rnin-1) High speed type
8 30000P (2000 min-1) High speed type

3-2
The high speed type needs a signal conversion circuit for the connection
with NC. The maximum rotation speed is the restriction of the pulse
coder. In addition, there are restr ictions in the maximum rotation speed
of the motor and the feed rate of NC.
To use a serial pulse coder, the NC must be equipped with a serial pulse
coder interface.

3-3
3. SPECIFICATIONS AND CHARACTERISTICS

3.1 Types of Motors and ·Specifications

Item Unit OL SL 6L 7L 10L

Output kW 0.8 1.5 2.2 3.1 6.2
HP 1.0 1.6 2.5 4.1 8.2
Stall torque Nm 2.9 5.9 8.8 24.5 49.0
kgcrn 30 60 90 250 500
Maximum speed rpm 3000 3000 3000 3000 2000
Maximum Nm 12 24 47 74 147
theoretical
kg em 120 240 480 750 1500
torque
Rotor inertia kgm2 0.00025 0.00049 0.00098 0.0054 0.0098
kgcmS2 0.0025 0.0050 0.0100 0.055 0.100
Maximum rad/S2 48000 48000 48000 13600 15000
theoretical
acceleration
Weight kg 9 12 18 28 45

3.2 Characteristic Curve and Data Sheet

1) Torque-speed characteristics
The intermittent operation zone is determined by the input voltage applied
to the drive amplifier. The curve shown below is the value against the
rated input voltage.
The maximum torque at acceleration/deceleration is restricted by the
current limit value of the drive amplifier.
2) Overload duty curve
The curve shown below is obtained by the thermal limit of the motor. The
overload duty is restricted by the drive amplifier or the characteristics
of the protecter on the built-in detector.
3) Data sheet ·
Parameter of the motor for the data sheet 1s the value at 20°C and its
error is ± 10%
The maximum torque at acceleration/deceleration under the actual
operating condition is obtained by the integration of the torque
constant of the motor and the current limit value of the amplifier.
Note that the current limit value of the amplifier is indicated as a
maximum peak value.
Ex) Model lOL
- Torque constant of motor = lOkgf•cm/Arms
- Current limit value of amplifier = 130 Apeak
-Max. torque= 130 X 0.707 X 10 = 919 kgf•cm
(Convert into rated value)
The above value may deviate due to fluctuation of power source, motor
parameter, or limit of amplifier.

3-4
Model OL (AOSB-0561-BDDD)

speed-torQue characteristics (digital) over load duty

10 100
90
8
------- -------- 80
110"
' ~
''
'
,.-,. 70
~
I ?051:

- -- \

.mr --
_1 !lfi'll:
60 ...::.
Cl.)
' e
:;::: 50 140" \
intermitten operating '
' '-../
"\ \

--
.e.- 40 ~ ...............
::0
-o 30 ~ r--
i IU.III
..............
-..... i'-
\ \
\
2 20 ""' \
continuous perating 10

1000 2000 3000 01 2 5 10 20 50

Speed (rpm) "ON" time (min.)

Data sheet

Parameter Symbol Value Unit

Maximum speed Nmax 3000 min-1
Rated torque at Ts 2.9 Nm
stall(*) 30 kgfcm
Rotor inertia Jm 0.00025 kgm2
0,0025 kgfcmS2
Continuous RMS current Is 5.8 A(rms)
at stall
Torque constant(*) Kt 0.51 Nm/A(rms)
5.2 kgfcm/A(rms}
Back EMF constant (RMS Ke 18 V/1000min-1
voltage per phase}(*) Kv 0.17 Vsec/rad
Armature resistance(*) Ra 0.810 n
Mechanical time tm 0.002 s
constant(*)
Thermal time constant tt 15 min
Static friction Tf 0.3 Nm
3 kgfcm
Maximum allowable Im 55 A(peak)
current
Maximum torque Tm 11.8 Nm
120 kgfcm
Maximum acceleration 48000 rad/S2
Maximum winding 8 m 125 oc
temperature rise
Weight 9 kg

Note) The values are the standard values at 20°C and the tolerance is ±10%.
The speed-torque characteristics vary depending on the type of software,
parameter setting, and input voltage of the digital servo motor. (The
above figures show average values.}
These values may be changed without prior notice.

3-5
Model5L (AOSB-0562-BDOO)

speed-torque characteristics (digital) over load duty

20 100
------- -------- 90
11~
' 80
15 ' ~
' ,..... 70 120l
intermitten operating ' ~
1\
-
1'-l.nt:
'' Q,) 60
' ~
E
50 140~ ~
'-"

t' 40
~ ;--
"\ \ 1\
-
~
:--;-.
.g 30 h-..,
5 1 IV't

20
;-.
\ \
continuous perating 10

1000 2000 3000 01

I
2 5 10 20 50
Speed (rpm) "ON" time (min.)

Data sheet
Parameter Symbol Value Unit
Maximum speed Nmax 3000 min-1
Rated torque at Ts 5.9 Nm
stall(*) 60 kgfcm
Rotor inertia Jm 0.00049 kgm2
0.0050 kgfcmS2
Continuous RMS current Is 11.4 A(rms)
at stall
Torque constan t(*) Kt 0.52 Nm/A(rms)
5.3 kgfcm/A(rms)
Back EMF constant (RMS Ke 18 V/lOOOmin-1
voltage per phase)(*) Kv 0.17 Vsec/rad
Armature resistance(*) Ra 0.275 n
Mechanical time tm 0.001 s
constant(* )
Thermal time constant tt 20 min
Static friction If 0.5 Nm
5 kgfcm
Maximum allowable Im 80 A( peak)
current
Maximum torque Tm 23.5 Nm
240 kgfcm
Maximum acceleration 48000 rad / S2
Maximum winding 8 m 125 •c
temperature r 1se
Weight 12 kg

Note) The values at"e the standard values at 20"C and the tolerance is ±10% .
The speed-tot"que charactet"istics vary depending on the type of software,
parameter setting, and input voltage of the digital servo motor. (The
above figures show average values.)
These values may be changed without prior notice.

3- 6
Modei6L (A06B-0564-B000)

speed-torque characteristics (digital) over load duty

30 100
------- ---- ---- 90
25 ' 110,.
'' 80
----...___
'' ,..... 70 1120"
'
intermitten operating
<!>'!
60 1110"
c:.>
Iii
140" :- "' \
ClJ
"'
15 ._, 50
:.:::!

1~" r--:-
~ ""'1\
---
0'
....
0 t' 40
+' 10

5
"' 30 IL IV"
"0

20
~ r--:---
r- ""'\ \
[\\
conti nuous perating 10 l\
01
Il l\
1000 2000 3000 2 5 10 20 50
Speed (rpm) ·oN" time (min.)

Data sheet
Parameter Symbol Value Unit
Maximum speed Nmax 3000 min-1
Ra t ed torque at Ts 8.8 Nm
stall(* ) 90 kgfcm
Rotor inertia Jm 0 , 00098 kgm2
0.010 kgfcmS2
Continuous RMS c ur rent Is 16 . 9 A(rms)
at stall
Torque constant(*) Kt 0.52 Nm/A(rms)
5.3 kgfcm/A(rms)
Back EMF c onstant (RMS Ke 18 V/lOOOmin-1
voltage per pha se )(*) Kv 0.17 Vsec/ rad
Armature resis tance(*) Ra 0.110 n
Mechanical time tm 0,001 s
constant(*)
Thermal time constant tt 25 min
Static friction Tf 0.9 Nm
9 kgfcm
Maximum allowable Im 140 A( peak)
current
Maximum to~:que Tm 47.0 Nm
480 kgfcm
Maximum acceleration 48000 ud/S2
Maximum winding em 125 •c
temperature ri se
Weight 18 kg

Note) The val ues are the standard va lue s at 2o•c and the tolerance is ± 10%.
The speed-to~:que characteristics vary depending on t he type of software ,
parameter setting, a nd input voltage of the digital servo mot or. (The
above figures show average values.)
These value s may be changed without prior notice.

3- 7
Modei7L (A06B-0571-BOOO)

speed-torque characteristics (digital) over load duty

60 100
------- -------- 90
50 ' ' 110~
....
''
80 ...__
70 1?.0~ !'........
,--., 40 ' _...._
~
l<:~nt: -.....__ [\
E
z intermitten operating OJ 60

---
e
'r--.. ~
-.._.;

Q) 30 :;j 50 140~
::l
e '--" ~~ \
0
....., 20 t--
-
t' 40 '"""-
::l
30 , ;.
"<::I -- ""'
."\ 1\
~ '\\ \
v•
continuous perating \
10 20
10 \\
01
I Ill I
1000 2000 3000 2 5 10 20 50 100
Speed(rpm) "ON" time (min. )

Data sheet

Parameter Symbol Value Unit

Maximum speed Nmax 3000 min-1

Rated torque at Ts 24.5 Nm

stall(*) 250 kgfcm
Rotor inertia Jm 0.0054 kgm2
0.055 kgfcmS2
Continuous RMS current Is 37 A(rms)
at stall
Torque constant(*) Kt 0.66 Nm/A(rms)
6.8 kgfcm/A(rms)
Back EMF constant (RMS Ke 23 V/lOOOmin-1
voltage per phase)(*) Kv 0.22 Vsec/rad
Armature resistance(*) Ra 0.049 n
Mechanical time tm 0.001 s
constant(*)
Thermal time constant tt 30 min
Static friction Tf 1.2 Nm
12 kgfcm
Maximum allowable Im 200 A(peak)
current
Maximum torque Tm 74 Nm
750 kgfcm
Maximum acceleration 13600 rad/S 2
Maximum winding 8 m 125 oc
temperature rise
Weight 28 kg

Note) The values are the standard values at 20°C and the tolerance is ±10%.
The speed-torque characteri stics vary depending on the type of software,
parameter setting, and input voltage of the digital servo motor. (The
above figures show average values.)
These values may be changed without prior notice.

3-8
ModellOL (A06B·0572·BDDD)

speed-torque characteristics (digital) over load duty

roo 100 I
----- ------ -- --- 90
-
80
intermit ent oper ting
'
' '
'

~e 60
80
70
110'
120, -- "-..,

----- ---
1~0, ~ 1\
140,
:;:: 50
.,_, -
""" ""'\ 1\
1~' I\
p 40
r---- -.:l
::>
30 -
"""'
~

20 20 ~\\
continuo s operat ng 10 \\
11
500 1000 1500 2000 01 2 5 10 20 50 100
Speed (rpm) "ON" time (min.)

Data sheet

Parameter Symbol Value Unit

Maximum speed Nmax 2000 min-1
Rated torque at Ts 49 Nm
stall(*) 500 kgfcm
Rotor inertia Jm 0.0098 kgm2
0.10 kgfcmS2
Continuous RMS current Is 51 A(rms)
at stall
Torque constant(*) Kt 0.96 Nm/A(rms)
9.8 kgfcm/A(rms)
Back EMF constant (RMS Ke 33 V/1000min-1
voltage per phase)(*) Kv 0.32 Vsec/rad
Armature resistance(*) Ra 0.038 n
Mechanical time tm 0.001 s
constant(*)
Thermal time constant tt 35 min
Static friction Tf 1.8 Nm
18 kgfcm
Maximum allowable Im 280 A(peak)
current
Maximum torque Tm 147 Nm
1500 kgfcm
Maximum acceleration 15000 rad/S2
Maximum winding 8 m 125 •c
temperature rise
Weight 45 kg

Note) The values are the standard values at 20"C and the tolerance is ± 10%.
The speed-torque characteristics vary depending on the type of software,
parameter setting, and input voltage of the digital servo motor. (The
above figures show average values,)
These values may be changed without prior notice.

3-9
3.3 External Dimensions
t..:OTES) Sh. i ! d I I.'"~ 0 'J : "1il ~ ' :. • 02rr.R:
~-5IA .t H::JL~S
CN 1~ 5 D .B . C ~~ 4 b C. t t dt ~ t ~ c e t:: 1 t 1 t' M"', . 0. O&rtt.:
I ~e ua: 1 r. i : .1 t ~ r ~ , o ') : Ma • , 0. (jQ m:c
Rau c icah Pa-1•• · 086N I70 l c ! }

~
I
'I
\ -i
\ MS3 .02A 20·?9P~ I lNCII£Mf r< 1AL . SER', A· C l
!-153 02A 22-t 4P (AB$0LL=I r.. .SERI AL - A
MS 3 I O?A I S- tOP .HIGH RE SCL UT10:-.ll

:NCREMENl AL Pli.:SE CJDER ~1;1~"-~~~"~L~ :~SE~R

LS~ hJt A
~=--ro-t
SE:> 1 AL ~JL SE CCOER :: St :<L
I>'.O:CR A 8 ::: ~ 8 c
G! MCCEL OL 21 I t 2:J 2:?6 120
~---.--.J......J --
; MODEL 5L 2A8 !57 52 2·6 3 157 5e
MODEL 6L 322 231 ~37 231
\ ! ,' I~; I A,:OfR

SHA;- T DET AIL (NOTEj

I~LMOTOR I
6:.:~~2 28 5
A 3
19! 52
c !'·.
: c.n
e
19L. 5~
c

Fig. 3.3 (a) Outline drawing of model OL, SL, or 6L

'APS FCI< EYEB JLT , MS DEPTH 1 5:~

13 .5 D!A.4 HOLES EY!:BOL TS ARE NO T ATTACHED
I a. 2 00 D .B .C

::l l7~

MS31 O~A ~0- 29Po' \ INCREMENT A~i~CRI ~L- C l

MS.>' 0 A 2- : ~ P <A§SOC utE. SE - A
~531 02A 2 ~ . I OP H!G>< RESO.U TI QN)

~T£51 S h!: <•t.~lltlc t l Mn . 0 . 05•rJ

~ab b e : ~ i a. e r-; t n 1 r 1 t 1 l 1 ~ t• 0 07all m~~o~i_._~l~BB~»cgoE" ~A~jiO'~~~ P~~
~~ AL 0LS~ Oor
Cw;R
~R
.~c~ ni : II:C f ~r ~ :~r::o l t 0 . \ O r:~ ::
MH
MOTOR A I 8 I c A I 8 ! c
Rz: e d i c-a d ~ Rt di ' 44I ON~ 4~0 kif i
MODE!.. 7L 297 I 222 I d9
31 2 I 222 J '"'' ~~

MODE'- IOL 395 I 323 I 413 I 323 I

Fig. 3.3 (b) Outline drawing of model 7L or 10L

3-10
3.4 Connection of Power Line
a) Models OL, SL and 6L

;;or
u
D A A
0 0 v coil
B
c B w
0 0 c
Earth
D I I
~ Motor body
MS3102Al8-10P

b) Models 7L and lOL

0 B

E G B
c
0 0 0 D
D c
0 0 E

F
Earth
MS3 102A24-10P Go
l Motor body

3-11
IV. FANUC AC SERVO MOTOR T series
1. GENERAL
The FANUC AC Servo Motor T series has been developed to improve the efficiency
of linear movement such as the axis feeding of machine tools.
The T-series motors have a hollow output shaft so the ball screw can go
through the motor. The output shaft can hold and rotate the nut of the ball
screw directly. This structure converts rotation of the motor to a linear
movement of the screw.
The FANUC AC Servo Motor T series has the following features:
(l) Simple structure
No coupling or support mechanism is required between the output shaft of
the motor and the ball screw. A slide mechanism can be configured
simply by fixing the ball screw in the motor and mounting the motor to
the table.
(2) Compactness
In addition to the simple structure, no space is required for the ball
screw to pass through the table.
(3) Efficient configuration
Because the ball screw transmits the thrust by mov1ng linearly, the line
of thrust can be easily aligned with the table's center of gravity.
This structure is also effective in making the system rigid, because no
coupling or screw support mechanism is required. Moreover, the ball
screw does not rotate faster then the speed limit.
(4) Low inertia
A larger ball screw can be driven thanks to the efficient design of the
rotor, and the inertia of the motor is not substantially more that of
the standard series motors.
{5) High axial rigidity
To enable the motor to withstand the full thrust of the machine, a
highly rigid bearing has been employed. Furthermore, the other motor
components including the mounting flange have been designed to improve
the rigidity.
{6) Brake for holding
To prevent the vertical ax1s from falling, some of the T-series motors
can be equipped with a holding brake. This brake does not cause a
leakage flux, and therefore the ball screw 1s not magnetized.
(7) Absolute value detector
A high-speed, high-resolution absolute value detector is used. In all T-
series motors, making them suitable to a wide variety of applications.
applications.
(8) Low heat generation
By reducing the transfer of heat to the machine and ball screw, low heat
generation has been enabled without sacrificing low inertia.
(9) High reliability
By adopting the fully closed brushless structure that contains no parts
subject to wear, the motor can be operated under extreme conditions
without inspection or maintenance.

The T series motors have been designed to operate at a power supply voltage of
200 to 230 V without a transformer.
Note) 100 VAC needs to be supplied to a motor drive unit.

4-1
2. TYPES OF MOTORS AND DESIGNATION

The T-series FANUC AC servo motors are available ~n the following types, each
of which can be designated as follows.

Models OT, ST, and lOT

Mode: ::~:::~-snlrJl_ 2~
0

1 High-speed high-resolution absolute pulse coder

2 Model ST/2000 Standard
3 Model ST/3000 Compressed air cooling
4 Model lOT/2000
5 Model lOT/3000 0 For small-diameter screws
1 For large-diameter screws
5 With the brake for small-diameter screws
6 With the brake for large-diameter screws

4-2
3. SPECIFICATIONS AND CHARACTERISTICS

3.1 Types of Motors and Specifications

Item Unit OT/3000 ST/2000 ST/3000 10T/2000 10T/3000

Output kW 0.9 1.1 1.2 1.8 1.8
HP 1.2 1.5 1.7 2.4 2.4
Torque at Nm 3.4 6.9 6.9 ll. 8 ll. 8
stall kgfcm 35 70 70 120 120
Maximum min-1 3000 2000 3000 2000 3000
speed
Maximum Nm 29 58 60 62 62
theoretical kgfcm 300 590 610 630 630
torque
Rotor kgm2 0.0033 0.0064 0.0064 0.0108 0.0108
inertia 0.0044 0.0078 0.0078 0.0137 0.0137
0.034 0.065 0.065 0.110 0.110
kgfcms2
0.045 0.080 0.080 0.140 0.140
Maximum rad/s2 8800 9000 9300 5700 5700
theoretical 6600 7300 7600 4500 4500
acceleration
Weight kg 17 22 22 28 28
19 24 24 31 31

The above values are measured at a temperature of 20°C.

>":-1The maximum torque is a theoretical value for the motor. The actual
maximum torque is affected by the current limit value of the driving
amplifier.

*2 Two values are provided for both the rotor inertia and the mechanical time
constant: the upper value applies to the motor for small-diameter screws, and
the lower value applies to the motor for large-diameter screws.

>'<3The values in the field of the applicable amplifier indicate the current
limit value for the corresponding amplifier.

>':4 The values in the field of the weight apply to motors for small-diameter
screws with no brake. When a brake is provided, 4 kg is added to each of the
values.

4-3
3.2 Characteristic Curve and Data Sheet
(1) Torque-speed characteristic
The torque-speed characteristic in the intermittent operating zone 1s
determined according to the input voltage to the drive unit. This curve
is typical of the rated input voltage.
The maximum torque during acceleration/deceleration is also limited by
the current limit value of the driver amplifier.
(2) Overload duty characteristic curve
This curve is determined according to the temperature limit of the
motor. This characteristic may be limited also by the characteristics
of the drive unit and a protector unit such as a built-in detector.
(3) Data sheet
The motor parameters in this data sheet represent those measured at
20°C. Their errors are within ±10%.

4-4
Model OT/3000 (AOGB-0381-BOOO)

speed-torque characteristics (digital) over load duty

20 100
90
------- -------- -- 110!
\ 80
15 -I'-
\
\ ,...., 70 120!
\ ~ --........
\ <V 60 l30l
E
~ 10
\

~ 50
140! :---.-,. [\
0'
.... ' '-'
~ '-... ' \ 1\
0 intermitten operating ' \ t' 40
~ \I\
....... ::l
30
"c:::
v•

~\
I~'
5
20
10 \\
continuous perating
01
I
1000 2000 3000 2 5 10 20 50 100 200
Speed(rpm) ~oN~ time (min.)

Data sheet

Parameter Symbol Value Unit

Maximum speed Nmax 2000 min-1
Rated torque at stall(*) Ts 3.4 Nm
35 kgfcm
Rotor inertia Jm 0.0033(0.0044) kgm2
0.034 (0.045) kgfcm2
Continuous RMS current at Is 4.9 A(rms)
stall
Torque constant(*) Kt 0.70 Nm/A(rms)
7.1 kgfcm/A(rms)
Back EMF constant(*) Ke 25.4 V/lOOOmin-1
(RMS voltage per phase)(*) Kv 0.24 Vsec/rad
Armature resistance(*) Ra 0.83 n
Mechanical time tm 0.017 (0.022) s
constant{*)
Thermal time constant tt 50 min
Static friction Tf 0.25(0.3) Nm
2.5(3.0) kgfcm
Maximum allowed current Im 62 A( peak)
Maximum theoretical torque Tm 29.4 Nm
300 kgfcm
Maximum theoretical 8800 (6600) rad/s2
acceleration
Maximum winding 8 m 125 oc
temperature rise
Weight 17 (lg) kg

* The values represent those measured at 20°C with a tolerance of ±10%.

The torque-speed characteristic varies with digital servo software,
parameters, and input ·voltage. {The chart represents typical values.)
The values listed above are subject to change without prior notice.
The values enclosed in parentheses apply to the motor for large screws.

4-5
Model 5T/2000 (AOGB-0382-BD D 0)
Model ST/3000 (AOSB-0383-BO 0 0)

speed-torque characteristics (digital) over load duty

50 100
90
llOO
40 80
r--r--.
------- -------- 70 .120!
'
;--..
~
Q.) 60 l30l r---.
------- ... ---- ' ~
[\
' '' :j
.._, 50 140 ~
\
\ \ ~
~
1\ 1\
to' 40
intermitten operating '
'
'' -6 30 t• ~ r\l\
~~
v

10 ' 20
10
\l\
continuous c perating
01
ll
1000 2000 3000 2 5 10 20 50 100 200
Speed(rpm) "ON" time (min.)

Data sheet

Parameter Symbol Value Unit

Maximum speed Nmax 2000 3000 min l
Rated torque at Ts 6.9 6.9 Nm
stall(>~) 70 70 kgfcm
Rotor inertia Jm 0.0064(0.0078) 0.0064(0.0078) kgm2
0.06S (0.080) 0.06S (0.080) kgfcm2
Continuous RMS Is 6.1 9.0 A(rms)
current at stall
Torque constant(*) Kt 1.12 0.76 Nm/A(rms)
11.4 7.8 kgfcm/A(rms)
Back EMF Ke 41 27 V/1000min-1
constant(*) Kv 0.39 0.26 Vsec/rad
(RMS voltage per
phase)(*)
Armature Ra 0.700 0.280 n
resistance(*)
Mechanical time tm 0.010 (0.013) 0.009 (0.011) s
constant(*)
Thermal time tt so so min
constant
Static friction Tf 0.4(0.5) 0.4(0.S) Nm
4 (S) 4 (S) kgfcm
Maximum allowed Im 77 116 A( peak)
current
Maximum theoretical Tm 57.8 59.8 Nm
torque 590 610 kgfcm
Maximum theoretical 9000 (7300) 9300 (7600) rad/s2
acceleration
Maximum winding 8 m 125 12S cc
temperature rise
Weight 22 (24) 22 (24) kg

-·- The values represent those measured at 2o•c with a tolerance of ± 10%.
The torque-speed characteristic varies with digital servo software,
parameters, and input voltage. (The chart represents typical values.)
The values listed above are subject to change without prior notice.
The values enclosed in parentheses apply to the motor for large screws.

4-6
Modei10T/2000 (AOSB-0384-BO OO )
Mod ei 10T/3000 (A06B-0385-BOOO)

speed-torque characteristics (digital) over load duty

50 100
90
40
------- ------ -- -
------- ---- -
\

' \
80
,..... 70
llOl
.120!
1--!-.....
- ...... I'

~e 60 '1 ~lll
intermitten operating
\
\

'
'
:;::: 50 1~ r-.......... "1\
\
'-'
~' :--......... "r\
' t: 40
' ::I
~ " f\

----
"0 30 • v•

10 20 ~1\\ \
continuous perating 10 1\'
1
1000 2000 3000 01 2 5 10 20 50 100 200
Speed (rpm) "ON" time (min.)

Data sheet

Parametet' Symbol Value Unit

Maximum speed Nmax 2000 3000 min-1
Ra ted torque at Ts 11.8 11.8 Nm
s tall(*) 120 120 kgf cm
Rotor inertia Jm 0.0108(0.0137) 0.0108(0.0137) kgm2
0.110 (0.140) 0.1 10 {0.140) kgfcm2
Cont i nuous RMS Is 9 .4 14.6 A(rms)
curr ent at s tal l
Tor que constant(*) Kt 1.24 0 . 80 Nm/ A{rms)
12.7 8.2 kgfcm/A(rms)
Back EMF Ke 45 28 V/ lOOOmin-1
constant(* ) Kv 0.42 0 . 27 Vsec/rad
(RMS voltage per
phase)(*)
Armatur e Ra 0.350 0.140 n
resistance{*)
Mechanical time tm 0.007 (0 .009) 0.007 (0 .009 ) s
constant(*)
Thermal time tt 60 60 min
cons t ant
Static friction Tf 0.6(0. 7) 0.6(0 . 7) Nm
6 (7) 6 (7) kgfcm
Maximum allowed Im 74 120 A( peak)
current
Maximum theoretical Tm 61.7 61.7 Nm
torque 630 630 kg f cm
Maximum theore ti ca l 5700 (4500 ) 5700 (4500) rad / s2
acc elerat ion
Maximum winding 8 m 125 125 ·c
temperature rise
Weight 28 (31) 28 (31) kg

* The values are those measured at 20"C with a tolerance of ±10%.

The torque- speed characteristic v aries wi th digital servo software,
parameters, and input vol tage . (The c hart r epr esents typical values.)
The values listed above are subject to change without prior notice .
The values en closed in parentheses apply to th e motor fo r l arge screws .

4-7
3.3 Drawings
(1) Models OT, ST, and lOT
4-¢11, equally
spaced on a ¢> 185 circle

D
c
0156 B MS3102A 22-14P
A MS3102A 18-IOP

~ A B c D E F G H I X w
Model OT 262 164 110 66 13±0.5 135H6 ¢55 ¢30 14 MS <fi46
277 179 125 75 13±0.5 .p42H6 ¢66 ¢30 15 M6 ¢55
Model ST 296 198 144 75 13 ± 0. 5 ¢4ZH6 ¢66 ¢30 15 M6 ¢55
306 208 154 106 29±0.5 ¢54H6 ¢82 ¢43 15 M8 ¢70
Model lOT 333 235 181 106 29±0.5 ¢54H6 ¢82 ¢43 15 M8 -¢70
351 253 199 126 33 ± 0. 5 ¢62H6 ¢96 ¢43 15 MlO ¢82

Note) Runout of shaft rotation: 0.01 nun or less

Runout of the shaft edge: 0.01 nun or less
Run out caused by eccentricity of the faucet joint: 0.01 nun or less
Run out of the clamp face: 0.01 nun or less

4-8
(2) Models OT, ST, and lOT with the brake

MS3102A 20 - 15P

c
-==-----
Model OT 322
A B
224 110
F
( ¢35)
337 239 125 (¢42)
Model 5T 356 258 144 (¢42)
366 268 154 ( ¢54)
Model l OT 393 295 181 ( ¢ 54)
411 313 199 (¢62)

Note) Dimensions other than the above conform to the specifications of the
motor with no brake.

(3) Models OT, ST, and lOT with the compressed- ai r cooling mechanism

Compressed-air
intake for cooling
(with the brake)
PT I/8
Compressed-air
intake for cooling
PTI/8 w
-------
Model OT
p
40
55
( ¢35)
(¢42)
F

Model ST 55 ( ¢42)
65 ( ¢54)
Model lOT 65 (¢54)
90 ( ¢62)

Note) Dimens ions other than the above conform to the specifications of the
motor with no air cooling mechanism.

4-9
3.4 Connecting Power and Brake Lines
For motors with a built-in brake, the brake lines are connected through the
same connector as the power lines.
(a) Motor with no built-in brake

u
D A A
0 0
v
c B B
0 0
w
c
Grounding
MS3102A 18-lOP

D~
Motor frame

c
BK2
w
MS3102A 20-15P

FO Surge Brake
absorber solenoid
Grounding
line

G ~ MoW<fromo

4-10
4. BUILT-IN BRAKE

The holding brake in T Series AC servo motors has been specially designed to
eliminate a harmful leakage flux that magnetizes a ball screw as they pass
through the motor.
Motor model lOT with a built-in brake requires dedicated power to energize the
brake solenoid.

4.1 Brake Connection Diagram

Models OT and 5T
Power magnetics cabinet

Motor

Brake
Surge absorber solenoid

lOOVAC

Models lOT
Power magnetics cabinet

Dedicated Motor
~ L~~~~

9
energizing
power ____{
_L
5000 /0.2pF Brake
~ Surge absorber solenoid
500VDC

lOOVAC

4-11
4.2 Dedicated Power for the Brake Solenoid
This power supply is dedicated to the brake incorporated 1n motor model lOT.
Its specification drawing number is Al6B-1700-0290.

Outline drawing

I
-e -
r
0 0
I
NO
0
I
I
I
2 oblong notches L

I t

*
100
112

Connecting diagram
Tl T2
1 2 3 5 6

ACpower BK2
l,SlOOV~~~ To motor connector
SKI

4-12
5. SPECIFICATIONS FOR AIR COOLING

The T Series AG servo motors are used in such a configuration that their
output shaft is coupled directly to the nut of a ball screw. This
configuration allows heat from the motor to conduct to the ball screw,
possibly resulting in the expansion of the ball screw. In a semi-closed servo
system, deformation of the ball screw affects directly the accuracy of
feeding. To prevent this, heat transfer to the ball screw must be minimized.
In addition to the low heat output design, the T Series motors are equipped
with the following air-cooling mechanisms to reduce heat transfer to the ball
screw.

5.1 Compressed-Air Cooling

The compressed-air cooling mechanism takes air from the compressed-air intake
on the housing of the motor, guides it directly to the inside of the motor,
and releases it from the gap between the rear housing and the output shaft.
By this method, the heat generated in the motor is dissipated into the exhaust
air and released from the rear of the motor, instead of being transferred to
the ball screw.
(1) The cooling effect is higher than with other methods. The heat transfer
rate to the ball screw can be reduced to approximately one third of that
with no air cooling mechanism.
(2) The internal pressure applied to the inside of the motor casing improves
the waterproofing of the motor as a side effect.
(3) Because the cooling system is as compact as required for supplying
compressed air, the space required to install the motor is almost the
same as that for a motor with no cooling system.
(4) Because being guided directly to the inside of the motor, the compressed
air must be dry and clean. It is absolutely necessary to filter out the
compressed air.
(5) The air pressure to be supplied should be 1 kg/cm2 or higher. The flow
rate under 1 kg/cm2 is 130 liters a minute.

Air filter

Airflow

Motor

--~
___ ,..
---,
l--------
1
I
I I
___ J1-----.,--
l
_______ ,..
'-

4-13
6. PRECAUTIONS ON USE

For the T Series AC servo motors, note the following points in addition to
precautions for general servo motors described in Chapter 2 of Part I.

6.1 Installation
(1) The detector shaft passes through the motor body and comes out on the
rear cover side of the motor. Do not apply excess force to this shaft;
for example, do not lift the motor by holding the shaft with the hand.
(2) The output shaft passes through the motor making a very small gap at the
front flange and detector cover for waterproofing and dustproofing. If
these parts are deformed even slightly, the waterproofing and dust-
proofing are adversely affected. So do not apply a large force to the
motor, especially on the cover; be very careful not to step on it.

6.2 Coupling the Output Shaft

(1) When coupling the nut of the ball screw with the motor output shaft, do
not apply shocks to the motor. Similarly, when removing the nut, be
careful not to apply shocks.
(2) Use a nut with as small rotational imbalance as possible. Vibration due
to rotational imbalance may damage the motor bearings or detector even
if it is as small as 0.5 G. It is recommended to use a ball deflector
with a circular flange.

6.3 Axis Load

The following table lists the allowable loads for the motor shaft, which
should be used as a guideline.

Equivalent radial load Front bearing

Motor model Radial load Thrust load (for reference) (reference)
OT 70kg 210kg 310kg 7009 DF

190kg 580kg 650kg 7211 BDF

ST 190kg 580kg 650kg 7211 BDF

260kg 790kg 890kg 7213 BDF

lOT 260kg 790kg 890kg 7213 BDF

300kg 890kg lOOOkg 7215 BDF

In the above table, the values in the upper rows are the loads for motors with
low inertia, and the values in the lower rows are the loads for motors with
large ball screws.
The allowable loads are determined based on the life of the bearing assuming
that the average motor speed is 500 rpm. In general, the life of a bearing is
inversely proportional to the cube root of the speed. When the average speed
is higher than 500 rpm, the allowable loads should be smaller than those
listed above.
The listed allowable loads assume that the ratio of the radial load to the
thrust load is 1:3. The motors can also be operated at ratios other than the
stated ratio, in which case the radial load and the thrust load should be
calculated by using the formula for the allowable load of the bearing.
If the allowable loads are determined according to the life of the shaft till
the fatigue failure, they exceed the values listed above.

4- 14
6.4 Environment
When the T Series AC servo motor is wired properly, its protection mechanism
meets IP54 of the IEC Standards (equivalent to JP54 of JIS C4004-1980, General
Rules for Rotating Electrical Machines - Dustproof/splash-proof type).

6.5 Lubricating the Ball Screw

Because the motor rotates the nut of the ball screw, lubricating oil cannot be
supplied directly to the nut. The nut needs to be greased or lubricating oil
needs to be applied directly to the ball screw. Because the nut is coupled
directly to the motor, a proper lubrication method must be selected which does
not affect the waterproofing of the motor.

6.6 Maintaining the Motor

The T Series AC servo motor tends to be configured in such a structure that it
is difficult to remove it because of its nature. When designing a machine
tool in which the motor is used, place priority on ease of maintenance.
FANUC recommends the machine tool builder that the motor and a ball screw be
mounted on the machine tool in such a way that they can be removed together
from the machine.

4-15
V. FANUC AC SERVO MOTOR F series
1. GENERAL

FANUC ha s developed a compact, lightweight AC servo motor Series - the F

Series. The motor features the following:
(l) Small and lightweight: The motor is compact and lightweight because a
state-of-the-art fe rroneodymium magnet is used.
(2) Reduced length: A large housing is used to reduce the motor's length .
{The motor is long and thin.)
(3) Built-in holding brake: A holding brake can be built into the mo t or.
(4) Built-in absolute position detector: The motor contains serial pulse
coder A or C.
(5) High reliability: The motor is fully sealed and has no brushes or othe r
cons umable parts. It requires no inspec tion or maintenance even if it
is operated in a severe environment .
The F Series motor is designed to be driven by a supply voltage of 200 to 230
V (wi t hout a transformer).

Note) Each motor driving unit requires its own supply voltage of 100 VAC.

2. TYPES OF MOTORS AND DESIGNATION

The FANUC AC servo motor F Series is available 1n t he fo ll owing mode ls. Each
model is designated as shown be low ;
(1) Model SF/3000

1'
A06B-0340-BD 0 0

J 72 With the •erial pul•e coder A

74 With the serial pulse coder C
Model SF/3000
0 Taper sha ft (standard)
2 Taper shaft with the brake (80kgfcm)
(2) Model lOF/2000, 20£/2000, and J OF /2000
A06B- 035 0 -BDOO

5 Model lOF / 2000

1:72 With the serial pulse coder A
74 With the ser ial pulse coder c

6 Model 20F/2000 0 Straight shaft (standard)

7 Model 30F/2000 2 Straight shaft with the brake (3SOkgfcm)

5 Taper shaft
7 Taper shaft with the brake (350kgfcm)

5-1
3 SPECIFICATIONS AND CHARACTERISTICS

3.1 Types of Motors and Specifications

Item Unit 5F/3000 lOF/2000 ZOF/2000 30F/2000

Output kW 1.2 1.8 3.5 4.0

HP 1.6 2.5 4.7 s.s
Rated torque of stall Nm 6 12 22 30
kgfcm 61 122 224 306

Maximum speed min-1 3000 2000 2000 2000

Maximum theoretical Nm 49 45 96 135

torque kgfcm 500 460 980 1370

Rotor inertia kgcrn2 0.0037 0.010 0.017 0.026

kgfcrns2 0.038 0.10 0.17 0.265

Maximum theoretical rad/ s2 13200 4500 5700 5180

acceleration

Weight kg 9 17 21 28

The above values are under the condition at 20°C.

Note) The above values shown in the maximum theoretical torque are the
theoretical values. The actual maximum torque is restricted by the
current limit value of the drive amplifier.

3.2 Characteristic Curve and Data Sheet

The following characteristic curves and parameters are obtained under the
following conditions:
The temperature of the motor is 20°C.
The current for driving the motor is an ideal sine wave.
Under the above conditions, measured values will be within ± 10% of the
typical values given in the tables and graphs on the following pages.
The torque-speed characteristics in the intermittent operating zone are
determined by the voltage supplied to the driving amplifier. The
characteristic curve represents typical values with a rated input voltage.
The maximum torque is limited also by the current limit of the driving
amplifier. For the parameters in the data sheet, refer to the descriptions of
the S Series.

