Table 25HII-10 identifies worst-case heat dissipation values for each amplifier. These values may be used to determine heat load for sizing enclosures and cooling equipment. Heat dissipation for external regeneration resistors depends on the application and is calculated in Step 5 of “ 26HDischarging Regenerative Energy“ on page II- 27H29.
Table II-10. Heat Dissipation
Amplifier Total Heat Dissipation Catalog #
βSVU-12 17.5 watts ZA06B-6093-H101
βSVU-20 33.3 watts ZA06B-6093-H102
Dimensions shown in mm (in)
Servo Products Specification Guide
II-14 Servo Products Specification Guide – October 2007 GFH-001F
13.4 β and βM Series Motor Dimensions β0.5/3000 Motor, Front and Side Views
A S
H
AJ
BF
XD
BBmax
AK U
AH G
L
M
Figure 28HII-7. β0.5/3000 motor, front and side views
MOTOR
Dim. β0.5/3000
A 60 mm (2.36 in)
S 3 0 025.0 + − (0.1181/0.1191)
H 1.2 0 125.0 + − (0.0472/0.0423)
AJ (dia.) 70 (2.76)
BF (dia.) 5.5 (.2165)
MOTOR
Dim. β0.5/3000 β0.5/3000 with brake
BB 3 mm (.118 in) 3 mm (.118 in)
XD 20 (.787) 20 (.787)
AK 50 0 025.0 + − (1.9685/1.9675) 50
0 025.0
+ − (1.9685/1.9675)
U 9 0 009.0 + − (0.3543/0.3539) 9
0 009.0
+ − (0.3543/0.3539)
G 6 (.236) 6 (.236)
AH 25 (.984) 25 (.984)
L 100 (3.94) 128 (5.04)
M ~ 300 (11.81) ~ 300 (11.81)
NOTES
1. Shaft diameter runout = 0.02 mm max (0.00079 in). 2. Flange surface runout = 0.06 mm max (0.00236 in). 3. Maximum radial load for output shaft is 20 kgf (44 lb).
Dimensions shown in mm (in)
Servo Products Specification Guide
Part II: β Series Servo System II-15
β2/3000, β3/3000, β6/2000, and αC12/2000 Motors, Front View
BDmax
AJ
A
S
H
BF
Motor
Dimension β2/3000 β3/3000 β6/2000 αC12/2000
A 105 mm (4.13 in) 142 mm (5.59 in) 142 mm (5.59 in) 174 mm (6.85 in) S 5 0 03.0
+ − (.1969/.1957) 6
0 03.0
+ − (.236/.235) 6
0 03.0
+ − (.236/.235) 10
0 036.0
+ − (.394/.392)
H 2
0 13.0
+ − (.0787/.0736) 2.5
0 13.0
+ − (.0984/.0933) 2.5
0 13.0
+ − (.0984/.0933) 3
0 29.0
+ − (.118/.107)
AJ (dia.) 115 (4.53) 165 (6.50) 165 (6.50) 200 (7.87) BF (dia.)
9 (.354) 11 (.433) 11 (.433) 13.5 (.532)
BD 134 (5.38) 190 (7.48) 190 (7.48) 240 (9.45) NOTES FOR ALL VIEWS (see next page for side view)
1. See the β Connection section (p. 29H32) for more information about motor cables. 2. Shaft diameter runout = 0.02 mm max (0.00079 in) for β2/3000, β3/3000 and β6/2000; 0.05 mm (0.00197 in) for αC12/2000. 3. Flange surface runout = 0.06 mm max (0.00236 in) for β2/3000, β3/3000 and β6/2000; 0.10 mm (0.00394 in) for αC12/2000. 4. Maximum radial load for output shaft is 25 kgf (55 lb) for β2/3000; 70 kgf (154 lb) for β3/3000 and β6/2000; 450 kgf (990 lb) for
αC12/2000.
Figure 30HII-8. β2/3000, β3/3000, β6/2000, and αC12/2000 motors, front view
Dimensions shown in mm (in)
Servo Products Specification Guide
II-16 Servo Products Specification Guide – October 2007 GFH-001F
β2/3000, β3/3000, β6/2000, and αC12/2000 Motors, Side View
XD
BBmax
AK U
AH
BC
C
G
B L
1
2
BE
Motor
Dimension β2/3000 β3/3000 β6/2000 αC12/2000
BB 5 mm (.196 in) 5 mm (.196 in) 5 mm (.196 in) 3.2 mm (.126 in) XD 20 (0.787) 28 (1.10) 28 (1.10) 70 (2.76) AK 95 0 035.0
+ − (3.740/3.739) 130
0 035.0
+ − (5.118/5.117) 130
0 035.0
+ − (5.118/5.117) 114.3
0 025.0
+ − (4.50/4.499)
U 14 0 011.0 + − (0.5512/0.5507) 19
0 013.0
+ −
(0.7480/0.7475) 19 0 013.0
+ −
(0.7480/0.7475) 35 01.00
+ − (1.3783/1.3780)
BC 12 (0.472) n//a n/a n/a C 88 (3.46) 110 (4.33) 110 (4.33) 122 (4.80) G 8 (0.315) 10 (0.394) 10 (0.394) 18 (0.709) AH 36 (1.42) 46 (1.81) 46 (1.81) 79 (3.11) B 93 (3.66) 79 (3.11) 117 (4.61) 166 (6.54) L 174 (6.85) 165 (6.49) 203 (7.99) 240 (9.45) BE 43 (1.69) 90 (3.54) 90 (3.54) N/A
Connector Description
1 Motor AC Power
2 Motor Encoder Feedback Figure 31HII-9. β2/3000, β3/3000, β6/2000, and αC12/2000 motors, side view
Dimensions shown in mm (in)
Servo Products Specification Guide
Part II: β Series Servo System II-17
β2/3000, β3/3000, β6/2000, and αC12/2000 Motors with Brake (Front view same as β2/3000, β3/3000, β6/2000, and αC12/2000 without brake)
XD
BBmax
AK U
AH
BC
C
G
B L
1 2
3
D
Motor
Dimension β2/3000 β3/3000 β6/2000 αC12/2000
BB 5 mm (0.196 in) 5 mm (0.196 in) 5 mm (0.196 in) 3.2 mm (0.126 in) XD 20 (0.787) 28 (1.10) 28 (1.10) 70 (2.76) AK 95 0 035.0
+ − (3.740/3.739) 130
0 035.0
+ − (5.118/5.117) 130
0 035.0
+ − (5.118/5.117) 114.3
0 025.0
+ −
(4.50/4.499)
U 14 0
011.0 + −
(0.5512/0.5507) 19 0 013.0
+ −
(0.74801/0.74751) 19 0 013.0
+ −
(0.74801/0.74751) 35 01.00
+ −
(1.37831/1.3780) BC 11 (0.433) 10 (0.394) 10 (0.394) n/a C 88 (3.46) 110 (4.33) 110 (4.33) 122 (4.80) G 8 (0.315) 10 (0.394) 10 (0.394) 18 (0.709) AH 36 (1.42) 46 (1.81) 46 (1.81) 79 (3.11) D 31 (1.22) 28 (1.10) 28 (1.10) 65 (2.56) B 149 (5.87) 131 (5.16) 169 (6.65) 238 (9.37) L 230 (9.06) 217 (8.54) 255 (10.04) 312 (12.28)
Connector Description 1 Brake 2 Motor AC Power 3 Motor Encoder Feedback
Figure 32HII-10. β2/3000, β3/3000, β6/2000, and αC12/2000 motors with brake, side view Notes 1. See the Connection section of the manual (p. 33H32) for more information about motor cables. 2. Shaft diameter runout = 0.02 mm max (0.00079 in) for β2/3000, β3/3000 and β6/2000; 0.05 mm (0.00197 in) for αC12/2000. 3. Flange surface runout = 0.06 mm max (0.00236 in) for β2/3000, β3/3000 and β6/2000; 0.10 mm (0.00394 in) for αC12/2000. 4. Maximum radial load for output shaft is 25 kgf (55 lb) for β2/3000; 70 kgf (154 lb) for β3/3000 and β6/2000; 450 kgf (990 lb) for
αC12/2000.
Servo Products Specification Guide
II-18 Servo Products Specification Guide – October 2007 GFH-001F
βM0.5/4000, βM1/4000 Motor Front and Side Views
Motor
Shaft Option
Motor
Dimension βM0.5/4000 βM1/4000
A 95.5 (3.76) 124.5 (4.90) A with Brake 122 (4.80) 151 (5.94) A1 Φ9 0 0009.0− (0.3543/0.3539) Φ14
0 011.0− (0.5512/0.5507)
A2 1.8 1.00 + (0.0748/0.0709) 3 1.00
+ (0.1220/0.1181)
A3 3 004.0 029.0 − − (0.1179/0.1169) 5
0 0030.0− (0.1220/0.1181)
A4 M3 Depth 6 M4 Depth 10 B 85.5 (3.67) 114.5 (4.51) B with Brake 112 (4.41) 141 (5.55) C 49 (1.93) 78 (3.07) C with Brake 75.5 (2.97) 104.5 (4.11)
Figure 34HII-11. βM0.5/4000 and βM1/4000 motors with brake, side view NOTES 1. Shaft diameter runout = 0.02 mm max for βM0.5/4000, βM1/4000. 2. Flange surface runout = 0.06 mm max for βM0.5/4000, βM1/4000. 3. Maximum radial load for output shaft is 20kgf (44lb) for βM0.5/4000, βM1/4000.
Servo Products Specification Guide
Part II: β Series Servo System II-19
13.5 Shaft Loading The allowable load of the motor shaft is as follows:
Table II-11. Allowable motor shaft load
Motor Model
Radial Load Axial Load Front Bearing (type reference)
β0.5/3000 20 kg (44 lb) 5 kg (11 lb) 6902
β2/3000 25 kg (55 lb) 8 kg (17.6 lb) 6003 (without brake) 6202 (with brake)
β3/3000 70 kg (154 lb) 20kg (44 lb) 6205
β6/2000 70 kg (154 lb) 20kg (44 lb) 6205
βM0.5/4000 βM1/4000
20 kg (44 lb) 5 kg (11 lb) 6902
αC12/2000 450 kg (990 lb) 135 kg (297 lb) 6208
NOTES:
The allowable radial load is the value when a load is applied to the shaft end. It indicates the total continuous force applied to the shaft in some methods of mounting (for example, belt tension) and the force by load torque (for example, moment/pulley radius).
The belt tension is critical particularly when a timing belt is used. Belts that are too tight may cause breakage of the shaft or premature bearing failure. Belt tension must be controlled so as not to exceed the limits calculated from the permissible radial load indicated above.
In some operating conditions, the pulley diameter or gear size needs to be checked. For example, when using the model β6/2000 with a pulley/gear with a radius of 1.5 inches (3.8 cm) or less, the radial load when 230 in-lb of peak torque is provided by the motor will exceed the 154 lb maximum rating. In the case of the timing belt, the belt tension is added to this value, making it necessary to support the shaft end.
When using a timing belt, shaft failure or bearing overload can be minimized by positioning the pulley as close to the bearing as possible.
Since a standard single row, deep-groove ball bearing is used for the motor bearing, a very large axial load cannot be used. Particularly when using a worm gear and a helical gear, it is necessary to provide another bearing to isolate the thrust load from the gearing.
The motor bearing is generally fixed with a C-snap ring, and there is a small play in the axial direction. When this play influences the positioning in the case of using a worm gear and a helical gear, for example, it is necessary to use an additional bearing support.
Servo Products Specification Guide
II-20 Servo Products Specification Guide – October 2007 GFH-001F
13.6 β Series Amplifiers Dimensions The β Series amplifiers are panel mounted devices with dimensions as shown in 35HFigure 37HII-12. When installing the amplifiers make sure the clearances as shown in Section 36H13.3.
0V/ +24V
FANUC OUTPUT VOLAGE : 240V~
3.2A
E A 6 6 0 0 0 6 1 A0 6 B - 6 0 9 3 - H 1 0 2
BAT
CAUTION:DISCHARGETIME 2min.
POWER
READY
ALM
CAUTION CHARGED
JX5 CHK
JS1B PWM
JF1 ENC
3
1
5
CX5X BAT
CX5Y
L2/L1
DCC/ DCP
VU
/W
CX11
/L3
TH2/ TH1
SERVO AMPLIFIER UNIT
RATED INPUT : 50Hz / 60Hz 220-240~(1-Ph) / 200-240V~(3-Ph)
M AX RATED OUT PUT CURRENT
B
4 0 1 - 0 5 J AP A NY a m a n a s h i
SERVO AMPLIFIER UNIT
/
0V/ +24V 4
6
5.1A / (1-ph) / 2.3A (3-ph)
2
140
150
10 (.39)
62
75
4x5
20 *
(5.51)
(5.91)
(.196)
(.79)
(2.44)
(2.95)
41 (1.61)10
(.39)
17280
(3.15) (6.77)
56 (2.20)
Optional Battery Case
* Measurement applies to the β20 amplifier only. The β12 amplifier does not include the heat sink extension. Dimensions shown in mm (in).
Figure 37HII-12. β Series servo amplifier unit, front and side views
4-5 (.196)
Servo Products Specification Guide
Part II: β Series Servo System II-21
13.7 Noise Protection Separation of Signal and Power Lines When routing signal and power lines, the signal lines must be separated from the power lines to ensure best noise immunity. The table below lists the types of cables used:
Table II-12. Servo amplifier signal line separation
Group Signal Action
A Amplifier input power line, motor power line, MCC drive coil
Separate these cables from those of group B by bundling them separately* or by means of electromagnetic shielding**. Attach a noise preventer or suppressor, such as a spark arrester, to the MCC drive coil.
B Cable connecting control unit with servo amplifier and serial encoder feedback cable
Separate these cables from those of group A by bundling them separately or by means of electromagnetic shielding**. In addition, shielding must be provided.
* The bundle of group A cables must be separated from the bundle of group B cables by at least 10 cm. ** Electromagnetic shielding involves shielding groups from each other by means of a grounded metal (steel) plate.
Grounding A typical machine has three separate grounds:
Signal Ground: Provides the reference potential (0 V) for the electrical signal system. Frame Ground: Ensures safety and shields external and internal noise. System Ground: Connects each unit and the inter-unit frame ground system to earth ground.
Power magnetics unit
Servo amp.
CNC control unit
Power magnetics cabinet
Operator's panel
Distribution board
Main unit
Signal ground Frame ground System ground
Figure 38HII-13. Ground system
GE Fanuc Motion Controller
Servo Products Specification Guide
II-22 Servo Products Specification Guide – October 2007 GFH-001F
Notes on the ground system wiring: The ground resistance of the system ground must not exceed 100 ohms (Class-3 ground).
System ground connection cables must have a sufficiently large cross-sectional area to enable them to safely carry the current that will arise in the event of a problem such as a short-circuit (in general, a cross-sectional area no less than that of the AC power line must be provided).
The system ground connection cable must be integrated with the AC power line such that power cannot be supplied if the ground wire is disconnected.
The CX11-3 grounding connector is supplied to provide the servo motor frame ground connection and should always be installed. A separate 1 meter long cable for this connection is included with the optional GE Fanuc prefinished motor power cables.
The motor frame must be referenced to earth ground with a class 3 (100 ohms or less) system ground. Use an ohmmeter to measure the resistance from the servomotor frame to a known earth ground rod or grid. When using the 20 amp amplifier (SVM-20i), the servo motor frame ground connection on connector CZ7-3 pin A2 should always be installed. The frame-to-ground resistance should be within 1 to 2 ohms.
In a high noise environment, installing a ground wire on the motor frame and routing it directly to the nearest available earth ground can improve noise immunity. Some servo motors have a tapped hole on the frame or a blind hole that can be tapped. For smaller motors, connect to the motor mounting bolts.
The Motor Power cable should not be a shielded cable. If a custom built cable with shield was used for motor power, lift the shield connection at both ends of the cable. If a shield is attached, especially at the motor end, it acts as an antenna to couple noise into the encoder.
The Motor Feedback cable should have the Z44B295864-001 Grounding Bar and one ZA99L-0035-001 Grounding Clamp per axis installed near the amplifier. Confirm that the grounding bar is referenced to earth ground with a class 3 (100 ohms or less) system ground. Use an ohmmeter to measure the resistance from the grounding bar frame to a known earth ground rod or grid. The frame to ground resistance should be within 1 to 2 ohms.
In a high noise environment, installing a ferrous bead on the feedback cable within a short distance of the amplifier connector can also improve noise immunity.
Separation of Motor Power and Motor Feedback cables: Group A signals (Amplifier main AC power, Motor Power Cable and MCC drive coil) signals must be separated from Group B signals (Motor Feedback cable) by at least a 10cm distance. Do not tie Group A and B signals together with cable ties or wraps at any point. An alternative is to separate these two groups by means of a grounded metal (steel) plate.
The MCC relay used to switch the three-phase AC main power to the amplifier should have an appropriate noise (spark) arrester on its drive coil.
The 24VDC power supply used to supply the logic power to the amplifiers should be a regulated supply free of excessive noise. If possible examine the DC voltage with an oscilloscope for noise. If a 24 VDC motor-mounted holding brake is used, it should not use the same power supply as the control logic power.
Servo Products Specification Guide
Part II: β Series Servo System II-23
An AC line filter is recommended to suppress high frequency line noise on the amplifier main power lines. When an isolation transformer is used to convert AC main power to amplifier input power levels, the AC line filter is not required. GE Fanuc supplies an acceptable three-phase line filter sized for 5.4KW or 10.5KW especially for this purpose. This filtered AC main power should not be shared with other equipment in the panel, especially with devices such as inverter drives or motor starters that have high power consumption.
Amplifier Chassis Ground must be referenced to earth ground with a class 3 (100 ohm or less) system ground. User an ohmmeter to measure the resistance from the amplifier frame to a known earth ground rod or grid. A tapped and threaded hole is provided on the amplifier frame for this purpose.
