fanuc B-65285EN, B-65325EN User Manual

FANUC AC SERVO MOTOR @* series

DESCRIPTIONS

B-65262EN/06

• No part of this manual may be reproduced in any form.

• All specifications and designs are subject to change without notice.

The products in this manual are controlled based on Japan’s “Foreign Exchange and Foreign Trade Law”. The export from Japan may be subject to an export license by the government of Japan. Further, re-export to another country may be subject to the license of the government of the country from where the product is re-exported. Furthermore, the product may also be controlled by re-export regulations of the United States government. Should you wish to export or re-export these products, please contact FANUC for advice.

The products are manufactured under strict quality control. However, when using any of the products in a facility in which a serious accident or loss is predicted due to a failure of the product, install a safety device.

In this manual we have tried as much as possible to describe all the various matters. However, we cannot describe all the matters which must not be done, or which cannot be done, because there are so many possibilities. Therefore, matters which are not especially described as possible in this manual should be regarded as ”impossible”.

B-65262EN/06 SAFETY PRECAUTIONS

SAFETY PRECAUTIONS

This “Safety Precautions” section describes the precautions which must be observed to ensure safety when using FANUC AC servo motors. Users of any servo motor model are requested to read this "Safety Precautions" carefully before using the servo motor. The users are also requested to read this manual carefully and understand each function of the motor for correct use. The users are basically forbidden to do any behavior or action not mentioned in the "Safety Precautions." They are invited to ask FANUC previously about what behavior or action is prohibited.

Contents

DEFINITION OF WARNING, CAUTION, AND NOTE.........................................................................s-1

WARNING.................................................................................................................................................s-2

CAUTION..................................................................................................................................................s-4

NOTE .........................................................................................................................................................s-5

CAUTION LABEL .................................................................................................................................... s-6

DEFINITION OF WARNING, CAUTION, AND NOTE

This manual includes safety precautions for protecting the user and preventing damage to the machine. Precautions are classified into Warning and Caution according to their bearing on safety. Also, supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly before attempting to use the machine.

WARNING

Applied when there is a danger of the user being injured or when there is a

damage of both the user being injured and the equipment being damaged if the approved procedure is not observed.

CAUTION

Applied when there is a danger of the equipment being damaged, if the

approved procedure is not observed.

NOTE

The Note is used to indicate supplementary information other than Warning and

Caution.

Those items described in CAUTION, if not observed, may lead to a serious result, depending on the situation. Each description of CAUTION provides important information. So, be sure to observe CAUTION.

- Read this manual carefully, and store it in a safe place.

s-1

SAFETY PRECAUTIONS B-65262EN/06

WARNING

- Be sure to ground a motor frame.

To avoid electric shocks, be sure to connect the grounding terminal in the terminal box to the grounding terminal of the machine.

- Before starting to connect a motor to electric wires, make sure they are isolated from an electric power source.

A failure to observe this caution is vary dangerous because you may get electric shocks.

- Do not ground a motor power wire terminal or short-circuit it to another power wire terminal.

A failure to observe this caution may cause electric shocks or a burned wiring. * Some motors require a special connection such as a winding changeover. Refer to Chapter 7,

“OUTLINE DRAWINGS” for details.

- When connecting a cord such as a power line to the terminal block, use specified tightening torque to firmly connect the cord.

If operation is performed with a loose terminal, the terminal block can overheat, resulting in a fire. Moreover, a terminal can be detached, resulting in a ground fault, short circuit, or electric shock.

- Do not apply current when a terminal of the terminal block or the crimp terminal of a power line is exposed.

If the hand or a conductive object touches a terminal of the terminal block or the crimp terminal of a power line, you may get electric shocks. Attach an insulation cover (accessory) onto the terminal block. Moreover, cover the crimp terminal at the tip of a power line with an insulation tube.

- Assemble and install a power connector securely.

If a power line is detached due to a failure in crimping or soldering, or a conductive area is exposed due to a failure in shell assembly, you may get electric shocks.

- Do not touch a motor with a wet hand.

A failure to observe this caution is vary dangerous because you may get electric shocks.

- Before touching a motor, shut off the power to it.

Even if a motor is not rotating, there may be a voltage across the terminals of the motor. Especially before touching a power supply connection, take sufficient precautions. Otherwise you may get electric shocks.

- Do not touch any terminal of a motor for a while (at least 5 minutes) after the power to the motor is shut off.

High voltage remains across power line terminals of a motor for a while after the power to the motor is shut off. So, do not touch any terminal or connect it to any other equipment. Otherwise, you may get electric shocks or the motor and/or equipment may get damaged.

- On the machine, install a stop device for securing safety.

The brake built into the servo motor is not a stop device for securing safety. The machine may not be held if a failure occurs.

- Do not enter the area under the vertical axis without securing safety.

If a vertical axis drop occurs unexpectedly, you may be injured.

s-2

B-65262EN/06 SAFETY PRECAUTIONS

WARNING

- Fasten a motor firmly before driving the motor.

If a motor is driven when the motor is not fastened firmly or is fastened insufficiently, the motor can tumble or is removed, resulting in a danger. If the motor mounting section is not sufficiently strong, the machine may be damaged or the user may be injured.

- Do not get close to a rotary section of a motor when it is rotating.

When a motor is rotating, clothes or fingers can be caught, resulting in an injury.

- Do not drive a motor with an object such as a key exposed.

An object such as a key can be thrown away, resulting in an injury. Before rotating a motor, check that there is no object that is thrown away by motor rotation.

- Do not apply a radial load exceeding the "allowable radial load".

The shaft can break, and components can be thrown away. When the vertical axis is involved, a vertical axis drop can occur.

- To drive a motor, use a specified amplifier and parameters.

An incorrect combination of a motor, amplifier, and parameters may cause the motor to behave unexpectedly. This is dangerous, and the motor may get damaged.

- Make sure that the load inertia ratio is not greater than specified value.

If the motor stops from its maximum rotational speed with greater than specified load inertia ratio, the resistor element of the dynamic brake may become abnormally hot, possibly causing damage to the dynamic brake and a fire.

- Do not bring any dangerous stuff near a motor.

Motors are connected to a power line, and may get hot. If a flammable is placed near a motor, it may be ignited, catch fire, or explode.

- Be safely dressed when handling a motor.

Wear safety shoes or gloves when handling a motor as you may get hurt on any edge or protrusion on it or electric shocks.

- Use a crane or lift to move a motor from one place to another.

A motor is heavy, so that if you lift a motor by hand, you may be exposed to various risks. For example, the waist can be damaged, and the motor can drop to injure you. Use equipment such as a crane as needed. (For the weight of a motor, see Chapter 6, "SPECIFICATIONS".)

- Do not touch a motor when it is running or immediately after it stops.

A motor may get hot when it is running. Do not touch the motor before it gets cool enough. Otherwise, you may get burned.

- Be careful not get your hair or cloths caught in a fan.

Be careful especially for a fan used to generate an inward air flow. Be careful also for a fan even when the motor is stopped, because it continues to rotate while the amplifier is turned on.

- Install the components around a motor securely.

If a component is displaced or removed during motor rotation, a danger can result.

s-3

SAFETY PRECAUTIONS B-65262EN/06

CAUTION

- Use the eyebolt of a motor to move the motor only.

When a motor is installed on a machine, do not move the machine by using the eyebolt of the motor. Otherwise, the eyebolt and motor can be damaged.

- Do not disassemble a motor.

Disassembling a motor may cause a failure or trouble in it. If disassembly is in need because of maintenance or repair, please contact a service representative of FANUC. For pulse coder replacement, refer to the maintenance manual (B-65285EN or B-65325EN).

- Do not machine and modify a motor.

Do not machine and modify a motor in any case except when motor machining or modification is specified by FANUC. Modifying a motor may cause a failure or trouble in it.

- Do not conduct dielectric strength or insulation test for a sensor.

Such a test can damage elements in the sensor.

- Be sure to connect motor cables correctly.

An incorrect connection of a cable cause abnormal heat generation, equipment malfunction, or failure. Always use a cable with an appropriate current carrying capacity (or thickness). For how to connect cables to motors, refer to Chapter 7, “OUTLINE DRAWINGS”.

- Do not apply shocks to a motor or cause scratches to it.

If a motor is subjected to shocks or is scratched, its components may be adversely affected, resulting in normal operation being impaired. Plastic components and sensors can be damaged easily. So, handle those components very carefully. In particular, do not lift a motor by using a plastic component, connector, terminal block, and so forth.

- Do not step or sit on a motor, and do not put a heavy object on a motor.

If you step or sit on a motor, it may get deformed or broken. Do not put a motor on another unless they are in packages.

- When attaching a component having inertia, such as a pulley, to a motor, ensure that any imbalance between the motor and component is minimized.

If there is a large imbalance, the motor may vibrates abnormally, resulting in the motor being broken.

- Be sure to attach a key to a motor with a keyed shaft.

If a motor with a keyed shaft runs with no key attached, it may impair torque transmission or cause imbalance, resulting in the motor being broken.

- Use a motor under an appropriate environmental condition.

Using a motor in an adverse environment may cause a failure or trouble in it. Refer to Chapter 3, “USAGE” for details of the operating and environmental conditions for motors.

- Do not apply a commercial power source voltage directly to a motor.

Applying a commercial power source voltage directly to a motor may result in its windings being burned. Be sure to use a specified amplifier for supplying voltage to the motor.

s-4

B-65262EN/06 SAFETY PRECAUTIONS

CAUTION

- Do not use the brake built into a motor for braking.

The brake built into a servo motor is designed for holding. If the brake is used for braking, a failure can occur.

- Ensure that motors are cooled if they are those that require forcible cooling.

If a motor that requires forcible cooling is not cooled normally, it may cause a failure or trouble. For a fan-cooled motor, ensure that it is not clogged or blocked with dust and dirt. For a liquid-cooled motor, ensure that the amount of the liquid is appropriate and that the liquid piping is not clogged. For both types, perform regular cleaning and inspection.

- When storing a motor, put it in a dry (non-condensing) place at room temperature (0 to 40 °C).

If a motor is stored in a humid or hot place, its components may get damaged or deteriorated. In addition, keep a motor in such a position that its shaft is held horizontal and its terminal box is at the top.

- FANUC motors are designed for use with machines. Do not use them for any other purpose.

If a FANUC motor is used for an unintended purpose, it may cause an unexpected symptom or trouble. If you want to use a motor for an unintended purpose, previously consult with FANUC.

NOTE

- Ensure that a base or frame on which a motor is mounted is strong enough.

Motors are heavy. If a base or frame on which a motor is mounted is not strong enough, it is impossible to achieve the required precision.

- Do not remove a nameplate from a motor.

If a nameplate comes off, be careful not to lose it. If the nameplate is lost, the motor becomes unidentifiable, resulting in maintenance becoming impossible.

- When testing the winding or insulation resistance of a motor, satisfy the conditions stipulated in IEC60034.

Testing a motor under a condition severer than those specified in IEC60034 may damage the motor.

- For a motor with a terminal box, make a conduit hole for the terminal box in a specified position.

When making a conduit hole, be careful not to break or damage unspecified portions. Refer to an applicable specification manual.

- Before using a motor, measure its winding and insulation resistances, and make sure they are normal.

Especially for a motor that has been stored for a prolonged period of time, conduct these checks. A motor may deteriorate depending on the condition under which it is stored or the time during which it is stored. For the winding resistances of motors, refer to their respective specification manuals, or ask FANUC. For insulation resistances, see the following table.

s-5

SAFETY PRECAUTIONS B-65262EN/06

NOTE

- To use a motor as long as possible, perform periodic maintenance and inspection for it, and check its winding and insulation resistances.

Note that extremely severe inspections (such as dielectric strength tests) of a motor may damage its windings. For the winding resistances of motors, refer to Chapter 6, “SPECIFICATIONS”, or ask FANUC. For insulation resistances, see the following table.

MOTOR INSULATION RESISTANCE MEASUREMENT

Measure an insulation resistance between each winding and motor frame using an insulation

resistance meter (500 VDC). Judge the measurements according to the following table. Make an insulation resistance measurement on a single motor unit after detaching cords such as a power line.

Insulation resistance Judgment

100 MΩ or higher Acceptable

10 to 100 MΩ

1 to 10 MΩ

Lower than 1 MΩ Unacceptable. Replace the motor.

The winding has begun deteriorating. There is no problem with the performance at present. Be sure to perform periodic inspection. The winding has considerably deteriorated. Special care is in need. Be sure to perform periodic inspection.

CAUTION LABEL

The following label is attached to the motor. Attach this label to a prominent place on the motor to call attention to the user.

Heat caution label

(compliance with the IEC

standard)

Heat caution label

Since the motor is heated to a high temperature during operation or immediately after a stop, touching the motor may cause a burn. So, attach this label to a prominent place to call attention when the surface is exposed and may be touched.

Remark:

The mark of this label conforms to the IEC standard, which is a global standard.

The mark has the meaning of heat caution, so the description is omitted.

s-6

B-65262EN/06 PREFACE

PREFACE

This manual describes the specifications, outline drawings, detectors and other options, usage, and selection method of the FANUC AC Servo Motor α

This manual describes the layout of power pins and the output of detector signals but does not provide information about connection to a servo amplifier and an CNC. For the connection, refer to "FANUC

SERVO AMPLIFIER α

i series Descriptions (B-65282EN)", "FANUC SERVO AMPLIFIER βi series

Descriptions (B-65322EN)", and "Maintenance Manual (B-65285EN)".

In this manual, servo motor names are sometimes abbreviated as follows: Example) α

iS 30/4000 →αiS 30

Related manuals

The following five kinds of manuals are available for FANUC SERVO MOTOR αi series. In the table, this manual is marked with an asterisk (*).

Document name

FANUC AC SERVO MOTOR αi series DESCRIPTIONS

FANUC SERVO AMPLIFIER αi series DESCRIPTIONS

FANUC SERVO AMPLIFIER βi series DESCRIPTIONS

FANUC AC SERVO MOTOR αi series FANUC AC SPINDLE MOTOR αi series

FANUC SERVO AMPLIFIER α MAINTENANCE MANUAL FANUC AC SERVO MOTOR αi series FANUC AC SERVO MOTOR β FANUC LINEAR MOTOR LiS series FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR D PARAMETER MANUAL

iS series

i series

Document

number

B-65262EN

B-65282EN

B-65322EN

B-65285EN

B-65270EN

i series (αiS/αiF series).

Major contents Major usage

• Specification

• Characteristics

• External dimensions

• Specifications and

functions

• Installation

• External dimensions

and maintenance area

• Connections

• Start up procedure

• Troubleshooting

• Maintenance of motor

• Initial setting

• Setting parameters

• Description of

parameters

• Selection of motor

• Connection of motor

• Selection of amplifier

• Connection of

amplifier

• Start up the system

(Hardware)

• Troubleshooting

• Maintenance of motor

• Start up the system

(Software)

• Tuning the system

(Parameters)

*

p-1

B-65262EN/06 TABLE OF CONTENTS

1 GENERAL

Chapter 1, "GENERAL", consists of the following sections:

1.1 LINEUP OF THE SERIES ...................................................................................................................1

1.2 FEATURE.............................................................................................................................................2

1.1 LINEUP OF THE SERIES

The FANUC AC Servo Motor αi series consist of the following series, each of which has the listed characteristics.

Series Voltage Stall torque Feature Applications

αiS

αiF

Lineup

Stall torque

Nm

Flange size

mm

αiS

Stall torque

Nm

200V 2 to 500 N⋅m

400V 2 to 3000 N⋅m

High acceleration models for high-acceleration machine

α

iS models applicable to 400VAC input

200V 1 to 53 N⋅m Medium Inertia models for Axis feed of machine tools

α

400V 4 to 22 N⋅m

iF models applicable to 400VAC input

2 4 8 12 22 30 40 50 60 100 200 300 500 1000 2000 3000

90 130 174 265 380 500

αiS 2

αiS 4

αiS 8

αiS 12

αiS 22

αiS 30

αiS 40

αiS 50

αiS 60

αiS 100

αiS 200

/5000

/4000

/2000

/2500

αiS 300

/2500

200V

αiS 50

αiS 60

αiS 100

/2500

FAN

αiS 100

/2500

HV

αiS 100

/2500

HV FAN

αiS 200

/2500

FAN

αiS 200

/2500

HV

αiS 200

/2500

HV FAN

αiS 300

400V

S 2

αi

/6000

αiS 2

/5000

HV

S 2

αi

/6000

HV

αiS 4

/6000

αiS 4

/5000

HV

αiS 4

/6000

HV

αiS 8

/6000

αiS 8

/4000

HV

αiS 8

/6000

HV

αiS 12

/6000

αiS 12

/4000

HV

αiS 12

/6000

HV

αiS 22

/6000

αiS 22

/4000

HV

αiS 22

/6000

HV

αiS 30

αiS 40

/4000

HV

/3000

FAN

αiS 50

/2000

HV

αiS 50

/3000

HV FAN

/3000

FAN

αiS 60

/2000

HV

αiS 60

/3000

HV FAN

1 2 4 8 12 22 30 40

αiS 500

/2000

αiS 500

/2000

HV

αiS 500

/3000

HV

Lathe Machining Center Grinding Machine

αiS 1000

/2000 HV

αiS 1000

/3000 HV

αiS 2000

/2000 HV

αiS 3000

/2000 HV

Flange size

mm

90 130 174

αiF 40

/3000

αiF 40

/3000

FAN

αiF

200V

400V

F 1

αiF 2

αi

/5000

αiF 4

/4000

αiF 4

/4000

HV

αiF 8

/3000

αiF 8

/3000

HV

αiF 12

/3000

αiF 12

/3000

HV

αiF 22

/3000

αiF 22

/3000

HV

αiF 30

- 1 -

1.GENERAL B-65262EN/06

1.2 FEATURE

The FANUC AC Servo Motor αi series has been designed for machine tool feed axis applications. This servo motor α

Compact

The use of a latest magnet and the optimized mechanical design reduce the total length and weight, therefore realizing light, compact motors.

Smooth rotation

The special magnetic pole shape which minimizes torque ripples which, when combined with precise current control and accurate Pulsecoder feedback, enables extremely smooth motor rotation.

Excellent acceleration

The use of a special rotor shape brings small and light motors, and a high level of torque. These motors, therefore, provide excellent acceleration characteristics.

Wide continuous-operating zone

High-density winding, low iron loss by the optimum core shape, and the use of the latest servo software reduce heat generation during high-speed rotation to a minimum and allow a wide continuous operating zone.

Controllability

The use of the latest servo software maintains controllability even when a disturbance occurs.

High reliability

A totally-enclosed, friction-free brushless design is used. This allows the servo motors to be used in demanding environments with no need for special checks or maintenance.

Excellent drip-proofing

The use of waterproof connectors and FANUC's unique stator seal provide excellent drip-proofing, which prevent ingress of liquid, such as coolant.

Built-in, high-precision encoder

A low-indexing-error optical encoder (Pulsecoder) is built into the motors. This Pulsecoder enables precise positioning. Pulsecoders have the resolution of 1,000,000 or 16,000,000 per revolution. As such, the motors can be used for positioning applications ranging from simple positioning to those requiring a high degree of precision.

Powerful brake

A powerful brake with an increased holding torque is available as an option. The brake uses an asbestos-free design.

200-V and 400-V power supply specifications

A lineup of 400-V power supply specification motors is provided in addition to the 200-V power supply specification motors. A suitable motor can be selected according to the local power supply specification.

i series has the following features:

- 2 -

B-65262EN/06 1.GENERAL

αi series

- 3 -

2.ORDERING SPECIFICATION NUMBER B-65262EN/06

2 ORDERING SPECIFICATION NUMBER

This chapter provides information about the ordering specification numbers and types of the FANUC AC Servo Motor α

Chapter 2, "ORDERING SPECIFICATION NUMBER", consists of the following sections:

2.1 ORDERING SPECIFICATION NUMBER..........................................................................................4

2.2 APPLICABLE AMPLIFIERS ..............................................................................................................8

2.1 ORDERING SPECIFICATION NUMBER

The ordering specification numbers of the servo motors have the following format:

A06B-□□□□-B△○▽#◎◎◎◎

□□□□

An ordering specification number are described on the tables after next page.

* Every combination doesn’t exist.

△

0 : Taper shaft 1 : Straight shaft 2 : Straight shaft with a key groove 3 : Taper shaft with a 24VDC brake 4 : Straight shaft with a 24VDC brake 5 : Straight shaft with a key way and a 24VDC brake

* Do not select "Straight shaft with a key groove" when a large torque or abrupt acceleration rate

○

0 : Standard 1 : With a fan 2 : With a high-torque brake 3 : With a high-torque brake and a fan 4 : With a strong fan 5 : With a fan

* When "With a high-torque brake" is selected (○

▽

0 : Pulsecoder α 1 : Pulsecoder α 2 : Pulsecoder α

◎◎◎◎

0000 : Standard 0100 : IP67 specification

i series.

is required.

= 2 or 3), specify△ = 3 to 5.

iA 1000 iI 1000 iA 16000

- 4 -

B-65262EN/06 2.ORDERING SPECIFICATION NUMBER

* Omitted in case of #0000.

The following table lists the allowable combinations of numbers represented by symbols in ordering specification numbers.

αiS series (200V)

A06B-□□□□-B△○▽#◎◎◎◎

Symbol in

specification

Servo motor name

αiS 2/5000 αiS 2/6000 αiS 4/5000 αiS 4/6000 αiS 8/4000 αiS 8/6000

αiS 12/4000 αiS 12/6000 αiS 22/4000 αiS 22/6000 αiS 30/4000

αiS 40/4000

αiS 50/2000

αiS 60/2000

αiS 50/3000 with fan

αiS 60/3000 with fan

αiS 100/2500

αiS 100/2500 with fan

αiS 200/2500

αiS 200/2500 with fan

αiS 300/2000 αiS 500/2000

No.

