FANUC Servo Product Cincinnati
FANUC Servo Product Cincinnati
FANUC Servo Product Cincinnati
October 2004
GFL-002
Caution
Caution notices are used where equipment might be damaged if care is not
taken.
Note:
This document is based on information available at the time of its publication. While
efforts have been made to be accurate, the information contained herein does not
purport to cover all details or variations in hardware or software, nor to provide for
every possible contingency in connection with installation, operation, or maintenance.
Features may be described herein which are not present in all hardware and software
systems. GE Fanuc Automation assumes no obligation of notice to holders of this
document with respect to changes subsequently made.
GE Fanuc Automation makes no representation or warranty, expressed, implied, or
statutory with respect to, and assumes no responsibility for the accuracy,
completeness, sufficiency, or usefulness of the information contained herein. No
warranties of merchantability or fitness for purpose shall apply.
The following are trademarks of GE Fanuc Automation North America, Inc.
Alarm Master
CIMPLICITY
CIMSTAR
Field Control
GEnet
Genius
Helpmate
Logicmaster
Modelmaster
Motion Mate
PACSystems
PowerMotion
PowerTRAC
ProLoop
PROMACRO
Series Five
Series 90
Series One
Series Six
Series Three
VersaMax
VersaPoint
VersaPro
VuMaster
Workmaster
Contents
Introduction .................................................................................. Introduction-1
Part I: Servo System ..................................................................................... I-1
GE Fanuc
Motion Solutions
Series Servo
Introduction
Reliability
The and Series Servo systems offer high
reliability and performance. In addition, highspeed serial encoders and high efficiency
Integrated Power Modules further enhance the
performance of the servo systems.
The servo systems digital control loops
(current, velocity, and position) are closed in the
controller. This feature reduces setup time and
delivers significant performance gains even in
the most challenging applications.
Features
and Amplifiers
IEC Standards
UL/CUL on Series
Introduction-1
Introduction-2
Part I:
Servo
System
I-2
(Controller)
Line Filter or
Transformer
Command
Signal
Connection
Position,
Velocity, and
Current Loops
Series
Amplifier
Required
Option
Discharge
Resistor
Connector
Motor
Power
Connection
Motor
M
B
r
a
k
e
Encoder
90VDC
Absolute
Encoder
Battery
NOTE
The 200240 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 E-stop removal of main bus power, remove the jumper links
and connect the separate control power.
I-3
Motor
Rated Torque
Power
Rating
Required
Amplifier Kit
6/3000
6 Nm (53 in-lbs)
continuous stall
torque; 3000 RPM
(max)
1.4 kW
80 Amp
(IC800APK080)
Motor Catalog #
Motor Only: A06B-0128-B575#7008
w/ IP67 Sealing: A06B-0128-B575#7076
w/ Brake: A06B-0128-B675#7008
w/ IP67 Sealing & Brake: A06B-0128-B675#7076
12/3000
12 Nm (106 in-lbs)
continuous stall
torque; 3000 RPM
(max)
2.8 kW
80 Amp
(IC800APK080)
22/2000
22 Nm (195 in-lbs)
continuous stall
torque; 2000 RPM
(max)
3.7 kW
80 Amp
(IC800APK080)
30/3000
30 Nm (265 in-lbs)
continuous stall
torque; 3000 RPM
(max)
5.2 kW
130 Amp
(IC800APK130)
40/2000
w/ fan