AC Main PE Ground is supplied in accordance to local code practices and may vary, depending on AC power distribution in the facility. In general the PE ground should be referenced to an earth ground and not indicate common mode voltage to the instrumentation earth ground.
Servo Products Specification Guide
II-24 Servo Products Specification Guide – October 2007 GFH-001F
13.8 Command Cable Grounding The GE Fanuc controller cables that require shielding should be clamped by the method shown below. This cable clamp treatment provides both cable support (strain relief) and proper grounding of the shield. To ensure table system operation, the cable clamp method is recommended. Partially peel back the cable sheath to expose the shield. Push the clamp (ZA99L-0035-0001) over the exposed shield and insert the clamp hooks into slots on the grounding bar (Z44B295864-001). Tighten the clamp to secure cable and complete the ground connection. The grounding bar must be attached to a low impedance earth ground.
Figure 39HII-14. Cable grounding clamp detail
Figure 40HII-15. Command cable shield grounding system
40 (1.57) to
80 (3.15) Cable
Cable Grounding Clamp
Grounding Bar
GE Fanuc Motion Controller
Grounding Bar (44B295864-001)
Exposed Cable Shield/Braid
Cable Grounding Clamp (A99L-0035-
Servo Products Specification Guide
Part II: β Series Servo System II-25
13.9 Selecting a Ground Fault Interrupter The β Series servo amplifier drives a motor by means of the transistor-based PWM inverter method, in which a high-frequency leakage current flows to ground through the stray capacitance of the motor windings, power cable, and amplifier. A ground fault interrupter or leakage-protection relay, which is typically installed on the power supply side, can malfunction if such a leakage current should flow. Therefore, you should select an inverter-compatible ground fault interrupter with the following ratings to protect against the occurrence of this malfunction:
β0.5/3000, β2/3000, β3/3000, β6/2000, βM0.5/4000, βM1/4000: choose a 1.8 mA commercial frequency component.
αC12/2000: choose a 2.0 mA commercial frequency component.
Servo Products Specification Guide
II-26 Servo Products Specification Guide – October 2007 GFH-001F
Section 14: β Servo System Power Requirements This section provides information about AC and DC amplifier power as well as the discharge of regenerative power.
14.1 Power Line Protection A circuit breaker, electromagnetic contactor, and AC line filter or transformer should be installed as part of your β Series Servo system. GE Fanuc provides the AC line filter as an option. The transformer, circuit breaker, and electromagnetic contactor, however, are user-supplied components. In European countries where power sources are 380 to 400 VAC and neutral grounded, it is necessary to install a transformer or supply single-phase power.
The same incoming AC control components can be used to provide power to multiple amplifiers, as long as the components are rated for the current and power drawn by the sum of all of the amplifiers.
14.2 AC Line Filter An AC line filter is recommended to suppress the influences of high-frequency input line noise on the drive power supply. When an isolation-type power transformer is used because a power supply voltage within the specified range is not available, an AC line filter is not required.
If two or more servo amplifiers are connected to one AC line filter, the total continuous output rating of all connected servo amplifiers should be kept below the continuous output rating of the AC line filter. The continuous output rating for the various servos are shown below.
Table II-13. β Servo Motor Continuous Output Rating
Motor Cont. Output Rating
β0.5/3000 0.2 kW
β2/3000 0.5 kW
β3/3000 0.5 kW
β6/2000 0.9 kW
βM0.5/4000 0.2 kW
βM1/4000 0.4 kW
αC12/2000 1.0 kW
If your installation must be EMC compliant, verify that the use of an AC line filter fully satisfies the EMC requirements. You may need to select and install a user-supplied noise filter to meet EMC requirements.
Two AC line filters are available:
5.4 kW, 3-phase (ZA81L-0001-0083#3C)
10.5 kW, 3-phase (ZA81L-0001-0101#C)
For AC line filter specifications and dimension drawings, refer to 0HSection 6.2.
Servo Products Specification Guide
Part II: β Series Servo System II-27
14.3 Circuit Breaker Selection To provide proper protection for the amplifier, use a circuit breaker rated at no more than 20 Amps (10A for VDE 1601 compliance for CE marking). Table 41HII-14 will help you select the appropriate circuit breaker for your motion application.
Table II-14.
Example: Connecting two β6/2000 motors operating on 3- phase power:
(6.3 + 6.3) x 0.6 = 7.6 Arms
A standard 10 Amp circuit breaker can be used.
During rapid motor acceleration, a peak current that is three times the continuous rating flows. Select a circuit breaker that does not trip when a current that is three times the continuous rating flows for two seconds.
*This factor attempts to compensate for applications where all axes are not demanding full power at the same time. In applications where all axes are running continuously or with high duty cycles, this factor must be increased by 1.
14.4 Electromagnetic Contactor Rating To prepare for incoming AC power, you must also select and install an appropriate electromagnetic contactor, based on the peak currents for the motors in your system. When multiple amplifiers are connected to a single circuit breaker, select a breaker based on the sum of the currents in Table 43HII-14.
Servo Products Specification Guide
II-28 Servo Products Specification Guide – October 2007 GFH-001F
14.5 Incoming AC Power Table II-15. AC Power
Specification Description
Voltage: 3-phase 1-phase*
200 VAC to 240 VAC 220 VAC to 240 VAC
Frequency 50 Hz, 60Hz ± 2 Hz
Voltage fluctuation during acceleration/deceleration
7% or less
* Single-phase operation reduces the lifetime of the servo amplifier. For β6/2000 and αC12/2000 motors with acceleration/deceleration duty cycles greater than once every 20 seconds, 3-phase power is recommended.
AC Power Ratings The power supply rating required when using multiple servo motors can be determined by summing the requirements of the individual motors.
The power supply ratings listed in Table 44HII-16 are sufficient as continuous ratings. Note, however, that servo motor acceleration causes a current to momentarily flow that is approximately three times the continuous current rating.
When the power is turned on, a surge current of about 37A (when 264VAC is applied) flows for 20 msec.
Table II-16. Three-Phase Power Supply Ratings
Motor Power Supply Rating
β0.5/3000 0.4 kVA
β2/3000 0.77 kVA
β3/3000 0.77 kVA
β6/2000 1.4 kVA
βM0.5/4000 0.2 kVA
βM1/4000 0.4 kVA
αC12/2000 1.6 kVA
Servo Products Specification Guide
Part II: β Series Servo System II-29
14.6 Incoming DC Power The amplifier requires a 24 VDC power supply for amplifier control power. This DC power supply must be supplied by the user.
The information in Table 45HII-17 below will help you select the appropriate DC power supply for your motion application.
The same external DC power supply can be used to provide power to multiple amplifiers as long as the supply is rated for the sum of power drawn by all of the amplifiers. To daisy chain the amplifiers, add connection K13 between amplifiers (see the connection diagram in Section 46H15.3 for more details).
Table II-17. DC Amplifier Control Power Specifications
Specification Description
Input voltage 24V DC (±10%)
Power supply rating (per amplifier) 0.4 amps
NOTE
The 24 VDC input is fused to protect the amplifier. The fuse labeled F600 is located below the CX11 connector when the amplifier plastic cover is removed. The replacement fuse part number is ZA06B-6073-K250 (Manufacturer: Daito LM32, DC48V, F3.2A).
A spare fuse is included with each β amplifier package (IC800BPK012 or IC800BPK020)
14.7 Discharging Regenerative Energy Regenerative energy is normally created in applications with a high load inertia or frequent acceleration and deceleration. When decelerating a load, the stored kinetic energy of the load causes generator action in the motor causing energy to be returned to the β Series amplifier. For light loads and low acceleration rates, the amplifier may be able to absorb this energy. Otherwise, an optional external regenerative discharge unit must be installed.
Two separate 30 Ohm regenerative discharge units are available with ratings of 100 W and 20 W. The 100 W unit (ZA06B-6093-H402) is panel-mounted, whereas the 20 W unit (ZA06B-6093-H401) mounts to the tapped holes on the side of the amplifier heat sink. Calculations shown later in this section can be used to determine the need for an external unit.
If the regenerative discharge unit overheats, a built-in thermostat is tripped, the external overheat alarm is issued, and the motor is stopped. If an external regenerative discharge unit is required, a separate unit must be installed for each amplifier. This component cannot be daisy-chained. The dimensions for these units are shown in the following drawings. Connections are shown for cables K7 and K8 in Section 47H15.3 of this document.
Servo Products Specification Guide
II-30 Servo Products Specification Guide – October 2007 GFH-001F
Calculating the Average Regenerative Energy Use the following calculation to determine the average regenerative energy that will be released in your application (ambient temperature is assumed not to exceed 55°C). Based on the calculations select either the 20 W or 100 W regeneration resistor. The wattage rating of the selected resistor must exceed the average calculated regenerative energy from the equation below:
Average Regenerative
Energy (Joules)
=
Rotational Energy to be Released during
Deceleration (STEP 1)
–
Energy to be Consumed Through
Axis Friction (STEP 2)
+
(only in vertical axis operation) Vertical Energy to be Released
During Downward Motion (STEP 3)
STEP 1: Rotational Energy to be Released during Deceleration
= ( ) ( ) 2mLm4 ω×+×× − JJ1019.6 Joules where:
Jm Motor rotor inertia
β0.5 = 0.00016 β2 = 0.00581 β6 = 0.0347 αC12 = 0.0555
(lb-in-s2)
JL Load inertia converted to motor shaft inertia (lb-in-s 2)
ωm Maximum motor speed at time of deceleration (rpm)
STEP 2: Energy to be Consumed through Axis Friction
= ( ) Lma3 Tt ×××× − ω1091.5 where: ωm Motor speed during rapid traverse (rpm)
ta Acceleration/deceleration duration during rapid traverse (sec)
TL Axis friction torque (converted to motor shaft torque) (lb-in)
STEP 3: Vertical Energy to be Released During Downward Motion
(This term applies only in vertical axis operation)
= ( ) 100
10182.1 DT ×××× − mh 2 ω where:
Th Upward supporting torque applied by the motor during downward rapid traverse
(lb-in)
ωm Motor speed during rapid traverse (rpm)
D Duty cycle of downward vertical operation during rapid traverse
(Note: the maximum value of D is 50%. D assumes a smaller value)
(%)
Servo Products Specification Guide
Part II: β Series Servo System II-31
STEP 4: Determine if a Regenerative Discharge Unit Is Required
Determine the Average Regenerative Energy using the equation in the beginning of this section.
When the average regenerative energy produced never exceeds the amounts that is indicated in Table 48HII-18 below, a separate regenerative discharge unit is not required:
Table II-18. Maximum Allowable Regenerative Energy for Amplifiers
Amplifier Max. Allowable Regen. Energy Used with Motors
βSVU-12 13 Joules β0.5, β2 βSVU-20 16 Joules β3, β6, αC12, βM0.5, βM1
If the calculated value exceeds the storage capability of the amplifier, then an external regenerative discharge unit is required (see Step 5).
STEP 5: Selecting a Regenerative Discharge Unit If a separate regenerative discharge unit is required, the following calculation will determine whether the 20 W or 100 W unit is required:
Average Regenerative Power (W) = Average Regenerative Energy (Joules) x F 1
where:
F = Deceleration duty (seconds) Example: deceleration once per 5 second cycle, F=5
Select a regenerative resistor with a rating that exceeds the average regenerative power. If this value is greater than 100 W, contact GE Fanuc for assistance.
Example:
Assume a horizontal axis using a β2 motor (Jm = 0.00581 lb-in-s2) that decelerates once every 6 seconds (F) for 0.2 seconds (ta) with a maximum speed of 2000 RPM (ωm). The machine inertia (JL) is 0.0139 lb-in-s2. STEP 1: Rotational Energy = (6.19x10-4)x(0.00581+0.0139)x20002 = 54.4 Joules STEP 2: Assuming TL = 10 in-lb: Friction Energy = (5.91x10-3)x0.2x2000x10 = 23.64 Joules Therefore: STEP 4: Average Regenerative Energy = 54.4–23.64 = 30.76 Joules
Because the 30.76 Joules required is more than the 13 Joules allowed by the βSVU-12 amplifier used with the β2 motor, a regenerative resistor is required.
STEP 5: Since the application requires decelerations every 6 seconds, F 1
= 6 1
Average Regenerative Power = 30.76 Joules/6 seconds = 5.13 W Therefore, the 20 W resistor (ZA06B-6093-H401) is adequate for this application.
Servo Products Specification Guide
II-32 Servo Products Specification Guide – October 2007 GFH-001F
Section 15: β Servo System Connection When planning your system, it is important to determine how the different parts of the system connect together. Cable reference numbers K1 through K15 on the β Servo Connection Diagram on p. 49H35. Details for each connection are shown in Section 50H15.3.
15.1 System Connections β Series motor and amplifier connectors required for the system are available from GE Fanuc.
GE Fanuc supplies connectors to allow you to manufacture cables to the specific length required by your system design. GE Fanuc does offer finished cables as options for many connections. See the Cable Connections chart on p. 51H32 for more information.
A connector kit (Part number ZA06B-6093-K305) and an E-Stop connector (ZA02B-0120-K321) are shipped with each β Series servo amplifier package. Kit components are not sold separately. The contents of the connector kits are described below:
Table II-19. β Connector Kit Contents, ZA06B-6093-K301 (Amplifier Version G or Lower)
Qty. FANUC Part Number
Description Wire Gauge
3 A63L-0001- 0460/025KD
CX11-3 (Ground), CX11-4, -5 (24 VDC) single wide connectors NA
2 A63L-0001- 0460/045KD
CX11-1 (Power), CX11-3 (Motor Power) double wide connectors NA
10 A63L-0001- 0456/ASL
CX11 contacts 18—16 AWG (0.12mm2—0.5mm2)
4 A63L-0001- 0456/ASM
CX11 contacts 18—16 AWG (0.12mm2—0.5mm2)
1 A660-8011-T604 CX11-6 prewired jumper for discharge resistor thermal switch (must be used when external discharge resistor is not installed)
NA
Table II-20. β Connector Kit Contents, ZA06B-6093-K305 (Amplifier Version H or Higher) Qty. Tyco
Electronics AMP Part Number
Description Wire Gauge
1 175363-3 CX11-1 (Power) double wide connector NA 1 1318182-2 CX11-2 (Dummy housing for applications when no regenerative
discharge resistor is used) single wide connector NA
1 1318095-2 CX11-3 (Motor Power) triple wide connector N/A 2 175362-1 CX11-4 & CX11-5 (24VDC Power) two single wide connectors N/A 10 A63L-0001-
0456/ASL CX11 contacts 18—16 AWG (0.12mm2—
0.5mm2) 4 A63L-0001-
0456/ASM CX11 contacts 18—16 AWG (0.12mm2—
0.5mm2) 1 A660-8011-T604
(FANUC p/n) CX11-6 prewired jumper for discharge resistor thermal switch (must be used when external discharge resistor is not installed)
NA
Servo Products Specification Guide
Part II: β Series Servo System II-33
Caution When no regenerative discharge resistor is used, installation of a dummy housing (1318182-2) is recommended for prevention of wrong insertion. Do not make a connection between the pins (A and B) of CX11-2. Otherwise, the amplifier can be damaged.
Note: The following hand tool, which is available from Tyco Electronics (http://www.tycoelectronics.com), is required for installing the connectors:
Crimp Tool 58571-1 with die 58571-2 (die is installed in the tool at factory).
Optional connectors are also available for the various motor power and feedback cables.
Table II-21. Available Motor Power and Feedback Cable Connectors for β Servo Systems Part Number Description
ZA06B-6050-K119 Motor Power Connector Kit, β0.5/3000 Z44A730464-G18 Motor Power Connector Kit, β2/3000, β3/3000 and β6/2000 ZA06B-6050-K120 Motor Encoder Connector Kit, β0.5/3000 ZA06B-6050-K115 Motor Encoder Connector Kit, β2/3000, β3/3000 and β6/2000 ZA06B-6050-K214 β Series Amplifier Encoder Feedback Connector Kit (JF1) Z44A730464-G26 Motor Brake Connector Kit (not required for β0.5 motor with brake)
Servo Products Specification Guide
II-34 Servo Products Specification Guide – October 2007 GFH-001F
Table II-22. Cable Connections
Ref. Connects Prefinished Cable Part Number Connection Type When Required
K1 DSM302 to Amplifier (JS1B) IC800CBL001 (1m) IC800CBL002 (3m)
Servo Command Signal
K1 All Other GE Fanuc Controllers to Amplifier (JS1B)
IC800CBL003 (2m) Servo Command Signal
always
K2 Built in Serial Motor Encoder to Amplifier (JF1)
IC800CBL022 severe duty, 14m (β0.5/3000) IC800CBL023 severe duty, 14m (β2/3000, (β3/3000, β6/2000) CF3A-2MPB-0140-AZ severe duty, 14m (αC12/2000)
Motor Encoder Feedback
always
K3 AC Power Components to Amplifier N/A 3 Phase Servo Power
always
K4 Amplifier to Motor (Prefinished cable includes separate cable to connect motor frame ground to customer's earth ground.)
IC800CBL067, 14m (β0.5/3000) IC800CBL068, 14m (β2/3000, (β3/3000, β6/2000) CP4B-1MPB-0140-AZ, 14m (αC12/2000)
Motor Power always
K5 Servo Amplifier Emergency Stop Input (JX5) to Machine E-Stop Contact
N/A Emergency Stop always
K7 Amplifier to Regenerative Discharge Unit
N/A (included with regenerative discharge unit)
Regenerative Power Discharge
in most cases1
K8 Regenerative Discharge Unit Over Temperature Switch to Amplifier
N/A (included with regenerative discharge unit)
Regenerative Power Discharge
in most cases1
K9 Amplifier (CX5) to Backup Battery Holder
N/A Absolute Encoder Battery
with battery option2
K10 Control to MCC Coil N/A Emergency Stop/Power Enable
control-dependent; consult your control documentation
K12 External 24 VDC Power Supply to Amplifier
N/A 24 VDC Amplifier Power
always
K13 Amplifier to Second Amplifier N/A 24 VDC Amplifier Power
when daisy chaining amplifiers
K14 90 VDC Brake Power Supply to Motor Brake
Z44C742238-004. 14m (β2/3000, β3/3000, β6/2000, αC12/2000)
Motor Brake Power with brake option3
K15 MCC Contact to Control N/A Control Enable always
1 See Discharging Regenerative Energy in Section 52H14.7 2 Prefinished cable is provided as a part of a battery pack option 3 Prefinished motor power cables supplied by GE Fanuc for β 0.5/3000 motor includes brake wiring.