□□□□

0212

0218

0215

0210

0235

0232

0238

0230

0265

0262

0268

0272

0042

0044

0275

0278

0285

0288

0292

0295

0 123450123450 1 2 0000 0100

○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○

－－－ ○ ○ ○ －－ ○ －－－ ○ ○ ○ ○ ○ ○ ○ －－－－ ○ －－－－－ ○ ○ ○ ○ ○ －－－ ○ ○ －－－ ○ －－－ ○ ○ ○ ○ ○ ○ ○ －－－－ ○ －－－－－ ○ ○ ○ ○ ○ －－－ ○ ○ －－－ ○ －－－ ○ ○ ○ ○ ○

○ ○ － ○ ○ －－ ○ －－－－ ○ ○ ○ ○ －

－－－ ○ ○ －－－－ ○ －－ ○ ○ ○ ○ －

○ ○ －－－－－ ○ －－－－ ○ ○ ○ ○ －

－－－ ○ ○ －－－－ ○ －－ ○ ○ ○ ○ －

○ －－ ○ －－ ○ －－－－－ ○ －－ ○ ○ ○ －－ ○ －－－ ○ －－－－ ○ －－ ○ － ○ －－ ○ －－ ○ －－－－－ ○ －－ ○ ○ ○ －－ ○ －－－ ○ －－－－ ○ －－ ○ － ○ －－－－－－ ○ －－－－ ○ －－ ○ － ○ －－－－－－ ○ －－－－ ○ －－ ○ －

* When ◎◎◎◎ is #0000, omit the specification of ◎◎◎◎. * Specify △ = 3 to 5 in the case of ○ = 2 or 3.

△ ○ ▽ ◎◎◎◎

- 5 -

2.ORDERING SPECIFICATION NUMBER B-65262EN/06

αiS series (400V)

A06B-□□□□-B△○▽#◎◎◎◎

Symbol in

specification

No.

Servo motor name

αiS 2/5000 HV αiS 2/6000 HV αiS 4/5000 HV αiS 4/6000 HV αiS 8/4000 HV αiS 8/6000 HV

αiS 12/4000 HV αiS 12/6000 HV αiS 22/4000 HV αiS 22/6000 HV αiS 30/4000 HV

αiS 40/4000 HV

αiS 50/2000 HV

αiS 60/2000 HV

αiS 50/3000 HV with fan

αiS 60/3000 HV with fan

αiS 100/2500 HV

αiS 100/2500 HV with fan

αiS 200/2500 HV

αiS 200/2500 HV with fan

αiS 300/2000 HV αiS 300/3000 HV αiS 500/2000 HV αiS 500/3000 HV

αiS 1000/2000 HV αiS 1000/3000 HV αiS 2000/2000 HV αiS 3000/2000 HV

□□□□

0213

0219

0216

0214

0236

0233

0239

0237

0266

0263

0269

0273

0043

0045

0276

0279

0286

0289

0293

0290

0296

0297

0098

0099

0091

0092

012345012345 0 1 2 0000 0100

○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○

－－－ ○ ○ ○ －－ ○ －－－ ○ ○ ○ ○ ○ ○ ○ －－－－ ○ －－－－－ ○ ○ ○ ○ ○ －－－ ○ ○ －－－ ○ －－－ ○ ○ ○ ○ ○ ○ ○ －－－－ ○ －－－－－ ○ ○ ○ ○ ○ －－－ ○ ○ －－－ ○ －－－ ○ ○ ○ ○ ○ ○ ○ － ○ ○ －－ ○ －－－－ ○ ○ ○ ○ －－－－ ○ ○ －－－－ ○ －－ ○ ○ ○ ○ － ○ ○ －－－－－ ○ －－－－ ○ ○ ○ ○ －－－－ ○ ○ －－－－ ○ －－ ○ ○ ○ ○ － ○ －－ ○ －－ ○ －－－－－ ○ －－ ○ ○

○ －－ ○ －－－ ○ －－－－ ○ －－ ○ － ○ －－ ○ －－ ○ －－－－－ ○ －－ ○ ○ ○ －－ ○ －－－ ○ －－－－ ○ －－ ○ － ○ －－－－－－ ○ －－－－ ○ －－ ○ － ○ －－－－－－ ○ －－－－ ○ －－ ○ － ○ －－－－－－ ○ －－－－ ○ －－ ○ － ○ －－－－－－ ○ －－－－ ○ －－ ○ － ○ －－－－－－ ○ －－－－ ○ －－ ○ － ○ －－－－－－－－－－ ○ ○ －－ ○ － ○ －－－－－－－－－ ○ － ○ －－ ○ － ○ －－－－－－－－－ ○ － ○ －－ ○ －

△ ○ ▽ ◎◎◎◎

* When ◎◎◎◎ is #0000, omit the specification of ◎◎◎◎. * Specify △ = 3 to 5 in the case of ○ = 2 or 3.

- 6 -

B-65262EN/06 2.ORDERING SPECIFICATION NUMBER

αiF series (200V)

A06B-□□□□-B△○▽#◎◎◎◎

Symbol in

specification

Servo motor name

αiF 1/5000 αiF 2/5000 αiF 4/4000

αiF 8/3000 αiF 12/3000 αiF 22/3000 αiF 30/3000

αiF 40/3000

αiF 40/3000 with fan

No.

□□□□

0202

0205

0223

0227

0243

0247

0253

0257

△ ○ ▽

0 1 2 3 4 5 0 1 2 3 4 5 0 1 2 0000 0100

○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○

－－－ ○ ○ ○ －－ ○ －－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ － ○ －－－－ ○ ○ ○ ○ －－－－ ○ ○ ○ －－－ ○ －－ ○ ○ ○ ○ －

◎◎◎◎

* When ◎◎◎◎ is #0000, omit the specification of ◎◎◎◎. * Specify △ = 3 to 5 in the case of ○ = 2 or 3.

αiF series (400V)

A06B-□□□□-B△○▽#◎◎◎◎

Symbol in

specification

Servo motor name

αiF 4/4000 HV

αiF 8/3000 HV αiF 12/3000 HV αiF 22/3000 HV

No.

□□□□

0225

0229

0245

0249

0 1 2 3 4 5 0 1 2 3 4 5 0 1 2 0000 0100

○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ ○ －－－－－ ○ ○ ○ ○ ○

* When ◎◎◎◎ is #0000, omit the specification of ◎◎◎◎.

△ ○ ▽ ◎◎◎◎

- 7 -

2.ORDERING SPECIFICATION NUMBER B-65262EN/06

2.2 APPLICABLE AMPLIFIERS

The FANUC AC Servo Motor αi series can be driven using FANUC Servo Amplifier αiSV series or

iSV series.

β

For the ordering specification numbers of servo amplifiers, refer to "FANUC SERVO AMPLIFIER α series Descriptions (B-65282EN)" or "FANUC SERVO AMPLIFIER β

(B-65322EN)".

Combinations of αiS/αiF servo motors and αiSV/βiSV servo amplifiers

(200 V, 160 A or less)

Stall torque 1 2 4 8 12

Amplifier

αiSV 20

αiSV 20L

αiSV 40

αiSV 40L

αiSV 80 αiSV 80L αiSV 160

αiSV 160L

αiSV 4/20

αiSV 20/20

αiSV 20/20L

αiSV 20/40

αiSV 20/40L

αiSV 40/40

αiSV 40/40L

αiSV 40/80

αiSV 40/80L

αiSV 80/80

αiSV 80/80L

αiSV 80/160

αiSV 160/160

αiSV 20/20/20

αiSV 20/20/40

βiSV 20

βiSV 40

βiSV 80

βiSV 20/20

Motor

αiS

αiF

- O O O O O

- O O

- O O O

- O

L axis

M axis O O O O O

L axis O O O O O

M axis O O O O O

L axis O O O O O

M axis O O

L axis O O

M axis O O

L axis O O

M axis O O O

L axis O O O

M axis O O O

L axis O O O

M axis O

L axis O

M axis O

L axis O O O O O M axis O O O O O N axis O O O O O

L axis O O O O O M axis O O O O O N axis O O

- O O O O O

- O O

- O O O

L axis O O O O O M axis O O O O O

αiF 1

/5000

αiS 2

/5000

αiF 2

/5000

αiS 2

αiS 4

/6000

/5000

/6000

αiF 4

αiF 8

/4000

/3000

αiS 8

/4000

i series Descriptions

αiS 8

αiS12

/6000

/4000

/6000

αiF12

/3000

i

- 8 -

B-65262EN/06 2.ORDERING SPECIFICATION NUMBER

Stall torque 22 30 40 50 60

Motor

αiS

αiS22

/4000

αiS22

/6000

αiS30

/4000

αiS40

/4000

αiS50

/2000

αiS60

/2000

Amplifier

αiSV 20

αiSV 20L

αiSV 40

αiSV 40L

αiSV 80 αiSV 80L αiSV 160

αiSV 160L

αiSV 4/20

αiSV 20/20

αiSV 20/20L

αiSV 20/40

αiSV 20/40L

αiSV 40/40

αiSV 40/40L

αiSV 40/80

αiSV 40/80L

αiSV 80/80

αiSV 80/80L

αiSV 80/160

αiSV 160/160

αiSV 20/20/20

αiSV 20/20/40

βiSV 20 βiSV 40 βiSV 80

βiSV 20/20

αiF

L axis

M axis

L axis

M axis

L axis

M axis

L axis

M axis

L axis

M axis O

L axis O

M axis O

L axis O

M axis O O O O O O

L axis O O O O O O

M axis O O O O O O

L axis M axis N axis

L axis M axis

αiF22

/3000

-

- O

- O O O O O O O

-

- O

αiF30

/3000

αiF40

/3000

αiF40

/3000

FAN

(200 V, 360 A or more)

Stall torque 50 60 100 200 300 500

Motor

Amplifier

αiSV 360

αiSV 360 x2

αiS 50

/3000

αiS 60

FAN

O O O O O O

O O

/3000

FAN

αiS 100

/2500

αiS 100

/2500

FAN

αiS 200

/2500

αiS 200

/2500

FAN

αiS 300

/2000

αiS 500

/2000

(*) For a motor driven by multiple servo amplifier, such as the αiS 300 motor, the torque tandem

control option or the PWM distribution module is required.

- 9 -

2.ORDERING SPECIFICATION NUMBER B-65262EN/06

(400V, 80A or less)

Stall torque 2 4 8 12

Motor

αiS

αiF

Amplifier

αiSV 10HV

αiSV 10HVL

αiSV 20HV

αiSV 20HVL

αiSV 40HV

αiSV 40HVL

αiSV 80HV αiSV 80HV

αiSV 10/10HV

αiSV 10/10HVL

αiSV 20/20HV

αiSV 20/20HVL

αiSV 20/40HV

αiSV 20/40HVL

αiSV 40/40HV

αiSV 40/40HVL

αiSV 40/80HV

αiSV 80/80HV

βiSV 10HV βiSV 20HV βiSV 40HV

L axis O O O O

M axis O O O O

L axis O O

M axis O O

L axis O O

M axis O O O

L axis O O O

M axis O O O

L axis O O O

M axis O

L axis O

M axis O

Stall torque 22 30 40 50 60

Motor

Amplifier

αiSV 10HV

αiSV 10HVL

αiSV 20HV

αiSV 20HVL

αiSV 40HV

αiSV 40HVL

αiSV 80HV αiSV 80HV

αiSV 10/10HV

αiSV 10/10HVL

αiSV 20/20HV

αiSV 20/20HVL

αiSV 20/40HV

αiSV 20/40HVL

αiSV 40/40HV

αiSV 40/40HVL

αiSV 40/80HV

αiSV 80/80HV

βiSV 10HV βiSV 20HV βiSV 40HV

αiS

αiF

L axis

M axis

L axis

M axis

L axis

M axis O

L axis O

M axis O

L axis O

M axis O O O O O O

L axis O O O O O O

M axis O O O O O O

αiS 2

- O O O O

- O O

- O O O

- O

- O O O O

- O O

- O O O

αiF22

-

- O

- O O O O O O

-

- O

αiS 2

/5000

HV

αiS22

/3000

HV

αiS 4

/6000

/5000

HV

αiS22

/4000

HV

/6000

HV

αiS 4

/6000

HV

αiS30

/4000

HV

αiF 4

αiS40

/4000

HV

/4000

HV

αiF 8

/3000

HV

αiS50

/2000

HV

αiS 8

/4000

HV

αiS60

/2000

HV

αiS 8

/6000

HV

αiS12

/4000

HV

αiF12

/3000

HV

αiS12

/6000

HV

- 10 -

B-65262EN/06 2.ORDERING SPECIFICATION NUMBER

(400V, 180A or more)

tall torque 50 60 100 200 300 500

Motor

Amplifier

αiSV 180HV

αiSV 360HV αiSV 360HV x2 αiSV 360HV x4

αiSV 540HV

αiS 50

/3000

HV FAN

αiS 60

HV FAN

O O O O O O

O O

/3000

αiS 100

/2500

HV

αiS 100

/2500

HV FAN

αiS 200

/2500

HV

αiS 200

/2500

HV FAN

αiS 300

/2000

HV

αiS 300

/3000

HV

αiS 500

/2000

HV

αiS 500

/3000

HV

tall torque 1000 2000 3000

Motor

Amplifier

αiSV 180HV

αiSV 360HV αiSV 360HV x2 αiSV 360HV x4

αiSV 540HV

αiS 1000

/2000

αiS 1000

/3000

HV

O

O O O

HV

αiS 2000

/2000

HV

αiS 3000

/2000

HV

(*) For a motor driven by multiple servo amplifier, such as the αiS 1000HV motor, the torque tandem

control option or the PWM distribution module is required.

CAUTION

1 If a motor is used in a combination other than those listed above, it may become

broken.

2 For details on the servo amplifier, refer to "FANUC SERVO AMPLIFIER

series DESCRIPTIONS (B-65282EN)" and “FANUC SERVO AMPLIFIER series DESCRIPTIONS (B-65322EN)”.

3 If you want to use a motor in combination with the α/β series servo amplifier,

consult with FANUC.

i

α

i

β

- 11 -

3.USAGE B-65262EN/06

3 USAGE

This chapter explains how to connect the FANUC AC Servo Motor αi series to the CNC system and how to install it in the machine.

Chapter 3, "USAGE", consists of the following sections:

3.1 USE ENVIRONMENT FOR SERVO MOTORS...............................................................................12

3.2 CONNECTING A SERVO MOTOR .................................................................................................19

3.3 MOUNTING A SERVO MOTOR......................................................................................................21

3.1 USE ENVIRONMENT FOR SERVO MOTORS

3.1.1 Ambient Temperature, Humidity, Installation Height, and

Vibration

Ambient temperature

The ambient temperature should be 0°C to 40°C. If the ambient temperature exceeds this range, the operating conditions must be eased to prevent the motor and detector from overheating. (The values in the data sheet are determined for an ambient temperature of 20°C.)

Ambient humidity

The ambient humidity should be 80%RH or less and no condensation should not be caused.

Installation height

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 1°C at every 100m higher than 1,000m. 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.

Vibration

When installed in a machine, the vibration applied to the motor must not exceed 5G.

If any one of the four environmental conditions (ambient temperature, ambient humidity, installation height, and vibration) specified above is not satisfied, the output must be restricted.

- 12 -

B-65262EN/06 3.USAGE

3.1.2 Usage Considering Environmental Resistance

Overview

The motor is an electric part, and if the lubricant or cutting fluid falls on the motor, it will enter the inside of the motor, possibly adversely affecting the motor. In particular, if the cutting fluid adheres to the motor, it will deteriorate the resin or rubber sealing members, causing a large amount of cutting fluid to enter the inside of the motor and possibly damaging the motor. When using the motor, note the points described below.

Level of motor protection

For the standard type, the level of motor protection is such that a single motor unit can satisfy IP65 of the IEC 60034-5 standard, and a single motor unit of α IEC 60034-5 standard. (Except the fan motor and the connectors of models with a fan. The connectors of

Pulsecoders are water-proof when engaged.) As options, IP67 type motors are also available. (Except models with a fan and the α above. The connectors of Pulsecoders are water-proof when engaged.)

For a description of the drip-proof and water-proof properties of each connector, see the section on that connector.

IP4□ : Machine protected from introduction of solid foreign matter over 1.0 mm Electric cables and wires with a diameter or thickness greater than 1.0 mm do not enter.

IP6□ : Fully dust-proof machine Structure completely free from the entry of dust.

IP□4 : Machine protected form water spray Water sprayed on the motor from any direction will have no harmful effect.

IP□5 : Machine protected from injected water Water injected from a nozzle to the machine in any direction does not have a harmful impact on the

machine.

IP□7 : Machine protected from the effect of seeping water If the machine is immersed in water at a prescribed pressure for a prescribed duration, there is no

possibility that an amount of water that has a harmful impact on the machine enters the machine.

If sufficient water-proof performance is required, as in the case in which a motor is used in a cutting fluid mist atmosphere, specify an IP67 type motor. Note that both the standard and IP67 types satisfy the provisions for short-time water immersion, and do not guarantee their water-proof performance in an atmosphere in which the cutting fluid is applied directly to the motor. Before actual use, note the points described below.

Motor periphery

If the cutting fluid or lubricant falls on the motor, it will adversely affect the sealing properties of the motor surface, entering the inside of the motor and possibly damaging the motor. Note the following points on use.

Make sure that the motor surface is never wet with the cutting fluid or lubricant, and also make sure that no fluid builds up around the motor. If there is a possibility of the surface being wet, a cover is required. Be sure to mount a cover even when using an IP67 type motor.

iS 2000/2000HV and above can satisfy IP44 of the

iS 300/2000 and

- 13 -

3.USAGE B-65262EN/06

If the cutting fluid is misted, the cutting fluid may be condensed on the inside of the cover and fall on the motor. Make sure that no condensed droplets fall on the motor.

Completely separate the machining area from the motor area, using a telescopic cover, accordion curtain, and so on. Note that partitions such as accordion curtains are consumable and require periodic inspection for damage.

Output shaft seal (oil seal)

For all models, the shaft of the servo motor is provided with an oil seal to prevent entry of oil and other fluids into the motor. It does not, however, completely prevent the entry of lubricant and other fluids depending on the working conditions. Note the following points on use.

When the motor is rotating, the oil seal has an effect of discharging any oil that enters, but if it is pressurized for a long time when the motor is stopped, it may allow oil to enter through the lip. When lubrication with an oil bath is conducted for gear engagement, for example, the oil level must be below the lip of the oil seal of the shaft, and the oil level must be adjusted so that the oil does nothing but splash on the lip.

Diameters of the oil seal lips of motor shafts

Motor model Oil seal diameter

αiS 2, αiS 4, αiS 2 HV, αiS 4 HV, αiF 1, αiF 2 αiS 8, αiS 12, αiS 8 HV, αiS 12 HV, αiF 4, αiF 8, αiF 4 HV, αiF 8 HV αiS 22, αiS 30, αiS 40, α

iS 22 HV, αiS 30 HV, αiS 40 HV,

αiF 12, αiF 22, αiF 30, αiF 12 HV, αiF 22 HV

(Only the straight shaft type of the following)

α

iS 50, αiS 50 HV, αiS 60, αiS 60 HV, αiF 40

* Including those equipped with fans. (Only the taper shaft type of the following) αiS 50, αiS 50 HV, αiS 60, αiS 60 HV, αiF 40 * Including those equipped with fans. αiS 100, αiS 200, αiS 100 HV, αiS 200 HV * Including those equipped with fans.

αiS 300, αiS 500, αiS 300 HV, αiS 500 HV αiS 1000 HV

φ15 [mm]

φ24 [mm]

φ35 [mm]

φ38 [mm]

φ55 [mm] φ65 [mm]

φ80 [mm]

- 14 -

B-65262EN/06 3.USAGE

Motor model Oil seal diameter

αiS 2000 HV, αiS 3000 HV

φ120 [mm]

If the shaft is directed upward so that it is constantly immersed in oil, the oil seal of the motor alone does not provide sufficient sealing. If grease is used for lubrication, the properties of the oil seal are generally impaired. In these cases, a special design is required. For example, another oil seal is mounted on the machine side and a drain is provided so that any oil passing through that seal can is discharged outside.

Oil, grease

Drain hole

Oil seal

In such an environment in which the lip of the oil seal switches between dry and wet states repeatedly, if the cutting fluid flies about after the lip has worn in a dry state, the cutting fluid may easily enter the inside of the motor. In this case, provide a cover, etc. so that no cutting fluid is applied to the oil seal of the motor.

Ensure that no pressure is applied to the lip of the oil seal.

The cutting fluid does not provide lubrication for the oil seal lip, so that the fluid may easily enter the seal. Provide a cover so that no cutting fluid is applied to the oil seal.

The oil seal lip is made of rubber, and if foreign matters such as cutting chips get in, it will be easily worn, losing its sealing properties. Provide a cover, etc. to prevent cutting chips from entering near the lip.

Motor coupling

If a coupling box exists between the motor and the machine, employ the structure described below so that no cutting fluid builds up in the box.

Provide a cover for the top and sides of the coupling box.

Provide a drain hole at the bottom of the coupling box. The hole must be large enough to avoid clogging. Make sure that any cutting fluid that bounces back is not applied from the drain hole to the motor.

Partition

Cover

Machining area

Drain

Motor

Coupling box

Motor area

The cutting fluid leaks from a gap in the accordion curtain to the motor area, and builds up in the coupling box. While the motor is moving, the cutting fluid ripples, splashing on the oil seal of the motor.

- 15 -

3.USAGE B-65262EN/06

The cutting fluid enters the inside of the motor there in large quantities, deteriorating the insulation of the motor.

There is a gap, so the cutting fluid enters the motor area.

Accordion curtain

No cover, thus the cutting fluid falls in the box.

Machining area

Drain

The hole is too small, and clogged.