5- 2
ModeiS-0 (A06B-0531-B000)

speed-torque characteristics (digital) over load duty

30 100
90
25 110"
80
1 -/'...
70 11?.0'1: j_
20 -- -- --- --- -- ~ +:-_
~ --, 60 IH~
0 '' 5 14~
I
~
"'"'
<:r
15 3 50 15.Q.!ll
'
""" \ f\
,Q
intermittent operating 40
-
0 ::>
....>
'"C
10 30
I"' , '""I
5
continuous operating
20
10
"'\\""
~\~

1 I ll
1000 2000 3000 2 5 10 20 50 100

Speed (rpm) "ON" time (min.)

Data sheet
Parameter Symbol Value Unit
Maximum speed Nmax 3000 min-1
Rated torque at Ts 0.1 Nm
stall(''') 1 kgfcm
Rotor inertia Jm 0.0000029 kgm2
0.00003 kgfcmS2
Continuous RMS current Is 0.49 A(rms)
at stall
Torque constant(*) Kt 0.20 Nm/A(rms )
2.0 kgfcm/A(rms)
Back EMf constant Ke 7.0 V/ lOOOmin-1
(RMS voltage per Kv 0,07 Vsec / rad
phase)("')
Armature resistance(*) Ra 15 0

Mechanical time tm 0.003 s

constant('')
Thermal time constant tt 11 min
Static friction Tf 0.01 Nm
0.1 kgfcm
Maximum allowable lm 5.5 A(peak)
current
Max. torque Tm 0.76 Nm
8 kgfcm
Max. acceleration 267000 rad/S2
Maximum winding 8 m 125 •c
temperature rise
Weight 0.7 kg

Note) The values are the standard values at 2o•c and the tolerance is ±10%.
The speed-torque characteristics vary depending on the type of software,
parameter setting, and input voltage of the digital set"vo motor. (The
above figures show average values.)
These values may be changed without prior notice.

5-3
Modei10F/2000 (A06B·0355·BD00)

speed-torque characteristics (digital) over load duty

40 100
90 I I I I
80
110~ I
........ ...,
70 1120~
30
-----1-----~------
~

--....._ I
60 113~
' ' ~
'
~ i ' "'
E 140~ i\
1,.........__ ~ !
"' 20
:l 2 50 150,
~ \
0'
... intermittent operating ~
:::: 40 ~ I'
3
I '"0
30
I I
~ '\I\ I
"'-""\\\
10 I
II
I - 20 I

continuous operating
10 I I
I i
! I II I
500 1000 1500 2000 2 5 10 20 50 100 200
Speed(rpm) "ON" time (min.)

Data sheet

Parameter Symbol Value Unit

Maximum speed Nmax 2000 min-I
Rated torque at Ts 12 Nm
stall(") 122 kgfcm
Rotor inert ia Jm 0.01 kgm2
0.1 kgfcmS2
Cont i nuous RMS current Is 10.9 A(rms)
at stall
Torque constant(*) Kt 1.08 Nm/A( rms)
11.0 kgfcm/A(rms)
Back EMF constant Ke 38 V( rms) I lOOOmin-1
(RMS voltage per Kv 0 .36 V(rms)sec/rad
phase)('' )
Armature resistance(~') Ra 0.37 [l

Mechanical time tm 0.009 sec.

constant(''')
Thermal time constant tt so min.
Static friction Tf 0.8 Nm
8 kgfcm
Maximum allowable Im 60 A( peak)
current
Max. torque Tm 45 Nm
460 kgfcm
Max. acceleration 4500 rad/S2
Maxi mum winding fJ m 125 •c
temperature r1se
Weight 17 kg

No te) The va lues are the standard values at 20 " C and the tolerance is ±lOZ.
The speed-torque characteristics vary depending on the t ype of software,
parameter setting, and input voltage of the digital servo motor. (The
above figur es show average values.)
Th ese values may be c hanged without prior notice.

5-4
Modei20F/2000 (AOGB-0356-BODO)

speed-torque characteristics (digital) over load duty

80 100
I
i 90 I
I
i li I . i Ill
JlO~ I
I
I
80
IJ
It
! I Ill
60
70 120~ I 11 iiJ II
~
-----r----- ------r- '
''
'
~
"'2
60 1::109
I
I II. Ill
II ~r----
II~~I I' I II
~ 40 140~
2 50
;

"'f
::;
I
intermittent operating
I
>.
~ 40
150~ I ill~ \ \I ' 1\1
0
I "'C I I r+-1- 0 ~ I II~~m I
-'
I I 30 . II l

20
20 I ~ ,\1 ! ll1!
II I I \\ ~
I
continuous operating
I' to Iil
I I'
I
I I li I\ [I IIIIi
500 1000 l:JOO- 2000 2 5 10 20 50 100 200
Speed(rpm) "ON" time (min.)

Data sheet

Parameter Symbol Value Unit

Maximum speed Nmax 2000 min-I
Rated torque at Ts 22 Nm
stall{*) 224 kg fern
Rotor inertia Jm 0.017 kgm2
0.17 kgfcmS2
Continuous RMS current Is 19.3 A(rms)
at stall
Torque constant(*) Kt 1.14 Nm/A(rms)
11.& kgfcm/A(rms)
Back EMF constant Ke 39 V( rms) /lOOOmin-1
(RMS voltage per Kv 0.37 V(rms)sec/rad
phase)(*)
Armature resistance(*) Ra 0.14 0.

Mechanical time tm 0.0055 sec~

constant(*)
Thermal time constant tt 55 min.
Static friction Tf 1.2 Nm
12 kgfcm
Maximum allowable Im 120 A( peak)
current
Max. torque Tm 96 Nm
980 kgfcm
Max. acceleration 5700 rad/ sec2
Maximum winding (j m 125 ,c
temperature rise
Weight 21 kg

Note) The values are the standard values at 20•c and the tolerance is ±10%.
The speed-torque characteristics vary depending on the type of software,
parameter setting, and input voltage of the digital servo motor. (The
above figures show average values.)
These values may be changed without prior notice.

5-5
Model 30F/2000 (AOSB-0357-BD 0 0)

speed-torque characteristics (digital) over load duty

80

60 -----1-----~------
i I '
' '
' '
intermittent operating

~ 40
'
'
"' I
"':...
..."" I
--
0 1--

20 I
continuous operating!

I I
500 1000 1500 2000
Speed(rpm) "ON" time (min.)

Data sheet
Parameter Symbol Value Unit
Maximum speed Nmax 2000 min ~ 1

Rated torque at Ts 30 Nm
stall c~·) 306 k gfcm
Rotor inertia Jm 0.026 kgm2
0.265 kgfcmS2
Continuous RMS current Is 24.4 A(rms )
at stall
Torque constant(*) Kt 1.21 Nm/A(rms)
12.3 kgfcm/A( rms)
Back EMF constant Ke 42 V( rms) /lOOOmin-1
(RMS voltage per Kv 0.4 V(rms)sec/rad
phase)(*)
Armature resistance(*) Ra 0.071 n
Mechanical time tm 0.004 sec.
constant U•)
Thermal time constant tt 60 m~n.

Static friction Tf 1.8 Nm

18 kgfcm
Maximum allowable Im 160 A( peak)
current
Max. torque Tm 135 Nm
1370 kgfcrn
Max. acceleration 5180 r:ad/ sec2
Maximum winding 8 m 125 •c
temperature -.:-ise
Weight 28 kg

Note) The values a-.:-e the standard values at 20"C and the tolerance is ±10%.
The speed-torque characteristics va-.:-y depending on the type of softwar e,
parameter setting, and input voltage of the digital servo motor:. (The
above figures show average values.)
These values may be changed without prior notice.

S-6
3.3 Outline Drawings
(1) Model SF/3000 Fig. 3.3 (a)
(2) Model SF/3000 (wi t h the brake) Fig. 3.3 (b)
(3 ) Model s lOF/2000, 20F/2 000, and 30F /2000 Fig. 3.3 (c)
(4) Models lOF/2000, 20F/2000, and 30F/2000 (with the brake) Fig. 3.3 (d)
(5) Shaft option (models lOF/2000, 20F/2000, and 30F/2000) Fig. 3.3 (e)

1- n t 55

~1S31 02A
I MS3 t02A ;?2 - 14P !SERIAL -A )

NOT E} Sh:att dia. r unout Max. 0.02mm

Rabbet dia.. w:cntritltt Mo¥-. 0.04 mm
Mounting fac.l! runou:. MaL 0 .0$ mm
O&TAILOF SHAn SHAPE Rat.f'd loads. 686N C'70 k.O

Fig. 3.3 (a) Model SF/3000

5-7
JU; Y WII!!!!.~.,.~

-~
t<I O S OTE) Sha!tdit.. runoLlt ~lu. 0 .02 mm
Rt;bbot. d.ia. l<:eentri<:ity M:.a.0.04mm
Mount.in~ race rurtout Mu . 0.06 nun
DET AIL OF' SH Af"TSHAPE Rated klads 686N (70kgll

Fig. 3.3 (b) Model SF/3000 (with the brake)

4· pH ; 265D.B.C

NOTE) Shon dia . rUll<>ut Max. 0.5 m:n MODEL A B c

Rabb t t d i<~.. e«:entricity Max. 0.7 rnm
M o llllt ll'l&: fo.~ r u nDut
Rol«<lo•ds
1\fa::~:.O.lOmm
4110N (450 kg0
MODEL l OF 192
•• TO

MODEL20F 210 l OS 8a
X, Y, 3nd Z indica~ thf positions of M8 boles ( Of" eyt:bolts.
Tht eyebolt~; are not hxludd. MODEL30F 234 130 112

Fig. 3.3 (c) Models 10F/2000, 20F/2000, and 30F/2000

5-8
 I
I
I

022~ - · -...1

20-29PW{SER1AL-C I
22-IIP ISERIA~-AI

:VOTE ) Sha!tdia_ runout M8X.0.5mm

MODEL A B c
Rabb~Ldia. eccentricity Max. 0.7 mm
MODELl OF 2Z7 123
:\taunting face runout
R.a~d l0oad s
Max. 0. 10 rrtm
.UlON" (450 kg{)
MODELZOF 245 141
'"'
123
X, Y. and Z inCicat.e.lhc ;'X}sition~;ofMS holes ror eyebolts.
ThO! eyebolts ne r.ol ihcludcd. MObEL.JOF" 269 165 147

Fig. 3.3 {d) Models 10Ff2000, 20F/2000, and 30F/2000 (with the brake)

~ ! ';_~rr-1
~ 6 "_"' --1

I ; !
Stand:t. rd
~
: t 'i I
~ ~~ 1--=-
Stralghts.haft

~~ ~l i-

Optior.
'I'ap~r shal\

ltl OTAPER

Fig. 3.3 (e) Shaft option (models 10F/2000, 20F/2000, and 30F/2000)

5-9
3.4 Connecting Power Lines (without the brake)

(a) Model SF/3000

u
A 0>-------------::
0 Motor coil
(
::)---_:::]_
D A
0 0
( c B
0 0

Earth
MS3!02A 18-lOP Do
=b-
(b) Models lOF/2000, 20F/2000, and 30F/2000
li
Ao---------~

D
0
A
0 B o-------V-~or coil

c B
0 0
co-----------~
I
Earth
MS3102A 22-22P 00>---l_-

3.5 Connecting Power Lines (with the brake)

(a) Model SF/3000

u
Ao---------~
BKl
Bo-------,
v
E G B co------+-~.........­
0 0 0 BK2
Do-------,
D c
0 0 E
I
F o ~~~~;_! Brake coil
Earth suppr~
MS3102A 20-!SP Go ~ _____~

(b) Models lOF/2000, 20F/2000, and 30F/2000

u

E
F
0
G
A
0
B
:: c
BK! Motor coil

0 0 0 Bl\2
D
D c
0 0 E
Fo Surge]
MS3!02A 24-lOP Go
Earth
=!--
suppr~ssorT
L__-----L_ ____.J

5-10
VI. FANUC AC SERVO AMPLIFIER C series
{FOR A SINGLE MOTOR AND TWO MOTORS)
1. OUTLINE

The FANUC C series AC servo amplifier is a totally new amplifier that has been
designed to drive digital AC servo motors. The C series amplifier is compact
and has less heating value. This amplifier has the following features:
l) Function-compatible with conventional amplifiers
(For users who are using conventional S series amplifiers, see the end of this
manual for the differences between the C series servo amplifier and the S
series servo amplifier.)
2) Requires only half the area required by conventional FANUC servo amplifiers
for installation.
3) Generates only 70% of the heating value generated by conventional FANUG
servo amplifiers.
4) Unique structure that minimizes temperature rise in the cabinet.
5) High reliability based on fully automated assembly without harnesses.

2. CONFIGURATION

Fig. 2 is an example of how the 2-axis NG system is configured. A separate

regenerative discharge unit may also be required when regenerating energy
becomes large by the load condition.

AC servo motor
(for 20 0-V AC input)

1-----~ AC sel"Vo amplifier

for the X axis

NC control unit
AC servo amplifier
1-----t-~ for the Z axis

Three-phase input power Separate regenerative

supply 200/220/230 VAC AC line filter discharge unit (optional)
From-15o/oto +10%

Fig. 2 Example of Configuration

6-l
2.1 Unit Types and Specifications

Table 2.1 Unit Types and Specifications (1/2)

Application
Name L axis of Servo M axis of Servo Specifications
amplifier for two amplifier for two
motors motors
Motors 4-0S and 3-0S A06B-6066-H002
Motors 2-0S(Note 3), 1-0SP, and 1-0SP/3000 A06B-6066-H003
For a
s i ngle Motors OS(Note 3), 5S, lOS, 20S/1SOO, OL, A06B-6066-H004
motor SF/3000, and lOF/2000
Motors SS / 3000, lOS/3000, 20S, 30S, 51, A06B-6066-H006
61, 20F/2000, and 30F/2000 (Note 9)
. Motors 3-0S and 4-0S Motor s 3-0S and 4-0S A06B-6066-H222
Motors 20S/3000, 305 / 3000, 40S/2000, 71, A06B-6066- H008
and 101. (Built-in cool i ng
fun)
Servo Motors 3-0S and 4-0S Motors 2-0SP, 1-0SP, A06B-6066-H223
ampli- and 1-0SP/3000
fier
(Note 1) For Motors 3-0S and 4-0S Motors OS, SS, and A06B-6066-H224
(Note 2) two lOS, SF/3000,
mo t ors lOF/2000
Motors 2-0SP, 1-0SP, Motors 2-0SP, 1-0SP, A06B-6066-H233
and 1-0SP/3000 and 1-0SP/3000
Motors 2-0SP, 1-0SP, Motors 0-0SP, OS, A06B-6066-H234
and 1-0SP / 3000 ss, lOS, SF/3000,
lOF/2000
Motors 2-0SP, 1-0SP, Motors SS/3000 A06B-6066-H236
and 1-0SP/3000
Motors 0-0SP, OS, Motors 0-0SP, OS, A06B-6066-H244
5S, lOS ss, lOS, SF/3000
Motors 0-0SP, OS, Motors SS/3000 A06B-6066-H246
ss, lOS, SF /3000
Motors 5S/3000 Mot ors 58/3000 A06B-6066-H266
Type A (for motors with a total rated A81L-0001-0083#3C
output of 5.4 kW or less)
AC l ine filter Type B (for motors with a total rated A81L-0001-0l0l#C
(Note 4) output of 10.5 kW or less)
Type C (for motors with a total rated A81L-0001-0102
output of 23 kW or less)
Type SAE (wi th apparent power of 2.2 kVA) A80L-0022-0005
Power Type SBE (with apparent power of 3.5 kVA) ASOL-0024-0006
transformer
for export Type SCE (with apparent power of 5 kVA) A80L-0026-0003
Type SDE (with apparent power of 7.5 kVA) A80L-0028-0001

6-2
 Table 2.1 Unit Types and Specifications (2/2)

Application
Specifications
Name L aXlS of Servo M axis of Servo
amplifier for two amplifier for two
motors motors
Option for motors lOS to 30S A06B-6066-H500
{160./400 W, when air-cooled at a wind
speed of 2 m/s)
Option for A06B-6066-H008 A06B-6066-H711
Separate (80./800 w, with a built-in cooling fan)
regenerative Option for A06B-6066-H008 A06B-6066-H712
discharge unit {80./1200 W, with a built-in cooling fan)
(Note 5)
Option for motors lOS to 305 A06B-6066-H713
(160./800 w, with a built-in cooling fan)
Option for motors lOS to 30S A06B-6066-H714
(160./1200 W, with a built-in cooling
fan)
Input connector Solder type A06B-6066-K205
(Note 6) Crimp type A06B-6066-K206
Control power supply fuse (HM32) A06B-6066-K207
Spare fuse Fuse (P405H) for the fan motor in the A06B-6066-K208
(Note 7) separate regenerative discharge unit (for
H008)
Option for A06B-6066-H008 A06B-6066-K209
Spare fan motor
{Note 8) For the separate regenerative discharge A06B-6066-K210
unit

Note 1) Use an AC servo motor that conforms to the specifications of the C

series amplifier (200/220/230 VAC input).

Note 2) Select the appropriate servo amplifiers for the T series motors
(hollow-type motors) by considering the following correspondence be-
tween the S and T series motors: OS for OT/3000, 5S for ST/2000,
SS/3000 for ST/3000, lOS for
lOT/2000, and lOS/3000 for lOT/3000.

Note 3) For conventional S ser1es servo amplifiers, two different servo am-
plifiers need to be used: one drives motor 2-0SP or OS at 2000 rpm
maximum, and another drives the motor at
3000 rpm maximum.
For the C series servo amplifier, on the other hand, only one
amplifier needs to drive motor 2-0SP or OS irrespective of the
maximum motor speed specified. However, servo parameters (motor
Nos.) are set in the same way as usual.

6-3
Note 4) The AC line filter needs to be used to minimize the effect of high-
frequency noise on the power supply.
Up to three lOS amplifiers can be connected to one line filter, A81L-
0001-0083#3C. (Rated output of model lOS: 1.8 kW)
Up to three 20S amplifiers can be connected to one line filter, A81L-
0001-010l#C. (Rated output of model 205: 3.5 kW)
If an insulating power transformer is used because the input power
supply voltage is out of the specified range, this line filter may be
omitted.

Note 5) When the load inertia is too large or the frequency in acceleration/
deceleration is high, if regenerating energy from the motor exceeds
the specified value, a separate regenerative discharge unit needs to
be added.
If the calculated heat value exceeds the capacity of the regenerative
discharge unit, contact FANUC for selection of the servo motor.
See section 4 for how to calculate the regeneration energy.

Note 6) This connector (CNl) is used in the cable which connect the servo
amplifier with NC via a cable. Each axis requires one connector.

Note 7) There are two types of spare fuses, one for the control power supply
and one for the fan motor. All servo amplifiers are equipped with a
fuse for the control power supply. Only servo amplifier A06B-6606-
H008 is equipped with a fuse for the fan motor.

Note 8) Servo amplifier A06B-6066-H008 and the separate regenerative

discharge units with a built-in cooling fan (A06B-6066-H711 to -H714)
contain a fan motor, for which a spare may have to be ordered as
required.

Note 9) The amplifier ~n model JOF/2000, it should be compulsorily air

cooled.

6-4
3. SPECIFICATIONS

3.1 Specifications
Table 3.1 (a) Specifications (common)

Item Specifications
Three-phase Voltage:200/220/230 VAG
input for Allowable voltage fluctuation: -15 % to +10%
power(*!) Frequency: 50 Hz or 60 Hz
Allowable frequency fluctua tion: ± 2 Hz
Power Single-phase Voltage: 200/220/230 VAC
supply input for Allowable volta ge fluctuation: -15 % to +10%
control power (>"r 1 ) Frequency: 50 Hz or 60 Hz
Allowable frequency fluctuation: ± 2 Hz
Single-phase input Voltage: 100 VAG
for emergency stop Allowable voltage fluctuation: -15 % to +10%
Frequency: SO Hz
Allowable frequency fluctuation:±2 Hz
or
Allowable voltage fluctuation: - 15 i. to +10%
Voltage: 100/110 VAC
Frequency: 60 Hz
Allowable frequency fluctuation:±2 Hz
Control of the main circuit Sine-wave PWM control by transistor (IGBT) bridge
Alarm and protection Overvoltage alarm, control power low-voltage
functions alarm, DC link low-voltage alarm, regenerative
control circuit failure alarm,regeneration over-
discharge alarm, servoamplifier overheat alarm,
overcurrent alarm, and circuit breaker
Contac t of the magnetic Auxiliary contact of the magnetic contactor fo r a
contactor for circuit break (The main circuit is cut off when
confirmation of a circuit contact b is closed.)
break(*2) Rated current: 10 mA or more and 0.3 A or less at
24 VDC

*l Two wires of the three-phase input for power are factory-set to be

connected with the single-phase input for control power via jumper bars.
*2 This contact point can be used as a monitor when the user designs circuits
such as a safety circuit.

6-5
 Table 3.1 (b) Specifications for Each Model

Peak
Nominal
current at
Servo amplifier Applicable motor current
rated
limit
outputU<l)
A06B-6066-H222/L and M axes 4-0S, 3-0S 1.4 Ap 4 Ap
A06B-6066-H223/L aXl.S
A06B-6066-H224/L axl.S
A06B-6066-H002
A06B-6066-H223/M aXl.S 2-0SP, 1-0SP, 5 Ap 12 Ap
A06B-6066-H233/L and M axes 1-0SP/3000
A06B-6066-H234/L axl.s
A06B-6066-H236/L 8Xl.S
A06B-6066-H003
A06B-6066-H224/M axis 0-0SP, OS, 5S, lOS 13 Ap 40 Ap
A06B-6066-H234/M axis
A06B-6066-H244/1 and M axes
A06B-6066-H246/L axis
A06B-6066-H004 0-0SP, OS, 5S, lOS, 20 Ap 40 Ap
205/1500, OL
A06B-6066-H236/M ax1s SS/3000 15 Ap 80 Ap
A06B-6066-H246/M aXl.S
A06B-6066-H266/1 and M axes
A06B-6066-H006 SS/3000, lOS/3000, 205, 30 Ap 80 Ap
30S, 51, 61
A06B-6066-H008 20S/3000, 305/3000 , 65 Ap 130 Ap
40S/2000, 7L, 101

'>'<1 The rated output is guaranteed only at the rated input voltage. When the
input voltage fluctuates, the rated output may not be maintained even if
the fluctuation is within the allowable range.

6-6
3.2 Protection and Error Detection Functions
The AC servo ampl if i er provides the following protection and err or detection
functions.
Alarm statuses a r e displ ayed on the seven-segment LED on the front panel of
t he servo amplifi er.

Table 3.2 (a} Protection and Error Detection Functions (1 /2)

Type Displ a y Descri ption

Overvoltage LED Activated when the DC v oltage of
alarm (HV ) indi cat ion power t o the ma i n circui t is
abnormally hi gh .

Control LED Activated when the voltage for

2.
power low indi cation control power (+5 V) is abno r mally
voltage low .
alarm (LVSV)

DC l ink low LED Act ivated when t he DC vo l tage of

voltage
alarm (LVDC)
indi cation

j power to t he main cir cuit lS

abno rmal l y low .

Regenerat i v e
cont ro l
ci r cuit
failure
alarm (DCSW)
LED
i ndi cation
y Act ivated when shor t - t i me
regenera ti ve discharge ener gy is too
large . Thi s is caused by failu r e of
the regene r a t ive discharge circui t .

Regenerative LED Activated when t he average

over- indicat ion regenerative discharge energy lS too

5.
discharge l arge, or when the frequency ln
alarm (DCOH) acce l er a t ion/decelerati on is too
high. Al so activated by an
overheat i ng t ransformer i f a
transforme r over heat detector is
connec t ed ( see Section 9.3) or a
blown fu se for the s e r vo amplifier
fa n mot or (H008 onl y).
Ser vo LED Ac tiva ted when the t he r mostat in t h e

5.
amplifier i nd ication ampli fie r star ts oper at i ng .
overheat
(OH)

Magnetic LED Activated when the contacts of the

l
contactor i ndication magneti c contactor a r e we l ded.
welding
alarm (MCC)

6-7
 Table 3.2 (a) Protection and Error Detection Functions (2/2)

Type Display Description

Overcurrent LED Occurs when the current passing
alarm (HCL) indication

B through the main circuit of the 1-

axis amplifier or the main L-axis
circuit of the 2-axis amplifier 1S
excess~ve.

Overcurrent
alarm (HCM)
LED
indication
g Occurs when the current passing
through the main M-axis circuit of
the 2-axis amplifier is excessive.

Over current LED Occurs when the current pass1ng

b
alarm (HCLM) indication through the main L- and M-axis
circuits of the 2-axis amplifier is
excessive.

Circuit The lever of the Activated when a current exceeding

breaker circuit breaker is set the operating current of the circuit
to off. breaker f1 ows • The DC link low
voltage alarm (LVDC) may come on
concurrently.

Note 1) The motor is stopped by the dynamic brake when an alarm is activated.
Note 2) The following indications mean normal operation modes, not alarm
statuses:

Table 3.2 (b) Normal operation mode

Type Display Description

Amplifier LED The amplifier is not ready for
not ready indication driving the motor because the
- magnetic contactor l.n the amplifier
is set to off.

Amplifier LED The magnetic contactor in the

D
ready indication amplifier l.S set to on, and the
amplifier l.S ready for driving the
motor.

6-8
4. AC LINE FILTER AND REGENERATIVE DISCHARGE UNIT

4.1 AC Line Filter (optional)

Use the AC line filter to reduce the effect of high-frequency noise on the
power supply. Within the current capacity of the AC line filter, multiple
servo amplifiers can be connected to one AC line filter. Table 4.1 indicates
the upper sum of rated outputs for motors that can be connected to one AC line
filter via an amplifier.
Table 4.1 Selection Standard of the AC Line Filter

Continuous
rated Heat
Line filter loss Sum of motor rated outputs
current
Type A 24 A 20 w 5.4 kW (Reference: Model 10Sx3) ( 8.7 KVA)
Type B 44 A 70 w 10.5 kW (Reference: Model 20Sx3) (16.0 KVA)
Type c 100 A 50 w 23 kW ( 35 KVA)

4.2 Separate Regenerative Discharge Unit

When energy regenerated from the motor exceeds the limit for the discharge
unit in the servo amplifier, a separate regenerative discharge unit needs to
be connected.
Find value P in 4.2.1 and value Q in 4.2.2 for each ax1s. If the sum of P and
Q exceeds the specified value, and the NC system is operated continuously, use
the separate regenerative discharge unit.
If the sum also exceeds the specified value for the separate regenerative
discharge unit, contact FANUC.

4.2.1 For horizontal operation

When acceleration/deceleration for rapid traverse is performed every F
seconds, value P is calculated as follows • .
1
P = x (5.37xlQ-4JVm2-S.l3xl0-3taVmTL) ..................... (1)
F

If P exceeds the specified value for the regenerative discharge unit built
into the servo amplifier, and the NC system is operated continuously, the
separate regenerative discharge unit 1s required.

Terms used in formula (1)

F : Frequency in acceleration/deceleration for rapid traverse (F seconds per
cycle)
(Note: the frequency ~s approximately once per five seconds unless
otherwise specified.)
J = Jm + JL
Jm Rotor inertia of the motor (kgf•cm·s2)
JL Load inertia in terms of the motor axis (kgf•cm•s2)
Vm Motor speed for rapid traverse (rpm)
ta Acceleration/deceleration time for rapid traverse (s)
TL Friction torque of the machine (in terms of the motor axis) (kg•cm)

6-9
4.2.2 For vertical operation
When the operating duty for rapid downward traverse 1s D(%), value Q 1s
calculated as follows.
D
Q "" l. 0 2 6 x 10 - 2ThVm x - ... .................. (2)
100
Terms used in formula (2)
Th Upward torque of the motor during rapid downward traverse (kg/em)
Vm : Motor speed for rapid traverse (rpm)
D : Operating duty (%) for rapid downward traverse (*1)
>'<1 D must be 50% or less.

The sum of P obtained by formula (1) and Q obtained by formula (2) is

represented as R below.
R "" p + Q ....................................... (3)
When R exceeds the specified value for the discharge unit 1n the servo
amplifier, and the NC system is operated continuously, the separa t e
regenerative discharge unit needs to be used.
If R in formula (3) also exceeds the specified value for the separate
regenerative discharge unit, contact FANUG.

4.2.3 Capacity of the regenerative discharge resistance units (built-in and separate)

Table 4.2.3 (a) Specified values for the regenerative discharge unit in the servo amplifier

Servo amplifier Wind speed: Wind speed: Wind speed:

0 m/sec 2 m/sec 4 m/sec
A06B-6066-H002
A06B-6066-H003 R""20W - -
A06B-6066-H004 (Note 2)
A06B-6066-H006 R""lOOW R=200W R=300W
A06B-6066-H222 to H226

A06B-6066-H008 With a built-in cooling fan R=4DOW

motor

Table 4.2.3 (b) Specified values for the separate regenerative discharge unit

Separate regenerative Wind speed: Wind speed: Wind speed:

discharge unit 0 m/sec 2 m/sec 4 m/sec
A06B-6066-H500 (Note 2) R=200W R=400W R=600W
A06B-6066-H711 (8 n) With a built-in cooling fan motor R=800W
A06B-6066-H712 (8 n) With a built-in cooling fan motor R=l200W
A06B-6066-H713 (16 D) With a built-in cooling fan motor R=SOOW
A06B-6066-H714 (16 n) With a built-in cooling fan motor R=l200W
Reference: For S Series R=400W - -
(A06B-6050-H050)

6-10
Note 1) For machines that have a large retention torque, such as those with
no counterbalance for the gravity axis, the regeneration rate during
downward operation 1s increased. Especially, for rapid downward
traverse with a machine having a long stroke, the regeneration rate
may exceed the capacity of the regenerative discharge unit. Contact
FANUC for selection of the motor.

Note 2) For the separate or built-in regenerative discharge unit for the C
ser1es that has external fins, the regeneration capacity can be
increased by forcibly air-cooling the discharge unit through the fan.
The relationship between the wind speed for forced cooling and the
specified value is indicated.

Note 3) The separate regenerative discharge unit (A06B-6050-HOSO) for the

conventional S series servo amplifier can also be connected to the C
series servo amplifier.
In this case, the following points must be noted:
(Caution) When separate regenerative discharge unit A06B-6050-HOSO 1s used
for the C series amplifier, do not forcibly air-cool the unit, and
do not install the unit in a windy place.
(Reason) To fully utilize the capabilities of regenerative discharge
units, the C ser1es servo amplifier has a thermostat 1n the
regenerative discharge resistor to monitor the resistance temperature
thoroughly. In addition, the characteristics of the alarm circuit
have been changed from that of the S series.
Because the separate regenerative discharge unit for the S series has
a thermostat adjacent to the regenerative discharge resistor, the
resistance temperature may not be monitored correctly in a windy
place or under forced air-cooled conditions.

6-11
5. POWER SUPPLY

5.1 Input Power

AC servo amplifiers require three-phase power for the ma1n circuit and single-
phase power for the winding of the dynamic brake magnetic contactor. See
Table 5.2.1 for the specifications of the power supplies.

5.2 Capacity

5.2.1 Three-phase power

Table 5.2.1 Capacity of the three-phase power supply

Capacity Capacity Capacity

Motor model per motor Motor model per motor Motor model per motor
4-0S 0.1 kVA lOS 3 kVA OT/3000 1.2 kVA
3-0S 0.2 kVA lOS/3000 3.5 kVA 5T/2000 1.5 kVA
2-0SP 0.4 kVA 20S/1500 4.2 kVA 5T/3000 1.8 kVA
1-0SP 0.8 kVA 20S 5.3 kVA lOT/2000 3 kVA
2-0SP/3000 0.5 kVA 205/3000 5.6 kVA lOT/3000 3.5 kVA
1-0SP/3000 0.8 kVA 30S 5 kVA OL 1 kVA
0-0SP 1 kVA 30S/3000 7 kVA 5L 1.5 kVA
OS 1 kVA 40S/2000 10 kVA 6L 2.4 kVA
OS/3000 1.2 kVA 7L 5 kVA
ss 1.5 kVA lOL 10 kVA
SS/3000 1.8 kVA

Note 1) If the power supply is to be used for more than one motor, its
capacity can be obtained by summing up the capacities for the
individual motors.
Note 2) The capacities listed above suffice as a continuous rating. When AC
servo motors accelerate steeply, however, they require twice the
continuous rating momentarily.

6-12
5.2.2 Single-phase 100 V power

Table 5.2.2 Capacity of the single-phase 100 V power supply

Amplifier specification Moment the magnetic During continuous

drawing number contactor is switched on supply of power
A06B-6066-H002-H006 120 VA 30 VA
A06B-6066-H008 180 VA 36 VA
A06B-6066-H222-H266 130 VA 30 VA

5.2.3 Capacity of the single-phase power supply for control purposes

Power used for control purposes is usually supplied from the three-phase power
supply for the motors using jumper bars. So its capacity is included in the
capacity of the three-phase power supply.
If the control power is to be supplied separately, consult the table below.

Table 5.2.3 Capacity of the single-phase power supply for control purposes

Amplifier specification
Capacity
drawing number
A06B-6066-H002-H006 30 VA
A06B-6066-H008 50 VA
A06B-6066-H222-H266 40 VA

5.3 Power Transformer

For the required power transformers, see Section 5.3 in Part VII.

6-13
6. HEAT DISSIPATION

rhe table below lists the heat generated in the C Series servo amplifier when
it operates with the rated continuous load. When designing cabinets, consider
the average heat typically generated to be half the listed value.
The listed values do not include the heat generated by the regenerative
discharge resistance. They have to be modified as described in the Notes.

Table 6 Heat generated in the servo amplifiers (1/3)

Heat released within the

Servo Motor model Heat generated cabinet when the heat sink is
amplifier in the servo installed outside the cabinet
drawing number
I
L-axi s M-axis amplifier Natural air
cooling
Forced air
cooling

A06B-6066-H002 4-0S, 3-0S 31 w - --

2-0S, l-OS 41 w - --
A06B-6066-H003
1-0S/3000 47 w - -

0-0SP 74 w 45W 31W

OS so w 34W 26W

ss 58 w 38W 28W
A06B-6066-H004
lOS 71 w 44W 31W

20S/1500 140W sow sow

OL 59 w 38W 28W

SS/3000 82 w 48W 31W

lOS/3000 114W 63W 38W

20S 149W sow 46W

A06B-6066-H006
30S 117W 65W 39W

SL 82 w 49W 32W

6L 122W 67W 40W

20S/3000 229W - 49W

30S/3000 269W - 53W

A06B-6066-H008 40S/2000 335W - 60W

7L 276W - 54W

lOL 381W - 65W

6-14
 Table 6 Heat generated in the servo amplifiers (213)

Heat released within the

Servo Heat in cabinet when the heat sink is
Motor model
amplifier generated installed outside the cabinet
drawing number the servo Natural a1r Forced air
L-axis M-axis
amplifier cooling cooling

A06B-6066-H222 3-os, 4-0S 3-os, 4-0S 41 w 34W 30W

3-os, 4-0S 1-os, 2-0S so w 38W 32W

A06B-6066-H223
3-0s, 4-0S 1-0S/3000 55 w 40W 33W

3-0S, 4-0S OS 62 w 43W 34W

A06B-6066-H224 3-0S, 4-0S 5S 70 w 47W 35W

3-os, 4-0S lOS 82 w 52W 37W

l-OS, 2-0S l-OS, 2-0S 59 w 42W 34W

A06B-6066-H233 l-OS, 2-0S 1-0S/3000 64 w 44W 34W

l-OS/3000 1-0S/3000 69 w 46W 35W

l-OS, 2-0S OS 71 w 47 w 35 w

l-OS, 2-0S 5S 79 w 51 w 37 w

l-OS, 2-0S lOS 91 w 56 w 39 w

A06B-6066-H234
1-0S/3000 OS 76 w 49 w 36 w
1-0S/3000 5S 84 w 53 w 37 w
1-0S/3000 lOS 96 w 58 w 39 w
l-OS, 2-0S 5S/3000 103W 61 w 40 w
A06B-6066-H236
1-0S/3000 SS/3000 108W 63 w 41 w
OS OS 83 w 52 w 36 w
OS ss 91 w 56 w 38 w

OS lOS 103W 61 w 40 w
A06B-6066-H244
ss 5S 99 w 59 w 40 w
ss lOS lllW 65 w 42 w

lOS lOS 123W 70 w 44 w

6-15
 Table 6 Heat generated in the servo amplifiers (3/3)

Heat released within the

Servo Heat in cabinet when the heat sink is
Motor model
amplifier generated installed outside the cabinet
drawing number the servo Natural a1.r Forced air
1-axis M-axis
amplifier cooling cooling

OS SS/3000 llSW 66 w 41 w

A06B-6066-H246 ss SS/3000 123W 70 w 43 w

lOS SS/3000 135W 75 w 45 w

A06B-6066-H266 SS/3000 SS/3000 147W 80 w 46 w

Note 1) For servo amplifiers A06B-6066-H002 and -H003, the heat sink cannot
be placed outside the cabinet. So, the heat generated in the
regenerative discharge resistor must be added as the total generated
heat. See Section 4.2 for the heat generated by regenerative
discharge.
Note 2) The servo amplifiers other than A06B-6066-H002 and -H003 are so
structured that the built-in regenerative discharge resistor and the
heat sink can be placed outside the cabinet. If the heat sink is
placed outside the cabinet, it is not necessary to add the heat from
the regenerative discharge resistor as the heat released in the
cabinet. The same holds true if the separate regenerative discharge
resistance unit is used outside the cabinet. If the servo amplifier
or the separate regenerative discharge resistance unit is placed
outside the cabinet, the heat generated by the regenerative discharge
resistance must be added as the total generated heat. See Section
4.2 for the heat generated by regenerative discharge.
Note 3) The term forced air cooling refers to a situation that the heat sink
is exposed to air flow with a speed of 2 m/s. Servo amplifier A06B-
6066-H008 and separate regenerative discharge resistance units A06B-
6066-H711 and -H714 have a built-in cooling fan motor.