Servo Products Specification Guide
Part II: β Series Servo System II-35
15.2 β Series Connection Diagram
JX 5
P E
C X1
1- 1
K 3
β S
er ie
s A
m pl
ifi er
JF 1
C X1
1- 2
C X1
1- 3
K 15
C X1
1- 5
to C
X 11
-4 o
n ne
xt a
m pl
ifi er
β Se
rie s
M ot
or
M
M ac
hi ne
E -S
TO P
P B
an d
N C
C on
ta ct
s
P E
B re
ak er
R S T
1 Tr
an sf
or m
er2 00
/2 40
V A
C
1 or
3 P
ha se
3
C X1
1- 4
C X5
Y
C X5
X
E nc
od er
B at
te ry
P ac
k
JS 1BK
1
K 2
K 4
K 9
2 4
V D
C P
ow er
S up
pl y
(2 4
V D
C +
10 %
- 10
% )
(o nl
y fo
r m ot
or s
w ith 2
90 V
D C
P ow
er S
up pl
y
br ak
e op
tio n)
P ow
er S
up pl
y
S pa
rk Ar
re st
er K 10
K 13
K 12
E B
ui lt-
in T
he rm
os ta
t D
is ch
ar ge
R es
is to
r w ith
C X1
1- 6
K 7 K 8
C X1
1
G E
F an
uc M
ot io
n C
on tro
lle r
K 14
G ro
un d
Lu g
C us
to m
er ’s
ea
rth g
ro un
d
KEY: available GE Fanuc cable user-supplied cable
Figure 53HII-16. Cable connection diagram
1 Line filter and lightning surge absorber can be used in place of a transformer when 200–240 VAC is available to the cabinet. 2 Refer to the note in Section 54H10.3 regarding the motor holding brake. 3 For single-phase operation, AC line phase T is not connected. Refer to the Servo System Specifications in 55HSection 11:for output current derating.
Servo Products Specification Guide
II-36 Servo Products Specification Guide – October 2007 GFH-001F
15.3 Connection Details K1— Servo Command Signal Cable (β0.5/3000, β2/3000, β3/3000, β6/2000, αC12/2000)
•PWMA (•ALM1)
0V (4)
(3)JS1B–3
–4
•PWMC (•ALM2)
0V (6)
(5)–5
–6
•PWME (•ALM4)
0V (8)
(7)–7
–8
•ENBL (•ALM8)
0V (14)
(13)–13
–14
IR
GDR (2)
(1)–1
–2
IS
GDS (12)
(11)–11
–12
0V
0V (20)
(19)–19
–20
•DRDY
•MCON (10)
(9)–9
–10
PD
•PD (16)
(15)–15
–16
PREQ
•PREQ (18)
(17)–17
–18 β Amplifier Motion Controller
(see note)
NOTES
The servo command cables for the DSM302 and DSM314 controllers (IC800CBL001 and IC800CBL002) must be purchased from GE Fanuc. Proper tooling is required to assemble the connectors. For custom length cables, contact your GE Fanuc Distributor or GE Fanuc Sales Engineer.
Grounding the cable shield using the grounding bar (Z44B295864-001) and cable grounding clamp (ZA99L-0035-0001) will provide greater noise immunity.
Wire: 0.08mm2 twisted pair group shielded cable (10 pairs). The following wire is recommended for the K1 cable: 28 AWG x 10 pairs (20 conductors).
Servo Products Specification Guide
Part II: β Series Servo System II-37
Cable (K1) GE Fanuc Part No. Connector Manufacturer
DSM302 to Servo Amplifier (JS1B)
IC800CBL001 (1 meter)
IC800CBL002 (3 meter)
Cable must be purchased from GE Fanuc (connectors not sold separately)*
GE Fanuc controller other than DSM302 to Servo Amplifier (JS1B)
IC800CBL003 (2 meter) Hirose Electric Co., Ltd. 1 3 5 7 9
2 4 6 8 10
11 13 15 17 19 12 14 16 18 20
Honda Tsushin Kogyo Co., Ltd. (PCR-E20FA)
1 2
3 4
5 6
7 8
9 10
11
12 13
14 15
16 17
18 19
20
Connectors viewed from back (solder/crimp side).
*NOTE: DSM302 cables cannot be customer-manufactured and uses a 36-pin connector on its end. The DSM302 module requires IC693ACC355 Axis Terminal Board and either IC693CBL324 (1 meter) or IC693CBL325 (3 meter) Terminal Board Cable to access axis I/O such as Home Switch Input, Over Travel Inputs, or Strobe (registration) Inputs.
Servo Products Specification Guide
II-38 Servo Products Specification Guide – October 2007 GFH-001F
K2—Motor Encoder Feedback Cable (β0.5/3000)
SD
•SD (B4)
(A4)JF1–1
JF1–2
REQ
•REQ (B3)
(A3)JF1–5
JF1–6
+5V
0V
JF1–9, –18
JF1–12, –14
0VA
+6VA (A5)
(A6)JF1–16
JF1–7
Shield (B6)
β Amplifier β Motor Encoder
(A1, B1)
(A2, B2)
Prefinished 14m Cable, Part number: IC800CBL022 Wire: for +5V, 0V use two parallel conductors of 0.5mm2 (20 AWG) or larger when the wire length does
not exceed 14m. When the wire length exceeds 14m, wire gauge must be increased to ensure that the sum of the electrical resistance of 0V and 5V circuit does not exceed 0.5 ohms. For 6VA, 0VA use 0.5mm2 (20 AWG) or larger; for SD, *SD, REQ, *REQ use 0.18mm2 (24 AWG) or larger twisted pair with 60% braid shield.
Connector GE Fanuc Part No. Manufacturer
Servo Amplifier (JF1)
ZA06B-6073-K214 Hirose Electric Co., Ltd. (connector:FI40-2015S) (connector cover: F1-20-CV)
1 3 5 7 9 2 4 6 8 10
12 14 16 18 20 Connector viewed from back (solder/crimp) side.
Servo Motor Encoder
ZA06B-6050-K120 AMP (connector: 178289-6 pin: AMP 1-175217-2)
1 3 52 4 6
A B
Servo Products Specification Guide
Part II: β Series Servo System II-39
K2—Motor Encoder Feedback Cable (β2/3000, β3/3000, β6/2000)
SD
•SD (13)
(12)JF1–1
JF1–2
REQ
•REQ (6)
(5)JF1–5
JF1–6
+5V
0V
JF1–18, –20
JF1–12, –14
0VA
+6VA (14)
(10)JF1–16
JF1–7
Shield (4)
β Amplifier β Motor Encoder
(1, 2)
(8, 15)
Prefinished 14m Cable, Part number: IC800CBL023 (severe duty) Wire: for +5V, 0V use two parallel conductors of 0.5mm2 (20 AWG) or larger when the wire length does
not exceed 14m. When the wire length exceeds 14m, wire gauge must be increased to ensure that the sum of the electrical resistance of 0V and 5V circuit does not exceed 0.5 ohms. For 6VA, 0VA use 0.5mm2 (20 AWG) or larger; for SD, *SD, REQ, *REQ use 0.18mm2 (24 AWG) or larger twisted pair with 60% braid shield.
Connector GE Fanuc Part No. Manufacturer
Servo Amplifier (JF1)
ZA06B-6073-K214 Hirose Electric Co., Ltd. (connector: FI40-2015S) (connector cover: FI-20- CV)
1 3 5 7 9 2 4 6 8 10
12 14 16 18 20
Servo Motor Encoder
ZA06B-6050-K115 Hirose Electric Co., Ltd. (HDAB-15S) [connector cover: HDAW-15-CV (waterproof), HAD-CTH]
6 4 3 1
13 12 11 10 91415
8 257
Connectors viewed from back (solder/crimp side).
NOTE
Cable includes two M4 x 12mm screws and captive lock washers for securing connector to motor encoder housing.
Servo Products Specification Guide
II-40 Servo Products Specification Guide – October 2007 GFH-001F
K2—Motor Encoder Feedback Cable (αC12/2000)
SD
•SD (D)
(A)JF1–1
JF1–2
REQ
•REQ (G)
(F)JF1–5
JF1–6
+5V
0V
JF1–18, –20
JF1–12, –14
0VA
+6VA (R)
(S)JF1–16
JF1–7
Shield (H)
β Amplifier β Motor Encoder
(N, T)
(J, K)
Prefinished 14m Cable, Part number: IC800CBL021 (severe duty) Wire: for +5V, 0V use two parallel conductors of 0.5mm2 (20 AWG) or larger when the wire length does
not exceed 14m. When the wire length exceeds 14m, wire gauge must be increased to ensure that the sum of the electrical resistance of 0V and 5V circuit does not exceed 0.5 ohms. For 6VA, 0VA use 0.5mm2 (20 AWG) or larger; for SD, *SD, REQ, *REQ use 0.18mm2 (24 AWG) or larger twisted pair with 60% braid shield.
Connector GE Fanuc Part No. Manufacturer
Servo Amplifier (JF1)
ZA06B-6073-K214 Hirose Electric Co., Ltd. (F140-2015S) [connector cover: FI-20-CV]
1 3 5 7 9 2 4 6 8 10
12 14 16 18 20 Connector viewed from back (solder/crimp side).
Servo Motor Encoder
Z44A730464-G38 (CE EXT GND pin type)
Hirose Electric Co., Ltd. (MS3106A 20-29SW, straight) (MS3108B 20-29SW, elbow)
A B
C
D
E
FGH J
K
L M
N P
RS
T
Servo Products Specification Guide
Part II: β Series Servo System II-41
K3—Three-Phase Servo Power Cable (user-supplied) For a power supply voltage of 200/220/230/240 VAC 50/60 Hz (220 VAC minimum for single-phase)
R
S
T*
G
Breaker MCC AC Line Filter
CX11-1
β Amplifier Main Power Supply
(L1)
(L2)
(L3)
( )
* For single-phase operation, phase T is not connected
Wire: 600V, 4-conductor, 1.0mm2 (18 AWG) or larger. For sourcing multiple amplifiers from the same AC supply, size conductors based on the sum of the current for all amplifiers (see specifications in 56HSection 11:
Connector GE Fanuc Part No. Manufacturer Servo Amplifier (Version G or lower) CX11-1
Part of Kit ZA06B-6093-K301
Nihon AMP (175363-1 Housing; 1-175218-2 Contact)
Servo Amplifier (Version H or higher) CX11-1* Part of Kit ZA06B-6093-K305
Nihon AMP (175363-3 Housing; 1-75218-2 Contact)
* The CX11-1 connector contained in the K305 kit is not compatible with β Series amplifiers prior to revision letter H.
Servo Products Specification Guide
II-42 Servo Products Specification Guide – October 2007 GFH-001F
K4—Motor AC Power Cable (β0.5/3000)
Optional Brake
CX11-3 (U) U A1 CX11-3 (V) V A2 CX11-3 (W) W A3
PE B1CX11-3 (PE)
β Amplifier β Motor
Motor Frame Ground BRK1 B2
CX11-3 (PE) BRK2 B3
BRK1
BRK2 To Brake 90 VDC
Power Supply & Control (supplied by customer)
(M3.5 Spring SpadeTerminals)
(M4 Ring Terminal)
1 m ground cable to customer’s earth ground
Motor Stator
Prefinished 14m Cable, Part number: IC800CBL064 (severe duty) Wire: 300V, 6-conductor, 20 AWG (finestrand) 80°C, polyurethane jacket with PVC conductors (nominal
cross-sectional area 0.75mm2). Ground wire is 18 AWG, 300 V, 1-conductor, 80°C, PVC, green with yellow stripe.
Connector GE Fanuc Part No. Manufacturer
Servo Amplifier CX11-3 (motor power)
Part of Kit ZA06B-6093-K301 (AMP version G or lower)
ZA06B-6093-K305 (AMP version H or higher)
Nihon AMP (Housing: 175363-1; Contact: 1-175218-2)
U W
V G
Servo Amplifier CX11-3 (ground)
Part of Kit ZA06B-6093-K301 (AMP version G or lower)
ZA06B-6093-K305 (AMP version H or higher)
Nihon AMP (Housing: 175362-1; Contact: 1-175218-2)
PE
Servo Motor ZA06B-6050-K119 Nihon AMP (Housing: 3-178129-6; Contact: 1-175217-2)
U PE
V BRK1
W BRK2
Pin 1
Pin 2
Pin 3
A B
Servo Products Specification Guide
Part II: β Series Servo System II-43
K4—Motor AC Power Cable (β2/3000, β3/3000, β6/2000)
CX11-3 (U) U A CX11-3 (V) V B CX11-3 (W) W C
G DCX11-3 (G)
β Amplifier β Motor
Motor Frame Ground PECX11-3 (PE)
(M4 Ring Terminal)
1 m ground cable to customer’s earth ground
Motor Stator
Prefinished 14m Cable, Part number: IC800CBL065 (severe duty) Wire: 300V, 4-conductor, 18 AWG (finestrand) 80°C, polyurethane jacket (PUR) with PVC conductors
(nominal cross-sectional area 0.75mm2). Ground wire is 18 AWG, 300 V, 1-conductor, 80°C, PVC, green with yellow stripe.
Connector GE Fanuc Part No. Manufacturer
Servo Amplifier CX11-3 (motor power)
Part of Kit ZA06B-6093-K301 (AMP version G or lower)
ZA06B-6093-K305 (AMP version H or higher)
Nihon AMP (Housing: 175363-1; Contact: 1-175218-2)
U W
V G
Servo Amplifier CX11-3 (ground)
Part of Kit ZA06B-6093-K301 (AMP version G or lower)
ZA06B-6093-K305 (AMP version H or higher)
Nihon AMP (Housing: 175362-1; Contact: 1-175218-2)
PE
PE
Servo Motor Customer-made cable: Z44A730464-G18 (CE EXT GND pin)
D
C
A
B
Servo Products Specification Guide
II-44 Servo Products Specification Guide – October 2007 GFH-001F
K4—Motor AC Power Cable (αC12/2000)
CX11-3 (U) U A CX11-3 (V) V B CX11-3 (W) W C
G DCX11-3 (G)
β Amplifier β Motor
Motor Frame Ground PECX11-3 (PE)
(M4 Ring Terminal)
1 m ground cable to customer’s earth ground
Motor Stator
Prefinished 14m Cable, Part number: IC800CBL066 Wire: 300V, 4-conductor, 18 AWG (finestrand) 80°C, polyurethane jacket with PVC conductors (nominal
sectional area 0.75mm2). Ground wire is 18 AWG, 300 V, 1-conductor, 80°C, PVC, green with yellow stripe.
Connector Part No. Maker
Servo Amplifier CX11-3 (motor power)
Part of Kit ZA06B-6093-K301 (AMP version G or lower) ZA06B-6093-K305 (AMP version H or higher)
Nihon AMP (Housing: 175363- 1; Contact: 1-175218-2)
U W
V G Servo Amplifier CX11-3 (ground)
Part of Kit ZA06B-6093-K305 (AMP version G or lower) ZA06B-6093-K305 (AMP version H or higher)
Nihon AMP (Housing: 175362- 1; Contact: 1-175218-2)
PE
PE
Servo Motor Customer-made cable: Z44A730464-G20
(CE EXT GND pin) D C
A
B
Servo Products Specification Guide
Part II: β Series Servo System II-45
K5—Servo Amplifier Emergency Stop Connection If two to six amplifier units are used in the same system, the emergency stop signal must be connected as shown below:
JX5 (20)
(17)
SVU
JX5 (20)
(17)
SVU
JX5 (20)
(17)
SVU
Emergency Stop dry contact
(normally closed) +24V
ESP
ESP
ESP
β Series Servo Amplifier
β Series Servo Amplifier
β Series Servo Amplifier
Connector GE Fanuc Part No. Manufacturer
JX5 ZA02B-0120-K301 Hirose Electric Co., Ltd. (F140-2015S; F1-20-CV cover) 1 3 5 7 9
2 4 6 8 10
11 13 15 17 19 12 14 16 18 20
Honda Tsushin Kogyo Co., Ltd. (PCR-E20FA)
1 2
3 4
5 6
7 8
9 10
11
12 13
14 15
16 17
18 19
20
Connectors viewed from back (solder/crimp side).
CAUTION
Pin 20 of JX5 supplies +24 VDC.
Do not apply external voltage to this
terminal.
