GE Fanuc Intelligent Platforms Motion Solutions Products
Servo Products Specification Guide, GFH-001F October 2007
GFL-002
Warnings, Cautions, and Notes as Used in this Publication
Warning Warning notices are used in this publication to emphasize that hazardous voltages, currents, temperatures, or other conditions that could cause personal injury exist in this equipment or may be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment, a Warning notice is used.
Caution Caution notices are used where equipment might be damaged if care is not taken.
Note: Notes merely call attention to information that is especially significant to understanding and operating the equipment.
This document is based on information available at the time of its publication. While efforts have been made to be accurate, the information contained herein does not purport to cover all details or variations in hardware or software, nor to provide for every possible contingency in connection with installation, operation, or maintenance. Features may be described herein which are not present in all hardware and software systems. GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made.
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All Rights Reserved.
Contents Introduction ........................................................................................ Introduction-1
Introduction 0-1 Part I: α Servo System ..................................................................................... I-1
Section 1: α SVU Series Servo System Block Diagram I-2 Section 2: α Series Servo Product Overview I-3
2.1 α Series Motors ....................................................................................................................... I-3 2.2 α Series Motor–Torque Curves ............................................................................................... I-4 2.3 α Series motor holding brake................................................................................................... I-5 2.4 α SVU Series Servo Amplifiers................................................................................................ I-6
Section 3: α Series Servo System I-7 Section 4: α Servo System Options I-8
4.1 IP67 Sealing Option on α Series Servo Motors ....................................................................... I-9 4.2 Absolute Encoder Battery Packs ........................................................................................... I-10
Section 5: Installation Guidelines I-11 5.1 Motor Environmental Requirements ...................................................................................... I-11 5.2 Servo Amplifier Environmental Requirements ....................................................................... I-11 5.3 α SVU Series servo amplifier heat Dissipation ...................................................................... I-12 5.4 α Series Motor Dimensions ................................................................................................... I-13
α6/3000 ........................................................................................................................................ I-13 α6/3000 with Brake, Side View..................................................................................................... I-14 α12/3000, α22/2000, and α30/3000, Front View .......................................................................... I-15 α12/3000, α22/2000, and α30/3000, Side View ........................................................................... I-16 α12/3000, α22/2000, and α30/3000 with Brake, Side View.......................................................... I-17 α40/2000 with Fan, Front And Rear Views ................................................................................... I-18 α40/2000 with Fan, Top and Side Views ...................................................................................... I-19 α40/2000 with Fan and Brake, Top and Side Views ..................................................................... I-20
5.5 Shaft Loading ........................................................................................................................ I-21 5.6 α SVU1 Series Amplifier and Panel Cutout Dimensions........................................................ I-22
α SVU1-80 and SVU1-130 Dimension Drawings.......................................................................... I-22 α SVU1-80 and SVU1-130 Panel Cutout Drawings ...................................................................... I-24
5.7 α SVU Series Switch Settings ............................................................................................... I-25 5.8 Noise Protection .................................................................................................................... I-26
Separation of Signal and Power Lines.......................................................................................... I-26 Grounding ..................................................................................................................................... I-26
5.9 Command Cable Grounding .................................................................................................. I-28 5.10 Selecting a Ground Fault Interrupter...................................................................................... I-29
Section 6: α Servo System Power Requirements I-30 6.1 Power Line Protection............................................................................................................ I-30 6.2 AC Line Filter ......................................................................................................................... I-30 6.3 Circuit Breaker Selection ....................................................................................................... I-32 6.4 Electromagnetic Contactor (MCC) Rating.............................................................................. I-32 6.5 Incoming AC Power ............................................................................................................... I-33
AC Power Ratings ........................................................................................................................ I-33 6.6 Discharging Regenerative Energy ......................................................................................... I-34
Calculating the Average Regenerative Energy ............................................................................. I-34 Regenerative Discharge Unit Dimensions .................................................................................... I-38 Regenerative Discharge Unit Panel Cutout Dimensions............................................................... I-40
Section 7: α Servo System Connection I-41 7.1 α SVU1 Amplifier Connections .............................................................................................. I-41 7.2 α System Connections........................................................................................................... I-42 7.3 α SERIES Servo Connection Diagram .................................................................................. I-44 7.4 Connection Details................................................................................................................. I-45
K1—Servo Command Signal Cable (α6/3000, α12/3000, α22/2000, α30/3000, α40/2000)......... I-45 K2—Motor Encoder Feedback Cable (α6/3000, α12/3000, α22/2000, α30/3000, α40/2000) ...... I-47 K3—Three-Phase Servo Power Cable ......................................................................................... I-48 K4—Motor Power Cable (α6/3000)............................................................................................... I-48 K4—Motor Power Cable (α12/3000, α22/2000) ........................................................................... I-49 K4—Motor Power Cable (α30/3000, α40/2000) ........................................................................... I-50
K5—Amplifier Emergency Stop Connection ................................................................................. I-51 K6—Amplifier Control Power Connection ..................................................................................... I-51 K7—Separate Regenerative Discharge U nit Power Cable (α6/3000, α12/3000, α22/2000, α30/3000, α40/2000) ..................................................................................................................................... I-52 K8— Separate Regenerative Discharge Unit Thermal Protection Cable (α6/3000, α12/3000, α22/2000, α30/3000, α40/2000) .................................................................................................................... I-52 K9—Optional Absolute Encoder Battery Cable (α6/3000, α12/3000, α22/2000, α30/3000, α40/2000) I-53 K10—Emergency Stop/Power Enable Cable (α6/3000, α12/3000, α22/2000, α30/3000, α40/2000)I-54 K11—Separate Regenerative Discharge Unit Fan Supply Cable (ZA06B-6089-H711 or ZA06B-6089- H713) ............................................................................................................................................ I-55 K12—Motor Brake Power Connection .......................................................................................... I-55 K13—Cooling Fan Power Connection (α 40/2000)....................................................................... I-56
Section 8: α SVU Series Protection and Alarm Functions I-57 Part II: β Servo System ................................................................................... II-1
Section 9: β Servo System Block Diagram II-2 Section 10: β Series Servo Product Overview II-3
10.1 β Series Motors....................................................................................................................... II-3 10.2 β Series Motor Speed–Torque Curves ....................................................................................... II-4 10.3 β Series Motor Holding Brake................................................................................................. II-6 10.4 β Series Servo Amplifiers ....................................................................................................... II-8
Section 11: β Series Servo System Specifications II-9 Section 12: β Servo System Options II-10
12.1 Absolute Encoder Battery Packs .......................................................................................... II-11 Section 13: Installation Guidelines II-12
13.1 Motor Environmental Requirements ..................................................................................... II-12 13.2 Servo Amplifier Environmental Requirements ...................................................................... II-12 13.3 β servo Amplifier heat dissipation and maintenance............................................................. II-13 13.4 β and βM Series Motor Dimensions...................................................................................... II-14
β0.5/3000 Motor, Front and Side Views....................................................................................... II-14 β2/3000, β3/3000, β6/2000, and αC12/2000 Motors, Front View ................................................ II-15 β2/3000, β3/3000, β6/2000, and αC12/2000 Motors with Brake.................................................. II-17 βM0.5/4000, βM1/4000 Motor Front and Side Views................................................................... II-18
13.5 Shaft Loading ....................................................................................................................... II-19 13.6 β Series Amplifiers Dimensions ............................................................................................ II-20 13.7 Noise Protection ................................................................................................................... II-21
Separation of Signal and Power Lines......................................................................................... II-21 Grounding .................................................................................................................................... II-21
13.8 Command Cable Grounding ................................................................................................. II-24 13.9 Selecting a Ground Fault Interrupter..................................................................................... II-25
Section 14: β Servo System Power Requirements II-26 14.1 Power Line Protection........................................................................................................... II-26 14.2 AC Line Filter ........................................................................................................................ II-26 14.3 Circuit Breaker Selection ...................................................................................................... II-27 14.4 Electromagnetic Contactor Rating ........................................................................................ II-27 14.5 Incoming AC Power .............................................................................................................. II-28
AC Power Ratings ....................................................................................................................... II-28 14.6 Incoming DC Power.............................................................................................................. II-29 14.7 Discharging Regenerative Energy ........................................................................................ II-29
Calculating the Average Regenerative Energy ............................................................................ II-30 Section 15: β Servo System Connection II-32
15.1 System Connections............................................................................................................. II-32 15.2 β Series Connection Diagram............................................................................................... II-35 15.3 Connection Details................................................................................................................ II-36
K1— Servo Command Signal Cable (β0.5/3000, β2/3000, β3/3000, β6/2000, αC12/2000) ........ II-36 K2—Motor Encoder Feedback Cable (β0.5/3000) ....................................................................... II-38 K2—Motor Encoder Feedback Cable (β2/3000, β3/3000, β6/2000) ............................................ II-39 K2—Motor Encoder Feedback Cable (αC12/2000) ..................................................................... II-40 K3—Three-Phase Servo Power Cable (user-supplied) ............................................................... II-41 K4—Motor AC Power Cable (β0.5/3000) ..................................................................................... II-42
K4—Motor AC Power Cable (β2/3000, β3/3000, β6/2000) .......................................................... II-43 K4—Motor AC Power Cable (αC12/2000) ................................................................................... II-44 K5—Servo Amplifier Emergency Stop Connection ...................................................................... II-45 K7—Regenerative Power Discharge Cable (β2/3000, β3/3000, β6/2000, αC12/2000) K8—Regenerative Power Discharge Thermal Protection Cable ................................................................................ II-46 K9—Absolute Encoder Battery Cable (β0.5/3000, β2/3000, β3/3000, β6/2000, αC12/2000) ...... II-47 K10—Emergency Stop/Power Enable Cable (β0.5/3000, β2/3000, β3/3000, β6/2000, αC12/2000)II-48 K12—24 VDC Amplifier Power Cable (β0.5/3000, β2/3000, β3/3000, β6/2000, αC12/2000) ...... II-48 K13—24 VDC Amplifier Power Daisy Chain Cable (β0.5/3000, β2/3000, β3/3000, β6/2000, αC12/2000) II-49 K14—Motor Brake Power Cable (β2/3000, β3/3000, β6/2000, αC12/2000) ................................ II-49
15.4 β Series Amplifier Protection and Alarm Functions............................................................... II-50 Part III: βi and βHVi Series Servo Systems .................................................. III-1
Section 16: βi and βHVi Series Servos Overview III-2 16.1 βi and βHVi Series Servo Systems ........................................................................................ III-2 16.2 βi Series Servo Amplifier Packages....................................................................................... III-4
Section 17: βi Servo System Options III-6 Section 18: Servo Motors III-7
18.1 Servo Motor Specifications .................................................................................................... III-7 18.2 βis and βHVis Series Motor Speed–Torque Curves .............................................................. III-9 18.3 Motor Outline Drawings ....................................................................................................... III-11 18.4 βis and βHVis Series Servo Motor Holding Brake................................................................ III-16 18.5 Brake Power Supply Circuit ................................................................................................. III-17 18.6 Motor Connections............................................................................................................... III-19
Section 19: βi and βHVi Amplifiers III-20 19.1 Amplifier Electrical Specifications ........................................................................................ III-20
βi-Series Amplifier Specifications................................................................................................ III-20 ΒHVi Series Amplifier Specifications........................................................................................... III-20
19.2 βi & βVHi Series Amplifier Environmental Specifications..................................................... III-20 19.3 βi & βHVi Series Amplifier Status LED and Alarm Functions............................................... III-21 19.4 Amplifier External Dimensions............................................................................................. III-23 19.5 Absolute Encoder Battery Options....................................................................................... III-26
Connection Method for Single Amplifiers .................................................................................... III-26 Connection Method for Multiple Amplifiers.................................................................................. III-28
Section 20: Installation Guidelines III-29 20.1 βis and βHVis Motor Environmental Requirements ............................................................. III-29 20.2 βis & βHVis Servo Amplifier Environmental Requirements.................................................. III-30 20.3 βi and βHVi Amplifier Heat Dissipation and Maintenance Clearance................................... III-31
Section 21: Heat Dissipation III-33 Section 22: Noise Protection III-34
22.1 Separation of Signal and Power Lines................................................................................. III-34 22.2 Grounding............................................................................................................................ III-34 22.3 Encoder Feedback Cable Grounding................................................................................... III-37