package
I-4
40 Nm (494 in-lbs)
continuous stall
torque; 2000 RPM
(max)
7.2 kW
130 Amp
(IC800APK130)
6/3000
12/3000
40
30
35
25
30
20
Torque
(Nm)
15
Torque
(Nm)
25
20
10
15
10
1000
2000
3000
5
0
0
4000
Speed (RPM)
1000
2000
3000
Speed (RPM)
22/2000
30/3000
90
80
80
70
60
60
50
40
Torque
(Nm)
Torque
(Nm)
20
0
0
40
30
20
1000
2000
3000
Speed (RPM)
10
0
0
1000
2000
3000
Speed (RPM)
40/2000
150
125
= Continuous operating
100
75
Torque
(Nm)
50
25
0
0
500
1000
1500
2000
Speed (RPM)
I-5
6/3000
12/2000
22/2000
30/3000
40/2000
71 in-lb
8 Nm
82 kgf-cm
310 in-lb
35 Nm
357 kgf-cm
310 in-lb
35 Nm
357 kgf-cm
310 in-lb
35 Nm
357 kgf-cm
310 in-lb
35 Nm
357 kgf-cm
Release Response
Time
80 msec
150 msec
150 msec
150 msec
150 msec
Brake Response
Time
40 msec
20 msec
20 msec
20 msec
20 msec
90 VDC (10%)
0.4 A or less
90 VDC (10%)
0.6 A or less
90 VDC (10%)
0.6 A or less
90 VDC (10%)
0.6 A or less
90 VDC (10%)
0.6 A or less
Weight Increase
Approx. 5 lb
Approx. 2.3 kg
Approx. 13.8 lb
Approx. 6.3 kg
Approx. 13.8 lb
Approx. 6.3 kg
Approx. 13.8 lb
Approx. 6.3 kg
Approx. 22 lb
Approx. 10 kg
Inertia Increase
0.00061 in-lb-s2
0.00007 kg m2
0.0007 kgf-cm-s2
0.0052 in-lb-s2
0.0006 kg m2
0.006 kgf-cm-s2
0.0052 in-lb-s2
0.0006 kg m2
0.006 kgf-cm-s2
0.0052 in-lb-s2
0.0006 kg m2
0.006 kgf-cm-s2
0.0087 in-lb-s2
0.0010 kg m2
0.010 kgf-cm-s2
A
B
500/0.2F
100VAC
Full-Wave Rectifier
Brake Power Supply
Surge Suppressor
Brake
Coil
B
C
Ground
Motor Frame
I-6
Motor
Amplifier Model
Amplifier Catalog #
6/3000
SVU1-80
A06B-6089-H105
IC800APK080
12/3000
SVU1-80
A06B-6089-H105
IC800APK080
22/2000
SVU1-80
A06B-6089-H105
IC800APK080
30/3000
SVU1-130
A06B-6089-H106
IC800APK130
40/2000
SVU1-130
A06B-6089-H106
IC800APK130
Description
Package Contents*
Catalog #
80 Amp
Series Amplifier
Package
IC800APK080
130 Amp
Series Amplifier
Package
IC800APK130
I-7
6/3000
Parameter (Unit)
12/3000
22/2000
30/3000
40/2000
(w/fan)
MOTOR
Rated output power (kW)
1.4
2.8
3.8
4.8
7.3
6.0
12
22
30
56
53
106
195
265
495
61
122
225
306
571
4000
3000
2000
3000
2000
0.002646
0.006272
0.01176
0.01666
0.02254
0.02343
0.0555
0.1041
0.1475
0.1996
0.027
0.064
0.12
0.17
0.23
10.0
15.5
18.7
33.7
40.1
0.60
0.77
1.17
0.89
1.40
5.3
6.8
10.4
7.9
12.4
6.1
7.9
12.0
9.1
14.3
21
27
41
31
49
0.20
0.26
0.39
0.30
0.47
Armature resistance () *
0.18
0.17
0.140
0.046
0.080
0.004
0.005
0.004
0.003
0.003
50
60
65
70
30
0.3
0.8
1.2
1.8
1.8
2.7
7.1
10.6
15.9
15.9
12
18
18
132
120
160
320
270
56
66
130
200
270
496
584
1150
1770
2390
571
670
1400
2100
2800
Weight (kg)
13
18
29
41
55
Weight (lb)
28.6
39.6
63.8
90.2
121
AMPLIFIER
Amplifier model
SVU1-80
SVU1-80
SVU1-80
SVU1-130
SVU1-130
18.7
18.7
18.7
52.2
52.2
80
80
80
130
130
37.7
47.3
54
70.9
80.7
0.13
0.13
0.13
0.26
0.26
Weight (kg)
4.9
4.9
4.9
9.9
9.9
Weight (lb)
10.8
10.8
10.8
21.8
21.8
These values are standard values at 20C 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.
*
I-8
Catalog #
Section #
Motor Holding
Brake
2.3
IP67 Sealing
4.1
IC800ABK001
4.2
6.2
Absolute Encoder
Battery Packs
AC Line Filters
7.2
6.6
I-9
Protected from harmful damage due to water jets, according to the following test:
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 345; 1991 and the GE Fanuc document Servo and Spindle
Motors Exposed to Liquids (GFK-1046).