Servo Products Specification Guide
II-46 Servo Products Specification Guide – October 2007 GFH-001F
K7—Regenerative Power Discharge Cable (β2/3000, β3/3000, β6/2000, αC12/2000) K8—Regenerative Power Discharge Thermal Protection Cable (Resistor includes amplifier connectors and contacts)
CX11-2 (DCP) CX11-2 (DCC)
β Amplifier Regenerative Discharge Unit
CX11-6 (TH1) CX11-6 (TH2)
K7
K8
30 ohm Resistor
Normally Closed Over Temperature Switch
150 (5.91)
57 (2.24)
100 (3.94)
52 (2.05)
60 (2.36)
10 Max (.394)
7 (.276)
2- ∅ 4.5 (0.177)
To CX11-2
To CX11-6
65 (2.56)
ZA06B-6093-H401 (20 Watt unit)
DCP DCC
TH1 TH2
200 (7.9) 220 (8.7) 230 (9.1)
6 (0.236)
1000 4.3
42.7 (1.68)
60
1.2 20
∅4 (0.157)
(39.4) (0.169)
(2.36)
(0.047) (0.787)
K7 K8 K7
CX11-2 (DCC)
CX11-2 (DCP) CX11-6 (TH1) CX11-6 (TH2)
ZA06B-6093-H402 (100 Watt Unit)
Customer must attach connectors
dimensions shown in mm (inches)
NOTE Resistor kit
contains two standoffs and
mounting hardware
Servo Products Specification Guide
Part II: β Series Servo System II-47
Connector GE Fanuc Part No. Manufacturer
Servo Amplifier CX11-2, -6
Included with Resistor Kit
Nihon AMP (Housing: 175362-1; Contact: 1-175218-2)
DCC
DCP
TH2
TH1
K9—Absolute Encoder Battery Cable (β0.5/3000, β2/3000, β3/3000, β6/2000, αC12/2000)
CX5X, CX5Y
β Amplifier Battery Unit
CX5X, CX5Y
+6V
0V
Wire: Nominal sectional area 0.32mm2 (24 AWG) or less
Connector GE Fanuc Part No. Manufacturer
Servo Amplifier (CX5X)
ZA06B-6093-K303 Japan Aviation Electronics Industry (Housing: IL-L2S-S3L- B(N); Contact: IL-C2-1-00001)
Servo Products Specification Guide
II-48 Servo Products Specification Guide – October 2007 GFH-001F
K10—Emergency Stop/Power Enable Cable (β0.5/3000, β2/3000, β3/3000, β6/2000, αC12/2000)
N.C.Isolated Contact
External Power Supply (to be matched to the
customer’s contactor coil voltage)
Spark Arrester
E-Stop PushbuttonAC Line Contactor
(MCC)
E-Stop Push Button
Coil
Cable Specification: Heavy-duty vinyl power cord, 2-conductor 0.5mm2 (20 AWG) Spark Arrester: To protect internal contacts, always use a spark arrester appropriate for the contactor
you select.
K12—24 VDC Amplifier Power Cable (β0.5/3000, β2/3000, β3/3000, β6/2000, αC12/2000)
+24V
0V
CX11-4 (24V)
CX11-4 (0V)
Customer-supplied 24 VDC Power Supply β Amplifier
Wire: Nominal sectional area 0.5mm2 (20 AWG)
Connector GE Fanuc Part No. Manufacturer
DC Power Supply N/A N/A Servo Amplifier CX11-4
Part of Kit ZA06B-6093-K301 (AMP version G or lower) ZA06B-6093-K305 (AMP version H or higher)
Nihon AMP (Housing: 175362-1; Contact: 1-175217-2)
Servo Products Specification Guide
Part II: β Series Servo System II-49
K13—24 VDC Amplifier Power Daisy Chain Cable (β0.5/3000, β2/3000, β3/3000, β6/2000, αC12/2000)
CX11-5 (24V)
CX11-5 (0V)
CX11-4 (24V)
CX11-4 (0V)
Wire: Nominal sectional area 0.5mm2 (20 AWG)
Connector GE Fanuc Part No. Manufacturer
DC Power Supply N/A N/A Servo Amplifier CX11-5
Part of Kit ZA06B-6093-K301 (AMP version G or lower) ZA06B-6093-K305 (AMP version H or higher)
Nihon AMP (Housing: 175362-1; Contact: 1-175217-2)
K14—Motor Brake Power Cable (β2/3000, β3/3000, β6/2000, αC12/2000) (β0.5/3000 brake wiring is include in power cable K4)
Customer-supplied 90 VDC brake power supply
A
B
+
–
C Optional Motor Brake
B Brake Coil (Energize to release)
Ground
Prefinished 14m Cable, Part number: Z44C742238-004 (severe duty) Wire: 300V, 3-conductor, 20 AWG (0.5mm2), finestrand, 80 °C, polyurethane (PUR) jacket
Connector GE Fanuc Part No. Manufacturer
Motor Brake Customer-made cable: Z44A730464-G26 GE Fanuc cable: Z44A739012-G08
DDK CE Series (CE02-6A10SL-3CS) with Raychem Boot (222A-32-25142)
C A
B
Servo Products Specification Guide
II-50 Servo Products Specification Guide – October 2007 GFH-001F
15.4 β Series Amplifier Protection and Alarm Functions The Servo Amplifier Unit can detect error conditions and provide alarm information.
The LEDs on the front of the amplifier provide a visual cue to the status of the system by indicating, for example, when the motor and amplifier are ready to function. The ALM LED is turned ON when an alarm condition is detected. When an alarm is detected, power is dropped and the motor is stopped by dynamic braking action. Alarm information is displayed as diagnostic data in the GE Fanuc controller. Table 57HII-23 details the alarm conditions the β Series Servo Amplifier System can detect.
Table II-23. β Series Servo Amplifier Alarm System
Alarm Condition Description
Over-voltage Issued when the DC voltage in the main circuit power supply is abnormally high.
DC link under- voltage
Issued when the DC voltage in the main circuit power supply is abnormally low or when the circuit breaker has tripped.
Regenerative overheat
Issued when the average regenerative discharge energy is excessively high, such as when acceleration/deceleration is performed too frequently.
Overheat Issued when the temperature inside the amplifier becomes so high that the thermostat trips.
Fan failure Issued when the fan unit built into the amplifier fails.
Over-current Issued when an abnormally high current is detected in the main circuit.
Part III: βi and βHVi
Series Servo Systems
Servo Products Specification Guide
III-2 Servo Products Specification Guide – October 2007 GFH-001F
Section 16: βi and βHVi Series Servos Overview
16.1 βi and βHVi Series Servo Systems βis Series servomotors are high performance, low inertia servomotors with built-in serial encoders. All βis Series servomotors are available with an optional 24VDC holding brake. Each βis Series servomotor must be used with the designated amplifier and a GE Fanuc DSM324i motion controller.
Table 3H5HIII-1 provides a summary of βis Series servo motors. See 4HSection 18: for more detailed motor specifications.
 ** Fan Kit (ZA06B-6134-K003) always required.
Servo Products Specification Guide
Part III: βi and βHVi Series Servo Systems III-3
Table 6HIII-2. βHVis Series Servo Systems (460 VAC Main Power)
Motor Rated Torque Encoder Required Amplifier
Motor Catalog #
β2/4000HVis 2 Nm (17.7 lbf-in) continuous stall torque; 5000 RPM
β128ia (128K)
βSVM1-10HVi ZA06B-6131-H001
Motor Only: ZA06B-0062-B203 Motor w/ Brake: ZA06B-0062-B503
β4/4000HVis 3.5 Nm (31 lbf-in) continuous stall torque; 5000 RPM
β128ia (128K)
βSVM1-10HVi ZA06B-6131-H001
Motor Only: ZA06B-0064-B203 Motor w/ Brake: ZA06B-0064-B503
β8/3000HVis 7 Nm (62 lbf-in) continuous stall torque; 3000 RPM
β128ia (128K)
βSVM1-10HVi ZA06B-6131-H001
Motor Only: ZA06B-0076-B203 Motor w/ Brake: ZA06B-0076-B503
β12/3000HVis 11 Nm (97.4 lbf-in) continuous stall torque; 3000 RPM
β128ia (128K)
βSVM1-20HVi ZA06B-6131-H002
Motor Only: ZA06B-0079-B203 Motor w/ Brake: ZA06B-0079-B503
β22/2000HVis 20 Nm (177.0 lbf-in) continuous stall torque; 2000 RPM
β128ia (128K)
βSVM1-20HVi ZA06B-6131-H002
Motor Only: ZA06B-0086-B203 Motor w/ Brake: ZA06B-0086-B503
Servo Products Specification Guide
III-4 Servo Products Specification Guide – October 2007 GFH-001F
16.2 βi Series Servo Amplifier Packages The following table shows which amplifier model is included in each βi Series servo package:
Table 7HIII-3. βi and βHVi Series Servo Amplifiers and Packages
Motor Amplifier Model Amplifier Catalog # Amplifier Package Catalog #
β0.4/5000is βSVM1-20i ZA06B-6130-H002 IC800BIK020
β0.5/6000is βSVM1-20i ZA06B-6130-H002 IC800BIK020
β1/6000is βSVM1-20i ZA06B-6130-H002 IC800BIK020
β2/4000is βSVM1-20i ZA06B-6130-H002 IC800BIK020
β4/4000is βSVM1-20i ZA06B-6130-H002 IC800BIK020
β8/3000is βSVM1-20i ZA06B-6130-H002 IC800BIK020
β12/3000is βSVM1-40i ZA06B-6130-H003 IC800BIK040
β22/2000is βSVM1-40i ZA06B-6130-H003 IC800BIK040
β2/4000HVis βSVM1-10HVi ZA06B-6131-H001 IC800BIHV010
β4/4000HVis βSVM1-10HVi ZA06B-6131-H001 IC800BIHV010
β8/3000HVis βSVM1-10HVi ZA06B-6131-H001 IC800BIHV010
β12/3000HVis βSVM1-20HVi ZA06B-6131-H002 IC800BIHV020
β22/2000HVis βSVM1-20HVi ZA06B-6131-H002 IC800BIHV020
As a convenience, amplifiers can also be ordered as a package containing all of the components required to operate the amplifier in a servo system, as detailed in the following table:
Table 8HIII-4. βi Series Servo Amplifier Packages
Description Package Contents* Catalog #
20 Amp βi-Series Amplifier Package
βSVM1-20i 20A amplifier (ZA06B-6130-H002) – Qty 1 Spare 24 VDC Fuse (ZA06B-6073-K250) – Qty 1 20 Watt Discharge Resistor (ZA06B-6130-H401) – Qty 1 CZ7 Power Connector Kit (ZA06B-6130-K200) – Qty1 CXA19 24 VDC Connector Kit (ZA06B-6130-K201) – Qty 2 CXA20 Discharge Thermostat Connector Kit (ZA06B-6130-K202) – Qty 1 CX29 MCC Connector Kit (ZA06B-6130-K203) – Qty 1 CX30 E-stop Connector Kit (ZA06B-6130-K204) – Qty 1
IC800BIK020
40 Amp βi-Series Amplifier Package
βSVM1-40i 40A amplifier (ZA06B-6130-H003) – Qty 1 Spare 24 VDC Fuse (ZA06B-6073-K250) – Qty 1 20 Watt Discharge Resistor (ZA06B-6130-H401) – Qty 1 CZ4 Power Connector Kit (ZA06B-6110-K200#XXS) – Qty1 CZ5 Motor Power Connector Kit (ZA06B-6110-K202#YYS) – Qty 1 CZ6 Discharge Resistor Connector Kit (ZA06B-6110-K201#XYM) – Qty
1 CXA19 24 VDC Connector Kit (ZA06B-6130-K201) – Qty 2 CXA20 Discharge Thermostat Connector Kit (ZA06B-6130-K202) – Qty 1 CX29 MCC Connector Kit (ZA06B-6130-K203) – Qty 1 CX30 E-stop Connector Kit (ZA06B-6130-K204) – Qty 1
IC800BIK040
Servo Products Specification Guide
Part III: βi and βHVi Series Servo Systems III-5
Description Package Contents* Catalog #
10 Amp βHVi Series (High Voltage) Amplifier Package
SVM1-10HVi Amplifier (ZZA06B-6131-H001) – Qty 1 Spare 24 VDC Fuse (ZA06B-6073-K250) – Qty 1 CZ4 Power Connector Kit (ZA06B-6110-K200#XXS) – Qty 1 CZ5 Motor Power Connector Kit (ZA06B-6110-K202#YYS) – Qty 1 CZ6 Regenerative Discharge Resistor Connector Kit (ZA06B-6110-
K201#XYM) – Qty 1 CXA19 24 VDC Connector Kit (ZA06B-6130-K201) – Qty 2 CXA20 Regenerative Resistor Thermostat Connector Kit (ZA06B-6130-
K202) – Qty 1 CX29 MCC Connector Kit (ZA06B-6130-K203) – Qty 1 CX30 Estop Connector Kit (ZA06B-6130-K204) – Qty 1
IC800BIHV010
20 Amp βHVi Series (High Voltage) Amplifier Package
SVM1-20HVi Amplifier (ZA06B-6131-H002) – Qty 1 Spare 24 VDC Fuse (ZA06B-6073-K250) – Qty 1 CZ4 Power Connector Kit (ZA06B-6110-K200#XXS) – Qty 1 CZ5 Motor Power Connector Kit (ZA06B-6110-K202#YYS) – Qty 1 CZ6 Regenerative Discharge Resistor Connector Kit (ZA06B-6110-
K201#XYM) – Qty 1 CXA19 24 VDC Connector Kit (ZA06B-6130-K201) – Qty 2 CXA20 Regenerative Resistor Thermostat Connector Kit (ZA06B-6130-
K202) – Qty 1 CX29 MCC Connector Kit (ZA06B-6130-K203) – Qty 1 CX30 Estop Connector Kit (ZA06B-6130-K204) – Qty 1
IC800BIHV020
* Amplifier package components can also be ordered separately.
Servo Products Specification Guide
III-6 Servo Products Specification Guide – October 2007 GFH-001F
Section 17: βi Servo System Options Designing a servo control system requires that you understand how the electrical and mechanical aspects of your system interact. The table below will help you select which servo options your system requires. Table 9HIII-5. βis Servo System Options
Servo Option Consider Selecting When Catalog # Section # Motor Holding Brake The system design includes an axis that must
hold its position when power is removed Refer to Table 10H5HIII-1 11H18.4
Absolute Encoder Battery Backup Kit
You want to avoid having to re-reference the position when power is restored to the control
IC800BBK021 (1-axis) IC800ABK001 (4-axis)
12H19.5
AC Line Filters 200—240 VAC is already available to the control cabinet and no isolation transformer is used
5.4 kW, 3-phase: ZA81L-0001-0083#3C 10.5 kW, 3-phase: ZA81L-0001-0101#C
13H23.2
Pre-finished Cables The cable lengths available from GE Fanuc are appropriate for your application
Refer to “Cable Connections” Table
0H24
Discharge Resistor See “Discharging Regenerative Energy;” The 20 Watt discharge resistor is included in all 20 amp βi Series Amplifier Packages. The 40 amp amplifier includes an integral discharge resistor. The external 100 W discharge resistor offers additional capacity when required.
ZA06B-6130-H401 ZA06B-6130-H402 ZA06B-6089-H500 ZA06B-6089-H713
14H23.7
Ground Clamp CE Installation or high electrical noise environment.
ZA99L-0035-0001, Clamp Z44B295864-001, Bar
15H22.3
Absolute Encoder Battery Backup Connector
You want to daisy chain multiple amplifiers together to share the multi-axis battery pack IC800ABK001.
ZA06B-6093-K303 NA
Table 16HIII-6. βHVi Servo System Options
Servo Option Consider Selecting When Catalog # Section # Motor Holding Brake The system design includes an axis that must
hold its position when power is removed Refer to Table 17H5HIII-1 18H18.4
Absolute Encoder Battery Backup Kit
You would like to avoid having to re-reference the position when power is restored to the control
IC800BBK021 (1-axis) IC800ABK001 (4-axis)
19H19.5
AC Line Filters 400—480 VAC is already available to the control cabinet and no isolation transformer is used
5.4 kW, 3-phase: ZA81L-0001-0168 10.5 kW, 3-phase: ZA81L-0001-0169
20H23.2
Pre-finished Cables The cable lengths available from GE Fanuc are appropriate for your application
Refer to “Cable Connections” Table
1H24
Ground Clamp CE Installation or high electrical noise environment.
ZA99L-0035-0001, Clamp Z44B295864-001, Bar
21H22.3
Absolute Encoder Battery Backup Connector
You want to daisy chain multiple amplifiers together to share the multi-axis battery pack IC800ABK001.
ZA06B-6093-K303 NA
Servo Products Specification Guide
Part III: βi and βHVi Series Servo Systems III-7
Section 18: Servo Motors
18.1 Servo Motor Specifications The βi Series Servo system consists of a servomotor and its corresponding amplifier and cables. GE Fanuc offers several βis series servo motors, which are identified below.
Table 22HIII-7. Specifications of βis Servo Motors Unit β0.4/5000is β0.5/6000is β 1/6000is β 2/4000is β 4/4000is β 8/3000is β 12/3000is β 22/2000is
Nm 0.4 0.65 1.2 2.0 3.5 7.0 11.0 20.0 Rated torque at stall * lbf-in 3.5 5.8 10.6 17.7 31.0 62.0 97.4 177.0 Stall Current * A (rms) 3.6 2.9 2.7 3.3 4.7 6.0 10.2 11.3
kW 0.13 0.2 0.4 0.5 0.75 1.2 1.8 2.5 Rated Output * HP 0.17 0.27 0.54 0.67 1.0 1.6 2.4 3.4
Rated Speed RPM 4000 6000 6000 4000 3000 2000 2000 2000 Max. Speed RPM 5000 6000 6000 4000 4000 3000 3000 2000
Nm 1.0 2.5 5.0 7.0 10.0 15.0 27.0 45.0 Peak Torque * lbf-in 8.9 22.1 44.3 62.0 88.5 132.8 239.0 398.3 Kgm2 0.00001 0.000018 0.000034 0.000291 0.000515 0.00117 0.00228 0.00527 Rotor Inertia
lbf-ft-s2 *(10-6)
7.3756215 13.276118 25.07711 214.6305 379.8445 862.9477 1681.6417 3886.9525
Kgm2 0.000019 0.000027 0.000043 0.000311 0.000535 0.00124 0.00235 0.00587 Rotor Inertia (with brake) lbf-ft-s2
*(10-6) 14.013681 19.914178 31.715172 229.38182
9 394.59575
0 914.5771 1733.27105 4329.48982
Nm/A 0.112 0.223 0.45 0.62 0.75 1.16 1.08 1.77 Torque Constant * Lbf-in/A Back EMF Const. (1 phase) *
Vsec/rad (rms)
0.038 0.074 0.14 0.21 0.25 0.39 0.36 0.59
Resistance (1 phase) *
ohm 0.55 0.85 1.5 1.6 0.94 1.00 0.39 0.44
Mechanical Time Constant
sec 0.001 0.0009 0.0007 0.004 0.003 0.003 0.002 0.002
Thermal time Constant
min 8 10 15 15 20 20 25 30
Static friction Nm 0.04 0.04 0.04 0.1 0.2 0.3 0.4 0.8 kg 0.8 1.0 1.5 2.8 4.3 7.4 11.9 17.0 Weight lb 1.8 2.2 3.3 6.2 9.5 16.3 26.2 37.4 kg 1.2 1.4 1.9 3.8 5.3 9.6 14.1 23.0 Weight
(with brake) lb 2.6 3.1 4.2 8.4 11.7 21.1 31.0 50.6 Max Current A (peak) 20 20 20 20 20 20 40 40
*These values are standard values at 20°C with a tolerance of ±10%. The speed-torque characteristics vary, depending on the type of software, parameter setting, and input voltage of the digital servo amplifiers. (The above figures show average values.) These values may be changed without prior notice.