Coupling box

Motor

Motor area

Connectors

Note the following points on use:

Make sure that no cutting fluid is introduced to the motor via cables. If the motor connector is used horizontally, this can be accomplished by forming a slack in the cable.

If the motor connector is directed upward, the cutting fluid collects into the cable connector. Whenever possible, direct the motor connector sideways or downward.

If there is a possibility of the power cable and the power connector being wet, it is recommended to use the water-proof connector plug recommended in this DESCRIPTIONS for the connector and a oil-proof cable as the power cable. (Oil-proof cable example: PUR (polyurethane) series made by LAPP)

If using a conduit hose for cable protection purposes, use the seal adapter recommended in this DESCRIPTIONS.

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B-65262EN/06 3.USAGE

The feedback cable connector provides IP67 water-proof performance when it is engaged with the pulse coder connector. If the feedback cable connector is not fully engaged, the cutting fluid will enter the inside of the pulse coder from the connector, possibly causing a failure. Install the connector properly in accordance with the feedback cable engagement procedure described in this DESCRIPTIONS and check that it is engaged securely.

If the feedback cable connector cannot provide sufficient water resistance due to an assembly failure, the cutting fluid will enter the inside of the pulse coder from the connector, possibly causing a failure. When manufacturing a feedback cable connector, assemble it properly in accordance with the operator's manual issued by the connector manufacturer.

Notes on cutting fluid

Cutting fluid containing highly active sulfur, oil-free cutting fluid called synthetic cutting fluid, and highly alkaline, water-soluble cutting fluid in particular significantly affect the CNC, motor, or amplifier. Even when these components are protected from direct spraying of cutting fluid, problems as described below may arise. So special care should be taken.

• Cutting fluid containing highly active sulfur Some cutting fluids containing sulfur show extremely high activity of sulfur. Ingress of such cutting

fluid into the CNC, motor, or amplifier can cause corrosion of copper, silver, and so on used as parts' materials, therefore resulting in parts' failures.

• Synthetic cutting fluid with high permeability Some synthetic type cutting fluids that use polyalkylene glycol (PAG) as a lubricant have extremely

high permeability. Such cutting fluid can easily penetrate into the motor even if the motor is sealed well. Ingress of such cutting fluid into the CNC, motor, or amplifier can degrade insulation or lead to parts' failures.

• Highly alkaline, water-soluble cutting fluid Some cutting fluids that strengthen pH by alkanolamine show strong alkalinity of pH10 or higher

when diluted to the standard level. Ingress of such cutting fluid into the CNC, motor, or amplifier can cause chemical reaction with plastic and so on and deteriorate them.

Terminal box

For the αiS 100/2500 model or higher, the power line is connected at the terminal box.

To ensure the appropriate IP level, a conduit or something similar is required at the power line lead-in hole. When connecting the conduit to the terminal box, employ rubber packings, a water-proof connector, etc. to prevent the entry of the lubricant or cutting fluid from the wiring hole in the terminal box.

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3.USAGE B-65262EN/06

The terminal box is provided with rubber water-proof packings. Check that the packings are not damaged, and mount them with the prescribed tightening torque in such a way that no foreign matters get in.

NOTE

For information on the wiring hole diameters, refer to the Chapter 7, “OUTLINE

DRAWINGS.”

Fan motor

The fan motor provides low water-proof performance, so make sure that a fan unit and a fan-equipped motor are not employed in an environment in which the cutting fluid is applied.

If lubricant or cutting fluid mist, particles, or cutting chips are drawn into the fan motor, the air holes in the motor and the blades of the fan motor will clog, causing the cooling capacity to reduce. Employ a machine structure that allows clean, cooling air to be fed into the motor.

Motor

Fan

Cooling air

Filter

Cooling air

3.1.3 Checking a Delivered Servo Motor and Storing a Servo Motor

When the servo motor is delivered, check the following items.

• The motor meets the specifications. (Specifications of the model/shaft/sensor)

• Damage caused by the transportation.

• The shaft is normal when rotated by hand.

• The brake works.

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B-65262EN/06 3.USAGE

• Looseness or play in screws.

FANUC servo motors are completely checked before shipment, and the inspection at acceptance is normally unnecessary. When an inspection is required, check the specifications (wiring, current, voltage, etc.) of the motor and sensor. 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 exposed to vibration.

(The bearing may be damaged.)

• Place with much dust.

3.1.4 Separating and Disposing of a Servo Motor

For a servo motor, a plastic part is used. Disassemble the motor as shown in the following figure, separate the plastic part (Pulsecoder cover), and dispose of the motor. The following plastic material is used: Plastic material : > (PBT+PC)-GF(30)FR(17)<

Pulse coder cover

Four hexagon head bolts M3

3.2 CONNECTING A SERVO MOTOR

3.2.1 Connections Related to a Servo Motor

For the FANUC AC Servo Motor αi series, connect the power line of the motor and the signal line of a Pulsecoder to an FANUC Servo Amplifier. When the motor has a built-in brake or cooling fan as an

option, connect the built-in brake or cooling fan to the specified power supply.

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3.USAGE B-65262EN/06

A

Connection diagram

FANUC servo Amplifier

FANUC Servo Motor

Note

Signal line (Pulsecoder)

Ground line

Frame ground

Power line (motor)

Brake

Cooling fan

24VDC power supply

C power supply

CAUTION

If a motor is not connected to ground through the machine (cabinet) in which the motor is installed, connect the motor grounding point and the amplifier grounding point to absorb noise. In this case, use a wire with a thickness of at least 1.25 mm2, other than the GND conductor in the power line. Keep the wire as far from the power line as possible.

Connecting the power line

For the pin layout of the power connector on the servo motor side or the layout of the power terminals, see Chapter 7, "OUTLINE DRAWINGS". For details of the connector of a cable connected to the servo motor, see Chapter 11, "CONNECTORS ON THE CABLE SIDE."

For the pin size and cabling of the models connected to the terminal block (α 100HV to α

iS 3000HV), see Chapter 7, "OUTLINE DRAWINGS".

iS 100 to αiS 500, αiS

For details of selection of a power line and the shapes of the connector and terminal connected to a servo amplifier, refer to "FANUC SERVO AMPLIFIER α

i series Descriptions (B-65282EN)."

Connecting the signal line

For details of the signal connector on a Pulsecoder, see Chapter 8, "FEEDBACK SENSOR". For details of the connector of a cable connected to a Pulsecoder, see Chapter 11, "CONNECTORS ON THE CABLE SIDE." For details of selection of a signal line and the connector connected to a servo amplifier, refer to "FANUC

SERVO AMPLIFIER α

i series Descriptions (B-65282EN)."

Connecting a built-in brake

For details of how to connect the power connector on a built-in brake and the power supply, see Chapter 9, "BUILT-IN BRAKE." For details of the connector of a cable connected to a built-in brake, see Chapter 11, "CONNECTORS ON THE CABLE SIDE."

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B-65262EN/06 3.USAGE

Connecting a cooling fan

For the power connector on the cooling fan side, the type of power supply for driving the fan, and power cabling, see Chapter 10, "COOLING FAN". For details of the connector of a cable connected to a cooling fan, see Chapter 11, "CONNECTORS ON THE CABLE SIDE."

3.3 MOUNTING A SERVO MOTOR

3.3.1 Methods for coupling the shaft

In many cases, the following four methods are used for coupling the motor shaft to the ball screw on a machine: Direct connection through a flexible coupling, direct connection through a rigid coupling, connection through gears, and connection through timing belts. It is important to understand the advantages and disadvantages of each method, and select one that is most suitable for the machine.

Direct connection using a flexible coupling

Direct connection by a flexible coupling has the following advantages over connection using gears:

• Even if the angle of the motor shaft to the ball screw changes, it can be compensated to a certain extent.

• Because a flexible coupling connects elements with less backlash, driving noise from joints can be significantly suppressed.

However, this method has the following disadvantages:

• The motor shaft and the ball screw must not slide from each other in the radial direction (for single coupling).

• Loose assembly may result in lower rigidity.

When the motor shaft needs to be connected directly to the ball screw, connecting them using a flexible coupling facilitates adjustment 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. (In the same way as with a rigid coupling, the use of a single coupling demands that there be almost no relative eccentricity between the axes.) If it is difficult to align the centers, a double coupling needs to be employed.

Flexible coupling

Ball screw

Motor shaft

Flexible coupling

Motor shaft

Locking element

Ball screw

Locking element

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3.USAGE B-65262EN/06

Direct connection using a rigid coupling

Direct connection using a rigid coupling has the following advantages over direct connection using a flexible coupling:

• More economical

• The coupling rigidity can be increased.

• If the rigidity is the same as with a flexible coupling, the inertia can be reduced.

However, this method has the following disadvantages:

• 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 locking element. 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.

Gears

This method is used when the motor cannot be put in line 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:

• 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.

• 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 is possible at construction time.

Timing belt

A timing belt is 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 correctly 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 position sensor on the motor shaft, there are cases where poor precision caused by backlash of 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 sensor 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's Instruction Manual for correct use.

3.3.2 Fastening the Shaft

Taper shaft

In case of taper shafts, the load must be exerted on the tapered surface. For this reason, at least 70% of gage fitting is required on the tapered surface. In addition, the screw at the end of the taper shaft must be tightened with a proper torque to achieve sufficient axial force.

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B-65262EN/06 3.USAGE

Straight shaft

To use a straight shaft that has no key way, connect the shaft with a coupling using a locking element. Because the locking element 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 locking element is highly reliable for connecting elements. To assure sufficient transmission with the locking element, factors such as the tightening torque of the screw, the size of the screw, the number of screws, the clamping flange, and the rigidity of connecting elements are important. Refer to the manufacturer's specifications before using the locking element. When a coupling or gear is mounted using the locking element, tighten the screws to remove a run-out of the coupling or gear including the shaft.

Straight shaft with a key way

In a straight shaft with a key way, torque is transmitted at the key. This means that if there is a looseness between the key and key way, the impact incurred at the time of inversion increases, which can result in shaft breakage, or a backlash occurs as a result of the looseness, which can lower positioning accuracy. Therefore, the key and key way should be designed so as to minimize the looseness between them. When performing acceleration abruptly or frequently, select a taper shaft or straight shaft with no key groove.

3.3.3 Allowable Axis Load for a Servo Motor

The allowable axis load for the shaft of each motor is indicated in Chapter 7, "OUTLINE DRAWINGS". Using a motor under a load higher than the allowable axial load may break the motor. When designing a machine and connecting a motor to the machine, fully consider the following points:

• The allowable radial load is determined, assuming that a radial load is applied to the end of the shaft.

• Applying a load higher than the allowable axis load may break the bearing. Applying a radial load

higher than the allowable radial load may break the shaft due to a fatigue failure.

• A radial load indicates the constant force continuously applied to the shaft depending on the mounting method (such as belt tension) and the force by the load torque (such as dividing moment by pulley radius).

• When a timing belt is used, the belt tension is critical particularly. Too tight a belt causes a fault such as the broken shaft. Belt tension must be controlled so as not to exceed the limits calculated from the allowable radial load. Positioning the pulley as close to the bearing as possible in design can prevent possible faults such as the broken shaft.

• In some use conditions, the pulley diameter and gear size should be considered. For example, when

i F4 model is used with a gear and pulley with a radius of 2.5 cm or less, the radial load with a

the α torque of 17.6 Nm (180 kgfcm) exceeds the allowable axis load, 686 N (70 kgf). In this case, take

measures such as supporting the end of the motor shaft mechanically.

• If a motor may be used under a load higher than the allowable axis load, the machine tool builder should examine the life by referencing the shaft diameter, bearing, and other factors. Since the standard single-row deep-groove ball bearing is used for the motor bearing, a too high axial load cannot be used. To use a worm or helical gear, in particular, use another bearing.

• The motor bearing is generally fixed with a C-snap ring, and there is a small play in the axial direction. If the axial play affects the positioning in the case of using a worm or helical gear, fit it with another bearing.

3.3.4 Shaft Run-out Precision of a Servo Motor

The shaft run-out precision of each motor is indicated in Chapter 7, "OUTLINE DRAWINGS". The methods of measuring the shaft run-out precision are specified below:

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3.USAGE B-65262EN/06

Item Measuring method

Within 10 mm from the end of the shaft

Shaft diameter run-out

Run-out of the faucet joint for mounting the

flange against the center of the shaft

(Only for flange type)

Run-out of the flange mounting surface against the center of the shaft (Only for

flange type)

3.3.5 Other Notes on Axis Design

Machine movement per 1 revolution of motor shaft

The machine movement per 1 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.

• The machine movement per 1 revolution of motor shaft must be such that the desired rapid traverse speed can be obtained. For example, if the maximum motor speed is 1500 min traverse speed must be 12 m/min., the machine movement per 1 rev. must be 8 mm/rev. or higher.

• 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 machine movement per 1 rev. should be the lowest value at

which the desired rapid traverse speed can be obtained.

• 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 1 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.

-1

and the rapid

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B-65262EN/06 3.USAGE

• When the machine is operation is characterized by repeated acceleration/deceleration cycles, a heating problem may occur due to the current flow caused by the acceleration and deceleration. Should this occur, the machine travel distance per motor shaft revolution should be modified. Given optimum conditions, the machine travel distance per motor shaft revolution is set such that the motor's rotor inertia equals the load inertia based on motor shaft conversion. For machines such as punch presses and PCB drilling machines, the machine's travel distance per motor shaft revolution should be set so as to satisfy this optimum condition as far as possible, while also considering the rapid traverse rate and increment system.

Precautions for using linear scale

In the case where the machine moves in a linear direction and movement 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.

The following block diagram shows feedback produced using a linear scale.

Pulsecoder Linear scale

Motor

Command

Position control circuit

Velocity control circuit

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 position signals are detected must be sufficiently shorter than the response time defined by the position loop gain. If the response of the sensor section is slow, the position loop gain should be reduced to have the system operate normally, and as a result, the response of the whole system becomes slow. The same problem is caused when inertia is great. 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.

K

W ×=

m

1

2

m

J

π

L

Wm : Natural frequency

: Load inertia reflected to motor shaft

J

L

: Rigidity of machine system

K

m

(=Torque necessary to elastically deform 1[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. The machine should be designed so that the value of this natural frequency [Hz] will be more than or equal to the value of the position loop gain [sec

-1

]. For example, when setting 20 [sec-1] as the

value of position loop gain, natural frequency of machine system must be more than 20 [Hz].

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3.USAGE B-65262EN/06

In this case, the response of the control system becomes a problem for extremely small amounts of movement. Consequently, the natural frequency should be calculated from the rigidity at extremely small displacement such as 10 [μm] or less.

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

Speed

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 sensor is mounted) and the appropriate damping should be considered.

Reciprocating motion over a short distance

Continuing reciprocating motions over a short distance with a small number of revolutions causes the bearing to become short of lubricant, which can shorten the life of the bearing. When such motions are performed, special care should be taken by, for example, turning the motor at least one turn periodically.

3.3.6 Cautions in Mounting a Servo Motor

The servo motor contains precision sensor, 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 the sensor.

• Secure the servo motor uniformly using four bolt holes provided on the front flange. (For the α

1000HV to α be used as the reference for alignment to the machine.)

iS 3000HV, the motor's own weight must be supported by the feet, and the flange must

iS

• Ensure that the surface on which the machine is mounted is sufficiently flat. When mounting on the machine, take care not to apply a shock to the motor.

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B-65262EN/06 3.USAGE

• When it is unavoidable to tap the motor for adjusting the position, etc., use a plastic hammer and tap

only the front flange if possible.

A precision sensor is directly connected to the servo motor shaft. Pay attention to the following items to prevent damage to the sensor.

• When connecting the power transmission elements such as a gear, a pulley and a coupling to the

shaft, take care not to apply a shock to the shaft.

• Generally, in the case of straight shaft, use a locking element for connection with the shaft.

• In the case of tapered shaft, match 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 the power transmission element so that over 70% of the whole surface is contacted.

• To remove the connected power transmission element, be sure to use a jig such as a gear puller.

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3.USAGE B-65262EN/06

• When tapping slightly to remove the tightly contacted tapered surface, tap in the radial direction to

prevent a shock in the axial direction.

• Suppress the 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 rotating continuously the asymmetrical different form power transmission element. Even if the vibration caused by the unbalance is as small as 0.5G, it may damage the motor bearing or the sensor.

• An exclusive large oil seal is used in the front flange of the models α The oil seal surface is made of steel plate. Take care not to apply a force to the oil seal when

installing the motor or connecting the power transmission elements.

iS 8 to αiS 50.

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B-65262EN/06 4.SELECTING A MOTOR

4 SELECTING A MOTOR

A servo motor should be selected based on the load on the servo motor, rapid traverse rate, unit, and other conditions. The load on the servo motor is the following types of torque: steady-state load torque (including gravity and friction), acceleration torque required for acceleration/deceleration, and, for a machine tool, cutting torque by cutting force. When selecting a motor, calculate these loads accurately according to the instructions in this chapter and check that the calculated values satisfy the conditions for selecting a serve motor described in this chapter. This chapter describes how to calculate the load and other conditions using a table with a horizontal axis as an example.

Chapter 4, "SELECTING A MOTOR", consists of the following sections:

4.1 CONDITIONS FOR SELECTING A SERVO MOTOR....................................................................29

4.2 SELECTING A MOTOR....................................................................................................................31

4.3 HOW TO FILL IN THE SERVO MOTOR SELECTION DATA TABLE........................................47

4.4 CHARACTERISTIC CURVE AND DATA SHEET ......................................................................... 54

4.1 CONDITIONS FOR SELECTING A SERVO MOTOR

The conditions for selecting a servo motor are given below.

[Selection condition 1] Steady-state load torque

- The steady-state load torque including mechanical friction and gravity must fall within

approximately 70% of the stall torque of a motor.

If the steady-state load torque is close to the stall torque, the root-mean-square value of the total

torque including the acceleration torque is more likely to exceed the stall torque.

Along the vertical axis, the load may be increased during lifting and at stop due to a mechanical

factor. In this case, the theoretically calculated gravity retaining torque must be 60% (less than 60% in some cases) of the stall torque of a motor.

This figure of "within 70% of the steady-state load torque rating" is for reference only. Determine

the appropriate torque based upon actual machine tool conditions.

[Selection condition 2] Motor speed

- The motor speed must not exceed the maximum motor speed (rated speed during continuous

operation).

Calculate the motor speed and check that the speed does not exceed the maximum motor speed. For

continuous operation, check that the speed does not exceed the rated speed.

[Selection condition 3] Load inertia ratio

- The load inertia ratio must be appropriate. The ratio of motor inertia and load inertia (load inertia ratio) greatly affects the controllability of the

motor as well as the acceleration/deceleration time in rapid traverse.

When the load inertia does not exceed three times the motor inertia, an ordinary metal cutting

machine can be used without problems, while the controllability may have to be lowered a little in some cases.

For a machine for cutting a curve at a high speed, such as a router for woodworking, it is

recommended that the load inertia be smaller than or equal to the motor inertia.

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4.SELECTING A MOTOR B-65262EN/06

If the load inertia is greater than the motor inertia by a factor of more than 3 to 5, the controllability

of the motor may be adversely affected. If the load inertia is much larger than three times the motor inertia, adjustment within the normal range may be insufficient. It is desirable to avoid using a motor with such inertia.

[Selection condition 4] Acceleration torque

- Acceleration can be made with a desired time constant.

Since the load torque generally helps deceleration, if acceleration can be executed with a desired

time constant, deceleration can be made with the same time constant, through both acceleration and deceleration should be considered in principle. Calculate the acceleration torque and check that the torque required for acceleration is within the intermittent operating zone of the motor.

[Selection condition 5] Root-mean-square value of torque

- The root-mean-square value of torque in a cycle must be sufficiently greater than the stall

torque.

A motor gets hot in proportion to the square of the torque. For a servo motor for which the load

condition always changes, the calculated root-mean-square value of torque in a cycle must be sufficiently greater than the stall torque.

Pay attention, in particular, when the cutting load, acceleration/deceleration condition, and other

load conditions variously change in a cycle.

When the desired frequency of positioning in rapid traverse becomes greater, the ratio of the time

during which the acceleration/deceleration torque is being applied to the entire operation time increases and the root-mean-square value of torque increases. In this case, increasing the acceleration/deceleration time constant is effective to decrease the root-mean-square value of torque.

[Selection condition 6] Percentage duty cycle and ON time with the maximum

cutting torque

- The time during which the table can be moved with the maximum cutting torque (percentage

duty cycle and ON time) must be within a desired range.

The continuously applied torque such as the cutting load may exceed the stall torque. In this case,

use overload duty curves to check how the ratio (percentage duty cycle) of the load applying time to the no-load applying time and the time during which the load is being applied (ON time) change.

[Selection condition 7] Dynamic brake stop distance

- The stop distance when the dynamic brake is applied at an emergency stop must be within a

desired range.

If the stop distance is not within the desired range, the machine may cause a collision at an

emergency stop.

Along the vertical axis (for motors with a brake) [Selection condition 8] Brake retaining torque

- The load torque should be within the brake retaining torque.

If this cannot be satisfied, counter balance and so forth should be taken into consideration.

The following sections explain the procedure for selecting a motor sequentially for each selection condition. Determine whether each selection condition above is satisfied.

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B-65262EN/06 4.SELECTING A MOTOR

NOTE

When handling units, be extremely careful not to use different systems of units.

For example, the weight of an object should be expressed in [kg] in the SI system of units because it is handled as "mass" or [kgf] in the gravitational system of units because it is handled as "force." Inertia is expressed in [kg⋅m2] in the SI system of units or in [kgf⋅cm⋅sec2] in the gravitational system of units.

In this manual, both systems of units are written together to support them.

100

mkg1(

8.9

22

)scmkgf

⋅⋅=⋅

4.2 SELECTING A MOTOR

Sample model for calculations for selecting a servo motor

The following subsections explain how to calculate conditions for selecting a servo motor best suited for a table with a horizontal axis with the following specifications.