I-10
One kit provides battery backup for up to four absolute encoders. A two-meter-long cable
(44C741863-001) 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:
A
BC
78
(3.07)
93
(3.66)
103
(4.06)
92.2
(3.630)
106.3
(4.185)
40
(1.57)
78
(3.07)
103
(4.06)
A
B
C
D
E
Note:
I-11
Description
Ambient temperature
The ambient temperature should be -10C to 40C. When operating the machine at a
temperature higher than 40C (55C max), it is necessary to derate the output power
so that the motors temperature rating is not exceeded.
Vibration
When installed in a machine, the vibration applied to the motor must not exceed 5G.
Altitude
Drip-Proof Environment
The motors have a drip-proof structure that complies with IP65 of the IEC standard.
Optional IP67 Sealing, available on most 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.
Description
0C to 55C (operating).
-20C to 60C (storage and transportation).
Temperature fluctuation
Within 1.1C/min.
Humidity
Altitude
Vibration
Atmosphere
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.
I-12
Amplifier Model
Total
Dissipation
Dissipation Inside
Cabinet
6/3000
SVU1-80
73 W
38 W
12/3000
SVU1-80
106 W
47 W
22/2000
SVU1-80
127 W
54 W
30/3000
SVU1-130
228 W
71 W
40/2000 w/ Fan
SVU1-130
276 W
81 W
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.
I-13
BBmax
BDmax
XD
AK
BF
92 97
(3.62) (3.82)
AJ
AH
12 (.472)
1
130
(5.118)
2
L
MOTOR
6/3000
Dim.
6/3000
BB
6 mm (.236 in)
XD
36 (1.417)
Dim.
S
H
+0
+0
BD
165 (6.496)
AJ (dia)
145 (5.709)
BF (dia)
9 (0.354)
Connector
MOTOR
Description
AK
U
+0
19 0.013 (0.7480/0.7475)
BC
150.5 (0.610/0.571)
AH
55 (2.165)
176 (6.93)
221 (8.70)
259 (10.20)
NOTES
1.
2.
3.
4.
5.
See the Connection section (0) for more information about motor cables.
Shaft diameter runout = 0.02 mm max (0.00079 in).
Flange surface runout = 0.06 mm max (0.00236 in).
Rabbet diameter eccentricity = 0.02 mm max (0.00079 in).
Maximum radial load for output shaft is 70 kgf (31.8 lb).
I-14
BC
BBmax
XD
AK
92
U
(0.3622)
92
97
(3.62) (3.82)
4 (.157)
12 (.472)
AH
39
(1.54)
B
L
Connector
MOTOR
Description
Dim.
6/3000 w/ brake
BB
6 mm (0.236 in)
XD
36 (1.917)
Brake Connector
AK
U
+0
19 0.013 (0.7480/0.7475)
BC
221 (8.70)
AH
55 (2.165)
225 (8.858)
270 (10.63)
309 (12.17)
NOTES
1.
2.
3.
4.
5.
I-15
BF
AJ
174
(6.85)
MOTOR
12/2000
22/2000
30/3000
Dim.
S
H
+0
+0
+0
+0
+0
+0
3 0.30 (0.1181/0.1063)
3 0.30 (0.1181/0.1063)
3 0.30 (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 Section 0 for side view and Section 0 for side view with brake)
1.
2.
3.
4.
5.
6.
See the Connection section (Section 7.2) for more information about motor cables.
Shaft diameter runout = 0.05 mm max (0.00197 in).
Flange surface runout = 0.10 mm max (0.00394 in).
Rabbet diameter eccentricity = 0.07 mm (0.00276 in).
Maximum radial load for output shaft is 450 kgf (204 lb).
Taps for eyebolts are M8 by 15 mm (.591 in) deep; eyebolts are not attached.
I-16
20 (0.787)
BBmax
XD
AK U
108 122
(4.25) (4.80)
18
(0.709)
AH
2
L
MOTOR
Dimen.