Servo Products Specification Guide
III-8 Servo Products Specification Guide – October 2007 GFH-001F
Table 23HIII-8. Specifications of βHVis Servo Motors Unit β2/4000HVis β4/4000HVis β8/3000HVis β12/3000HVis β22/2000HVis
Nm 2 3.5 7 11 20 Rated torque at stall * lbf-in 17.7 31 62 97.4 177.02
Stall Current * A (rms) 1.6 2.3 3 5.1 5.6 kW 0.5 0.75 1.2 1.8 2.5 Rated Output * HP 0.67 1 1.6 2.4 3.4
Rated Speed RPM 4000 3000 2000 2000 2000 No Load Speed RPM 4000 4000 3000 3000 2000 Encoder Resolution Counts/Rev 131,072 131,072 131,072 131,072 131,072 Flange Size mm 90 90 130 130 174
Nm 7 10 15 27 45 Peak Torque * lbf-in 62 88.5 132.8 2.9 398.3 Kgm2 2.91 5.15 11.7 22.8 52.7 Rotor Inertia
lbf-ft-s2 *(10-6) 25.76 45.58 103.55 201.80 466.43 Kgm2 3.11 5.35 12.4 23.5 58.7 Rotor Inertia (with brake)
lbf-ft-s2 *(10-6) 25.73 47.35 109.75 208.0 519.4 Nm/A 1.23 1.5 2.32 2.16 3.5 Torque Constant *
Lbf-in/A 10.89 13.28 20.53 19.12 30.98 Back EMF Const. (1 phase) *
Vsec/rad (rms) 43 53 81 76 120
Resistance (1 phase) *
ohm 6.6 4 3.9 1.6 1.8
Mechanical Time Constant sec 4 3 3 2 2 Thermal time Constant min 15 20 20 25 30 Static friction Nm 0.1 0.2 0.3 0.4 0.8
kg 2.8 4.3 7.4 11.9 17 Weight lb 6.16 9.46 16.28 26.18 37.4 kg 3.8 5.3 9.6 14.1 23.0 Weight
(with brake) lb 8.4 11.7 21.1 31.0 50.6 kg 8 8 20 20 60 Axial Load Rating lb 17.6 17.6 44 44 132 kg 25 25 70 70 200 Radial Load Rating lb 55 55 154 154 440
Max Current A (peak) 10 10 10 20 20
*These values are standard values at 20°C with a tolerance of ±10%. The speed-torque characteristics vary, depending on the type of software, parameter setting, and input voltage of the digital servo amplifiers. (The above figures show average values.) These values may be changed without prior notice.
Servo Products Specification Guide
Part III: βi and βHVi Series Servo Systems III-9
18.2 βis and βHVis Series Motor Speed–Torque Curves The curves shown in the following figure illustrate the relationship between the speed of the motor and the output torque. The motor can operate continuously at any combination of speed and torque within the prescribed continuous operating zone. The limit of the continuous operating zone is determined with the motor’s ambient temperature at 20°C and its drive current as pure sine wave. The curves reflect peak torque limits based on maximum current of the servo amplifier unit.
Figure 24HIII-1. βis and βHVis Series Servo Motor Speed-Torque Curves (β0.4/6000, β0.5/6000, β1/6000, β2/4000)
Servo Products Specification Guide
III-10 Servo Products Specification Guide – October 2007 GFH-001F
Figure 25HIII-2. βis and βHVis Series Servo Motor Speed-Torque Curves (β4/4000, β8/3000, β12/3000, β22/2000)
Servo Products Specification Guide
Part III: βi and βHVi Series Servo Systems III-11
18.3 Motor Outline Drawings
Motor
Shaft Detail
Dimensions shown mm
Dimension β0.4/5000is β0.5/6000is β1/6000is Connector Description A 75 89.5 118.5 1 Brake (optional) A with brake 101.5 116 145 2 Power A1 Φ9 000.0 009.0
+ − Φ9
000.0 009.0
+ − Φ14
000.0 011.0
+ −
3 Encoder
A2 1.2 0.0 1.0 + − 1.2
0.0 1.0
+ − 2
0.0 1.0
+ −
A3 3 000.0 025.0
+ − 3
000.0 025.0
+ − 5
00.0 33.0
+ −
A4 M3 Depth 6 M3 Depth 6 M4 Depth 10 A5 25 25 30 B 65 79.5 108.5 B with brake 91.5 106 135 C 34.5 49 78 C with brake 61 75.5 104.5
Notes: 1. Shaft diameter runout = 0.02mm max 2. Flange surface runout = 0.06mm max 3. Maximum radial load for output shaft is
20kgf (44lb)
Figure 26HIII-3. β0.4is, β0.5is and β1is Series Servo Motor Outline Drawing
Servo Products Specification Guide
III-12 Servo Products Specification Guide – October 2007 GFH-001F
Power/Brake Connections
1 2 3 4 5 6 U V W G B B
Motor
Shaft Detail Dimensions shown mm
Dimension β2/4000is, β2/4000HVis A 130 A with brake 159 B 119 B with brake 148 C 75 C with brake 75 D 59 D with brake 59
Notes: 1. Shaft diameter runout = 0.02mm max 2. Flange surface runout = 0.06mm max 3. Maximum radial load for output shaft is 25kgf (55lb)
Figure 27HIII-4. β2is Series Servo Motor Outline Drawing
Servo Products Specification Guide
Part III: βi and βHVi Series Servo Systems III-13
Power/Brake Connections
1 2 3 4 5 6 U V W G B B
Motor
Shaft Detail Dimensions shown mm
Dimension β4/4000is, β4/4000HVis Dimension β4/4000is, β4/4000HVis A 166 C 111 A with brake 195 C with brake 111 B 155 D 95 B with brake 184 D with brake 95
Notes: 1. Shaft diameter runout = 0.02mm max 2. Flange surface runout = 0.06mm max 3. Maximum radial load for output shaft is 25kgf (55lb)
Figure 28HIII-5. β4is Series Servo Motor Outline Drawing
Servo Products Specification Guide
III-14 Servo Products Specification Guide – October 2007 GFH-001F
Motor
β8is β8HVis
β12is β12HVis
Shaft Detail Dimensions shown mm
Dimension
β8/3000is, β8/3000HVis
β12/3000is, β12/3000HVis
Connector
Description
A 166 222 1 Brake (optional) A with brake 191 247 2 Power A1 36 45 3 Encoder B 108 164 B with brake 133 189
Notes: 1. Shaft diameter runout = 0.02mm max 2. Flange surface runout = 0.05mm max 3. Maximum radial load for output shaft is 70kgf (154lb)
Figure 29HIII-6. β8is and β12is Series Servo Motor Outline Drawing
Servo Products Specification Guide
Part III: βi and βHVi Series Servo Systems III-15
Motor
Shaft Detail
Dimensions shown mm
Dimension β22/2000is, β22/2000HVis,
Connector Description
A 202 1 Brake (optional) A with brake 243 2 Power B 141 3 Encoder B with brake 182
Notes: 1. Shaft diameter runout = 0.03mm max 2. Flange surface runout = 0.06mm max 3. Maximum radial load for output shaft is
200kgf (440lb)
Figure 30HIII-7. β22is Series Servo Motor Outline Drawing
Servo Products Specification Guide
III-16 Servo Products Specification Guide – October 2007 GFH-001F
18.4 βis and βHVis Series Servo Motor Holding Brake The holding brake is used to prevent movement on horizontal axes or falling along the vertical axis when the servo motor control is turned off. Brakes are spring-set and electrically released and are designed for holding stationary loads only. Using the holding brake to stop a moving axis may damage the brake or severely reduce its service life.
The specifications of the built-in brakes are listed in the following table.
Table 31HIII-9. βis and βHVis Motor Holding Brake Specifications
Motor Model
Unit β0.4is β0.5is
β1is
β2is/β2HVis β4is/β4HVis
β8is/β8HVis β12is/β12HVis
β22is/β22HVis
Nm 0.65 1.2 3 8 35 Brake Holding Torque lbf-in 5.8 10.6 26.6 70.8 309.8
Release msec 40 40 60 160 160 Response Time Brake msec 20 20 10 30 30 Voltage VDC 24 (± 10%) Current A 0.5 0.5 0.9 1.1 1.2
Power Supply
Power W 12 12 22 26 29 Weight Increase kg 0.4 0.4 1.0 2.2 6.0
kg-m2 0.000009 0.000009 0.00002 0.00007 0.0006 Inertia Increase lbf-in-s2 0.0000797 0.0000797 0.000177 0.0006195 0.000531
The values shown above are standard values at 20°C.
Servo Products Specification Guide
Part III: βi and βHVi Series Servo Systems III-17
18.5 Brake Power Supply Circuit The following table lists the recommended parts and their specifications to be used as components of a user- built brake circuit. Configure a brake circuit by referencing the following brake connection diagram and the recommended parts as shown below.
Table 32HIII-10. βis Holding Brake Circuit Components
Name Model No. Name of Manufacturer Specifications
Rectifier D3SB60 Shindengen Electric Mfg. Co., Ltd. Withstand voltage 400V min. Maximum output current: 2.3 A (with no fins)
Switch N/A N/A Rated load capacity (resistance load) 250VAC 10A / 30VDC 10A or more
Spark Killer XEB0471 Okaya Electric Ind. Co., ltd. 47 ohm/0.1 μF Withstand voltage 400V min
Surge Absorber ERZV10D820 Matsusihita Electric Industrial Co., Ltd. Varistor voltage 82V Max allowable voltage 50 VAC
24 VDC Power Supply
Switch Surge Absorber
Spark Killer
To other 24 VDC peripheral devices, such as a relay and solenoids
24 VDC ± 10%
Motor
Brake Coil
(BK)
(BK) (With no polarity)
Switch Surge Absorber
Spark Killer
24 V rms ± 10%
Motor
Brake Coil
(BK)
(BK) (With no polarity)
240 VAC 220 VAC 200VAC
0 V Rectifier + -
Transformer
Figure 33HIII-8. Connecting Motor Holding Brake Control and Power Circuit
Caution To prevent amplifier malfunction or damage do not use the same 24V power supply for the amplifier control logic circuitry as the power supply for the brake.
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III-18 Servo Products Specification Guide – October 2007 GFH-001F
Option 1: Use a commercial 24 VDC power supply as the power supply for the βis series servo motor brake. To prevent amplifier malfunction or damage do not use the same 24V power supply for the amplifier control logic circuitry as the power supply for the brake. The power supply for a relay, solenoid, or another peripheral device can be used for the brake. Be careful of the power capacity and changes in voltage due to load changes.
Option 2: Alternately you may build a power supply for the brake circuit (equivalent to 24 Vrms) produced by full-wave rectification after transforming commercial power (50 Hz/60 Hz). For user built full-wave rectification, transform the secondary voltage into approximately 29 VAC by taking voltage drop in the rectifier or cable into account. Check to make sure the power capacity and power voltage fluctuations of the voltage applied to the brake falls within 24 Vrms ±10%.
If the brake switching contact is installed on the DC side (at the position shown in the figure), the life of the contact is generally shortened due to the surge voltage when the brake is turned off. Provide an adequate contact capacity and always use a surge absorber and spark killer for protecting the contact. Installing the switching contact on the DC side of the power provides the fastest brake operation time.
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Part III: βi and βHVi Series Servo Systems III-19
18.6 Motor Connections Connections Serial Encoder Connections
Description Motor Connector
Amplifier JF1 Connector
N/C 2 1 N/C 1 2 RD 6 5
RD 5 6 +5 VDC 8,9 9,20 0 VDC 7,10 12,14 +6 VA (battery) 4 7 Frame Ground 3 16 Cable Shield 3 16
All βis and βHVis Motors
GE Fanuc Mating Connector: ZA06B-6114-K204#E (90 degree) ZA06B-6114-K204#S (straight)
Power and Brake Connections
Description β0.4is, β0.5is, β1is Motor Connector
β2is/β2HVis β4HVis
Motor Connector
β8is/β8HVis β12is/β12HVis β22is/β22HVis
Motor Connector
βi and βHVi Series Amplifier
Connector
Phase U 2 1 A U Phase V 2 2 B V Phase W 3 3 C W Earth (case) 4 4 D PE Brake VDC n/a 5 n/a n/a Brake VDC n/a 6 n/a n/a GE Fanuc Mating Connector: ZA06B-6114-K220#E (90 degree) (β2is, β4is, β2HVis, β4HVis) ZA06B-6114-K220#S (straight) (β2is, β4is, β2HVis, β4HVis) Z44A730464-G18 (β8is, β12is, β8HVis, β12HVis) ZA06B-6114-K230#E (β0.4is, β0.5is, β1is) Z44A730464-G20 (β22is, β22HVis)
Description β0.4is, β0.5is & β1is Motor Connector
β8is/β8HVis β12is/β12HVis β22is/β22HVis
Motor Connector Brake VDC 1 1 Brake VDC 2 2 Earth (case) 4 4 GE Fanuc Mating Connector: ZA06B-6114-K213#E (90 degree) (β8is, β12is, β22is, β8HVis, β12HVis, β22HVis) ZA06B-6114-K213#S (straight) (β8is, β12is, β22is, β8HVis, β12HVis, β22HVis) ZA06B-6114-K232#E (β0.4is, β0.5is, β1is)
β2is& β4is Motor Power/Brake
β8is, β12is & β22is
Motor Power
β0.4is, β0.5is & β1is
Motor Power
β8is, β12is & β22is Brake
β0.4is, β0.5is & β1is Brake
Brake power connections are not polarized 24VDC.
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III-20 Servo Products Specification Guide – October 2007 GFH-001F
Section 19: βi and βHVi Amplifiers
19.1 Amplifier Electrical Specifications
βi-Series Amplifier Specifications Item SVM1-20i SVM1-40i Power Supply Voltage (amplifier) 3-Phase 200-240VAC 1
1-Phase 200-240VAC 2 3-Phase 200-240VAC
Power Supply Voltage (control) 24 VDC /0.9A 24 VDC /0.9A Dynamic Brake Function 3 Built In Built In Built In Regeneration Capacity 16 joule (capacitor energy storage) 50 watt (internal resistor) External Regeneration Options 20 watt, 30 ohm – ZA06B-6130-H401
100 watt, 30 ohm - ZA06B-6130-H402 200 watt, 16 ohm - ZA06B-6089-H500 800 watt, 16 ohm – ZA06B-6089-H713
Notes: 1. 8Nm motor always requires amplifier fan kit ZA06B-6134-K003. 2. 4Nm motor requires amplifier fan kit ZA06B-6134-K003 for single-phase operation only. 3. Dynamic braking activates during servo alarms to stop the motor more quickly than coasting to a
stop.
ΒHVi Series Amplifier Specifications Item SVM1-10HVi SVM1-20HVi
Power Supply Voltage (amplifier) 3-Phase 400-480VAC 3-Phase 400-480VAC Power Supply Voltage (control) 24 VDC /0.9A 24 VDC /0.9A Dynamic Brake Function 1 Built In Built In Built In Regeneration Capacity 16 joule (capacitor energy storage) 50 watt (internal resistor)
Note: Dynamic braking activates during servo alarms to stop the motor more quickly than coasting to a stop.
19.2 βi & βVHi Series Amplifier Environmental Specifications Item Specification
Ambient Temperature Operation Storage
0 to 55 oC -20 to 60 oC
Humidity 90% RH or below (non-condensing) Vibration Below 0.5 G
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19.3 βi & βHVi Series Amplifier Status LED and Alarm Functions The Servo Amplifier Unit can detect error conditions and provide alarm information.
The LEDs on the front of the amplifier provide a visual cue to the status of the system by indicating, for example, when the motor and amplifier are ready to function.
POWER LED (green) indicates the logic 24 VDC power is present.
DC LINK CHARGED LED (red) indicates that the amplifier has high (motor) voltage DC present.
LINK LED (green) indicates that the FSSB (fiber optic) interface is functioning.
ALM LED (yellow) is turned ON when an alarm condition is detected. When an alarm is detected, power is dropped and the motor is stopped by dynamic braking action. Alarm information is additionally displayed as diagnostic data in the GE Fanuc DSM324i motion controller. The amplifier control power must be cycled to reset this alarm state. The table below details the alarm conditions the βi Series Servo Amplifier System can detect.
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III-22 Servo Products Specification Guide – October 2007 GFH-001F
Table 34HIII-11. βi and βHVi Series Servo Amplifier Alarms
Alarm Condition Description
DC Link Under- Voltage
Issued when the DC voltage in the main circuit power supply is abnormally low. Indicates low AC mains power dip or hardware problem. Make sure the plug-in (gray faceplate) circuit board is securely seated in the amplifier base. Replace amplifier.
DC Link Over- Voltage
Issued when the DC voltage in the main circuit power supply is abnormally high. Indicates high AC mains power or hardware problem. Make sure the plug-in (gray faceplate) circuit board is securely seated in the amplifier base. May also be caused by excessive regenerated power. Increase acceleration/deceleration time and/or add additional regenerative discharge capacity. Replace amplifier.
Excessive Deceleration Power
If no external regeneration resistor is used, the discharge resistor thermal sensor jumper is missing on connector CXA20. This input requires a normally closed contact for normal operation.