Sample mechanical specifications of the table and workpiece

W : Weight of movable parts (table and workpiece) =11760[N]=1200[kgf] w : Mass of movable parts (table and workpiece) =1200[kg]

μ : Friction coefficient of the sliding surface =0.05 η : Efficiency of the driving system (including a ball screw) =0.9

: Gib fastening force (kgf) =490[N]=50[kgf]

F

g

: Thrust counter force caused by the cutting force (kgf)

F

c

=4900[N]=500[kgf]

: Force by which the table is pressed against the sliding surface, caused by the moment of cutting

F

cf

force =294[N]=30[kgf]

: Gear reduction ratio = 1/1

Z

1/Z2

T

: Friction torque applied to the motor shaft =0.8[N⋅m]=8[kgf⋅cm]

f

Sample specifications of the feed screw (ball screw)

: Shaft diameter =40×10-3[m]=40[mm]

D

b

: Shaft length =1[m]=1000[mm]

L

b

P : Pitch =20×10

-3

[m/rev]=20[mm/rev]

Sample specifications of the operation of the motor shaft

: Acceleration torque [N⋅m][kgf⋅cm]

T

a

V : Workpiece rapid traverse rate =60[m/min]

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4.SELECTING A MOTOR B-65262EN/06

Vm : Motor speed in rapid traverse [min-1]

: Acceleration time =0.08[s]

t

a

J

: Motor inertia [kg⋅m2][kgf⋅cm⋅sec2]

M

J

: Load inertia [kg⋅m2][kgf⋅cm⋅sec2]

L

: Position loop gain =30[s-1]

k

s

4.2.1 Calculating the Load Torque

When a part moves along an axis at a constant speed, the torque obtained by multiplying the weight of the workpiece driving section by the friction coefficient is always applied. On a vertical or slanted axis, the motor keeps producing torque because it works against gravity. In addition, the motor also produces torque when the machine on the horizontal axis stops in proportion to the load friction. This continuously applied load torque is the steady-state load torque. In cutting feed, the load torque is applied by cutting thrust. This is the cutting torque. The above types of torque are generically called the load torque. The load torque applied to the motor shaft is generally given by the following equation:

lF

T +

×

=

m

πη

2

T

: Load torque applied to the motor shaft [N⋅m]

m

F : Force required to move a movable part (table or tool post) along the axis [N]

l : Traveling distance of the machine tool per revolution of the motor = P × (Z η : Efficiency of the driving system (including a ball screw)

: Friction torque of the nut of the ball screw or bearing applied to the motor shaft (input if

T

f

The force (F) is mainly given by the following equations:

When cutting is not executed (vertical axis):

F=(w-w w Wc : Weight of the counterbalance [kgf]

When cutting is not executed (horizontal axis):

F=μ(W+F

When cutting is in progress (horizontal axis) (constant load + cutting thrust):

F=F

[Example of calculation for condition 1] Steady-state load torque

For a table with a horizontal axis as given as a model, the steady-state load torque when cutting is not executed is calculated as follows:

Example F=0.05× (11760+490)=612.5[N]=62.5[kgf]

T

=3.0[N⋅m]=30.6[kgf⋅cm]

Cautions in calculating the load torque

When calculating the torque, take the following precautions:

• Allow for the friction torque caused by the gib fastening force (F

T

f

necessary) [N⋅m]

)g=W-Wc

c

: Mass of the counterbalance [kg]

c

)

g

+μ(W+Fg+Fcf)

c

=(612.5×20×10-3×1)÷(2×π×0.9)+0.8

m

) [m/rev]

1/Z2

).

g

- 32 -

B-65262EN/06 4.SELECTING A MOTOR

The torque calculated only from the weight 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.

• The pre-load of the bearing or nut of the ball screw, pre-tension of the screw, and other factors may

make T

of the rolling contact considerable.

c

In a small, lightweight machine tool, the friction torque will greatly affect the entire torque.

• Allow for an increase in friction on the sliding surface (F

) caused by the cutting resistance. The

cf

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

Driving force

Cutting force

Driving force

• The feedrate may cause the friction torque to vary greatly. Obtain an accurate value by closely

examining variations in friction depending on variations in speed, the mechanism for supporting the table (sliding contact, rolling contact, static pressure, etc.), 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 lubrication conditions. Collect a great amount of measurement data of identical models so that a correct load torque can be calculated. When adjusting the gib fastening force and backlash, monitor the friction torque. Avoid generating an unnecessarily great torque.

4.2.2 Calculating the Motor Speed

Calculate the motor speed using the movable part rapid traverse rate and traveling distance per revolution of the motor and check that the calculated motor speed does not exceed the maximum motor speed (rated speed for continuous operation).

V

m =

V

l

V

: Motor speed in rapid traverse [min-1]

m

V : Workpiece rapid traverse rate [m/min] l : Traveling distance per revolution of the motor

[m/rev]= P

× Z

[Example of calculation for condition 2] Motor speed

When V is 60 [m/min] and l is P×Z1/Z2 = 0.020×1/1 = 0.020 [m/rev], Vm is 60/0.020 = 3000 [min-1]. This value does not exceed the rated speed of the α Then, select a motor whose load torque when cutting is not executed (stall torque) is 3.0 [N⋅m] and whose maximum speed is at least 3000 [min [N⋅m]) is provisionally selected with considering the acceleration/deceleration condition described in the

following subsection.

1/Z2

iS 22/4000 provisionally selected.

-1

] from the data sheet. The αiS 22/4000 (with a stall torque of 22

- 33 -

4.SELECTING A MOTOR B-65262EN/06

4.2.3 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:

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

Db

Lb

The inertia of a cylindrical object rotating about its central axis is calculated as follows:

SI unit

πγ

b

= [kg⋅m

LDJ

bb

32

J

: Inertia [kg⋅m2]

b

γ

: Weight of the object per unit volume [kg/m3]

b

: Diameter of the object [m]

D

b

: Length of the object [m]

L

b

4

b

Gravitational system of units

πγ

=

b

J

: Inertia [kgf⋅cm⋅s2]

b

γ

: Weight of the object per unit volume [kg/cm3]

b

D

b

L

b

4

b

LDJ

[kgf⋅cm⋅s2]

98032 ×

bb

: Diameter of the object [cm]

: Length of the object [cm]

[Example of calculation for condition 3-1] Load inertia

Example) When the shaft of a ball screw is made of steel (γ=7.8×10

calculated as follows:

When D

Jb=7.8×10

=0.040[m], Lb=1[m],

b

3

×π÷32×0.0404×1=0.00196[kg⋅m2] (=0.0200[kgf⋅cm⋅s2])

100

mkg1(

Inertia of a heavy object moving along a straight line (table, workpiece, etc.)

SI unit

×=

wJb [kg⋅m

w : Mass of the object moving along a straight line [kg] l : Traveling distance along a straight line per revolution of the motor [m]

２

l

⎞

⎛

⎟

⎜

π

2

⎠

⎝

2

]

3

[kg/m3]), inertia Jb of the shaft is

22

)scmkgf

8.9

⋅⋅=⋅

2

]

- 34 -

B-65262EN/06 4.SELECTING A MOTOR

Gravitational system of units

２

lW

⎞

⎛

b [kgf⋅cm⋅s

J

×=

⎟

⎜

π

2980

⎠

⎝

2

]

W : Weight of the object moving along a straight line [kgf] l : Traveling distance along a straight line per revolution of the motor [cm]

[Example of calculation for condition 3-2] Load inertia

Example) When W is 1200(kg) and l is 20(mm), J J

=1200×(0.020÷2÷π)2=0.01216 [kg⋅m2] =0.1241[kgf⋅cm⋅s2]

w

of a table and workpiece is calculated as follows:

w

Inertia of an object whose speed is increased above or decreased below the speed of the motor shaft

The inertia applied to the motor shaft by inertia J

is calculated as follows:

0

J ××=

2

⎞

⎛

Z

1

⎟

⎜

⎟

⎜

Z

⎠

⎝

2

J

: Inertia before the speed is changed

0

Z

1,Z2

orJ

0

: Number of teeth when the gear connection

2

1

⎛

⎞

⎜

⎟

Z

⎝

⎠

J

0

1/Z : Deceleration ratio

Inertia of a cylindrical object in which the center of rotation is displaced

Center of rotation

2

MRJJ +=

0

: Inertia around the center of the object

J

0

M : Weight of the object R : Radius of rotation

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.

- 35 -

4.SELECTING A MOTOR B-65262EN/06

A

The sum of the inertia values calculated above is J (load inertia) for accelerating the motor.

Cautions as to the 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 motor to 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 is used, it is recommended that the load inertia be smaller than or equal to the rotor inertia. When the load inertia is greater than the rotor inertia by a factor of more than 3 to 5, the controllability of the motor will be adversely affected. If the load inertia much larger than three times the rotor inertia, an adjustment in the normal range may be insufficient. Avoid using a machine with such a great load inertia.

[Example of calculation for condition 3-3] Load inertial ratio

The sum of Jb and Jw calculated in examples of calculation 3-1 and 3-2 is load inertia JL, so the load inertia can be calculated as follows: J

The motor inertial of the α inertia. This value is within the allowable range.

= 0.00196 + 0.01216 = 0.01412 [kg⋅m2]

L

iS 22/4000 is 0.0053 [kg⋅m

2

] and the load inertia ratio is 2.7 times the motor

4.2.4 Calculating the Acceleration Torque

Calculate the acceleration torque required for the motor to accelerate and then obtain the torque required for acceleration by calculating the total torque including the steady-state load torque calculated before. Next, confirm the result is included in the intermittent operation area for the motor.

4.2.4.1 Calculating acceleration torque

Assuming that the motor shaft operates ideally in the acceleration/ deceleration mode determined by the NC, calculate the angular acceleration. Multiply the angular acceleration by the entire inertia (motor inertia + load inertia). The product is the acceleration torque. In rapid traverse, there are linear acceleration/deceleration and feed-forward during rapid traverse + bell-shaped acceleration/ deceleration. The equations for calculating the acceleration torque in each mode are given below.

Acceleration torque in linear acceleration/deceleration

Speed

V

m

Specified speed

ctual motor speed

Torque

T

a

Point at which the maximum torque is required

t

a

Time

V

m

r

Speed

- 36 -

B-65262EN/06 4.SELECTING A MOTOR

t

When the torque is Ta and the speed is Vr in the above figure, the maximum torque is required. The equations for calculating T

1

2

π

ma

VT

VV

mr

T V t

a

J

M

J

L

V k

s

a

60

1

−×=

1{

: Acceleration torque [N⋅m]

a

: Motor speed in rapid traverse [min-1]

m

−

sa

kt

⋅

: Acceleration time [sec]

: Motor inertia [kg⋅m2]

: Load inertia [kg⋅m2]

: Motor speed at which the acceleration torque starts to decrease [min-1]

r

: Position loop gain [sec-1]

and Vr are given below:

a

⋅−

as

LM

η

as

tk

⋅−

e

)}1(

tk

−×+×××=

)1()/(

eJJ

η : Machine tool efficiency e : base of a natural logarithm (

2.71)

[Example of calculation for condition 4-1] Example of calculation

Try to perform linear acceleration/deceleration under the following condition. V t k J

Select the α J

T =74.9[N⋅m]=765[kgf⋅cm] V

=3000 [min-1]

m

=0.08 [s]

a

=30 [s-1]

s

=0.01412 [kg⋅m2]

L

iS 22/4000 provisionally selected in example of calculation <1>.

motor inertia is 0.0053 [kg⋅m2] when αiS 22/4000 is selected, so the load inertia is calculated as

M

follows:

= 3000×(2π/60)×(1/0.08)×(0.0053+0.01412÷0.9)×(1-e

a

= 3000×{1-1/(0.08×30)×(1-e

r

-30×0.08

)}=1863[min-1]

-30×0.08

)

- 37 -

4.SELECTING A MOTOR B-65262EN/06

A

Acceleration torque in feed-forward during rapid traverse + bell-shaped acceleration/deceleration

Point at which the

Speed

V

m

V

r

Specified speed and actual speed (nearly coincide with each other)

Torque

T

a

maximum torque is required

t

1

t

2

t1+t

2

Time

t

2

V

r

m

Speed

cceleration

cc

a

Time

When the feed-forward coefficient is large enough, the acceleration torque in feed-forward during rapid traverse + bell-shaped acceleration/deceleration can approximate to the value obtained with the feed-forward coefficient = 1. When the feed-forward coefficient is 1, the equations for calculating the acceleration torque (T

), speed (Vr), and maximum workpiece acceleration (Acca) are given below:

a

1

2 π

VT LM

ma +×××=

VV

1(

mr −×=

VAcc

ma

T

: Acceleration torque [N⋅m]

a

: Motor speed in rapid traverse [min-1]

V

m

: Acceleration time constant T1 [sec]

t

1

: Acceleration time constant T2 [sec]

t

2

J

: Motor inertia [kg⋅m2]

M

J

: Load inertia [kg⋅m2]

L

60

1

t

2

t

)

1

t

2

1

2 π

60

t

1

×××=

/ηηJ(J

P

η : Machine tool efficiency

: Motor speed at which the acceleration torque starts to decrease [min-1]

V

r

: Maximum workpiece acceleration [m/sec-2]=[G]

Acc

a

P : Pitch [m/rev]

- 38 -

B-65262EN/06 4.SELECTING A MOTOR

+

=

p

(

1

)

q

(

)

(Reference) Minimizing t

) to be increased and the motor speed at which the acceleration torque starts to decrease (Vr) to

(Acc

a

and increasing t2 by the same amount allows the maximum workpiece acceleration

1

be decreased. This allows the efficient use of the motor acceleration torque. If t Consequently , achieving a balance between t

is too large, the positioning completion time (t1 + t2) tends to increase.

2

and t2 is effective in obtaining required specifications

1

of the machine.

4.2.4.2 Calculating the torque required by the motor shaft in

acceleration

To obtain the torque required by the motor shaft (T), add the steady-state load torque (Tm) to the acceleration torque (T

T : Torque required by the motor axis

: Acceleration torque

T

a

: Steady -state load torque

T

m

[Example of calculation for condition 4-2] Acceleration torque

When Tm is 3.0 [N⋅m] as calculated in example of calculation 1 and Ta is 74.9 [N⋅m] as calculated in example of calculation 4-1, the acceleration torque (T) is calculated as follows: T = 74.9[N⋅m] + 3.0[N⋅m] = 77.9[N⋅m] The speed when the maximum torque is required (V

The speed-torque characteristics of the α

-1

] is beyond the intermittent operating zone of the αiS 22/4000 (the torque is insufficient).

[min

If it is impossible to change the operation specifications of the shaft (such as to increase the acceleration time), a larger motor must be selected.

Select the α acceleration torque again. T

=83.2[N⋅m]=849[kgf⋅cm]

a

=1863[min-1]

V

r

T=83.2[N⋅m]+3.0[N⋅m] = 86.2[N⋅m]

The speed-torque characteristics of the α

-1

[min

iS 30/4000 (motor inertia (J

] is within the intermittent operating zone of the αiS 30/4000 (acceleration is possible).

). (Cutting torque Tcf is assumed not to be applied.)

a

ma TTT

) is 1863 [min-1].

r

iS 22/4000, given below, show that the point of 77.9 [N⋅m]/1863

Speed - torque characteristics for αiS 22/4000

Speed - torque characteristics

80 70 60 50

N⋅m

40

ue

30

Tor

20 10

0

0 1000 2000 3000 4000

S

eed

) = 0.0076 [kg⋅m2], 1.9 times load inertia ratio) and calculate the

M

min

-

77.9[N⋅m] / 1863[min

iS 30/4000, given below, show that the point of 86.2 [N⋅m]/1863

-1

]

- 39 -

4.SELECTING A MOTOR B-65262EN/06

1

q

(

)

Speed - torque characteristics

120

100

80

N⋅m

60

ue

40

Tor

20

0

0 1000 2000 3000 4000

Speed (min

Speed - torque characteristics for αiS 30/4000

-

86.2[N⋅m] /1863[min

)

-1

]

4.2.5 Calculating the Root-mean-square Value of the Torques

A motor gets hot in proportion to the square of the torque. For a servo motor for which the load condition always changes, the calculated root-mean-square value of torque in a cycle must be sufficiently greater than the stall torque.

Root-mean-square value of torque in acceleration/deceleration in rapid traverse

First, generate an operation cycle which performs acceleration/ deceleration in rapid traverse with a desired frequency of positioning in rapid traverse. Write the time-speed graph and time-torque graph as shown below.

Speed

Torque

Time Time

From the time-torque 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 torque at stall.

2

() ()

rms

=

T

: Acceleration torque

a

: Steady-state load torque

T

m

: Torque when stopped

T

o

2

t

mamma

0

2

30121

+−+++

tTtTTtTtTT

When T

falls within 90% of the stall torque Ts, the servo motor can be used. (The entire thermal

rms

efficiency and other margins must be considered.)

- 40 -

B-65262EN/06 4.SELECTING A MOTOR

NOTE

The motor actually rotates, but the determination must be based on the stall

torque.

When the motor is being operated at high speed for a comparatively large

proportion of the time, you must take the rotating speed of the motor into consideration and evaluate whether output can be specified in terms of a continuous operation torque.

[Example of calculation for condition 5] Root-mean-square value of the torques

αiS 30/4000 ( Ts = 3.0[N⋅m] = 306[kgf⋅cm] ), Ta = 83.2[N⋅m],

= To = 3.0[N⋅m], t1 = 0.08[sec], t2 = 2.0[sec], t3 = 3.0[sec]

T

m

() ()

=

rmsT

= 15.0[N⋅m] < T

2

× 0.9 = 30 × 0.9 = 27[N⋅m]

s

2

++×

2

30.220.08

2

30.30.083.0-83.22.00.30.080.32.83

×+×+×+×+

iS30/4000 can be used for operation.

The α

Root-mean-square value of torque in a cycle in which the load varies

If the load conditions (cutting load, acceleration/deceleration conditions, etc.) vary widely in a single cycle, write a time-torque graph according to the operation cycle, as in above item. Obtain the root-mean-square value of the torques and check that the value is smaller than or equal to the torque at stall.

222

rms

=

T

332211

0

t

2

nn

++++

...

tTtTtTtT

= t1 + t2 + t3 +. . . + tn

t

0

NOTE

The motor actually rotates, but the determination must be based on the stall

torque.

When the motor is being operated at high speed for a comparatively large

proportion of the time, you must take the rotating speed of the motor into consideration and evaluate whether output can be specified in terms of a continuous operation torque.

- 41 -

4.SELECTING A MOTOR B-65262EN/06

4.2.6 Calculating the Percentage Duty Cycle and ON Time with the

Maximum Cutting Torque

Confirm that the time (duty percentage and ON time) during which the maximum cutting torque can be applied for cutting is shorter than the desired cutting time. First, calculate the load torque applied when the cutting thrust (F When this load torque is smaller than the product of the motor stall torque (T the motor can be used in continuous cutting. If the value is greater than the product, follow the procedure below to calculate the ON time during which the maximum cutting load torque (T motor (t

) and the percentage ratio (percentage duty cycle with the maximum cutting torque) of the ON

ON

time to the total time of a single cutting cycle (t). α is assumed to be 0.9. Calculate the percentage considering the specifications of the machine.

Determining whether continuous operation can be performed with the maximum cutting torque

Calculate the percentage duty cycle, according to the following figure and expressions.

ms<Ts

×α

T Operation can be continued with the maximum cutting torque. (The percentage duty cycle with the

maximum cutting torque is 100%.)

ms>Ts

×α

T Calculate the percentage duty cycle, according to the following figure and expressions.

[Example of calculation for condition 6-1] Percentage duty cycle and ON time with the maximum cutting torque

The load torque in cutting is calculated as follows: F=F

+μ(W+Fg+Fcf)

c

F=4900+0.05×(11760+490+294)=5527[N]=564[kgf] T

=(5527×20×10-3×1)÷(2×π×0.9)+0.8=20.3[N⋅m]=208[kgf⋅cm]

m

The stall torque of the α T

×α= 30×0.9 = 27[N⋅m]>Tms = 20.3[N⋅m]

s

iS30/4000 (T

) is 30 [N⋅m] = 306 [kgf⋅cm].

s

No problems will occur in continuous cutting.

Calculating the percentage duty cycle with the maximum cutting torque

Torque

) is applied to the motor shaft (Tms).

c

) and thermal efficiency (α),

s

) can be applied to the

ms

Maximum cutting torque (Tms)

Time

If the load torque (T

) is greater than the product of the motor stall torque (Ts) and thermal efficiency (α),

ms

calculate the root-mean-square value of torque applied in a single cutting cycle. Specify t that the value does not exceed the product of the motor stall torque (T

) and thermal efficiency (α). Then,

s

calculate the percentage duty cycle with the maximum cutting torque as shown below.

- 42 -

ON

and t

OFF

so

B-65262EN/06 4.SELECTING A MOTOR

Percentage duty cycle with the maximum cutting torque (Tms)

on

t

=

100[%]×

+

offon

tt

[Example of calculation for condition 6-2] Percentage duty cycle and ON time with the maximum cutting force

Example) Assume that Tms is 40 [N⋅m] (Tm is 3.0 [N⋅m]).