12/2000
22/2000
30/3000
BB
XD
70 (2.756)
70 (2.756)
70 (2.756)
AK
U
AH
+0
35 0
(1.3784/1.3779)
+0
35 0
(1.3784/1.3779)
+0
35 0
(1.3784/1.3779)
79 (3.11)
79 (3.11)
79 (3.11)
166 (6.535)
240 (9.449)
314 (12.362)
215 (8.465)
289 (11.378)
363 (14.291)
240 (9.45)
314 (12.36)
388 (15.28)
Connector
Description
I-17
20 (0.787)
BBmax
XD
Dimensions shown
in mm (in)
AK U
108 122
(4.25) (4.80)
111
(4.37)
18
(0.709)
AH
B
L
MOTOR
Dimension
BB
12/2000 w/brake
22/2000 w/brake
30/3000 w/brake
70 (2.756)
70 (2.756)
70 (2.756)
XD
AK
U
+0
35 0
(1.3784/1.3779)
+0
35 0
(1.3784/1.3779)
+0
35 0
(1.3784/1.3779)
AH
79 (3.11)
79 (3.11)
79 (3.11)
238 (9.37)
312 (12.28)
386 (15.20)
287 (11.30)
361 (14.21)
435 (17.13)
312 (12.28)
386 (15.20)
460 (18.11)
Connector
Description
Brake Connector
Figure I-9. 12/3000, 22/2000, and 30/3000 motors with brake, side view
I-18
52
(2.047)
BF
100
(3.94)
FANUC
Dimensions shown
in mm (in)
AJ
150
(5.91)
180
(7.09)
AIR OUT
174
(6.85)
MOTOR
Dim.
40/2000 w/fan
3 0.30 (0.1181/0.1063)
BF
(dia.)
AJ (dia.)
+0
+0
NOTES FOR ALL VIEWS (see Sections 0 and 0 for top and side views)
1.
2.
3.
4.
5.
6.
7.
I-19
35 (1.38)
180
(7.09)
Dimensions shown
in mm (in)
388
(15.28)
20 (.787)
BBmax
XD
AK U
108
(4.25) 122
(4.80)
109
(4.29)
AH
18 (0.709)
3
AIR OUT
388 (15.28)
437 (17.20)
462 (18.19)
MOTOR
Connector
Dim.
40/2000 w/fan
BB
XD
70 (2.756)
Fan Connector
AK
U
AH
Description
+0
35 0
(1.3784/1.3779)
79 (3.11)
Figure I-11. 40/2000 motor with fan, top and side views
I-20
325
(12.80)
122
(4.8)
180
(7.09)
Dimensions shown
in mm (in)
474
(18.66)
20 (.787)
BBmax
XD
AK U
108 122
(4.25) (4.80)
AH
18 (0.709)
65
(2.56)
AIR OUT
474 (18.66)
523 (20.59)
548 (21.57)
MOTOR
Connector
Dim.
40/2000 w/fan
BB
XD
70 (2.756)
Brake Connector
Fan Connector
AK
U
AH
+0
114.3 0.025
+0.01
35 0
(4.50/4.499)
Description
(1.3784/1.3779)
79 (3.11)
Figure I-12. 40/2000 motor with fan and brake, top and side views
I-21
Radial Load
Axial Load
Front Bearing
Type
6/3000
70 kg (31.8 lb)
20 kg (9.1 lb)
6205
12/3000, 22/2000,
30/3000, 40/2000 w/ fan
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 6/3000 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.
I-22
SVU1-130
150
(5.91)
90 max.
(3.54)
380
(14.96)
FANUC
AC SERVO UNIT
series
45
(1.77)
FANUC
360
(14.17)
AC SERVO UNIT
series
75
(2.95)
380
(14.96)
360
(14.17)
I-23
A min
C max
MAINTENANCE AREA
Dim.
SVU1-80
SVU1-130
165 (6.50)
175 (6.89)
120 (4.72)
130 (5.12)
50
(1.97)
FAN
(SVU1-130
ONLY)
AIR IN
8 (0.315)
MAINTENANCE AREA
80
(3.15)
NOTE
The SVU Series amplifiers and regenerative discharge units have rear
heat sink extensions designed to protrude through the customers control
cabinet. This design allows the amplifiers 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.