When using an external regeneration resistor, the thermal sensor in the regeneration resistor has tripped. Indicating excessive regenerated power load to the regeneration resistor. Use a meter to confirm an open circuit on the thermal sensor leads. Make sure the plug-in (gray faceplate) circuit board is securely seated in the amplifier base. Increase capacity of external regeneration resistor or decrease deceleration rate or frequency, and/or the top speed from which the axis must decelerate.
Control Power Under-Voltage
The 24 VDC control power is below 21.6 VDC. Check the supply voltage level and make sure the CXA19A and CXA19B connectors are secure and associated cables are wired correctly. Replace amplifier.
Internal Cooling Fan Stopped
Fan is jammed, has failed or is not connected. Check for foreign material in fan blades. Make sure fan is plugged in. Make sure the plug-in (gray faceplate) circuit board is securely seated in the amplifier base. Replace amplifier.
IPM Alarm Excessive current in the power transistors. Phase to phase or phase to ground short circuit on motor power output. Make sure the plug-in (gray faceplate) circuit board is securely seated in the amplifier base. Possible incorrect phase connection of the motor power wiring. Motor type code must be configured correctly in the GE Fanuc controller. Disconnect motor power leads from amplifier and reset E-stop condition. If IPM alarm occurs replace amplifier. If no IPM alarm the problem is in the motor or motor power cable. Check for electrical shorts in the motor power cable or motor winding shorted to frame ground.
IPM Overheat Issued when the temperature inside the amplifier becomes so high that the thermostat trips. Make sure the plug-in (gray faceplate) circuit board is securely seated in the amplifier base. Check that the heat sink cooling fan (if applicable) is running. Make sure the ambient temperature around the amplifier is 55oC or lower. Check that the motor load is within the rating of the motor.
Motor Over-current Issued when an abnormally high current is detected in the main circuit. Make sure the plug-in (gray faceplate) circuit board is securely seated in the amplifier base. Check for electrical shorts in the motor power cable or motor winding shorted to frame ground. Possible incorrect phasing on motor power wiring. Motor type code may be configured incorrectly in the DSM324 controller. Possible excessive force loading on motor.
FSSB Communication Error
FSSB connector or cable failure. Check the connections to the COP10A and COP10B connectors. Try replacing the optical cable. Replace amplifier.
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19.4 Amplifier External Dimensions
Figure 35HIII-9. External Dimensions of βSVM1-20i Amplifier
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III-24 Servo Products Specification Guide – October 2007 GFH-001F
Note Fan is required for βSVM1-20i amplifier when β4is motor is used with a single phase AC supply to the amplifier. Fan is always required with the β8is motor.
Figure 36HIII-10. External Dimensions of Optional Cooling Fan Unit (ZA06B-6134-K003)
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Figure 37HIII-11. External Dimensions of βSVM1-40i, βSVM1-10HVi and βSVM1-20HVi Amplifiers
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III-26 Servo Products Specification Guide – October 2007 GFH-001F
19.5 Absolute Encoder Battery Options All βis and βHVis Series servomotors feature a built-in encoder that can be used in either incremental or absolute mode. To utilize the absolute capability, an optional encoder battery pack must be installed. This pack allows the encoder’s position information to be maintained so that the machine does not need to be re- referenced to a home position every time power is restored to the servo system.
The encoder for βis 0.4 to 22 Nm motors and all βHVis motors contains an integral capacitor that will maintain the encoder backup voltage for approximately 10 minutes. This allows battery change without loss of absolute position data.
There are two encoder battery backup options for the βi and βHVi Series amplifiers. A snap-on lithium battery pack that will support a single amplifier or a panel mounted battery pack for up to four amplifiers that uses standard D cell alkaline batteries.
For optimal panel space utilization, a small lithium battery pack IC800BBK021 is available that snaps onto the βi and βHVi Series amplifiers housing (see figure below). An integral pigtail cable plugs directly into the CX5X connector on the faceplate of the amplifier. One battery is required for each βi or βHVi Series amplifier. The lithium battery service life is approximately 2 years.
The Absolute Encoder Battery Kit (IC800BBK021) contains the following:
Qty 1 - Battery (ZA06B-6093-K001)
Qty 1 - Battery Holder (ZA06B-6093-K002)
Connection Method for Single Amplifiers (IC800BBK021 for use with a single amplifier)
Installation 1. Make sure 24V control power is applied to the amplifier (if trying to hold position on an existing system)
2. Place system in an E-stop condition
3. Remove AC power from the amplifier
4. Remove the old battery (if applicable)
5. Place battery into plastic cover
6. Snap cover onto amplifier housing
7. Attach battery cable to amplifier CX5X connector as indicated in diagram making sure polarity is correct.
Note Do not attempt to connect multiple amplifiers to one IC800BBK021 battery kit. Replacement CX5 battery connectors are available as kit number
ZA06B-6093-K303
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βSVM1-20i Amplifier
Battery connector: ZA06B-6093-K303
βSVM1-40i, βSVM1-10HVi and βSVM1-20HVi Amplifiers
Figure 38HIII-12. Installing the IC800BBK021 Absolute Encoder Battery Pack (One-Axis)
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Connection Method for Multiple Amplifiers To utilize the absolute capability for multiple amplifiers (βSVM1-20i, βSVM1-40i, βSVM1-10HVi or βSVM1-20HVi) the IC800ABK001 panel mounted battery pack must be installed.
The Absolute Encoder Battery Kit (IC800ABK001) contains the following:
One battery holder (ZA06B-6050-K060)
Four D-cell, alkaline batteries (ZA98L-0031-0005)
One kit provides battery backup for up to four absolute encoders. The user is responsible for manufacturing the cable used to connect the battery pack to the amplifier. The battery connection is made to the CXA19B connector on the last amplifier in the sequence supported by the battery pack. Terminals CXA19B-B3 (6V) and CXA19B-A2 (0V) are used and wire should be 0.3 mm2 minimum cross sectional area. The battery power is distributed to the other amplifiers in the sequence by daisy chaining the CXA19A connections to the CXA19B connections on adjacent amplifiers. See 39HSection 24:40Hβi and βHVi Series Servo System Connection for more detail.
The battery service life is approximately one year and we recommend a yearly replacement schedule.
The IC800ABK001 battery pack is panel-mounted and requires a cutout in the mounting surface. Mounting dimensions and terminal designations are shown below.
Figure 41HIII-13. Absolute Encoder Battery Pack IC800ABK001 (up to Four Axes)
78 (3.07)
93 (3.66)
103 (4.06)
103 (4.06)
78 (3.07)
40 (1.57)
A B C
D
E
A 3-M3 negative terminal B Negative terminal indication C Positive terminal indication D 3-M3 positive terminal E 4-∅4.3 (0.169) mounting holes
All dimensions in mm (in)
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Part III: βi and βHVi Series Servo Systems III-29
Section 20: Installation Guidelines This section includes environmental requirements, motor and amplifier dimension drawings and information on ensuring noise protection and selecting a ground fault interrupter.
20.1 βis and βHVis Motor Environmental Requirements The servomotor must be installed in a location that satisfies the following environmental conditions: Table 42HIII-12. Servo Motor Environmental Conditions
Condition Description Ambient temperature The ambient temperature should be 0°C to 40°C. When operating the motor at a
temperature higher than 40°C, it is necessary to de-rate the output power so that the motor’s and the encoder’s temperature rating is not exceeded.
Ambient humidity Should be 80% RH (relative humidity) or less, non-condensing Vibration When installed in a machine, the vibration applied to the motor must not exceed 5G. Altitude No more than 1,000 m (3,300 ft) above sea level. Drip-Proof Environment The motors have a drip-proof structure that complies with IP65 of the IEC standard.
Nevertheless, to ensure long-term performance, the motor surface should be protected from solvents, lubricants, and fluid spray. A cover should be used when there is a possibility of wetting the motor surface. Also, to prevent fluid from being led to the motor through the cable, put a drip loop in the cable when the motor is mounted. Finally, turn the motor connector sideways or downward as far as possible. If the cable connector will be subjected to moisture, it is recommended that an R class or waterproof plug be used. For additional information, see GE Fanuc publication Servo and Spindle Motors Exposed to Liquids, GFK-1046.
Figure 43HIII-14. Motor Installation for Drip-Proof environment
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20.2 βis & βHVis Servo Amplifier Environmental Requirements The servo amplifier must be installed in a location that satisfies the environmental conditions identified in the table below.
Table 44HIII-13. Servo Amplifier Environmental Conditions
Condition Description Ambient temperature 0°C to 55°C (operating).
-20°C to 60°C (storage and transportation). Temperature fluctuation Within 1.1°C/min. Humidity 90% RH (non-condensing) or lower. Altitude No more than 1000 m (3,300 ft) above sea level. Vibration No more than 0.5 G during operation. Atmosphere The circuitry and cooling fins must not be exposed to any
corrosive and conductive vapor or liquid.
The amplifier must be installed in a cabinet that protects it from contaminants such as dust, coolant, organic solvents, acid, corrosive gas, and salt. Adequate protection must also be provided for applications where the amplifier could be exposed to radiation, such as microwave, ultraviolet, laser light, or x-rays.
To adequately protect the amplifier, you must ensure that:
Contaminants such as dust and fluid cannot enter through the air inlet or outlet. The flow of cooling air is not obstructed. The amplifier can be accessed for inspection. The amplifier can be disassembled for maintenance and later reinstalled. There is sufficient separation between the power and signal lines to avoid interference. Noise
protection should be provided.
NOTE Attach the accompanying gasket around the panel cutout to prevent oil and dust from getting in. Reinforce the right and left sides of the panel cutout by using fittings such as angles to maintain satisfactory contact between the cabinet and the amplifier.
Figure 45HIII-15. Panel Cut-out Drawing for Through-Cabinet Mounting of the βSVM1-40i, βSVM10HVi and βSVM1-20HVi Amplifiers
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20.3 βi and βHVi Amplifier Heat Dissipation and Maintenance Clearance
The amplifier may contain a cooling fan that forces air through the unit. Allow for adequate clearance for airflow when installing the amplifier using the recommended distances shown in the drawings below. If possible, do not mount amplifiers one above the other unless they are staggered to prevent the heated exhaust of the lower unit from flowing over the upper unit.
Figure 46HIII-16. Maintenance Clearance for Amplifier βSVM1-20i
Dimensions shown in mm
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III-32 Servo Products Specification Guide – October 2007 GFH-001F
Dimensions shown in mm
Figure 47HIII-17. βi Series βSVM1-40i, βSVM1-10HVi and βSVM1-20HVi Amplifier Maintenance Clearances
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Section 21: Heat Dissipation Table 48H50HIII-14 identifies worst-case heat dissipation values for each amplifier. These values may be used to determine heat load for sizing enclosures and cooling equipment. Heat dissipation for external regeneration resistors depends on the application and is calculated in 49H23.7, Step 5.
The total heat dissipation is a function of the amplifier base dissipation (a) plus the amplifier heat coefficient (K) times the heat generated by RMS stall current flowing through the servo motor (b).
Total heat dissipation Watts = a + (K * b)
Table 50HIII-14. In Cabinet Heat Dissipation
Amplifier Catalog # Amplifier base heat
dissipation (a)
Amplifier heat coefficient (K)
Motor Model Motor Current (b)
[Arms]
Total heat dissipation [Watts]
β0.4/5000is 3.6 47.7
β0.5/6000is 2.9 42.3
β1/6000is 2.7 40.8
β2/4000is 3.3 45.4
β4/4000is 4.7 56.2
βSVM1-20i ZA06B-6130-H002 20 watt 7.7
β8/3000is 6 66.2
β12/3000is 10.2 92.4 7.1 (heat sink in cabinet)
β22/2000is 11.3 100.2
β12/3000is 10.2 34.2
βSVM1-40i ZA06B-6130-H003 20 watt
1.4 (heat sink external to cabinet)
β22/2000is 11.3 35.8
β2/4000 HVis 1.6 37.3
β4/4000 HVis 2.3 44.8 10.8 (heat sink in cabinet)
β8/3000 HVis 3.0 52.4
β2/4000 HVis 1.6 23.5
β4/4000 HVis 2.3 25.1
βSVM1-10HVi ZA06B-6131-H001 20 watt
2.2 (heat sink external to cabinet)
β8/3000 HVis 3.0 26.6
β12/3000 HVis 5.1 76.6 11.1 (heat sink in cabinet) β22/2000 HVis 5.6 82.2
β12/3000 HVis 5.1 31.2
βSVM1-20HVi ZA06B-6131-H002 20 watt
2.2 (heat sink external to cabinet) β22/2000 HVis 5.6 32.3
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III-34 Servo Products Specification Guide – October 2007 GFH-001F
Section 22: Noise Protection
22.1 Separation of Signal and Power Lines When routing signal and power lines, the signal lines must be separated from the power lines to ensure best noise immunity. The table below lists the types of cables used:
Table 51HIII-15. Servo amplifier signal line separation
Group Signal Action
A Amplifier input power line, motor power line, MCC drive coil
Separate these cables from those of group B by bundling them separately* or by means of electromagnetic shielding**. Attach a noise suppressor (spark arrester) to the MCC drive coil.
B Cable connecting control unit with servo amplifier and serial encoder feedback cable
Separate these cables from those of group A by bundling them separately or by means of electromagnetic shielding**. In addition, shielding must be provided.
* The bundle of group A cables must be separated from the bundle of group B cables by at least 10 cm. ** Electromagnetic shielding involves shielding groups from each other by means of a grounded metal (steel) plate.
22.2 Grounding A typical machine has three separate grounds:
Signal Ground: Provides the reference potential (0 V) for the electrical signal system. Frame Ground: Ensures safety and shields external and internal noise. System Ground: Connects each unit and the inter-unit frame ground system to earth ground.
Power Magnetics
Unit
GE Fanuc Motion
Controller
PLC Control
Unit Operator's
Panel
Power Magnetics Cabinet
Distribution Board
Main UnitSignal Ground
Frame Ground System Ground
Figure 52HIII-18. Ground System
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Notes on the ground system wiring: The ground resistance of the system ground must not exceed 100 ohms (Class-3 ground).
System ground connection cables must have a sufficiently large cross-sectional area to enable them to safely carry the current that will arise in the event of a problem such as a short-circuit (in general, a cross- sectional area no less than that of the AC power line must be provided).
The system ground connection cable must be integrated with the AC power line such that power cannot be supplied if the ground wire is disconnected.
The SVM1-20i CZ7-3 motor power connector servo motor frame ground connection on pin A2 should always be installed.
The motor frame must be referenced to earth ground with a class 3 (100 ohms or less) system ground. Use an ohmmeter to measure the resistance from the servomotor frame to a known earth ground rod or grid. When using the 20 amp amplifier (SVM-20i), the servo motor frame ground connection on connector CZ7-3 pin A2 should always be installed. The frame-to-ground resistance should be within 1 to 2 ohms.
In a high noise environment, installing a ground wire on the motor frame and routing it directly to the nearest available earth ground can improve noise immunity. Some servo motors have a tapped hole on the frame or a blind hole that can be tapped. For smaller motors, connect to the motor mounting bolts.
The Motor Power cable should not be a shielded cable. If a custom built cable with shield was used for motor power, lift the shield connection at both ends of the cable. If a shield is attached, especially at the motor end, it acts as an antenna to couple noise into the encoder.
The Motor Feedback cable should have the Z44B295864-001 Grounding Bar and one ZA99L-0035-001 Grounding Clamp per axis installed near the amplifier. Confirm that the grounding bar is referenced to earth ground with a class 3 (100 ohms or less) system ground. Use an ohmmeter to measure the resistance from the grounding bar frame to a known earth ground rod or grid. The frame to ground resistance should be within 1 to 2 ohms.
In a high noise environment, installing a ferrous bead on the feedback cable within a short distance of the amplifier connector can also improve noise immunity.
Separation of Motor Power and Motor Feedback cables: Group A signals (Amplifier main AC power, Motor Power Cable and MCC drive coil) signals must be separated from Group B signals (Motor Feedback cable) by at least a 10cm distance. Do not tie Group A and B signals together with cable ties or wraps at any point. An alternative is to separate these two groups by means of a grounded metal (steel) plate.
The MCC relay used to switch the three-phase AC main power to the amplifier should have an appropriate noise (spark arrester) on its drive coil.
The 24VDC power supply used to supply the logic power to the amplifiers should be a regulated supply free of excessive noise. If possible examine the DC voltage with an oscilloscope for noise. If a 24 VDC motor-mounted holding brake is used, it should not use the same power supply as the control logic power.
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An AC line filter is recommended to suppress high frequency line noise on the amplifier main power lines. When an isolation transformer is used to convert AC main power to amplifier input power levels, the AC line filter is not required. GE Fanuc supplies an acceptable three-phase line filter sized for 5.4KW or 10.5KW especially for this purpose. This filtered AC main power should not be shared with other equipment in the panel, especially with devices such as inverter drives or motor starters that have high power consumption.
Amplifier Chassis Ground must be referenced to earth ground with a class 3 (100 ohm or less) system ground. User an ohmmeter to measure the resistance from the amplifier frame to a known earth ground rod or grid. A tapped and threaded hole is provided on the amplifier frame for this purpose.
AC Main PE Ground is supplied in accordance to local code practices and may vary, depending on AC power distribution in the facility. In general the PE ground should be referenced to an earth ground and not indicate common mode voltage to the instrumentation earth ground.
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22.3 Encoder Feedback Cable Grounding The βis Series motor encoder feedback cable shielding should be grounded by the method shown below. This cable clamp treatment provides both cable support (strain relief) and proper grounding of the shield. To ensure stable system operation, the cable clamp method is recommended. Partially peel back the cable sheath to expose the shield. Push the clamp (ZA99L-0035-0001) over the exposed shield and insert the clamp hooks into slots on the grounding bar (Z44B295864-001). Tighten the clamp to secure cable and complete the ground connection. The grounding bar must be attached to a low impedance earth ground.