Section 23: βi and βHVi Servo System Power Requirements III-38 23.1 Power Line Protection.......................................................................................................... III-38 23.2 AC Line Filter ....................................................................................................................... III-38 23.3 Circuit Breaker Selection ..................................................................................................... III-39 23.4 Electromagnetic Contactor Rating ....................................................................................... III-39 23.5 Incoming AC power ............................................................................................................. III-40
AC Power Ratings ...................................................................................................................... III-40 23.6 Incoming DC Power............................................................................................................. III-41
24 VDC Fuse Locations .............................................................................................................. III-41 23.7 Discharging Regenerative Energy ....................................................................................... III-42
βSVM1-20i Amplifier Regeneration Options ............................................................................... III-42 βSVM1-40i Amplifier Regeneration Options ............................................................................... III-42 βSVM1-40i, βSVM1-10HVi and βSVM1-20HVi Switch Settings ................................................. III-43 Regenerative Discharge Unit Dimensions .................................................................................. III-44 Regenerative Discharge Unit Panel Cutout Dimensions............................................................. III-46 Calculating the Average Regenerative Energy ........................................................................... III-47
Section 24: βi and βHVi Series Servo System Connection III-49 24.1 Connectors on the Motor Side ............................................................................................. III-51
24.2 Signal Connectors on the Cable Side (Models β0.2is and β0.3is)....................................... III-53 24.3 Signal Connectors on the Cable Side (models β0.4is to β22is and β2HVis to β22HVis)..... III-54 24.4 Power and Brake Connectors on the Cable Side (models β0.2is and β0.3is) ..................... III-56 24.5 Power and Brake Connectors on the Cable Side (models β0.4is to β1is) ........................... III-57 24.6 Power and Brake Connectors on the Cable Side (models β2is, β2HVis, β4is and β4HVis) III-58 24.7 Power Connectors on the Cable Side (models β8is to β22is and β8HVis to β22HVis) ....... III-59
Example of connector connection............................................................................................... III-59 Specifications of plug connectors on the cable side (support for waterproof IP67, TÜV-approved type) III-60
24.8 Brake Connectors on the Cable Side (models β8is to β22is and β8HVis to β22HVis) ........ III-62 24.9 Connection to a Conduit Hose............................................................................................. III-63 24.10 System Connection Diagram and Cable Reference ............................................................ III-64 24.11 Cable Details ....................................................................................................................... III-67
FSSB Fiber Optic Servo Command Interface Cable................................................................... III-67 FSSB Cable Specifications.................................................................................................. III-67 FSSB Cable Connections .................................................................................................... III-68 Details of Cable K1- Motor Serial Encoder Feedback.......................................................... III-69
Details of Cable K2 – AC Power to βSVM1-20i Amplifier............................................................ III-71 Details of Cable K2 – AC Power to βSVM1-40i Amplifier, βSVM1-10HVi and βSVM1-20HVi .... III-72 Details of Cable K3 – Motor Power to βSVM1-20i Amplifier ....................................................... III-73 Details of Cable K3 – Motor Power to βSVM1-40i, βSVM1-10HVi and βSVM1-20HVi Amplifier III-74 Details of Cables K4 and K5 – Regenerative Discharge Resistor............................................... III-75
βSVM1-20i ........................................................................................................................... III-75 βSVM1-40i........................................................................................................................... III-77 βSVM1-10HVi and βSVM1-20HVi ....................................................................................... III-79
Details of Cable K6 – 24V, E-Stop and Battery Daisy Chain for Multi-Axis Systems .................. III-80 Details of Cable K7 – E-Stop/Power Enable (MCC) ................................................................... III-81 Details of Cable K8 – Servo Amplifier Emergency Stop Connection .......................................... III-82 Details of Cable K9 – Optional External Absolute Encoder Battery Connection ......................... III-83 Details of Cable K10 –External Cooling Fan Connector ............................................................. III-84
Part IV: αi and αHVi Series Servo Systems.................................................. IV-1 Section 25: αi and αHVi Series Servos Overview IV-2
25.1 αi and αHVi Series Servo Systems........................................................................................IV-2 25.2 αi Series Servo Amplifier Packages.......................................................................................IV-3
Section 26: αHVi Servo System Options IV-4 Section 27: Servo Motors IV-5
27.1 Servo Motor Specifications ....................................................................................................IV-5 27.2 αi and αHVis Series Motor Speed–Torque Curves ................................................................IV-8 27.3 Motor Outline Drawings .......................................................................................................IV-10 αi Motor....................................................................................................................................... IV-10 αHVi Motors ................................................................................................................................ IV-11
27.4 Built-in Brake .......................................................................................................................IV-14 Brake Connections ..................................................................................................................... IV-14 Brake Power Supply Circuit ........................................................................................................ IV-15
27.5 Motor Connections...............................................................................................................IV-17 27.6 Cooling Fan .........................................................................................................................IV-18
Connecting the Fan Power ......................................................................................................... IV-18 Section 28: αSVM1 Amplifiers IV-19
28.1 Amplifier Specifications........................................................................................................IV-19 28.2 αHVi Series Amplifier Status LED and Alarm Functions......................................................IV-20 28.3 Amplifier External Dimensions.............................................................................................IV-22 28.4 Dynamic Braking Module Dimensions .................................................................................IV-24 28.5 Power Supply Dimensions...................................................................................................IV-25 28.6 Absolute Encoder Battery Options.......................................................................................IV-27
Battery Connection Method for Single Amplifiers........................................................................ IV-27 Connection Method for Multiple Amplifiers.................................................................................. IV-29
Section 29: Installation Guidelines IV-30 29.1 αi, αHVi and αHVis Motor Environmental Requirements.....................................................IV-30 29.2 αHVi Servo Amplifier Environmental Requirements ............................................................IV-31
Temperature Derating................................................................................................................. IV-31 Cabinet Installation ..................................................................................................................... IV-32
29.3 Amplifier Heat Dissipation and Maintenance Clearance ......................................................IV-33 Section 30: Heat Dissipation IV-34 Section 31: Noise Protection IV-35
31.1 Grounding............................................................................................................................IV-35 31.2 Separation of Signal and Power Lines.................................................................................IV-36 31.3 Cable Clamp and Shield Grounding ....................................................................................IV-37
Terminal processing of the shield sheaths.................................................................................. IV-37 Cable clamp................................................................................................................................ IV-37 Grounding ................................................................................................................................... IV-37
31.4 Encoder Feedback Cable Grounding...................................................................................IV-38 Section 32: αHVi Servo System Power Requirements IV-40
32.1 Power Line Protection..........................................................................................................IV-40 32.2 AC Line Filter .......................................................................................................................IV-40
AC Line Filter Outline Drawings and Specifications.................................................................... IV-41 32.3 Circuit Breaker and Magnetic Contactor Selection ..............................................................IV-42
Sample Configuration for 200V Input Power............................................................................... IV-43 Sample Configuration for 400V Input Power............................................................................... IV-44
32.4 Incoming AC power .............................................................................................................IV-45 AC Power Ratings ...................................................................................................................... IV-45
Section 33: αHVi Series Servo System Connection IV-46 33.1 Motor Power Connectors .....................................................................................................IV-48 33.2 Encoder Connectors for αi, αHVi and αHVis Motors ..........................................................IV-49
Crimp Type Connector................................................................................................................ IV-49 Solder Type Connector ............................................................................................................... IV-50
33.3 Connectors for Power ..........................................................................................................IV-51 Connector Connection Example ................................................................................................. IV-52 Motor Power Connectors (support for waterproof IP67, TUV-approved type)............................. IV-53 Plug Connectors on the Cable Side (support for waterproof IP67) ............................................. IV-54
33.4 Connectors for the Brake.....................................................................................................IV-55 Connector Specifications ............................................................................................................ IV-55
33.5 Connectors for the Fan ........................................................................................................IV-56 Connector Specifications for αiS 50/3000HV with fan................................................................. IV-56
33.6 Connection to a Conduit Hose.............................................................................................IV-57 33.7 System Connection Diagram and Cable Reference ............................................................IV-58 33.8 Cable Details .......................................................................................................................IV-61
Details of Cable K1 – AC Power to PSM-HVi Power Supply ...................................................... IV-61 Details of Cable K2 - DC Link Bus Bars...................................................................................... IV-62 Details of Cable K4 – Dynamic Brake Module Power (SVM1-180HVi Amplifier Only)................ IV-64 Details of Cable K21 – Motor Power to αSVM1-40HVi and αSVM1-80HVi Amplifiers ................ IV-65
SVM1 Amplifier CZ2 Motor Power Connector ..................................................................... IV-65 Cable Considerations .......................................................................................................... IV-66 Motor Connector .................................................................................................................. IV-66
Details of Cable K21 – Motor Power to αSVM1-180HVi Amplifier .............................................. IV-66 Details of Cable K22 – Motor Serial Encoder Feedback ............................................................. IV-67 Details of Cable K24 – Dynamic Brake Module Interlock Signals ............................................... IV-68 Details of Cable K25 – Dynamic Brake Driving Coil.................................................................... IV-69 Details of Cable K26 – Power to Dynamic Brake Module ........................................................... IV-69 Details of Cable K27 - FSSB Fiber Optic Servo Command Interface Cable ............................... IV-70
FSSB Cable Specifications.................................................................................................. IV-70 FSSB Cable Connections .................................................................................................... IV-71
Details of Cable K28 ................................................................................................................... IV-71 Details of Cable K69 – PSM Interface to SVM Amplifiers ........................................................... IV-72 Details of Cable K70 – Ground Connection ................................................................................ IV-75
Introduction This specification guide provides technical details for the following digital servo systems:
α Series
β Series
βis Series
αi Series
α HVi, β HVi and βi Series servos can be mixed in the same system and/or on the same DSM324i controller module and use the same FSSB fiber optic interface as the βi Series servos.
For feature comparisons and information on related products, refer to the Motion Solutions Products Catalog, GFA-483.
Part I, α Series The α Series amplifiers can communicate with a wide variety of GE Fanuc controllers, including the Power Mate D, Power Mate H, and DSM 300 Series, plus many of the GE Fanuc CNC systems using a Pulse Width Modulated (PWM) interface. The PWM interface uses the standard GE Fanuc digital servo communication protocol.
A motor protection level of IP65 is standard with all α Series motors, and optional IP67 sealing is available on most α Series motors. Torque ratings of 6 to 40 Nm are available on α Series motors.
A 64K absolute encoder is standard on α Series motors. An optional electrically released holding brake is available on all α Series motors.
Additional documentation for α Series: α Series Servo Motor Descriptions Manual, GFZ-65142E α Series Servo Amplifier Descriptions Manual, GFZ-65192EN AC Servo Amplifier Maintenance Manual, GFZ-65005E α Series Control Motor Maintenance Manual, GFZ-65165E α Series Control Motor Amplifier Descriptions Manual, GFZ-65162E
Part II, β Series, The β Series amplifiers can communicate with a wide variety of GE Fanuc controllers, including the Power Mate D, Power Mate H, and DSM 300 Series, plus many of the GE Fanuc CNC systems using a PWM interface.
A motor protection level of IP65 is standard with all β Series motors. Torque ratings of 0.5to 12 Nm are available on β Series motors.
A 32K counts /revolution absolute mode digital encoder is standard with each β Series servo motor. An optional electrically released holding brake is available on all β Series motors.
The β Series motors feature an improved insulation system on the windings and an overall sealing coating helps protect the motor from the environment.
Additional documentation for β Series: β Series Servo Motor Descriptions Manual, GFZ-65232EN β Series Servo Motor Maintenance Manual, GFZ-65235EN
Servo Products Specification Guide
Introduction-2 Servo Products Specification Guide – October 2007 GFH-001F
Part III, βis Series The βi Series amplifiers communicate with the DSM324 controller using the Fanuc Serial Servo Bus (FSSB) fiber optic interface. The FSSB interface uses the standard GE Fanuc servo communication protocol.
A motor protection level of IP65 is standard with βis Series motors. Torque ratings of 0.4 to 22 Nm are available on the βi Series motors.
βis series motors use 64K or 128K absolute encoders. All βis Series servo motors are available with an optional 24VDC holding brake.
Additional documentation for βi Series and βHVi Series: AC Servo Motor βis Series Descriptions Manual, GFZ-65302EN Servo Amplifier βi Series Descriptions Manual, GFZ-65322EN AC Servo Motor βis Series, AC Spindle Motor βi Series and AC Servo Amplifier βi Series Maintenance Manual, GFZ-65325EN.
Part IV, αi Series The α HVi series extend the continuous torque range supported by the DSM324i motion controller to 75 Nm. There is relatively little overlap between these servos and the β i-Series servos currently supported by the DMS324i. The α22/3000HVi and α22/4000HVis motors have higher rated speeds than the β22/2000is motor.
Additional documentation for αis Series: AC Servo Motor αi Series Descriptions Manual, B-65262EN Servo Amplifier αi Series Descriptions Manual, GFZ-65282EN
Part I: α Servo System
Servo Products Specification Guide
I-2 Servo Products Specification Guide – October 2007 GFH-001F
Section 1: α SVU Series Servo System Block Diagram The following block diagram shows the interconnections of a typical α Series servo system:
Figure I-1. α SVU Series servo block diagram
NOTE
The 200–240 VAC control power inputs are jumpered to the three-phase bus power inputs (L1C to L1 and L2C to L2) when delivered from the factory. If a separate control power source is desired to maintain alarm status during removal of main bus power, remove the jumper links and connect the separate control power.