I-24
SVU1-130
11
(0.433)
2-M5 (0.196)
11
(0.433)
2-M8 (0.315)
R4 max.
(0.157)
R4 max.
(0.157)
360
338 (14.17)
(13.31)
360
338 (14.17)
(13.31)
38.0
(1.50)
68.0
(2.68)
76.0
(2.99)
136
(5.35)
Dimensions shown in mm (in)
Figure I-15. Panel cut out drawings of SVU1-80 and SVU1-130 servo amplifiers
I-25
ON
OFF
4
3
2
1
ON
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 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 SVU1 Series amplifiers
SVU1-80
Regen. Discharge Unit
SVU1-130
SW3
SW4
SW3
SW4
Built-in (100 W)
ON
ON
Built-in (400 W)
ON
ON
ON
OFF
ON
OFF
OFF
OFF
I-26
Signal
Action
* 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.
GE
CNCFanuc
control
Motion
unit
Controller
Operator's
panel
Power
magnetics cabinet
Distribution board
Main
unit
Signal ground
Frame ground
System ground
I-27
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.
Cable
Grounding
Bar
40 (1.57)
to
80 (3.15)
Cable
Grounding
Clamp
I-28
GE Fanuc
Motion Controller
I-29
6.1
A circuit breaker, electromagnetic contactor and AC line filter or transformer should be installed as part of
your 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.
6/3000
1.4 kW
12/3000
2.8 kW
22/2000
3.8 kW
30/3000
4.8 kW
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 two AC line filters from GE Fanuc:
I-30
5.4 kW
10.5 kW
24A
44A
5.4kW
10.5kW
Heat dissipation
20W
70W
Weight
Catalog Number
(A81L-0001-0083#3C)
(A81L-0001-0101#C)
50
A
(1.97)
56
B
(2.20)
60
C
(2.36)
6-M4Dx 0.7
Deep
E
30
(1.18)
F
30
(1.18)
G
5
(.197)
73.6
H
(2.89)
95
I
(3.74)
110
J
(4.33)
Dim.
5.4 kW
10.5 kW
50 mm (1.97in)
65 (2.56)
56 (2.20)
76 (2.99)
60 (2.36)
80 (3.15)
6-M5
30 (1.18)
35 (1.38)
30 (1.18)
35 (1.38)
5 (.197)
5.5 (.217)
73.6 (2.89)
98.5 (3.86)
95 (3.74)
114 (4.49)
110 (4.33)
126 (4.96)
35 (1.38)
63 (2.48)
1.6 (.062)
2 (.079)
78.5 (3.09)
113 (4.45)
1.6 (.062)
2 (.079)
35
K
(1.38)
1.6
L
(.062)
78.5
M
(3.09)
1.6
N
(.062)
I-31
Input Current
3-phase*
6/3000
6 A (rms)
12/3000
11 A (rms)
22/2000
15 A (rms)
30/3000
21 A (rms)
40/2000
29 A (rms)
NOTE
When multiple amplifiers are connected to a single circuit
breaker, select a breaker by multiplying the sum of the
currents listed in Table I-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.
*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.
I-32
6.5
Incoming AC Power
The 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
Frequency
50 Hz, 60Hz 2 Hz
7% or less
SVU1-80
150 mA
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 I-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
6/3000
2.2 kVA
6A
12/3000
4.3 kVA
11 A
22/2000
5.9 kVA
15 A
30/3000
8.2 kVA
21 A
11.3 kVA
29 A
I-33
6.6
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 Series amplifier.
The 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 SVU Series amplifiers:
Calculations to determine if a separate regenerative discharge unit is required are shown in Section 0.
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 Section 0. Connections for cables K7 and K8 are shown on p. 52 of this document.
Average
Amount of
Regenerative
Discharge (W)
I-34
Power
Consumed
through Axis
Friction (P2)
(STEP 2)
Vertical Power
Released During
Downward
Motion (P3)
(STEP 3)
where:
F
Deceleration duty
(sec)
(lb-in-s )
JL
(lb-in-s )
(rpm)
(5.91x10 3 ) t a m TL / F Watts
where:
m
(rpm)
ta
(sec)
TL
(in-lb)
Deceleration duty
(sec)
(1.182 x10 2 ) Th m
D
Watts
100
where:
m
(rpm)
Th
(sec)
(%)
I-35
SVU1-80
100 watts
SVU1-130
400 watts
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 I-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
SVU1-80
16 , 200 W
A06B-6089-H500
400 W*
600 W*
SVU1-130
8 , 800 W
A06B-6089-H711
800 W
SVU1-80
16 , 800 W
A06B-6089-H713
800 W
*GE Fanuc does not supply a cooling fan for this unit. These values are supplied for reference only (customersupplied fan).