40 (1.57) to
80 (3.15) Cable
Cable Grounding Clamp
Grounding Bar
Figure 53HIII-19. Cable Grounding Clamp Detail
Note: The grounding bar should be located as
close as possible to the amplifier to minimize cable length between amplifier and grounding bar. Observe recommended maintenance clearance.
Amplifier
Grounding Bar
Exposed Cable Shield/Braid
Cable Grounding Clamp (ZA99L-0035-0001)
(Z44B295864-001) Figure 54HIII-20. Feedback Cable Shield Grounding System
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Section 23: βi and βHVi Servo System Power Requirements This section provides information about AC and DC amplifier power as well as the discharge of regenerative power.
23.1 Power Line Protection A circuit breaker, electromagnetic contactor, and AC line filter or transformer should be installed as part of your βi and βHVi Series Servo system. GE Fanuc provides the AC line filter as an option. The transformer, circuit breaker, and electromagnetic contactor, however, are user-supplied components. In European countries where power sources are 380 to 400 VAC and neutral grounded, it is necessary to install a transformer or supply single-phase power for the βi Series amplifiers.
The same incoming AC control components can be used to provide power to multiple amplifiers, as long as the components are rated for the current and power drawn by the sum of all of the amplifiers.
23.2 AC Line Filter An AC line filter is recommended to suppress the influences of high-frequency input line noise on the drive power supply. When an isolation-type power transformer is used because a power supply voltage within the specified range is not available, an AC line filter is not required.
If two or more servo amplifiers are connected to one AC line filter, the total continuous output rating of all connected servo amplifiers should be kept below the continuous output rating of the AC line filter. The continuous output rating for the various servos are shown below.
Table 55HIII-16. βis Servo Motor Continuous Output Rating at Low Line of 200 VAC
Motor Continuous Output Rating
Motor Continuous Output Rating
β0.4/5000is 0.13 KW β2/4000HVis 0.5 KW
β0.5/6000is 0.2 KW β4/4000HVis 0.75 KW
β1/6000is 0.4 KW β8/3000HVis 1.2 KW
β2/4000is 0.5 KW β12/3000HVis 1.8 KW
β4/4000is 0.75 KW β22/2000HVis 2.5 KW
β8/3000is 1.2 KW
β12/3000is 1.8 KW
β22/2000is 2.5 KW
If your installation must be EMC compliant, verify that the use of an AC line filter fully satisfies the EMC requirements. You may need to select and install a user-supplied noise filter to meet EMC requirements.
AC line filters are available for GE Fanuc servo amplifiers:
AC Line Filter Use With ZA81L-0001-0083#3C βi Amplifiers ZA81L-0001-0101#C βi Amplifiers ZA81L-0001-0168 βHVi Amplifiers ZA81L-0001-0169 βHVi Amplifiers
For AC line filter specifications and dimension drawings, refer to 2HSection 6.2.
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Part III: βi and βHVi Series Servo Systems III-39
23.3 Circuit Breaker Selection To provide proper protection for the amplifier, use a circuit breaker rated at no more than 20 Amps (10A for VDE 1601 compliance for CE marking). Table 56H57HIII-17 will help you select the appropriate circuit breaker for your motion application.
Table 57HIII-17. Currents Drawn at Continuous Rated Output at Low Line of 200 VAC
Motor Input Current 3-phase (Arms)
Input Current Single Phase (Arms)
β0.4/5000is 0.7 1.4
β0.5/6000is 1.1 2.2
β1/6000is 2.1 4.3
β2/4000is 2.6 5.4
β4/4000is 3.9 8.1
β8/3000is 6.3 9.7
β12/3000is 9.4 n/a
β22/2000is 13.1 n/a
β2/4000HVis 1.2 n/a
β4/4000HVis 1.7 n/a
β8/3000HVis 2.7 n/a
β12/3000HVis 4.0 n/a
β22/2000HVis 5.6 n/a
Note: When multiple amplifiers are connected to a single circuit breaker, select a breaker by multiplying the sum of the currents listed in Table 58H57HIII-17 by 0.6. (This factor attempts to compensate for applications where all axes are not demanding full power at the same time. In applications where all axes are running continuously or with high duty cycles, this factor must be increased to 1.) Example: Connecting two β8/3000is motors operating on 3-phase power: (6.3 + 6.3) x 0.6 = 7.6 Arms A standard 10 Amp circuit breaker can be used. During rapid motor acceleration, a peak current that is three times the continuous rating flows. Select a circuit breaker that does not trip when a current that is three times the continuous rating flows for two seconds.
23.4 Electromagnetic Contactor Rating To prepare for incoming AC power, you must also select and install an appropriate electromagnetic contactor, based on the peak currents for the motors in your system. When multiple amplifiers are connected to a single circuit breaker, select a breaker based on the sum of the motor currents in Table 59H57HIII-17.
Servo Products Specification Guide
III-40 Servo Products Specification Guide – October 2007 GFH-001F
23.5 Incoming AC power Table 60HIII-18. AC Power
Specification βi Amplifiers βHVi Amplifiers Voltage: 3-phase (+10%, -15%) 1-phase (+10%, -15%)
200 VAC to 240 VAC 220 VAC to 240 VAC
400—480 VAC n/a
Frequency 50 Hz/60Hz ± 2 Hz 50 Hz/60Hz ± 2 Hz Voltage fluctuation during acceleration/deceleration 7% or less 7% or less
AC Power Ratings The power supply rating required when using multiple servo motors can be determined by summing the requirements of the individual motors.
The power supply ratings listed in Table 61H62HIII-19 are sufficient as continuous ratings. Note, however, that servo motor acceleration causes a current to momentarily flow that is approximately three times the continuous current rating.
When the power is turned on, a surge current of about 37A (when 264VAC is applied) flows for 20 msec.
Table 62HIII-19. Three-Phase Power Supply Ratings
Motor Continuous Output Rating
Motor Continuous Output Rating
β0.4/5000is 0.13 KW β2/4000HVis 0.8 KW
β0.5/6000is 0.2 KW β4/4000HVis 1.2 KW
β1/6000is 0.4 KW β8/3000HVis 1.9 KW
β2/4000is 0.5 KW β12/3000HVis 2.8 KW
β4/4000is 0.75 KW β22/2000HVis 3.9 KW
β8/3000is 1.2 KW
β12/3000is 1.8 KW
β22/2000is 2.5 KW
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Part III: βi and βHVi Series Servo Systems III-41
23.6 Incoming DC Power The βi and βHVi amplifiers require a 24 VDC power supply for amplifier control power. The user must supply this DC power supply.
The information in Table 63H64HIII-20 below will help you select the appropriate DC power supply for your motion application.
The same external DC power supply can be used to provide power to multiple amplifiers as long as the supply is rated for the sum of power drawn by all of the amplifiers. To daisy chain the amplifiers, add connections between connector CXA19A and CXA19B on adjacent amplifiers (see the connection diagrams for more details). Up to 8 amplifiers can be daisy chained when using 16 AWG wire or up to 6 amplifiers when using 20 AWG wire.
Table 64HIII-20. Amplifier DC Control Power Specifications
Specification Description Input voltage 24V DC (±10%) Power supply rating (per amplifier) 0.9 amps
24 VDC Fuse Locations The 24 VDC input is fused to protect the amplifier. The fuse labeled FU1 is located on the gray control board that plugs into the front of the amplifier. The diagrams below show the location on this board for each amplifier model. The replacement fuse part number is ZA06B-6073-K250 (Manufacturer: Daito LM32, DC48V, F3.2A).
A spare fuse is included with each βi series amplifier package (IC800BIK020, IC800BIK040, IC800BIHV010 or IC800BIHV020).
FU1 (3.2A) (Rating indicated in white.)
Printed circuit board
FU1 (3.2A) (Rating indicated in white.)
Printed circuit board
βSVM1-20i Amplifier βSVM1-40i, βSVM1-10HVi and βSVM1-20HVi Amplifier
Servo Products Specification Guide
III-42 Servo Products Specification Guide – October 2007 GFH-001F
23.7 Discharging Regenerative Energy Regenerative energy is normally created in applications with a high load inertia or frequent acceleration and deceleration. When decelerating a load, the stored kinetic energy of the load causes generator action in the motor causing energy to be returned to the amplifier. For light loads and low acceleration rates, the amplifier may be able to absorb this energy. Otherwise, an optional external regenerative discharge unit must be installed. This optional regeneration capability extends the functionality of the amplifier when working with loads and move profiles that require more capacity than is internal. Calculations shown later in this section can be used to determine the need for an external unit.
If the regenerative discharge unit overheats, a built-in thermostat is tripped, the external overheat alarm is issued, and the motor is stopped. If an external regenerative discharge unit is required, a separate unit must be installed for each amplifier. This component cannot be daisy-chained.
βSVM1-20i Amplifier Regeneration Options For the βSVM1-20i amplifier, two optional separate 30-Ohm regenerative discharge units are available with power ratings of 100 W and 20 W. The 100 W unit (ZA06B-6130-H402) is panel-mounted, whereas the 20 W unit (ZA06B-6130-H401) mounts to the tapped holes on the side of the amplifier heat sink. The dimensions and connections for both units are shown in the connection section of this document.
NOTE
The amplifiers include an input on connector CXA20 (DCOH) for a normally closed thermal overload switch to protect the external regeneration resistor from overheating. If an external resistor is not used this input must be connected with a wire jumper or the amplifier will generate a fault and will not run.
βSVM1-40i Amplifier Regeneration Options For this amplifier, two optional regeneration units are available. Both regeneration modules are panel mounted.
Regenerative Resistor Kit No Fan Cooling Fan Cooling
(2 meters/sec air flow)
Fan Cooling
(4 meters/sec air flow) ZA06B-6089-H500 200 watt 400 watt 600 watt ZA06B-6089-H713 Incorporates a cooling fan in the kit 800 watt
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Part III: βi and βHVi Series Servo Systems III-43
βSVM1-40i, βSVM1-10HVi and βSVM1-20HVi Switch Settings There are four switches located on the front of the βSVM1-40i, βSVM1-10HVi and βSVM1-20HVi series servo amplifiers that configure the amplifier for the regenerative resistor option used. These switches should be set as described below before using these servo amplifiers.
WARNING:
If the switch settings are not correct it is possible to damage the regenerative resistor and it will be impossible to normally detect a regenerative overheat alarm.
ON
1 2
3 4
Figure 65HIII-21. βSVM1-40i, βSVM1-10HVi and βSVM1-20HVi Series Channel Switches
Switch Positions:
The switches are sequentially numbered 1, 2, 3, and 4 with the one at the top as switch 1. The ON position is on the left, and the OFF position is on the right.
Switch 1 Setting: Always set to OFF.
Switch 2 Setting: Always set to OFF.
Switches 3 and 4 Settings:
The setting of these switches depends on the regenerative discharge resistance used. For the βSVM1-10HVi and βSVM1-20HVi, these are always ON.
Table 66HIII-21.  The intent is that the user will construct a control cabinet with an internal air plenum into which the heat sinks for the βSVM1-40i amplifiers and associated regenerative discharge units will be mounted. This design eliminates most of the heat dissipation from these units inside the control cabinet.
360 (14.17)
90 max (3.54)
380 (14.96)
45 (1.77)
6 mm (0.236) dia. Hole Typ. (2) places
Terminal board screws: M4x4 90 (3.54)
1.6 (0.063)
25 (0.984)
AIR FLOW
Figure 67HIII-22. 200 W Regenerative discharge unit (ZA06B-6089-H500), front and side views
+ + + +
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Part III: βi and βHVi Series Servo Systems III-45
5 (0.197) min.
Fan Motor
AIR IN
HOT AIR OUT*
130 (5.12)
8 (.315)
110 (4.33)
23 (0.906)
335 (13.19)
22 (0.866)
75 (2.95)
150 (5.91)
334 (13.15)
360 (14.17)
10 (0.254)7 (0.276) dia Hole
Typ. (2) places
380 (14.96)
23 (0.906)
T3
+ + + + + + 9 (0.354)
11 (0.433) Screw M4X8L
1 2 3 4 5 6
T3
Figure 68HIII-23. 800 W Regenerative Discharge Unit (ZA06B-6089-H713), Front, Side, and End Views with T3
Terminal Detail
Servo Products Specification Guide
III-46 Servo Products Specification Guide – October 2007 GFH-001F
Regenerative Discharge Unit Panel Cutout Dimensions The panel cutouts necessary to mount the separate regenerative discharge units are shown below.
Dimensions shown in mm (in)
11 (0.433)
CAUTION: Attach packing (acrylonitrile-butadiene rubber or soft NBR) around the cutout to keep out oil and dust.
38.0 (1.50)
76.0 (2.99)
338 (13.31)
360 (14.17)
2-M5 (0.196) 4-R4.0 max.
4-R4.0 max. 68.0
(2.68) 136
(5.35)
338 (13.31)
360 (14.17)
11 (0.433) 2-M6 (0.236)
Packing (attachment) location show by cross hatched area
ZA06B-6089-H500 (200 W) ZA06B-6089-H713 (800 W)
Figure 69HIII-24. Regenerative discharge unit panel cutout dimensions
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Part III: βi and βHVi Series Servo Systems III-47
Calculating the Average Regenerative Energy Use the following calculation to determine the average regenerative energy that will be released in your application (ambient temperature is assumed not to exceed 55°C). Based on the calculations select either the internal regeneration or optional external regeneration resistor. The wattage rating of the selected resistor must exceed the average calculated regenerative energy from the equation below:
Average Regenerative
Energy (Joules)
=
Rotational Energy to be Released during
Deceleration (STEP 1)
–
Energy to be Consumed Through
Axis Friction (STEP 2)
+
(only in vertical axis operation) Vertical Energy to be Released
During Downward Motion (STEP 3)
STEP 1: Rotational Energy to be Released during Deceleration
= ( ) ( ) 2mLm4 ω×+×× − JJ1019.6 Joules where:
Jm Motor rotor inertia (lb-in-s 2)
JL Load inertia converted to motor shaft inertia (lb-in-s 2)
ωm Maximum motor speed at time of deceleration (rpm)
STEP 2: Energy to be consumed through Axis Friction
= ( ) Lma3 Tt ×××× − ω1091.5 where: ωm Motor speed during rapid traverse (rpm)
ta Acceleration/deceleration duration during rapid traverse (sec)
TL Axis friction torque (converted to motor shaft torque) (lb-in)
STEP 3: Vertical Energy to be Released During Downward Motion (This term applies only in vertical axis operation)
= ( ) 100
10182.1 DT ×××× − mh 2 ω where:
Th Upward supporting torque applied by the motor during downward rapid traverse
(lb-in)
ωm Motor speed during rapid traverse (rpm)
D Duty cycle of downward vertical operation during rapid traverse
(Note: the maximum value of D is 50%. D assumes a smaller value)
(%)
STEP 4: Determine if a Regenerative Discharge Unit Is Required
Determine the Average Regenerative Energy using the equation in the beginning of this section.
When the average regenerative energy produced never exceeds the amounts indicated in the table below, a separate regenerative discharge unit is not required:
Servo Products Specification Guide
III-48 Servo Products Specification Guide – October 2007 GFH-001F
Table 70HIII-22. Maximum Allowable Regenerative Energy for Amplifiers
Amplifier Max. Allowable Regen. Energy
βSVM1-20i 16 Joules
βSVM1-40i 50 Watts
βSVM1-10HVi 50 Watts
βSVM1-20HVI 50 Watts
If the calculated value exceeds the storage capability of the amplifier, then an external regenerative discharge unit is required (see Step 5).
STEP 5: Selecting a Regenerative Discharge Unit If a separate regenerative discharge unit is required, the following calculation will determine the unit required:
Average Regenerative Power (W) = Average Regenerative Energy (Joules) x F 1
where:
F = Deceleration duty (seconds) Example: deceleration once per 5 second cycle, F=5
Select a regenerative resistor with a rating that exceeds the average regenerative power.
Example: Assume a horizontal axis using a β2/4000is motor (Jm = 0.0002146 lb-in-s2) that decelerates once every 6 seconds (F) for 0.2 seconds (ta) with a maximum speed of 2000 RPM (ωm). The machine inertia (JL) is 0.00139 lb-in-s2. STEP 1: Rotational Energy = (6.19x10-4)x(0.0002146+0.00139)x20002 = 3.97 Joules
STEP 2: Assuming TL = 10 in-lb: Friction Energy = (5.91x10-3)x0.2x2000x10 = 23.64 Joules
Therefore: STEP 4: Average Regenerative Energy = 3.97–23.64 = 27.61 Joules
Because the 27.61 Joules required is more than the 16 Joules allowed by the βSVM1-20i amplifier used with the β2is motor, an external regenerative resistor is required.
STEP 5: Since the application requires decelerations every 6 seconds, F 1
= 6 1
Average Regenerative Power = 27.61 Joules/6 seconds = 4.6 W Therefore, the 20 W resistor (ZA06B-6130-H401) is adequate for this application.
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Part III: βi and βHVi Series Servo Systems III-49
Section 24: βi and βHVi Series Servo System Connection When planning your motion control system, it is important to determine how the different parts of the system connect together. This section provides information on the various cables and connectors required to connect the motor, amplifier and motion controller.
Many cables required for the system are available from GE Fanuc. Motor cable and connector kit part numbers for each motor and amplifier combination are shown in the table below.