Master Encoder
Position, Velocity, and
Current Loops
(Controller) Command
Signal Connection
Absolute Encoder Battery
Option
Connector
Motor Encoder Feedback Connection
200-240 VAC 3-Phase
Discharge Resistor
α Series Amplifier
200–240 VAC 1-phase control power
Motor Power
Connection
Motor
90VDC
M Encoder
Line Filter or Transformer
B r a k e
Required
Servo Products Specification Guide
Part I: α Series Servo System I-3
Section 2: α Series Servo Product Overview
2.1 α Series Motors The α Series servo motors include built-in serial encoders with 64K PPR (pulses per revolution) resolution. All α Series motors are available with an optional holding brake, and most are available with an optional IP67 sealing. A fan package is standard on the α40/2000 servo motor. The servo motors must be used with the designated amplifier package and a GE Fanuc motion controller such as the Motion Mate DSM300 Series.
Table 3HI-1 provides a summary of the α Series servos. See Section 3: for more detailed motor specifications.
Table I-1. α Series Servo Motors
Motor Rated Torque Power Rating
Required Amplifier Kit
Motor Catalog #
α6/3000 6 Nm (53 in-lbs) continuous stall
torque; 3000 RPM (max)
1.4 kW 80 Amp (IC800APK080)
Motor Only: ZA06B-0128-B575#7008
w/ IP67 Sealing: ZA06B-0128-B575#7076
w/ Brake: ZA06B-0128-B675#7008
w/ IP67 Sealing & Brake: ZA06B-0128- B675#7076
α12/3000 12 Nm (106 in-lbs) continuous stall
torque; 3000 RPM (max)
2.8 kW 80 Amp (IC800APK080)
Motor Only: ZA06B-0143-B075#7008
w/ IP67 Sealing: ZA06B-0143-B075#7076
w/ Brake: ZA06B-0143-B175#7008
w/ IP67 Sealing & Brake: ZA06B-0143- B175#7076
α22/2000 22 Nm (195 in-lbs) continuous stall
torque; 2000 RPM (max)
3.7 kW 80 Amp (IC800APK080)
Motor Only: ZA06B-0147-B075#7008
w/ IP67 Sealing: ZA06B-0147-B075#7076
w/ Brake: ZA06B-0147-B175#7008
w/ IP67 Sealing & Brake: ZA06B-0147- B175#7076
α30/3000 30 Nm (265 in-lbs) continuous stall
torque; 3000 RPM (max)
5.2 kW 130 Amp (IC800APK130)
Motor Only: ZA06B-0153-B075#7008
w/ IP67 Sealing: ZA06B-0153-B075#7076
w/ Brake: ZA06B-0153-B175#7008
w/ IP67 Sealing & Brake: ZA06B-0153- B175#7076
α40/2000 w/ fan
package
40 Nm (494 in-lbs) continuous stall
torque; 2000 RPM (max)
7.2 kW 130 Amp (IC800APK130)
Motor w/ Fan Package: ZA06B-0158-B075#7008
w/ Fan Package & Brake: ZA06B-0158- B175#7008
Servo Products Specification Guide
I-4 Servo Products Specification Guide – October 2007 GFH-001F
2.2 α Series Motor–Torque Curves The curves shown below 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 40°C and its drive current as pure sine wave. Actual operation is limited by the current of the servo drive unit.
α6/3000 α12/3000
0
5
10
15
20
25
30
0 1000 2000 3000 4000
Speed (RPM)
Torque (Nm)
Speed (RPM)
Torque (Nm)
0 5
10
15
20
25
0 1000 2000 3000
30
35
40
α22/2000 α30/3000
80
60
40
20
0 0 1000 2000 3000
Speed (RPM)
Torque (Nm)
0
10
20
30
40
50
0 1000 2000 3000 Speed (RPM)
Torque (Nm)
60
70
80
90
α40/2000
0
25
50
75
100
125
150
0 500 1000 1500 2000
Speed (RPM)
Torque (Nm)
Figure I-2. α Series Motor Speed-Torque Curves
KEY: - - - - = Intermittent operating
= Continuous operating
Servo Products Specification Guide
Part I: α Series Servo System I-5
2.3 α Series motor holding brake Any of the servo motors can be ordered with a holding brake. The 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 motor or severely reduce its service life.
The specifications of the built-in brakes are listed in Table 6HI-2:
Table I-2.  Typical User-Supplied Brake Power Supply
Servo Products Specification Guide
I-6 Servo Products Specification Guide – October 2007 GFH-001F
2.4 α SVU Series Servo Amplifiers The α SVU Series amplifiers must be matched to the corresponding α Series motor. Because motor characteristics are closely related to amplifier ratings, GE Fanuc restricts the allowable motor/amplifier combinations to those shown in Table 9HI-3 below.
GE Fanuc offers α SVU Series amplifiers either separately, for replacement and spare parts, or as preconfigured packages that include the connectors and spare fuses necessary for most new installations. The catalog numbers for both options and package contents are shown in the following tables.
Table I-3. α SVU Series models
Motor Amplifier Model Amplifier Catalog # Amplifier Package Catalog #
α6/3000 SVU1-80 ZA06B-6089-H105 IC800APK080
α12/3000 SVU1-80 ZA06B-6089-H105 IC800APK080
α22/2000 SVU1-80 ZA06B-6089-H105 IC800APK080
α30/3000 SVU1-130 ZA06B-6089-H106 IC800APK130
α40/2000 SVU1-130 ZA06B-6089-H106 IC800APK130
Table I-4. α SVU Series packages
Description Package Contents* Catalog #
80 Amp α Series Amplifier
Package
• 1 SVU1-80 Amp (ZA06B-6093-H105) • 1 Fuse (ZA06B-6089-K250) • 1 External MCC Connector (ZA06B-6089- K201) • 1 E-Stop Connector (ZA02B-0120-K321)
IC800APK080
130 Amp α Series Amplifier
Package
• 1 SVU1-130 Amp (ZA06B-6093-H106) • 1 External MCC Connector (ZA06B-6089- K201) • 1 E-Stop Connector (ZA02B-0120-K321) • 2 Fuses (ZA06B-6089-K250)
IC800APK130
* If required, amplifier package components can be ordered separately.
Servo Products Specification Guide
Part I: α Series Servo System I-7
Section 3: α Series Servo System The α Series Servo system consists of a motor and its corresponding amplifier. GE Fanuc offers several servo systems, which are identified in Table 12HI-5 below.
Table I-5. Identification of servo systems
SERVO SYSTEM
Parameter (Unit) α6/3000 α12/3000 α22/2000 α30/3000 α40/2000 (w/fan)
MOTOR Rated output power (kW) 1.4 2.8 3.8 4.8 7.3
Rated torque at stall (Nm) * Rated torque at stall (in-lb) * Rated torque at stall (kgf-cm) *
6.0 53 61
12 106 122
22 195 225
30 265 306
56 495 571
Rated output speed (RPM) 3000 3000 2000 3000 2000
Rotor inertia (kg m2) Rotor inertia (in-lb-s2) Rotor inertia (kg-cm-s2)
0.002646 0.02343 0.027
0.006272 0.0555 0.064
0.01176 0.1041 0.12
0.01666 0.1475 0.17
0.02254 0.1996 0.23
Continuous RMS current at stall A (rms) 10.0 15.5 18.7 33.7 40.1
Torque constant (Nm/A [rms]) * Torque constant (in-lb/A [rms]) * Torque constant (kgf-cm/A [rms]) *
0.60 5.3 6.1
0.77 6.8 7.9
1.17 10.4 12.0
0.89 7.9 9.1
1.40 12.4 14.3
Back EMF constant (V/1000 RPM) * Back EMF constant (Vsec/rad) *
21 0.20
27 0.26
41 0.39
31 0.30
49 0.47
Armature resistance (Ω) * 0.18 0.17 0.140 0.046 0.080
Mechanical time constant (s) * 0.004 0.005 0.004 0.003 0.003
Thermal time constant (min) 50 60 65 70 30
Static friction (Nm) Static friction (in-lb) Static friction (kgf-cm)
0.3 2.7 3
0.8 7.1 8
1.2 10.6 12
1.8 15.9 18
1.8 15.9 18
Maximum allowable current (A [peak]) 132 120 160 320 270
Maximum theoretical torque (Nm) ** Maximum theoretical torque (in-lb) ** Maximum theoretical torque (kgf-cm) **
56 496 571
66 584 670
130 1150 1400
200 1770 2100
270 2390 2800
Weight (kg) Weight (lb)
13 28.6
18 39.6
29 63.8
41 90.2
55 121
AMPLIFIER Amplifier model SVU1-80 SVU1-80 SVU1-80 SVU1-130 SVU1-130
Rated output current (rms amps) 18.7 18.7 18.7 52.2 52.2
Current limit (Peak amps) 80 80 80 130 130
Heat loss (watts) 37.7 47.3 54 70.9 80.7
230 VAC 1φ control power current (A) 0.13 0.13 0.13 0.26 0.26
Weight (kg) Weight (lb)
4.9 10.8
4.9 10.8
4.9 10.8
9.9 21.8
9.9 21.8
* 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 amplifier. (The above figures show average values.) These values may be changed without prior notice. ** Theoretical values. The actual maximum torque is restricted by the current limit values of the drive amplifier.
Servo Products Specification Guide
I-8 Servo Products Specification Guide – October 2007 GFH-001F
Section 4: α Servo System Options Designing a servo control system requires that you understand how the electrical and mechanical aspects of your system interact. GE Fanuc application engineers are available to help you determine your control system requirements.
Table 14HI-6 will help you select which servo options your system requires. Further details for each option are located in the sections indicated.
Table I-6. α Series servo package 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.
Motor option (see p. I-3 for motor catalog #)
2.3
IP67 Sealing Enables the motor to meet IEC standards for protection from solid objects and water.
Motor option (see p. I-3 for motor catalog #)
4.1
Absolute Encoder Battery Packs
Avoids having to re-reference the position when power is restored to the control.
IC800ABK001 4.2
AC Line Filters 200—240 VAC is already available to the control cabinet and no transformer is used. Line filters reduce harmonic noise into the servo power supply.
5.4 kW, 3-phase: ZA81L-0001-0083#3C
10.5 kW, 3-phase: ZA81L-0001-0101#C
6.2
Prefinished Cables The cable lengths available from GE Fanuc are appropriate for your application.
Refer to the “Cable Connection” table on p. I-43
7.2
External Discharge Resistor
The internal regenerative discharge resistor is insufficient for the application. If required, the regen resistor must be ordered separately.
16 Ohm 200 Watt: ZA06B-6089-H500
16 Ohm 800 Watt: ZA06B-6089-H713
8 Ohm 800 Watt: ZA06B-6089-H711
6.6
Servo Products Specification Guide
Part I: α Series Servo System I-9
4.1 IP67 Sealing Option on α Series Servo Motors Most of the α Series servo motors can be ordered with IP67 Sealing. Motors with the IP67 Sealing meet the IEC standards regarding protection from solid objects and water, as described below:
Standard IP6x: Protection from Solid Objects
Protected against solid objects greater than 1 mm thickness or diameter Dust tight. “No ingress of dust.”
Standard IPx7: Protection from Water
Protected against dripping water, rate equivalent to 3–5 mm of rain per minute
Protected against splashing water from any direction
Protected from harmful damage due to water jets, according to the following test:
• Spray from all angles of 12.5 liters/minute (3.3 gal/min) • Nozzle diameter = 6.3 mm (0.248 in) • Pressure = 30 kN/m2 (0.3 bar) • Distance = 3 m (118 in) • Duration = 3 minutes
Protected from harmful Protected against the effects of immersion, according to the following test:
• Surface of the water level shall be at least 150 mm (5.9 in) above the highest point of the machine • Lowest point of the machine must be at least 1 m (39.4 in) below the surface of the water • Duration of the test must be at least 30 minutes • Water temperature must not differ from that of the machine by more than 5° C
For more information, refer to CEI/IEC 34–5; 1991 and the GE Fanuc document Servo and Spindle Motors Exposed to Liquids (GFK-1046).
Servo Products Specification Guide
I-10 Servo Products Specification Guide – October 2007 GFH-001F
4.2 Absolute Encoder Battery Packs All α Series servo motors feature a built-in serial encoder that can be used in either incremental or absolute mode. To utilize the absolute capability, an optional encoder battery pack (IC800ABK001) must be installed. This pack makes the encoder’s position information non-volatile 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 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. A two-meter-long cable (Z44C741863-001) must be ordered separately for each servo axis connected to the battery pack. Kit components cannot be ordered separately.
The battery pack is panel-mounted and requires a cutout in the mounting surface. Mounting dimensions and terminal designations are shown below:
Figure I-4. Absolute encoder battery pack
78 (3.07)
93 (3.66)
103 (4.06)
103 (4.06)
78 (3.07)
40 (1.57) 106.3
(4.185)
92.2 (3.630)
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)
Note: Current drain (per encoder) from battery: 20μA with amplifier power ON 200μA with amplifier power OFF
Servo Products Specification Guide
Part I: α Series Servo System I-11
Section 5: Installation Guidelines This section includes environmental requirements, motor and amplifier dimension drawings and information on ensuring noise protection and selecting a ground fault interrupter.