EXAMPLE:
Assume a vertical axis using an 12/3000 motor (Jm = 0.0555 lb-in-s ) that decelerates once every 4
seconds (F = 4) for 0.10 seconds (ta) from a maximum speed of 2500 rpm (m). The machine load inertia
2
reflected to the motor shaft (JL) is 0.05 lb-in-s . 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.
2
STEP 1:
P1 = Rotational Power
-4
STEP 2:
P2 = Friction Power
-3
STEP 3:
P3 = Vertical Power
I-36
-2
20
= 472.8 Watts
100
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 SVU1-80 amplifier used with this motor,
a separate regenerative discharge unit is required. The A06B-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 A06B-6089-H500 unit could also be used.
I-37
AIR FLOW
380
(14.96)
360
(14.17)
+ +
Terminal board
screws: M4x4
45
(1.77)
+ +
1.6 (0.063)
90
(3.54)
Figure I-21. 200 W Regenerative discharge unit (A06B-6089-H500), front, side, and end views
I-38
380
360 (14.96)
334 (14.17)
(13.15)
335
(13.19)
T3
Fan Motor
110
(4.33)
22 (0.866)
AIR IN
130
(5.12)
5 (0.197) min.
8 (.315)
150
(5.91)
75
(2.95)
11 (0.433)
CAUTION
T3
Screw M4X8L
9 (0.354)
+ + + + + +
1
Figure I- 22. 800 W Regenerative discharge unit (A06B-6089-H711, A06B-6089-H713), front, side, and end views and T3
terminal detail
I-39
11
(0.433)
2-M5 (0.196)
2-M6 (0.236)
4-R4.0 max.
360
338 (14.17)
(13.31)
4-R4.0 max.
360
338 (14.17)
(13.31)
38.0
(1.50)
76.0
(2.99)
Dimensions shown in mm (in)
136
(5.35)
68.0
(2.68)
Packing location
shown by cross
hatching (See Caution)
CAUTION:
Attach packing (acrylonitrile-butadiene
rubber or soft NBR) around the cutout to
keep out oil and dust.
I-40
SVU1-130
(A06B-6089-H106)
T1
T1
13 L1C
2
L1
L2
L1
L2
L3
14 L2C
15 TH1
13 L1C
4
L3
16 (100A)
14 L2C
5 (100A)
17 (100B)
5 (100A)
15 TH1
6 (100B)
18 RL2
6 (100B)
16 TH2
7 RL2
19 RL3
U
20
[UM]
V
21
[VM]
7 RL1
17 RC
8 RL3
8 RL2
18
U
[UM]
V
10
[VM]
W
22
[WM]
W
11
[WM]
23
12
RI
9
10
19 RE
24
FAN
1
FAN
25
2
11 W
12
NOTE
5 and 6 on terminal board T1 are not used with the SVU1 Series.
I-41
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 I-25.
Connector Description
JS1B
N/A
K1 cable
JF1
N/A
K2 cable
JA4
N/A
K9 cable
CX3
pin 1
pin 3
K10 cable
CX4
pin 2; ESP
pin 3; 24V
K5 cable
3 3
2 2
1 1
4
Connector
Label
Remarks
See
Section
7.4
Description
44A730464-G18
44A730464-G20
44A730464-G21
A06B-6050-K115
44A730464-G24
44A730464-G26
I-42
1
2
Ref.
Connects
Connection Type
When Required
K1
IC800CBL001 (1m)
IC800CBL002 (3m)
Servo Command
Signal
always
K1
IC800CBL003 (2m)
Servo Command
Signal
always
K2
CF3A-2MPB-0140-AZ
Motor Encoder
Feedback
always
K3
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.)