7. INSTALLATION CONDITIONS AND NOTES

See Chapter 7 of Part VII.

Note) The C Series servo amplifiers are more suitable to high-density

packaging than conventional amplifiers. Note however that high-density
packaging tends to result in a temperature rise around the amplifier, in
which case the air surrounding the amplifier should be circulated as
described in Section 7.2.1 in Part VI. Especially, a servo amplifier
mounted in the upper section in the cabinet may be damaged because of
the ambient air becoming hot unless it is circulated.

6-16
 ,....,
'-J
90
0 0
c c:
::£"L> n
,..... -l
g:p~p~o ....
:J
r
TERMINAL OLOCK:TI ~uP><> (1) z
HH O m
0..
SCREWS (M4) '1 0
Gl :xJ
....t:
FRONT VIEW :l ~
(JQ
z
G)
en
..
I U·;
;J>;J>
0~ :
0 0
~; a- a-
u~ "'e t;l:lt;l:l
I I
«.., a- a-
0
,..... 00
a- a-
C1' a-
I I
::c::c
00
0 0
WN
1.. I 360 I 1-
.. I0 0 ,-.. ....._
ttl P> ~
o-
"' 3 3
1
,.....
-...J
..._"'"'
w,_.,.....
0 .... t-'·
o....,rn
CIRCUIT BREAKER 0 ~ ~ •·""
"-J"(l)(l)
'1 '1
H)
1'+1 0
f---1.1....1-------...L.----------.J _....~z z 0 '1
INSTALL AMPLIFIER _, 1 u U . '1 .t:-
c - -- --J
WITH THIS SIDE UP ~ I I I
0
Nttl
I
OP>
ID ttl!:'
\{)
o-oO..
w
I
._.o
LEFT SIDE VIEW c:==::::J I~
0
(\J ttl
."'
Q.l
;:l
BOTTOM VIEW 0..

WEIGHT : 2 .7Kg ,.....

I
 2) Outline drawing A06B-6066-H004 (ampl i fier f or OS, SS, l OS, and
208/1500)
A06B-6066-H006 (amplifier for SS/3000, lOS/3000, 20S,
and 30S)

I 1
- - -!)
r-- PAr'iEL CUT-O'l7T
;; <()
I")
/

I 338 _I I!

~. ."''! 360
~

TERM I NAL BLOCK:T I

SCREWS (M4)

FRONT VIEW

\ tD
: -.;tl O'i
! t
360 10

380

INSTALL
AMPLI FI ER
WITH TIIIS ""'"".,._,-+--
~~--~~~~~--------------------~----------~

'------'11§
SIDE UP

c:::::::=:::J
c=:::::::J

LEFT
VIEW
:=:!!!:::

\\ \ \\\\\ \\\ \\\\\\\ \ \\\\ \\ \\\\\\} \ \\\\\\\ \ \ \ \ \ \ \ \\ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \ \

r::AUTION: BO TTOM VI E\'1
HOT ! WEI GHT : 5.4Kg
TAKE HANDS
o=-F.

6- 18
 f.,.)
........
..... 0
r-< c:::
A06 B- 6066 - HOOS ~
rt
....::I.....
l------~: ~~~
Pl
::I
A. (1)

+
HOT AIR (11/INUSOf•'~')
·1 ~

0
A.
'"i

i i ~ ~ i I - , r-< Pl
--lf== I I
1- .......
....!:l
~
0
I I
1 t--
----.--
OQ

~~~~~~ m~~m ~~ i !,~Rl~t:·~~~

1 I >
.~
I I 0
0'
I I

\
- tp
I I I
I I I "'
~~~~~~ ~~~m~ ~ ~~~~~::~, G,
0

·I
I
I
I
I "'::r:a-
I
I I

"
0

~~~~m ~~~~m ~~~ ~m:

I I 0

-
CQ
I I
I I
,.....
Pl
AC SERVO I I :3

~ ~~m~~ ~mm~ ;~~ ~~!:

AHPL I I'IER I I '0
....
~
1-'
I I 0 0
Csu t u
...,
.....
II I I
nCO ..o
0
(1)
II I I"J 1'0 '"i

I I
...,
~m~
0
I I 'i

m~m~m ,:::~NAIWIII~Io 10m"

FANI V
L- s1.rusr-
I
I
I
I
I
I
I
I
N
0
..._
00
f.,.)

~
SCREW Mil 0
I I I

~mm~ ~~m~~
0
I I 0
~
- ocrr•AM
· ~ I I
•· ..,.

It
f.,.)
I I 0
1-- I I ..._
00
I I f.,.)

0 [ L.. - - - - - - - - - - - -.-..1
0
0
..
0
+--
~
68 ___ ., --
~
AIR TN
WEIGIIT: 12 kg
CN I
136 . 0
1'/INEL CU'r
- -
0
00
N
0
0
0
Note) Do not install parts near the rear of the heat sink or iu the presence of ~

the fan·expelled air, where it can he very hot. IA06B - G066- H008 I
4) Outline drawing A06B-6066-H222, -H223, •H224, -H233, -H234, -H236, -H244, -
H246 and -H266 (amplifier for two mot ors)

: I
- - 1.0 Dimensions for

~
1'-
OJ panel cutting
'1 M

~
~
... V"' 338 I :I
b.
i 360

TERMINAL BLOCK, Tl
SCREWS (M4)

FRONT VIEW

360

380
CIRCUIT

LEFT
VIEW

CAUTION : BOTT OM VIEW

HOT !
TAKE HANDS WEIGHT : 6.3Kg
OFF.

6-20
 5) Outline drawing A06B-6066-H500 (separate regenerative discharge unit)

max . INSTALL WITII

THIS SIDE UP '\-
'l>
r-;:~1>< ~
AIR FLOW ~'I).
r-i
I
I
+ t j
.---
7
..;
'I).
I'
/

+ +
I
I
I
I I
I I
I
I
I
I
I
I
I
0 0 0 C(J
co ...0 I ...0 I") I
f") f") I f") f")

I
I
I
I
I
I
I

--·
.... . MII,.o.fOOI. . _

I
I
I
I

I
I

~~~~~QQlGJI -~ - ,_1
~
L-.
f--

25
L. 6
90 -
-
- -- 38
76
T

Resistance 160 (80 X 2)

Rated heating value : 400W (2rnls during ventilation)
Terminal block M4X4 (between 1 and 2: resistance,
between 3 and 4: thermostat)

WEIGHT 2 . 2Kg

6-21
 No le ) Do not install parts in a place where they are exposed to f an- expelled a-
.......-
air, which can be very hot.
HOT AI R
c 0
(HANUSOFF) ::1
....
crt
130.0 rt
.......- .........
111 i i-=11· 21
u:----0 --- 0
Cll
t')
(\J ~-----r-----,. -.
.ul 0.
m e '1

~
<D Ell l)l

.....
I;

~ e e 1--1 H I ::s
INSTALl. Wl'l'B OQ
THISSIOEUl' I (/)

1--l 1-- II >

0
a-

+
t:J;l
e e I
a-
1--l I---ll 0
a-
10 ~, ~, 0~
.q 0
oo a-
I
M
coo ::r:
WI
'I f") -.!) tO 1'/INELCUT
M f") r') f")
M..o 1--l ,_.
-...j
II [,JIBE!, I' ;w,§191m\ Ie MM ,_.
I:J:tll: 1--l I-ll
l)l
::s
0.
o-- I I
1 ::r:
tv e e e e, Ell
,_.
=
-...j
0
tv
re- -- - --Gl , l 1--l H I
~ !o .p..
1
I
I
FAN MOTOR I
rl1
'
? ..-,

r
_~_j L--- - - - -.J (/)

(\J -

l _J'~ ~!."68 . ~·~r- It Cll

Tl -1 l
l
0 "0
(\J
l)l
'1

5 m in AIR I N ..
A
~~ ~ ! 36 .0
P/ICKINC: IAI-'l'ENU E O>
l)l
rt
ro
-.!) 1J - J2 3 4 5 6 l'ANELCUT
.q '1
(I)
-l------ - - - - - - - OQ
~ DRAWING NUMBER WEI GilT
(l)
::s(l)
A068-6066-H7 1 I 5K g '1
II>
A06B - 6066 -H 7 12 6Kg ....
rt
T3 A06B- 6066 - H7 ! 3 5 Kg <
Cll
A06B-6066 - H7 14 6 Kg
.....
0.
(/)
()
FAN MOTOR
P'
l)l
11
O'Q
(l)

A40L- 0001 - 0353 / A-0

7) Outline drawing of AC line filter
Note 1) See Chapter 8-6) in Section X for the outline drawing of the AC line
filter (A81L-0001-0102) •.
Note 2) See Chapter 8-10) in Section VII for the outline drawings of other AC
line filters and the power transformer for transportation.

6-23
9. CONNECTION

9.1 Connection Diagram

1) Standard connection (for a single motor A06B-6066-H002 t o -H006 )

Battery
~en the ab.soiute pulse coder ls used

( o K2N ~ K2A
n~~--------------------~~~----------------­
)
K z t r K 2 sJ
' '
l' \Vhen the higb·resolution inc remental pulse cod er is used

I Tl

~C unit
K 1
J CN 1
AC servo
JODA 5 >---- AC servo motor
Amp lifier JOOB ! )------
on the machine
AOGB-6066-

AC \ine
,----(
H002-H006
13 L C l
u 9
K4
~C)?
Circuit. b re~ker QF v !0 )----' Eme!'gency Detector
r-,.-, fil:.er [,--< It L C 2

n
I T 1 w II )----' Stop IE?.!Gl
2
200- to2 30-V.-\C - X X~ }< 2 L l (R ) "? s 8
thr ee·phase power :
.- 3 4 G 126-------- ~

-·
I \ K3
~ J L 2 Is; 100-VAC
:
+-! 0 %, -15 %
' I
'--------o(
5
6~ '-( 4 L J IT: MC 1 1 ~
K5 l '"!-
single-pha se
: l P E <G ) MCZ
p0w~r

') + 10%, -1 5%

~
Tl
RC Rl RE Till TH2
.L
I 11 1! 19 IS 16
"'LJ""" '(_)-

Note 1) The cables for a conventional S series servo amplifier can be used as
cables K2 to K9. Refer to section VII-9. Cable Kl uses different
connectors and wires to a conventional cable. See item 9.2 for
details.
Note 2) Be sure to use an optional AC line filter to reduce the effect of
high-frequency noise on the power.
Multiple servo amplifiers can be connected to one AC line filter
provided they do not exceed the power that can be supplie d to the AC
line filter.
Note 3) Turning on circuit breaker QF for the power applies power to the
servo amplifier.
Be sure to turn off the circuit breaker bef ore touching the parts
connecting the servo amplifier and the motor.
Note 4) The symbols( t ~ indicate the locations of the terminals that con-
nected with jumper bars in the factory before shipping.
Note 5) Some NC units do not require a relay unit. For detailst refer to the
appropriate NC connection manual.

6-24
2) Standard connection (for !-axis amplifier A06B-6066-H008)

1;.-;;:-:::-l K9 ~ f-
~~-__j~.J
1\ZS
L-,----';J u
L,
Relay unit r
u. l_'-------
~ K2A: When the absolute pulse coder~~ USI':d

j
K2I: When the increment.s! pulse coder is used
~-C--i----,(K2S: Whenthehigh-reSQlutioopuJ&e~eri.su.sed) ~~~~;~;~;:~~ter ~ ( ~~ [ ~ach.~etoolside.
1
,... . K4
1

I Control unit l I 1

-.l.----~KJ--------.:] q~;nector ~--../~1 Ir "~,:::·. --

' 1

! Tl•.9, I
!'-------~I TlllOi 0 ~
Not<2 THIS ) I ' ' 1
BreakefQ.F Tl~ll' 6_______..... Breakcont.adforemergeney151.opU
AClillc 1 h!!!re 1 (EWC) Single-phase, ;
R ~"- r--' filter i ;--Tl(l2: 0 __/ ,,- - - - - - - - ; - ·'----<()-jf--:)-IOOVAC
Thr~e·phasc. --· · ' L__j · -01 28~ !7ii" Tl<=-··o'1 ___l 1
KS 1 +HJ.%. -!j% i
200to23DVAC s --..: " _,.. I : '\ "'
1

~to~;. -15%-- "'--' ,_ _j: -CJ 4C------r-K3J-<i-.....L..+-On m · I

50/60 Hz T ...._ .r---... .;... I ( Tl(6)b____j Separa.te regenerative discharge unit
- - "-- ---' --os sc __/ n:o 1 II (A06B-6060-H7!l. H7l~l
G '-----__; I T!(Jil0] Tlll7lC~
----------------GTI'l! 1 -Jumper I ; r--c
_.2 ) ;, Tl (18)0 here 1lC18)Q-No --on:n
1
----ln.esist.ort-
l connection L________j 1

Tl l i9)0-No illl9l0 CT3!2) - - - - '

l connection
Tl(l5'0] rns:6----,C:J(3>-~~ I
i __ Jumpct Ki · Thermostat j j
T::uno here !I : t5~·0-----,CT3\4J t<t.o prevent overheat)
i - - - - - -' :
(Thi!'il contaedion applies t

wbenaaeparate Tli25!C--No n·.25:6- - - - - 0 T 3:5) ~ Fan

r-egenen-tive discharge conneetiQn j n mol.clr .
1
unitUJnotused.) T1(24.:::)- No 11~24}0·---- CT3:6·: J L~-j
conneellon __1

(Thi::!l conneetion applies when the separate regenerative disch.arge unit i5 used.)

Note 1) The cables for a conventional S series servo amplifier can be used as
cables K2 to K9. Refer to section VII-9. Cable Kl uses different
connectors and w1res to a conventional cable. See item 9.2 for
details.
Note 2) Be sure to use an optional AC line filter to reduce the effect of
high-frequency noise on the power.
Multiple servo amplifiers can be connected to one AC line filter
provided they do not exceed the power that can be supplied to the AC
line filter.
Note 3) Turning on circuit breaker QF for the power applies power to the
servo amplifier.
Be sure to turn off the circuit breaker before touching the parts
connecting the servo amplifier and the motor.
Note 4) The symbols(, ' - J indicate the locations of the terminals that con-
nected with jumper bars in the factory before shipping.
Note S) Some NC units do not require a relay unit. For details, refer to the
appropriate NC connection manual.

6- 25
3) Standard connection (for 2-axis amplifier)

Battery
~en the absolut< polse coder is used

( Q K 2 N n~ Relayuml ~lf-------------_::_:K....:2:..:A:..:.__ _ _ _ _ _ _ _ _ _)
K2 I (K2S)
When tne high-resolution incremental pulse coder is used

C9f2J'
CN1 L AC servo motorfor
AC servo amplifier
CKlM AOGB-6066- the machine (L axis)

H 222to H 266
UL 20(~-~---K-~--+-~1 M
LCl
Detector I

II
AC servo motor for
the machine (M axis)
j
K4 ~
()-.--.--+-:..:._---4-----rl~r::.

Emergency stop <EMG)

£? S B
~
r----J~-- lOO VACl ~
Ks + lO %
- IS%

Note l) The cables for a conventional S series servo amplifier can be used as
cables K2 to K9. Refer to section VII-9. Cable Kl uses different
connectors and w1res to a conventional cable. See item 9.2 for
details.
Note 2) Be sure to use an optional AC line filter to reduce the effect of
high-frequency noise on the power.
Multiple servo amplifiers can be connected to one AC line filter
provided they do not exceed the power that can be supplied to the AC
line filter.
Note 3) Turning on circuit breaker QF for the power applies power to the
servo amplifier.
Be sure to turn off the circuit breaker before touching the parts
connecting the servo amplifier and the motor.
Note 4) The symbols( , ' - J indicate the locations of the terminals that con-
nected with jumper bars in the factory before shipping.
Note 5) Some NC units do not require a relay unit. For details, refer to the
appropriate NC connection manual.
Note 6) For the 2-axis amplifier motor power lines, the M-axis is connected
to a smaller-numbered terminal than the L-axis.

6-26
9.2 Cable K1
The signals transmitted by cable K1 are the same as those transmitted by a
conventional cable. Small connectors have been used for a new NC and C series
servo amplifier.

Conventional
MR-20RF or equivalent 20 p~ns
connector

New connector PCR-E20FA or equivalent 20 pins Small connector (See Note 4.)

(1) Connect the C ser1es servo amplifier with the new ser1es NC as follows:

(NC: Such as FS16) (Amplifier: C series amplifier)

1 IRn 11 ISn 1 IRn 11 ISn

2 GDRn 12 GDSn 2 GDRn 12 GDSn

3 ~'<PWMAn 13 *PWMDn 3 >'<PWMAn 13 *PWMDn

4 COMAn 14 COMDn 4 COMAn 14 COMDn

5 ~'<PWMBn 15 *PWMEn 5 ~'<PWMBn 15 ~\-PWMEn

Cable K1
6 COMBn 16 COMEn 6 COMBn 16 COMEn

7 *PWMCn 17 ~<PWMFn 7 *PWMCn 17 *PWMFn

8 COMCn 18 COMFn 8 COMCn 18 COMFn

9 19 9 19

10 *MCONn 20 t<DRDYn 10 *MCONn 20 *DRDYn

(Connector: (Connector:
PCR-E20FA or equivalent) PCR-E20FA or equivalent)

Note 1) The letter n stands for an ax1s number. For the second axis, for
example, read IRn as IR2.

6-27
(2) Connect the C ser1es servo amplifier to the conventional NC as follows:
(NC: Such as FSO, FS15, or Power Mate) (Amplifier: C series
arnpli f i er)

1 ~<PWMAn 14 '""PWMDn 1 IRn 11 ISn

8 IRn
2 COMAn 15 COMDn 2 GDRn 12 GDSn
9 GDRn
3 1<PWMBn 16 *PWMEn 3 ·!:PWMAn 13 o'<PWMDn
10 ISn Cable Kl
4 COMBn 17 COM En 4 COMAn 14 COMDn
11 GDSn
5 '""PWMCn 18 '>'<PWMFn 5 "'PWMBn 15 "•PWMEn
12 o'<MCONn
6 COMCn 19 COMFn 6 COMBn 16 COMEn
13 GNDn
7 >'<DRDYn 20 7 *PWMCn 17 '"PWMFn
(See Note 2.) 8 COMCn 18 COMFn

9 19
(Connector: MR-20RF or equivalent)
(Refer to each NC connecting manual for 10 '>'<MCONn 20 *DRDYn
the details of connectors on the NC. )
(Connector:
PGR-E20FA or equivalent)
Note 1) The letter n indicates an axis number. The IRn signal for the second
axis is represented as IR2, for example.
Note 2} Pin 13 (GNDn} of a conventional connector such as MR-20RF is not
connected to the C series amplifier. There is, however, no problem
with the amplifier because the common signal (0 V) is connected to
the pin through terminals COMAn and COMFn. Do not connect wiring to
the pin.

6-28
9.2.1 Wire for cable K1
This section describe s w1res that suit the new connector 1n conjunction with
Sec tion 9.2. 2.
FANUC specification number: A66L-001-0284#10P
Name: 10-pair cable
Wire: #28AWG xlO pai r cable (20 conductors), standard length of 200 rn
Manufacturer: Hitachi Cable , Ltd. and Oki Electric Cable Co., Ltd.
Structural drawing

Conduc tor identif ication tabl e (Hitachi)

Color of insulator
Wire No.
Conductor 1 Conductor 2
1 Blue White
'\~4---4- Binding tape
2 Yellow Wh ite
Shielding braid 3 Green White
Sheath 4 Red White
5 Purple White
6 Blue Brown
7 Yellow Brown
8 Green Brown
9 Red Brown
* The numbers in the above figure
corres pond to the twisted-pair wire 10 Purple Brown
numbers in the right table .

Fig. 1 Cable Manufactured by Hitachi Cable, Ltd.

Conducto r identification table (Oki)

Color of dot
Wire Color of Dot (1
No. insu lator pitch) Clas s-1 Class-2
conductor conductor
1 Orange - Red Black
.l--'-- Shielding braid 2 Gray - Red Black
Sheath 3 White - Red Black
4 Ye llow - Red Black
5 Pink - Red Black
6 Orange - Red Black
7 Gray - Red Black
* The numbers 1n the above f i gur.e 8 Wh ite - Red Black
correspond to the twisted- pai r wire 9 Yel low - Red Black
numbers in the r ight table. 10 Pink - Red Black

Fig. 2 Cable Manufactured by Oki Electric Cable Co., Ltd.

(1) Associat e t en t wisted- pai r wire s with pairs of pins 1 and 2, 3 and 4, .•. ,
and 19 and 20 of a new connector suc h as PGR-E20FA when connect ing the
pins with th e pairs.

6-29
(2) Use the central twisted-pair w1res of the cable for pa1rs of pins 1 and 2
and pins 11 and 12 for· current feedback signals IRn and ISn to minimize
the external influence as much as possible. (Use twisted-pair wires 5 and
6 for IRn and ISn when the Hitachi cable is used. Use twisted-pair wires
6 and 7 for IRn and ISn when the Oki cable is used.)
(3) All the conductors of the cable have been covered with one shielding
cable.
Ground the shielding to a grounding plate on the NC.
Specifications

Item Unit Specifications

Specifications (product No.) - - A66L-000l-0284#10P
Manufacturer -- Hitachi Cable, Ltd.
Oki Electric Cable Co., Ltd.
Rating - - 60'C 30V:UL2789 80'C 30V:UL80276
Material Conductor -- Twisted tin-plated annealed copper wires
(ASTM B-286)
Insulator -- Crosslinked vinyl
Shielding - - Tin-plated annealed copper w1re
braid
Sheath - - Heat- and oil-resistant vinyl
Number of pairs Pair 10
Conductor Size AWG 28
Configuration Conductors/rom
7/0.127
Outside mm 0.38
diameter
I Insulator Thickness mm 0.1
Minimum partial thickness:
0.08 (3.1 mils)
Outside mm 0.58
diameter
(approx.)
Core type -- ULlS 71 (80'C, 30V)
(rating)
S· ·s te d-pal· r
''ll Outside mm 1.16
w1re diameter
(approx.)
Twisting pitch mm 20 max.

6-30
Specifications

Item Unit Specifications

Bound w1re -- All the required twisted-pair wires
shall be bundled into one group and
bound with binding tape. In sent
padding between the wires to finish
them into one round cable if necessary.
Outside diameter (approx.) -- 3.5
of the bound w1re
Drain wire Wires Not contained l.n Hitachi cable
/mrn Contained in Oki cable: 10/0.12
Diameter of a mm 0.12
Shielding Single wire
braid
Braid density % 85 min.
Color -- Black

Sheath Thickness mm l.O

Outside mm 6.2
diameter
(approx.)
Standard length m 200
Packing -- Bundle
Electrical
resistance D/km 233 max
(at 20 "C)
Electrical
characteris- Insulation MD-km 10 max.
tics resistance
(at 20 "C)
Dielectric V/min. 300
strength
(AC)
Nonflammabi lit y The cable must pass the
nonflammability test, VW-lSC,
in the UL standard.

6-3 1
9.2.2 Small type connector for cable K1

Ordering
Item Configuration
information
Input Solder type A06B-6066-K205 PCR-E20FS (body) and PCS-E20LA (cover)
connector
Crimp type A06B-6066-K206 PCR:-E20FA (body) and PCS-E2 0LA (cover)

Outline drawing
(1) Crimp type

A special tool is required for crimpi ng.

For the crimping tool, contac t the manufacturer,
Honda Communication I ndustrial Co., Ltd .

Wire layout cassette: JGPS-015-l/ 1-20

Wire layout cassette fixture: JGPS-014
Crimp locator: PCS-Kl
B
i----·· -----~
Handpress : MFC-Kl
(These are manufactured by Honda Communication
Industrial Co., Ltd.)

~t;::i:!.l;:.-r::;~ Cable housing for

separate w1res

Number of conductors Model A B

20 PCR-E20FA 21.65 11.43

(2) Connector cover

c

0
' . I
A

Number of conductors Model A B c

20 PCS-E20LA 30.0 20.3 6x5

6-32
(3) Solder type

~ A=-----~
n/2 I ___,_ 1.27 1 i

~1 .~ ~h=tn ~i~:Hwf I
n ' n/2+1 .
Markmg

@il;!l!!!:::e
Number of conductors Model A B
20 PCR-E20FS 21.65 11.43

(Notes on soldering)
Since the new connector is very smallt care must be taken when using the
connector because the strength required to fasten the new connector contacts
(pins) is less than that of conventional ones.
If the contacts are heated, the strength required is still less. Note the
following when doing the soldering:

( 1) The time for soldering the terminal section shall conform to the table
below.
(2) Do not press the terminal section strongly using the soldering iron.
(3) Do not pull the wires immediately after soldering. Be sure to conform to
the table below. (If it takes a long time for soldering, much care must
be taken.)
(4) Do not expose the side engaged to the connector to hot air or pull the
wires when applying heat-shrink tube.

Temperature of tip of No-load time after

Wire Soldering time
soldering iron soldering
2ao ·c AWG#28(presoldered) 1.5 s 2 s min.
2ao·c AWG#24(presoldered) 2.0 s 3 s min.
3so·c AWG#28(presoldered) 1.0 s 2 s m1n.
3so·c AWG#24(presoldered) 1.5 s 3 s m1n.

6- 33
9.3 Terminal Block Connection
Connection to the terminal block and wire specification are basically the same
as those for the S series. For details, refer to APPENDIX 1. Subsec. 9.3.1
below gives a table of correspondences.
If the wiring of the C series differs from that of the S series or if the
connecting options are not clear, see Subsec. 9.3.2 and subsequent
descriptions.
(For a single motor)
Terminal block
TERMINAl. BLOCK : n·
(A06B-6066-H002 to A06B-6066-H006)

Tl 1 PE(G)
*l
13 L1C - 2 Ll(R)

14 L2C - >'<2 3 L2(S)

4 L3(T)
15 TH1

~ 16
17
TH2
RC
5
6
lOOA
lOOB
[ 18 RI
7 MCl
*4 8 MC2
19 RE
9 u
10 v
ll w
12 G

Note 1) Jumper bars (represented in bold) have been connected at the locations
indicated by *1 to *4 in the factory before shipping.

Jumper bars indicated by ""'1 and '''2 (for control power input)
The control power has been connected in the factory before shipping so
that it has the same input as the motor power.
If the motor power is connected to terminals Ll (R), L2 (S), and L3
(T) under this condition, the C series servo amplifier can be used
when the same power is connected to it as for the S ser1es servo
amplifier.
Jumper bar indicated by *3 (for thermostat input)
The separate regenerative discharge unit or the power transformer is
assumed to be unused in the factory before shipping. Terminals TH1 and
TH2 (external thermostat input) have been connected with this bar to
prevent the alarms from being activated.

6-34
Jumper bar indicated by *4 (for built-in regenerative discharge unit)
The separate regenerative discharge unit is assumed to be unused 1n
the factory before shipping. Connecting between terminals RC
(regenerative register common) and RI (built-in resistor) enables the
use of the regenerative discharge unit in the servo amplifier with
this jumper bar removed.

Location of terminal block Tl Terminal block (A06B-6066-H008}

SERVO AMP
1 PE(G)
Tl ~< l
2 Ll(R)
13
14
LlC
L2C
rL 3 L2(S)

15 TH1
it- 4 L3(T)

[ 16 TH2
-1<2 5
6
lOOA
100B
*3 17 RC

~
7 MC1
18 RI 8 MC2
19 RE u
9
24 FAN1 10 v
25 FAN2 11 Vl

12 G

r•~; ~··
' '6 b'"
o'b (5"

6-35
 (for 2-axis amplifier)

Location of terminal block Tl Terminal block (A06B-6066-H222 to A06B-6066-H266)

TERMINAL BLOCK Tl
Tl 1 PE(G)
>\- 1
t-- 2 Ll(R )
13 LlC
I-- 3 L2(S)
14 L2C >'<2
4 L3(T)
15 TH1
[ 16 TH2
5 lOOA
3 6 100B
17 RC
[ 18 RI
7 MCl
4 8 MC2
19 RE
20 UL 9 UM
10 VM
21 VL
22 WL
11 WM
23 GL
12 GM

Note that pin numbers are assigned to t h e M-axi s power lines of the 2-axis
amplifier prior to the 1 -axis ones when connecting the power lines.

6-36
9.3.1 Signal comparison between the 5 and C Series amplifiers
C Series 1-axis amplifier (A06B-6066-H002 to -H006)

c ser1es s series
Cable Application
Name Terminal Name Terminal
Protective ground for PE(G) Tl(l ) G Tl(G )
amplifier
Ll(R) Tl(2 ) U,R Tl(A )
K3 AC power input
200/220/230 VAC L2(S) Tl(3 ) v,s Tl(l )
+10%,-15%
3 phases L3(T) T1(4 ) W,T Tl(2 )
Input for emergency stop lOOA Tl(S ) lOOA Tl (3 )
KS 100 VAC, single phase
+10%,-15% lOOB Tl(6 ) lOOB Tl(4 )
Signal for checking MCl Tl(7 )
No corresponding terminal
whether the magnetic
New
contactor is turned of MC2 Tl(8 )
No corresponding terminal
Contact-b output
u Tl{9 ) u Tl(S )
AC motor output (motor
K4 line)
v Tl oo) v T1(6 )
w Tl (11) w Tl(7 )
G Tl(l2) G Tl(8 )
Motor ground line
Control power input LlC Tl (13)
No corresponding terminal
New 200/220/230 VAC
+10%,-15% L2C Tl (14) No corresponding terminal
Thermostat input signal THl Tl{ 15) TOHl T4(1 )
K6
TH2 Tl(l6) TOH2 T4(2 )
Regenerative resistor RC Tl{l7) T2(4 )
K7 (Built-in resistor) RI Tl(l8) T2(5 )
(Separate resistor) RE T1(19) T2(6 )

6-37
C Series 1-axis amplifier (A06B-6066-H008)

c series s series L series

Cable Application
Name Terminal Name Terminal Name Terminal
Protective ground for PE(G) Tl(l ) G (G ) G (G )
amplifier
Ll{R) Tl(2 ) R NFB(R) R Tl(A )
K3 3 phases AC power input
200/220/230 VAC L2(S) Tl(3 ) s NFB(S) s Tl(l )
+10%,-15%
L3(T) Tl(4 ) T NFB(T) T Tl(2 )
Single-phase Emergency lOOA Tl(5 ) lOOA FMA lOOA Tl(3 )
K5 stop input
100 VAC +10%, -15% lOOB Tl{6 ) lOOB FMB lOOB Tl(4 )
MCl Tl(7 )
Break contact output to No corresponding terminal
New indicate the magnetic
MC2 Tl(8 )
contactor is open. No corresponding terminal

u Tl(9 ) u Tl(U ) u Tl(S )

AC motor output (power
K4 line)
v Tl(lO) v Tl(V ) v T1(6 )
Motor grounding line
w Tl(ll) w Tl(W ) w T1(7 )
G Tl(l2) G Tl(G ) G (G )
LlC Tl(l3)
Control power supply input No corresponding terminal
New
200/230/230 VAC +10%, -15%
L2C Tl(l4) No corresponding terminal
THl Tl( 15) TOHl T4(1 ) TOHl CN2(4 )
K6 Thermostat input signal
TH2 Tl(l6) TOH2 T4(2 ) TOH2 CN2(5 )
RC Tl(l7) T2(4 ) T2(4 )
For regenerative discharge
resistors RI Tl{l8) T2(5 ) T2(5 )
K7
(Built-in resistor)
(Separate resistor) RE Tl(l9) T2(6 ) T2(6 )

Power for cooling fan for FAN! T1(24)

No corresponding terminal
KlO separate regenerative
discharge resistor FAN2 Tl(25) No corresponding terminal
KlO: Heavy-duty power cord or wire 37/0.26 (2 mrn2) x 2, sheathed in heat-
resistant PVC

6-38
C Ser ies 2-axis amplifier (A06B-6066-H222 to H266)

c series s serles
Cabl e Application
Name Terminal Name Terminal
UL Tl (20) UL Tl(5L)

AC motor output VL Tl(2 1) VL Tl(6L)

(motor line)
K4
WL Tl(22) WL Tl (7L)
Motor ground line
GL Tl(23) GL Tl(G )

UM T1(9 ) UM Tl(SM)

AC motor output VM Tl(lO) VM Tl(6M)

(mot or l ine)
K4
WM Tl(ll) WM Tl (7M)
Motor ground l i ne
GM Tl(l2) GM Tl(G )

6-39
9.3.2 Connecting the separate regenerative discharge unit
Before using the separate regenerative discharge unit, remove jumpers from
between RC and RI and between THl and TH2, connect the resistor terminals of
the separate regenerative discharge unit between RC and RE, and supply the
thermostat signal between THl and TH2.

(1) Example of connecting the separate regenerative discharge unit

C Series servo amplifier Separate regenerative discharge unit

J, Cable name

Regenerative
discharge resistor

A06B-6066-H008 only Fan motor

A06B.6066-H711 to
-H714 only

Tl (15) )-T_H_l_,_________-<

i K7
Thermostat break contact
Tl (16) TH2

Terminal block M4 Terminal block M4

Wire l.O cable KlO: Heavy-duty power cord or w1re 37 / 0. 26 (2 mm2) X 2,

sheathed in heat-resistant PVC
Wire l.O cable K6: AWG1!14 (2 mm2 min), 600 v, insulated with heat-resistant
PVC
Wire in cable K7: AWG#l8 (0.75 mm2 min), 200 v, insulated with heat-
resistant PVC

6-40
(2) Connecting the separate regenerative discharge unit and the power
transformer
(Only the THl and TH2 are have to be wired. See Section 9.3.3 for the
wiring for the entire transformer.)

C Series servo amplifier Separate regenerative discharge unit

~Cable name

Tl(l8t
Tl (17) RC T3 (1)

~R<g•o•mU.,
T discharge resistor

Tl (19) RE fK6

:jJ
I Tl (24) FANl
A06B-6066-H008 only Fan motor

Tl(25~ f KlO T3 (G) A06B-6066-H711 to

-H714only
l
I
Tl (15) THl T3 (3)

~
Thermostat break contact
Tl (16) TH2

T 1"
1{51) Power transformer

~
Thermostat break contact

-r-

6-41
9.3.3 Connecting the power transformer
The thermostat signal from the power transformer should be used in a sequence
to shut off the line contactor at the input of the transformer in order to
prevent it from burning because of a possible layer-to-layer short circuit.
To supply the thermostat signal from the transformer to the servo amplifier to
reset an alarm, connect the transformer thermostat in series with the
thermostat for the separate regenerative discharge unit between THl and TH2.
In this case, the thermostat provides a DC alarm when it operates.
When the transformer is used in connection with the separate regenerative
discharge unit, the THl-TH2 wiring should be installed as shown below. See
Section 9.3.2 also.

(1) Example of connecting the power transformer

Power transformer C Series servo amplifier

J. Cable name
Breaker Magnetic contactor
QF KM

Ll (R) Tl (2)

i
J. K3 L2(SJ Tl (3)

i
J. K3

PE-----~~-------------------------+------------,}------------{
I
--'--

TH

i
,i K7

Terminal hlock M4

Wire 1n cable K7: AWG#l8 (0.75 mm2 min), 200 v, insulated with PVC
Wire 10 cable K3: See Chapter 9 of Part VII, 10 which how to tap the
transformer is also explained,
Do not forget to remove the jumper between servo amplifier terminals THl ant
TH2.

6-42
9.3.4 Using terminals L1C and L2C
Terminals LlC and L2C are a newly added interface for the C Series servo
amplifier. When the power for the control circuits is supplied separately
from the main power supply, terminals LlC and L2C can be used to receive power
(200 to 230 VAC +10%, -15%) for the control circuits, in which case the two
jumper bars should previously be removed.

Sing!e·phase 200 V for the control circuits

LlC
J NC=<t

L2C
1
II
C Series servo amplifier

Tl-13 Internal condition

LlC circuit in the
Tl·l4 control section
L2C I
I

I
Door switch or the like l_,
Internal MCC

Y.
I

'I
Tl-05 lOOA
lOOA

Tl-06
I
lOOB
I
I
I
I
l
I
1
Protection unit to monitor I
I
power supplied to the servo I
I
amplifier I
I
I
I
I
Magnetic contactor I
Thre e·phase 200 V KM
I
I
pow erfor~ Tl -2 Ll (R)
I
I

Ll I ---
I
I
Tl-3 L2 (S)
L2~ I
I
--- f-7 To motor
I

L3~
T1-4IL3(T)
~
I
I

Usually, disconnecting lOOA and lOOA at the door switch switches off the
internal MCC which in turn shuts off the motor power completely. If a safety
standard requ1res that the power line be disconnected externally, design a
configuration that power to LCl and LC2 is supplied separately from the motor
power and that after the lOOA-lOOB loop is opened, the motor power is shut
off. To supply power again with no alarm developing, the lOOA-lOOB loop
should be closed after the motor power is supplied.

6-43
9.3.5 Using terminals MC1 and MC2
Terminals MCl and MC2 are a newly added interface for the C Series servo
amplifier. These terminals are connected directly to the break contact of the
magnetic contactor for the main circuit. They are closed when the main
circuit is shut off.

Magnetic contactor in the C Series

servo amplifiec

11 (R) Tl-2
11 ---------------------------------- >------~
I

12 <S> 1n.3 --L_

12 - - - - - - - - - - - - - - - - - - - 0>-------- I

L3 ----------------------------13--(-T) gl-4 --L_

Protection unit to monitor 1-----------

MCIL ~
powerfortheservoamplifier MC2 gl-~ ! I
I

I MCC

_ _ lOO~~Tl-5n .
lOOVACinput LJ I
I
I
I
r---- ---.J
lOOB Tl-6 I
I
I
~ __Internal condition

I circuit

As shown above, the user can design a special protection unit by monitor ing a
contact of the magnetic contactor incorporated in the amplifier to see whether
the servo amplifier can supply power. (See Chapter 3 for the ratings of the
contact.)