5.1 Motor Environmental Requirements The servo motor must be installed in a location that satisfies the following environmental conditions: Table I-7. Servo amplifier environmental conditions
Condition Description
Ambient temperature The ambient temperature should be -10°C to 40°C. When operating the machine at a temperature higher than 40°C (55°C max), it is necessary to derate the output power so that the motor’s temperature rating is not exceeded.
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. Optional IP67 Sealing, available on most α Series servo motors, offers further protection from liquids (see Section 4.1 for more details). 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.
5.2 Servo Amplifier Environmental Requirements The servo amplifier must be installed in a location that satisfies the environmental conditions identified in Table 8 below. Table I-8. 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 30% to 95% RH (no condensation). 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 heat sink 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.
Servo Products Specification Guide
I-12 Servo Products Specification Guide – October 2007 GFH-001F
To adequately protect the amplifier, you must ensure that:
Contaminants such as dust and coolant, 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.
5.3 α SVU Series servo amplifier heat Dissipation To determine the heat generated by an α Series SVU amplifier with a particular motor, use the table that follows. The α SVU Series amplifiers are mounted with their heat sink extending through a panel cut out in the control enclosure. This design eliminates most of the heat dissipation inside the control cabinet.
Table I-9. Servo amplifier heat dissipation
Motor Model Amplifier Model Total Dissipation
Dissipation Inside Cabinet
α6/3000 α SVU1-80 73 W 38 W
α12/3000 α SVU1-80 106 W 47 W
α22/2000 α SVU1-80 127 W 54 W
α30/3000 α SVU1-130 228 W 71 W
α40/2000 w/ Fan α SVU1-130 276 W 81 W
The following notes apply to the heat values:
The heat dissipation values are worst case values when motors are run at their continuous output ratings.
If the heat sink of the amplifier is installed outside the cabinet or if a separate regenerative resistor is installed outside the cabinet, it is unnecessary to add the heat generated by the regenerative resistor to the total heat generated by the cabinet. If the heat sink of a built-in or separate regenerative resistor is installed inside the cabinet, it is necessary to add the heat generated by the regenerative resistor to the heat generated by the cabinet. See Section 6.6 for more information.
Servo Products Specification Guide
Part I: α Series Servo System I-13
5.4 α Series Motor Dimensions
α6/3000
BDmax
AJ
130 (5.118)
S
H
BF
XD
BBmax
AK U
AH
92 (3.62)
D 1
2
L B
12 (.472)
BC
97 (3.82)
MOTOR
Dim. α6/3000
S 6 0 030.0 + − mm (0.2362/0.235 in)
H 2.5 0 013.0 + − (0.0984/0.0933)
BD 165 (6.496)
AJ (dia) 145 (5.709)
BF (dia) 9 (0.354)
Connector Description
1 Motor AC Power Connector
2 Motor Encoder Feedback Connector
NOTES
1. See the α Connection section (0) for more information about motor cables. 2. Shaft diameter runout = 0.02 mm max (0.00079 in). 3. Flange surface runout = 0.06 mm max (0.00236 in). 4. Rabbet diameter eccentricity = 0.02 mm max (0.00079 in). 5. Maximum radial load for output shaft is 70 kgf (31.8 lb).
Figure I-5. α 6/3000 motor, front and side views
MOTOR
Dim. α6/3000
BB 6 mm (.236 in)
XD 36 (1.417)
AK 110 0 035.0 + − (4.331/4.329)
U 19 0 013.0 + − (0.7480/0.7475)
BC 15±0.5 (0.610/0.571)
AH 55 (2.165)
D 176 (6.93)
B 221 (8.70)
L 259 (10.20)
Dimensions shown in mm (in)
Servo Products Specification Guide
I-14 Servo Products Specification Guide – October 2007 GFH-001F
α6/3000 with Brake, Side View (Front view same as α6/3000 without brake)
XD
BBmax
AK U
AH D
2
L B
1 3
92 (0.3622)
39 (1.54)
BC
4 (.157) 12 (.472)
92 (3.62) 97(3.82)
MOTOR
Dim. α6/3000 w/ brake
BB 6 mm (0.236 in)
XD 36 (1.917)
AK 110 0 035.0 + − (4.331/4.329)
U 19 0 013.0 + − (0.7480/0.7475)
BC 221 (8.70)
AH 55 (2.165)
D 225 (8.858)
B 270 (10.63)
L 309 (12.17)
Figure I-6. α 6/3000 motor with brake, side view
Connector Description
1 Motor AC Power Connector
2 Motor Encoder Feedback Connector
3 Brake Connector
NOTES
1. See the α Connection section (0) for more information about motor cables.
2. Shaft diameter runout = 0.02 mm max (0.00079 in). 3. Flange surface runout = 0.06 mm max (0.00236 in). 4. Rabbet diameter eccentricity = 0.04 mm max (0.00157 in). 5. Maximum radial load for output shaft is 70 kgf (31.8 lb).
Dimensions shown in mm (in)
Servo Products Specification Guide
Part I: α Series Servo System I-15
α12/3000, α22/2000, and α30/3000, Front View
AJ
174 (6.85)
S BF
H
MOTOR
Dim. α12/2000 α22/2000 α30/3000
S 10 0 036.0 + − mm (0.3937/0.3923 in) 10
0 036.0
+ − mm (0.3937/0.3923 in) 10
0 036.0
+ − mm (0.3937/0.3923 in)
H 3 0 30.0 + − (0.1181/0.1063) 3
0 30.0
+ − (0.1181/0.1063) 3
0 30.0
+ − (0.1181/0.1063)
BF 13.5 (0.532) 13.5 (0.532) 13.5 (0.532)
AJ 200 (7.874) 200 (7.874) 200 (7.874)
NOTES FOR ALL VIEWS (see page 16 for side view and page 17 for side view with brake)
1. See the α Connection section (Section 7.2) for more information about motor cables. 2. Shaft diameter runout = 0.05 mm max (0.00197 in). 3. Flange surface runout = 0.10 mm max (0.00394 in). 4. Rabbet diameter eccentricity = 0.07 mm (0.00276 in). 5. Maximum radial load for output shaft is 450 kgf (204 lb). 6. Taps for eyebolts are M8 by 15 mm (.591 in) deep; eyebolts are not attached.
Figure I-7. α 12/3000, α22/2000, and α30/3000 motors, front view
Dimensions shown in mm (in)
Servo Products Specification Guide
I-16 Servo Products Specification Guide – October 2007 GFH-001F
α12/3000, α22/2000, and α30/3000, Side View
BBmax
U
AH
108 (4.25)
D
1
2
L B
18 (0.709)
AK
20 (0.787) D
122 (4.80)
Taps for eyebolts Typ. (2) places (see notes)
XD
MOTOR
Dimen. α12/2000 α22/2000 α30/3000
BB 3.2 mm (0.126 in) 3.2 mm (0.126 in) 3.2 mm (0.126 in)
XD 70 (2.756) 70 (2.756) 70 (2.756)
AK 114.3 0 025.0 + − (4.50/4.499) 114.3
0 025.0
+ − (4.50/4.499) 114.3
0 025.0
+ − (4.50/4.499)
U 35 01.00 + − (1.3784/1.3779) 35
01.0 0
+ − (1.3784/1.3779) 35
01.0 0
+ − (1.3784/1.3779)
AH 79 (3.11) 79 (3.11) 79 (3.11)
D 166 (6.535) 240 (9.449) 314 (12.362)
B 215 (8.465) 289 (11.378) 363 (14.291)
L 240 (9.45) 314 (12.36) 388 (15.28)
Connector Description
1 Motor AC Power Connector
2 Motor Encoder Feedback Connector
Figure I-8. α 12/3000, α22/2000, and α30/3000 motors, side view
Dimensions shown in mm (in)
Servo Products Specification Guide
Part I: α Series Servo System I-17
α12/3000, α22/2000, and α30/3000 with Brake, Side View (Front view same as α12/3000, α22/2000, and α30/3000 without brake; see also Notes on page 15)
BBmax
U
AH
122 (4.80)
2
B D
AK
20 (0.787)
1
L
3
D Taps for eyebolts Typ. (2) places (see notes)
108 (4.25)
18 (0.709)
111 (4.37)
XD
MOTOR
Dimension α12/2000 w/brake α22/2000 w/brake α30/3000 w/brake
BB 3.2 mm (0.126 in) 3.2 mm (0.126 in) 3.2 mm (0.126 in)
XD 70 (2.756) 70 (2.756) 70 (2.756)
AK 114.3 0 025.0 + − (4.50/4.499) 114.3
0 025.0
+ − (4.50/4.499) 114.3
0 025.0
+ − (4.50/4.499)
U 35 01.00 + − (1.3784/1.3779) 35
01.0 0
+ − (1.3784/1.3779) 35
01.0 0
+ − (1.3784/1.3779)
AH 79 (3.11) 79 (3.11) 79 (3.11)
D 238 (9.37) 312 (12.28) 386 (15.20)
B 287 (11.30) 361 (14.21) 435 (17.13)
L 312 (12.28) 386 (15.20) 460 (18.11)
Connector Description
1 Motor AC Power Connector
2 Motor Encoder Feedback Connector
3 Brake Connector
Figure I-9. α 12/3000, α22/2000, and α30/3000 motors with brake, side view
Dimensions shown in mm (in)
Servo Products Specification Guide
I-18 Servo Products Specification Guide – October 2007 GFH-001F
α40/2000 with Fan, Front And Rear Views
AJ
174 (6.85)
BF
S
H
100 (3.94)
51 (2.008)
FANUC
52 (2.047)
Taps for eyebolts Typ. (2) places (see notes)
150 (5.91)
180 (7.09)
AIR OUT
MOTOR
Dim. α40/2000 w/fan
S 10 0 036.0 + − mm (0.3937/0.3923 in)
H 3 0 30.0 + − (0.1181/0.1063)
BF (dia.) 13.5 mm (0.531 in)
AJ (dia.) 200 (7.874)
NOTES FOR ALL VIEWS (see pages 19 and 20 for top and side views)
1. See Section 7.2 for more information about motor cables. 2. Shaft diameter runout = 0.05 mm max (0.00197 in). 3. Flange surface runout = 10.10 max (0.00394 in). 4. Maximum radial load for output shaft is 450 kgf (990 lb). 5. Taps for eyebolts are M8 by 15 mm (.591 in) deep; eyebolts are not attached. 6. Rabbet diameter eccentricity = 0.07 mm max (0.00276 in). 7. Direction of air flow is downward only.
Figure I-10. α 40/2000 with fan, front and rear views
Dimensions shown in mm (in)
Servo Products Specification Guide
Part I: α Series Servo System I-19
α40/2000 with Fan, Top and Side Views
BBmax
U
AH
2
AK
1
•
35 (1.38) 325(12.80)
AIR OUT 3
180 (7.09)
388 (15.28)20 (.787)
Taps for eyebolts Typ. (2) places (see notes)
108 (4.25) 122(4.80)
18 (0.709)
109 (4.29)
388 (15.28) 437 (17.20)
462 (18.19)
XD
MOTOR
Dim. α40/2000 w/fan
BB 3.2 mm (0.126 mm)
XD 70 (2.756)
AK 114.3 0 025.0 + − (4.50/4.499)
U 35 01.00 + − (1.3784/1.3779)
AH 79 (3.11)
Figure I-11. α 40/2000 motor with fan, top and side views
Connector Description
1 Motor AC Power Connector
2 Motor Encoder Feedback Connector
3 Fan Connector
Dimensions shown in mm (in)
Servo Products Specification Guide
I-20 Servo Products Specification Guide – October 2007 GFH-001F
α40/2000 with Fan and Brake, Top and Side Views (Front and rear views same as α40/2000 with fan and without brake)
BBmax
U
AH
2
AK
1
•
AIR OUT 4
122 (4.8)
3
325 (12.80)
180 (7.09)
474 (18.66)20 (.787) Taps for eyeboltsTyp. (2) places (see notes)
108 (4.25)
122 (4.80)
65 (2.56)
18 (0.709)
474 (18.66) 523 (20.59)
548 (21.57)
XD
MOTOR
Dim. α40/2000 w/fan
BB 3.2 mm (0.126 in)
XD 70 (2.756)
AK 114.3 0 025.0 + − (4.50/4.499)
U 35 01.00 + − (1.3784/1.3779)
AH 79 (3.11)
Figure I-12. α 40/2000 motor with fan and brake, top and side views
Connector Description
1 Motor AC Power Connector
2 Motor Encoder Feedback Connector
3 Brake Connector
4 Fan Connector
Dimensions shown in mm (in)
Servo Products Specification Guide
Part I: α Series Servo System I-21
5.5 Shaft Loading The allowable load of the motor shaft is as follows:
Table I-10. Allowable motor shaft load
Motor Model Radial Load Axial Load Front Bearing Type
α6/3000 70 kg (31.8 lb) 20 kg (9.1 lb) 6205
α12/3000, α22/2000, α30/3000, α40/2000 w/ fan
450 kg (204 lb) 135 kg (61.4 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 α6/3000 with a pulley/gear with a radius of 1.5 cm (2 in) 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 searing.