Motor Power
always
K5
N/A
Emergency Stop
always
K6
N/A
Amplifier Control
Power
always
K7
Amplifier to Regenerative
Discharge Unit
N/A
Separate
Regenerative
Discharge Unit
in some cases1
K8
N/A
Separate
Regenerative
Discharge Unit
in some cases1
K9
44C741863-001
Absolute Encoder
Battery
with battery
option2
K10
N/A
Emergency
Stop/Power Enable
controldependent;
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
44C742238-004 (14m)
K13
44C742238-004 (14m)
I-43
K9
Battery
(Option)
JA4
K1
GE Fanuc Motion
Controller
JS1B
200240 VAC
JF1
Emergency Stop
CX3
U (UM) 9
13 L1C
V (VM) 10
14 L2C
W (WM) 11
Breaker
R
K4
12
2 L1
AC
Line
Filter
SB
K5
CX4
SVU1
Amplifier
3 L2
K3
Series Motor
4 L3
K12
MCC
PE
5A
Circuit
Breaker
RC
RI
17
18
19
15
K7
16
24
25
K11
K8
(SVU1-130)
90VDC Brake
Power Supply (only
for motors with
optional brake)
Motor Fan
only)
40/2000 motor
B (
K11 (SVU1-80)
Thermos
Fan
Separate Regenerative
Discharge Resistor
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 SVU 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 SVU1-130 (A06B-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 A06B-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.
I-44
PWMA (ALM1)
0V
PWMC (ALM2)
0V
PWME (ALM4)
0V
13
ENBL (ALM8)
(3)
(4)
(5)
(6)
(7)
(8)
(13)
14
0V
(14)
IR
(1)
GDR
(2)
11
IS
(11)
12
GDS
(12)
19
0V
(19)
20
0V
(20)
DRDY
(9)
10
MCON
(10)
15
PD
(15)
16
PD
(16)
17
PREQ
(17)
18
PREQ
(18)
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 (44B295864-001)
and cable grounding clamp (A99L-0035-0001) will provide greater noise
immunity.
Wire: 0.08mm twisted pair group shielded cable (10 pairs). The following wire is recommended for
the K1 cable: 28 AWG x 10 pairs (20 conductors).
I-45
Cable (K1)
DSM300 Controller
to Servo Amplifier
(JS1B)
IC800CBL001 (1 meter)
GE Fanuc controller
other than DSM302
to Servo Amplifier
(JS1B)
IC800CBL003 (2 meter)
IC800CBL002 (3 meter)
Connector Manufacturer
Cable must be purchased from GE Fanuc
(connectors not sold separately)*
Hirose Electric Co., Ltd.
3
5
4
2
11
13
12
6
15
14
8
17
16
10
19
18
20
2
3
1
12
6
5
14
13
8
7
16
15
10
9
18
17
20
19
11
I-46
JF11
SD
(A)
JF12
SD
(D)
JF15
REQ
(F)
JF16
REQ
(G)
JF118, 20
+5V
(J, K)
JF112, 14
0V
(N, T)
JF116
0VA
(S)
JF17
+6VA
(R)
Shield
(H)
SVU Amplifier
Motor Encoder
Wire: for +5V, 0V use two parallel conductors of 0.5mm (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
2
2
use 0.5mm (20 AWG) or larger; for SD, *SD, REQ, *REQ use 0.18mm (24 AWG) or larger twisted
pair with 60% braid shield.
Connector
Servo Amplifier
(JF1)
Manufacturer
Hirose Electric Co., Ltd. (F140-2015S) [connector
cover: FI-20-CV]
1
2
12
4
14
7
6
16
9
8
18
10
20
44A730464-G38
(CE EXT GND pin
type)
Alpha 6
A06B-6050-K115
M
L
B
C
N
T
K
S
J
H
D
E
I-47
(L1)
T1-2
(L2)
T1-3
(L3)
T1-4
R
AC Line
Filter
Breaker
T1-1
SVU Amplifier
For SVU1-80, use 600 V, 4-conductors (JIS C 3312) of 3.5mm (12 AWG) or larger, heat-resistive
2
vinyl cable (nonflammable polyflex cable with a max. conductor temperature of 105 C) of 3.5mm (12
AWG) or more.
For SVU1-130, use 600 V, 4-conductors (JIS C 3312) of 5.5mm (10 AWG) or larger.