6-44
10. CHANGES FROM S SERIES SERVO AMPLIFIER

The functions and interface of the C series servo amplifier are basically the
same as those of the S series servo amplifier. The C series amplifier,
however, has some functions which differ from those of the S series servo
amplifier. These changes are described below:

[Changes required when changing from the S series servo amplifier to the C
series servo amplifier)

(1) The outer and installation dimensions of the amplifier have been changed.
See section 8.
The panel cutting dimensions are changed if the radiating fin is installed
outside the cabinet.
(2) The connector CNl for interfacing with the CNC has been changed to a small
connector. With this change, the servo-side connector and applied wires
of cable Kl have also been changed. Conventional cables can be used for
all cables except cable Kl. See section 9.2.
(3) A new separate regenerative discharge unit for the panel mount has been
added to prevent excessive amounts of heat from being generated in the
cabinet. See Sections 4.2.1, 4.2.2, 5 to 8, and 9.3.
The discharge power during natural air-cooling is 200 W. The unit can be
used at 600 W max. (wind velocity: 4 m/s) by forced air-cooling.
Care must be taken when us1ng a conventional separate regenerative
discharge unit.
See Note 3 in section 4.2.3.
The power transformer and AC line filter of the C ser1es are the same as
those of the S ser1es.
[Added fun c tions)

(1) The magnetic contactor for the main circuit in the amplifier is designed
to break all the three phases of the motor power without fail. The
auxiliary contact of the magnetic c ontactor can be used for checking
whether the magnetic contactor is turned off. See Note 6 in section 9.3.
(2) The control power input can be separated from the three-phase motor power.
The control power input is connected to the motor power with jumper bars
in the factory before shipping.
If the power to the servo amplifier must be turned off to satisfy the
safety requirements, the monitor state of the amplifier can be held by
separating the control power from the motor power. See No t e 5 in section
9.3.
(3) The power to the regenerative discharge resistor which is built in an
amplifier is 100 W during natural air-cooling for motor models OS to 30S.
The discharge power can be increased to 300 W (wind veloc ity: 4 m/s) by
forced air-c ooling.
The separate regenerative discharge resistor rarely needs t o be used.
Since the temperature of the regenerative discharge resistor may rise to
approx. zoo ·c' the cabinet must be designed so that it is impossible to
put parts near the resistor or to touch the resistor.
(4) The terminal block has been designed so that multiple C series amplifiers
placed side by side can be connected with bus bars. This applies to the
three-phase power and the 100-V power to the coil operating the magnetic
contactor. (Refer to Fig. (10) )
(5) Use of a fully c overed structure has improved safety so that nobody can
inadvertently get a electric shock.

6-4 5
(6) The alarm function has been improved by the added magnetic cont actor
welding alarm. Indicating an alarm number on the front panel has improved
visibility.
(7) The sealed packing tor installing the amplifier on the panel cutting
surface is attached.

H002 . H003 'i004.H006 h008

H2••

159

Heat-shrinkable tube

Fig. 10 Example of connecting the bus bars

The thickness of the bus bar should be determined according to the power to be
supplied to the motor. When the bus bar is made of copper and 8 mm wide, the
minimum required thickness of it is calculated by:

t [mm] = sum of three-phase power (kVA) for the motors x 0.1

Note) The bus bar in this example may not always meet every safety standard.
The user is requested to prepare the bus bar on his/her own.

6-46
VII. FANUC AC SERVO AMPLIFIERS series (200 V INPUT FOR 1 AXIS)
1. GENERAL

The 1-axis digital AC servo amplifiers (200 V input type) are developed
especially for machine tools and industrial robots. A motor for 200 V input is
used. The main features are:
1) The input power voltage is 200/220/230 VAC +10%/-15%, permitting direct
connection without a transformer in the main regions of the U.S.A. and all
regions in Japan.
2) Compact structure realizes light weight and high reliability.
3) Externally cooled heat sink is employed. This keeps heat out of the
enclosure, and permits construction of a more reliable system.
4) Circuit protection and fault detection are ensured by the no-fuse circuit
breaker (or a fuse) and the overvoltage/low voltage detection function, the
overcurrent detection function and the regenertive discharge circuit fault
detection function.
5) A servo amplifier designed exclusively for a digital AC servo. Comblined
with the latest FANUC NC, if utilizes the full performance capability of
the servo motor.

Note) When selecting the servo amplifier for a T series servo motor (hollow-
shaft type motor), select the same servo amplifier as for the
corresponding S series servo motor.
The correspondence between the T series motors and S series motors
regarding the servo amplifiers is as follows.
Model OT/3000: Model OS/3000
Model ST/2000: Model SS
Model ST/3000: Model SS/3000
Model lOT/2000: Model lOS
Model lOT/3000: Model lOS/3000

2. CONFIGURATION

Fig. 2 shows an example of an NC system configuration for 2-axis control. When

the regenerative energy is too large under certain load conditions. and a
separate type regenerative discharge unit may be necessary.

AC servo motors
(200 VAC input type)

X-axis
AC servo
amplifier
NC
control unit
Z-axis
AC servo
amplifier

3-phase input power Separate type

200(220/230 VAC
+10%, -15%
----~L-----A_c_I_in_e__n_It_er----~~ regenerative discharge
unit (option)

Fig. 2 Example of configuration

7-1
2.1 Types of Unit and Specifications

Table 2.1 _Types of unit and specifications

Name Application Specification

Servo amplifier Models 4-0S and 3-0S A06B-6058-H002
Note 1, 2, 3 and
4) Models 2-0SP and 1-0SP A06B-6058-H003
Models 2-0SP/3000 and 1-0SP/3000 A06B-6058-H023
Models 0-0SP, OS and ss A06B-6058-H004
Models OS/3000, lOS, and 20S/l500 A06B-6058-HOOS
Models SS/3000 and lOS/3000 A06B-6058-H025
Models 20S and 30S A06B-6058-H006
Models 20S/3000, 308/3000, and A06B-6058-H007
408/2000
AC line filter Type A: Sum of rated motor output A81L-0001-0083
Note 5) 5.4 kW max. ff3C
Type B: Sum of rated motor output A81L-0001-0101
10.5 kW max. tiC
Type c: Sum of rated motor output A81L-0001-0l02
23 kW max.
Power Type SAE: Capacity 2.2 kVA ABOL-0022-0005
transformer for
export Type SBE: Capacity 3.5 kVA A80L-0024-0006
Type SCE: Capacity 5 kVA A80L-0026-0003
Type SDE: Capacity 7.5 kVA ABOL-0028-0001
Separate type Option for models lOS to 308 A06B-60SO-H050
regenerative (Note 6), 16 0/400 W
discharge unit
Models 208/3000, 30S/3000, and A06B-6058-Hl92
408/2000 (Note 6), 8 D/800 W
Input connector Soldering type A06B-6058-K205
Note 7)
Crimp type A06B-6058-K206
Spare fuse Model 4-0S and 3-0S AOGB-6058-KlOl
Model 2-0SP and 1-0SP A06B-6058-Kl02
Models 208/3000, 30S/3000, and A06B-6058-K301
40S/2000
Mounting adaptor Option for models OS to 30S A06B-6058-Kl03
Note 8) For 1-axis amplifiers except H007

7-2
Note 1) Use the AC servo motor corresponding to this series (200/220/230 VAC
input).
Note 2) Because model OS operates at both 3000 rpm and 2000 rpm, there is no
distinction between a 3000rpm motor and a 2000rpm motor. However,
the nominal capacity of the amplifier varies depening on the
operating speed of the motor. In this manual, model OS rated at 2000
rpm is designated as OS, and model OS rated at 3000 rpm is designated
as OS/3000. This also applies to model 2-0S.
Note 3) When selecting the servo amplifier for a T series servo motor
(hollow-shaft type motor), select the same servo amplifier as for the
corresponding S series servo motor.
The correspondence between the T series motors and S series motors
regarding the servo amplifiers is as follows.

Model OT/3000: Model OS/3000

Model ST/2000: Model ss
Model ST/3000: Model SS/3000
Model 10T/2000: Model lOS
Model 10T/3000: Model 105/3000

Note 4) The amplifier for model 2-0S is the same as that for model 2-0SP, and
the amplifier for model l-OS is the same as that for model 1-0SP.
The descriptions for the amplifier for model 2-0SP and 1-0SP are also
applicable to the amplifier for model 2-0S and l-OS.
Note 5) Use this filter to minimize the high frequency noise on the power
supply. With A81L-0001-0083 lf3C, one line filter permits connection
with three amplifiers of model lOS. (Model lOS: Rated output 1.8 kW)
With A81L-0001-0101 ftc, a o ne line filter permits connection with three
amplifiers of model 20S. (Model 20S: Rated output 3.5 kW)
This line filter can be deleted when a power transformer (insulated
type) is used.
Note 6) When the load inertia is too large or the frequen c y of
acceleration/deceleration is too high, if regenerative energy from
the motor exceeds 100 W (for models OS/3000 to lOS/3000), the
separate regenerative discharge unit needs to be employed. If the
heat loss 1s much larger than 100 W, refer to the servo motor
selection manual, and c ontact FANUC. For the A06B-6058-H007
amplifier, the separate regenerat i ve discharge unit 1s always
required.
Note 7) A connector for the cable connected to the input terminal CNl of the
servo amplifier. One s et is used per axis.
Note 8) The S series servo amplifier can be mounted on the front of a panel
on a locker without needing to cut the panel.

7- 3
3. SPECIFICATIONS

3.1 Specifications

Table 3.1 (a) Specifications {common)

Item Specifications

Power I Three-phase Voltage: 200/220/230 VAC

source input for Allowable voltage fluctuation: +10, -15%
I power Frequency: 50/60 Hz
I Allowable frequency fluctuation: +2 Hz
-
Single-phase . Voltage: 100 VAC, Frequency: 50 Hz
i input for I Allowable voltage fluctuation: +10%, -15%
emergency stop! Allowable frequency fluctuation: +2 Hz
-
\or
:Voltage: 100/110 VAC, Frequency: 60 Hz
I
Allowable voltage fluctuation: +10%, -15%
i Allowable voltage fluctuation: +2 Hz
-
I •
Main circuit control S2ne wave PWM control with transistor bridge
method
1
I
Warning and protectio~ No-fuse circuit breaker (Models OS to 30S)
function Fuse (models l-OS to 4-0S)
i
i
Overvoltage .
Low voltage Over-regeneration
Circuit faulty detection (Abnormal current)
I

Table 3.1 (b) Specifications (currents output by the servo amplifiers)

Peak current at
Servo amplifier
Model of the rated output of the
current limit
corresponding motor servo amplifier
(Note 2)
(Note 1)
4-os, 3-os 1.4 Ap 4 Ap
2-0SP, 1-0SP 3 Ap 12 Ap
2-0SP/3000, 1-0SP/3000 5 Ap 12 Ap
0-0SP, OS, 55 10 Ap 40 Ap
OS/3000, lOS, 205/1500 20 Ap 40 Ap
SS/3000, 105/3000 22 Ap 80 Ap
205, 305 30 Ap 80 Ap
205/3000, 305/3000,
405/2000 58 Ap 130 Ap

Note 1) The rated output is guaranteed at the rated input voltage. If the input
voltage fluctuates, the rated output may not be assured even when it
falls within the allowable fluctuation range.
Note 2) The current limit value (peak value) is the standard setting value.
Variations in operation due to a circuit constant is about +10%.

7-4
Note 3) When selecting the servo amplifier for a T ser1es servo motor
(hollow-shaft type motor), select the same servo amplifier as for the
corresponding S series servo motor. The correspondence between the T
series motors and S series motors regarding the servo amplifiers are
as follows.

Model OT/3000: Model OS/3000

Model ST/2000: Model ss
Model ST/3000: Model SS/3000
Model lOT/2000: Model lOS
Model lOT/3000: Model lOS/3000

7-5
3.2 Protection and Error Detection Function
There are protection and error detection functions in AC servo amplifier.

Table 3.2 Protection and error detection function

No. Item Display Content

l Circuit The lever of the If abnormal current exceeding the circuit

breaker circuit breaker breaker operating current flows, the
Note l) turns off circuit breaker operates, and the motor ~s
stopped by dynamic brake action.

2 Overvoltage LED HV lights If DC voltage of main circuit power supply

alarm is abnormally high, an overvoltage alarm
lS produced, and HV lamp lights, theb the
motor is stopped by dynamic brake action.

3 Low voltage LED LV lights If the control supply voltage is

alarm abnormally low, LV lamp lights, and the
motor is stopped by dynamic brake action.

4 Overheat LED OR lights If the contact point connected to the

thermostat with the amplifier or terminal
I
plate T4 is open, OH lamp lights, and the
I ! motor 15 stopped by dynamic brake action.

5 Over LED DC lights If the regenerative discharge time is

regenera- abnormally long, DC lamp lights, and the
tion motor is stopped by dynamic brake action.
Also if acceleration/deceleration occurs
l often.

6 Circuit LED HC Lights If an abnormally large current flows ~n

abnormality the main circuit, HC lamp lights, and the
detection motor is stopped by dynamic brake action.
alarm

In addition to the above, the unit detects the following abnormalities and
displays them on the NC and initiating an alarm stop. (The following relate
only to the velocity control system.)
1) Motor over load Action of thermostat of motor
2) Feedback disconnection alarm Abnormality of feedback signal
3) Over current alarm (OVC alarm): Excessive motor current

Note 1) An alarm fuse is used in models l-OS to 4-0S. When the fuse is blown
out, a metallic piece appears in the indicator window located on the
front and upperside of the fuse.

7-6
 4. AC LINE FILTER AND SEPARATE TYPE REGENERATIVE DISCHARGE UNIT

4.1 AC Line Filter (Option)

AC line filter (option) is used to reduc• the effect of high-frequency noise
on power supply is required.
A number of servo amplifiers can be co:.nected to a single AC line filter
within the range of AC line filter current capacity. Table 4.1 shows the sum
of rated output of the motors that can be connected to one AC line filter via
an amplifier.

Table 4.1 Selecting AC line filters

Line Continuous Heat

fi lter Sum of rated outputs of the motors
rated current loss
Type A 24 A 20 w 5.4 kW (e.g. Model lOS x 3) (8.7 kVA)
Type B 44 A 70 w 10.5 kW (e.g. Model 20S x 3) (16 .0 kVA)
Type c 100 A so w 23 kW, common mode type (35 kVA)

4.2 Separate Type Regenerative Discharge Unit

When the energy regenerated from the motor is so large as to exceed the
discharge unit capacity (approx. 100 W) in the servo amplifier, it is necessary
to use a separate type regenerative discha rge unit.
Obtain the value or P or Q calculated in 4.2.1 or 4.2.2 for each axis. If the
sum of these values is continuously for each axis. If the sum of these values
is continuously used at 100 through 400 W, use a separate t ype regenerative
di scharge unit. If the sum if greater than 400 W, contact with the
representative.

4.2.1 Horizontal move axis

The regenerative discharge unit is required when a motor is used continuously at
P = 100 to P = 400.

P = ~ X (5.37 X l0-4 JVm2 - 5 .13 X l0 - 3 taVmTL) .......................... (l)

In the equation (1),

F: Rapid tra ver se acceleration/deceleration cycle time (sec/time)
(Note: When not designated specially, the frequency is approx. 5
sec/time.)

J Jm + JL

Jm: Rotor inertia of motor (kg•cm•sec2)

JL: Motor axis conerison inertia of load (kg•cm •sec2)
Vm: Numbe r of motor revolutions at rapid traverse (rpm)
ta: Rapid traverse acceleration/deceleration time (sec)
TL: Machine fric tion torque (Motor-axis conversion) (kg·cm)

7-7
4.2.2 Vertical move axis
The regenerative discharge uni t is required when a motor is used continuously at
R 100 to R = 400.

R p + Q
P: Given in 4.2.1, (1)
D
Q = 1.026 x 10 -2 ThVm x
100
•••••...•••••.•••••. • •••••••. .• •••••••••••••• (2)

In the equation (2),

Th: Torque which is supported upward by motor at lowering in rapid traverse
(kg•cm)
Vm : Number of motor revolutions at rapid traverse (rpm)
D : Operation duty of rapid traverse lowering direc tion (%)
(Note: D =< 50%)

7- 8
5. POWER SOURCE

5. 1Input Power Source

The AC servo amplifier uses a three- phase power source for the main circuit
and a single- phase power source for the coil of the electromagnetic contactor
for the dynamic brake. For the specifications of the power source, for each
motor model see Tables 5.2 .1 ane 5.2.2 .
5.2 Capacity of Power Source

5.2.1 Capacity of three-phase power source

Table 5.2.1 Capacity of three-phase power source

Power source Power source Power source

Motor Motor Motor
capacity per capacity per capacity per
model mode l model
motor moto r mo t or
4-0S 0.1 kVA lOS 3 kVA OT/3000 1.2 kVA

I
3-0S 0.2 kVA 10S/ 3000 3.5 kVA ST/2000 1.5 kVA
2- 0SP 0 .4 kVA 20S/1500 4.2 kVA ST/3000 1.8 kVA
! 1-0S P 0.8 kVA 20S 5.3 kVA lOT/2000 3 kVA
2-0SP/ 20S/3000 5.6 kVA lOT/ 3000 3.5 kVA
0.5 kVA
3000
30S 5 kVA
1-0SP/
0.8 kVA 30S/3000 7 kVA
3000
O- OSP 1 kVA 40S/2000 10 kVA

OS 1 kVA
OS/3000 1.2 kVA
ss 1.5 kVA
SS/3000 1.8 kVA

Note 1) The power source capacity when 2 or more motor s are used can be found by
adding the power source capacity per motor.
Note 2) The power source capacity shown in Table 5. 2 .1 above is sufficien t a s
continuous r ating; during exces sive acceleration of AC servo mo tor,
however, the capacity of doubl e the continuous rated valu e may be
required momen t arily .

5.2.2 CapacitY of single-phase 100 VAC power source

Table 5.2.2 Power source capacity for single-phase 100 VAC

When the magnetic During normal

Amplifier specification drawing No . contactor is
operat ion
turned on
A06B-6058- H002, H003, H023, H004 40 VA 10 VA
A06B- 6058-H005, H025, HOO& 80 VA 20 VA
A06B-6058-H007 160 VA 16 VA

7-9
5.3 Power Transformer
The power transformer for S series servo amplifier is used when the servo
amplifier is required in the usage of input voltage other than AC
200/220/230V.

5.3. 1 Specification

Table 5.3.1 (a) Specification of power transformer

Items Specification

Specification No. A80L-0022-0005 ASOL-0024-0006 A80L-0026-0003 A80L-0028-0001

Item name SAE SBE SCE SDE

Capacity 2.2 kVA 3.5 kVA 5.0 kVA 7.5 kVA

(30-Minute rating)

Heat loss 140 w 180 w 210 w 28 w

Frequency 50/60 Hz ± 1 Hz

Primary voltage AC 200/220/230/240 V (!J.) AC 380/415/460/480/550 V (Y)

Secondary voltage AC 210 V

Secondary current 6.1 A 9.6 A 13.7 A 20.6 A

Voltage deviation ± 2 % Max.

Voltage regulation 11.7 % Typ. 7.8% Typ. 6.6 '% Typ. 8. 2 % Typ.
(200'% - LOAD)

Dielectric strength AC2300V r .rn. s One Minute

Insulation resistance Min. 100 Megohm by 1000 Vdc Megger

Insulation Class "B"

Weight 21 kg 27 kg 36 kg 42 kg
I
Thermal protector Normal Close Contact (Threshold Temperature 135 °C)

Outline dimensions Refer to section 8 (8)

Connection diagram Refer to Fig.9. 2

Not.e) I f a AC420, 440V or 575V input power supply is employed, set the
primary voltage of the transformers as shown below.

Table 5.3.1 (b) Setting when other input voltage employed

Input voltage I 420V 440V 575V

Primary voltage setting 415V 460V ssov

I

7-10
5.3.2 Selecting method of power transformer
The power transformer must be selected according to the models and load
conditions of AC servo motors employed. The power transformer is provided
with secondary output terminals so that 2 axes or 3 axes can share each power
transformer within the output rating.
The combinations of motor models which share the tranfsormer listed below are
selected by considering actual usages.

Table 5.3.2 Motors sharing power transformer

I Capacity of J Motor model applicable

Name J i
1 transformer ! AXIS l AXIS 2 AXIS 3

SAE 2.2 kVA !! 2-0S 2-0S ss

I !
I
l-OS OS OS
I
OS ss
! lOS
i
I 1.

SEE 3. 5 kVA II ss '

I
5S ss
1
ss ''
lOS
I

I I
20S
I

SCE ' 5 .0 kVA

I
ss I ss 20S/l500
I
I
lOS ' 205/1500
I
ss 20S
'
SDE 7.5 kVA I lOS lOS 20S/1500
'
20S 20S
I
Note 1 )Listed motor models are representative ones of same or lower output
models.
Note 2} In c ase that the sum of in-put power capacity of each motor unit
exceeds the capacity of the transformer, it might be needed to reduce
acceleration ratio (to lengthen acceleration time) to avoid excessive
momentary voltage drop.

For power capacity per motor, refer to section 5.2.1.

Note 3) When selecting the transf ormer for a T ser1es servo motor, the
specifications for the corresponding S series servo motor apply. The
correspondence between the T series models and the S series models
are as f ollows.

Model OS/3000: Model OT/3000

Model ss: Model ST/2000
Model SS/3000: Model ST/3000
Model lOS: Model lOT/2000
Model lOS/3000: Model lOT/3000

7- 11
5.3.3 Accessories

Following parts are attached to each transformer as accessories.

Name Specification No. Q'ty

Jumper wire A660-8001-T532 2

Jumper wire A660-8004-T9 26 ' 2

Bolt A30L-0001-0021 4

Note 1) The above cables are u sed to connect pins when the export power
transformer needs to be connected by delta co n nection o r star
connection (see Section 9.2).

7-1 2
6. HEAT LOSS

The heat loss in the S series servo amplifier at continuous rated load is
shown in the table below. Assume that the average value used for designing a
cabinet is generally 1/2 of the table value.
The values in the table do not include the heating value of a regenerative
discharge resistor, and supplementary notes are necessary.

Table 6 Calorific values of S series servo amplifier

Heat loss in cabinet with

Motor model
I Heat loss
servo amp
heat sink set outside
Remarks
Natural air Forced air
cooling cooling
4-0S 40 w 40 w 40 w (Note 1, 2)
3-0S 40 w 40 w 40 w (Note 1, 2)

l 2-0SP 60 w 60 w 60 w (Note 1, 2)
2-0SP/3000 60 w 40 w 40 w (Note 2)
1-0SP 60 w 60 w 60 w (Note 1, 2)
i
l
l-OSP/3000 60 w 40 w 25 w (Note 2)
0-0SP 80 w 50 w 30 w (Note 2)
! OS 80 w 50 w 30 w (Note 2)
OS/3000 80 w 50 w 30 w (Note 2)
5S 80 w 50 w 30 w (Note 2)
SS/3000 120 w 60 w 35 w (Note 3)
lOS 120 w 60 w 35 w (Note 3)
10S/3000 180 w 85 w 55 w (Note 3)
205/1500 150 w 70 w 45 w (Note 3)
208 180 w 85 w 55 w (Note 3)
20S/3000 350 w 120 w (Note 4) (Note 3)
30S 200 w 100 w 60 w (Note 3)
308/3000 450 w 150 w (Note 4) (Note 3)
408/2000 550 w 180 w (Note 4) (Note 3)
OT/3000 80 w so w 30 w (Note 2)
ST/2000 80 w 50 w 30 w (Note 2)
ST/3000 120 w 60 w 35 w (Note 3)
10T/2000 120 w 60 w 35 w (Note 3)
10T/3000 180 w 85 w 55 w (Note 3)

7-13
Note 1) The heat sink can not be set outside in the amplifier for the model
4-0S to l-OS.
Note 2) In the amplifier for the models after SS, the heating of regenerative
discharge resistor needs to be included in the calorific value in
parenthesis. For the heating value of the regenerative discharge
resistor, refer to section 4.2. For the application with relatively
frequent acceleration/deceleration, take· the following values as a
reference.
4-0S/3-os ..••• sw
2-0S/1-0S .••. lOW
OS/SS ••••••• 40W

Note 3) In the amplifier for the models lOS to 30S, the built-in regenerative
discharge resistor is set outside, and it is unnecessary to include
the heating of the regenerative discharge resistor in the heat loss
in the cabinet when the heat sink is set outside. When the separate
type regenerative discharge unit is set in the cabinet or the heat
sink is not set outside, add the average heat loss of the
regenerative discharge resistor to the heat loss of the amplifier.
For the heating value of the regenerative discharge resistor, refer
to section 4.2 "Separate type regenerative discharge unit".
Note 4) "At forced air cooling" means the case where the heat sink is air
cooled at the air flow of 2m/s.
The servo amplifiers for models 20S/3000, 30S/3000, and 405/3000 each
contain a fan for forced a{r-cooling.

7-14
7. INSTALLATION CONDITION AND NOTES

7.1 Installation Condition

Ambient temperature: 0°C to +55"C (during operation)-20"C to +60°G (during
storage and transportation)
Humidity 95% RH or less (no condensation)
Vibration D.S G or less
Atmosphere: The unit shall not be exposed direct to cutting oil, lubricant or
cutting chips.

7.2 Caution on Installation

The servo amplifier is designed so that it is mounted within a cabinet, such
as power magnetics cabinet. No particular sealing is applied around the heat
sink to the chassis; therefore, even when cooling the heat sink outside, take
care not to expose the heat sink directly to the splash of cutting oil,
lubricant or cutting chips.

7.2.1 When amplifiers are housed in a closed type cabinet

For the closed type cabinet, its internal a1r temperature generally increases.
Ventilate the internal air so that the ambient temperature uniform. The
ventilation air speed should be about 1 - 2 m/sec. Do not directly blow the
fan or blower air on these units, otherwise dust may cling to the surfaces of
these units and trouble may result.

7.2.2 When amplifiers are housed in an open-air ventilation type cabinet

1) Use an air filter at the open air inlet.
2) Do not directly blow the ventilation fan air or blower air to these units,
otherwise dust may cling to the surfaces of these units, and a trouble may
result.
3) Ingress of mist of the cutting oil or dust from the air inlet may cause
trouble.
4) Securely seal the cable inlet/outlet, door, and other clearances.

7.2.3 Mounting pos~tion and other cautions

1) Mount the units for easy access to check, remove, and mount during
maintenance.
2) Keep a space of more than 50 mm on both upper and lower sides of the
amplifier respectively, so that the air from the heat sink smoothly flows
on the upper side and wiring can be done to the terminal boards on the
lower side.
3) Precaution should be taken to separate cables for power line and signal
line, frame grounding of the amplifier and transformer, and countermeasures
against noises.

7.2.4 Selection of ground fault detector

When the S series servo amplifier is used without a transformer, as the motor
is driven by the PWM inverter system using a power transistor bridge, a high
frequency leakage current flows through the motor winding, and the power
cable. There is stray capacitance between the amplifier and ground which
provides a path for leakage current. This may cause a malfunction of the
ground fault detector.
Therefore, use the inverter applicable leak breaker that is devised to prevent
such a malfunction.

7- 15
1) Leakage current of AC servo amplifier and motor
The motors are largely divided into three groups according to the leakage
potential, and the reference value for selecting the inverter applicable
ground fault detector is shown in the table below. Considering the case of
using a 14m cabtyre cable as a power cable, the high frequency leakage
current value is compensate by the frequency characteristic (attenuation
factor) of the inverter applicable ground fault detector and the value is
shown as a reference of indicating the sensitivity. Therefore, it is not
the measurement value with an ordinary leakage checker.

Motor model Reference value i Connnercial frequency component

for selection i (reference value)

4~os to ss 3.0 rnA max. 1.8 rnA max.

lOS to 2.05 3.6 rnA max. 2.0 rnA max.

l
305 and 6.3 mA max. 2.5 mA max.
405/2000

The method of using the reference value for selection is shown by the
following example.
When a high~sensitive high-speed ground fault detector of rated sensitivity
current of 30mA is used, the non-operating current is 15mA according to the
catalogue •
• Assume that two sets of model lOS and OS are used.

3.6mA + 3.0mA X 2 = 13 , 2mA < Non-operating

15mA
lOS x 2 OS current

Therefore, the inverter applicable ground fault detector does not work 1n this
case.

(Note l) The above reference value for selectin and the commercial frequency
component include the influences of the floating capacity of the
motor and the power cable. Therefore, in the system with the
shorter cable length, the reference value for selection may be
estimated lower. Even in this case, consider 2/3 of the table
value is the limit. Contrarily, when the cable is longer, note
that the leak ~urrent is increased.
(Note 2) Generally, select the ground fault detector having the proper
sens i ti vi ty rating according to the table. Be sure ground the
machine (class 3) not to generate dangerous voltage in the machine
body, the control panel, etc. in the event of leakage.

2) Example of inverter applicable leak breaker

Manufacturer Model Application status

Fuji Electric EG-A series Modified totally to meet the inverter

SG-A series from July, 1983.

Hitachi ES100C type Modified totally to meet the inverter

Seisakusyo ES225C type from July, 1984.

Matsushita Leak breaker type c Modified totally to meet the inverter

Leak breaker type KC from November, 1984.

7-16
8. EXTERNAL DIMENSIONS

1) Ext ernal dimens i ons of amplif ier A06B- 6058-H002 fo r models 4-0S an d 3- 0S.

2-4>6 (upper side)

-·--
2-elip tic notch 6 x 11 (lower side) 1.6 t i

I 140
I~
I~ 160min.
:I
Weight 1.5 kg

Tl p in ar rangement

~ ~
2 3
G 1
5 6 7

M 3. 5 x 8 L

7-17
2) External dimensions of amplifier A06B-6058-H003 for models 2-0S and l-OS

4-06
--II· St
I'

r-~
I
I
I
I
I
I
I
I
I
I
I
1'----i
I
I
I
I
I

~-~
95
I 15m i n.

Weight 1.5 kg

Note) See the description of H002 for the pin arrangement of terminal bLock
Tl.

7-18
3) External dimensions of amplifier A06B-6058-H023 f or models 2-0SP/3000 and
1-0SP/3000

0 4-0 6
-
~
-(!/ G
~ Jll
'
'
..'
'

r--

....._

·r'
"'
"'0 r--
Sf":!
0"""
lD

"""
....__

CNl T4.!
r-+- D'
Hf t±
®
Tl
1•1•1•1•1•1•1•1•1•1•1
G X I 2 3 4 5 6 7 G
If r-e e
dl'
:~ iML
- 100 145
-- 160m ax.
- I. 1. .
165min.
:I
Weight4.0 kg

7-19
4) External dimensions of amplifier A06B-6058-H004 for models 0-0SP, OS and 5S

Dimensions for cu t ting t he panel

Mountin1 panel
4-M5

-r- .r- ..
a-
r-
1

I
- 154± 1

I i
l I
I Part
cut ted
I I
I
l <:t
I
I -+ I
0
I -
'<t
I
I
I
Ii

t
0
-
. i• '
IOQ !IIlo ,~j
145 12 I I

165mi n . 22m i n.

Weight 4 .0 kg

7-20
5) External dimensions of amplifiers A06B-6058-H005, H006, and H025 for models
lOS to 30S

Dimensions for cutting the panel

0 4-06

0
-
i
I
~
154± I

I
I Part
I cutted
I
l (Note) I
i

~~~ Heat sink ol

~I
(:-.!ote)

I :
"'I '
-
+I

I -0..q
!
!
L-
I
I
~
I
~
0
-_;
C!)
I

I '--
. • I
I

~~~- ~l~ i I
I
;
w 100 Jd
j_l-
100

:1~~ il
145 5
1- 160 ~I 165min.

Weight 5.5 kg

Note) Temperature is raised very high behind the heat sink.

Avoid mounting parts in this place.

7-21
6) External dimensions of amplifier A06B-6058-H007 for models 20S/3000,
30S/3000, and 40S/2000

II A•- .

I I
~~ ~ ~lr 0 I
I

' I

o
I

I
?CB ·1
~,
0
on
~

lJ
!
:~1
"

?OC• MIN 120 W N

4-M5orM6

Weight 15kg
Dimensions for cutting the panel

7-22
7) External dimensions of regenerative discharge unit
A06B-6050-H050, H052 (A06B-6050-C050, C052)
A06B-6047-H050 (A06B-6047-C050)

Note) See Sec t ion VIII-8-7) for the external dimensions of regenerative
discharge unit A06B-6058-Hl92.

Terminal board/Screw M4
Terminal width 9 or less

Top

1 Mounting
j direction

Bot tom

or

Top

1~ -: ~';,"
2-7 ¢>

Weight: approx . 2 kg
Botto m
Unit : mm

8) External dimensions of i n put conne ctor

Connector

L39t:J
*D¥~
Cover

MR- O L
HONDA

7- 23
9) External dimensions of AC line filters
(a) External dimensions of AC line f ilter A81L-000l-0083#3C

Type A
6 -M4 xo.7

2 4 6

m 3 5

.J
11 ' 12.5
60
35±0.5 12.5

95+0.5

11 0
.I
Weight: 1.1 kg

7-24
 (b ) Ext er nal dimensions of AC line filter A81L-0001- 0l0 l #C

Type B

6 - MS

2 4 6

rn 3 5

MAX90

.,
-;:::
>0
.,
<.)

,., .....<:...
,,.,
<Xi
O'l
-
.... c.0

.,>< s.,
E
-=...
0
b

- --

I\.
114
1_1-
65 .I
126 80
.I
Weight : 3 kg

Not e ) See X-8 - 6) fo r t he exter nal di mensions of the type- C AC l ine filter,
A81L-000 1- 0l 02 .

7- 25
10) External dimensions of power transformer for export

GM108-12P

M4 X 10

Max. 250 Max.l75

IHI-:.-----3-Ij
+ + +

+ + +
so I 150 I so _N 125

LfU I!
280 150

Drawing No. ASOL-0022-0005 A80L-OOZ4-0006 A80L-0026-0003 A80L-0028-0001

Type (name) SAE SEE SCE SDE
Weight 21 kg 27 kg 36 kg 42 kg
(height of
hl~'r 217 em or 217 em or 247 em or 247 em or
the transformer) less less less less

7-26
11) External dimensions of adapter A06B-6058-K103

Plate mo unting the unit

Adapter (use two adapters)

60
17

T op

Mounting

1
direction

Bottom

2 -~{ 5

Plate mounting the unit

(use two plates)

A06B-6058-H004 to H006
Example of mounting adapters

7-27
9. CONNECTION

9.1.1 Connection diagram (for A06B-6058-H00x, x = 2 to 6)

b
K 2l (K2S)
Incremental (high resolutio:1) pulse coder / '

)';C control unit

(Digital servo)
K1
+------!!..:..__~·
o:j hI
CNl
Tl
3
Machine side l:_____l
1
I. 4 AC servo motor 1 j
! AC servo amp lifier ~ : ·
Electro·
magnellc I
J
A06B·60S8-H002
D--rl,.-----'-"
·
4-
K-'- +----;] oJ
Breaker contactor . ~I ~ ! toH006 ~ Detect or

~~LCo--d f~~:r 2 1
I T: Q---1 ~~;rgency
~-"' 0-0- ~trt±
K3 r? 1
AC power source

3¢, 200V-230V -~ C)---{)

IJ p Ere
,-0--lr-0-- 100 VAC, 1¢
+J ()'ji,,-15% ~ ()---{)-~5 6' L6 2 K5 ' +10%. - 15%

G 6

Regenerarive Power transformer

di scharge u nit {option)
(option)
(Indicate d thermostat
sisnal part only)

Note 1) For cable Kl and K2 connection at NC side, refe r to each NC

CONNECTING MANUAL.
Note 2) For cable connection, refer to Appendix 1, 2.
Note 3) Use AC line filter (opt ional) ·::1 when the effect of high-frequency
noise on the power supply should be reduced. Several of servo
amplifiers can be connected for a single AC line filter within the AC
line filter capacity.
Note 4) When the power breaker NB and electromagnetic contactor LC are turned
ON, the servo amplifier is placed in Power-ON conditions. To prevent
possible accidents, s uch as electric shocks, when to uching the
connections of servo amplifier and motor, etc., be sure to turn the
NB or LC OFF in advance.
Note 5) The terminal block T2 is not provided in the model 4-0S to SS.
Note 6) A short bar is connected between the terminals T2-4 and T2-S before
shipment.
Note 7) When using a separat e type regenerative dis charge uni t or powe r
transformer, connect the thermostat signals (usually on and t ur ned
off at detection) i n series and to T4-1 and T4-2 terminals, and
change t he jumper S1 to L.
Note 8) When using the separate type regenerative discharging unit, set the
terminal S2 to the "H" po si tion on the PCB. Remove the short bar
between t he terminals T2-4 and T2-5.

7-28
9.1.2 Connection diagram for AC servo amplifier A06B-6058-H007

_ ____.U~----------------------~K~2~A~-----------------)
......_
K 2 1 (K 2 S)
,
l' For when the incremental pulse coder is used (high-resolution pulse coder)
I

NC control unit
Kl
p C:-.IH !' C BJ
Tl
FMII ')....--.,
AC se rvo motor
I'MH for the m achine
AC servo amplifier
Electro- A 06 B - 6058- u
K4
magnetic H007
Braker contactor * 1 Line v ( >--- - u 8 £ct or
NB LC filter NFB
AC power source ~
3 ¢ 200V- 230V s---0
(}--{) o--c
(}--{) 0--~
I

3
2
4 n r.
K3
R

~
w >----
G >---
Emergency stop
EMO
~f-o-- AC I OOV 1¢
+10%, -1 5% T
G
---0 0--0 0---i
5
6>-J L Frame
T
KS +1 0%
-IS %

G T2(Note5) "J"<(PCil
4 5 6 1 2
I "_/". ,-... ~

~ J
'~~
K7

l 1i J l
TJ
I 2 3 J 4
Regenerative Power
51 52

discharge unit transformer

(optional) I (optional)
(Only the p a r t for ther mos!.at
signals is indicated.)