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
I-22 Servo Products Specification Guide – October 2007 GFH-001F
5.6 α SVU1 Series Amplifier and Panel Cutout Dimensions The α SVU Series amplifiers are designed with a rear-mounted heat sink that extends through a hole in the mounting plate. This design eliminates most of the heat dissipation inside the control cabinet reducing the temperature rise in the cabinet and the load on cabinet cooling equipment.
This section contains front and side views as well as the panel cutout drawings for the SVU1-80 and SVU1-130 servo amplifier units.
α SVU1-80 and SVU1-130 Dimension Drawings SVU1-80 SVU1-130
Figure I-13. Front view of αSVU1-80 and αSVU1-130 servo amplifiers
360 (14.17)
FANUC AC SERVO
UNIT
90 max. (3.54)
380 (14.96)
45 (1.77)
6 mm (0.236) dia. hole Typ. (2) places
FANUC
AC SERVO UNIT α s e r i e s
150 (5.91)
360 (14.17)
380 (14.96)
75 (2.95)
9 mm (0.354) dia. hole Typ. (2) places
Dimensions shown in mm (in)
Servo Products Specification Guide
Part I: α Series Servo System I-23
Dimensions shown in mm (in)
Figure I-14. Side view of αSVU1-80 and αSVU1-130 servo amplifiers
NOTE
The α SVU Series amplifiers and regenerative discharge units have rear heat sink extensions designed to protrude through the customer’s control cabinet. This design allows the amplifier’s heat to be dissipated outside the control cabinet, reducing the load on enclosure cooling equipment. Panel cut out drawings are shown on the next page.
Dim. SVU1-80 SVU1-130
A 135 mm (5.31 in) 135 mm (5.31 in)
B 165 (6.50) 175 (6.89)
C 120 (4.72) 130 (5.12)
MAINTENANCE AREA
C max MAINTENANCE AREA
A min B
50 (1.97)
80 (3.15)
8 (0.315)
HOT AIR OUT
AIR IN
FAN (αSVU1-130
ONLY)
Servo Products Specification Guide
I-24 Servo Products Specification Guide – October 2007 GFH-001F
α SVU1-80 and SVU1-130 Panel Cutout Drawings
SVU1-80 SVU1-130
Figure I-15. Panel cut out drawings of α SVU1-80 and α SVU1-130 servo amplifiers
38.0 (1.50)
76.0 (2.99)
338 (13.31)
360 (14.17)
11 (0.433) 2-M5 (0.196)
R4 max. (0.157)
68.0 (2.68)
136 (5.35)
338 (13.31)
360 (14.17)
11 (0.433) 2-M8 (0.315)
R4 max. (0.157)
Dimensions shown in mm (in)
Servo Products Specification Guide
Part I: α Series Servo System I-25
5.7 α SVU Series Switch Settings There are four channel switches located above the 7-segment LED and behind the terminal board cover on the front of the α Series servo amplifiers. These switches should be set as described below before use of the α SVU series servo amplifiers.
Figure I-16. α SVU Series channel switches
Positions:
The switches are sequentially numbered 1, 2, 3, and 4 with the one at the bottom as switch 1. The OFF position is on the left, and the ON position is on the right.
Switch 1 Setting:
Always set to ON.
Switch 2 Setting:
Always set to OFF for α SVU1 Series.
NOTE: If the switch 2 setting is incorrect, the VRDY OFF alarm may occur.
Switch 3 and 4 Setting:
The setting of these switches depends on the regenerative discharge resistance used:
Table I-11. Switch 3 and 4 setting for α SVU1 Series amplifiers
SVU1-80 SVU1-130
Regen. Discharge Unit SW3 SW4 Regen.  Table 5I-12 below lists the types of cables used:
Table I-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 I-17. Ground system
GE Fanuc Motion Controller
Servo Products Specification Guide
Part I: α Series Servo System I-27
Notes on the ground system wiring for α SVU1 Series amplifiers: 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 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. 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.
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
I-28 Servo Products Specification Guide – October 2007 GFH-001F
5.9 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 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 I-18. Cable grounding clamp detail
GE Fanuc Motion Controller
Grounding Bar (Z44B295864-001)
Exposed Cable Shield/Braid
Cable Grounding Clamp (ZA99L-0035-00001)
Figure I-19. Command cable shield grounding system
Servo Products Specification Guide
Part I: α Series Servo System I-29
5.10 Selecting a Ground Fault Interrupter The α 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 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 capable of handling the approximate leakage currents shown below to protect against the occurrence of this malfunction:
α6/3000: choose a 1.8 mA commercial frequency component. α12/3000, α22/2000: choose a 2.0 mA commercial frequency component. α30/3000, α40/2000: choose a 2.5 mA commercial frequency component.
Servo Products Specification Guide
I-30 Servo Products Specification Guide – October 2007 GFH-001F
Section 6: α Servo System Power Requirements This section provides information about AC amplifier power as well as the discharge of regenerative power.
6.1 Power Line Protection A circuit breaker, electromagnetic contactor and AC line filter or transformer should be installed as part of your α 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.
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.
6.2 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 I-13. α servo motor continuous output rating
Motor Cont. Output Rating
α6/3000 1.4 kW
α12/3000 2.8 kW
α22/2000 3.8 kW
α30/3000 4.8 kW
α40/2000 with fan 7.3 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.
GE Fanuc offers the AC line filters that can be used with the Alpha Series amplifiers:
5.4 kW, 3-phase (ZA81L-0001-0083#3C)
10.5 kW, 3-phase (ZA81L-0001-0101#C)
Servo Products Specification Guide
Part I: α Series Servo System I-31
Table I-14. AC line filter specifications
Catalog Number ZA81L-0001-0083#3C ZA81L-0001-0101#C ZA81L-0001-0168 ZA81L-0001-0169
Continuous rated current 24A 44A 24A 41A
Max. continuous rated power
5.4kW 10.5kW 5.4kW 10.5kW
Heat dissipation 20W 70W 20W 70W
Weight 1.1 kg (2.4 lb) 3.0 kg (6.6 lb) 1.1 kg (2.4 lb) 3.0 kg (6.6 lb)
The dimensions of the AC line filters are as follows
50
530 (1.18)
30 (1.18)
56
60
6-M4 x 0.7 Deep
(.197)
(1.97)
(2.20)
(2.36)
95 110
73.6
(3.74) (4.33)
(2.89)
35
(1.38)
1.6
1.6
78.5
(.062)
(.062)
(3.09)
Figure I-20. AC line filter dimension drawing
AC Line Filter
Dim. 0083#3C 0101#C 0168 0169
A 50 mm (1.97in) 65 (2.56) 50 mm (1.97in) 65 (2.56)
B 56 (2.20) 76 (2.99) 56 (2.20) 78 (3.07)
C 60 (2.36) 80 (3.15) 60 (2.36) 80 (3.15)
D 6-M4 x 0.7 deep
6-M5 6-M4 6-M5
E 30 (1.18) 35 (1.38) 30 (1.18) 35 (1.38)
F 30 (1.18) 35 (1.38) 30 (1.18) 35 (1.38)
G 5 (.197) 5.5 (.217) 5 (.197) 5.5 (.217)
H 73.6 (2.89) 98.5 (3.86)
73.6 (2.89) 98 (3.86)
I 95 (3.74) 114 (4.49) 95 (3.74) 114 (4.49)
J 110 (4.33) 126 (4.96) 110 (4.33) 126 (4.96)
K 35 (1.38) 63 (2.48) 35 (1.38) 63 (2.48)
L 1.6 (.062) 2 (.079) 1.6 (.062) 2 (.079)
M 78.5 (3.09) 113 (4.45) 78.5 (3.09) 113 (4.45)
N 1.6 (.062) 2 (.079) 1.6 (.062) 1.6 (.062)
H
I J
M
K
L
N
A B
C
D E GF
Servo Products Specification Guide
I-32 Servo Products Specification Guide – October 2007 GFH-001F
6.3 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 6I-15 will help you select the appropriate circuit breaker for your motion application.
Table I-15. Currents drawn at continuous rated output
Motor Input Current 3-phase*
α6/3000 6 A (rms)
α12/3000 11 A (rms)
α22/2000 15 A (rms)
α30/3000 21 A (rms)
α40/2000 29 A (rms)
*This factor attempts to compensate for applications where all axes are not demanding full power at the same time. For applications where all axes are running continuously or with high duty cycles, this factor must be increased to 1.
6.4 Electromagnetic Contactor (MCC) Rating To prepare for incoming AC power, you must also select and install an appropriate electromagnetic contactor (MCC), based on the peak currents for the motors in your system. A contactor is typically required on systems approved to display the CE marking (Machinery Directive). When multiple amplifiers are connected to a single circuit breaker, select a breaker based on the sum of the currents in Table 6I-15.
NOTE When multiple amplifiers are connected to a single circuit breaker, select a breaker by multiplying the sum of the currents listed in Table 65HI-15 by 0.6.*
During rapid motor acceleration, a 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.
Servo Products Specification Guide
Part I: α Series Servo System I-33
6.5 Incoming AC Power The α SVU Series servo amplifiers require a three-phase AC input for main bus power and a single- phase AC input for control power. Two terminals of the three-phase input (L1 and L2) are connected with the terminals for the single-phase input by jumper bars on terminal board T1 at the factory. If you want to separate the two power supplies, remove the jumper bars. The power requirements for these supplies are shown below:
Table I-16. AC and control power
Specification Description
Voltage: 3-phase 200 VAC to 240 VAC
Frequency 50 Hz, 60Hz ±2 Hz
Voltage fluctuation during acceleration/deceleration
7% or less
Table I-17. Control power current
Amplifier Model Control Power Current
α SVU1-80 150 mA
α SVU1-130 300 mA
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 7I-18 are sufficient as continuous ratings. Note, however, that servo motor acceleration causes a current to momentarily flow that is approximately three times the continuous flow rating.
When the power is turned on, a surge current of about 37A (when 264VAC is applied) flows for 20 msec.
Table I-18. Three-phase power supply ratings
Motor Power Supply Rating Current @ 230 VAC
α6/3000 2.2 kVA 6 A
α12/3000 4.3 kVA 11 A
α22/2000 5.9 kVA 15 A
α30/3000 8.2 kVA 21 A
α40/2000 with fan 11.3 kVA 29 A
Servo Products Specification Guide
I-34 Servo Products Specification Guide – October 2007 GFH-001F
6.6 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 α Series amplifier.
The α SVU amplifiers have a regenerative discharge resistor built in to dissipate this energy. For light loads, low acceleration rates, or low speed machines, the amplifier may be able to handle the regenerated energy. Some applications may require the assistance of a separately mounted external regenerative discharge unit. Vertical axes with no counter balance may generate excessive regenerative energy. These units comply with VDE 0160, European Safety Standards for CE marking.
Three separate regenerative discharge units are available for the α SVU Series amplifiers:
16 Ω, 200 W (ZA06B-6089-H500) for the SVU1-80 (weight of 2.2 Kg [4.8 lb])
16 Ω, 800 W (ZA06B-6089-H713) for the SVU1-80 (weight of 5 Kg [11 lb])
8 Ω, 800 W (ZA06B-6089-H711) for the SVU1-130 (weight of 5 Kg [11 lb])
Calculations to determine if a separate regenerative discharge unit is required are shown in “Calculating the Average Regenerative Energy.”
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 on page I-38. Connections for cables K7 and K8 are shown on p. I-52 of this document.
Calculating the Average Regenerative Energy Use the following calculation to determine the average regenerative power that will be released in your application (ambient temperature is assumed not to exceed 55°C). Based on the calculations, a separate regenerative discharge unit may be required. If this is the case, select either the 200 W or 800 W regenerative discharge unit as appropriate for the amplifier model. The watt rating of the selected unit must exceed the average calculated regenerative power.