22

offon

340

tt

+

<

tt

offon

][27

Nm

(90% of the stall torque of the αiS 30/4000)

Therefore,

on

t

83.0<

off

t

The above ratio of the non-cutting time to the cutting time is required. The percentage duty cycle is

calculated as follows:

t

on

tt

+

offon

45.3%100

=×

Limitations on ON time

The period during which continuous operation under an overload is allowed is also restricted by the OVC alarm level and overload duty cycle characteristics. Refer to Subsection 4.4.1, “Performance Curves” for details

4.2.7 Calculating the Dynamic Brake Stop Distance

The equation for calculating the coasting distance when an abnormality occurs and the machine tool is stopped by dynamic braking with both ends of the motor power line shorted (dynamic brake stop distance) is given below:

Speed

Vm

l

1

t1t

2

Vm : Rapid traverse rate, mm/sec or [deg /sec] l

: Coasting distance due to delay time t1 of receiver

1

: Coasting distance due to deceleration time t2 of magnetic contactor (MC C)

l

2

l

: Coasting distance by dynamic braking after magnetic contactor has been

3

operated (t

) is usually about 0.05 [sec].

1+t2

22

[deg]][ ormm

J

: Motor inertia [kg⋅m2 ] [kgf⋅cm⋅s2]

M

J

: Load inertia [kg⋅m2 ] [kgf⋅cm⋅s2]

L

: Motor speed at rapid traverse [min-1]

N

O

LM

L : Machine movement on one-rotation of motor [mm/rev] or [deg/rev]

(N

/60×L=Vm)

O

l

2

l

3

Time

3

LNoBNoAJJttVm

××+××+++×= )()()( due distance Coasting

- 43 -

4.SELECTING A MOTOR B-65262EN/06

A : Coefficient A for calculating the dynamic brake stop distance

B : Coefficient B for calculating the dynamic brake stop distance For details of A and B, see the table on the next item.

, see the data sheet of each motor in the Chapter 6, “SPECIFICATIONS.”

For J

M

There are two ways of shortening this dynamic brake stop distance: Emergency stop distance shortening function, and emergency stop distance shortening function effective also during power interruptions (additional hardware is required).

NOTE

1 The resistor element, which is built into the amplifier, for the dynamic brake is

designed based on energy generated when the load inertia becomes five times the motor inertia and the motor stops from its maximum rotational speed.

If exceeding the above condition, contact FANUC. 2 For the

S 22/6000HV and

i

α

S 500/3000HV, make sure that the load inertia is

i

α

not more than three times the motor inertia.

If exceeding the above condition, contact FANUC.

WARNING

If the motor stops from its maximum rotational speed with greater than specified

load inertia ratio, the resistor element of the dynamic brake may become abnormally hot, possibly causing damage to the dynamic brake and a fire. Make no mistakes in the calculations of load inertia.

[Example of calculation for condition 7] Dynamic brake stop distance

Assume that the desired stop distance is 150 [mm]. Coasting distance =

2

(3000/60×20)[mm/sec]×0.05[sec]+(0.0076[kg⋅m

0.01412[kg⋅m

2

])×(4.0×10-2×3000[min-1]+3.1×10-9×30003[min-1]) ×20[mm/rev]

]+

=138mm

It has been shown that the machine tool can be stopped within the desired stop distance. Finally, the α

iS 30/4000 which satisfies selection conditions 1 to 6 is selected.

Coefficients for dynamic brake calculation

αiS series (200-V system)

Model

αiS2/5000 αiS2/6000 αiS4/5000

αiS4/6000 αiS8/4000

αiS8/6000 αiS12/4000 αiS12/6000 αiS22/4000 αiS22/6000 αiS30/4000 αiS40/4000

(Note) (Note) (Note)

A B A B

×10

1.9

×10

2.9

×10

7.6

1.1×10 –1 8.3×10 –8 1.1×10 –2 8.2×10 –9

×10

1.8

×10

4.2

×10

1.1

1.2×10 –1 3.6×10 –9 1.2×10 –2 3.5×10

×10

5.8

1.2×10 –1 2.9×10 –9 1.2×10 –2 2.9×10

×10

4.0

×10

2.9

SI unit Gravitational system of units

–1

9.0×10 –8 1.9×10 –2

–1

1.3×10 –7 2.8×10 –2

–2

5.4×10 –8 7.4×10 –3 5.2×10 –9

–1

1.1×10 –8 1.8×10 –2 1.1×10 –9

–1

4.4×10 –9 4.1×10 –2 4.3×10

–1

4.1×10 –9 1.1×10 –2 4.0×10

–2

5.2×10 –9 5.7×10 –3 5.1×10

–2

3.1×10 –9 3.9×10 –3 3.0×10

–2

2.2×10 –9 2.8×10 –3 2.2×10

8.8

1.3

×10 ×10

–10 –10 –10 –10 –10 –10 –10

–9 –8

- 44 -

B-65262EN/06 4.SELECTING A MOTOR

Model

αiS50/2000 αiS60/2000

αiS50/3000 with fan αiS60/3000 with fan

αiS100/2500

αiS100/2500 with fan

αiS200/2500

αiS200/2500 with fan

αiS300/2000 αiS500/2000

NOTE

When servo amplifier

or

S4/5000 (L axis), the values of A and B are as follows:

i

α

Model

αiS2/5000

αiS2/6000

αiS4/5000

α

iS series (400-V system)

Model

αiS2/5000HV αiS2/6000HV αiS4/5000HV αiS4/6000HV αiS8/4000HV

αiS8/6000HV αiS12/4000HV αiS12/6000HV αiS22/4000HV αiS22/6000HV αiS30/4000HV αiS40/4000HV αiS50/2000HV αiS60/2000HV

αiS50/3000HV with fan αiS60/3000HV with fan

αiS100/2500HV

αiS100/2500HV with fan

αiS200/2500HV

αiS200/2500HV with fan

αiS300/2000HV αiS300/3000HV αiS500/2000HV

SI unit Gravitational system of units

A B A B

1.3 ×10 –2 2.3×10 –8 1.3×10 –3 2.2×10

1.0×10 –2 1.7×10 –9 9.9×10 –4 1.6×10

–2

×10

2.1

1.4×10 –9 2.0×10 –3 1.4×10

1.2×10 –2 1.4×10 –9 1.2×10 –3 1.4×10

–2

×10

1.1

2.2×10 –9 1.0×10 –3 2.2×10

1.1×10 –2 2.2×10 –9 1.0×10 –3 2.2×10

–3

×10

5.8

1.1×10 –9 5.7×10 –4 1.1×10

5.8×10 –3 1.1×10 –9 5.7×10 –4 1.1×10

–3

×10

4.4

2.3

SV 20/40 is used to drive model

i

α

7.9×10

–3

×10

5.0×10

–10

4.3×10 –4 7.8×10

–10

2.2×10 –4 4.9×10

S2/5000,

i

α

SI unit Gravitational system of units

A B A B

–1

×10

4.6

6.9

3.1

3.7×10 –8 4.5×10 –2 3.6×10 –9

–1

×10

5.6×10 –8 6.8×10 –2 5.5×10 –9

–1

×10

1.3×10 –8 3.0×10 –2 1.3×10 –9

SI unit Gravitational system of units

A B A B

–1

×10

3.9

5.9

2.6

4.4×10 –8 3.8×10 –2 4.4×10

–1

×10

6.7×10 –8 5.8×10 –2 6.8×10

–1

×10

1.6×10 –8 2.5×10 –2 1.5×10 –9

3.8×10 –1 2.6×10 –8 3.8×10 –2 2.6×10 –9

–1

×10

1.4

3.2

8.4

1.4×10 –8 1.4×10 –2 1.4×10 –9

–1

×10

5.8×10 –9 3.1×10 –2 5.6×10

–2

×10

5.3×10 –9 8.2×10 –3 5.2×10

2.1×10 –1 2.1×10 –9 2.0×10 –2 2.1×10

–1

×10

1.2

2.5×10 –9 1.2×10 –2 2.5×10

2.1×10 –1 1.7×10 –9 2.1×10 –2 1.7×10

–2

×10

6.7

4.9

1.8×10 –9 6.6×10 –3 1.8×10

–2

×10

1.3×10 –9 4.8×10 –3 1.3×10

2.2×10 –2 1.3×10 –8 2.2×10 –3 1.3×10

1.7×10 –2 9.8×10

–3

×10

6.3

4.5×10 –9 6.2×10 –4 4.4×10

–10

1.7×10 –3 9.6×10

3.8×10 –3 4.4×10 –9 3.7×10 –4 4.3×10

–3

×10

3.0

8.1×10 –9 2.9×10 –4 7.9×10

3.0×10 –3 8.1×10 –9 2.9×10 –4 7.9×10

–3

×10

1.6

4.1×10 –9 1.6×10 –4 4.0×10

1.6×10 –3 4.1×10 –9 1.6×10 –4 4.0×10

–3

×10

2.1

2.9×10 –3

1.1

1.7×10 –9 2.0×10 –4 1.7×10

–9

×10

1.2

–3

×10

1.0×10 –9 1.1×10 –4 1.0×10

2.8

–4

×10

1.2×10

–10 –10 –10 –10 –10 –10 –10 –10 –11 –11

S2/6000,

i

–10 –10

–10 –10 –10 –10 –10 –10 –10 –10 –11 –10 –10 –10 –10 –10 –10 –10 –10 –10

- 45 -

4.SELECTING A MOTOR B-65262EN/06

Model

αiS500/3000HV

αiS1000/2000HV（A06B-0098-B010）

αiS1000/3000HV αiS2000/2000HV αiS3000/2000HV

1.6×10 –3

×10

6.6

8.8××10 –4

3.3×10 –4 1.3×10

1.7×10 –4 7.4×10

SI unit Gravitational system of units

A B A B

–10

×10

7.1

–4

1.2×10 –9 6.4×10 –5 1.1×10

7.1

–10

×10

8.6×10 –5 6.9×10

–10

3.2×10 –5 1.3×10

–11

1.6×10 –5 7.3×10

1.5

–4

×10

7.0×10

–11 –10

–11 –11 –12

α

iF series (200-V system)

Model

αiF1/5000 αiF2/5000

(Note) (Note)

αiF4/4000

αiF8/3000 αiF12/3000 αiF22/3000 αiF30/3000 αiF40/3000

αiF40/3000 with fan

5.0

1.8

4.5

1.4

1.9

6.0

5.8

2.6

SI unit Gravitational system of units

A B A B

–1

×10

2.6×10 –7 4.9×10 –2 2.5×10 –8

–1

×10

1.6×10 –7 1.7×10 –2 1.6×10 –8

–1

×10

2.8×10 –8 4.4×10 –2 2.8×10 –9

–1

×10

1.7×10 –8 1.4×10 –2 1.7×10 –9

–1

×10

1.7×10 –8 1.9×10 –2 1.7×10 –9

–2

×10

9.9×10 –9 5.9×10 –3 9.7×10

–2

×10

3.9×10 –9 5.7×10 –3 3.8×10

–2

×10

6.0×10 –9 2.5×10 –3 5.8×10

–2

×10

6.0×10 –9 2.5×10 –3 5.8×10

–10 –10 –10 –10

NOTE

When servo amplifier

F2/5000 (L axis), the values of A and B are as follows:

i

α

Model

αiF1/5000

αiF2/5000

α

iF series (400-V system)

Model

αiF4/4000HV

αiF8/3000HV αiF12/3000HV αiF22/3000HV

The values of A and B are calculated by assuming that the resistance of the power line is 0.05Ω per phase. The values will vary slightly according to the resistance value of the power line.

The coefficient above values are applicable when the α used. The coefficient may change, depending on the type of the servo amplifier. Consult with FANUC to

use another amplifier.

SV 20/40 is used to drive model

i

α

SI unit Gravitational system of units

A B A B

1.2 1.1

–1

×10

4.9

5.8×10 –8 4.8×10 –2 5.7×10 –9

×10

SI unit Gravitational system of units

A B A B

–1

×10

3.9

1.1

1.5

4.5

3.3×10 –8 3.8×10 –2 3.2×10 -9

–1

×10

2.2×10 –8 1.1×10 –2 2.2×10 –9

–1

×10

2.3×10 –8 1.4×10 –2 2.2×10 –9

–2

×10

1.3×10 –8 4.4×10 –3 1.3×10 –9

iSV series or βiSV series servo amplifier is being

F1/5000 or

i

α

–7

1.2×10 –1 1.0×10 –8

- 46 -

B-65262EN/06 4.SELECTING A MOTOR

4.3 HOW TO FILL IN THE SERVO MOTOR SELECTION DATA

TABLE

Select a suitable motor according to load conditions, rapid traverse rate, increment system and other factors. To aid in selecting the correct motor, we recommend filling in the "Servo Motor Selection Data Table" on the following page. This section describes the items to fill in the Servo Motor Selection Data Table.

4.3.1 Servo Motor Selection Data Table

The Servo Motor Selection Data Table for the SI system of units and that for the gravitational system of units are given on the following pages.

- 47 -

4.SELECTING A MOTOR B-65262EN/06

Servo Motor Selection Data Table

SI unit

User name Kind of machine tool CNC equipment Type of machine tool Spindle motor

Item Axis

Specifications of moving object

* Weight of moving object (including workpiece, etc.) kg * Axis movement direction (horizontal, vertical, rotation, slant) * Angle of the slant deg * Counterbalance (forth) N * Table support (sliding, rolling, static pressure)

Diameter mm

* Ball screw

* Rack and pinion * Friction coefficient

Machine tool efficiency * Total gear ratio Mechanical specifications Traveling distance of the machine tool per revolution of the motor mm/rev Least input increment of NC mm * Rapid traverse feedrate mm/min Motor speed in rapid traverse 1/min * Total load inertia applied to the motor shaft (*1) Inertia of coupling, reduction gear and pulley * Steady-state load torque (*2) * Cutting thrust N Maximum cutting torque Required percentage duty cycle/ON time with the maximum

cutting torque Positioning distance mm Required positioning time (*3) sec In-position set value mm Rapid traverse positioning frequency (continuous, intermittent) times/min Dynamic brake stop distance mm Motor specifications and characteristics Motor type Pulsecoder Shaft shape Brake (Yes/No) Feed-forward during rapid traverse (Yes/No)

Acceleration/deceleration time constant in rapid traverse

Position loop gain 1/sec

CAUTION Be sure to fill in units other than the above if used. (Sometimes "deg" is used instead of "mm" for the rotary axis.) * Note required values for selecting the motor. *1 If possible enter the total load inertia. If you enter the inertia of coupling, reduction gear and pulley (motor shaft conversion) in the next item, you can

also calculate the total load inertia by adding the weight of the moving object and ball screw values by logical calculation in the case of a linear shaft.

*2 Steady-state load torque refers to the steady-state components such as friction (holding torque is included in the case of a gravity shaft) when the

motor is rotating at a fixed speed. Enter the state-state load torque as far as possible. If details are unknown, use a value calculated logically from the weight and friction coefficient. Enter the steady-state load torque of the rotary axis in the same way as for load inertia as it cannot be calculated logically. You need not enter the torque required for acceleration/deceleration.

*3 Servo delay and setting times must also be taken into consideration in the positioning time.

(**) Comments

Pitch mm Length mm Diameter of pinion mm Thickness of pinion mm

2 2

%

T1 T

kg⋅m kg⋅m

N⋅m

m⋅sec

2

m⋅sec

- 48 -

B-65262EN/06 4.SELECTING A MOTOR

Servo Motor Selection Data Table

Gravitational system of units

User name Kind of machine tool CNC equipment Type of machine tool Spindle motor

Item Axis

Specifications of moving object

* Weight of moving object (including workpiece, etc.) kgf * Axis movement direction (horizontal, vertical, rotation, slant) * Angle of the slant deg * Counterbalance (forth) kgf * Table support (sliding, rolling, static pressure)

Diameter mm

* Ball screw

* Rack and pinion * Friction coefficient

Machine tool efficiency * Total gear ratio Mechanical specifications Traveling distance of the machine tool per revolution of the motor mm/rev Least input increment of NC mm * Rapid traverse feedrate mm/min Motor speed in rapid traverse 1/min * Total load inertia applied to the motor shaft (*1) Inertia of coupling, reduction gear and pulley * Steady-state load torque (*2) * Cutting thrust kgf Maximum cutting torque Required percentage duty cycle/ON time with the maximum

cutting torque Positioning distance mm Required positioning time (*3) sec In-position set value mm Rapid traverse positioning frequency (continuous, intermittent) times/min Dynamic brake stop distance mm Motor specifications and characteristics Motor type Pulsecoder Shaft shape Brake (Yes/No) Feed-forward during rapid traverse (Yes/No)

Acceleration/deceleration time constant in rapid traverse

Position loop gain 1/sec

Pitch mm Length mm Diameter of pinion mm Thickness of pinion mm

2 2

%

T1 T

kgf⋅cm⋅s kgf⋅cm⋅s

kgf⋅cm

m⋅sec

2

m⋅sec

CAUTION Be sure to fill in units other than the above if used. (Sometimes "deg" is used instead of "mm" for the rotary axis.) * Note required values for selecting the motor. *1 If possible enter the total load inertia. If you enter the inertia of coupling, reduction gear and pulley (motor shaft conversion) in the next item, you can

also calculate the total load inertia by adding the weight of the moving object and ball screw values by logical calculation in the case of a linear shaft.

*2 Steady-state load torque refers to the steady-state components such as friction (holding torque is included in the case of a gravity shaft) when the

motor is rotating at a fixed speed. Enter the state-state load torque as far as possible. If details are unknown, use a value calculated logically from the weight and friction coefficient. Enter the steady-state load torque of the rotary axis in the same way as for load inertia as it cannot be calculated logically. You need not enter the torque required for acceleration/deceleration.

*3 Servo delay and setting times must also be taken into consideration in the positioning time.

(**) Comments

- 49 -

4.SELECTING A MOTOR B-65262EN/06

4.3.2 Explanation of Items

4.3.2.1 Title

User name

Fill in this blank with the name of the user.

Kind of machine tool

Fill in this blank with a general name of machine tools, such as lathe, milling machine, machining center, and others.

Type of machine tool

Fill in this blank with the type of machine tool decided by machine tool builder.

CNC equipment

Fill in this blank with the name of CNC (16i-MB, 21i-TB, PMi-D, etc.) employed.

Spindle motor

Enter the specifications and output of the spindle motor. (This item is needed when selecting PS.)

Axis

Fill in this blank with names of axes practically employed in CNC command. If the number of axes exceeds 4 axes, enter them in the second sheet.

4.3.2.2 Specifications of moving object

Be sure to enter data in this row. Data entered here is needed for determining the approximate motor load conditions (inertia, load torque).

- Mass(weight) of driven parts

Enter the mass(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.

- Axis movement direction

Enter horizontal, vertical, slant, or rotation as the movement directions of driven parts such as the table and tool post. Be sure to enter data because the axis movement direction is required for calculating the steady-state load torque and regenerative energy.

- Angle of the slant

Enter the angle which the movement direction forms with a horizontal surface only when the movement direction slants upward. Be sure to enter data because the axis movement direction is required for calculating the steady-state load torque and regenerative energy.

- Counter balance

Enter the weight of the counter balance in the vertical axis, if provided. Enter whether the counter balance is made by a weight or force as this influences inertia.

- Table support

Enter the type of table slide (e.g. rolling, sliding or static pressure).

- 50 -

B-65262EN/06 4.SELECTING A MOTOR

Enter a special slide way material like Turcite, if used. Also enter the friction coefficient value. This item is significant in estimating the friction coefficient for calculating mainly the load torque.

- Ball screw

For a ball screw, enter the diameter, pitch, and length in order. If a rack and pinion or other mechanism is used, also enter the traveling distance of the machine tool per revolution of the pinion.

- Rack and pinion

For a rack and pinion, enter the diameter and thickness of the pinion.

- Friction coefficient

Enter the friction coefficient of the table.

- Machine tool efficiency

This value is used for calculating the transfer efficiency of motor output on a machine tool. Standard value is 0.9. Generally, a drop in transfer efficiency is expected if a reduction gear having a large deceleration rate is used.

- 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.

4.3.2.3 Mechanical specifications

Enter basic data that is required for selecting the motor. For details on how to calculate each of the items, see Section 4.2, “SELECTING A MOTOR.”

- 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 12 [mm] and the gear ratio is 2/3, 12 [mm] × 2/3 = 8 [mm]

- When the gear ratio is 1/72 in rotary table ; 360 [deg.] × 1/72 = 5 [deg.]

- Least input increment CNC

Enter the least input increment of NC command. (The standard value is 0.001 [mm].)

- Rapid traverse rate

Enter the rapid traverse rate required for machine tool specifications.

- Motor speed in rapid traverse

Enter the motor speed during rapid traverse.

- Motor shaft converted load inertia

Enter a load inertia applied by the moving object reflected on the motor shaft. Do not include the inertia of the motor proper in this value. For details on this calculation, see Subsection

4.2.3, “Calculating the Load Inertia.”

- 51 -

4.SELECTING A MOTOR B-65262EN/06

In the case of a linear shaft, enter the load inertia calculated by logical calculation if you enter the next item. In the case of a rotary shaft, however, the load inertia cannot be calculated by logical calculation. Enter values to two digits past the decimal point. (e.g. 0.2865 → 0.29)

- Inertia of coupling, reduction gear and pulley

Enter load inertia applied on transfer mechanisms other than couplings, moving objects and ball screw. Enter values to two digits past the decimal point. (e.g. 0.2865 → 0.29)

- Steady-state load torque

Enter the torque obtained by calculating the force applied for moving the machine tool and state-state components such as friction (including holding torque in the case of a gravity shaft) reflected on the motor shaft when it is rotating at a fixed speed. (Do not include any torque required for acceleration/deceleration in this item.) If details are unknown, use a value calculated logically from the weight and friction coefficient. Enter the steady-state load torque of the rotary axis in the same way as for load inertia as it cannot be calculated logically. If the load torque values differ during lifting and lowering in the vertical axis, enter both values. Also, if the load torque values differ during rapid traverse and cutting feed, enter a notice to that effect. Since torque produced in low speed without cutting may be applied even when the motor has stopped, a sufficient allowance is necessary as compared with the continued rated torque of the motor. Suppress this load torque so that it is lower than 70% of the rated torque.

- Cutting thrust

Enter the maximum value of the force applied during cutting by the force in the feed axis direction.