Note 1) For how to connect cables Kl and K2 to the NC, refer to the
Connecting Manual of the NC used.
Note 2) For cable connection, see Section 10.
Note 3) Use the AC line filter marked with 1* to reduce the e ffect of high-
frequency noise on the power source, except when an insulating power
transformer is used.
Note 4) Turning on the power breaker NB and electromagneti c contactor LC
turns on the power to the servo amplifier.
Before touching a conducting part of the servo amplifier or motor
such as a cable joint, be sure to turn off the NB or LC.
Note 5) Pins T2-4 and T2-5 are connected with a short bar at the factory.
Remove it when the regenerative discharge unit is connected.
To use the regenerative discharge unit, set pin S2 on the PC board to
H.
When the regenerative discharge unit is not used, be sure to set pin
S2 to L before operation.
Note 6) To use a transformer with a thermostat, c onnect the thermostat
signals of the transformer with the thermostat signals of the
regenerative discharge unit in series via a cable. Then connect T4-l
to T4-2 with the same cable. The thermostat s ignals are normally on,
and turned off only when overheating is detec ted.
To connect a cable to T4, be sure to set pin Sl on the PC board to L.

7-29
9.2 Connection of Power Transformer for Export
(1) Connection of primary tap
Connections for input power and connections between the primary
termi nals of t hese transformers are as follows .

Table 9.2 Connection of power cable and jaumper

I
Powe r Input power J umper between Remarks
voltage cable U, V, w terminals
i
200V U-7, V-15, W-23 8- 15 , 16-23, 24-7 Del t a connection
I

220V I
;
U- 6, V-14, W- 22 8- 14, 16- 22, 24-6
I

230V I
U-5, V-1 3, W- 21 8- 13, 16-21, 24-5 (

240V U- 4, V-1 2, W- 20 8- 12 , 16-20 , 24-4

i
j Star connection
380V U- 6 , V-1 4, W- 22 I [
'
415V U- 4 , V- 12, W-20 8- 16 , 16-24
I
460V I
U-3, V-11, W-1 9 or

480V 1.
U-2, V-10, W-1 8 (8-16-24)

ssov I U-1, V-9, W-17

i
I

1
ssov
480V I
2 I
2 10V
3 460V I
415V/ 240V II 31

~
4
5 230V I 34
I
6 ,.,_ 380V/ 220V I 37
7 200V
I -
8
ov I
I
550V
9 I

10 _480V I
11
,.,_ 460V I 210V TOHl
I 32 r----o 51
12 415V/240V I
13
14
230V I
380V/220V II
200V I
~ 35
38 'IHI
15 I '-

16 ov I
I

17 550V I
18 48 0V I
I
19 ,.,_ 460V I
2 IOV
33
20 ,.,. 415V/ 240V

~
I
I
21 230V I 36 'Ill2
22 ,.,. 380V/ 220V I
I
39
200V I '---<1 52
23 r..
ov I
I
- TOH2
24 "-

~0---41
Fig. 9 .2 Connection diagram

7-30
VIII. FANUC AC SERVO AMPLIFIER S series (200 V INPUT FOR 2 AXES)
1. GENERAL

AC servo amplifier for 2 axes (200 V input) is used exclusively for driving AC
servo motors. This servo amplifier has been developed so that a cabinet can
be compactly designed when a relatively small servo motor is used for a small
machine tool. (The motors used are the 200 V input type.)
AC servo amplifier (200 V input type for 2 axes) has the following features.
1) When 3-phase power supply for power is 200 to 230 VAC, the unit can be
connected directly without using any transformer.
2) The unit for 2 axes is compactly designed (same mounting dimensions as the
single axis).
Special custom IC and the latest power module technology are fully employed,
thus producing a high reliability with fewer parts and compact external
profile.
The circuit breaker, dynamic brake circuit, rectified power circuit and
transistor for regenerative discharge circuit are all assembled into one
unit, thereby facilitating the mounting and maintenance,
3) The unit is constructed so that the heat sink can be externally cooled:
The fin side of heat sink for power module can be cooled outside the
storage cabinet.
4) The unit is also designed with due consideration given to unit protection
and detection of abnormalities, such as circuit breaker, overvoltage, low
voltage, overcurrent and abnormal regenerative discharge circuit.
5) This amplifier is only for a digital AC servo.
The unit receives PWM signals obtained from a high-performance signal
processor within NC to amplify and drive AC servo motors. The unit is used
in connection with NC for the latest FANUC digital AC servo, thereby
assuring a high speed, high-precision servo performance.
Note) When selecting the servo amplifier for a T series servo motor (hollow-
shaft type motor), select the same servo amplifier as for the
corresponding S series servo motor. The correspondence between the T
series motors and S series motors regarding the servo amplifiers are as
follows.

Model OT/3000: Model OS/3000

Model ST/2000: Model 5S
Model ST/3000: Model SS/3000
Model lOT/2000: Model lOS
Model lOT/3000: Model lOS/3000

8-1
2. CONFIGURATION

rig. 2 shows a sample configuration of NC system using AC servo amplifier (200

V input type for 2 axes). The separate type regenerative discharge unit must
be occasionally used when the regenerative energy is large from the load.

AC servo m otor
( 200V input)

Xaxih Detector
(\

NC control
unit
AC servo amplifier
for 2 axes
v \J
Detector
zaxiY\
-E)-
v
I
I
Separate type
3-phase input power AC line regenerative discharge
20DV-230V filter unit (option)

Fig. 2 Example of configuration

8-2
2.1 Types of Units and Specifications

Table 2.1 Types of units and specifications

Applicable motor (Notes l and 2)

Name Specifications Remarks
L axis M aX1S

Servo 2-0SP, 1-0SP 2-0SP, 1-0SP A06B-6058-H22l

amplifier
2-0SP, 1-0SP 0-0SP, OS, ss A06B-6058-H222
0-0SP, OS, ss 0-0SP, OS, ss A06B-6058-H223
0-0SP, OS, ss 0-0SP, OS, ss, A06B-6058-H224 (Note 3)
lOS, OS/3000
4-0S, 3-0S 2-0SP/3000, 1-0SP A06B-6058-H225
1-0SP/3000
2-0SP/3000, 1-0SP lOS, OS/3000 A06B-6058-H227
1-0SP/3000
lOS, OS/3000 lOS, OS/3000 A06B-6058-H229 (Note 10)
SS/3000 SS/3000 A06B-6058-H230 (Note 10)
SS, lOS, OS/3000 SS/3000 A06B-6058-H231 (Note 10)
105/3000 lOS/3000 A06B-6058-H251 {Notes 4
20S, 30S, SS/3000 20S, 30S, SS/3000 and 8)
0-0SP, OS, SS, SS/3000, A06B-6058-H252 (Notes 4
lOS, 205/1500 lOS/3000, 20S, 30S and 8)
0-0SP, OS, 5S, ZOS/1500 A06B-6058-H253 (Note 4)
lOS, 205/1500
Separate For A06B-6058-H221 to AD6B-6058-H224 A06B-6047-H050 24.0, 400W
regenerative
discharge For A06B-6058-H229 to A06B-6058-H231 A06B-6050-H050 16D 400W
unit (Note 4) For A06B-6058-H251 to A06B-6058-H253 A06B-6058-Hl92 an soow
Export power Capacity of type SAE: 2.2 kVA A80L-0022-0005
transformer
Capacity of type SBE: 3.5 kVA A80L-0024-0006
Capacity of type SCE: 5 kVA A80L-0026-0003
Capacity of type SDE: 7.5 kVA ASOL-0028-0001
AC line Sum of rated outputs of the motors: ABlL-OOOl-0083 Type A
filter 5.4 kW or less #3C
{Note 5)
Sum of rated outputs of the motors: A81L-0001-0101 Type B
10.5 kW or less f}G

Sum of rated outputs of the motors: A81L-0001-0102 Type c

23 kW or less
Adapter for 2-axis amplifiers A06B-6058-K103 (Note 6)
Input Solder type A06B-6058-K201 (Note 7)
connector
Crimp type A06B-6058-K202 (Note 7)

8-3
Note 1) For AC servo motor, use models 4-0S to 30S (S Series) recently
designed to be compatible with a 200 V input type amplifier.
Note 2) When selecting the servo amplifier for a T ser1es servo motor
(hollow-shaft type motor), select the same servo amplifier as for the
corresponding S series servo motor. The correspondences between the
T series motors and S series motors regarding the servo amplifiers
are as follows.

Model OT/3000: Model OS/3000

Model ST/2000: Model 5S
Model ST/3000: Model SS/3000
Model lOT/2000: Model lOS
Model lOT/3000: Model lOS/3000

Note 3) For the load torque during 2-axis simultaneous load, use the load
within the range of continuous rated torque of each axis.
Note 4) If the regenerative energy from the motor is more than 100 W and less
than 400 W when servo amplifier A06B-6058-H223/H224 are used, the use
of one separate type regenerative discharge unit DCU is required. If
the regenerative energy from the motor exceeds 400 W, contact our
factory. Because amplifiers A06B-6058-H25x, x = 1 to 3 do not
contain regenerative discharge resistors, separate regenerative
discharge units need to be connected to these amplifiers. Also,
these amplifiers need to be forcibly air-cooled at an air speed of 2
m/s or more.
Note 5) Be sure to use the AC line filter to reduce the effect of high-
frequency noise on the power source, except when an insulating power
transformer is used. Line f i lter A80L-0001-0l0l#C must be used when
two model-20S motors are connected to servo amplifier A06B-6058-H251.
Not e 6) This adapter should be used when the unit is mounted on the wall
surface.(This adapter is for A06B-6058-H22x, x = 1 to 7, and is not
applicable to A06B-6058-H2xx, x: 29 to 53.)
Note 7) These input connectors are used for a cable connected to the
connector CNl on the servo amplifier.
Note 8) Limits on the motor torque output
When motor 20S is used with another motor 20S or motor 20S/15000, the
rated output torque is limited as follows.

.Amplifier Upper limit of the

Combination of motors
drawing No. output torque
A06B-6058-H251 20S 20S 80% of the rated torque
A06B-6058-H252 20S/1500 20S 90% of the rated torque

For combinations of motors other than the above, up to 100% of the

rated load can be used.

Note 9) For the group to which motors lOS and OS/3000 are applicable, motors
OS and SS are also available. For the group to which motor 205/1500
is applicable, motors OS, OS/3000, 5S, and lOS are also available.
Note 10) Using servo amplifiers H229 to H231 requires separate regenerative
discharge unit A06B-6050-H050.

8-4
3. SPECIFICATIONS

3.1 Specifications
Refer to section VII-3.1.

3.2 Protection and Error Detection Function

Refer to section VII-3.2.

4. AC LINE FILTER AND SEPARATE TYPE REGENERATIVE DISCHARGE UNIT

4.1 AC Line Filter (Option)

The AC line filter (optional) is used to reduce the effect of high-frequency
noise on the power source. For details of the AC line filter, see VII-4.1.

4.2 Separate Type Regenerative Discharge Unit

The average energy regenerated from the motor may become large, for example,
when no counter balance is used on a vertical axis having a high rapid trav-
erse acceleration/ deceleration frequency. If the average regenerative energy
(W) from the motor exceeds the capacity (approx. 70 W) of discharge unit built
in the servo amplifier, it is necessary to use a separate type regenerative
discharge unit DCU (capacity approx. 400 W). Find P (W) or Q (W) calculated
in sections VII-4.2.1 and 4.2.2 for each axis; if the unit 1s used
continuously at 70 W to 400 W total, use a separate type regenerative
discharge unit DCU. If the total of P or Q exceeds 400 W, contact with our
factory.
For details refer to section VII-4.2.

Each of the separate regenerative discharge units A06B-6058-Hl92 in A06B-6058-

H2Sl to -H253, x = 1 to 3, can handle up to 800 W. If P or Q exceeds 800 W,
contact FANUC.

8-5
5. POWER SOURCE

5.1 Input Power Source

AC servo amplifier (200 V input type for 2 axes) employs 3-phase power source
for main circuit and single-phase power source for coil of electromagnetic
contactor for dynamic brake. For the specifications of each power source, see
Table 3.1 of VII-3.1.

5.2 Capacity of Power Source

5.2.1 Capacity of three-phase power source

Refer to section VII-5.2.1.

5.2.2 Capacity of single-phase 100 VAC power source

Table 5.2.2 Capacity of single-phase 100 VAC power source

When the electromagnetic

Continuous
M contactor lS turned on
Capacity of the single-phase 20 VA 80 VA
100-VAC power source for
other than A06B-6058-H25x,
x = 1 to 3
Capacity of the single-phase 30 VA 120 VA
100-VAC power source for
A06B-6058-H2Sx, x = 1 to 3

5.3 Power Transformer

Refer to section VII-5.3.

6. HEAT LOSS

Refer to section VII-6.

7. INSTALLATION CONDITION AND NOTES

Refer to section VII-7.

8- 6
8. EXTERNAL DIMENSIONS

(1 ) External d i men sion of servo amplif i er A06B- 605 8- H2xx ( xx 21 to 27 and

29 to 31 )

A06B-6058-H22 1 to H227 A06 B-6058- H2 29 t o H23 1

H 205 225
h 55 75
We ight 6 . 6 kg 7 .5 kg

H (Parts mounted height)

i
i
~--

Top

Screw M4 Mounting
direction

D l
I I
Bottom

Screw M3
I I •

i
Screw M4
I
l

I. Il

I. 165 MIN

8- 7
A06B-6058-H2xx (x = 21 to 27, 29 to 31, and 51 to 53)
Example of panel mounting

1 54

27 100 27.

C>
l -
I
::j'i; I
\

( Top

Mounting
direction
I\ 4 - M5

)
[
Bottm
-
('0

'<:!"
(Hole)

I~
I Ill

., .,1:t.\
I ~I I

:::1
1 1 1!1!
~ ,.rr--
'I I I
11 I I r;r,f--
0 0
Cabinet outside wall I I
/ Dimensions for cutting the panel
Mounting panel for A06B-6058-H2xx (xx = 21 to
27, 29 to 31,and 51 to 53)

2) External dimensions of regenerati ve discharge unit A06B-6047-H050

Refer to section VII-8-7).
3) External dimensions of input connector
Refer to section VII-8-8).
4) External dimensions of AC line filter A81L-0001-0083#3C
Refer to section VII-8-9)(a).

8-8
5) External dimensions of adapter for 2-axis amplifier A06B-6058-Kl03
(applicable only to H221 to H227)

220M IN
2 05
Una mounting brac.:ker
Adapter bracket (x 2)

I 7.0

~~I
·~ Top
iI
II ~Mounting
1,;,....
t 3.2
0
d Q
0 Bouom
:;~

IIi I 2 - MS

I Unit mounting bracket (2 pes)

I
I
I
II
II

AOOB-6058-1-1221 to H227
Example of mounting adapter

8-9
6) External dimensions of servo amplifier A06B-6058-H25x (x =1 to 3)

0 ~.:,"<2:Q-fJ- 1-0-0-2_0
_ _ __ OOTTOM

LJ.jrf f«J.,t\\lflNG HOLE:

F'CR 1NSl 4 U..AlltN

·-·6
USE N5 SCREW

-- ----~Y~1~ ~~---- -~---- ----------- - --- - - --·

(Hole)

PANNE:L CLITING

Weight: 7.5 kg

8-10
7) External dimensions of regenerative discharge unit A06B-6058-Hl92

Terminal block T3, screw M4

Width of terminal: 9 max.

2-08

'
1
73
- '
;

4-ML
I iI

g -t- ~/
-~
I
I
0 I 0
L[) I i I co
I")
-
I I
I
I

0
l
- - 000000
00(>000
OOOC>QO
000000
0000000000
0000000000
OOOOOOOC>OO
000000
000000
000000
000000
':)00000
000000
co I 0000000000
000()000000
000000
000000
000000
I
I i I

I~ ::: ~I
(lndudmg the tip of the side screw)
Weight: 2.5 kg

8-11
How to mount regenerative discharge unit A06B-6058-Hl92
Method l

T3 ~ ~20 mi '

4 - M4
Top

Mounting
"'- Bracket direction

Bottom

Mounting screw 0

0
gggggg 000000
gggggg gggggg
OCC>OOO
888888!!5!88 gggggg
ooooooO~oo 000000
0000000000 ooeooo
0000000000 000000

Method 2

T3 0 mi n
i234

Top

Mounting
direction
Bracket

Moun~ing screw Bottom

000~('
000000
000000
000000
000000
000000
000000
gggggg

Note l) The bracket 1s not supplied with the regenerative discharge unit.

8-12
9. CONNECTION

9.1 Connection Diagram (for A06B-6058-H00x, x =2 to 6)

In case of incremental puJse coder K2I (K2S)

K2I K2S)
r
I I
Kl
{] J CNIL
Tl
3
Machin~ side

NC control unit
(Digital servo) Kl
{] J C:\lM 4
AC servo moto r
1 axts

~~ector
K4
5L
Digital
ACservo GL >---------
amplifier AC servo motor
for 2 axe~ 7L >--------- M a.-,.is
Electro--

~0-2~
K4
magnetic A06B-6058-HZ2l 5 ~
Breaker contact or toH227
NB LC T I H229 to H23l 6\!
*•I ;-1251 to H253
AC power source ~o-- !AC 2
~KJ(
A 7 ~~
Line
3¢. 200V-220V ~o-- 3 filter 4 I Emergency
+1 0%, -15%
~o--
G
5 6 J Lz G stop
E~!G
G J,...-----o-jj---o-- 100 VA C. ~
K5 +l07o , -1 5:·'-
T2 T4
• 5 6 1 2

t::-1
K6
w K7
(Note8J
·------;-----:

13
hl J
I 2 3 4
''
' .
''
51 i..__.._j 52 l
_Regenerativ'el Power transforler
d1scharge unit (option)
(option)
(Indicated thermostat
signal part only)

Note 1) For cable Kl-K7 connection details, refer to Appendix 1 and 2.

Note 2) Use AC line filter (optional) *1 when the effect of high-frequency
noise on the power supply should be reduced. Several servo
amplifiers can be connected for a single AC line filter within the AC
line filter capacity.
Note 3) When the power breaker NB and electromagnetic contactor LC are turned
ON, the servo amplifier is placed in Power-ON conditions. To prevent
possible accidents, such as electric shocks, when touching the
connections of servo amplifier and motor, etc., be sure to turn the
NB or LC OFF in advance.
Note 4) A short bar is connected between the terminals T2-4 and T2-5 before
shipment. This setting is to use the internal type regenerative
discharge unit.
Note 5) When connecting the thermostat signal (Normally ON; OFF during
detection) of a separate type regenerative discharge unit, or power
transformer to T4, change the setting terminal Sl on the PCB to 111".
Note 6) When using the separate type regenerative discharge unit, set the
terminal S2 to the 11 H11 position on the PCB. Remove the short bar
between the terminals T2-4 and T2-5.
Note 7) For the connection of the cable K2 when using the absolute pulse
coder, refer to section VII-9.
Note 8) For cable K7 connection details, refer to section 7.1 of Appendix 2.

8-13
IX. FANUC AC SERVO AMPLIFIER S series (200 V INPUT FOR 3 AXES)
1. GENERAL

The AC servo amplifier for 3 axes (200 V input type) is used exclusively for
driving AC servo motors. This servo amplifier has been developed so that a
cabinet can be compactly designed when relatively small servo motors are used
for a small machine tool.
The AC servo amplifier (200 V input type for 3 axes) has the following features.
1) When 3-phase power supply for power is 200 V to 230 VAC, the unit can be
connected directly without using any transformer.
2) The unit for 3 axes is compactly designed.
Special custom IC and the latest power module technology are fully employed,
thus producing a high reliability with fewer parts and compact external
profile.
The circuit breaker, dynamic brake circuit, rectified power circuit and
transistor for regenerative discharge circuit are all assembled into one
unit, thereby facilitating the mounting and maintenance.
3) The unit is constructed so that the heat sink can be externally cooled:
the fin side of heat sink for power module can be cooled outside the
cabinet.
4) The unit is also designed with due consideration given to unit protection
and detection of abnormalities, such as circuit breaker trip, overvoltage,
low voltage, overcurrent and abnormal regenerative discharge circuit.
5) This amplifier is only for a digital AC servo.
The unit receives PWM signals obtained by a high-performance signal
processor within NC, and drives an AC servo motor. Used in connection with
the latest FANUC CNC, it assures high speed, high-precision servo
performance.

Note) When selecting the servo amplifier for a T series servo motor {hollow-
shaft type motor), select the same · servo amplifier as for th~
corresponding S series servo motor. The correspondence between the T
series motors and S series motors regarding the servo amplifiers are as
follows.

Model OT/3000: Model OS/3000

Model ST/2000: Model ss
Model ST/3000: Model SS/3000
Model lOT/2000: Model lOS
Model lOT/3000: Model lOS/3000

9-1
2. CONFIGURATION

Fig . 2 shows a sample configuration of NC system for 3-axis control .

AC servo motor

NC control AC servo amplifier

unit for 3 axes

,
,.1 -------------,
Separate type 1
3-phase input power AC line
200 v to 230 v L._-- - ~ regenerative ~
filter I discharge unit 1
L--·----------.1

Fig. 2 Example of configuration

9-2
2.1 Types of Units and Specifications

Table 2.1 Types of units and specifications

Applicable motor
Name (Notes 1, 2, and 3) Specifications Remark
L aXlS M axis N ax1s
Servo amplifier 2-0SP 2-0SP 2-0SP A06B-6058-H331
(Notes 8 and 9) 1-0SP 1-0SP 1-0SP
1-0SP/3000 1-0SP/3000 1-0SP/3000
2-0SP 2-0SP OS A06B-6058-H332
1-0SP 1-0SP ss
1-0SP/3000 1-0SP/3000 lOS
OS(/3000)
2-0SP OS OS A06B-6058-H333
1-0SP ss ss
1-0SP/3000 lOS lOS
OS(/3000) OS(/3000)
OS OS OS A06B-6058-H334
ss ss ss
lOS lOS lOS
OS(/3000) OS(/3000) OS(/3000)
Separate regenerative discharge unit (See 4.2.) A06B-6050-H052
(100/400W)
AC line filter Type A: The sum of the rated A81L-000l-0083#3C
(Note 5) outputs of the motors l.S
5.4 kW or less.
Type B: The sum of the rated A81L-0001-010l#C
outputs of the motors lS
10.5 kW or less.
Type c: The sum of the rated A81L-0001-0l02
outputs of the motors lS
23 kW or less.
Export power Capacity of type SAE: 2.2 kVA A80L-OO 22-0005
transformer
Capacity of type SBE: 3.5 kVA A80L-0024-0006
Capacity of type SCE: 5 kVA A80L-0026-0003
Capacity of type SDE: 7. 5 kVA A80L-0028-000l
Adapter for 3-axis amplifiers (Note 6) A06B-6058-Kl04
Input connector Solder type A06B-6058-K203
(Note 7)
Crimp type A06B-6058-K204

9-3
Note 1) For the AC servo motor , apply the new models 2-0SP, 1-0SP, 1-
0SP/30 00 , OS, SS, and lOS (A06B- 03 13-BXXX to A06B-0315-BXXX) that
have been designed to fit the 200-V input type ampl ifier.
Note 2) The amplifier for model 2-0S is the same as that for model 2-0SP, and
the amp l ifier for model l- OS is the same as that for mod el 1-0SP .
The descriptions of t he ampl ifiers for models 2-0SP and 1-0SP are
al so applicab l e to the amplifiers for mode ls 2-0 S and l -OS,
re s pectively.
Note 3) When se lecting the s ervo ampli fier for a T ser ies ser vo motor
(hollow-shaft type motor) , select the same servo amplifier as for the
corresponding S series servo mot or . The correspondence between the T
series motors and S series motors regarding the servo amplifiers are
as follows.

Model OT/3000: Model OS /3000

Model ST/2000 : Model ss
Model ST/3000: Model SS/3000
Model lOT/2000: Model lOS
Model lOT/ 30 00: Model lOS/3000

Note 4) The maximum continuous l oad wh ich can be used with a s ingle amplifier
for 3 axes corresponds to continuous rating of Model lOS x 3.
No t e 5) It is used when the effect of the h igh frequency noise to the power
s ource must be decreased.
Note 6) This adapter is used when the unit is mounted on wall of the cabinet.
Note 7) This input connector 1s used for the signal cabl e from the CNC to the
servo amplifier.
Note 8) Model 2-0SP is ra ted to operate at up to 3000 rpm, alth ough it 1s n ot
specifically designated as 2-0SP/3000.
Note 9) Of the applicable motors, models OS, SS, and lOS form a group, and
model OS(/3000) is added to that group.
Because model OS operates at bot h 3000 rpm and 2000 rpm, there is no
distinction between a 3000-rpm motor and a 2000-rpm motor. However,
the driving capacity of the amplifier varies depending on the
operating s peed of the motor. In the above table, model OS rated at
~000 rpm is designated as OS(/3000) for t he sake of convenience .

9-4
3. SPECIFICATIONS

3.1 Specifications
Refer to section VII-3.1.

3.2 Protection and Error Detection Function

Refer to section VII-3.2.

4. AC LINE FILTER AND SEPARATE TYPE REGENERATIVE DISCHARGE UNIT

4.1 AC Line Fitter (Option)

Use the optional AC line filter to reduce the effect of high-frequency noise
on the power source. For details of the AC line filter, see VII-4.1.

4.2 Separate Type Regenerative Discharge Unit

When servo amplifier A06B-6058-H331 - H334 are used, if the energy regenerated
form the motor is large and exceeds the capacity of the servo amplifier built-
in discharge unit, use a separate type regenerative discharge unit A06B-6050-
HOS2. When P or Q calculated in sections VII-4.2.1 and 4.2.2 is found for
each axis and the unit is continuously used at 70 to 400 W total, use a
separate type regenerative discharge unit.
For details refer to section VII-4.2.

5. POWER SOURCE

5.1 Input Power Source

The AC servo amplifier (200 V input type for 3 axes) employs 3-phas.e power
supply for main circuit and single-phase power source for coil of electro-
magnetic contactor for dynamic brake. For the specifications of each power
source, see Table 3.1 of VII-3.1.
5.2 Capacity of Power Source
Refer to section VII-5.2.1.

5.2.1 Capacity of three-phase power source

Refer to section VII-5.2.1.

5.2.2 Capacity of single-phase 100 VAC power source

Table 5.2.2 Power source capacity for single-phase 100 V

Power source capacity of

Condition single-phase 100 VAC

At continuously supplying power 50 VA

At turning on the electro-

200 VA
magnetic contact or

5.3 Power Transformer

Refer to section VII-5.3.

9-5
6. HEAT LOSS

Refer to section VII-6.

7. INSTALLATION CONDITION AND NOTES

Refer to section VII-7.

8. EXTERNAL DIMENSIONS

(1} External dimensions of servo amplifier A06B-6058-H33x (x =1 to 4)

Panel for
~
mounting the un~

~-

I
I
I
I
I
--
~
I
I
I
I (Note 1)
i
I
Top
I
I I
~Mo~tiog
Heat sink

direction
I
I
I
I Bottom
I
I
~-·
ScrewM4 I I I
1111
(Note 2) '-!\-
I II
II
I II
I
I,. ' 45 I
III
55 .. j
I, i,. 165n i n . ];sm :n•
Note 1) The rear of the heat sink gets hot. Do not mount parts on it.
Note 2) Connection of T1 is as follows.

r:I:JICI:JI:::.: :.: .:: :·: :: ::: :::.1 Weight: 10 kg

C A I 2 J A 5o. 6L 7'- G ~7M G ~ .... ~ G

9-6
Example of how to mount A06B-6058-H33x (x 1 to 4) on the panel

22 2 00 ?2
~

__--< -
0'-
l -
j
1--- \
-c

Top
\
4-M 5

Mounting

rdirection

Bottom
-"'
'<I"
(Hole)

lir' -~

I 'tr
I Ill
~:~ r--1'
II~ I I
Ill
'I" J..j - 0'-
0
I
0
I
II
I•
External wall
Dimension s for cutting t he panel
of the cabinet tornountA06B-605 B-H33x (x"' 1 to4)

Panel

(2) External dimensions of regenerative discharge uni t A06B-6058-H052

Refer to section VII-8-7).
(3) External dimensions of input connector
Refer to section VII-8-8).
(4) External dimensions of the AC line filter
Refer to section VII-8 and VII-8-9)(a).

9-7
(5) External dimensions of adapter for 3-axes amplifier A06B-6058-Kl04

Adapter bracket (2 p es)