Average Amount of
Regenerative Discharge (W)
=
Rotational Power Released
During Deceleration (P1) (STEP 1)
–
Power Consumed
through Axis Friction (P2)
(STEP 2)
+
Vertical Power Released During
Downward Motion (P3)
(STEP 3)
Servo Products Specification Guide
Part I: α Series Servo System I-35
STEP 1—Rotational power released during deceleration (P1)
P1 = F/2m)LJmJ() 410x19.6( ω×+×− watts
where:
F Deceleration duty
(Example: deceleration once per 5 second cycle, F=5)
(sec)
Jm Motor rotor inertia
α6/3000 = 0.0174 α12/3000 = 0.0555 α22/2000 = 0.1041 α30/3000 = 0.1475 α40/2000 = 0.1996
(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—Power consumed through axis friction (P2)
P2 = /FTωt)(5.91x10 Lma 3 ×××− Watts
where:
ωm Maximum motor speed at time of deceleration (rpm)
ta Worst case/deceleration time (shortest time) (sec)
TL Machine friction torque (in-lb)
F Deceleration duty
(sec)
STEP 3—Vertical power released during downward motion (P3) (this term applies only for vertical axis operation)
P3 = 100 DωT)(1.182x10 mh
2 ×××− Watts
where:
ωm Motor speed during rapid traverse (rpm)
Th Upward supporting torque applied by the motor during downward motion
(sec)
D Duty cycle of downward operation
(Note: The maximum value of D is 50%)
(%)
Servo Products Specification Guide
I-36 Servo Products Specification Guide – October 2007 GFH-001F
STEP 4—Determine if a separate regenerative discharge unit is required
When the average regenerative power produced never exceeds the values indicated in Table 75HI-19, a separate regenerative discharge unit is NOT required:
Average Regenerative Power = P1 – P2 + P3
Table I-19. Maximum allowable regenerative energy for amplifiers
Amplifier Max. Allowable Regen. Power Used with Motors
αSVU1-80 100 watts α6/3000, α12/3000, α22/2000
αSVU1-130 400 watts α30/3000, α40/2000 w/fan
If the average regenerative power exceeds the value for the amplifier, only then is a separate regenerative discharge unit required. Select a unit from Table 77HI-20 that exceeds the calculated power value.
Table I-20. Regenerative discharge capacity
Amplifier Model
Unit Catalog # No Air Flow Air Velocity 2m/sec
Air Velocity 4m/sec
αSVU1-80 16 Ω, 200 W ZA06B-6089-H500 200 W (as shipped) 400 W* 600 W*
αSVU1-130 8 Ω, 800 W ZA06B-6089-H711 Forced cooling fan is installed 800 W
αSVU1-80 16 Ω, 800 W ZA06B-6089-H713 Forced cooling fan is installed 800 W
*GE Fanuc does not supply a cooling fan for this unit. These values are supplied for reference only (customer- supplied fan).
Servo Products Specification Guide
Part I: α Series Servo System I-37
EXAMPLE:
Assume a vertical axis using an α12/3000 motor (Jm = 0.0555 lb-in-s2) that decelerates once every 4 seconds (F = 4) for 0.10 seconds (ta) from a maximum speed of 2500 rpm (ωm). The machine load inertia reflected to the motor shaft (JL) is 0.05 lb-in-s2. The torque (max) required to support the load during a downward move (Th) is 100 in-lb, and the downward motion is 20% of the cycle (D). Axis friction (TL) is 35 in-lb.
STEP 1: P1 = Rotational Power = (6.19 x 10-4) x (0.0555 + 0.05) x 20002/4
= 65.3 Watts
STEP 2: P2 = Friction Power = (5.91 x 10-3) x 0.10 x 2000 x 35/4
= 10.3 Watts
STEP 3:
P3 = Vertical Power = (1.182 x 10-2) x 100 x 2000 x 100 20
= 472.8 Watts
STEP 4: Average Power = P1 – P2 + P3
= 65.3 – 10.3 + 472.8
= 527.8 Watts
(Note the large value associated with the non-counterbalanced vertical load)
Since this value is larger than the 100 W internal capacity of the αSVU1-80 amplifier used with this motor, a separate regenerative discharge unit is required. The ZA06B-6089-H713 unit is adequate since its 800 W rating exceeds the 539.1 W average for the application. With a customer-supplied fan with at least a 4 m/sec flow rate, the ZA06B-6089-H500 unit could also be used.
Servo Products Specification Guide
I-38 Servo Products Specification Guide – October 2007 GFH-001F
Regenerative Discharge Unit Dimensions The separate regenerative discharge units are designed with a rear-mounted heat sink that extends through a hole in the mounting plate. This design eliminates most of the heat inside the control cabinet. This section contains the dimensions for the units, and Section 0 shows the necessary panel cutouts to properly mount the units in an enclosure.
ZA06B-6089-H500 (200 W) for the α SVU1-80
Figure I-21. 200 W Regenerative discharge unit (ZA06B-6089-H500), front, side, and end views
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
+ + + +
Servo Products Specification Guide
Part I: α Series Servo System I-39
ZA06B-6089-H711 (800 W) for the α SVU1-130 and ZA06B-6089-H713 (800W) for the α SVU1-80
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
Figure I- 22. 800 W Regenerative discharge unit (ZA06B-6089-H711, ZA06B-6089-H713), front, side, and end views and T3 terminal detail
+ + + + + + 9 (0.354)
11 (0.433) Screw M4X8L
1 2 3 4 5 6
T3 CAUTION
The exhaust system becomes very hot. Do not touch or mount parts too close.
Servo Products Specification Guide
I-40 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.
ZA06B-6089-H500 (200 W) for the α SVU1-80 ZA06B-6089-H711 (800 W) for the α SVU1-130 ZA06B-6089-H713 (800 W) for the α SVU1-80
Figure I-23. Regenerative discharge unit panel cutout dimensions
11 (0.433)
Dimensions shown in mm (in)
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 (.433) 2-M6 (0.236)
Packing location shown by cross
hatching (See Caution)
Servo Products Specification Guide
Part I: α Series Servo System I-41
Section 7: α Servo System Connection
7.1 α SVU1 Amplifier Connections Power terminations are connected to the αSVU amplifiers on Terminal Board T1 located on the front of the amplifier. The terminals are shielded by a hinged cover that includes a convenient label indicating the terminal designations, as shown in Figure 83HI-24. Terminals are M4 screws and will accept stripped wire, spring spade, or ring terminals.
α SVU1-80 α SVU1-130 (ZA06B-6089-H105) (ZA06B-6089-H106)
NOTE
5 and 6 on terminal board T1 are not used with the α SVU1 Series.
Figure I-24. αSVU amplifier terminal designations
2 L1
1
9 U [UM]
5 (100A)
6 (100B)
7 RL2
8 RL3
3 L2
4 L3
10 V [VM]
11 W [WM]
12
13 L1C
20 U [UM]
16 (100A)
17 (100B)
18 RL2
19 RL3
14 L2C
15 TH1
21 V [VM]
22 W [WM]
23
2 L1
1
9 U
5 (100A)
6 (100B)
7 RL1
8 RL2
3 L2
4 L3
10 V
11 W
12
13 L1C
16 TH2
17 RC
18 RI
19 RE
14 L2C
15 TH1
24 FAN 1
25
T1 T1
FAN 2
Servo Products Specification Guide
I-42 Servo Products Specification Guide – October 2007 GFH-001F
Signal and control cables are interfaced to the amplifiers using connectors on the bottom of the unit. Location and designation of each connector is shown in Figure 86HI-25.
Figure I-25. Bottom view of αSVU amplifier
7.2 α System Connections 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 α Servo Connection Diagram in Section 7.3 and in Table 90HI-22 indicate the required and optional system connections.
The α 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 that follows for more information.
An external contactor (MCC) connector (ZA06B-6089-K201) and E-Stop connector (ZA02B-0120-K321) are shipped with each α Series servo amplifier package.
Optional As are also available for the various and feedback cables.
Table I-21. Available motor cable connectors for α Servo systems
Part Number Description
Z44A730464-G18 Motor Power Connector Kit, α6/3000
Z44A730464-G20 Motor Power Connector Kit, α12/3000 and α22/2000
Z44A730464-G21 Motor Power Connector Kit, α30/3000 and α40/2000
ZA06B-6050-K115 Motor Encoder Connector Kit, α 6/3000
Z44A730464-G24 Motor Encoder Connector Kit, α12/3000, α22/2000, α30/3000, and α40/2000
Z44A730464-G26 Motor Brake Connector Kit, all α Series motors
# Connector Description Connector Label
Remarks See Section
7.4
1 Connector for GE Fanuc Motion Controller or CNC Interface
JS1B N/A K1 cable
2 Connector for Serial Encoder JF1 N/A K2 cable
3 Connector for Serial Encoder Battery
JA4 N/A K9 cable
4 Connector for 24V power supply (connector keyed for Y position)
CX3 pin 1 pin 3
K10 cable
5 Connector for E-Stop input signal (connector keyed for X position)
CX4 pin 2; ESP pin 3; 24V
K5 cable
3
2
1
4 5
1 1 2 2 3 3
Servo Products Specification Guide
Part I: α Series Servo System I-43
Table I-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
always
K1 All Other Controllers to Amplifier (JS1B)
IC800CBL003 (2m) Servo Command Signal
always
K2 Built in Serial Encoder to Amplifier (JF1)
CF3A-2MPB-0140-AZ Motor Encoder Feedback
always
K3 AC Power Supply to Amplifier N/A 3-Phase Servo Power
always
K4 Amplifier to Motor (Prefinished cables include
separate cable to connect motor frame ground to customer's earth
ground.)
IC800CBL061 (α6/3000) [14m] IC800CBL062
(α12/3000, α22/2000) [14m] CP5A-1MPB-0140-AZB
(α30/3000, α40/2000) [14m]
Motor Power always
K5 Amplifier E-stop contact (CX4) to machine E-stop contact
N/A Emergency Stop always
K6 AC Control Power Supply to Amplifier
N/A Amplifier Control Power
always
K7 Amplifier to Regenerative Discharge Unit
N/A Separate Regenerative
Discharge Unit
in some cases1
K8 Regenerative Discharge Unit Over Temperature Switch to
Amplifier
N/A Separate Regenerative
Discharge Unit
in some cases1
K9 Amplifier (JA4) to Encoder Backup Battery Unit
44C741863-001 Absolute Encoder Battery
with battery option2
K10 Control to MCC Coil Connector (CX3) on Amplifier
N/A Emergency Stop/Power Enable
control- dependent; consult your
control documentation
K11 Amplifier to Regenerative Discharge Unit Cooling Fan
N/A Separate Regenerative
Discharge Unit Fan Supply Cable
in some cases1
K12 90 VDC Brake Power Supply to Motor Brake
Z44C742238-004 (14m) Motor Brake Power with brake option
K13 Motor Cooling Fan to Fan Power Supply
Z44C742238-004 (14m) Motor Fan Power α40/2000 with fan only
1 See the Discharging Regenerative Energy section in Section 6.6 2 Prefinished cable is provided as a part of a battery pack option
Servo Products Specification Guide
I-44 Servo Products Specification Guide – October 2007 GFH-001F
7.3 α SERIES Servo Connection Diagram
NOTES
An AC line filter is recommended (unless an isolation transformer is provided) to reduce the effect of harmonic noises to the power supply. Two or more αSVU amplifiers can be connected to one AC line filter if its power capacity is not exceeded.
RC and RI were connected to each other through a jumper bar at the factory. If a separate regenerative discharge unit will be used, the jumper bar must be removed.
TH1 and TH2 were connected to each other through a jumper bar at the factory. Remove the jumper bar and connect these terminals to the separate regenerative discharge unit and resistor thermal switch.
Only the αSVU1-130 (ZA06B-6089-H106) has FAN1 and FAN2 terminals. Connect the terminals to the fan motor (K11 cable) of the separate regenerative discharge unit (other than the ZA06B-6089-H106). If a fan is to be used with the aSVU1-80 the fan power should be connected to L1C and L2C through a 5-amp circuit breaker as shown.
For CE Mark applications, an MCC that complies with European standards should be selected. The user should determine details of the use of the MCC.
α SVU1 Amplifier
Battery
α Series Motor
12
Emergency Stop
11
10
9
GE Fanuc Motion Controller
(Option)
CX4
U (UM)
V (VM)
W (WM)
K5 SB
K4
JS1B
CX3 Power for customer-supplied
contactor coil (MCC)
K1
K10 13
14
L1C
L2CK6
4
3
2
1
L1
L2
L3
MCC K3
JA4 JF1
17 18 19 15 16 24 25 RC RE TH1 TH2RI FAN1FAN2
K11 (αSVU1-130)
M
K8 K7
Fan Thermos
Separate Regenerative Discharge Resistor
K11 (αSVU1-80)
5A Circuit
Breaker
AC Line Filter
R
S
T
PE
Motor Fan (α40/2000 motor
only)
A B C
90VDC Brake Power Supply (only
for motors with optional brake)
K12
200–240 VAC Breaker
K9 K2
M E
Servo Products Specification Guide
Part I: α Series Servo System I-45
7.4 Connection Details
K1—Servo Command Signal Cable (α6/3000, α12/3000, α22/2000, α30/3000, α40/2000)
•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 α Amplifier Motion Controller
(see note)
NOTES
The servo command cables for the DSM300 Series controller (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
I-46 Servo Products Specification Guide – October 2007 GFH-001F
Cable (K1) GE Fanuc Part No. Connector Manufacturer
DSM300 Controller 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
Part I: α Series Servo System I-47
K2—Motor Encoder Feedback Cable (α6/3000, α12/3000, α22/2000, α30/3000, α40/2000)
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)
α SVU Amplifier α Motor Encoder
(N, T)
(J, K)
Prefinished 14m Cable, Part number: CF3A-2MPB-0140-AZ (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)
Alpha 6 ZA06B-6050-K115
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
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I-48 Servo Products Specification Guide – October 2007 GFH-001F
K3—Three-Phase Servo Power Cable For a power supply voltage of 200–240 VAC 50/60 Hz
R
S
T
G
Breaker AC Line Filter
Main Power Supply α SVU Amplifier
(L1) T1-2
(L2) T1-3
(L3) T1-4
( ) T1-1
For αSVU1-80, use 600 V, 4-conductors (JIS C 3312) of 3.5mm2 (12 AWG) or larger, heat-resistive vinyl cable (nonflammable polyflex cable with a max. conductor temperature of 105º C) of 3.5mm2 (12 AWG) or more.