- Maximum cutting torque

Enter the torque value on the motor shaft corresponding to the maximum value of the above cutting thrust. When you enter this value, add the steady-state load to the motor shaft converted value for the cutting thrust. Since the torque transfer efficiency may substantially deteriorate to a large extent due to the reaction from the slideway, etc. produced by the cutting thrust, obtain an accurate value by taking measured values in similar machine tools and other data into account.

- Maximum cutting duty / ON time

Enter the duty time and ON time with the maximum cutting torque in the above item applied.

Torque

ON

OFF

t

T

ON : Time that the maximum cutting torque is applied OFF : Time when cutting torque is not applied Duty : (t/T) × 100 [%] ON time = t [min]

Maximum cutting torque

Time

- Positioning distance

Enter the distance as a condition required for calculating the rapid traverse positioning frequency. When an exclusive positioning device is used, enter this value together with the desired positioning time below.

- Required positioning time

Enter the required positioning time when an exclusive positioning device is used.

- 52 -

B-65262EN/06 4.SELECTING A MOTOR

When the device is actually attached on the machine tool, note that servo delay and setting times must also be taken into consideration in the positioning time.

- In-position set value

Enter the in-position set value as a condition required for calculating the above positioning times when an exclusive positioning device is used. Note that the positioning time changes according to this value.

- Rapid traverse positioning frequency

Enter the rapid traverse positioning frequency by the number of times per minute. Enter whether the value is for continuous positioning over a long period of time or for intermittent positioning within a fixed period of time. (This value is used to check the OVC alarm and whether the motor is overheated or not by a flowing current during acceleration/deceleration, or to check the regenerative capacity of the amplifier.)

4.3.2.4 Motor specifications and characteristics

- Motor type

Enter the motor type, if desired.

- Pulsecoder

Enter the specifications (absolute or increment, number of pulses: 1,000,000 or 16,000,000) of the feedback sensor (Pulsecoder) built into the motor.

- Shaft shape

Enter the shape of the motor shaft.

- Brake (Yes/No)

Enter whether or not the motor has a brake.

- Feed-forward during rapid traverse

Enter whether or not feed-forward control during rapid traverse is used. Generally, feed-forward control can reduce the delay time in executing servo commands. However, overheating of the motor is more likely to occur as a higher torque is required for acceleration/ deceleration. Since mechanical shock increases in linear acceleration/deceleration, the bell-shaped acceleration/deceleration or fine acceleration/ deceleration (FAD) function is generally used together with feed-forward control.

- Acceleration/deceleration time constant at rapid traverse

Enter the acceleration/deceleration time constant in rapid traverse. The acceleration/deceleration time is determined according to the load inertia, load torque, motor output torque, and working speed. The acceleration/deceleration mode in rapid traverse is linear acceleration/deceleration or feed-forward during rapid traverse + bell-shaped acceleration/deceleration. Enter T acceleration/deceleration or T acceleration/deceleration.

and T2 for feed-forward during rapid traverse + bell-shaped

1

only for linear

1

- 53 -

4.SELECTING A MOTOR B-65262EN/06

Linear acceleration/deceleration

Speed

V

m

t

a

When cutting feed is important, enter the time constant in cutting feed. The acceleration/deceleration mode in cutting feed is linear acceleration/deceleration, exponential acceleration/deceleration, or bell-shaped acceleration/deceleration. Enter t

only for the time constant in cutting feed.

e

Exponential acceleration/deceleration

Speed

V

m

0.632Vm

t

a

Time

t

e

t

e

te : time

Time

- Position loop gain

Fill in this blank with a value which is 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 position sensor 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.

- Dynamic brake stop distance

Enter the coasting distance when an abnormality occurs and the machine tool is stopped by dynamic braking with both ends of the motor power line shorted.

4.4 CHARACTERISTIC CURVE AND DATA SHEET

The performance of each motor is described by the characteristic curves and data sheet given below.

4.4.1 Characteristic Curves

The characteristic curves representing the "speed-torque characteristics" and "overload duty characteristic" are given for each motor model.

Speed-torque characteristics

Speed-torque characteristics indicate the relationship between the output torque and speed of the motor.

- 54 -

B-65262EN/06 4.SELECTING A MOTOR

1

In the continuous operating zone, the motor winding temperature and pulsecoder temperature are protected from exceeding the following overheat temperatures when the ambient temperature is 20°C, and an ideal sine wave is present.

• Motor winding: 140°C

• Pulsecoder: 100°C In the continuous operating zone, the motor can be used continuously with any combination of a speed and a torque. In the intermittent operating zone outside the continuous operating zone, the motor is used intermittently using a duty cycle curve.

The torque decreases by 0.11% for the α

iS series or by 0.19% for the αiF series according to the negative

temperature coefficient of magnetic materials every time the ambient temperature increases by 1°C after it exceeds 20°C.

The intermittent operating zone may be limited by the motor input voltage. The values of the α

iS series and αiF series in the data sheets are observed when the input voltage is 200

V or 400 V.

Speed - torque characteristics

Intermittent operating

Torque (Nm)

Continuous operating

Speed (min

Example of αiF 1/5000

-

)

Overload duty characteristic

The percentage duty cycle indicates the ratio of the time during which torque can be applied to the total time of a single cycle. The ON time indicates the time during which the torque is being applied.

Torque

ON

OFF

t

T

Maximum cutting torque

Time

ON : Time during which the maximum cutting torque is applied OFF : Time during which no cutting torque is applied Duty = (t/T)×100 [%] ON time = t [second]

Overload duty characteristics indicate the relationship between the percentage duty cycle (%) and ON time (load time) in which the motor can intermittently be operated with no temperature limit in the range exceeding the continuous rated torque.

- 55 -

4.SELECTING A MOTOR B-65262EN/06

Overload ratio (torque percentage)

Overload duty characteristic

100

90 80 70 60

Time duty [%]

50 40 30 20 10

0

Overload duty characteristic for αiS 50/3000 with fan

110%

120% 130%

140% 150%

170% 210%

MAX

1

10 100 1000 10000

ON time [sec.]

Limited by overheat or soft thermal (indicated in steps of 10% of overload ratio)

The duty calculation procedure is shown below:

<1> Calculate Torque percent by formula (b) below. <2> Motor can be operated at any point on and inside the curve (according to the limits by overheating or

overcurrent alarms) corresponding to the given over load conditions obtained form <1>.

<3> Calculate t

by formula (a)

F

⎛ ⎜

tt

RF

⎜ ⎝

TMD

t

: "OFF" time

F

t

: "ON" time

R

100

⎞ ⎟

⎟

tDutypercen

⎠

torqueLoad

torqueratedContinuous

)(1

a

−−−−×=

)(

b

−−−=

The values of t

and tF obtained form the above mentioned procedure shows the ones limited by motor

R

thermal conditions.

The motor temperature limits for determining overload duty curves are determined according to the motor temperature limit (overheat alarm) and according to the soft thermal function of monitoring the current by servo soft for a rapid increase in temperature (overcurrent alarm). The overload duty characteristic determined according to the overheat alarm is represented with a curve within a relatively long time range of at least about 100 seconds of the load time. That determined according to the overcurrent alarm is represented with a curve within a relatively short time range of up to about 100 seconds. The final overload duty characteristic is represented with the curve described using either characteristic value, whichever is shorter. For the soft function of monitoring overcurrent, the settings differ depending on the motor. If the motor is in the overload status at a motor speed of about 0, an overcurrent (OVC) alarm may be issued for a time shorter than described. Note that another restriction may be imposed depending on the use condition since driving device (such as an amplifier), Pulsecoder, and other devices contain a thermal protection device.

- 56 -

B-65262EN/06 4.SELECTING A MOTOR

4.4.2 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.

• The ambient temperature for the motor is 20°C.

• The error is ±10%.

• The drive current of the motor is pure sine wave. The following parameters are given on the data sheet:

Stall torque : Ts [N⋅m]

Torque that allows the motor to operate continuously at 0 [min-1].

Stall current : Is [Arms]

Maximum effective current value that allows the motor to operate continuously at 0 [min-1].

Rated output : Pr [kW]

Maximum speed at which the motor can continuously operate

Rating rotation speed : Nr [min-1]

Maximum speed at which the motor can continuously operate

Maximum rotation speed : N

Maximum speed at which the motor can operate

Maximum torque : T

Maximum motor torque More specifically, torque with which the motor can intermittently be operated within the current restricted range (from 0 [min The maximum torque value is generally the product of the torque constant of each motor and the current limit of the amplifier. This value varies according to fluctuations in the power supply, motor parameters, and limits of the amplifier. For some models, when the maximum current flows through the motor, the maximum torque may be lower than the calculated value (the product of the motor torque constant and the current limit of the amplifier) due to magnetic saturation and other factors.

-1

] to the beginning of dropping of the shoulder)

[min-1]

max

Motor inertia : Jm [kg⋅m2] [kgf⋅cm⋅sec2]

Motor rotor inertia The values for the standard specification with no brake and for the specification with a brake are given.

Torque constant : Kt [N⋅m/Arms] [kgf⋅cm/Arms]

This is known as torque sensitivity and represents the torque developed per ampere of phase current. This value is a motor-specific constant, and is calculated by the flux distribution and location of coils in the armature, and the dimensions of the motor.

The torque constant decreases by 0.11% for the α temperature coefficient of the magnet every time the temperature of the magnet increases by 1°C after it

exceeds 20°C.

Back EMF (electromotive force) constant: Kv [Vrms⋅sec] ([Vrms⋅sec/rad])

This indicates the strength of a permanent magnet and is a motor-specific constant. This is the voltage generated when the rotor is externally and mechanically rotated. Back EMF is a motor-specific constant, and is also calculated by the flux distribution and location of coils in the armature, and the dimensions of the motor. Expressed in [min dimensions of [Vrms/min

-1

]. The relationship can be given as:

[min-1]

max

iS series or by 0.19% for the αiF series according to the

-1

] units, back EMF has the

- 57 -

4.SELECTING A MOTOR B-65262EN/06

[Vrms⋅sec/rad] = [ 9.55×Vrms/min-1] (9.55=60/(2π)) The back EMF constant is indicated as the RMS voltage per phase, so multiple by

3 to obtain the

actual terminal voltage. The relationship between the torque constant (K

) and back EMF constant (Kv) can also be given as:

t

Gravitational system of units

Kt [kgf⋅cm/Arms] = 30.6 Kv [Vrms⋅sec/rad]

SI unit

Kt [N⋅m/Arms] = 3 Kv [Vrms⋅sec/rad]

For this reason, when back EMF constant (K torque constant (K

) also drops by the same ratio.

t

) drops lower than the demagnetization of the magnet, the

v

Example) For the α The torque constant is K

is K

iS 2/5000

= 6.2[kgf⋅cm/Arms] = 0.61 [N⋅m/Arms], and the back electromotive force

t

= 0.20[Vrms⋅sec/rad]; therefore, the above equation can be satisfied.

v

Winding resistance : R [Ω]

Resistance per phase of the motor

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.

m

t

=

vt

KK

⋅

Jm : Rotor inertia [kg⋅m

2

]

am

RJ

⋅

Ra : Resistance of the armature [Ω]

Thermal time constant : tt [min]

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.

Axis friction torque : Tf [N⋅m] [kgf⋅cm]

This is the no-load torque required just to rotate the rotor.

Mass : w [kg]

This is the mass of the motor. The masses of the motor with brakes and that without brakes are indicated.

Maximum current of applicable servo amplifiers

Applicable servo amplifiers are briefly described. For more specific servo amplifiers, see Section 2.2, "APPLICABLE AMPLIFIERS."

- 58 -

B-65262EN/06 5.CONDITIONS FOR APPROVAL RELATED TO THE IEC60034 STANDARD

5 CONDITIONS FOR APPROVAL RELATED

TO THE IEC60034 STANDARD

This chapter describes the conditions the following FANUC AC servo motor αi series must clear before they can be approved for the IEC60034 standard. For details on EMC compliance authorization, refer to

the separate manual "Compliance with EMC Directives."

Chapter 5, "CONDITIONS FOR APPROVAL RELATED TO THE IEC60034 STANDARD", consists of the following sections:

5.1 TYPES OF MOTORS TO BE APPROVED ......................................................................................59

5.2 APPROVED SPECIFICATIONS.......................................................................................................61

5.3 CONNECTORS REQUIRED FOR APPROVAL ..............................................................................63

5.1 TYPES OF MOTORS TO BE APPROVED

The following FANUC AC Servo Motor αi series can comply with the IEC60034 standard if you follow the descriptions in this chapter.

The TUV mark is printed on the nameplates of the following motors. The FANUC AC Servo Motor α

i series has two types of motors: one type is driven by FANUC servo

amplifiers (for 200 to 240 VAC) and the other type is driven by FANUC servo amplifiers (400 to 480 VAC).

iS series (200V)

α

Model name Motor specification number

αiS 2/5000 αiS 2/6000 αiS 4/5000 αiS 4/6000 αiS 8/4000 αiS 8/6000

αiS 12/4000 αiS 12/6000 αiS 22/4000 αiS 22/6000 αiS 30/4000 αiS 40/4000 αiS 50/2000 αiS 60/2000

αiS 50/3000 with fan αiS 60/3000 with fan

αiS 100/2500

α

iS 100/2500 with fan

αiS 200/2500

α

iS 200/2500 with fan

αiS 300/2000 αiS 500/2000

A06B-0212-Bxxx A06B-0218-Bxxx A06B-0215-Bxxx A06B-0210-Bxxx A06B-0235-Bxxx A06B-0232-Bxxx A06B-0238-Bxxx A06B-0230-Bxxx A06B-0265-Bxxx A06B-0262-Bxxx A06B-0268-Bxxx A06B-0272-Bxxx A06B-0042-Bxxx A06B-0044-Bxxx A06B-0275-Bxxx A06B-0278-Bxxx

A06B-0285-Bxxx

A06B-0288-Bxxx A06B-0292-Bxxx

A06B-0295-Bxxx

- 59 -

5.CONDITIONS FOR APPROVAL RELATED TO THE IEC60034 STANDARD B-65262EN/06

α

iS series (400V)

Model name Motor specification number

A06B-0213-Bxxx A06B-0219-Bxxx A06B-0216-Bxxx A06B-0214-Bxxx A06B-0236-Bxxx A06B-0233-Bxxx A06B-0239-Bxxx A06B-0237-Bxxx A06B-0266-Bxxx A06B-0263-Bxxx

A06B-0269-Bxxx A06B-0273-Bxxx A06B-0043-Bxxx A06B-0045-Bxxx A06B-0276-Bxxx A06B-0279-Bxxx

A06B-0286-Bxxx

A06B-0289-Bxxx A06B-0293-Bxxx

A06B-0290-Bxxx A06B-0296-Bxxx A06B-0297-Bxxx A06B-0098-Bxxx A06B-0099-Bxxx A06B-0091-Bxxx

A06B-0202-Bxxx A06B-0205-Bxxx A06B-0223-Bxxx A06B-0227-Bxxx A06B-0243-Bxxx A06B-0247-Bxxx A06B-0253-Bxxx

A06B-0257-Bxxx

A06B-0225-Bxxx A06B-0229-Bxxx A06B-0245-Bxxx

α

iF series (200V)

α

iF series (400V)

αiS 2/5000HV αiS 2/6000HV αiS 4/5000HV αiS 4/6000HV αiS 8/4000HV αiS 8/6000HV

αiS 12/4000HV αiS 12/6000HV αiS 22/4000HV αiS 22/6000HV

Model name Motor specification number

αiS 30/4000HV αiS 40/4000HV αiS 50/2000HV

αiS 60/2000HV αiS 50/3000HV with fan αiS 60/3000HV with fan

αiS 100/2500HV

α

iS 100/2500HV with fan

αiS 200/2500HV

α

iS 200/2500HV with fan

αiS 300/2000HV αiS 300/3000HV αiS 500/2000HV αiS 500/3000HV

αiS 1000/2000HV αiS 1000/3000HV αiS 2000/2000HV

Model name Motor specification number

αiF 1/5000 αiF 2/5000 αiF 4/4000

αiF 8/3000 αiF 12/3000 αiF 22/3000 αiF 30/3000

αiF 40/3000,

αiF 40/3000 with fan

Model name Motor specification number

αiF 4/4000HV αiF 8/3000HV

αiF 12/3000HV

- 60 -

B-65262EN/06 5.CONDITIONS FOR APPROVAL RELATED TO THE IEC60034 STANDARD

Model name Motor specification number

αiF 22/3000HV

A06B-0249-Bxxx

5.2 APPROVED SPECIFICATIONS

The following specifications are approved for the IEC60034 standard.

5.2.1 Motor Speed (IEC60034-1)

The "rated-output speed" and "allowable maximum speed" are given on the data sheet in Chapter 6, “SPECIFICATIONS.” The rated-output speed is the speed which specifies the rated output. The allowable maximum speeds are specified in such a way that the approval conditions of the IEC60034-1 standard, as they relate to rotational speed, are satisfied. When the allowable maximum speeds are used, the characteristics are not guaranteed.

5.2.2 Output (IEC60034-1)

The "rated output" available with a motor is given on the data sheet in Chapter 6, “SPECIFICATIONS.”The rated output is guaranteed as continuous output for the rated-output speed under Insulation Class F.

The output in an intermittent operation range is not specified.

5.2.3 Protection Type (IEC60034-5)

Motor protection confirms to IP65. (The Pulsecoder connector is waterproof when engaged.) Motor protection of Models with fan confirms to IP65 except the fan motor and the fan connectors(

2000/2000HV confirms to IP44 except the fan connectors. The connectors of pulsecoders are water-proof when engaged.)

IP4x: Machine protected from introduction of solid foreign matter over 1.0 mm Electric cables and wires with a diameter or thickness greater than 1.0 mm do not enter.

IP6x: Completely dust-proof machine This structure completely prevents dust from entering the machine.

IPx4: Machine protected form water spray Water sprayed on the motor from any direction will have no harmful effect.

IPx5: Sprinkle-proof machines A sprinkle-proof machine shall not suffer inadvertent influence when they are exposed to water

sprinkled from nozzles at any angle to the machine.

The conditions of the IPx5 type test are as follows:

Nozzle inside diameter...........................................................................................................6.3 [mm]

Amount of sprinkled water......................................................................................... 0.0125 [m

Water pressure at the nozzle ................................................................................................... 30 [kPa]

Test time for a 1-m

Minimum test time....................................................................................................................3 [min]

Distance between the nozzle and machine..........................................................Approximately 3 [m]

2

surface area of the machine to be tested...................................................1 [min]

αiS

3

/min]

- 61 -

5.CONDITIONS FOR APPROVAL RELATED TO THE IEC60034 STANDARD B-65262EN/06

CAUTION

IPx5 evaluates machines for waterproofness in a short-term test as described

above, allowing chances that the machines may get dry after the test. If a machine is exposed to liquids other than water or so continuously to water that it cannot get dry, it may suffer inadvertent influence even if the degree of exposure is low.

5.2.4 Cooling Method (IEC60034-6)

The motor cooling methods are as listed below.

Motor model IC code Method

αiS 50/3000 with fan, αiS 60/3000 with fan, αiS 100/2500 with fan, αiS 200/2500 with fan, αiS 300/2000, αiS 500/2000, αiS 50/3000HV with fan, αiS 60/3000HV with fan, αiS 100/2500HV with fan, αiS 200/2500HV with fan, αiS 300/2000HV, αiS 300/3000HV, αiS 500/2000HV, αiS 500/3000HV, αiS 1000/2000HV, αiS 1000/3000HV, αiS 2000/2000HV, αiF 40/3000 with fan,

Models except for the above IC410 Fully closed; cooled by a natural air flow

IC416

Fully closed; Air-cooled by a external independence fan

5.2.5 Mounting Method (IEC60034-7)

αiS 2 to αiS 500, αiS 2HV to αiS 500HV, αiF 1 to αiF 40, and αiF 4HV to αiF 22HV can be

mounted using the following method: IMB5: Flange mounting with the shaft facing sideways(from the rear) IMV1: Flange mounting with the shaft facing upward(from the rear) IMV3: Flange mounting with the shaft facing downward(from the rear)

αiS 1000/2000HV and αiS 1000/3000HV can be mounted as follows. Consult with FANUC for any

other mounting method. IMB3: Feet bottom mounting with the shaft facing sideways(from the rear) IMB6: Left feet side mounting with the shaft facing sideways(from the rear) IMB7: Right feet side mounting with the shaft facing sideways(from the rear) IMV5: Foot mounting with the shaft facing downward(from the rear) IMV6: Foot mounting with the shaft facing upward(from the rear)

αiS 2000/2000HV can be mounted as follows. Consult with FANUC for any other mounting method.

IMB3: Feet bottom mounting with the shaft facing sideways(from the rear)

- 62 -

B-65262EN/06 5.CONDITIONS FOR APPROVAL RELATED TO THE IEC60034 STANDARD

5.2.6 Grounding (IEC60204-1)

For each servo motor, continuity between the ground terminal and housing of the power connector has been checked based on the IEC60204-1 safety standard and it has been ensured that it satisfies the standard. The ground wire to be connected to the motor must have a diameter not smaller than the diameter of each phase wire.

5.2.7 Remarks

For details on EMC compliance authorization, refer to the separate manual "Compliance with EMC Directives" Mechanical and electrical safety of each motor should be evaluated after the motor is mounted on the machine.

5.3 CONNECTORS REQUIRED FOR APPROVAL

Power connector and fan connector

The power and cooling fan must be connected to the motor with a TUV-approved connector and a cable clamp. For details, see Section 3.2, "CONNECTING A SERVO MOTOR".

• The TUV-approved plug connectors and cable clamps in Chapter 11, "CONNECTORS ON THE CABLE SIDE", are approved by TUV that they conform to the safety standard VDE0627 when

combined with the FANUC AC Servo Motor α manufacturers offer other plug connectors. For information about whether the plug connectors satisfy the safety standard when combined with the FANUC AC servo motor α corresponding manufacturer. Contact the manufacturers if you require details of their products.