[ 220 \! IN
205

Unit mounting bracket

~

_:..i: s-

-~
~-:
[ -
:%
18

Top

I 1 \.fount ing
rrection

Bot tom

II riL -
n~
~

1 1 11
.,:..
I Unit mounting bracket (2 pes) ,,,,
~~~

IJII
/ I
,--r
•-4 L_J ;...;

4- 06 4- 68 C 5.0 A06B-6058-H331 to H334

Example of adapter mounting

9-8
9. CONN ECTION

9. 1 Connection Diagram

In case o f incremental pulse coder K21 (lOS)

K2! (K2SI
K2l (K2S
r r
I I I
K!
p C:-ll L
T\

3
Machi ne side
NC control unit
(Digital servo) K!
p C:'il ~~ ·1
AC servo moto r
L axis

~G-i2.~or
K1 I
Kl 5L
b CN l f\"
'
6 L >-------
Digital AC se rv o AC se rvo motor
amplifie r for 3 axes 7 L >------- Maxis
Ele ctro- K4
A068-6068-H33l SM
magn e tic
toH334
Breaker contactor : : : : 8 - - qctector
11 6~1
NR LC o;• l AC servo motor
~ o-- 1 AC ?
AC power source

39, 200V-220V ~-
Line -
o-- 3 filter 4
nK3 r A
I
7~

51\'
K·l
:"oJ axls

8~~r
+ 10%,-15% ~ - o----<

G
5 6 UL 2 6N
Emergenc)r'
G 7N stop

•
T2
5 6
T4
I 2
c
K5
rf--<r--
EMG
100 VAC, 1¢
+10%, - 15%

~
K6
w
K7
(l'ote 8)

b
1 2
r
3
T3 Regenerative
1
--------~~-~

.;
.i.
51 L--,_j 52
Power
..
''
'

discharge transformer
unit (option) (optio n)
(Indicated thermostat
signal part o nly)

Note 1) For cable K1-K7 connection details, refer t o Appendix 1 and 2.

Note 2) Use AC line filter (opt ional) * l when the effect of high-frequency
noise on the power supply should be reduced . Several of s ervo
ampl ifiers can be connected for a single AC line filter within the
range of AC line filter capacity .
Note 3) When the power breaker NB and electromagnetic contactor LC a re turned
ON , the ser vo amplifier is placed in Power-ON condi tions. To prevent
possibl e a cc i dents, such as electric shocks, when touching t he
connections of servo amplifier and motor, e t c . , be sure to turn the
NB or LC OFF in advance .
Note 4) A short ba r i s connected between t he t erminals T2 - 4 and T2- 5 be fore
shipment . Th is set t ing is to u se the internal type regenerative
dis charge unit.
Note 5) Wh en connecting the thermostat signal {Norma l ly ON; OFF during
detection) of a separate type regenerative discharge unit or power
trans former to T4, change the setting terminal Sl on the PCB to " L".
Note 6) When using the separate type regene rative discharge uni t, set the
terminal S2 to t he "H" position on the PCB . Remove the short bar
between the terminal s T2-4 and T2-5.
Note 7) For the connection of the cable K2 when using the absolute pulse
coder, refer to section VII-9 .
Note 8) For cable K7 connection deta i l s, r efer to section 7. 1 of Appendix 2 .

9- 9
X. LARGE-SCALE SERVO AMPLIFIER
1. GENERAL

The FANUC large-scale AC servo amplifier is exclusively for digital AC servo,

developed mainly for large-scale machine tool and used to drive the large
scale AC motors models 50S, 60S, and 20S.

2. CONFIGURATION

The following parts are required to perform axis-control of machine tool using
the FANUC large-scale AC servo motor and amplifier.
(1) NC control unit (for FANUC digital AC servo)
(2) FANUC large-scale AC servo motor
(3) FANUC large-scale AC servo amplifier
(4) Discharge resistor unit (for regenerative power discharge)
(5) AC line filter (for reducing high-frequency noise from servo amplifier)
(6) AC reactor (for improving power factor of servo amplifier)

The NC system configuration diagram for 2 control axes is shown in Fig. 2.1.

Large-scale AC servo
motor

;-.!C control
I
X axis large-scale
~
unit
AC servo amplifier

I Detecto~
Large-scale AC
servo motor
(for digital
AC servo) Y axis large-scale l
AC servo amplifier
Single-phase 100 V
I p
(emergency stop signal) -
I LJ Detecto~
AC reactor
I AC reactor

I
l AC line filter
I AC line filter
Discharge
resistor unit

I
Three-phase input ,.--1--,
power supply
200/ 220/230VAC
r------..,
I
I
I
NB
I
I
I
:
I LC
.
:
Discharge
resistor unit
+10%, -15% t-----1
Ia... _____ _.I I J
50/60Hz L-----...1

Note 1) NB: Breaker, fuse, etc.

Note 2) LC: Electromagnetic contactor
Fig. 2.1 NC system configuration example for 2 control axes

10-l
2.1 Types of Units and Specifications

Name Applications I Specified

specifications

For model 50S A06B-6058-Hl0l

Servo amplifier i
For models 60S/70S A06B-6058-Hl02
\
!

Discharge resistor unit (Note 1)

2kW or less l unit/axis A06B-6058-Hl9l
1
i
AC line filter (Note 2) l piece/axis I A81L-000l-Ol02

AC reactor (Note 3) l piece/axis A81L-000l-0063

I !

Soldering type A06B-6058-K205

Input connector (for one axis) I
(Note 4)
Crimp type A06B-6058-K206

Spare fuse For PC boards A06B-6058-K301

For units A06B-6058-K302

Power supply transformer for For models 50S/60S A80L-000l-0127

export (Note 5)
For model 70S A80L-000l-Ol28

(Note l) It is used to discharge regenerative power from the motor.

(Note 2) Use it to reduce high-frequency noise influence to power supply.
(Note 3) Use it to improve power factor.
(Note 4) It is a connector used for the signal cable from CNC connection to
the input connector CN1 of servo amplifier.
(Note 5) The transformer should be installed outside the cabinet etc.

10-2
3. SPECIFICATIONS

3. 1 Specifications

Table 3.1 Specifications

Item Specifications

Servo amplifier For model 50S For model 60S For model 70S

Applied motor model 50S 60S 70S

Rated output current (Note 1) 67 Arms 77 Arms 118 Arms

Power Three-phase power supply Voltage 200/220/230VAC

supply for power Allowable voltage fluctuation +10%, -15%
Frequency S0/60Hz
Allowable frequency fluctuation ±2Hz
Number of phases 3

Power supply
16 KVA 22 KVA 32 kVA
capacity

Single-phase power supply Voltage 100VAC

for emergency stop signal Allowable voltage fluctuation +10%, -15%
'
Frequency 50Hz
Allowable frequency fluctuation ±2Hz

OR

Voltage AC100/110V AC
Allowable voltage fluctuation +10%, -15%
Frequency 60Hz
Allowable frequency fluctuation ±2Hz

Power supply Inrush power 800 VA Rating 100 Va

capacity
I
Main circuit/control system Sinusoidal wave PWM control by transistor
bridge

Current control value 200 Ap 300 Ap 300 Ap

Alarm/protection function *No fuse breaker (main circuit)

*Excessive voltage *Shortage voltage
*Excessive regenerative *Overheat
*Abnormal current

Ambient temperature range 0°C to 55°C

(Note 1) The current limit value (peak value) of output current is the current
control value. The tolerance of rated value due to circuit time
constant is approximately ±5%.

10-3
4. AC LINE FILTER, AC REACTOR/DISCHARGE RESISTOR UNIT

Use the AC line filter, AC reactor, and discharge resistor unit for each axis.
Consult us separately i f the power consumption of discharge resistor unit
exceeds 2 kW. Refer to section VII-4.1.
For selecting method of discharge resistor unit capacity, refer to section
VII-4 .2.

5. POWER SOURCE

See Table 3 .1.

6. HEAT LOSS

In general, the heat build-up of servo amplifier depends on the use conditions
and is greatly affected by the acceleration/deceleration frequency,
acceleration/deceleration time constant, load inertia, cutting torque, and
friction torque.

Product name Maximum heat loss (W)

Large-scale servo Control circuit side 200

amplifier (Note 1)
Discharge side 50S 600

j 60S, 70S 1000

Discharge resistor unit (Note 2) 2000

AC line filter Maximum 100

AC reactor Maximum 100

(Note 1) Maximum heat loss for rated output.

(Note 2) It depends on the maximum power rating of discharge resistor unit.

10-4
7. INSTALLATION CONDITION AND NOTES

7.1 Installation Conditions

Ambient temperature 0 - 55 degrees
Humidity 95 % RT or less (no dew forming)
Vibration u.:J G or less
Environment Not directly subject to cutting liquid, lubrication
oil, or cutting dust

7.2 Cautions
l) The servo amplifier should be installed in the cabinet such as a power
magnetic cabinet. No sealing is provided between the chassis and the heat
sink. Thus, keep cutting liquid, lubrication oil, and cutting dust away
from the heat sink with the air.

2) Install the servo amplifier so that the printed board is protected from
accidental contact and allocate sufficient space f or maintenance.

3) Do not allow wiring to approach the upper part and surrounding of discharge
resistor unit. In addition, never install any object which may block
evacuation of air from the discharge port.
Provide approximately 100 mm space near the air intake port of fan motor of
discharge resistor unit and never install any object which may block
intake.
If the cooling is not sufficient, the discharge resist or unit may be
excessively overheated, thus resulting 1n a failure.
4) It should be easily inspected, removed or installed on maintenance.

5) Provide approximately 50 mm space above and below the servo amplifier for
proper air flow form the heat build-up part and to ease wiring to the
terminal block.

6) The large-scale AC servo amplifier weights approximately 45 kg. Adequate

support must be provided for installation.

7) Separate the power line such as three-phase input power supply cable and
motor power cable form the weak current signal cables such a s motor
detector cable for installation. Otherwise, malfunction may result due to
noise, and could lead to intermittent failures.

7 .2.1 When amplifiers are housed in a closed type cabinet

In the case of the closed type cabinet, the internal a1r temperature
increases. Circulate the internal air so the ambient temperature of cabinet
is uniform. Air speed should be approximately 1 to 2m/sec. Install by
keeping the fan or blower air away from the unit. Otherwise, dust may be
adh€red on the unit sur f ace~ causing failure.

7.2.2 When amplifiers are housed in an open-air ventilation cabinet

I) Use an air filter for air intake port.
2) Install the fan so that the amplifier 1s not directly subject to blower
air. Otherwise, dust may be blown into the amp surface, leading to
failure.
3) Cutting liquid mist or dust/dirt may enter from the air intake port,
causing a failure. Also, be sure the air flow form the exhaust port is not
blocked.
4) Securely seal the cable entrance and door.

10-5
8. EXTERNAL DIMENSIONS

1) Exter nal dimensions f or servo amplif ier models 50S, 60S, and 70S

580 (590 including protruded part) A•• Air ~ ir

A view
I
~
I
r
r
I
r
I
I
D c c
I
I
Upward I HEAT
I SINK

I
I
0 0
00 0 I
lD .0
I
I
I
Installation
direct ion I
I
I
r
I
I
r
1
I
I

B view figure

Weight : 45 Kg

I I I : I
I Jl L
l Jl L _ _ _ - - 1 FAN I FAN I
--- -- I
- - ----- - - - - - -- - - - ---~~- - - --

10- 6
2) Servo amp li fie r maintenance s urface and area

A view iigure

/
/
/

0
co
LO

3) Panel cut out for mounting servo amplifier

.. 580 I
1 J Unit""'"'!''"""" ..,
r - o - - -o- - - - o - 1
I ~ -~
I
a I
I l-.;;t

I IM
I -
.q I
..39
0
-I

I
LO
- 1_8
I
0
\,() I - 533
I
I I
I I
I LO
(\J
I
I I
I I
L _ _ _ _o__
~-

-- _...J
j

Panel cut out

10-7
4) External dimension for discharge resistor
unit 2kW (including screw hole dimensions
diagram for mounting)

- 190 ~

~ ~ ~ ~
70 90 _3.C

AIR AIR AIR AIR

OUT OUT OUT OUT
r•rl r•r1 r-,rl r.,rl ,--,- -
·e e· e ,e I 0
2-:=:~2-=~2-=-st!-:=:-s I
\.()

I 0 II 0 D II D I I
I II II I
I II II l I
I
I II II I I
I II II I I
I I
I
I
I II
f II
I
I
I
f 0
0

""'"
0
0
0
)")

I II II I 0
I II II I lD I
MS x 4 press nut
I II II I · Both side surfaces
I II II I
I
n ll 0 n 0 (inOde) \
u II i
cr---rcr--=-rs---?s--=-? NAME
L Je. . J L Je. . J L Ja. . J L Je. . J PLATE "::
~ I ~
-
I II
---
-
'--

---t-iL--t AIR
IN 280MAX
AIR
IN

FAN MOTOR

Upward

Discharge resistor unit

Mounting A06B-6058-Hl91
direc tion Weight: ll kg
Til T9 T8 Fix the discharge resistor unit with
lfTT:l r-:;:;l fTsl the M5 x 4 x 2 (both side surfaces)
~
lL..£J ~ press nuts at the side surfaces .

10- 8
5) AC reactor external figure
180max
.. I
r - .., l r - - ;lr--,
1 I
I I
'
I , ~
I I
L_ ,__.J

M6x6
j 1---
7
..J

7
I
welding nuts 70

.
Nm
5 2 4 6
...
El
0
1.()

======,=8=
,b. . 0=m=a=xzc===
.. =~ ~ Moun~ t:e e:ver to the AC reactor.

AC reactor A81L- 0001-0063

Weight: 8kg
6) AC line filter external figure

AC line filter (with terminal cover)

A81L-0001-0102 Weight: 3kg

10-9
7) External figure of export power supply transformer
a) For models 50S and 60S (ABOL-0001-0127)

l<iP qpl
@L_ ~I

_Jl A
Is 6 7 si!I234J
II I
J13141516JJ9101112J

II l
!zr 22 23 24 1 Jr7 rs rg zo 1

II I
1313233 Gl 134 35 36Jist521

220MAX 130MAX
350MAX

Note) See item (c) to (e) for terminal external figure.

A terminal: Terminal numbers 1-24, 31-36, G
C terminal: Terminal numbers 51, 52

Capacity

Insulation I

I
30 KVA

H type
:~·1 ~-I!
4 ° 8 :
. 2ZOV ::

i~§J·~::JJ•,·,!
Thermostat I I
A
L

operating 160°C QF22ov A

point Ii PRI. 12 16
I
I
200Y
36
33
SEC
•

Weight Max. 220 kg 178l.21~·:

18 22 : .----a 51
19 23 :

20J24~1b: I 52
G

10-10
b) For model 70S (A80L-0001-0128)

l£.

220MAX

Note 1) See items (e) to (e) f or terminal external figure.

A terminal: Terminal numbers 1-24
B terminal: Terminal numbers 31-36, G
C terminal: Terminal numbers 51, 52
Note 2) Wiring diagram is the same as that of
A80L-000l-0127.

Capacity 40 KVA

Insulation H type
I
Thermostat
operating l60°C
point

Weight Max. 340 kg

10-11
c) A terminal (rating 660V-100A)

144. s ± 0.8

1 24 ±0.5

24 18 A-A' sectional
1· 'I diagram

2-91/> hole
SM X 12 L

d) B terminal (rating 660V - 200A)

165.3±0.5

A- A· sectional
diagram

2-91/>hole

8M x 16 L

10-12
e) C terull.n .
. al (ratJ.ng 660V - 20A)

10-13
9. CONNECTION

9.1 Connection Diagram

K8

Kl

Electromagnetic Note 5
Breaker contactor
r-.·s LC
~_,-.._0-D_
AC power supply s ,......,.. -
three-phase 200-230 Y, ----"-{) 0-D
+10%, -15%, --..!....o---o..-.o-
S0/60 Hz (!

Discharge resistance unH

TO.ll~rl
~---'--""'-.t._-¢ T9 ! 2 1 - - - - - - - - J -

Note 1) See each NC connecting manual for details on cable Kl connection.

Note 2) See Appendix 1 and 2 for details on connection of cables K2 - KB.
Note 3) Connect the power supply transformer between the electromagnetic
contactor LC and AC servo amplifier in the case of AC power supply
voltage other than 200 - 230 V. The AC line filter can be removed
when the isolation transformer is used. However, use the AC line
filter if the isolation transformer is an auto transformer.
Note 4) The AC line filter is used to reduce influence of high-frequency
noise to the power supply. The AC reactor 1s used for improving
power factor. Always use both of them.
Note 5) When the power supply breaker NB and electromagnetic contactor LC are
turned on, the servo amplifier is turned on. At this time, the LED
(DC) in the servo amplifier lights up. Also, the LED +SV on the
printed-circuit board also lights up. Always turn off the NB and LC
and then the LED (DC) before starting operation when touching the
servo amplifier and motor connection parts. The LED (DC) indicates
the voltage (remaining voltage) of electrolytic capacitor at the DC
link part. Also, a high voltage is applied to one part of printed-
circuit board.
Note 6) Always remove the short-circuit bar between the servo amplifier
terminal bases T2(4) - T2(5) when connecting the discharge resistance
unit. At the same time, set the setting terminal S2 of printed-
circuit board to the 2 position.
Note 7) Always set the setting terminal Sl of printed-circuit board to the L
position when wiring to the terminal bases T4(1) T4(2) of servo
amplifier printed-circuit board.

10-14
XI. FANUC AC SERVO AMPLIFIER L series
1. GENERAL

The L series AC servo amplifier has been specially designed and developed for
high speed positioning driving the L series AC servo motor. The features are
as follows.
1) Transistor PWM system assures smooth drive and excellent response.
2) Excellent acceleration/deceleration characteristic is obtained by adequate
maximum control current.
3) Exclusive custom IC and the latest power module technique have realized high
reliability with reduced number of parts.
4) The machine tools and AC servo motors are fully protected with fault
detection of trip of no-fuse breaker, overcurrent alarm, abnormal velocity
feedback, unusual high voltage, unusual circuit operation, etc.
5) The rectifier power circuit, dynamic brake circuit, regenerative discharge
circuit (Note 1), and no-fuse- breaker are assembled with the PWM amplifier
circuit to realize a compact one-side maintenance structure featuring easy
installation and maintenance.

Note 1) For applications having large regenerative discharge energy, separate

regenerative discharge unit must be used. For details refer to
section 4.3.

11-l
2. CONFIGURATION

Fig . 2 shows are example of the conf i gurat ion of the AC s ervo amplifier in a
2- axis control NC system.
AC servo motor

X-axis X axis
..---
AC servo
amplifier 1---- Detector
'
NC control unit
Z axis I
Z-axis
v--- I
AC servo Detector I
amplifier 1--
Ii
l I
I
I

1--
...___ * ~
3-phase input Power transformer
power source

* This figur e indicates an example when two axes employ one

power transformer in common .

Fig. 2 Example of configuration

11-2
2.1 Types of Units and Specifications

Table 2.1 (a} Types of units and specifications

Name Applicable motor Specifications

Model OL A06B-6057-H401

Servo amplifier Model 51, 6L A06B-6057-H402

Model 71, lOL A06B-6057-H403

Transformer AAE (1.5 kVA) A80L-000l-0453

Common to
Power transformer Transformer ABE (3.5 kVA) A80L-000l-0454
200 - 550V
Transformer ACE (5 kVA) A80L-0001-0455

Transformer MH (6.5 kVA) A80L-000l-042 1

Option for 5L, 61 (Note I) A06B-6050-H050

Separate type For 71, specify one unit per amplifier A06B-6050-H053
regenerative
For lOL, specify one unit per amplifier A06B-6050-H054
discharge unit
For 71, lOL (one unit for 2 axes)
(Note 2) A06B-6042-H053

Solder{ng type A06B-6057-Kl00

Input connector
(Note 3)
Crimp type A06B-6057-Kl03

Spare part A Fuse for PCB A06B-6057-K101

Note l) This unit is used when the regenerated energy is 100 to 400 W for
A06B-6057-H402.
Note 2) This unit can be used instead of two units (H053 or H054) when two
motors (model 7L or 101).
Note 3) The input connector is used for the signal cable from CNC connection
connected to the velocity control unit, and it comprises the
following parts.
One set of the input connector is required for each axis.

11-3
Table 2.l(b) shows parts included input connector (soldering type).
Table 2.l(c) shows parts included input connector (crimp type).

Table 2.1( b) Parts included input connector (soldering type)

Name Qty Use Model Specifications

Connector and cover 1 CNl MR-20LFH * A63L-000l-Ol34/02

Housing 1 CN2 SMS6PW-5 ** A63L-000l-0202/6W

Pin 5 CN2 RC16M-SCT3** A63L-0001-0226

*Manufacturer: HONDA Tsushin Co., Ltd.

**Manufacturer: Nihon Burndy Co., Ltd.

Table 2.1(c) Parts included input connector (crimp type)

Name Qty Use Model Specifications

I'
Connector and cover 1 CNl MR-201, MRP-20F0 1 * Ij A63L-000l-0134/22
I

Contact 20 CNl MRP-Fll2 * I A63L-0001-0135/Fll2

Housing 1 CN2 SMS6PW-5 ** ') A63L-000l-0202/6W

I
I

Pin 5 CN2 RC16M-S23A A63L-000l-0127/S23A

** I
*Manufacturer: HONDA Tsushin Co., Ltd.
-·--•- Manufacturer: Nihon Burndy Co., Ltd.

ll-4
3 . SPECIFICATIONS

3. 1 Specifications

Table 3.1 Specifications

Item Specifications

Applicable motor model OL SL, 6L 71, 101

llA 26A 42A
Rated output current (peak value) (Note 1)

l Conunon t o all use 3-phase 200/220/230/240/380/415/460/480/550 VAC

! Transformer
!
Allowable vol t age
+10<)<., -15%
Input input fluctuation
power I
supply Allowab l e fre quency +2 Hz

50 Hz + 2 Hz, 100 VAC +10/-15%,

100 VAC -
60 Hz + 2 Hz, 100 to 110 VAC +10 / - 15%
-
Main circuit system Transistor bridge

Con trol system Since wave PWM control

Cur rent l i mit va lue (Note 2) I 40 A 80 A 100 A

I

Al arm , protective func tion • Circuit breaker

. Overvoltage . Low vol tage
Over regeneration
Circuit abnormal ity detection

Ambient t emperat ure range ooc to +55°C

Note 1) The rated output is guaranteed a t rated input voltage . If the input
voltage fluctua tes , the rated current is not a l ways guaranteed, even if
the input voltage f luctua tion is within the all owable f lu c tua t ion range .
Note 2) The current limit value is the preset standard value. The deviat ion of
the operating va lue due to t he circuit constants is about + 10%.

3.2 Protection and Error Detection Function

Refer to section VII-3 .2.

11- 5
4. POWER TRANSFORMER AND SEPARATE TYPE REGENERATIVE DISCHARGE UNIT

The power transformer should be selected according to the models and load
conditions of the AC servo motors employed, The power transformer is provided
with secondary output terminals so that 2 axes or 3 axes can share each power
transformer within the continuous output rating,
For connections, refer to section 9.

4.1 Number of Axes and Power Transformer

No. of axes No. of power transformers

2 axes 1 - 2 units

3 axes 1 - 3 units

4 axes 2 - 4 units

4.2 Motors and Power Transformer

Name of
1st axes 2nd axis 3rd axis Remarks
transformer

01 01, 51 AAE (1.5 kVA) Use output terminals

31, 32 and 33

01, 51 OL, 51 OL, 51 ABE (3.5 kVA)

OL, 51 01, 51 61

61 6L

71

61 61 6L ACE (5 kVA)

01, 51, 6L 7L

OL, 51, 6L, 71 71 MH (6.5 kVA)

101

Select the transformer according to the motor used, load condition, usage
condition, etc. Refer to the servo motor selection data sheet described in
section I-4 and section III-2.

11-6
4.3 Separate Type Discharge Unit
When the energy being regenerated from motor is large, separate d i scharge unit
i s required. To use the servo amplif ier fo r model 7L or lOL th e separate type
regenerative discharge unit is required.

4.3. 1 Horizontal move axis

The regenerative discharge unit is require d when a motor is used con tinuously at
P equals 100 to 400.

P = ~ X (5.37 x 10-4 JVm2 - 5.13 X 10-3 taVmTL) ........ . .......... , •• (1)

In the equation (l),

F : Rapid traverse acceleration/decelera tion frequency (sec / time )
(Note: ~~en not designated specially, the frequency is approx. 5
sec/ time. )

J ., Jm + JL
Jm: Rotor inertia of motor ( kg•cm•sec2)
JL: Motor axis conversion inertia of load (kg•cm·sec2)
Vm: Number of motor revolutions at rapid traverse ( rpm)
ta: Rapid traverse acceleration/deceleration time (sec )
TL: Machine friction torque (Motor-axis conversion) (kg•cm)

4.3.2 Vertical move axis

The regenerative discharge unit i s required when a motor is used continuous l y at
R equals 100 to 400.

R "' p +Q
P Given in equation (l)

D
Q = 1. 026 x 10-2 ThVm X lOO •••••••••••••••••••••••••••••••••••••••••• (2)

In the equation (2),

Th: Torque which is supported upward by motor at lowe ring in r ap i d traverse
(kg•cm)
Vm : Number of motor revolutions at rapid traverse ( rpm)
D : Operation dut y of r a pid traverse lowering direction (%)
(Note: D ~50)

Note) If value P of equation {1) or value Q of equation (2 ) exceeds 400 (W),

contact FANUC.

11- 7
5. POWER SOURCE

5.1 Input Power Source

The AC servo amplif ier employs a 3-phase power source for main circuit and a
single-phase 100 V power source fo r coils of the dynamic brake electromagnetic
contactor (electromagnetic contactor and radiator cooling fan for models 7L and
lOL) .

5.1.1 Three-phase power source

a) Primary side tap voltage of power transformer

Power
No. of phases Voltage Frequency
transformer

For all the 200, 220, 230, 240, 380, 415,

3 phases 50/60 Hz + 2 Hz
count ries 460 , 480, 550 VAC +10%, -15% -

Note) If a 200, 220, 415, 440, or 480 V input power source is employed by using
a transformer HM, select the primary voltage of the transformer as shown
below.

Input voltage
1
415 v !
i
440 v 480 v
t
Transformer primary voltage setting I 420 v 420 v 460 v
I
I

b) Power transformer and fuses on primary side

Utsunomiya Fuji Electric

Power
Electric Co., Ltd. Co., Ltd.
voltage
PC t ype (A) FCF type (A)

1.5 15 20

3. 5 30 30
200 v 5 30 30
to
220 v i 10 40 40

15 50 50

1.5 10 10

2.5 10 15
380 v
to 5 15 15
440 v
10 25 30

15 30 30

ll-8
 =~
Power Utsunomiya Fuji Electric
voltage Electric Co., Ltd. Co., Ltd.
JG type (A) Plug type (A)

1.5 10 10

2.5 10 15
480 v
to 5 15 20
550 v
10 20 30

15 25 30

5.1.2 Single-phase 100 VAC power source

Nominal voltage 100 VAC

No. of phases Single-phase

Frequency 50 Hz+ 2 Hz 60 Hz + 2 Hz
- -
100 VAC 100 - 110 VAC
Voltage
+10%, -15% +10%, -15%

01, 51, 61 I 20 VA: Continuous

90 VA: At turning on the contactor
Capacity
50 VA: Continuous
71, 101
llO VA: At turning on the contactor

11-9
5.2 Capacity of Three-phase Power Source
The capacity of the power source should be as specified in table below as the
continuous rated output of motor. When the AC servo motor is rapidly
accelerated, power of about twice the continuous rated value may be needed
momentarily. Accordingly, use the power source suitable for acceleration.

Motor I Power capacity per motor

OL 1 kVA

51 1.5 kVA

61 2.4 kVA

71 5 kVA

101 10 kVA

Calculation method of power source capacity

The power capacity for using two or more motors can be obtained by adding the
power capacity per motor, respectively.

11- 10
6. HEAT LOSS

Maximum power dissipation Maximum power dissipation

Motor model of power transformer
of servo amplifier

OL 90 w 60 w
5L 110 w 90 w
6L 180 w 120 w
7L 360 w 150 w
10 L 500 w 250 w

For thermal design of cabinets which accommodate the servo amplifier and servo
transformer, it may be a general rule that the power dissipation quantity is
about SO% of the maximum power dissipation value taking the servo motor load
into consideration.

ll- 11
7. INSTALLATION CONDITION AND NOTES

7.1 Installation Condition

Ambient temperature: 0°C - +55°C

Humidity 95% RH or less (no dew condensation)
Vibration : 0.5 G or less
Atmosphere: The unit should not be exposed directly to the splas h of cutting
oil, lubricant or cutting chips.

Note) When the servo amplifier A06B-6057-H403 is used for · rnodel 101. The rated
output current decreases by a ratio of 2%/°C in the ambient temperature of
45°C or more.

7.2 Cautions on Installation and Housing

The servo amplifier is designed to be mounted in a cabinet. Be careful with
the following items when designing the cabinet.

7.2.1 Housed in closed type cabinet

In the closed type cabinet, the internal air temperature generally increases.
Circulate the internal air so that the ambient temperature of these unit
becomes even. The air speed should be about 1 to 2 m/ sec. Do not blow the
fan or blower air directly on these units, otherwise dust may cling to the
surfaces of these units and trouble may result.

7.2.2 Housed in open air ventilation type cabinet

1) Use an air filter at the open air inlet.
2) Do not blow the fan or blower air directly on these units, otherwise dust
may cling to the surfaces of these units, and trouble may result.
3) Ingress of mist of the cutting oil or dust form the air inlet, if any, may
cause trouble. Be careful with the air flow at outlet side so it is not
blocked.
4) Securely seal the cable entrance, door, and other openings.

7 .2.3 Mounting position and other cautions

1) Mount the units so they are easy to check, remove, and moun t during
maintenance.
2) Keep a space of more than 50 mm above and below the velocity control unit,
so that the air for the heat sink smoothly flows to the upper side and
wiring can be done to the terminal boards on the lower side.

11-12
 15mmmin. lSmmmin. 15mmmin.

1P/:-w~L1' ovoi SOmm

0

' OV« min

j
~
Servo Servo
~
v
:/
d amplifier amplifier V,
/

Fig. 7 .2.3 Mounting space of servo amplifier

3) Precaution should be taken to separate of cables for power line and signal
line, ground frame of the servo amplifier and transformer, and a protect
against no i ses.

11 - 13
8. EXTERNAL DIMENSIONS

1) External dimensions of servo amplifier A06B-6057-H401, H402 for models OL, SL

and 6L

240M IN
230

Top

I
tMounting
direction

450 430
Bottom

G (Ground terminal) M4

2- ellipse notch I +t
~
6-13
160 MAX

Weight: About lOkg

11-14
 2) External dimensions of servo amplifier (A06B-60S7-H403) for models 7L and
lOL

110 MIN
2 -ellipse 6 x 8 100
0

Terminal board
CT2) (Screw M3 .5)

Top

0 0
PCB

tI
Mounting
direction
0 co
V\ '<1"
Bottom

Connector
( Cl'\ 1 )

Terminal board 2-ellipse notch

(T I) (Screw M4) 6 X 13

-4J
70 I
j: ~:~MAX~~
(Includes screws on the side)

Weight: About 16kg

11-15
3) Power transformer

I
r
275 max

.,
-·
.J

><
Power
transformer

AAE
Weight

About
20 kg
A B

"'E
a:!
About
ABE 280 265
30 kg

About
ACE
36 kg
-
I so I 150 I so f\ About
A max

~
MH 310 315
49 kg

Connection diagram of power Te Tenninallayout of power

transformer AAE po transformer AAE

~ ::
SSOY
~ 480V I
2
~ 460V I 185V
3
41 5/ 240V I
~33
4 185V
5
230V
~ 380/220V
!
6 I
200V
7 ~
I 120V
O'i 34
8 I
550V 120V
9 35
~ 480V
10 I 120V
460V I 36
11
v 41!>'240V
12 I
230V
13 I 18V
v 380/220V
14
200V
I OV ~ 41
15 I 42
lSV
ov 43
16 I 18V
17
550V
489V
ov ~44
45
18 lSV
460V 46
19 18V
2()
415/240V
230V
ov ~ 4487
21 18V
380/ 220V 49
22 ~
200V
23
ov TCHI
24 ~51
T(EZ 52

oo ~

11-16
Connection diagram of power Terminal layou t of power
transformer ABE or ACE transformer ABE or ACE
550V
I '
480V I
2
460V
3
4 415/24W
5 230V
6 380/220V
'21X!V
(JJ
8
550\1
9
480V
10
460V
II
415/240V
12
23CN
13
380/ 220V 18V
41
1-----:0::::V:-'~ 4 2
14
200\1
15
18V ~
ov 18V
43
16
ssw 44

~
17
480V t - ---0::-V:- 45
18 ..__ _ .::.;18;_;V-
460V 46

!1----~:'-;-~ :;
19
415/ 240V
20
23fN
21 .___ _.;..:18;_V_~ .:
380/220V 9
22
23
200V

24
rJV
~51
TCH2 52
Go ...L

Power transformer ABE , ACE Terminal of power transformer

connecti on ABE, ACE
550V
1 '
480V I
2
460V
3
41 5/ 240'1
I
4
230\'
I
5 I
380/ 220V
6 I
7 '21XJV
I
ov I
8
9
- I
480V I
10
~ 460V j
11
·11 5/ 240V I
12
230V I
13
380/ 220¥ I JSV 41
ov ~
14
ZOrN I
15
ov
I ~ ll-----:-::c18::-:-V~ :;
ISV
16 -
17
o51JV
._, 480V I ov ~ 44
18
46rN I t8V ~ :~
18V ~ 47
!9
415/ 210V I
20
230V
I ov . 48
21 I 18V 49
300/ 22.0\'
22 I
'21XJV
23 I
24
OV I
I
~51
TCH2 52
G o>------41
~ -riT
11-17
 Power transformer MH Terminal of power
connection transformer MH
550V
1 .------?---1~.::__:_-o 31
460V
2
420V ...-4-1---,...!f-=-"-.::__:_-0 3 2
3
v 380V
4 .-o-t-H-1~.::....:...-o 33
5 '""'270V
6 230V
220V 185V
7 34
8
:::: zoov 185V
35
9 o. 5SOV
185V
460V 36
10
:::: 420V
11
~ 380V
12
13
14
::_
270V
230V
l
_
____18V~
18V
o.::...v-'-<·
38
39

15 o. 220V 40
16 r..~

17 " 550V
200V

I
_
____18V~ O:::_V:_. 4 2
18V
41

18 v 460V
420V
19
~ 380V
20
~ 270V
21 ().

22 " 230V
23 ,..., 220V
200V
24
I
G 0>-----__L-~-;;t_.

4) Separate type regenerative discharge unit

a) Regenerative discharge unit A06B-6050-H050 (A06B-6050-C050)

Terminal board T3
Screw M4
Terminal width 9 max
Top

1 Mounting
direction

Bottom

or

Top

2-7 dia.
1IMounting
direction
Weight: About 2 kg
Units: mm Bottom

ll - 18
b) Regenerative discharge unit A06B-6050-H053 (A06B-6050-C053)

Terminal board T3 Screw M4

Terminal width 9 max.

LL~~LJ-L~oooo

"'
OC;
000000
oooooo
000000
0
OCi
000000
000000 ....,
0

125

2-¢8 144

73
4-M4
l v
I/
0

-c
'

0
OC;
0
L') ! (")

I '

-o-

I
-y- 000000
000000 000000
000000
000000 000000
' 000000
OOOOOOOQOO
oooooo
000000
0 oooooooooo '000000
OC; 0000000000
oooooooooo oooooo
000000
0000000000 000000

I I

I.I 146
lJ
156
Weight: 2.5kg
(Includes screws on the side)

ll-19
c) Mounting regenerative discharge unit A06B-6050-H053 (A06B-6050-C053)

Mounting method 1

Mounting flange

Mounting screws

2 - ¢8 ~::g:
t>OD.OOC
oooooo
oooooo Top
gu~u
000 000

Mounting
direction

Mounting method 2
Bottom

Mounting flange

Mounting screws

Note) The mounting flange lS not provi ded .

Weight: 2.5kg

11-20
 d) Regenerative discharge unit A06B-6050-H054 (A06B- 6050-C054)

Terminal board T3 Screw M4

~ Terminal width 9 max.
' lnl

~
I
1
tnl

IT3 l 2 34
I·
.....
.(f
-
I
,.,

gggggg
oooooo
000000
000000
:;3 .
0
00

9.5 II 137.5 137. 5 9.5

3 - ¢8
i 294

.....
N

68 160 . 8 - M4
! - ! v
i/
0

I
0 -

c
1./')
. 0
00
""'

-o - o-
0
('<')
I
-o . I
o-
I
000000
000000
000000
I oooooo 000000
oooooo oooooo
oooooo 000000
oooooooooo oooo oo
0 0000000000 oooooo
co 0000000000 000000
0000000000 000000
0000000 0 00

I I I
'--

296
306 '-!I
(Includes screws on the side)

Weight: 5kg

11-21
e) Mounting regenerative discharge unit A06B-6050-H054 (A06B-6050-C054)

Mount ing method 1

8 -M4

Mounting
flange

Mounting
screw
3-¢8
Top

4Mo=ting
Idirection
Mounting method 2
Bottom

Mounting
flange
Mounting
screw

Note) The mounting flange 1s not provided.

WeighL: 5kg

11-22
5) Input connector
a) Connector CN l
Connector
2- 2.8¢ Cover

MR-OL
HONDA

Specifications No. of
Applicable
Name connectors
(Connector Name of maker cable Remarks
employed
maker's model) 2
per axis mm

Connector Honda Tsushin

MR-20LFH l 0.18- 0.3 CNl
(wit h cover) Kogyo Co.

11-23
b) Connector CN2

Cable plug Cable contact

UII(o' ·~·;·· t:r §I Crimp style t ype Soldering type

5.08 "' . .!!
::0 3 .,

"'':SS""111
,...1

te ()
8rt--il
IT
i- ~T
Out e r Peel-o ff
Applicab l e diameter length
cable of of
48max. sheat hing sheathing
2 I
!
mm mm mm

0 . 75
2. 80 max 7. 2
(30/0. 18)

Specifi cations
No. of conne ctor s
Name (Connector Name of maker Remarks
empl oyed per axis
!
maker ' s model )

Cabl e plug SMS6PW- 5 1

Crimp For crimping tool,

RC16M- 23
st yle type ! etc., contact the
Nihon Bumdy connector mal<.e t".
Conta ct 5
Co.
Soldering
RC16M-SCT3
type
I

11-24
9. CONNECTION

9.1 Connection Diagram

-
K21 (K?S)

Tl
A
Servo amplifier I
NC control unit Machine
2
JO 3
p eNI Servo motor

IN .
4
5 >---,
6 >---,
, - - ] C!"2 7 >---,
K4
6
K8
TZ 1
Em ergency

,____..
4 5 6
"='-- ,~,.
* ~

KS
stop

~~
AC Mat:netic
Fuse
,...._ K6
IOOVAC
power0 co~ctor ,___ +!O"k ,
sourc~,~- ~
T3
-15%,
Powe.r 14>
34> ~
transformer r------< I
w - Regener-
~

I >--
ll K7
'-- 2
3
~
ative
discharge
unit

Term inal~ >--

(T s.s- s4) r >--

Jn K3

Note 1) For cable connection details, refer to Appendix 1 and 2.

Note 2) When using the separate type regenerative discharge unit for models
SL and 6L remove the jumper between terminals of T2(4) and T2 (5) .
Note 3) For models 7L and lOL the separate type r egenerative discharge unit
is used.

11-25
9.2 Power Transformer Connections
a) Primary connections
For the connecting po s itions of power cable U, V, W and connec t ion
between terminals, refer to Tables 9.2(a) or (b) according to t he input
voltage .

Table 9.2(a) Power transformers AAE, ABE, ACE (Common to all use)

l Connection of transformer primary terminal

Power voltage i Connection
I Connection of power Jumper between type
I cable U, v, w transforme r terminals

200 v U- 7, V-15, W-23 I 8-1 5, 16- 23, 24- 7

220 v U-6, V-1 4 , W-22 8-14, 16- 22, 24- 6

Delta
connection
230 v U- 5, V- 13 , W- 21 8-13 , 16- 21, 24- 5

240 v U- 4 , V-12, W-20 8-12, 16-20, 24-4 :

Delta connection

380 v U-6, V-14, W-22

415 v
'
U-4, V-12, W- 20 Ii
8-1 6, 16- 24
v Star .
460 U- 3, V-11 , W-19 or ! connec t ion
(8-16-24)
480 v U-2, V-10, W-1 8 I
I
I

550 v U-1 , v-- 9, W-1 7 j

St ar connec tion

11-26
 Table 9.2(b) Power transformer MH (Common to all use)

Connection of transformer primary terminal

Power voltage Connection
Connection of power Jumper between type
I;
cable U, v. w transformer terminals I
i
200 v U-8, V-16, W-24

220 v U-7, V-15, W-23

I
230 v I U-6, V-14, W-22
;
240 v I
;

!I Star
380 v U-4, V-12, W-20 i Not connected
I
i connection
420 v U-3, V-11, W-19 I
;

460 v
U-2, V-10, W-18
480 v
550 v U-1, V- 9, W-17 i
I
I

Star connection

b) Secondary connections
For power transformers, AAE For power transformers ABE, ACE, MH

185V 185V
31 31
185V To T1 (A), ( 1), (2) of
32
33
185V } 1st, 2nd and 3rd
axes
32
33
185V
185V
} To Tl(A), (1), (2) of
the 1st axis
120V 185V
34 34
35

Trans· 36
120V
120V } 35
36
185V
185V
} To Tl(A), (1), (2) of
the 2nd and 3rd' axis
18V Trans-- 18V
former 4 1 41
former
ov } To CN2(1 ), (2), (3) ov } to CN2 (1 ), (2), (3)
AAE 42 4Z
18V of the 1st axis ABE 18V of the 1st axis
43 ACE 43
18V MH 18V
44 44
OV } To CN2(1 ), (2), (3) OV } To CN2(1 ), (2), (3)
45 45
18V of the 2nd axis of the 2nd axis
46 18V
46
18V 18V
47 47
ov ov
48
49
18V } To CN2(1 ), (2), (3)
of the 3rd axis
48
49
18V
} To CN2(l), (2), (3)
of the 3rd axis

TOHl TOH!
5I To CN2(4), (5) of 51
52
TOH2 } the 1st axis 52
TOH2
} To CN2(4), (5) of
the 1st axis

11-27
XII. FANUC AC SERVO AMPLIFIER S series (185 V INPUT)
1. GENERAL

The S series servo amplifier (185 V i nput t ype) has been specially designed
and developed for machine tools and indu stri al r obots as t he drive unit for S
series (185 V i nput) AC servo mo t or . The features are as f ollows .
1) Transistor PWM system assures smooth drive and e xcellent response.
2) Excellent acceleration /deceleration charac teristic is ob tained by adequate
maximum control current.
3) Exclusive custom IC and the late st powe r module techni que have rea l ized high
reliability with reduced number of parts.
4) The machine tools and AC servo motors are fully protected with fault
detec tion type of no-fuse breaker, overcurrent alarm, abnormal velocity
feedback, unusual high voltage, unusual circuit operation, etc.
5) The rectifier power circui t , dynamic brake ci r cuit, regenerative discharge
circuit (Note 1 ) , and no-fuse breaker are assembled with the PWM amplifier
circuit to realize a compact one-side maintenance structure featuring easy
installation and maintenance.

Note 1) For applications having large regenerative d i scharge energy, separate

regenerative discharge unit is available. For deta i ls r efer to
sect i on 4.3.

12-1
2. CONFIGURATION

2.1 Configuration Example

1) In case of model S-O
Fig. 2.l(a) and (b) show example of the structure of the AC servo unit 1n a
two-controlled axes NC system.

AC servo motor

X-axis X axis
r--
AC servo
- De tecto r
amplifier

NC control unit
Z axis
,.-- Z-axis
AC servo Detector
amplifier -

I Line driver circuit f--;-------

Line driver circuit
Single-phase input
I
po wer supply
(2 00 VAC common
w ith MMC openfclose)
il
L *
Single-phase input - - Power transformer
power supply

* This figure indicates an example when two axes employ one

power transformer in common.

Fig. 2.1 (a) Example of configuration (model 5·0)

12-2
2) In case of models 30/2000 and 40
When the regenerative energy is large due to the load condition the separate
type regenerative discharge unit is required.

AC servo motor

X-axis
AC servo
amplifier Detector

NC control unit

Z-axis
AC servo
amplifier

...
Power trarisfonner
3-phase input - - - - - - - - - 1
power supply

* This figure indicates an example when two axes employ one

power transformer in common•

Fig. 2.1(b) Example of configuration {models 30/2000 and 40)

12-3
2.2 Types of Units and Specifications

Table 2.2(a) Type of units and specifications

Name Applicable motor Specifications

Model 5-0 A06B-6057-H001
Servo amplifier Model 30/2000 A06B-6057-H007
Model 40 A06B-6057-H008
Transformer for 5-0 A80L-0010-0041
Power transformer Common to Transformer ACE (5 kVA) A06B-6050-H023
200 - 550 v
Transformer MH (6.5 kVA) A06B-6047-H224
Line driver
circuit Model 5-0 Al6B-1700-0l30

Separate regenerative discharge unit (Note 1) A06B-6050-H050

Input connector Soldering type A06B-6057-Kl00
for servo
amplifier (Note 2) Crimp type A06B-6057-Kl03
Input connector Soldering type A06B-6057-Kl05
for line driver
circuit (Note 3) Crimp type A06B-6057-Kl06
Fuse for PCB (for models 30/2000 and
A06B-6057-Kl01
Spare part A 40)
Fuse for PCB (for model 5-0) A06B-6057-Kl02

Note 1) The unit (A06B-6057-H007) f or model 30/2000 normally needs the separate
regenerative discharge unit.
Note 2) The input connector for servo amplifier is used for the cable connected
to the servo amplifier, and it comprises the f ollowing parts.
One set of the input connector is required for each axis.
Note 3) The input connector for line driver circuit is used for the cable
c onnec ted to the line driver circuit for model 5-0. One set of the
input connec tor is required for each axis.

12-4
Table 2.2(b) shows parts included input connector for servo amplifier (soldering
type).
Table 2. 2 (c) shows parts included input connector for servo amplifier (crimp
type).

Table 2.2(b) Parts included input connector for servo amplifier (soldering type)

Name Qty Use Model FANUC specifications

:
Connector and cover 1 CN1 '' MR-20LFH * A63L-000l-Ol34/02

Housing ! l CN2 SMS6PW-5 ** A63L-0001-0202/6W

'
Pin
i 5 CN2 RC16M-SCT3** A63L-0001-0226

*Manufacturer: HONDA Tsushin Co., Ltd.

**Manufacturer: Nihon Burndy Co., Ltd.

Table 2.2(c) Parts included input connector for servo amplifier (crimp type)

Name ! Qty Use Model FANUC specifications

'
Connector and cover 1 CNl MR-201, MRP-20F01 * A63L-0001-0134/22

Contact 20 CNl MRP-Fll2 * A63L-0001-0l35/Fll2

Housing l CN2 SMS6PW-5 ** A63L-0001-0202/6W

!
Pin 5 CN2 RC16M-S23A ** A63L-0001-0127/S23A

~Manufacturer: HONDA Tsushin Co., Ltd.

~~Manufacturer: Nihon Burndy Co., Ltd.

12-5
Table 2.2(d) shows parts included input connector for line dirver circuit
(so ldering t yp e)
Table 2.2(e) shows parts included input connect or for line driver circuit (crimp
type) •

Table 2.2(d) Parts included input connector for line driver circuit (soldering type)

Name Qty Use Model FANUC sp ec ificat ions

Connector and cover

I l CN2 MR-20 1WMH * A631-000 l -Ol34 / l5

Connector and cover l CN l MR-20 1WFH * A631-000l- Ol 34 /05

Table 2.2(e) Parts included input connector for line driver circuit (crimp type)

Name !Qty Use Model I FANUC specifications

Connect or and cover 1 CN2 I1 MR-201 , MRP-20M01 * A631-000 l - 01 34/35

Connector and cover 1 CNl MR- 201, MRP-20F01 * A63L- 0001 -0 134/25

Contact 20 CN2 MRP-Mll2 :k A631- 0001-0135/Mll2

Contac t 20 CNl MRP-Fll2 * A631- 0001- 0135 / Fl l 2

*Manufacturer: HONDA Tsushin Co., Ltd.

12-6
3. SPECIFICATIONS

3.1 Specifications

Table 3.1 Specifications

Item Specification

Applicable motor model 5-0 30/ 2000 40

Rated output current (peak value) (Note 1) 0. 7 A 40 A 44 A

- i 3-phase, 220/220/380/415/460/480/550 VAC

Trans former
For Japan
II
Allowable voltage
- +10%, -15%
Input
power
input fluctuation
l
supply ! Allowable frequency - -+2 Hz
I
(Note 3) I
I

100 VAC j 50 Hz -+ 2 Hz, 100 VAC +10/-lS%,

60 Hz .! 2 Hz, 100 - 110 VAC +10/ -15%
I

Main circuit system Transistor bridge

I
Control system Sine wave PWM control

90 A
! 100 A
Current limit value (Note 2) 2 A
(Note 2)
I (Note 2)

Alarm, protective function Circuit breaker • Fuse (5-0)

Overvoltage Low voltage
Over regenerat ion (30/2000, 40 )
Circuit abnormality detection (over current)

Ambient temperature range ooc to +55°C

I

Note I) The rated output is guaranteed at rated input voltage. If the input
voltage fluctuates, the rated current is not always guaranteed, even if
the input voltage fluctuation is within the allowable fluctuation range.
Note 2) The current limit value is the preset standard value. The deviation of
the operating value due to the circuit constants is about ~10 % .
Note 3) The servo amplifier for model 5-0 employs single-phase 100 VAC only as
an input power.

3.2 Protection and Error Detection Function

Refer to section VII-3.2.

12-7
4. POWER TRANSFORMER AND SEPARATE TYPE REGENERATIVE DISCHARGE UNIT

The power transformer should be selected according to the models and load
conditions of the AC servo motors employed. The power transformer is provided
with secondary output terminals so that 2 axes or 3 axes can share each power
transformer within the continuous output rating.
For connections, refer to section 9.

4.1 Number of Axes and Power Transformer

No. of axes No. of power transformers

2 axes 1 - 2 units

3 axes 1 - 3 units

4 axes 2 - 4 units

4.2 Motors and Power Transformer

Model Name of power transformer

30/2000 ACE (5 kVA)

40 MH (6.5 kVA)

Note) Select the transformer according to the motor used, load condition,
usage condition, etc. Refer to the servo motor selection data sheet
described in section I-4 and section II-2.

4.3 Separate Type Discharge Unit

When the energy being regenerated from motor is large, separate discharge unit
is required. To use the servo amplifier for model 30/2000 the separate type
regenerative discharge unit is required.
For how to calculate the regenerative capacity, see VII-4.2.1 or 4.2.2.

12-8
5. LINE DRIVER CIRCUIT FOR AC5-0

5.1 General
When the AC servo motor model 5-0 is driven by a digital servo, the pulse coder
output signal must be matched to the digital servo interface and the line driver
circuit for AC5-0 is required. One line driver circuit is necessary for one
motor.

5.2 Installation Place

Mount the line driver circuit in an enclosed cabinet.

5,3 Noise Preventive Measure

To prevent a malfunction by a noise, mount the line driver circuit at least
lOOmrn away from the cable and parts to which 50 VDC or higher voltage or AC
power is applied. Treat the shielding wire of the signal cable as shown
below, and connect it to the cabinet.

Earth plate

Cable

D D

12- 9
6. POWER SOURCE

6.1 1n~ut Power Source

The AC servo amplifier employs a 3-phase power source for main circuit and a
single-phase 100 V power source for coils of the dynamic brake electromagnetic
contactor (electromagnetic contactor and radiator cooling fan for models 7L and
10L).
Note) A single-phase 100 VAC is used for the main circuit and for magnetic
contactor of the dynamic brake in model s-o.

6.1.1 Three-phase power source

Refer to section VII-5.2.1

6.1.2 Single-phase 100 V AC power source

Nominal voltage 100 VAC

No. of phases Single-phase

Frequency 50 Hz -+ 2 Hz 60 Hz -+ 2 Hz

100 VAC 100-110 VAC

Voltage +10%, -15%
+10%, -15%

I s-o I 30 VA:
50 VA:
Continuous
At turning on the contactor
Capacity
!
130/2000, 40 I110
so VA:
VA:
Continuous
At turning on the contactor

6.2 Capacity of Three-phase Power Source

The capacity of the power source should be as specified in table below as the
continuous rated output of motor. When the AC servo motor is rapidly
accelerated, power of about twice the continuous rated value may be needed
momentarily. Accordingly, use the power source enough for acceleration.

Motor Power capacity per motor*

30/2000 6 kVA

40 6.3 kVA

* Calculation method of power source capacity

The power capacity for using two or more motors can be obtained by adding
the power capacity per motor, respectively.

lZ-10
7. HEAT LOSS

Motor model Maximum heat loss of Maximum heat loss of

employed servo amplifier
1 power transformer

5 - 0 15 w -
I ;
30/2000 300 w 150 w
I
40 420 w 180 \o,T

The maximum heat loss of servo amplifier shows the value at the maxlrnum
continuous rated current of motor. It decreases according to the reduction of
motor load.

(Reference)
For thermal design of cabinets which accommodate the servo amplifier and servo
transformer, it may be a general rule that the power dissipation quantity is
about SO% of the maximum heat loss with taking the servo motor load into
consideration.

12-11
8. INSTALLATION CONDITION AND NOTES

8.1 Installation Condition

Ambient temperature: 0°C - +55°C
Humidity 95% RH or less (no dew condensation)
Vibration : 0.5 G or less
Atmosphere: The unit should not be exposed direct to the splash of cutting
oil, lubricant or cutting chips.

8.2 Cautions on Installation and Housing

The servo amplifier is designed to be mounted in a cabinet. Be careful with
the following items when designing the cabinet.

8.2.1 Housed in closed type cabinet

In the closed type cabinet, the internal a~r temperature generally increases.
Circulate the internal air so that the ambient temperature of these unit
becomes even. The air speed should be about 1 to 2 m/sec. Do not blow the
fan or blower air directly on these units, otherwise dust may cling to the
surfaces of these units and a trouble may result.

8.2.2 Housed in open air ventilation type cabinet

1) Use an air filter at the open air inlet.
2) Do not blow the fan or blower air directly on these units, otherwise dust
may cling to the surfaces of these units, and trouble may result.
3) Ingress of mist of the cutting oil or dust form the air inlet, if any, may
cause trouble. Be careful with the air flow at outlet side so it is not
blocked.
4) Securely seal the cable entrance, door, and other open~ngs.

8.2.3 Mounting position and other cautions

1) Mount the units to make easy check, dismounting, and mounting during
maintenance.
2) Keep a space of more than 50 mm above and below the velocity control unit
respectively, so that the air from the heat sink smoothly flows to the
upper side and wiring can be done to the terminal boards on the lower side.

15mm min. 15mm min. 15mm min.

or over or over

SOmm min.

SOmm min.

Fig. 8.2.3 Mounting space of servo amplifier

3) Precaution should be taken to separate of cables for power line and signal
line, to ground frame of the servo amplifier and transformer, and to
protect against noise.

12-12
9 . EXTERNAL DIMENSIONS

l) Model 5-0 (A06B-6057-H001)

4-ellipse notch
6- 13 170 min.
160

~------------;~
[]g Top

i
I '
Mounting
o ! \1"') 1 direct ion

T'I I
.. ----,.I
Bottom

0
I
I
I 1

,,,,
,'":'1"--.J

C:'i l I '
I I
t l II

G (ground terminal) : I
I I
""
I'
ol
3 7 11 1.6t
100 ,,
I I
"
..........- --
·1
160 max.
(Side screw tips inclusive) Weight: About I.Skg

2) For Model 30/2000 (A06B-6057-H007)

2-ellipse hole 6 x 8 250 min .

0
220

Top

i
Bottom
Mounting
direction

Weight : About 11 kg
~~~~U2~LG (ground
terminal) M4