For αSVU1-130, use 600 V, 4-conductors (JIS C 3312) of 5.5mm2 (10 AWG) or larger. Use M4 terminal board screws on α SVU amplifier
K4—Motor Power Cable (α6/3000)
T1-9 (U) A
T1-10 (V) B
T1-11 (W) C
D
α SVU Amplifier α Motor
Motor
T1-12 ( )
U V W
G (Motor Body)
Prefinished 14m Cable, Part number: IC800CBL061 (severe duty) Wire: 4-conductor, 12 AWG, Type S0 power cord, PUR (polyurethane) jacket
Connector Part No. Maker
Servo Amplifier T1 Terminal Board
N/A
(M4 Spring Spade)
N/A
Servo Motor Z44A730464-G20 (CE EXT GND pin)
DDK CE Series (CE02-6A22-22DS)
D
C
A
B
Servo Products Specification Guide
Part I: α Series Servo System I-49
K4—Motor Power Cable (α12/3000, α22/2000)
T1-9 (U) A
T1-10 (V) B
T1-11 (W) C
D
α SVU Amplifier α Motor
Motor
T1-12 ( )
U V W
G (Motor Body)
Prefinished 14m Cable, Part number: IC800CBL061 (severe duty) Wire: 4-conductor, 12 AWG, Type S0 power cord, PUR (polyurethane) jacket
Connector Part No. Maker
Servo Amplifier T1 Terminal Board
N/A (M4 Spring Spade)
N/A
Servo Motor Z44A730464-G20 (CE EXT GND pin)
DDK CE Series (CE02-6A22-22DS)
D
C
A
B
Servo Products Specification Guide
I-50 Servo Products Specification Guide – October 2007 GFH-001F
K4—Motor Power Cable (α30/3000, α40/2000)
T1-9 (U) A
T1-10 (V) C
T1-11 (W) E F
α SVU Amplifier α Motor
Motor
T1-12 ( )
U
V
W
G (Motor Body)
D
B (Black) (Red) (Blue)
(Orange) (Yellow) (Brown) (Green)
Prefinished 14m Cable, Part number: CP5A-1MPB-0140-AZB (severe duty) Wire: 7-conductor, 12 AWG, Type SO power cord, PUR (polyurethane) jacket
Connector Part No. Maker
Servo Amplifier T1 Terminal Board
N/A (M4 Spring Spade)
N/A
Servo Motor Z44A730464-G21 (CE EXT GND pin)
DDK CE Series (CE02-6A24-10GS)
F
C
A
BE
D
G
Servo Products Specification Guide
Part I: α Series Servo System I-51
K5—Amplifier Emergency Stop Connection
+24V
α SVU Amplifier
CX4 (bottom of amplifier)
ESP (3)
(2)
(1)
Wire: 2-conductor 0.75mm2 (20 AWG)
Connector GE Fanuc Part No. Manufacturer
Servo Amplifier CX4 ZA06B-0120-K321 (included with amplifier packages)
AMP Housing: 1-178128-3; Contact: 1-175218-2 (crimp terminal)
K6—Amplifier Control Power Connection
200–240 VAC Control Power
α SVU Amplifier
(L1C) T1-13
(L2C) T1-14
M4 screw terminals on front of amplifier
Wire: 300V, 2-conductor 1.25mm2 (16 AWG) or larger
1 2 3 Connector viewed from wire insertion side.
NOTE Up to six amplifiers can be daisy chained to the same E-Stop circuit
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I-52 Servo Products Specification Guide – October 2007 GFH-001F
K7—Separate Regenerative Discharge U nit Power Cable (α6/3000, α12/3000, α22/2000, α30/3000, α40/2000)
T1-17 (RC)
α SVU Amplifier Separate Regenerative
Discharge Unit
T1-19 (RE)
T3 (1)
T3 (2) T1-18 (RI) (Caution)X
M4 screw terminals
CAUTION
When a separate regenerative discharge unit is connected, remove the factory-installed shorting bar between terminals T1-17 (RC) and T1-18 (RI).
Wire: 600 V, 2-conductor, 2.0mm2 (14 AWG) or larger
K8— Separate Regenerative Discharge Unit Thermal Protection Cable (α6/3000, α12/3000, α22/2000, α30/3000, α40/2000)
T1-15 (TH1)
α SVU Amplifier Separate Regenerative
Discharge Unit
T1-16 (TH2)
T3 (3)
T3 (4) normally closed thermal switch
M4 screw terminals
CAUTION
When a separate regenerative discharge unit is connected, the DIP switches on the front of the amplifier must be set for the proper unit. See Section 5.7 for more information.
Wire: 600 V, 2-conductor, 0.75mm2 (18 AWG) or larger
Servo Products Specification Guide
Part I: α Series Servo System I-53
K9—Optional Absolute Encoder Battery Cable (α6/3000, α12/3000, α22/2000, α30/3000, α40/2000)
JA4 (7)
α SVU Amplifier Battery Unit
JA4 (3)
+6V (+)
0V (–)
(Red)
(Black)
M3 screw terminals
Prefinished 2m Cable: 44C741863-001 (supplied as a part of α SVU Series Battery Backup Kit IC800ABK001)
Wire: 2-conductor, 0.75mm2 (20 AWG)
Cable GE Fanuc Part No. Connector Manufacturer
Servo Amplifier JA4 ZA02B-0120-K301 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).
Servo Products Specification Guide
I-54 Servo Products Specification Guide – October 2007 GFH-001F
K10—Emergency Stop/Power Enable Cable (α6/3000, α12/3000, α22/2000, α30/3000, α40/2000)
Coil Internal Contact (see contact
ratings below)
External Power Supply (to be matched to the
customer’s contactor coil voltage)
Spark Arrester
CX 3 (bottom of amplifier)
(MCC)
(3)
(1)
User-supplied contactor for amplifier AC supply
αSVU Amplifier
Wire: 2-conductor, 1.25mm2 (16 AWG) or larger
Connector GE Fanuc Part No. Manufacturer
Servo Amplifier CX3 ZA06B-6089-K201 (included with α Series amplifier packages IC800APK080 and IC800 APK130)
AMP Housing: 1-178128-3; Contact: 1-175218-2 (crimp terminal)
Connector viewed from wire insertion end
Contactor Ratings:
Specification of internal contact
Resistor load (cosφ=1)
Inductance load (cosφ=0.4, L/R=7msec)
Rated load 250 VAC, 5A
30VDC, 5A
250 VAC, 2A
30 VDC, 2A
Max. current 5A 5A
1 2 3
Servo Products Specification Guide
Part I: α Series Servo System I-55
K11—Separate Regenerative Discharge Unit Fan Supply Cable (ZA06B-6089-H711 or ZA06B-6089-H713)
T1-24 (FAN1)
α SVU1-130 Amplifier only (see note)
Separate Regenerative Discharge Unit
(A06B-6089-H711 or A06B-6089-H713)
T1-25 (FAN2)
T3 (5)
T3 (6)
M4 screw terminals
NOTE
Only the α SVU1-130 amplifier has separate fan power supply terminals. When using the ZA06B-6089-H713 unit with the α SVU1-80 amplifier, connect the fan power to terminals T1-13 (L1C) and T1-14 (L2C) through a 5A circuit breaker.
Wire: 300 V, 2-conductor, 2.0mm2 (16 AWG) or larger
K12—Motor Brake Power Connection
(customer supplied)
Motor Brake
A
C B
Brake Power Supply
(See Section 2.3)
(Black) (White)
(Green)
Prefinished 14m Cable, Part number: Z44C742238-004 (severe duty) Wire: 330 V, 3-conductor, 20 AWG, 80 °C, PUR (polyurethane) jacket
Connector GE Fanuc Part No. Manufacturer
Servo Motor Brake Z44A730464-G26 AMP 3102A-10SL-3P
C A
B
Connector viewed from solder side
Servo Products Specification Guide
I-56 Servo Products Specification Guide – October 2007 GFH-001F
K13—Cooling Fan Power Connection (α 40/2000)
(customer supplied)
Motor Fan Unit
A
C B
Fan Power 200–240 VAC Single Phase
50/60 Hz
(Black) (White)
(Green)
Prefinished 14m Cable, Part number: Z44C742238-004 (severe duty) Wire: 330 V, 3-conductor, 20 AWG, 80 oC, PUR (polyurethane) jacket
Connector GE Fanuc Part No. Manufacturer
Servo Motor Fan Z44A730464-G26 AMP 3102A-10SL-3P
C A
B
Connector viewed from solder side
Fan Voltage/Current Specifications:
Input voltage
Steady-state current
Surge current
200V Approx. 0.85Arms Approx. 1.60Arms
230V Approx. 0.98Arms Approx. 1.84Arms
Servo Products Specification Guide
Part I: α Series Servo System I-57
Section 8: α SVU Series 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. A built-in, seven-segment LED display indicates 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. Table95HI-23 details the alarm conditions the α SVU Series Servo Amplifier System can detect. Table 96HI-24 shows the LED indication for normal operating mode.
Table I-23. α SVU1 Series servo amplifier alarm system
Alarm Type LED Ind. Description
Over-voltage alarm (HV) 1 Occurs if the DC voltage of the main circuit power supply is abnormally high.
Low control power voltage alarm (LV) 2 Occurs if the control power voltage is abnormally low.
Low DC link voltage alarm (LVDC) 3 Occurs if the DC voltage of the main circuit power supply is abnormally low or if the circuit breaker trips.
Regenerative discharge control circuit failure alarm (DCSW)
4 Occurs if the short-time peak regenerative discharge energy is too high or if the regenerative discharge circuit is abnormal.
Over-regenerative discharge alarm (DCOH)
5 Occurs if the average regenerative discharge energy is too high (too frequent acceleration/deceleration) or the regeneration resistor overheats.
Dynamic brake circuit failure (DBRLY) 7 Occurs if the relay contacts of the dynamic brake fuse together.
Over-current alarm 8 Occurs if an abnormally high current flows through the motor.
IPM alarm 8. The Intelligent Power Module (IPM) has detected an alarm due to over-current, overheating, or a drop in IPM control power voltage.
Circuit breaker (trips) The circuit breaker trips if an abnormally high current (exceeding the working current of the circuit breaker) flows through it.
Table I-24. α SVU1 Series servo amplifier alarm system
Type LED Ind. Description
Amplifier not ready — The servo amplifier is not ready to drive the motor.
Amplifier ready 0 The servo amplifier is ready to drive the motor.
Part II: β Servo System
Servo Products Specification Guide
II-2 Servo Products Specification Guide – October 2007 GFH-001F
Section 9: β Servo System Block Diagram The following block diagram shows the interconnections of a typical β Series servo system:
Figure 2HII-1. β Series servo block diagram
NOTE
A 24 VDC power supply, circuit breaker, electromagnetic contactor, surge suppresser, and transformer or line filter should be user-installed as part of the system. See β Servo System Package Options in 3HSection 12: and β Servo Installation in 4HSection 13:of this document for more information.
• For single phase input, the lifetime of the amplifier is reduced because of higher input current. For operation of β6/2000 or αC12/2000 motors at acceleration/deceleration duty cycles greater than 1 cycle/20 seconds, 3-phase input is recommended. The output power of these motors when operated in ambient temperatures greater than 40°C must be derated linearly at 1%/°C above 40°C up to a maximum ambient temperature of 55°C.
Master Encoder
Position, Velocity, and
Current Loops
(Controller) Command
Signal Connection
Absolute Encoder Battery
Option
Connector
Motor Encoder Feedback Connection
200-240 VAC 1 or 3 Phase*
Discharge Resistor
Amplifier
24 VDC
Motor Power
Connection
Motor
90VDC
M Encoder
Line Filter or Transformer
B r a k e
Required
Servo Products Specification Guide
Part II: β Series Servo System II-3
Section 10: β Series Servo Product Overview
10.1 β Series Motors The β Series servo motors are all digital systems with built-in 32K serial encoders. All β Series motors are available with an optional holding brake. The servo motors must be used with the designated amplifier package and a GE Fanuc motion controller such as the Motion Mate™ DSM 300.