Manufacturer Product series name

Tyco Electronics AMP Dynamic Series Hirose Electric (HRS) H/MS310 TUV-conforming series Japan Aviation Electronics Industry (JAE) JL04V series DDK Ltd. (DDK) CE05 series

• If a cable or conduit hose seal adapter is used, consult an appropriate connector maker.

i series. As indicated in the table below, several

i series, contact the

- 63 -

6.SPECIFICATIONS B-65262EN/06

6 SPECIFICATIONS

The specifications and characteristics of each motor of the FANUC AC Servo Motor αi series are described separately with characteristic curves and a data sheet.

For information about the characteristic curves and data sheet, see Section 4.4, "CHARACTERISTIC CURVE AND DATA SHEET".

Chapter 6, "SPECIFICATIONS", consists of the following sections:

iS series (200V)................................................................................................................................66

6.1 α

αiS 2/5000...........................................................................................................................................66

αiS 2/6000...........................................................................................................................................67

αiS 4/5000...........................................................................................................................................68

αiS 4/6000...........................................................................................................................................69

αiS 8/4000...........................................................................................................................................70

αiS 8/6000...........................................................................................................................................71

αiS 12/4000.........................................................................................................................................72

αiS 12/6000.........................................................................................................................................73

αiS 22/4000.........................................................................................................................................74

αiS 22/6000.........................................................................................................................................75

αiS 30/4000.........................................................................................................................................76

αiS 40/4000.........................................................................................................................................77

αiS 50/2000.........................................................................................................................................78

αiS 60/2000.........................................................................................................................................79

αiS 50/3000 with Fan..........................................................................................................................80

αiS 60/3000 with Fan..........................................................................................................................81

αiS 100/2500.......................................................................................................................................82

αiS 100/2500 with Fan........................................................................................................................83

αiS 200/2500.......................................................................................................................................84

αiS 200/2500 with Fan........................................................................................................................85

αiS 300/2000.......................................................................................................................................86

αiS 500/2000.......................................................................................................................................87

6.2 α

iS series (400V)................................................................................................................................88

αiS 2/5000HV .....................................................................................................................................88

αiS 2/6000HV .....................................................................................................................................89

αiS 4/5000HV .....................................................................................................................................90

αiS 4/6000HV .....................................................................................................................................91

αiS 8/4000HV .....................................................................................................................................92

αiS 8/6000HV .....................................................................................................................................93

αiS 12/4000HV ...................................................................................................................................94

αiS 12/6000HV ...................................................................................................................................95

αiS 22/4000HV ...................................................................................................................................96

αiS 22/6000HV ...................................................................................................................................97

αiS 30/4000HV ...................................................................................................................................98

αiS 40/4000HV ...................................................................................................................................99

αiS 50/2000HV .................................................................................................................................100

αiS 60/2000HV .................................................................................................................................101

αiS 50/3000HV with Fan ..................................................................................................................102

- 64 -

B-65262EN/06 6.SPECIFICATIONS

αiS 60/3000HV with Fan ..................................................................................................................103

αiS 100/2500HV ...............................................................................................................................104

αiS 100/2500HV with Fan ................................................................................................................105

αiS 200/2500HV ...............................................................................................................................106

αiS 200/2500HV with Fan ................................................................................................................107

αiS 300/2000HV ...............................................................................................................................108

αiS 300/3000HV ...............................................................................................................................109

αiS 500/2000HV ...............................................................................................................................110

αiS 500/3000HV ...............................................................................................................................111

αiS 1000/2000HV .............................................................................................................................112

αiS 1000/3000HV .............................................................................................................................113

αiS 2000/2000HV .............................................................................................................................114

αiS 3000/2000HV .............................................................................................................................115

6.3 α

iF series (200V)..............................................................................................................................116

αiF 1/5000.........................................................................................................................................116

αiF 2/5000.........................................................................................................................................117

αiF 4/4000.........................................................................................................................................118

αiF 8/3000.........................................................................................................................................119

αiF 12/3000.......................................................................................................................................120

αiF 22/3000.......................................................................................................................................121

αiF 30/3000.......................................................................................................................................122

αiF 40/3000.......................................................................................................................................123

αiF 40/3000 with Fan........................................................................................................................124

6.4 α

iF series (400V)..............................................................................................................................125

αiF 4/4000HV ...................................................................................................................................125

αiF 8/3000HV ...................................................................................................................................126

αiF 12/3000HV .................................................................................................................................127

αiF 22/3000HV .................................................................................................................................128

- 65 -

6.SPECIFICATIONS B-65262EN/06

i

g

(

6.1 αiS series (200V)

Model

α

S 2/5000

Specification A06B-0212-B□0

□

Speed-Torque Characteristics

9

8

7

6

5

4

3

Torque [Nm]

2

1

0

Intermittent Operating

Continuous Operating

0 1000 2000 3000 4000 5000

Speed [min-1]

100

90 80 70 60 50

Duty[%]

40 30 20 10

0

Over Load Duty

110%

120%

130% 140%

150%

170%

210%

MAX

1 10 100 1000 10000

ON time[sec]

Data sheet

Parameter Symbol Value Unit

Stall Torque (*)

Stall Current (*) Is 3.3 A (rms) Rated Output (*) Pr 0.75 kW

Rating Speed Maximum Speed Maximum Torque (*) Tmax 7.8 Nm

Rotor Inertia

Rotor Inertia (with Brake) Jm 0.000311

Torque constant (*)

Back EMF constant ( １phase) (*)

Armature Resistance (1 phase) (*) Mechanical time constant Thermal time constant Static friction Tf 0.1 Nm

Weight Weight (with Brake) Max. Current of Servo Amp. Imax 20 A (peak)

Ts 2.0 Nm

20 kgfcm

1.0 HP Nr 4000 Nmax 5000

80 kgfcm

Jm 0.000291

0.00297

0.00317

Kt 0.61 Nm/A (rms)

6.2 kgfcm/A (rms) Ke 21 Kv 0.20 V (rms)sec/rad Ra 1.4 Ω tm 0.003 s tt 15 min

1kgfcm w2.8 kg w3.8 kg

-1

min

-1

min

2

k

m fcms

k

2

m

k

fcms

k

V

rms)/1000 min

2

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.)

- 66 -

B-65262EN/06 6.SPECIFICATIONS

i

g

(

Model

S 2/6000

α

Torque [Nm]

Speed-Torque Characteristics

7

6

5

Intermittent Operating

4

3

2

1

Continuous Operating

0

0 1000 2000 3000 4000 5000 6000

Speed [min-1]

Specification A06B-0218-B□0

Over Load Duty

100

90

110%

80

120%

70

130%

60

140%

50

150%

Duty[%]

40

170%

30

210%

20

MAX

10

0

1 10 100 1000 10000

ON time[sec]

□

Data sheet

Parameter Symbol Value Unit

Stall Torque (*) Ts 2.0 Nm

20 kgfcm

Stall Current (*) Rated Output (*)

Rating Speed Nr 6000 Maximum Speed Nmax 6000 Maximum Torque (*)

Rotor Inertia Jm 0.000291

Rotor Inertia (with Brake)

Torque constant (*) Kt 0.50 Nm/A (rms)

Back EMF constant (１phase) (*)

Armature Resistance (1 phase) (*) Mechanical time constant tm 0.005 s Thermal time constant Static friction

Weight w3.0 kg Weight (with Brake) w4.0 kg Max. Current of Servo Amp. Imax 20 A (peak)

Is 4.0 A (rms) Pr 1.0 kW

1.3 HP

-1

min

-1

min

Tmax 6 Nm

61 kgfcm

2

k

m

0.00297

Jm 0.000311

0.00317

k k k

fcms

2

m fcms

2

5.1 kgfcm/A (rms)

Ke 17

V

rms)/1000 min

Kv 0.17 V (rms)sec/rad Ra 1.4 Ω

tt 15 min Tf 0.1 Nm

1kgfcm

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.)

- 67 -

6.SPECIFICATIONS B-65262EN/06

i

g

(

Model

S 4/5000

α

Specification A06B-0215-B□0

□

Speed-Torque Characteristics

10

9 8 7

Intermittent Operating

6 5 4

Torque [Nm]

3

Continuous

2

Operating

1 0

0 1000 2000 3000 4000 5000

Speed [min-1]

100

90 80 70 60 50

Duty[%]

40 30 20 10

0

Over Load Duty

110%

120%

130% 140%

150%

170%

210%

MAX

1 10 100 1000 10000

ON time[sec]

Data sheet

Parameter Symbol Value Unit

Stall Torque (*) Ts 4.0 Nm

41 kgfcm

Stall Current (*) Rated Output (*)

Rating Speed Nr 4000 Maximum Speed Nmax 5000 Maximum Torque (*)

Rotor Inertia Jm 0.000515

Rotor Inertia (with Brake)

Torque constant (*) Kt 0.66 Nm/A (rms)

Back EMF constant (１phase) (*)

Armature Resistance (1 phase) (*) Mechanical time constant tm 0.002 s Thermal time constant Static friction

Weight w4.3 kg Weight (with Brake) w5.3 kg Max. Current of Servo Amp. Imax 20 A (peak)

Is 6.1 A (rms) Pr 1.0 kW

1.3 HP

-1

min

-1

min

Tmax 8.8 Nm

90 kgfcm

2

k

m

0.00526

Jm 0.000535

0.00546

k k k

fcms

2

m fcms

2

6.7 kgfcm/A (rms)

Ke 23

V

rms)/1000 min

Kv 0.22 V (rms)sec/rad Ra 0.61 Ω

tt 20 min Tf 0.2 Nm

2kgfcm

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.)

- 68 -

B-65262EN/06 6.SPECIFICATIONS

i

g

(

Model

α

S 4/6000

Specification A06B-0210-B□0

□

Speed-Torque Characteristics

8

7

6

5

4

3

Torque [Nm]

Intermittent Operating

2

1

0

Continuous Operating

0 1000 2000 3000 4000 5000 6000

Speed [min-1]

100

90 80 70 60 50

Duty[%]

40 30 20 10

0

Over Load Duty

110%

120%

130% 140%

150%

170%

210%

MAX

1 10 100 1000 10000

ON time[sec]

Data sheet

Parameter Symbol Value Unit

Stall Torque (*) Ts 3.0 Nm

31 kgfcm

Stall Current (*) Rated Output (*)

Rating Speed Nr 6000 Maximum Speed Maximum Torque (*)

Rotor Inertia Jm 0.000515

Rotor Inertia(with Brake)

Torque constant (*) Kt 0.54 Nm/A (rms)

Back EMF constant ( １phase) (*)

Armature Resistance (1 phase) (*) Ra 0.61 Ω Mechanical time constant tm 0.003 s Thermal time constant Static friction

Weight w4.5 kg Weight(with Brake) w5.5 kg Max. Current of Servo Amp. Imax 20 A (peak)

Is 5.6 A (rms) Pr 1.0 kW

1.3 HP

-1

min

Nmax 6000

min

-1

Tmax 7.5 Nm

77 kgfcm

2

k

m

0.00526

Jm 0.000535

0.00546

k k k

fcms

2

m fcms

2

5.5 kgfcm/A (rms)

Ke 19

V

rms)/1000 min

Kv 0.18 V (rms)sec/rad

tt 20 min Tf 0.2 Nm

2kgfcm

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.)

- 69 -

6.SPECIFICATIONS B-65262EN/06

i

g

(

Model

S 8/4000

α

Torque [Nm]

Speed-Torque Characteristics

35

30

25

Intermittent Operating

20

15

10

Continuous

5

Operating

0

0 1000 2000 3000 4000

Speed [min-1]

Specification A06B-0235-B□0

Over Load Duty

100

90

110%

80

120%

70

130%

60

140%

50

150%

Duty[%]

40

170%

30

210%

20

MAX

10

0

1 10 100 1000 10000

ON time[sec]

□

Data sheet

Parameter Symbol Value Unit

Stall Torque (*) Ts 8.0 Nm

82 kgfcm

Stall Current (*) Rated Output (*)

Rating Speed Nr 4000 Maximum Speed Nmax 4000 Maximum Torque (*)

Rotor Inertia Jm 0.00117

Rotor Inertia (with Brake)

Torque constant (*) Kt 0.72 Nm/A (rms)

Back EMF constant (１phase) (*)

Armature Resistance (1 phase) (*) Mechanical time constant tm 0.002 s Thermal time constant Static friction

Weight w7.4 kg Weight (with Brake) w9.6 kg Max. Current of Servo Amp. Imax 80 A (peak)

Is 11.1 A (rms) Pr 2.5 kW

3.3 HP

-1

min

-1

min

Tmax 32 Nm

327 kgfcm

2

k

m

0.0119

Jm 0.00124

0.0127

k k k

fcms

2

m fcms

2

7.3 kgfcm/A (rms)

Ke 25

V

rms)/1000 min

Kv 0.24 V (rms)sec/rad Ra 0.31 Ω

tt 20 min Tf 0.3 Nm

3kgfcm

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.)

- 70 -

B-65262EN/06 6.SPECIFICATIONS

i

g

(

Model

S 8/6000

α

Torque [Nm]

Speed-Torque Characteristics

25

20

Intermittent Operating

15

10

5

Continuous Operating

0

0 1000 2000 3000 4000 5000 6000

Speed [min-1]

Specification A06B-0232-B□0

Over Load Duty

100

90

110%

80

120%

70

130%

60

140%

50

150%

Duty[%]

40

170%

30

210%

20

MAX

10

0

1 10 100 1000 10000

ON time[sec]

□

Data sheet

Parameter Symbol Value Unit

Stall Torque (*)

Stall Current (*) Is 17.9 A (rms) Rated Output (*) Pr 2.2 kW

Rating Speed Maximum Speed Maximum Torque (*) Tmax 22 Nm

Rotor Inertia

Rotor Inertia (with Brake) Jm 0.00124

Torque constant (*)

Back EMF constant (１phase) (*)

Armature Resistance (1 phase) (*) Mechanical time constant Thermal time constant Static friction Tf 0.3 Nm

Weight Weight (with Brake) Max. Current of Servo Amp. Imax 80 A (peak)

Ts 8.0 Nm

82 kgfcm

3.0 HP Nr 6000 Nmax 6000

min min

-1

224 kgfcm

Jm 0.00117

0.0119

0.0127

k k k k

2

m fcms

2

m fcms

Kt 0.45 Nm/A (rms)

4.6 kgfcm/A (rms) Ke 16

V

rms)/1000 min Kv 0.15 V (rms)sec/rad Ra 0.13 Ω

tm 0.002 s tt 20 min

3kgfcm w8.0 kg w10.0 kg

2

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.)

- 71 -

6.SPECIFICATIONS B-65262EN/06

i

g

(

Model

S 12/4000

α

Torque [Nm]

Speed-Torque Characteristics

50 45 40 35

Intermittent Operating

30 25 20 15 10

Continuous

5

Operating

0

0 1000 2000 3000 4000

Speed [min-1]

Specification A06B-0238-B□0

Over Load Duty

100

90

110%

80

120%

70

130%

60

140%

50

150%

Duty[%]

40

170%

30

210%

20

MAX

10

0

1 10 100 1000 10000

ON time[sec]

□

Data sheet

Parameter Symbol Value Unit

Stall Torque (*) Ts 12 Nm

122 kgfcm

Stall Current (*) Rated Output (*)

Rating Speed Nr 3000 Maximum Speed Nmax 4000 Maximum Torque (*)

Rotor Inertia Jm 0.00228

Rotor Inertia (with Brake)

Torque constant (*) Kt 0.90 Nm/A (rms)

Back EMF constant (１phase) (*)

Armature Resistance (1 phase) (*) Mechanical time constant tm 0.002 s Thermal time constant Static friction

Weight w 11.9 kg Weight (with Brake) w 14.1 kg Max. Current of Servo Amp. Imax 80 A (peak)

Is 13.4 A (rms) Pr 2.7 kW

3.6 HP

-1

min

-1

min

Tmax 46 Nm

469 kgfcm

2

k

m

0.0233

Jm 0.00235

0.0240

k k k

fcms

2

m fcms

2

9.2 kgfcm/A (rms)

Ke 31

V

rms)/1000 min

Kv 0.30 V (rms)sec/rad Ra 0.18 Ω

tt 25 min Tf 0.3 Nm

3kgfcm

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.)

- 72 -

B-65262EN/06 6.SPECIFICATIONS

i

g

(

Model

S 12/6000

α

Torque [Nm]

Speed-Torque Characteristics

60

50

40

30

Intermittent Operating

20

10

Continuous

0

Operating

0 1000 2000 3000 4000 5000 6000

Speed [min-1]

Specification A06B-0230-B□0

Over Load Duty

100

90

110%

80

120%

70

130%

60

140%

50

150%

Duty[%]

40

170%

30

210%

20

MAX

10

0

1 10 100 1000 10000

ON time[sec]

□

Data sheet

Parameter Symbol Value Unit

Stall Torque (*)

Stall Current (*) Is 20.4 A (rms) Rated Output (*) Pr 2.2 kW

Rating Speed Maximum Speed Nmax 6000 Maximum Torque (*) Tmax 52 Nm

Rotor Inertia

Rotor Inertia Jm 0.00235

Torque constant (*)

Back EMF constant (１phase) (*) Ke 19

Armature Resistance (1 phase) (*)

Mechanical time constant tm 0.002 s

Thermal time constant tt 25 min

Static friction

Weight w11.9 kg

Weight w14.1 kg

Max. Current of Servo Amp. Imax 160 A (peak)

Ts 11 Nm

112 kgfcm

3.0 HP

Nr 4000

min min

-1

531 kgfcm

Jm 0.00228

0.0233

0.0240

k k k k

2

m fcms

2

m fcms

2

Kt 0.54 Nm/A (rms)

5.5 kgfcm/A (rms)

V

rms)/1000 min

Kv 0.18 V (rms)sec/rad Ra 0.065 Ω

Tf 0.3 Nm

3kgfcm

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%.

The speed-torque characteristics very depending on the type of software, parameter setting, and input

voltage of the digital servo software. (The above figures show average values.)

- 73 -

6.SPECIFICATIONS B-65262EN/06

i

g

(

Model

S 22/4000

α

Torque [Nm]

Speed-Torque Characteristics

80

70

60

50

Intermittent Operating

40

30

20

Continuous

10

Operating

0

0 1000 2000 3000 4000

Speed [min-1]

Specification A06B-0265-B□0

Over Load Duty

100

90

110%

80

120%

70

130%

60

140%

50

150%

Duty[%]

40

170%

30

210%

20

MAX

10

0

1 10 100 1000 10000

ON time[sec]

□

Data sheet

Parameter Symbol Value Unit

Stall Torque (*) Ts 22 Nm

224 kgfcm

Stall Current (*) Rated Output (*)

Rating Speed Nr 3000 Maximum Speed Nmax 4000 Maximum Torque (*)

Rotor Inertia Jm 0.00527

Rotor Inertia (with Brake)

Torque constant (*) Kt 0.79 Nm/A (rms)

Back EMF constant (１phase) (*)

Armature Resistance (1 phase) (*) Mechanical time constant tm 0.002 s Thermal time constant Static friction

Weight w17 kg Weight (with Brake) w23 kg Max. Current of Servo Amp. Imax 160 A (peak)

Is 27.9 A (rms) Pr 4.5 kW

6.0 HP

-1

min

-1

min

Tmax 76 Nm

776 kgfcm

2

k

m

0.0538

Jm 0.00587

0.0599

k k k

fcms

2

m fcms

2

8.0 kgfcm/A (rms)

Ke 28

V

rms)/1000 min

Kv 0.26 V (rms)sec/rad Ra 0.075 Ω

tt 30 min Tf 0.8 Nm

8kgfcm

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.) Overload Duty shows the specification for rotating, and if the motor is stopping, Soft Alarm will occur shorter time. When the motor speed is less than 1 rpm for over 10 sec., use under stall torque.

- 74 -

B-65262EN/06 6.SPECIFICATIONS

i

g

(

Model

S 22/6000

α

Torque [Nm]

Speed-Torque Characteristics

60

50

40

Intermittent Operating

30

20

10

Continuous Operating

0

0 1000 2000 3000 4000 5000 6000

Speed [min-1]

Specification A06B-0262-B□0

Over Load Duty

100

90

110%

80

120%

70

130%

60

140%

50

150%

Duty[%]

40

170%

30

210%

20

MAX

10

0

1 10 100 1000 10000

ON time[sec]

□

Data sheet

Parameter Symbol Value Unit

Stall Torque (*) Ts 18 Nm

184 kgfcm

Stall Current (*) Is 34.1 A (rms) Rated Output (*)

Rating Speed Nr 6000 Maximum Speed Maximum Torque (*) Tmax 54 Nm

Rotor Inertia Jm 0.00527

Rotor Inertia (with Brake)

Torque constant (*)

Back EMF constant (１phase) (*)

Armature Resistance (1 phase) (*) Ra 0.039 Ω Mechanical time constant Thermal time constant tt 30 min Static friction

Weight Weight (with Brake) Max. Current of Servo Amp. Imax 160 A (peak)

Pr 4.5 kW

6.0 HP

-1

min

Nmax 6000

min

-1

551 kgfcm

2

m

k

0.0538

Jm 0.00587

0.0599

k k k

fcms

2

m fcms

Kt 0.53 Nm/A (rms)

5.4 kgfcm/A (rms)

Ke 18

rms)/1000 min

V

Kv 0.18 V (rms)sec/rad

tm 0.002 s

Tf 0.8 Nm

8kgfcm w17 kg w23 kg

2

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.) Overload Duty shows the specification for rotating, and if the motor is stopping, Soft Alarm will occur shorter time. When the motor speed is less than 1 rpm for over 10 sec., use under stall torque.