--~~---~~-
2-ellipse notch 6-13 If
25 160 max .
~
(Side screw tips inclusive)

12-13
3) Line driver c i rcu i t for ACS- 0

17 71 I
I
I
I
- ,.--- - f-
r:-
I I
r L- L _ _ _ _
1
I

DO
I
I
I
I
I
L _ _______ :
0
CN2 CN l
0

0
-- R -
r:-

II
I I
4-¢14

60

4) Mode l 40 (A06B- 6057-H008 )

;;I 2-ellipse h oles 6 x 8

PCB

Connector
( C ~l }
(CN2)

Braker
( NFB 1 ,2)
Terminal board TI
2-ellipse notches (Screw M4)
6 X 13 G (M4) (Ground termin al)

Weight : About 13.Skg

12-14
5) Powe r transformer
For detai l of trans f ormers ACE and MH, refer to section XI-8 - 3) .

6) Separate type regen erative discharge unit A06B-605 0-H050 (A06B- 60SO-COSO)
Ref er to s ec tion XI-8-4) .

7) Input connector
Refer to section XI-8-5 ).

8 ) Power t rans fo r mer fo r ACS-0

Continuous rat i ng: 50 VA

Wei ght: 3 . 7 kg Connection diagram

550V 18V
1 41
480¥
2 '
460V 42
3
4 1 5V
4
E:x-terna l dimensions
5
380¥ I 8V :~

E
and pin arrangement 240¥
6
2 30V 45
7
+ +
-;-
+ 8
220¥
+ 6 '1 41 + ~ 200V
I
I
46
+ 7 2 + 42 + 9
1
+ 8 3 + 43 + ov I
+ 9 4 + 44 + 10'cr I 51
+ + +
E
I
10 5 45 I
M4 X 10 H
+ 46 + I
I
51 + J 52
52 + 0 I
+

! l OMAX 115MAX

125

!60MAX
.I

12-1 5
10. CONNECTIONS

10.1 Standard connection diagram for AC5-0

In case of absolute pulse coder

I( ~~======~k} ---~K9~(~5~-0~)______T~o~m~ot~or)
_Battery un1t

I\ KZA( 5-0) To motor

Incase of incremental pulse coder K21 (5-0)

KZ l (5-0)

~C control \lnit
K2N Line driver
( 5-0 c ircuit
CN2 CN!
(for 5 -{)) Machine side

Kl
CNI ACS-0 motor
Servo amplifier

CN2
K4
Power
transformer

AC
Fuse "
power lto9( 5(J~~v ) "
source ------<r.....:>-------¢1.0 'J:OQY 43
KS
single phase
100 VAC

Note 1) For the details of cable connection, refer Appendix l and 2.

Note 2) In the servo amplifier for S-O, the 100 VAC input for emergency stop
LS used as a power supply for driving.

12-16
10.2 Standard connection diagram for 30/2000 and 40
(When separate type regenerative discharge unit is employed)

Jn cas.e of incremental (high-resolut ion) pulse coder

K21 (K2S)

Tl
I
l
A
I
Servo amplifier l
NC control unit
2 Machine i
Kl
Jcl\l 3 Servo motor I
~

K8
J CN2

T2
.b-~
5
6
7
8
,______....,
~
~

~
K~
JP)o,
Emergency
stop
~ 6
,---o----jf-o-
Magnetlc
>--
L ,L KS r E\IG
AC !OD V J\C
power co~ctor
t: Fuse >-- K7 (Note 2) +I Do/r...
s:ou;ce.~ ~ ~

Power
>-------- T3 -15'f .
3¢ --o !'----- 1 1¢
w- - o- trans.former Regener-
- ~ '-------< 2 ative

/ ,________
>--------
l 3
~
discharge
unit

Term ina! screw M4 / /

(Whe n 3.5mm 2 cable
1s used. use crirnp
termm al 5.5-S4.)
r
-rln
>--------

K3

(Note 1) For the details of cable connection, refer to the Appendix 1 and 2.
(Note 2) The model 30/2000 needs the regenerative discharge unit in the
stndard specification.
(Note 3) For the connection of the cable K2 in the case of absolute pulse
coder, refer to section VII-9.

10.3 Power transformer connection

For details of power transformers ACE and MH, refer to section XI-8-3).
For details of transformer primary fuse, refer to section XI-8-5).

12-17
APPENDIX
APPENDIX 1 CONNECTION DETAILS OF CABLE
1. CABLE K1 (AMPLIFIER COMMAND SIGNAL LINE)

CNC control unit Serve amplifier

(fo r digital)

(For connection
details in CNC side, : :
/'\ 1 1
il j COMA
I
CN 1 ( 1 )

CN 1 ( 2)
refer to CONNEC- ----+---+--.~.....-~ l.-...l....-T--_;_:.:...._ _ _ _ _--<1---.::______:___:____
TING MANUAL of 1 I I I
each CNC) 1 I A I I *P"WMB ( *ALM2) CN 1 ( 3 )

:-
T r
: /\ : : ~,-r-~--------------41
COMB CNl ( 4 )

: I A I I *Pi~C ( *ALM4) CNI ( 5)

>------'------
: : /\ : l co~c
I I I I
l CNI ( 6 )

I I A I ! *P"WMD ( *ALM8 l CN 1 ( 1 4 )

----+-T-+-1 \~.-.,~-------------~~--C~N_l_;_
( _I5~) --­
I
I
: /' \ : II COMD
I T I
: I 1 ! I CN 1 ( 1 6)

J
--~~ ~~--------~1
~ 1\ : : COME CN 1 ( 1 7)
I I I I
CNI ( 18 )

r
I I A I I *PWMF

--+.....;...:-1-:_;7\ ~ : COMF CN1(19 )

I I I I
I I I I IR CNI ( 8)
I I

II I /'\\ I I
GDR CN 1 ( 9 )
--+~~~
1 I
I I A
L,-~-----------~r------'----'------

I
I I
I IS
I CN I ( 1 0)

--~-~,~
; : I\ : l GDS
~~~------------~r--------'------
J CN 1 (11 )

1 I 1 I
I I A I *MCDN C N1 ( 1 2)

GND C N I( l3)
1
I I I
: I I *DRDY CNl ( 7)

r
1 I

----+-+-+-1
: ~ /\: : (spare)
\....~~--~--'-----------<yr--------'------
CN1( 20)
\ I \ I

L---..------1 r---~'
Connector MR-2 0 LFH (HONDA Tsushin Co., Ltd. )

Wire material 0.2mm2 twisted pair totally

shielded cable (10 pairs)

Al-l
2. CABLE K2 (MOTOR FEEDBACK SIGNAL LINE)

2.1 Cable K21 (incremental standard pulse coder)

CNC control unit AC servo motor

(14) r
~---------.-
• A
---
' ' PCZ (F)
I

/\
I
(For connection I
I
I I
details in CNC side, ( 15) I I
I
I
I *PCZ (G)
refer to CONNEC- I I I
I I
TING MANUAL of ( 16) I I I PCA (A)

r
A
each CNC)
( 17)
I
I
I
I
1\ I
I
I
I *PCA (D)

( 18)
I
I
I
I I I
PCB (B )
I 1

r
A
I I
( 19)
I
I I
I
1\ I I
I *PCB (E)

( 10)

( 11)
I
I

I
I
I

I
I
I

I
I
I

I
C8 r (M)

I I I I C4 (L)
I I I I
I I I
( 12) I C2 (P)
I I
I I I
I I
( 13) I I C1 (c)
r
I

I
I
I I
(8) I I I OHA (R)
I I

r
). I
I

1\ I
I
I r
(9) I I OHB (S)
I I
(4,5,6)
I
I
I
I
I
r
I
I
I
I +5V r (J ,K)

I
I I I I
I
(1,2,3) I I I
I ov (N . T)

'1______
I
I
I
I
I
r
I
r
J ov I (H)

-
T
Cannon connector
M S 3 1 0 6 B 2 0- 2 9 SW (Straight type)
M S 31 0 8-B2 0-2 9 Sw(Elbow type)

Wire material +5V, OV... Six or more 0 .2mm2 vinyl wires are connected 1n
parallel (length 14m or less).
C8, C4, C2, Cl ••• 0.2mm2 vinyl wire is used.
Others ••• O.lmm2 or thicker twisted pair totally shielded w1re.

Note) When the w1re is longer than 14m, provide wire sized to limit the
voltage drop of +SV to -0.02V or less.

[ Reference] Specified specification when purchasing the cable from FANUC:

Cable wire material only : A66L-0001-0199 (wire length 14m max.)
Cable with connector ( 14m long) :
With straight Cannon connector A02B-0074-K802
With elbow Cannon connector A02B-0074-K803

Al-2
 2.2 Cable K2A (absolute pulse coder)

Connector
MR-20LWFH (by HONDA Tsushin Co., Ltd_) or equivalent

Relay unit

CFnB(16)
CFnB(17)
CFnB(18)
ti *PCA
PCB
I
I
I
,------,-
: J\
I
I

I
:

I
PCA
*PCA
PCB
A
B
c
AC servo motor

CFnB(19) *PCB I

I
I
I
1\ I I *PCB D
CFnB(14) PCZ I ! I PCZ E
I
CFnB(l5) *PCZ I
I
I 1\ I
I
><PCZ F
CFnB(13) Cl I I ' I Cl G
I
CFnB(12) C2 I I I I C2 H
I I
CFnB(ll) C4 I I I I C4 J
CFnB(lO) C8 I
I
I
1 : [I
I
C8 K
CFnB(4), (5) +5V l I
_[ l +5V L
CFnB(l), (2) ov I
I
I I I ov M
CFnB(8) OHA
I
I
'
I i : OHA p
CFnB(9) OHB I I
J\ I : OHB R
CFnB(20) REQ I
' ' I REQ s
CFnB(6) +6VA I
I
;
I
:: +6VA T
CFnB(3) OVA I I I OVA c
I I I

J------
I
I I \ I Shield N

Connector
M S 3 1 0 6 B 2 2 -1 4 S or
MS3108B22 - 14S

Cable material
(when the sum of cable length K2A and K2N 1s 14m or less)
PCA, 1<PCA, PCB, ''<PCB, PCZ, -:<PCZ, OHA, OHB
O.l8mm2 twisted pair wire
-5V, OV 0.5mm2 X 2
Others O.l8mm2

Al-3
 2.3 Cable K2S (high resolution pulse coder}

CNC control unit AC servo motor

( 14)
,,--~---- ---;-\ PCZ (E)
I
(For connection
details in CNC side, ( 15)
refer to CONNEC-
I
I
I
I
I
I
1\ I
I
I
I
~
I
*PCZ I (F )

I
TING MANUAL of (1 6 )
each CNC) :I I
A I
I PCA (A)

( 17) I

I
I
I

I
1\ I
I

I
I
I
I ><PCA ( B)

(18) I
I
I A I
I
! PCB
y
(C)
I
(19)
I
I I
'\ I
I
I
I ><PCB l (D)

( 1 0)
I
I
I
I
I
I
I
I
I I
I
C8 r (K)

I
I
I I I I
(1 I) I I C4 ( J)
I
(12) :
I
I
I
I
1
I C2 I (H)

(13)
I
I
J
I
I
I
1 I
I
I Cl I (G)

(8)
I
I
1
I : I OHA I (P)

r
A
I

1\
I I I
{9)
I
I
I 1. I OHB ( R)
I I

I I I I
(4,5,6) I
1
! I I +5V ( L), (T)
I
I I I
(1,2,3) I
I I ov (M),(U)

I
I I

'1--------
I il
\ J
Shield r (N)

T
Cannon connector
M S 3 1 0 6 B 2 2- 1 4 S (Straight type)
M S 3 1 O.SB 2 2- 1 4 S (Elbow type)

Wire material : Six or more 0.2mm2 vinyl wires are connected in parallel
(length 14m or less).
C8, C4, C2, Cl ••• 0.2mm2 vinyl wire is used.
Others ••• O.lmm2 or thicker twisted pair totally shielded wire.

Note) The wire is longer than 14m.

Al-4
2.4 Cable K2N (absolute pulse coder)

Control unit (CNC) Relay unit

( 16) PCAMn ---------.-, PCA},[n CFn A( 1 6)

( 17) *PCAMn,: : /\ : : *PCAMn CFn A ( 1 7)
----~~----------~------~~
(18) PCBMn I i I 1PCB:-Jn CFnA ( 1 8)
( 19)
----~~----------~~~~,_~
HCBMnor 1
/\
1
I *PCBMn CFn A ( 1 9 l
( 14) PCZMn 1 J : 1 PCZMn CFn A(l 4 )
( 15) >i<PCZMn I I /\ 1 I *PCZMn CF nA( 1 5)
_____ 1
(_1_3_)----------~~C-n-1----~1~
i 1Cn1 CFnA ( 13 )
( 12) Cn2 : I ; lcn2 CFnA ( 1 2)
(11) Cn4 : I l 1
Cn4 CFnA ( 11 )
(10) Cn8 : I : 1 Cn8 C F n A ( l O)
1
(4).(5), ( 6) +5V : I 1 +5V CFnA( 4),(5), (6)
(1),(2),( 3 ) ov I
t I : :ov CFnA ( l ),( 2 ) , (3)
( 8) OHnA I I 1 loHnA CFnA ( 8 )
(9) OHnB ' : J\ I :oHnB
CFn A (9)
~--~------~o----------------
(20) REQn : : i i REQn C F n A ( 2 0)

x------!.._1
I I I I

Connector
MR-20LFH (by HONDA Tsushin Co., Ltd .)
Connector
MR-20LWFH (by HONDA Tsushin Co., Ltd.) or equivalent
or eqUlvalent

2.5 Cable K21 (5-0) (incremental pulse coder for 5-0)

Line driver ACS-0 m ot o r

circuit for ACS-0
(1 ) . (2). (3)
Gray
(4)' (5)' (6)
+SV :sv Red
( 10)
CS C8 Brown/Whit e
( 11 )
C4 C4 Orange/White
(12)
C2 C2 Yellow /White
(15)
*PCZ *PCZ Green
(16)
PCA PCA Black
( 18)
PCB Blue
PCB side connector
: MR-20RMD
(HO NDA Tsushin Co., Ltd.)
I

Connector MR-20LMH
(HONDA Tsushin Co., Ltd.)

Al-5
2.6 Cable K2A (5·0) (absolute pulse coder for 5-0)

Line driver circuit for ACS-0 motor

AC5-0
( 1) ' ( 2) • (3)
ov ...;._~--:..._;- OV Gray
(4). (5). (6)
+5V ...!_~--H- +5V Red
( 10 )
C8 -l--..1-.--.--l- C 8 . Purple/White
( 11 )
C4 +--+---!..-!- c 4 Brown/White
( 12 ) 1
cz ....;........;..---t--+--C 2
I
Orange/White
( 15 )
:.:<PCZ -1-I-+--......1--'-- *PCZ Green
( 16 ) I I
PCA 4--1----~f-- PCA Black
( 18 )
PCB +-~--~~PCB Blue
( 2 0)
REQ -L--~--L--1-REQ Orange
PCB side co nnector
: MR -20 RMD y----~'
(HO_ NDA Tsusrun Co., Ltd.)
1 -

Connector
MR-20LMH
(HO~ DA Tsushin Co ., Ltd.)

2.7 Cable K2N (5-0) (absolute pulse coder for 5-0)

CNC Line driver circuit

for 5-0
(1 ), ( 2) . (3) CN2(1 ) , (2),(3)
-.....;.~----;.......;...... ov
(4). (5 ) . (6) CN2 (4), (5), (6)
~~-----1-~ +5V
(8 ) CN2(8)
-+-+---i.~-.-.....;... OH 1
(9 ) CN2 ( 9 )
'--....J....-l-- OH 2
( 10 ) CN2 ( 1 0 )
---1--1----;..-+- c8
(11) CN2 ( 11 )
.......,._,.__ ___.~- c 4
( 12 ) CN2(12)
-:.-L---+-t- c 2
( 13 ) CN2 ( 13 )
-+-.-.---+-~ c 1
( H ) CNZ ( 14 l
........!..--1--A:--.;.._.f-PCZ
( 15 ) CN2(1 5 )
~.1..-.,;- *PCZ
( 1 6) CN2 ( 1 6 )
( 17) ~-J.-+--7-h-\~--- -~-:~A ..1....,... CN2 ( 17 )
( 1 8) CN2(18)
(19)
PCB /\ PCB
CN2 ( 19 )
*PCB --T-+--'· \...---:~- *PCB
( 2 0) CN2(20)
PCB side co nnector
:MR- 20RM
(HONDA Tsushin Co., Ltd .)
1
z-----
, -----1--,'- REQ
REQ ---1-1-
1

'
PCB side connector
:MRE -20 RFD
(HONDA Tsushin Co., Ltd .)

Connector
Connector MR-20LWFH MR-20LMH
(by HONDA Tsushin Co., Ltd.) (HONDA Tsushin Co., Ltd.)
or equivalent

Al-6
2.8 Absolute Pulse Coder for Models 2-0SP to 0-0SP

NC control unit AC servo motor

(14} f-l~-~---(1
z ( 9)

NClhalcan (I 5 J : : )\ : : •Z {8)
supply 6 v. .....-!.~.!...()--...J..._.l.-__/

such as FSOC.....-!.(.:..I6~)::>---r1_.,...!_ ___,'-_ _.,....

1 ....,:,---~A'---0-......i....![2;..::3~)-
1 1 1
~<..:..1~7~)~-~I~I-~/\L-_~1-~I•~A~-o~(~22~l
(I 8)
I I I I B (21)

~(~19~)<r~:-~:~/\L----·~L~:·~B~~~[=2~0~)
(I OJ I I I I C8 ( 16]

(I l : ; : : C4 ( 17)
r 12l I I I ! C2 ( 18)
I I I I
( 13l I I I I CI ( 19)
(8) I I I ! OHA [5)
I I
(9] I I I I OHB [6)
: I I I
(4,5,6. +5V [ 12. 13)
1 1 r r
(I 2 i I I I ov (I 2)

[3]
I I I I ( 14)
OVA

{7) I I I I +6VA (4)

I I I I
(20) REO (7)

~+-----_I
1 Shield j_ ( 1o l

Connndo,MR-20LFH

manufa<tmo<l by Hood, T,ushin

----------~----------~~~
Kngy~ ~1~;1rufactured
te<to' HDBB-25S
bv Hirose Electric Co., Ltd.
Connector cover HDBW-25-CV
manufactured by I lirosc Electric Co., Ltd.

Al-7
 2.9 Incremental Pulse Coder for Models 2-0SP to 0-0SP

NC control unit AC servo motor

( 14 ) (9)

( 15 ) : ; •Z (8 )
( 16 )
I I __._ I I A (23)
I I
( 17 ) I I
I I
J\ I I •A (22)

( 18 )
I I ( 21 )
B
( 19 ) I I 1\ I I •B (20 )
I I I I
( 10 ) C8 ( 19 )

{ I I) I I I I C4 ( 18)

( 12) 1: I I
I I C2 ( 17 )

{ 13) I I I I Cl ( 16 )

{8 ) : : : : OHA {5 )
(9 ) : I I I OHB ( 6)

(4 5 ~ ; ; : ; +5V { 12 13)

lI 2 4 ' I I I ov ( I 2 14 )

\ ~ J 1 J Shield ( 10 )

\~-
Conn O<to< MR-20LFH

ma nufaoto «d by Honda T•ushin K ogyo\

- - - - -

~node<
'"-------'

~c:"a"nuf HDBB-25S
ao<u«d by Himso EIO<t<io Co., Lt.d.
Connector cover HDBW-25-CV
manufactured by Hirose Electric Co., Ltd.

Al-8
2.10 Serial Pulse Coder A for Model OS or Subsequent Models

NC control unit - - - - - - - (1
AC servo motor
( 16 ) r l so (A)
I :
NC that can
sunnlv r, V
( 17 ) I : 1\ : •SO : (B )

such asFSOC ( 14) I i I I REO (EJ

I I
( 15) 1\ I
I
I
l •REO (F J
(4 5.6 I i I I +5V (L)
I I I I
(I 2 ov (M )

(3 ) I I I I OVA (U )
I I I I
(7 ) +6VA (' )

l J l JShield (N )
_l- - - - - -

Connector MR-20LFH
manufactured by Honda ~nne<toc" MS3! 06ll22 -14S
with straight pins)
Tsushin Kogyo
!I (with
MS3108B22-14S
L-shaped pms)

Relay unit - ------(1 AC servo motor

( 16) r I so [A)

( 17 )
I
l_l_
I
}\ I
I
I
I •SO (8 )

( 14) I I I I REO (E)

( 15) ~~ }\ : : •REO (FJ

(4.5 I I I I +5V (L)

I I I I
(I .2 ov (MJ

(3 } I I I I OVA (UJ
I I I I
(6) +6VA (TJ

~I
1Shield (NJ
_r_------
I

Connector MR-20LMH
manufactured by Honda Tsushin K Connectors MS31 06B22-14S
(with straight pins)
I MS3108B22-14S
(with L-shaped pins)

Al-9
 NC con trol unit. AC servo motor
( -~ - - - - - - ( )
( 1) so (A)

FS - 16
FS - 18
(2 ) : : 1\ : : •SD (Bl

(5 ) I I I I REO (EJ
(6 ) : : 1\ :: • RED (F)

(9 18 2~l.l I I I I +5V (L)

I I I I
( 12 !4, ov (MJ

(I 6) I I I I OVA (Ul
I I I I
(7 ) +6VA (TJ

J Shield
l J
..L----- -l (N)

Connector FI40-20 I SS
;{onneoto" MS31 06B22- 14S
with stra ight pins)
manufactured by Hirose Electric Co. , Ltd.~
MS31 08B22-14S
Case FI -20-CV I
manufactured by Hirose Electric Co ., Ltd. I (with L-shaped pins}

Wires: +5 V and 0 V: Wire of 0.5 mm2 min . X 2 (when the wire does n ot
exceed 14 m)
6 VA and 0 VA: Wire of 0.5 mm2 min.
SD, >'<SD , REQ, and >'<REQ: Twisted pair of 0.18 mm2 min.
Note) If the wire is 14 m long or more , the total resistance of the 0 V and +5
V wires must not exceed 0.5 ohms.

Al-10
2.11 Serial Pulse Coder A for Models 4-0S to 0-0SP

N C contl:·ol unit r -~-- - - - - () AC servo motor

{ 16) so ( 12 )
I I
NC that can
supply GV, { 17) I I 1\ :: •SD ( 13 )
such as FSOC ( 141 I I I I REO (5)
I I I I
( 15) 1\ •REO (61

[4 5.1> I I I I +5V (8, 15)

I I I 1
(I ,2 OV (I 2 3)

(3) I I I I OVA (I 0)
I I ! I
(7) +6VA ( 14)

1Shield (4)
_r_------
\" I
I Connecto r l!DJ\B-l5S
Connector MR-20Lfll
manufactured by llonda Tsushin Kog manufactured by Hirose Electric Co., Ltd.
Connector cover HDAW-15-CV
manufactured by Hirose Electric Co., Ltd.
(for models 2-0SP to 0-0SP)
Connector cover l!DJ\-CTH
manufactu red by Hirose Electric Co., Ltd.
(for models 4-0SP and 3-0SP)

Relay unit AC servo motor

(16) ,-~------() so (12)

{ 17) : : / \L---~~~~~r-~~
: : •SD (I 3)

( 14 I I I I I REO (5 I
II /'\ I I •REO ('I
~~~--~+---~
( 1511
'L---~~--~~>-~0~-
(4 5 I I I I +5V (8 151
I I I I
(I 2 OV ~I 2 3 I

(3) I I I l OVA { 10)

I i I :
(6) +&VA ( 14)

1Shield [4 1

/'------'
I Connector HDAll-l5S
manufactur ed by llonda Tsm;hin Kogyo
Connector cover HDAW-15-CV
manufactured by Hirose Electric Co., Ltd.
(for models 2-0SP to 0-0SP)
Connector cover llDA-CTH
manufactured by Hirose Electric Co., Ltd.
(for models 4-0S and 3-0S)

Al-ll
 NC control unit ,- 1- ---- - ( ) AC servo motor
{I l SD { 12 )
FS -16
FS-1 8
{2 } : : 1\ : : •SD ( 13 ]

(5) I I I I RED { 5)

(6 ) : I 1\ I ~ •REO (6)

{9 18 2(b I I I I +5V {8 15 }
I I I I
{ 12 14 ov {I 2 3)

( 16) I I I I OVA ( 10)

I I I I
(7 } +6VA ( 14 }

~i..L--
1 --- -
1 Shield (4 )
I
}
Conn ector Fl40-20 15S Connector HDAI3-15S
manufactu red by Hi rose Electr ic Co., Lt manufactured by Hirose Electric Co., Ltd.
Case Fl -20-CV
manufactu red by Hirose Electric Co., Ltd. \ Connector cover IIDAW-15-CV
manufactured by Hirose Electric Co., Ltd.
(for models 2-0SP to 0-0SP)
Connector cover HDA-CTII
numufactured by Hirose Electric Co., Ltd.
(for models 4-0S and 3-0S)

Wires: +5 v and 0 v:
Wire of 0.5 mm2 X 2 (when t he wire does not exceed
14 m)
6 VA and 0 VA: Wi r e of 0.5 mm2 min.
SD, *SD, REQ, and *REQ: Twisted pair of 0.18 mm2 m1n.
Note) If the wire is 14 m long or more, the to tal resistance of the 0 V and +5
V wires must not exceed 0.5 ohms .

Al-1 2
2.12 Serial Pulse Coder C for Model OS or Ensuing Models

NC control unit ·
I
----- --,- ) 1/\C servo motor
I ! 61 SD lA !
FS - 0
FS - l 5
( 17) 1\ : : • SO (0!

( i4 J I I I I R£.0 I FI
I I I .
I 15 )
' 1\ •REO IG I
(4,_5_6 I I I '' • 5V (J K)
i I I ,
( I 2 3 ov _lN i)

~- -- ---; ;ShioldI (Hl

Connector MR-20LFII Connectors MS3l06B20-29SW

manufactured by Ilonda Tsushin Kog (with strnight pins)
MS3108B20-29SW (with L-shaped pins)

NC control unit ,-, - - - - - - r ) 1\C servo motor

( I) so (AI
F S -i 6
FS - 18
12 1 1\ :: • SO (0 )

(5 ) I I I I REC (I')
I I I
(6 )
I
1\ •REO JGJ
19 t8 2C I I I I •5V (.J K )
I I I I
( 12 14 I I ov IN Tl

~
' ) Shield ( f.<)
-- - - ~

Connector FI40-2015S
manufactured by llirose Electric Co.
l Connector MS3 10 6B20-29SW
(with straight pins)
Case Fl-20-CV
manufactured by Hirose Electric Co., Ltd.
\ l MS3108B20-29S W(with L-sbaped pins)

Wires: Wire of 0.5 rrun2 m~n. X 2 (when the wl.re does not
+5 V and 0 V:
exceed 14 m)
6 VA and 0 VA: Wire of 0.5 mm2 min .
SD , *SD, REQ, and *REQ: Twisted pair of 0.18 mm2 min .
Note) If the wire is 14 m long or more , the total res i stance of the 0 V and +5
V wi r es must not exceed 0 . 5 ohms .