Table 5HII-1 provides a summary of the β Series servo motors. See 6HSection 11:for more detailed motor specifications.
 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 40°C and its drive current as pure sine wave. The current of the servo drive unit limits actual operation.
Figure 7HII-2. β Series motor speed-torque curves
Servo Products Specification Guide
Part II: β Series Servo System II-5
Figure 8HII-3. βM Series motor speed-torque curves
Servo Products Specification Guide
II-6 Servo Products Specification Guide – October 2007 GFH-001F
10.3 β Series Motor Holding Brake Any of the servo motors can be ordered with a holding brake. The 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 motor or severely reduce its service life.
The specifications of the built-in brakes are listed in Table 9HII-2.
 Typical user-supplied brake power supply
NOTE
Use a full-wave rectified 100VAC or 90VDC as a power supply. Do not use a half- wave rectified 200 VAC, which may damage the surge suppressor. Use a rectifier with a dielectric strength of 400V or higher. Connect RC filter as shown in the above drawing to protect the contact of the switch.
Servo Products Specification Guide
II-8 Servo Products Specification Guide – October 2007 GFH-001F
10.4 β Series Servo Amplifiers The following table shows which amplifier model is included in each β Series servo package:
Table II-4. β Series Servo Amplifier Models
Motor Amplifier Model
Amplifier Catalog # Amplifier Package Catalog #
β0.5/3000 β12 ZA06B-6093-H101 IC800BPK012
β2/3000 β12 ZA06B-6093-H101 IC800BPK012
β3/3000 β20 ZA06B-6093-H102 IC800BPK020
β6/2000 β20 ZA06B-6093-H102 IC800BPK020
βM0.5/4000 β20 ZA06B-6093-H102 IC800BPK020
βM1/4000 β20 ZA06B-6093-H102 IC800BPK020
αC12/2000 β20 ZA06B-6093-H102 IC800BPK020
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 II-5. β Series Servo Amplifier Packages
Description Package Contents* Catalog #
12 Amp β Series Amplifier Package
Contains 1 of each of the following: • SVU1-12 Amp (ZA06B-6093-H101) • Fuse (ZA06B-6073-K250) • Connector Kit (ZA06B-6093-K305) • E-Stop Connector (ZA02B-0120-K301) • 100 Watt Discharge Resistor (ZA06B-6093- H402)
IC800BPK012
20 Amp β Series Amplifier Package
Contains 1 of each of the following: • SVU1-20 Amp (ZA06B-6093-H102) • Fuse (ZA06B-6073-K250) • Connector Kit (ZA06B-6093-K305) • E-Stop Connector (ZA02B-0120-K301) • 100 Watt Discharge Resistor (ZA06B-6093- H402)
IC800BPK020
* If required, amplifier package components can be ordered separately.
Servo Products Specification Guide
Part II: β Series Servo System II-9
Section 11: β Series Servo System Specifications The β Series Servo system consists of a motor and its corresponding amplifier. GE Fanuc offers several servo systems, which are identified in Table 11HII-6 below.
Table II-6. Identification of Servo Systems
Servo System
Parameter (Unit) β0.5/3000 β2/3000 β3/3000 β6/2000 βM0.5/4000 βM1/4000 αC12/2000
Motor
Rated output power (kW) 0.2 0.5 0.5 0.9 0.2 0.4 1.0 Rated torque at stall (Nm) * Rated torque at stall (in-lb) * Rated torque at stall (kgf-cm) *
0.6 5.3 6.1
2 17 20
3 26.6 30.5
6 53 60
0.65 5.8 6.61
1.2 10.6 12.20
12 105 122
Rated output speed (RPM) 4000 4000 3000 3000 4000 4000 2000 Rotor inertia (kg m2) Rotor inertia (in-lb-s2) Rotor inertia (kg-cm-s2)
0.00001764 0.00016 0.00018
0.0006566 0.00581 0.0067
0.00019 0.017 0.0019
0.00392 0.0347 0.040
0.00001764 0.00016 0.00018
0.000034 0.00030 0.000347
0.006272 0.0555 0.064
Continuous current at stall A(rms) 2.8 3.2 5.3 5.6 3.0 3.0 5.9 Torque constant (Nm/A [rms]) * Torque constant (in-lb/A [rms]) * Torque constant (kgf-cm/A [rms]) *
0.23 2.0 2.3
0.61 5.4 6.2
0.56 4.9 5.7
1.05 9.3 10.7
0.2 1.77 2.0
0.4 3.54 4.1
2.04 18 20.8
Back EMF constant (V/1000 RPM) * Back EMF constant (Vsec/rad) *
7.9 0.08
21.4 0.20
19.4 0.18
37.0 0.35
7.7 0.08
15.4 0.14
71 0.68
Armature resistance (Ω) * 0.80 1.4 0.5 0.85 0.95 1.55 1.092
Mechanical time constant (s) * 0.0007 0.008 0.009 0.009 0.009 0.008 0.005 Thermal time constant (min) 10 20 40 40 10 15 60 Static friction (Nm) Static friction (in-lb) Static friction (kgf-cm)
0.04 0.35 0.4
0.1 0.89 1.0
0.3 2.7 3.1
0.3 2.7 3.1
0.04 0.35 4.1
0.04 0.35 4.1
0.8 7 8
Maximum allowable current (A [peak]) 19 18 30 30 12.5 12.5 46 Maximum theoretical torque (Nm) ** Maximum theoretical torque (in-lb) ** Maximum theoretical torque (kgf-cm) **
3.4 30 35
11 97 112
7 62 0.69
32 283 321
2.5 22.1 25
5 44.3 50.9
66 584 670
Maximum winding temperature rise (°C) 125 125 125 125 125 125 125
Weight (kg) Weight (lb)
1.0 2.2
3.5 7.2
5 11
8.5 18.7
1 2.2
1.5 3.3
18 39.6
Amplifier
Model β SVU-12 β SVU-12 β SVU- 20
β SVU-20 β SVU-20 β SVU-20 β SVU-20
Rated output current (rms amps) 3.2 3.2 5.9 5.9 5.9 5.9 5.9 Current limit (Peak amps) 12 12 20 20 20 20 20 Heat loss (watts) 17.5 17.5 33.3 33.3 33.3 33.3 33.3 AC Power 200–240 VAC (3-phase), 220–240 VAC (1-phase) 50/60 Hz ± 2 Hz DC Power 24 VDC ± 10% @ 0.4 Amp per amplifier
* 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.
** Theoretical values. The actual maximum torque is restricted by the current limit values of the drive amplifier.
Servo Products Specification Guide
II-10 Servo Products Specification Guide – October 2007 GFH-001F
Section 12: β Servo System Options Designing a servo control system requires that you understand how the electrical and mechanical aspects of your system interact. GE Fanuc application engineers are available to help you determine your servo control system requirements.
Table 12HII-7 will help you select which servo options your system requires: Table II-7. β Servo Package 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 13HII-2 14H10.3
Absolute Encoder Battery Backup Kit
you would like to avoid having to re-reference the position when power is restored to the control
IC800BBK021 15H12.1
AC Line Filters 200—240 VAC is already available to the control cabinet and no transformer is used
5.4 kW, 3-phase: ZA81L-0001-0083#3C 10.5 kW, 3-phase: ZA81L-0001-0101#C
16H14.2
Prefinished Cables the cable lengths available from GE Fanuc are appropriate for your application
Refer to the “Cable Connection” Table 17HII-2218H 19H
20H15.1
Discharge Resistor see “Discharging Regenerative Power” section; The 100 Watt discharge resistor is included in all β Series Amplifier Packages
20 Watt Resistor: ZA06B-6093-H401 100 Watt Resistor: ZA06B-6093-H402
21H14.7
Servo Products Specification Guide
Part II: β Series Servo System II-11
12.1 Absolute Encoder Battery Packs All β Series servo motors 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 (IC800BBK021) for the β Series amplifier must be installed. This pack allows the encoder’s position information to be backed up so that the machine does not need to be re-referenced to a home position every time power is restored to the servo system.
For optimal panel space utilization, a small lithium battery pack is available that snaps onto the underside of the β amplifier. An integral pigtail cable plugs directly into the CX5 connector. One battery is required for each amplifier.
Absolute Encoder Battery Kit (IC800BBK021) contains the following:
Battery (ZA06B-6093-K001)
Battery Holder (ZA06B-6093-K002)
Note: Current drain (per encoder) from battery:
20μA with amplifier power ON
200μA with amplifier power OFF
Connection Method (for use with a single amplifier)
FANUC OUT PUT VOLA GE : 24 0V~
3. 2A
EA 6 6 0 0 0 6 1 A0 6 B - 60 9 3 - H1 0 1
3
1
5
RATED INPUT : 50Hz / 60Hz 220-240~(1-Ph) / 200-240V~(3-Ph)
M A X RAT ED OUT PUT CURRENT
B
4 0 1 -0 5 JA P A NYa m a n a sh i
SERVO AMPLIFIER UNIT
4
6
5.1A / (1-ph) / 2.3A (3-ph)
2
Snap in place on bottom of amplifier Figure II-5. Connecting a single β Series amplifier to an absolute encoder battery pack
CX5
Battery (ZA06B-6093-K001) Battery Holder (ZA06B-6093-K002)
NOTE Do not attempt to connect multiple amplifiers to one IC800BBK021 battery kit. If you wish to daisy chain multiple β Series amplifiers to one battery you must use the IC800ABK001 battery kit and the following cables: • Z44C742433-001, battery to amplifier cable,
2m (one per battery required) • Z44C742433-002, amplifier to amplifier
cable, 250mm (one for each daisy chained amplifier required)
Servo Products Specification Guide
II-12 Servo Products Specification Guide – October 2007 GFH-001F
Section 13: Installation Guidelines This section includes environmental requirements, motor and amplifier dimension drawings and information on ensuring noise protection and selecting a ground fault interrupter.
13.1 Motor Environmental Requirements The servo motor must be installed in a location that satisfies the following environmental conditions: Table II-8. Servo amplifier environmental conditions
Condition Description
Ambient temperature The ambient temperature should be -10°C to 40°C. When operating the machine at a temperature higher than 40°C), it is necessary to derate the output power so that the motor’s temperature rating is not exceeded.
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.
13.2 Servo Amplifier Environmental Requirements The servo amplifier must be installed in a location that satisfies the environmental conditions identified in Table 23HII-9 below.
Table II-9. 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 30% to 95% RH (no condensation). 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.
Servo Products Specification Guide
Part II: β Series Servo System II-13
To adequately protect the amplifier, you must ensure that:
Contaminants such as dust and coolant, 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.
13.3 β Servo Amplifier heat dissipation and maintenance The amplifier contains 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.
βSVU-12 Maintenance Clearances βSVU-20 Maintenance Clearances
0V/ +24V
FANUC OUTPUT VOLAGE : 240V~
3.2A
E A6 6 0 0 0 6 1 A0 6 B - 6 0 9 3 - H 1 0 1
BAT
CAUTION: DISCHARGE TIME
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 NYa m a n a s h i
SERVO AMPLIFIER UNIT
/
0V/ +24V
4
6
5.1A / (1-ph) / 2.3A (3-ph)
2
0V/ +24V
FANUC OUTPUT VOLAGE : 240V~
3.2A
E A6 6 0 0 0 6 1 A0 6 B - 6 0 9 3 - H 1 0 1
BAT
CAUTION: DISCHARGE TIME
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 NYa m a n a s h i
SERVO AMPLIFIER UNIT
/
0V/ +24V
4
6
5.1A / (1-ph) / 2.3A (3-ph)
2
1 0
10 10
40
40 (.39) (.39) (.39)
(1.57)
(1.57)
0V/ +24V
FANUC OUTPUT VOLAGE : 240V~
3.2A
EA66 000 6 1 A06B - 6093 - H101
BA T
CAUTION:DISCHARGETIME 2 min.
POWER
READY
ALM
CAUTION CHARGED
JX5 CHK
JS1B PWM
JF1 ENC
3
1
5
CX5X BA T
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)
MAX
RATED OUTPUT CURRENT
B
401-05 JAPANYa ma nas hi
SERVO AMPLIFIER UNIT
/
0V/ +24V 4
6
5.1A / (1-ph) / 2.3A (3-ph)
2
10 10 10
40
40
0V/ +24V
FANUC OUTPUT VOLAGE : 240V~
3.2A
EA66 000 61 A06B - 6093 - H101
CAUTION:DISCHARGETIME 2 min.
POWER
READY
ALM
CAUTION CHARGED
JX5 CHK
JS1B PWM
JF1 ENC
3
1
5
CX5X BAT
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)
MAX
RATED OUTPUT CURRENT
B
401-05 JAPANY a mana s hi
SERVO AMPLIFIER UNIT
/
0V/ +24V 4
6
5.1A / (1-ph) / 2.3A (3-ph)
2
B AT CX5Y
(.39) (.39) (.39)
(1.57)
(1.57)
Figure 24HII-6. β Series amplifier maintenance clearances