- 75 -

6.SPECIFICATIONS B-65262EN/06

i

g

(

Model

S 30/4000

α

Torque [Nm]

Speed-Torque Characteristics

120

100

80

Intermittent Operating

60

40

20

Continuous Operating

0

0 1000 2000 3000 4000

Speed [min-1]

Specification A06B-0268-B□0

Over Load Duty

100

90

110%

80

120%

70

130%

60

140%

50

150%

Duty[%]

40

170%

30

210%

20

MAX

10

0

1 10 100 1000 10000

ON time[sec]

□

Data sheet

Parameter Symbol Value Unit

Stall Torque (*)

Stall Current (*) Is 31.7 A (rms) Rated Output (*) Pr 5.5 kW

Rating Speed Maximum Speed Maximum Torque (*) Tmax 100 Nm

Rotor Inertia

Rotor Inertia (with Brake) Jm 0.00819

Torque constant (*)

Back EMF constant (１phase) (*)

Armature Resistance (1 phase) (*) Mechanical time constant Thermal time constant Static friction Tf 0.8 Nm

Weight Weight (with Brake) Max. Current of Servo Amp. Imax 160 A (peak)

Ts 30 Nm

306 kgfcm

7.3 HP Nr 3000 Nmax 4000

min min

-1

1020 kgfcm

Jm 0.00759

0.0774

0.0836

k k k k

2

m fcms

2

m fcms

Kt 0.95 Nm/A (rms)

9.7 kgfcm/A (rms) Ke 33

V

rms)/1000 min Kv 0.32 V (rms)sec/rad Ra 0.062 Ω

tm 0.002 s tt 35 min

8kgfcm w23 kg w29 kg

2

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.) Overload Duty shows the specification for rotating, and if the motor is stopping, Soft Alarm will occur shorter time. When the motor speed is less than 1 rpm for over 10 sec., use under stall torque.

- 76 -

B-65262EN/06 6.SPECIFICATIONS

i

g

(

Model

S 40/4000

α

Specification A06B-0272-B□0□,-B□2

□

Speed-Torque Characteristics

140

120

100

80

Intermittent Operating

60

Torque [Nm]

40

20

Continuous Operating

0

0 1000 2000 3000 4000

Speed [min-1]

Data sheet

Parameter Symbol Value Unit

Stall Torque (*)

Stall Current (*) Rated Output (*)

Rating Speed Maximum Speed Maximum Torque (*)

Rotor Inertia

Rotor Inertia(with 35Nm Brake)

Torque constant (*)

Back EMF constant (１phase) (*)

Armature Resistance (1 phase) (*) Mechanical time constant Thermal time constant Static friction

Weight Weight(with 35Nm Brake) Max. Current of Servo Amp.

Over Load Duty

100

90

110%

80

120%

70

130%

60

140%

50

150%

Duty[%]

40

170%

30

210%

20

MAX

10

0

1 10 100 1000 10000

ON time[sec]

Ts 40 Nm

408 kgfcm Is 36.2 A (rms) Pr 5.5 kW

7.3 HP Nr 3000 Nmax 4000 Tmax 115 Nm

1170 kgfcm

Jm 0.00990

0.101

Jm 0.0105

0.107

Kt 1.10 Nm/A (rms)

11.3 kgfcm/A (rms) Ke 39 Kv 0.37 V (rms)sec/rad Ra 0.058 Ω tm 0.001 s tt 40 min Tf 1.2 Nm

12 kgfcm w28 kg w34 kg Imax 160 A (peak)

-1

min

-1

min

2

m

k

2

k

fcms

2

k

m

2

k

fcms

rms)/1000 min

V

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.) Overload Duty shows the specification for rotating, and if the motor is stopping, Soft Alarm will occur shorter time. When the motor speed is less than 1 rpm for over 10 sec., use under stall torque.

- 77 -

6.SPECIFICATIONS B-65262EN/06

i

g

(

Model

S 50/2000 Specification A06B-0042-B

α

□0□

,-B□2

□

Speed-Torque Characteristics

180

160

140

120

100

80

60

Torque [Nm]

40

20

0

Intermittent Operating

Continuous Operating

010002000

Speed [min-1]

100

90 80 70 60 50

Duty[%]

40 30 20 10

0

Over Load Duty

110%

120%

130% 140%

150%

170%

210%

MAX

1 10 100 1000 10000

ON time[sec]

Data sheet

Parameter Symbol Value Unit

Stall Torque (*) Ts 53 Nm

541 kgfcm

Stall Current (*) Is 32.0 A (rms) Rated Output (*)

Rating Speed Maximum Speed Nmax 2000 Maximum Torque (*)

Rotor Inertia

Rotor Inertia(with 70Nm Brake)

Torque constant (*)

Back EMF constant (１phase) (*)

Armature Resistance (1 phase) (*) Mechanical time constant tm 0.001 s Thermal time constant Static friction Tf 1.8 Nm

Weight w39 kg Weight(with 70Nm Brake) Max. Current of Servo Amp.

Pr 4.0 kW

5.4 HP

Nr 2000

Tmax 170 Nm

1730 kgfcm

Jm 0.0145

0.148

Jm 0.0154

0.157

Kt 1.66 Nm/A (rms)

16.9 kgfcm/A (rms) Ke 58 Kv 0.55 V (rms)sec/rad Ra 0.077 Ω

tt 50 min

18 kgfcm

w49 kg Imax 160 A (peak)

-1

min

-1

min

2

k

m

2

k

fcms

2

k

m

2

k

fcms

V

rms)/1000 min

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.) Overload Duty shows the specification for rotating, and if the motor is stopping, Soft Alarm will occur shorter time. When the motor speed is less than 1 rpm for over 10 sec., use under stall torque.

- 78 -

B-65262EN/06 6.SPECIFICATIONS

i

g

(

Model

S 60/2000 Specification A06B-0044-B

α

□0□

,-B□2

□

Speed-Torque Characteristics

250

200

150

Intermittent Operating

100

Torque [Nm]

50

Continuous

0

Operating

010002000

Speed [min-1]

100

90 80 70 60 50

Duty[%]

40 30 20 10

0

Over Load Duty

110%

120%

130% 140%

150%

170%

210%

MAX

1 10 100 1000 10000

ON time[sec]

Data sheet

Parameter Symbol Value Unit

Stall Torque (*) Ts 65 Nm

663 kgfcm

Stall Current (*) Is 34.3 A (rms) Rated Output (*)

Rating Speed Maximum Speed Nmax 2000 Maximum Torque (*)

Rotor Inertia

Rotor Inertia(with 70Nm Brake)

Torque constant (*)

Back EMF constant (１phase) (*)

Armature Resistance (1 phase) (*) Mechanical time constant tm 0.001 s Thermal time constant Static friction Tf 1.8 Nm

Weight w50 kg Weight(with 70Nm Brake) Max. Current of Servo Amp.

Pr 5.0 kW

6.7 HP

Nr 1500

min min

-1

Tmax 200 Nm

2040 kgfcm

Jm 0.0195

0.199

Jm 0.0204

0.208

k k k k

2

m fcms

2

m fcms

2

Kt 1.89 Nm/A (rms)

19.3 kgfcm/A (rms)

Ke 66

V

rms)/1000 min Kv 0.63 V (rms)sec/rad Ra 0.074 Ω

tt 60 min

18 kgfcm

w60 kg Imax 160 A (peak)

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.) Overload Duty shows the specification for rotating, and if the motor is stopping, Soft Alarm will occur shorter time. When the motor speed is less than 1 rpm for over 10 sec., use under stall torque.

- 79 -

6.SPECIFICATIONS B-65262EN/06

i

g

(

Model

α

S 50/3000 with Fan Specification A06B-0275-B

□1□

,-B□3

□

Speed-Torque Characteristics

250

200

Intermittent

150

100

Operating

Torque [Nm]

50

Continuous Operating

0

0 1000 2000 3000

Speed [min-1]

100

90 80 70 60 50

Duty[%]

40 30 20 10

0

Over Load Duty

110%

120%

130% 140%

150%

170%

210%

MAX

1 10 100 1000 10000

ON time[sec]

Data sheet

Parameter Symbol Value Unit

Stall Torque (*)

Stall Current (*) Rated Output (*)

Rating Speed Nr 3000 Maximum Speed Nmax 3000 Maximum Torque (*) Tmax 215 Nm

Rotor Inertia Jm 0.0145

Rotor Inertia(with 70Nm Brake) Jm 0.0154

Torque constant (*) Kt 0.95 Nm/A (rms)

Back EMF constant (１phase) (*) Ke 33

Armature Resistance (1 phase) (*) Ra 0.024 Ω Mechanical time constant tm 0.001 s Thermal time constant tt 30 min Static friction Tf 1.8 Nm

Weight w42 kg Weight(with 70Nm Brake) w52 kg Max. Current of Servo Amp. Imax 360 A (peak)

Ts 75 Nm

765 kgfcm Is 79 A (rms) Pr 14 kW

19 HP

2190 kgfcm

0.148

0.157

9.7 kgfcm/A (rms)

Kv 0.32 V (rms)sec/rad

18 kgfcm

-1

min

-1

min

2

k

m

2

fcms

k

2

m

k

2

fcms

k

V

rms)/1000 min

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.)

- 80 -

B-65262EN/06 6.SPECIFICATIONS

i

g

(

Model

S 60/3000 with Fan

α

Specification A06B-0278-B□1□,-B□3

□

Speed-Torque Characteristics

300

250

200

150

100

Torque [Nm]

Intermittent Operating

50

Continuous

0

Operating

0 1000 2000 3000

Speed [min-1]

100

90 80 70 60 50

Duty[%]

40 30 20 10

0

Over Load Duty

110%

120%

130% 140%

150%

170%

210%

MAX

1 10 100 1000 10000

ON time[sec]

Data sheet

Parameter Symbol Value Unit

Stall Torque (*) Ts 95 Nm

969 kgfcm

Stall Current (*) Rated Output (*)

Rating Speed Nr 2000 Maximum Speed Maximum Torque (*)

Rotor Inertia Jm 0.0195

Rotor Inertia(with 70Nm Brake)

Torque constant (*) Kt 1.26 Nm/A (rms)

Back EMF constant ( １phase) (*)

Armature Resistance (1 phase) (*) Ra 0.033 Ω Mechanical time constant tm 0.001 s Thermal time constant Static friction

Weight w53 kg Weight(with 70Nm Brake) w63 kg Max. Current of Servo Amp. Imax 360 A (peak)

Is 75 A (rms) Pr 14 kW

19 HP

-1

min

Nmax 3000

min

-1

Tmax 285 Nm

2910 kgfcm

2

k

m

0.199

Jm 0.0204

0.208

k k k

fcms

2

m fcms

2

12.9 kgfcm/A (rms)

Ke 44

V

rms)/1000 min

Kv 0.42 V (rms)sec/rad

tt 40 min Tf 1.8 Nm

18 kgfcm

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.)

- 81 -

6.SPECIFICATIONS B-65262EN/06

i

g

(

Model

S 100/2500

α

Specification A06B-0285-B□00

Speed-Torque Characteristics

300

250

200

150

100

Torque [Nm]

50

0

Intermittent Operating

Continuous Operating

0 1000 2000

Speed [min-1]

100

90 80 70 60 50

Duty[%]

40 30 20 10

0

Over Load Duty

110%

120%

130% 140%

150%

170%

210%

MAX

1 10 100 1000 10000

ON time[sec]

Data sheet

Parameter Symbol Value Unit

Stall Torque (*) Ts 100 Nm

1020 kgfcm

Stall Current (*) Is 79 A (rms) Rated Output (*)

Rating Speed Maximum Speed Maximum Torque (*)

Rotor Inertia

Rotor Inertia(with Brake)

Torque constant (*) Kt 1.27 Nm/A (rms)

Back EMF constant (１phase) (*) Ke 44

Armature Resistance (1 phase) (*) Ra 0.013 Ω Mechanical time constant tm 0.0006 s Thermal time constant tt 80 min Static friction Tf 2.2 Nm

Weight Weight(with Brake) w110 kg Max. Current of Servo Amp. Imax 360 A (peak)

Pr 11 kW

15 HP Nr 2000 Nmax 2500

min min

-1

Tmax 274 Nm

2800 kgfcm

Jm 0.0252

0.257

Jm 0.0262

0.267

k k k k

2

m fcms

2

m fcms

2

13.0 kgfcm/A (rms)

V

rms)/1000 min

Kv 0.42 V (rms)sec/rad

22 kgfcm w95 kg

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.)

- 82 -

B-65262EN/06 6.SPECIFICATIONS

i

g

(

Model

S 100/2500 with Fan

α

Specification A06B-0285-B□10

Speed-Torque Characteristics

300

250

200

150

100

Torque [Nm]

50

0

Intermittent Operating

Continuous Operating

0 1000 2000

Speed [min-1]

100

90 80 70 60 50

Duty[%]

40 30 20 10

0

Over Load Duty

110%

120%

130% 140%

150%

170%

210%

MAX

1 10 100 1000 10000

ON time[sec]

Data sheet

Parameter Symbol Value Unit

Stall Torque (*)

Stall Current (*) Is 111 A (rms) Rated Output (*)

Rating Speed Nr 2000 Maximum Speed Maximum Torque (*)

Rotor Inertia

Rotor Inertia(with Brake) Jm 0.0262

Torque constant (*)

Back EMF constant (１phase) (*) Ke 44

Armature Resistance (1 phase) (*) Mechanical time cons tant tm 0.0006 s Thermal time constant tt 40 min Static friction

Weight w100 kg Weight(with Brake) w115 kg Max. Current of Servo Amp.

Ts 140 Nm

1430 kgfcm

Pr 22 kW

30 HP

-1

min

Nmax 2500

min

-1

Tmax 274 Nm

2800 kgfcm

Jm 0.0252

0.257

0.267

k k k k

2

m fcms

2

m fcms

2

Kt 1.27 Nm/A (rms)

13.0 kgfcm/A (rms)

V

rms)/1000 min

Kv 0.42 V (rms)sec/rad Ra 0.013 Ω

Tf 2.2 Nm

22 kgfcm

Imax 360 A (peak)

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.)

- 83 -

6.SPECIFICATIONS B-65262EN/06

i

g

(

Model

S 200/2500

α

Specification A06B-0288-B□00

Speed-Torque Characteristics

450

400

350

300

250

Intermittent Operating

200

150

Torque [Nm]

100

Continuous

50

Operating

0

0 1000 2000

Speed [min-1]

100

90 80 70 60 50

Duty[%]

40 30 20 10

0

Over Load Duty

110%

120%

130% 140%

150%

170%

210%

MAX

1 10 100 1000 10000

ON time[sec]

Data sheet

Parameter Symbol Value Unit

Stall Torque (*)

Stall Current (*) Is 105 A (rms) Rated Output (*)

Rating Speed Nr 2000 Maximum Speed Maximum Torque (*)

Rotor Inertia

Rotor Inertia(with Brake) Jm 0.0441

Torque constant (*)

Back EMF constant (１phase) (*) Ke 60

Armature Resistance (1 phase) (*) Mechanical time cons tant tm 0.0005 s Thermal time constant tt 90 min Static friction

Weight w140 kg Weight(with Brake) w155 kg Max. Current of Servo Amp.

Ts 180 Nm

1840 kgfcm

Pr 16 kW

21 HP

-1

min

Nmax 2500

min

-1

Tmax 392 Nm

4000 kgfcm

Jm 0.0431

0.440

0.450

k k k k

2

m fcms

2

m fcms

2

Kt 1.71 Nm/A (rms)

17.4 kgfcm/A (rms)

V

rms)/1000 min

Kv 0.57 V (rms)sec/rad Ra 0.011 Ω

Tf 2.2 Nm

22 kgfcm

Imax 360 A (peak)

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.)

- 84 -

B-65262EN/06 6.SPECIFICATIONS

i

g

(

Model

S 200/2500 with Fan

α

Specification A06B-0288-B□10

Speed-Torque Characteristics

450

400

350

300

250

Intermittent Operating

200

150

Torque [Nm]

100

Continuous

50

Operating

0

0 1000 2000

Speed [min-1]

100

90 80 70 60 50

Duty[%]

40 30 20 10

0

Over Load Duty

110%

120%

130% 140%

150%

170%

210%

MAX

1 10 100 1000 10000

ON time[sec]

Data sheet

Parameter Symbol Value Unit

Stall Torque (*)

Stall Current (*) Is 115 A (rms) Rated Output (*)

Rating Speed Nr 2000 Maximum Speed Maximum Torque (*)

Rotor Inertia

Rotor Inertia(with Brake) Jm 0.0441

Torque constant (*)

Back EMF constant (１phase) (*) Ke 60

Armature Resistance (1 phase) (*) Mechanical time cons tant tm 0.0005 s Thermal time constant tt 45 min Static friction

Weight w145 kg Weight(with Brake) w160 kg Max. Current of Servo Amp.

Ts 200 Nm

2040 kgfcm

Pr 30 kW

40 HP

-1

min

Nmax 2500

min

-1

Tmax 392 Nm

4000 kgfcm

Jm 0.0431

0.440

0.450

k k k k

2

m fcms

2

m fcms

2

Kt 1.71 Nm/A (rms)

17.4 kgfcm/A (rms)

V

rms)/1000 min

Kv 0.57 V (rms)sec/rad Ra 0.011 Ω

Tf 2.2 Nm

22 kgfcm

Imax 360 A (peak)

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.)

- 85 -

6.SPECIFICATIONS B-65262EN/06

i

g

(

Model

S 300/2000

α

Specification A06B-0292-B□10

Speed-Torque Characteristics

800

700

600

500

400

300

Torque [Nm]

Intermittent Operating

200

100

Continuous Operating

0

0 1000 2000

Speed [min-1]

100

90 80 70 60 50

Duty[%]

40 30 20 10

0

Over Load Duty

110%

120%

130% 140%

150%

170%

210%

MAX

1 10 100 1000 10000

ON time[sec]

Data sheet

Parameter Symbol Value Unit

Stall Torque (*)

Stall Current (*) Is 193 A (rms) Rated Output (*)

Rating Speed Nr 2000 Maximum Speed Maximum Torque (*)

Rotor Inertia

Rotor Inertia(with Brake) Jm -

Torque constant (*)

Back EMF constant (１phase) (*) Ke 54

Armature Resistance (1 phase) (*) Mechanical time cons tant tm 0.001 s Thermal time constant tt 50 min Static friction

Weight w180 kg Weight(with Brake) w- kg Max. Current of Servo Amp.

Ts 300 Nm

3060 kgfcm

Pr 52 kW

70 HP

-1

min

Nmax 2000

min

-1

Tmax 750 Nm

7650 kgfcm

Jm 0.0787

0.803

-

k k k k

2

m fcms

2

m fcms

2

Kt 1.55 Nm/A (rms)

15.8 kgfcm/A (rms)

V

rms)/1000 min

Kv 0.52 V (rms)sec/rad Ra 0.012 Ω

Tf 4.0 Nm

41 kgfcm

Imax 360 x 2 A (peak)

-1

(*) The values are the standard values at 20℃ and the tolerance is ±10%. The speed-torque characteristics very depending on the type of software, parameter setting, and input voltage of the digital servo software. (The above figures show average values.)

- 86 -

fanuc B-65285EN, B-65325EN User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

SAFETY PRECAUTIONS

DEFINITION OF WARNING, CAUTION, AND NOTE

WARNING

CAUTION

NOTE

CAUTION LABEL

PREFACE

TABLE OF CONTENTS

1 GENERAL

1.1 LINEUP OF THE SERIES

1.2 FEATURE

2 ORDERING SPECIFICATION NUMBER

2.1 ORDERING SPECIFICATION NUMBER

2.2 APPLICABLE AMPLIFIERS

3 USAGE

3.1 USE ENVIRONMENT FOR SERVO MOTORS

3.1.2 Usage Considering Environmental Resistance

3.1.3 Checking a Delivered Servo Motor and Storing a Servo Motor

3.1.4 Separating and Disposing of a Servo Motor

3.2 CONNECTING A SERVO MOTOR

3.2.1 Connections Related to a Servo Motor

3.3 MOUNTING A SERVO MOTOR

3.3.1 Methods for coupling the shaft

3.3.2 Fastening the Shaft

3.3.3 Allowable Axis Load for a Servo Motor

3.3.4 Shaft Run-out Precision of a Servo Motor

3.3.5 Other Notes on Axis Design

3.3.6 Cautions in Mounting a Servo Motor

4 SELECTING A MOTOR

4.1 CONDITIONS FOR SELECTING A SERVO MOTOR

4.2 SELECTING A MOTOR

4.2.1 Calculating the Load Torque

4.2.2 Calculating the Motor Speed

4.2.3 Calculating the Load Inertia

4.2.4 Calculating the Acceleration Torque

4.2.4.1 Calculating acceleration torque

4.2.5 Calculating the Root-mean-square Value of the Torques

4.2.7 Calculating the Dynamic Brake Stop Distance

4.3.1 Servo Motor Selection Data Table

4.3.2 Explanation of Items

4.3.2.1 Title

4.3.2.2 Specifications of moving object

4.3.2.3 Mechanical specifications

4.3.2.4 Motor specifications and characteristics

4.4 CHARACTERISTIC CURVE AND DATA SHEET

4.4.1 Characteristic Curves

4.4.2 Data Sheet

5.1 TYPES OF MOTORS TO BE APPROVED

5.2 APPROVED SPECIFICATIONS

5.2.1 Motor Speed (IEC60034-1)

5.2.2 Output (IEC60034-1)

5.2.3 Protection Type (IEC60034-5)

5.2.4 Cooling Method (IEC60034-6)

5.2.5 Mounting Method (IEC60034-7)

5.2.6 Grounding (IEC60204-1)

5.2.7 Remarks

5.3 CONNECTORS REQUIRED FOR APPROVAL

6 SPECIFICATIONS

6.1 αiS series (200V)