Al - 13
2.13 Serial Pulse Coder C for Model 4-0S to 0-0SP

NC cont rol umt <\ C servo motor

! -~- - - - - - ( 1
( 16) sc [ 12)
FS --0
FS-! 5
[ 17)
' I
1\ I I . sn 11 :1)

[ 14 ) I I I I REO 151
I I I I
( 15) 1\ •R~n [6 )

[4.5 0 I I I I • 5V (8 15 )
I I I I OV
(! .2.3 (I .2 3i

~ ~- _ __ ;_ -~ ; ShieiJ [4 1

Connector Mrt-20LFI! Connectors HDAI3-15S

manufactu red by llonda Ts ushin Kogyo manufactu red by Hirose Elect ri c Co., Ltd.
Connector cover I-IDA W-15-CV
manufactured by I lirose Electric Co., Ltd.
(for models 2-0SP to 0-0SPJ
Con ncctor cover H OA-CTI I
manufactured by Hirose Electric Co., Ltd.
(for models 4-0S and 3-0S)

NC contrn! unit AC servo motor

( I)
r- ,- - - - - - r) so 1: 2)
I
FS - 16
F S -1 8
(2) 1\ • S~ ( ; 31

'51 I I I I R~D 15 )
I I I
[6) 1\ • RC::O (6 )

(9 18 . 20 I I ! I •5V (8 i5 )

( 12 14 I J
I I I ~ ov I (I 2 3)

-L--- - -- '}' •Shield

I J.4 I

f-
Connector Fl40-2015S Connectors HDAI3-15S
man ufa ctured by Hirose Electric Co., Ltd. tllanufactured by I I irosc Eleclric Co., Ltd_
Case FI -20-CV Connector cover I IDA W-J 5-C V
manufactu red by Hirose Electric Co., Ltd_ ma n ufactured by Hirose Elec tric Co., Ltd.
\for models 2-0SP to 0-0SP)
Connector cover IIDA -CTII
manufactured by Hirose Electric Co., Ltd.
(for n1odcls 4-0S ancl3-0S)

Wi r es : +S V and 0 V:
Wire of 0 .5 mm2 min. X 2 (when the w1re does not
exceed 14 m)
6 VA and 0 VA : Wire of 0. 5 mm2 min.
SD, * SD, REQ, and *REQ: Twi sted pair of 0 .18 mm2 min .
Note) If the wi r e is 14 m long or more, the t ot al resis t ance of t he 0 V and +5
V wires must not exceed 0. 5 ohms.

Al-14
3. CABLE K3 (AMPLIFIER POWRE LINE)

3.1 4-0S to 405/2000

Servo amplifier
Breaker, magnetic contactor
or AC line filter I
u Tl ( A) NFB-R

AC powe r supply
v T1( 1) NFB-S

3-phase 200 v to230 v w T1 ( 2) NFB-T

+ 10%, - 15%
G Tl ( G)
7tJ
20SI3000 to 40SI2000

· 3 . 5/ M 4
Screw M
( 3 - 0S-1-0S )

3.2 50S to 70S

AC reac tor
2

3 4
s S NFB Servo amplifier
breaker
s 6 n-- - -- -T- - -- - n T
(AS I L- 0001 - 0063)
G
(Frame)
Input side screw GND
terminal M6 Screw
terminal M6 Screw terminal M8

-------- K2

Cable mat erials

(sectional area)
ACSOS
Cable length

10m Max.

14nun2 Min .
Cable specifications

Crosslinked po l yethylene
electric cable 600 V
(FURUKAWA Electri c Co., Ltd.
Bemex ER400 equ ival ent)
Note 2) AC60S/70S 22nun2 Min .

Note 1) Se parately consult FANUC if the cab l e length becomes extremely long .
Note 2) The number i ndicates t he sectional area per cable used .

Al-15
4. CABLE K4 (MOTOR POWER LINE)

l) Models 4-0S and 3-0S

~Mod•l;
Servo amplifier
Tll51
Tl 16)
u
v
f
Tl (7! \V
4-0S
-1_ G G t 3-0S

~ ~
A

Screw M3.5 ;{;mp ;tyl• "rm;n.J

Wire material used: Color of lead wires
30/0.18 (0.75 mm 2 ) 4-conductor U- Red
vinyl cabtyre cable V- White
W- Black
Ground: connected
to the motor body.

2) Models 2-0S and l-OS

Servo am plificr
Tl(5L,M.N) 1
Tl(6L,M,N) 2
T1(7L,M,N) 3
CC\Modd;
2-0S
l-OS
A G G 4 r-
"' ~
Screw M4
~
I RM15WT~-4S(9) Guide k ey
Wire material used: *Wire of Hirose Electric Co.
30/0.18 (0.75 mml) 4-conductor
vinyl cabtyre cable
Cannon connector

3) Models OS, SS, and SS/3000

~Mod•"
Servo amplifier
T1(5L,M,N)
T1 (6L,M,N)
A
B
f
T1(7L,M,N) c OS,5S

"
G

= ~
Screw M4
G

k . D

Connector
•
M S 3 1 0 6 B 1 8- 1 o s (Straight type)
M S 3 1 0 8 B 1 8 - 1 0 s (Elbow type)
Cable clampMS3057-I OA
Guide key

(DO
OA
Cable: 2.0 mmz (37 /0.26)
4-conductor vinyl Cannon connector
cabtyre cable Co oB

Al-16
4) Model s l OS, l OS/3000 , 20S/ 1SOO, 20S, and 30S

Servo amplifier ~
~T~
1~( ~5L~,M~,N
~ ) O-----------~A~----~
~L.~~i~ N~)~·r-----------~B~-------/
TI ( 7 L , M,N) C
Models
~~--G
r--o-------"
G'----<:>--'D~-~
-.;; l OS to 30S

~ '\ - ~onnectors MS 3 10 6B22-22S (Iinear type)

Screw M4\ / L MS3 108B 22-22S (Elbowtype)

8
Cable: 3.5 mm 2 (4 5/0.32) Cable clamp M S 3 0 5 7 - 1 2A Guide key
4 -core viny l cabtyre cable

C•nnon <onnecto<

5 ) Model s 20S/3000, 30 /2 000 , 30S /30 00 , 40, 40S / 2000, 7L, a nd l OL

~
Servo amplifier
T l (5 ) A,B r
Tl (6 ) C.D
T l (71 E,F

...
I
::1 G G G .:
~
~

Cable:
Screw M4
3.5 m m2 (45/ 0.32) in parallel and 7 mm 2
\ Connocto< M S 3 1 0 5 B 2 4- 1 0 S (Straight type)
M S 3 1 0 8 B 2 4 - 1 0 S (Elbow type)

Cable clamp M S 3 0 5 7 - 1 6A
G is 3.5 mm 2

Guide key

Cannon connecto r

6) Model s 50S to 70S

u
T l -(U ) l'
Servo amplifier v Servo motor
T l -( V) v
w
Tl - (W)

Frame ground r 1 - (W)

G
Gl-
Screw terminal M8

Al - 17
5. CABLE K5 (MAGNETIC CONTACTOR LINE)
5 .1 Ot her t han Models 50S to 70S

Magnetics cabinet Servo amplifier

T l (31
AClOOV
l ¢
Tl (4)
--0--1
*EMG
Contact off at emergency stop

Wire material: 0.7 5 mm 2

200 V vinyl cable

5.2 Models 50S to 70S

Terminal block
Magnetics cabinet 1 00 A
T 5- (2)
Single phase Servo amp lifier
IOO B
AC l OOV --0--i T 5-(l)
+ 1 O% EM G
- 1 5% Contact off at emergency
stop

Wire material: 0.75 mm 2

200 V vinyl cable

Al- 18
6. CABLE K6 (REGENERATIVE DISCHARGE RESISTOR LINE)
6.1 Other than Models 50S to 70S

I
Servo amplifier l Note I)
--*-.1

Screw terminal M4 Screw tenninal M 4

Wire material: 2 mm 2 600 V heat-resistive vinyl cable

Note l) When using the separate type regenerative discharge unit, remove the
short bar between T2(4) and T2 (5).

6.2 Models 50S to 70S

T 2-(4) T9- (l )
l - Remove this short bar
Servo amplifier
T 2-(5) Discharge resistor u nit

T 2-16) T9- (2)

Screw terminal M6

Al-19
7. CABLE K7 (THERMOSTAT LINE)
7.1 Other than Models 50S to 70S

1) Without transformer

Separate type regenerative

Servo amplifier discharge unit
T4{1 ) TOHl T3(3i

T4(2) r y
TOH2
y
T 3(4)

Screw terminal M 3 Screw terminal M 4

Wire material: 0.75 mm 2 200 V heat-resistive vinyl cable

when connec t ing the cable K6 , it is necessary t o change the setting of the
servo amplifier PCB.

2) With transformer
When a transforme r is used, bury a thermostat into the transformer and
connect the contact b as shown below.

Separat e type regenerative

Servo amplifier
discharge unit
T4(1) TOHI T3(3)
Contact b

Screw terminal M 3 Screw t erminal M4

Power transformer
thermostat
Contact b

7.2 Models 50S to 70S

Servo amplifier
Discharge resistor unit
T4- (l l " \ - + - - - - - - - - - - ( ) Tll-(1)
PCB
T4- (2) Tll- (2)

Tll- (3)

Screw terminal M 3

Al-20
8. CABLE K8 (CONTROL POWER LINE)

Power transformer Servo amplifier

~ ~
~

c
~

5
·a
=' ='
..... -o ...
-o

41
-"' 1::
N
44
M

47 18A CN2(1)
42 45 48 CT CN2(2J
43 46 49 18B CN2(3J

51 TOHI CN2(4)
52 TOH2 CN2(5l

Screw terminal M4 \ /c
Connector { SMS6PW-5
RC 16 M- SCT 3 } (N1honBurndy
. Co., Lid.)

Wire material: 0.75 mm 2 (30/0.18)

200 V heat-resistive vinyl cable

9. CABLE K9 (BATTERY LINE)

9.1 Connection between Relay Unit and Battery Unit

Relay unit Battery unit

CA7(01) +6VA .. -------~

+
I
CA7 ( 06) OVA l I
I I
I -
_r_---- -
-

Screw terminal
SMS 6PK- 5 D2 8 (Nihon Burndy Co., Ltd.) M3X2

Wire material: Shielded wire (0.18 mm 2 or more)

9.2 Connection between Battery Unit and ACS-0 Motor

Battery unit AC5- 0 motor

Screw terminal ( +) )GV
,\-----,.,
I I ! I 6V 0 - - Red/White or Red Note)
M3 x 2 ( _) )OV
z-----'.:.;..·
-.--;---.......,.,..., OV ~Gray/White Gray Note)

Note) Thick wire with red crimp terminal

Al-21
10. CABLE K10 (DISCHARGE RESISTOR UNIT COOLING FAN LINE FOR 50S TO 70S)

T7-(1) T 8 - {l )
Se rvo am plifier
Discharge resistor unit
T 7- (2) T8 - {2)

Screw terminal M 4 Screw terminal M4

Al-22
APPENDIX 2 CABLE ASSEMBLY

The type of the connector on the NC may vary depending on the type of the NC.
Refer to the ordering information in the Description of the NC used.

Cable List for AC Servo Amplifier (Digital)

Name Use Specification Designation

(Length)
Kl NC/amp. NC: MR-20LMH AMP: MR-20LFH A02B-0074-K80 1
signal cable ( 5 m)

NC: FO, Fl5, etc.

only cable material
AMP: S series 0.2 mm 2 twisted pair totally shielded cabtyre (cable A)
AMP: Lseries Connector: HONDA Tsushin Co., Ltd. A66 L-000 1-0041

NC/amp. NC: MR-20LMH AMP: PCR-E20FA A02B-0098-K841

PCR-E20FS (5m)
signal cable

NC: FO,Fl5,etc.

Cable with 10 pairsofAWG#28wires A66L-OOO 1-0284

(for cable wire only)
(product of Hitachi Cable, Ltd. or Oki Electric Cable Co., Ltd.)
AMP : C Series (Cable A) Connector: Honda Tsushin Co., Ltd #10

NC/amp. NC: PCR-E20FA AMP : MR-20LFH A02B-0120-K801

PCR-E20FS (5m)
signal cable

NC: Fl6, Fl S, etc.

Cable with 10 pairs of AWG#28 wires A66L-0001-0284
(product of Hitachi Cable, Ltd. or Oki Electric Cable Co., Ltd.) (for cable wire only)
AMP: S series (Cable A) Connector: Honda Tsushin Co., Ltd #10

NC/amp. NC: PCR-E20FA AMP: PCR-E20FA A02B-0120-KBOO

PCR-E20FS PCR-E20FS (5m)
signal cable

NC: Fl6, F18, etc.

Cable with 10 pairs of AWG#28 wires A66L-0001-0284

(product of Hitachi Cable, Ltd. or Oki Electric Cable Co., Ltd.) (for cable wire only)
AMP : C Series (Cable A) Connector: Honda Tsushin Co., Ltd #10

Note) Abbreviation in the above table

NC: NC TM : Relay unit TRF: Transformer MOT: Motor THM: Thermostat BAT: Battery
AMP : Servo amplifier DCR: Regenerative discharg unit

A2-l
 Designation
Name Use Specification (Length)

K21 NC/pulse coder NC: MR-20LWFH MOT: MS3106B20-29SW A02B-0074-K802

signal cable, MS3057-12i\ (14m)
Straight type,
for incremental
pulse coder

0.2 mm2 twisted pair totally shielded cabtyre (cable B)

Cannon connector: Japan Aviation Electronics Industry, Ltd.

NCfpulse coder NC: MR-20LWFH MOT: MS31 08B20-29SW A02B-0074-K803

signal cable, MS3057-12A (14m)
elbow type,
for incremental
pulse coder

0.2 mmz twisted pair totally shielded cabtyre (cable B )

K2A Relay unit/pulse TM: MR-20LMH MOT: MS3106B22-14S AOGB-6050-K055

coder signal cable, MS3057-12A (14m)
straight type,
for absolute pulse
coder

0.2 mm 2 twisted pair totally shielded cabtyre (cable C)

Relay unit/pulse TM: MR-20LMH MOT: MS3108B22-14S A06B-6050-K056

coder signal cable, MS3057-12A (14m)
elbow type,
for absolute pulse
coder

0.2 mm 2 twisted pair totally shielded cabtyre (cable C)

A2-2
Name Use Specification Designation
(Length)

K2S NC signal cable, i TM: MR-20LWFH MOT: MS3106B22-14S A02B-0074-K807

(14m)
straight type, MS3057-12A
for high resolution
pulse coder
I
I
I j_lO
I
!
!i 0 0
c:::::::r[[)
Ii 0.2 mm 2
twisted pair totally shielded cabtyre (cable C)

i NC signal cable, TM: MR-20LWFH MOT: MS3108B22-14S A02B-007 4-K808

I
elbow type,
for high resolution
I ilO
MS3057-12A (14m)

pulse coder
I
! 0 0

i'
!
i
I

2
0.2 mm twisted pair totally shielded cabtyre (cable C)

K2N NCJrelay unit NC: MR-20LW Tl'v!:MR-20LW A02B-0074-K804

signal cable, ( 2m)
for absolute pulse I

0~==CJ
coder
I
II
'
I I

I 0.2 mm
2
twisted pair totally shielded cabtyre (cable B)

K3 Cable for amplifier Conductor

Amplifier
input Motor model construction,
terminal
section area

4-0S, 3-0S 30/.18 (.75 mrn 2 ) T1.25-4

2-0S, l-OS, OS, SS 37/.26 ( 2 mm 2 ) T2-4

lOS, 20S/1500, 20S 45/.32 (3.5 mrn 2 ) T5.5-4

30S,OS,SS,6S
2
30/2000,40 70/.32 (5 .5 mm ) T5.5-4

AMP: refer to above table

~ ~
7 ~

600 V heat-resistive vinyle wire or cabtyre cable

A2-3
Name Designation
Use Specification
(Length)
K4 Amplifier/motor AMP: Tl.25-4S
power cable,
for 4-0S/3-0S

Cabtyre cable, or 600 V heat-resistive vinyl wire

30/0.18 { 0.75 mm 2 ) x 4

Amplifier/motor A.\1P: T1.254S II

I
MOT: RM 12BPG-4S A06B-6050-K809
power cable,
(14m)
for 4-0S/3-0S

~c::::::===========1Q} :

Cabtyre cable, or 600 V heat-resistive vinyl wire

30/0.18 (0.75 rnm 2 ) x 4

Amplifier/ motor AMP: Tl.25-4S MOT: RM I SWTP-4S-(9) A06B-6050-K003

power cable, (14m)
for 2-0S/ l-OS

4-conductor vinyl cabtyre cable 30/0.18 (. 75 mm 2 )

Amplifier/motor AMP: T24S MOT: MS3106B18-10S A06B-6050-K005

power cable, MS3057-10A (14m)
straight type,
for OS, 5S, OL, 5L,
and6L

4-conductor vinyl cabtyre cable 37/0.26 (2 mm 2 )

Amplifier/motor AMP: T24 MOT: MS3108Bl8-10S A06B-6050-K006

power cable, MS3057-10A (14m)
elbow type,
for OS, 5S, OL, 5L,
and6L

4-conductor vinyl cabtyre cable 37/0.26 (2 mm 2 )

A2-4
Name Use Designation
Specification
(Length)

K4 Amplifier/motor AMP: Vl.25-4 A06B-60SO-K807

power cable, (14m)
with no brake
for 1-0SP and 2-0SP

Cable: 4-conductor vinyl power cord

JISC 3312 30/0.18

Amplifier/motor AMP: V1.25-4 A06B-6050-K808

power cable, (14m)
with a brake
foe 1-0SP and 2-0SP

Cable: PVC cable

A66L-0001-0288

Amplifier/motor AMP: TS.S-4 MOT: MS3106B22-22S A06B-6050-K007

power cable, MS3057-12A (14m)
straight type, ¢14
for lOS, ZOS/1500,
20S, and30S ~===/=::Jc==::r::Q[)
7
4-conductor vinyl cabtyre cable 45(0.32 (3.5 mm 2 )

Amplifier/motor j AMP: TS.S-4 MOT: MS3108B22-22S A06B-6050-K008

power cable, ¢14 MS3057-1 2A (14m) !
elbow type,
for lOS, 20811500, I
20S.and30S

17
I

I
4-conductor vinyl cabtyre cable 45/0.32 (3.5 mm 2 )

Amplifier/motor AMP: TS.S-4 MOT: MS3106B24-IOS A06B-6050-K009 II

power cable, MS3057-16A (14m)
straight type, ¢16.5

::::::Lc:==rDIJ
for 30/2000
:::::3c====/

I
4-conductor vinyl cabtyre cable 70/ 0.32 (5.5 mm 2 )
I

A2 - S
 Designation
Name Use Specification
(Length)

K4 Amplifier/motor AMP: T5 .5-4 MOT: MS3108B24-10S A06B-6050-KO 10

power cable, MS3057-16A (14m)
elbow type,
for 30/2000

2
4-conductor vinyl cabtyre cable 70/0.32 (5.5 rn )

Amplifier/motor AMP : T5.5.-4 MOT: MS3106B24-IOS

power cable. MS3057-16A
straight type,
for 40, 71, and lOL

, 600 V heat-resistive vinyl wire 45/ 0.32 (3 .5 mm 2 ) x 7

;

Amplifier/motor AMP: T5.5-4 MOT: MS3108B24-10S

power cable, MS3057-16A
elbow type,
for40, 7L,and 101

600 V heat-resistive vinyl wire 45/ 0.32 (3.5 mrn 2 ) x 7

Amplifier/motor Cable length 14m or less:

2
power cable, Section area 14 rnm , terminal Tl4-8
for 50S Cable length 50 m or less:
2
Section area 30 rnm , terminal T38-8

~-4~--------~--------~-~
o---:::: ~

Crosslinked polyethylene cable (FURUKAWA Electric Co.,

Ltd. BEMEX ER400 equivalent) withstand voltage 600 V
14 mm 2 or 30 mm 2 x 4
Amplifier/motor Cable length 14 m or less:
Section area 30 mm 2 , terminal T38-8
power cabie,
Cable length 50 m or less:
forsosnos Section area 50 mm2 , terminal T60-8

Crosslinked polyethylen cable (FURUKAWA Electric Co.,

Ltd. BEMEX ER400 equivalent) withstand voltage 600 V
30 mrn 2 ro 50 mm 2 x 4

A2-6
Name Specification Designation
Use
(Lengt h)

KS Amplifier/ rna chine AMP: Tl.254

side power magnetics
cabinet, cable for
magnetic contactor

Cabtyre cable or 200 V heat-resistive vinyl wire

30/0.18 (0.75 mm 1 ) x 2

K6 Amplifier/regenerative AMP: T24 DCR :T2-4

discharge unit ,
power line,
for l OS to 40

I
I

I
I
)
Cabtyre cable or 200 V heat-resistive vinyl wire
37/ 0.26 (2.0 mm 2 ) X 2 .
l
I

I
Amplifier/regenerative AMP: T8-6 OCR: T8-6
discharge unit,
power line,
for 50S to 70S
~

" v
J
'"'

600 V heat-resistive vinyl wire 8 mm 2 x 2

K7 Amplifier/thermostat AMP : Tl .254 THM : T 1.25-4

(regenerative discharge
I unit or transformer)

I :::) ) )====:
l
200 V heat-resistive vinyl wire 80/0.18 (.75 mm ) x 22

In case of series connection, pay attention to connecting

I
I
method. I

K8 Amplifier (CN2J/ AMP: SMS6PW-S TR F: T1.25-4

I transformer, RC16M-SCT3
'
cable for control
power supply (trans-

0 ~
former, thermosta.t),
II
for 5-0,30/2000, and 40

200 V heat-resistive vinyl wire 30/0.18 (.75 mm 2) X 5

A2-7
 Designation
Name Use Specification (Length)

K9 Battery/relay unit, TM: SMS6PK-5D28 BAT: Tl.25-3

power cable, Nihon Burndy Co., Ltd. I
for absolute pulse
coder

I
~ <
200 V heat-resistive vinyl wire 30/0.18 (. 75 mm 2 ) x 2

KlO Amplifier/regenerative AMP: T1.25-4 DCR: Tl.25-4

discharge unit, cable
for fan,
for SOS to 70S
_..,
~
"
"-'
"v I

2
200 V heat-resistive vinyl wire 30/0.18 (. 7 5 mm ) x2

A2-8
APPENDIX 3 SOFTWARE SERIES AND CORRESPONDING MOTORS

1. OUTLINE
Some software series cannot drive some motors. When determining motors to be
used, check the software series for the digital servo according to the table
below.

2. SOFTWARE SERIES AND CORRESPONDING MOTORS

s and T Series
sSeries motor
Software High-speed motor with
Large motor with a serial
ser~es motor serial pulse
pulse coder C
coder A, B
9000 Not available Not available Not available Not available
9002 Not available Not available Not available Not available
9010 Not available Not available Not available Not available
Version F or Version E or
9020 Not available Not available
later later
Version D or Version B or
9022 Not available Not available
later later
Version B or Version A or
9030 Not available Not available
later later
Version A or Version A or
9031 Not available Not available
later later
Version A or Version A or
9032 Not available Not available
later later
Version A or Version A or
9034 Not available Not available
later later
Version A or Version A or Version A or Version D or
9040
later later later later
Version A or Version A or
9044 Not available Not available
later later
Version A or Version A or Version A or Version B or
9050
later later later later
Version A or Version A or Version A or
9054 Not available
later later later

Note) The C Series servo amplifier can drive the L Series high-speed motors
(ACOL to AClOL) using the following servo software series:

9050 Series version 1 and on

A3-1
 INDEX
<A>
Absolute pulse coder for Models 2-0SP to 0-0SP A1-7
Absolute pulse coder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-33
AC line filter (optional) .....•....... _ . . . . . . . . . . . . . . . . . . . . . . . . . . 6-9, 7·7, 8-5, 9-5
AC line filter and regenerative discharge unit •.. ........ ...... .... •.. •........ . 6-9
AC line filter and separate type regenerative discharge unit .......... .... ... 7-7, 8-5, 9-5
AC line filter, AC reactor/discharge resistor unit 10-4
Acceptance and storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4
Accessories 7-12
Axis load 1-2, 4-14

<B>
Blanks for those other than data 1-20

Brake connection diagram ..•....... ..... .... .............. .. ........ ... 4-11
Brake specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-43
Built-in brake . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 -43, 4-11

Built-in detector of model 5-0 .... ........ ... ......... ..... .... ... ........ 1-35
Built-in detector ..................................................... . 1-33
Built-in detectors for model 2-0SP/1-0SP/0-0SP ............................ . . . 1-34
Built-in detectors for model 4-0S/3-0S 1-35

<C>
Cable assembly ..............•....................................... A2-1
Cable K1 •......•....•..•....••••.....................•..••......... 6-27
Cable K1 (amplifier command signal line) •...•............................... A1-1
Cable K2 (motor feedback signal line) ......•............................... A1-2
Cable K2A (absolute pulse coder) .....•.........................•......... A1-3
Cable K2A (5-0) (absolute pulse coder for 5-0) .......................•.•...... A1-6
Cable K21 (incremental standard pulse coder) .................•............... A1-2
Cable K21 (5-0) (incremental pulse coder for 5-0) .........••...•......•........ A1-5
Cable K2N (absolute pulse coder) ...•......................••............. A1-5
Cable K2N (5-0) (absolute pulse coder for 5-0) ..........••.................... A1-6
Cable K2S (high resolution pulse coder) ....................................• A1-4
Cable K3 (amplifier power line) ..............•..............•..•.....•... A1-15
Cable K4 (motor power line) ...............•.......•..........•..•.... "" A1-16
Cable K5 (magnetic contactor line} ...........•......•••.................. A1-18

i-1
Cable K6 (regenerative discharge resistor line) ....... .•• .•. . . .. ... • .. .. • . .... A1·19
Cable K7 (thermostat line) . ... ... . .... . . . .. .. ... . .•.... . . . . . . ... . .. .. . . A1 ·20
Cable K8 (control power line) .... ... ....... ... ...... ..... . . ... ...... ... . A1-21
Cable K9 (battery line) ..........•.........•............ . ...... .... ..•. A1-21
Cable K1 0 (discharge resist or unit cooling fan line for 50S to 70S) •.•.•. . . • . ..•.... A1-22
Calculating conditions for selecting a motor . . ... .. ........ . . . ........... . .... . 1-9
Calculating the acceleration torque . .. ......... ... ... . ... . ................ . 1-1 3
Calculating the load torque and load inertia .............. ..... .... ... .... ..... 1-9
Calculating the percentage duty cycle with the maximum cutting torque .............. 1-17
Calculating the root-mean-square value of the torques . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 6
Capacity . . . . . . . . . . . . . • . . . . . . . . . . . . . . . • . . . . . . . . . • . . . . . . . . . . . . . . . . . . . 6-1 2
Capacity of power source ... : . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7-9, 8-6, 9-5
Capacity of single-phase 100 VAC power source .......•...........•. ... 7-9, 8-6, 9-5
Capacity of the regenerative discharge resistance units (built-in and separate) . . . . . . . . . . 6-10
Capacity of the single-phase power supply for control purposes . • . . . . . . . . . • • • . . . . . . 6-13
Capacity of three-phase power source . . . . . . • . . . . . . . . . . • . . . . 7-9, 8-6, 9·5, 11-10, 12-10
Caution on installation 7- 15
Cautions on installation and housing •.................. ..•.•.... .. ... 11-12, 12-12
Cautions . . . . . . . . . . . . . . . . . . . . . . • . . • . . • . . . . . . . . . . . . . . . . . . . . . . • . . . . . . . 10-5
Changes from S series servo amplifier . • . . . . . . . . . • . . . . . . . . . . . • . . . . . . . . . . • . . . 6-45
Characteristic curve and data sheet . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-31, 2-8, 3-4, 4-4, 5-2
Combination of waterproof MS plugs . .... . .......... . . . . . ....... .. . . ...... , 1-47
Compressed-air cooling ..........................................•..... 4-13
Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . • . 6-1, 7-1 . 8-2, 9-2, 10-1, 11 -2, 12-2
Configuration example ... . .......... .. •....... ... . ... ..... . ... ... . ... .. 12-2
Connecting power and brake lines . • • . . . . . . . . . . . . . . . . . • . . . . . . . . • . . . . . • • . . . . 4-10
Connecting power lines ................ .......... ............ .... .... .. 2-38
Connecting power lines (with the brake) . . . . • . . . . . . . . • . . . . . . . . . . . . . . . . . . . . . . . 5-10
Connecting power lines (without the brake) 5-1 0
Connecting the power transformer . . . . . . . . . . . . . . . . . . • . . . . . . . • . . . . . . . • . . . . . . 6-42
Connecting the separate regenerative discharge unit . . . . . . . . . . . . . . . . . . . . • . . . . . . . 6-40
Connection . . . . . . . . . . . •. •. . •. . •. . . • ••••. • 6-24, 7-28, 8·13, 9-9, 10-1 4, 11-25, 12- 16
Connection between battery unit and AC5-0 motor ......•...............•..... A1-21
Connection between relay unit and battery unit . . . . . . . . . . . . . . • . . • . . . . . . . • . . . . . A 1-21
Connection details of cable . . . . . . . . . . • . . . . . . . . . . . . . . . . . . . . . • . . . . . . • . . . . . • A 1-1
Connection diagram . . . . . . . . . . . . . . . • . . . . . . . . . . . . . . • . • . • • . • 6-24, 9-9, 10-14, 11-25

i-2
Connection diagram (for A06B-6058-HOOx, x = 2 to 6) •.. . ... •.. .... ... •. .. . 7-28, 8-13
Connection diagram for AC servo amplifier A06B-6058-H007 . • . • . . . . . . • . • . . . • . . . . . 7-29

Connection of power line . . ....... . ........ . . .. . ... .. .... .. .. .. .... . 2-43, 3-11

Connection of power transformer for export . ... ..•.•.. .. .... .. .. . ..... .. .. ... 7-30
Connection of the brakes .. . ......... ....... ..... ...... .... ...... .... ... 1-45
Connector plug of connection cable ... ......... ...... ...... ....... . .. . .... . 1-47

Connectors for models 2-0SP, 1-0SP and 0-0SP 1-50

Cooling fan for models 40 and 405/2000 ........ .................... ....... . 1-51

Coupling ..... ........ . ............ ..... . ......... ......... ........ . . 1·2

Coupling the output shaft 4-14

< D>
Dedicated power for the brake solenoid 4-12

Detector signal output . . . . ... ....... . ..... . . .. .... .. ... .. ... .. . .. . .... . 1-39

Drawings .. . ........ ..... .• - ..... ......... . - . .. · ..... · · · · . · · · · • • · · · · · 4-8

Drive shaft coupling ..................... . .................... .. .... ... . 1-5

< E>
Environment 1-3, 4-15

External dimensions • . . . . . . . . . . . . . . . . . . . . . . . . . 3-10, 7-17, 8-7, 9-6, 10-6, 11-14, 12-13

External position detector 1-36

< F>
Feedback detector 1-33
For horizontal operation . . . . • . ..... .. . .. ... .• .... ...... . ... . _ ... ... . •.•.. 6·9
For vertical operation 6-10

< H>
Heat dissipation 6-14

Heat loss ............ ... •... •... . .... .... •. •. . 7-13,8-6,9-6, 10-4,1 1-11, 12-11

High resolution pulse coder ........ ......... ... . .... . .... . ... ...... ..... 1-33

Horizontal move axis ....... _........ .. .. .. ............... _ ....... .. 7-7, 11-7

Housed in closed type cabinet 11 -12, 12-12

Housed in open air ventilation type cabinet 11-12, 12-12

< I>
Incremental pulse coder (standard) .. ... ....... . ... .. .. .... .. .... ... .. .. .. . 1-33
Incremental pulse coder for models 2-0SP to 0-0SP • . ....... .. .. _ . _ . • . . . . . . . . . . A 1-8

Input power • • . . . . . . . . . . . . . . . . . • . . • . . . . . • . . . . . . . • . . . . . . . . • • . . . . . . . . . . 6-12

i-3
Input power source .. .... ....•...... ..... ......... ... .. 7-9, 8-6 , 9-5, 11-8, 12-10

Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1, 4-14

Installation condition . . . . . . . . . . . . . . . . . . . . . • . . . . . . . . . . . . . . . . . . . 7-1 5, 11-12, 12-12

Installation conditions and notes ....•...... ........ ... 6-16, 7-15, 8-6, 9-6, 10-5, 11-12
Installation place ... ..... .... ..... .....•......... ..•.. ......... . .... .. 12-9

<L>
Line driver circuit for AC5-0 . ..... ........ ..•........ ... ....... . ..... ... . 12-9
Lubricating the ball screw . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4-15

<M>
Machine movement per 1 revolution of motor shaft 1-7
Maintaining the motor ..........•................................ . .... . . 4-15

Motor selection .............................................. . ...... . 1-20

Motors and power transformer 11-6, 12-8

Mounting position and other cautions 7-15, 11-12, 12-12

<N>
Noise preventive measure .... .... ....... ....... ....•.. ....... ...... . ... 12-9

Number of axes and power transformer ...•... ......... . .. .... ........ .. 11-6, 12-8

<0>
Old motors 2-40

Outline drawings 2-25, 2-40, 5-7, 6-1 7

<P>
Power source •... .. . ..... ....•......•..•. .......• 7-9,8-6,9-5, 10-4, 11-8, 12-10

Power supply ... ... ..... .... ......•...•........•.. ... ......... .... •. 6-12

Power transformer ... .... •... •...... .... •........ ... . •. ... • 6·13, 7-10, 8-6, 9-5
Power transformer and separate type regenerative discharge unit . . . . • . . . . . . . • . . 11·6, 12·8

Power transformer connections . . . . • . . . . . . • . . . . . . . . • . . . . . . . . . . . . . . . . 11-26, 12-17

Precautions for using linear scale 1·18

Precautions on use . ... ..... . ... . ...... .... .. ...... .. ....... . ...... 1-1, 4-14

Protection and error detection functions . . . . . . . • . . . . . . . . . . . • 6-7, 7-6, 8-5, 9-5, 11-5, 12-7

<S>
Selecting a motor . .. . .... ..... ....... .... ......... .. ... . ... ...... ... .. 1-8
Selecting method of power transformer .•....•......... ... ... .......•..... .• 7-11

Selection of ground fault detector .. ...... .... ......... ... ... ........ .... .. 7-15

Separate regenerative discharge unit . . . . . . . . . • . . . . . • . . . . . . . . . . . . . . . . . . . . . . . . 6-8

i-4
Separate type discharge unit . . . . . . . . . . . . . . . . . . • . . . . . . . . . . . . . . . . . . . • . . 11-7, 12-8
Separate type regenerative discharge unit . . . . . . . . . .•. .. •. . . . . . . . . •. . . . 7-7, 8-5, 9-5
Serial pulse coder A for model OS or subsequent models A1-9
Serial pulse coder A for models 4-0S to 0-0SP . . . . • . . . . . . . . . . . . . . . • • • . . . . . . . . A 1-1 1
Serial pulse coder A 1-34
Serial pulse coder C 1-34
Serial pulse coder C for model OS or ensuing models ........ ..... ...•.......•. A 1-13
Serial pulse coder C for model 4-0S to 0-0SP A1 -1 4
Serial pulses coder 8 and 82 ...... ........ .. . .......... .... ........ ..... 1-34
Signal comparison between the S and C series amplifiers • . . . . . . . . . . . . . . . . . . . . . . . 6-37
Single-phase 100 V power 6-13
Single-phase 100 VAC power source . . . . . . • . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 -9, 12-10
Small type connector for cable K1 . . . . . . . . • . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-32
Software series and corresponding motors . . . . . . . . . . . . . . . . . • . . . . . . . • . . . . . . . • • A3-1
Specifications and characteristics .. . ....... ... ........ . ..... ... .. 2-6, 3-4, 4-3, 5-2
Specifications for air cooling 4-1 3
Specifications tor connectors 1-47
Specifications .... ...•... ........ ......... . 6-5,7-4,7-10, 8-5,9-5, 10-3, 11-5, 12-7
Standard connection diagram for 30/2000 and 40
(When separate type regenerative discharge unit is employed) 12-17
Standard connection diagram for ACS-0 12-1 6

< T>
Terminal block connection 6-34
Three-phase power . . . . . . . . . . . . . . . . . . . . •. . . •. . . . . . . . . . . . . . . . •.. •. •. . . . 6-12
Three-phase power source . . . . . • • . . . . . . • . . . . . . • • • . . . . . . . . . . . . . . . • • . 11 -8, 12-10
Types and specifications 2-40
Types of motors and designation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-2, 3-2, 4-2, 5-1
Types of motors and specifications .... ....... .. .......... .... .... 2-6, 3-4, 4-3, 5-2
Types of unit and specifications 7-2, 8-3, 9-3, 10-2, 11-3, 12-4

< U>
Unit types and specifications 6-2
Using terminals L 1C and L2C ............................................ 6-43
Using terminals MC1 and MC2 6-44

< V>
Vertical move axis 7·8, 11-7

i-5
< W>
When amplifiers are housed in a closed type cabinet 7 -1 5, 10 -5
When amplifiers are housed in an open-air ventilation cabinet . . . . . . . . . . . . . •. . . . . . . 10-5
When amplifiers are housed in an open-air ventilation type cabinet . . . . . . . . . . . . . . . . . . 7-15
Wire for cable K1 . . . . . . . . . . . . . . . . . . . . . • . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6-29

i-6
 Revision Record
FANUC AC SERVO MOTOR series DESCRIPTIONS (B-65002E)

04 Dec., '91 Addition of AC servo amplifier for two motors.

(1) Models 1-0S/3000, 5S/3000, 108/3000,208/3000,

308/3000,408/2000, 2-0SP, 1-08P, and 1-08P/
3000 have been added to the S series motors.
(2) Models OT/3000, ST/2000, 5T/3000, lOT/2000,
03 J une, '91
and lOT/3000 have been added to the T series
motors.
(3) Descriptions of the C series servo amplifiers
ha ve been added.

(1) Cor rection of mo tor models (Chapt. I to Ill)

(2) Correction of models and addition of (1) Addition of AC servo motor F series
transformer (Chapt. IV to VI)
02 July, '88 (3) Addition oflarge-scale servo amplifier (Cha pt. 06 Apr., '93 (Z) Correction of errors I
VII)
(4) Correction of chapter number (Chapt. IX)
(5) Addition of Appendix 1 and 2

01 July, '87 Addition of AC servo amp. AOGB-6066-MOOB I

05 Aug., '92
Correction of errors

Edition Date Contents Edition Date Contents

· No part of this manual may be
reproduced in any form.

· All specifications and designs

are subject to change without
notice.