Table 71HIII-23. β0.4is to β2is Motor Power, Feedback and Brake Cables and Connector Kits Motor Model β0.4/5000is β0.5/6000is β1/6000is β2/4000is
Amplifier Model βSVM1-20i βSVM1-20i βSVM1-20i βSVM1-20i 7 M CP8B-1WPB-0070-AZ CP8B-1WPB-0070-AZ CP8B-1WPB-0070-AZ CP9B-0WPB-0070-AZ
Power Cable 14 M CP8B-1WPB-0140-AZ CP8B-1WPB-0140-AZ CP8B-1WPB-0140-AZ CP9B-0WPB-0140-AZ 7 M CP8B-1WEB-0070-AZ CP8B-1WEB-0070-AZ CP8B-1WEB-0070-AZ CP9B-0WEB-0070-AZ Power Cable
(Shielded) 14 M CP8B-1WEB-0140-AZ CP8B-1WEB-0140-AZ CP8B-1WEB-0140-AZ CP9B-0WEB-0140-AZ 7 M CFDA-7WPB-0070-AZ CFDA-7WPB-0070-AZ CFDA-7WPB-0070-AZ CFDA-7WPB-0070-AZ Feedback Cable
(Right Angle) 14 M CFDA-7WPB-0140-AZ CFDA-7WPB-0140-AZ CFDA-7WPB-0140-AZ CFDA-7WPB-0140-AZ 7 M CFDA-0WPB-0070-AZ CFDA-0WPB-0070-AZ CFDA-0WPB-0070-AZ CFDA-0WPB-0070-AZ Feedback Cable
(Straight) 14 M CFDA-0WPB-0140-AZ CFDA-0WPB-0140-AZ CFDA-0WPB-0140-AZ CFDA-0WPB-0140-AZ
7 M CB6N-5WPM-0070-AZ CB6N-5WPM-0070-AZ CB6N-5WPM-0070-AZ Integrated with Power Cable Brake Power Cable
14 M CB6N-5WPM-0140-AZ CB6N-5WPM-0140-AZ CB6N-5WPM-0140-AZ Integrated with Power Cable 90 Deg ZA06B-6114-K204#E ZA06B-6114-K204#E ZA06B-6114-K204#E ZA06B-6114-K204#E Motor Feedback
Connector Kit Straight ZA06B-6114-K204#S ZA06B-6114-K204#S ZA06B-6114-K204#S ZA06B-6114-K204#S 90 Deg N/A N/A N/A ZA06B-6114-K220#E Motor
Power/Brake Connector Kit Straight
N/A N/A N/A ZA06B-6114-K220#S
90 Deg ZA06B-6114-K230#E ZA06B-6114-K230#E ZA06B-6114-K230#E N/A Motor Power Connector Kit Straight ZA06B-6114-K230#S ZA06B-6114-K230#S ZA06B-6114-K230#S N/A
90 Deg ZA06B-6114-K232#E ZA06B-6114-K232#E ZA06B-6114-K232#E N/A Motor Brake Connector Kit Straight ZA06B-6114-K232#S ZA06B-6114-K232#S ZA06B-6114-K232#S N/A
Servo Products Specification Guide
III-50 Servo Products Specification Guide – October 2007 GFH-001F
Table 72HIII-24. β4is to β22is Motor Power, Feedback and Brake Cables and Connector Kits Motor Model β4/4000is β8/3000is β12/3000is β22/2000is
Amplifier Model βSVM1-20i βSVM1-20i βSVM1-40i βSVM1-40i 7 M CP9B-0WPB-0070-AZ CP3B-0WPB-0070-AZ CP5B-0WPB-0070-AZ CP6B-0WPB-0070-AZ
Power Cable 14 M CP9B-0WPB-0140-AZ CP3B-0WPB-0140-AZ CP5B-0WPB-0140-AZ CP6B-0WPB-0140-AZ
7 M CP9B-0WEB-0070-AZ CP3B-0WEB-0070-AZ CP5B-0WEB-0070-AZ CP6B-0WEB-0070-AZ Power Cable (Shielded) 14 M CP9B-0WEB-0140-AZ CP3B-0WEB-0140-AZ CP5B-0WEB-0140-AZ CP6B-0WEB-0140-AZ
7 M CFDA-7WPB-0070-AZ CFDA-7WPB-0070-AZ CFDA-7WPB-0070-AZ CFDA-7WPB-0070-AZ Feedback Cable (Right Angle) 14 M CFDA-7WPB-0140-AZ CFDA-7WPB-0140-AZ CFDA-7WPB-0140-AZ CFDA-7WPB-0140-AZ
7 M CFDA-0WPB-0070-AZ CFDA-0WPB-0070-AZ CFDA-0WPB-0070-AZ CFDA-0WPB-0070-AZ Feedback Cable (Straight) 14 M CFDA-0WPB-0140-AZ CFDA-0WPB-0140-AZ CFDA-0WPB-0140-AZ CFDA-0WPB-0140-AZ
7 M Integrated with Power Cable CB4N-0WPM-0070-AZ CB4N-0WPM-0070-AZ CB4N-0WPM-0070-AZ Holding Brake Power Cable
14 M Integrated with Power Cable CB4N-0WPM-0140-AZ CB4N-0WPM-0140-AZ CB4N-0WPM-0140-AZ
90 Deg ZA06B-6114-K204#E ZA06B-6114-K204#E ZA06B-6114-K204#E ZA06B-6114-K204#E Motor Feedback Connector Kit Straight ZA06B-6114-K204#S ZA06B-6114-K204#S ZA06B-6114-K204#S ZA06B-6114-K204#S
90 Deg ZA06B-6114-K220#E N/A N/A N/A Motor Power/Brake Connector Kit Straight ZA06B-6114-K220#S N/A N/A N/A
90 Deg N/A ZA06B-6079-K812 ZA06B-6079-K812 ZA06B-6079-K815 Motor Power Connector Kit Straight N/A ZA06B-6079-K811 ZA06B-6079-K811 ZA06B-6079-K814
90 Deg N/A ZA06B-6114-K213#E ZA06B-6114-K213#E ZA06B-6114-K213#E Motor Brake Connector Kit Straight N/A ZA06B-6114-K213#S ZA06B-6114-K213#S ZA06B-6114-K213#S
Table 73HIII-25. β2HVis and β4HVis Motor Power, Feedback and Brake Cables and Connector Kits Motor Model β2/4000HVis β4/4000HVis
Amplifier Model βSVM1-10HVi βSVM1-10HVi
7 M CP2I-0WPB-0070-AZ CP2I-0WPB-0070-AZ Power Cable 14 M CP2I-0WPB-0140-AZ CP2I-0WPB-0140-AZ
Power Cable (Shielded)
7 M 14 M
CP2I-0WEB-0070-AZ CP2I-0WEB-0140-AZ
CP2I-0WEB-0070-AZ CP2I-0WEB-0140-AZ
Feedback Cable (Right Angle)
7 M 14 M
CFDA-7WPB-0070-AZ CFDA-7WPB-0140-AZ
CFDA-7WPB-0070-AZ CFDA-7WPB-0140-AZ
Feedback Cable (Straight)
7 M 14 M
CFDA-0WPB-0070-AZ CFDA-0WPB-0140-AZ
CFDA-0WPB-0070-AZ CFDA-0WPB-0140-AZ
Brake Power Cable 7 M 14 M
Integrated with Power Cable
Integrated with Power Cable
90 Deg ZA06B-6114-K204#E ZA06B-6114-K204#E Motor Feedback Connector Kit Straight ZA06B-6114-K204#S ZA06B-6114-K204#S
90 Deg ZA06B-6114-K220#E ZA06B-6114-K220#E Motor Power/Brake Connector Kit Straight ZA06B-6114-K220#S ZA06B-6114-K220#S
90 Deg N/A N/A Motor Power Connector Kit Straight N/A N/A 90 Deg N/A N/A Motor Brake Connector Kit Straight N/A N/A
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Part III: βi and βHVi Series Servo Systems III-51
Table 74HIII-26. β8HVis to β22HVis Motor Power, Feedback and Brake Cables and Connector Kits Motor Model β8/3000HVis β12/3000HVis β22/2000HVis
Amplifier Model βSVM1-10HVi βSVM1-20HVi βSVM1-20HVi 7 M CP3I-0WPB-0070-AZ CP3I-0WPB-0070-AZ CP4I-0WPB-0070-AZ Power Cable 14 M CP3I-0WPB-0140-AZ CP3I-0WPB-0140-AZ CP4I-0WPB-0140-AZ
Power Cable (Shielded)
7 M 14 M
CP3I-0WEB-0070-AZ CP3I-0WEB-0140-AZ
CP3I-0WEB-0070-AZ CP3I-0WEB-0140-AZ
CP4I-0WEB-0070-AZ CP4I-0WEB-0140-AZ
Feedback Cable (Right Angle)
7 M 14 M
CFDA-3WPB-0070-AZ CFDA-3WPB-0140-AZ
CFDA-3WPB-0070-AZ CFDA-3WPB-0140-AZ
CFDA-3WPB-0070-AZ CFDA-3WPB-0140-AZ
Feedback Cable (Straight)
7 M 14 M
CFDA-0WPB-0070-AZ CFDA-0WPB-0140-AZ
CFDA-0WPB-0070-AZ CFDA-0WPB-0140-AZ
CFDA-0WPB-0070-AZ CFDA-0WPB-0140-AZ
Brake Power Cable 7 M 14 M
CB4N-0WPM-0070-AZ CB4N-0WPM-0140-AZ
CB4N-0WPM-0070-AZ CB4N-0WPM-0140-AZ
CB4N-0WPM-0070-AZ CB4N-0WPM-0140-AZ
90 Deg ZA06B-6114-K204#E ZA06B-6114-K204#E ZA06B-6114-K204#E Motor Feedback Connector Kit Straight ZA06B-6114-K204#S ZA06B-6114-K204#S ZA06B-6114-K204#S
90 Deg N/A N/A N/A Motor Power/Brake Connector Kit Straight N/A N/A N/A
90 Deg ZA06B-6079-K812 ZA06B-6079-K812 ZA06B-6079-K815 Motor Power Connector Kit Straight ZA06B-6079-K811 ZA06B-6079-K811 ZA06B-6079-K814
90 Deg ZA06B-6114-K213#E ZA06B-6114-K213#E ZA06B-6114-K213#E Motor Brake Connector Kit Straight ZA06B-6114-K213#S ZA06B-6114-K213#S ZA06B-6114-K213#S
24.1 Connectors on the Motor Side For the FANUC AC Servo Motor βis series, a TÜV-approved connector is used as the power line connector to meet the IEC60034 standard.
The power connector for β0.2is and β0.3is is not drip proof.
The power connectors for β0.4is to β4is are drip proof when engaged with the cable connector.
As the power connectors for β8is to β22is, receptacle connectors, which are drip proof by themselves (when not engaged), are used as standard. The power connectors for β8is and β22is are compatible with MS standard round connectors, though they do not strictly conform to the MS standard.
The signal connector for β0.2is and β0.3is is not drip proof.
The signal connector for β0.4is to β22is is drip proof when engaged with the cable connector. (When the motor cable is not connected, the connector is drip proof when the protective cap mounted to the connector at shipment is installed.)
Servo Products Specification Guide
III-52 Servo Products Specification Guide – October 2007 GFH-001F
Table 75HIII-27. Connectors for β0.2is and β0.3is Motor Type For Power For Signal For Brake
β0.2/5000iS 3-179554-3 1-1318115-6 β0.3/5000iS (Tyco Electronics AMP) (Tyco Electronics AMP)
Common to connector for power
Table 76HIII-28. Connectors for β0.4iS to β1iS Motor Type For Power For Signal For Brake
β0.4/5000iS β0.5/5000iS β1/5000iS
55618-0401 (MOLEX JAPAN Co., Ltd.)
JN2AS10UL1 (Japan Aviation Electronics Industry)
55619-0401 (MOLEX JAPAN Co., Ltd.)
Table 77HIII-29. Connectors for β2iS, β2HVis, β4iS and β4HVis
Motor Type For Power For Signal For Brake β2/4000iS β4/4000iS 1473060-2 (Tyco Electronics
AMP) JN2AS10UL1 (Japan Aviation Electronics Industry)
Included in the power line connector.
Table 78HIII-30. Connectors for β8iS, β8HVis, β12iS and β12HVis
Motor Type For Power For Signal For Brake β8/3000iS β12/3000iS H/MS3102A18-10P-D-T(10)
(Hirose Electric) JN2AS10UL1 (Japan Aviation Electronics Industry)
JN2AS04MK2 (Japan Aviation Electronics Industry)
Table 79HIII-31. Connectors for β22iS and β22HVis Motor Type For Power For Signal For Brake
JL04HV-2E22-22PE-BT JN2AS10UL1 JN2AS04MK2 (Japan Aviation Electronics (Japan Aviation Electronics (Japan Aviation Electronics
β22/2000iS
Industry) Industry) Industry)
CAUTION 1. The motors should be installed with their connector facing downward, if
possible. When it is impossible to install a motor in this position, allow slack in the cable to keep liquids such as a dielectric fluid from going along the cable into the cable or motor. If there is a possibility that the motors and connectors will get wet, provide a cover to protect them.
2. If a motor is not connected to the earth ground through the machine (frame), connect the motor grounding point and the amplifier grounding point to absorb
noise using a 1.25 mm 2 or larger conductor other than the grounding
conductor in the power cable. Keep the grounding conductor as far from the power cable as possible.
Servo Products Specification Guide
Part III: βi and βHVi Series Servo Systems III-53
24.2 Signal Connectors on the Cable Side (Models β0.2is and β0.3is)
The signal connector on the cable side for β0.2iS and β0.3iS is not drip proof. To connect the cable, a dedicated crimping tool must be used. Consider crimping, cable clamp, and voltage drop. Also note that there are restrictions. For Signal
Housing specification (Tyco Electronics AMP) 1-1318118-6 (D-2100D 12-position receptacle housing)
Contact specifications (Tyco Electronics AMP)
1318107-1 (D-2 receptacle contact M)
1318108-1 (D-2 receptacle contact S)
Applicable wire size 0.18 to 0.5 mm2 0.3 to 0.85 mm2 0.08 to 0.2 mm2 Insulation external diameter φ0.88 to 1.5 mm φ1.1 to 1.87 mm φ0.88 to 1.5 mm
Applicable crimping tool 1463475-1 (Dedicated crimping tool) 1276654-1
(D-2 M standard tool) 1276653-1
(D-2 S standard tool)
The following signal connector kit is available:
For signal Connector kit specification (FANUC specification) A06B-6114-K241
Contents of the connector kit Receptacle housing (1-1318118-6)×1 Receptacle contact D-2 M (1318107-1)×12
The following dedicated tools are required for this connector.
Applicable contact Tyco Electronics AMP specification FANUC
specification
D-2 contact size M (Dedicated crimping tool for wire size 0.18 to 0.5 mm2) 1463475-1 A06B-6114-K242
D-2 contact size M 1276654-1 A06B-6110-K220#D2M Crimping tool
D-2 contact size S 1276653-1 -
Extractor D-2 contact 1276716-1 A06B-6110-K220#D2R
Notes:
1. When you use the recommended wire (cable diameter of 0.18 to 0.5 mm 2
) with a D-2 size M contact, the dedicated crimping tool listed above is required. Use a standard crimping tool for a D-2 contact within the applicable range, checking the size of the wire to be used, contact type, and crimping tool specification.
2. The contacts are of the type that crimps the covering in addition to the wire. Follow the dimension of the insulation part listed above. An insulation of a diameter outside the above range may be able to be connected depending on the wire or tool, however. For details, contact the connector manufacturer.
Servo Products Specification Guide
III-54 Servo Products Specification Guide – October 2007 GFH-001F
24.3 Signal Connectors on the Cable Side (models β0.4is to β22is and β2HVis to β22HVis)
The signal connectors on the cable side for β0.4is to β22is are drip proof when engaged with the motor connector. To connect the cable, a dedicated crimping tool must be used. Consider crimping, cable clamp, and voltage drop. Also note that there are restrictions.
For signal Straight
type JN2DS10SL1 or JN2DS10SL2: Connector, JN1-22-22S: Contact (Japan Aviation Electronics Industry) A06B-6114-K204#S (FANUC specification) * Including the contact
Connector specifications
Elbow type
JN2FS10SL1 or JN2FS10SL2: Connector, JN1-22-22S: Contact (Japan Aviation Electronics Industry) A06B-6114-K204#E (FANUC specification) * Including the contact
Insulation external diameter φ1.5 or less
Compatible cable O.D. φ5.7 to φ7.3: JN2DS10SL1 or JN2FS10SL1 φ6.5 to φ8.0: JN2DS10SL2 or JN2FS10SL2 * With the FANUC specifications, two types of bushings: for φ5.7 to φ7.3 and for φ6.5 to φ8.0 are included.
5V, 0V Cable length: 28 m or less 0.3 mm2 × 2 Cable length: 50 m or less 0.5 mm2 × 2 (Strand configuration: 20/0.18 or 104/0.08)
6V 0.3 mm2 0.5 mm2 (Strand configuration: 20/0.18 or 104/0.08)
Used wire
RD, *RD Twisted pair of at least 0.18 mm2 AWG#22 (0.33mm2) to AWG#24 (0.2mm2) AWG#26 (0.13mm2) to AWG#28 (0.08mm2)
CT150-2-JN1-B (Japan Aviation Electronics Industry) (conventional specification) A06B-6114-K201#JN1S (FANUC specification)
AWG#21(0.5mm2) AWG#25(0.18mm2) CT150-2-JN1-F (Japan Aviation Electronics Industry) (conventional specification) A06B-6114-K201#JN1L (FANUC specification)
Crimping tool
AWG#22(0.33mm2) to AWG#24(0.2mm2) AWG#25(0.18mm2)
CT150-2-JN1-C (Japan Aviation Electronics Industry) (new specification)
Extractor ET-JN1(Japan Aviation Electronics Industry) A06B-6114-K201#JN1R (FANUC specification)
Servo Products Specification Guide
Part III: βi and βHVi Series Servo Systems III-55
Cable K1 Connectors The figure below shows the outside dimensions of each type of connector when engaged.
β0.4is to β22is and β2HVis to β22HVis
CAUTION 1. In case that the cable is prepared by MTB, total resistance of 5V and 0V must
be less than 2Ω. 2. Encoder side connector can accept maximum 0.5mm2 (wire construction
20/0.18 or 104/0.08, diameter φ1.5 or less) wire and sheath diameter is φ5.7 to φ8.0. In case of using thicker wire or cable, take measures described below.
3. If an incremental Encoder is used, it is not necessary to connect 6V.