T1-10 (V)
T1-11 (W)
G (Motor Body)
T1-12 (
Motor
Motor
SVU Amplifier
Connector
Part No.
Servo Amplifier
T1 Terminal Board
N/A
Servo Motor
44A730464-G20
(CE EXT GND pin)
I-48
Maker
N/A
T1-10 (V)
T1-11 (W)
G (Motor Body)
T1-12 (
Motor
Motor
SVU Amplifier
Connector
Part No.
Maker
Servo Amplifier
T1 Terminal Board
N/A
Servo Motor
44A730464-G20
I-49
(Black)
(Red)
(Blue)
(Orange)
C
D
E
F
(Yellow)
(Brown)
(Green)
U
V
Motor
W
G (Motor Body)
Motor
SVU Amplifier
Connector
Part No.
Maker
Servo Amplifier
T1 Terminal Board
N/A
Servo Motor
44A730464-G21
(CE EXT GND
pin)
I-50
NOTE
(3)
ESP
(2)
(1)
SVU Amplifier
Connector
A06B-0120-K321
(included with
amplifier packages)
Manufacturer
AMP Housing: 1-178128-3; Contact: 1-175218-2
(crimp terminal)
1
(L1C) T1-13
200240 VAC
Control Power
(L2C) T1-14
M4 screw terminals on
front of amplifier
SVU Amplifier
I-51
T1-17 (RC)
T1-18 (RI)
(Caution)
T3 (2)
Separate Regenerative
Discharge Unit
T1-19 (RE)
SVU Amplifier
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).
T1-15 (TH1)
T3 (4)
T1-16 (TH2)
SVU Amplifier
M4 screw terminals
normally closed
thermal switch
Separate Regenerative
Discharge Unit
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.
I-52
JA4 (7)
+6V (+)
(Black)
JA4 (3)
0V ()
M3 screw terminals
SVU Amplifier
Battery Unit
Prefinished 2m Cable: 44C741863-001 (supplied as a part of SVU Series Battery Backup Kit
IC800ABK001)
Cable
Servo Amplifier JA4
Connector Manufacturer
Hirose Electric Co., Ltd.
1
2
11
4
13
12
6
15
14
8
17
16
10
19
18
20
4
3
6
5
14
12
13
8
7
16
15
10
9
18
17
20
19
11
I-53
Spark Arrester
(1)
External Power Supply
(to be matched to the
customers contactor coil voltage)
(MCC)
User-supplied contactor for
amplifier AC supply
Internal Contact
(see contact
ratings below)
SVU Amplifier
Connector
A06B-6089-K201
(included with
Series amplifier
packages
IC800APK080 and
IC800 APK130)
Manufacturer
AMP Housing: 1-178128-3; Contact: 1-175218-2
(crimp terminal)
1
Contactor Ratings:
Specification of
internal contact
Rated load
Max. current
I-54
Resistor load
(cos=1)
Inductance load
(cos=0.4, L/R=7msec)
250 VAC, 5A
250 VAC, 2A
30VDC, 5A
30 VDC, 2A
5A
5A
T1-24 (FAN1)
T3 (6)
T1-25 (FAN2)
Separate Regenerative
Discharge Unit
(A06B-6089-H711 or
A06B-6089-H713)
NOTE
Only the SVU1-130 amplifier has separate fan power supply terminals.
When using the A06B-6089-H713 unit with the SVU1-80 amplifier,
connect the fan power to terminals T1-13 (L1C) and T1-14 (L2C) through
a 5A circuit breaker.
Brake Power
Supply
(See Section 2.3)
(White)
(Green)
C
Motor Brake
(customer supplied)
Connector
Servo Motor Brake
Manufacturer
AMP 3102A-10SL-3P
C
A
B
I-55
Fan Power
200240 VAC
Single Phase
50/60 Hz
(White)
(Green)
C
Motor Fan Unit
(customer supplied)
Connector
Servo Motor Fan
Manufacturer
AMP 3102A-10SL-3P
C
A
B
Steady-state
current
Surge current
200V
Approx. 0.85Arms
Approx. 1.60Arms
230V
Approx. 0.98Arms
Approx. 1.84Arms
I-56
LED Ind.
Description
Over-current alarm
IPM alarm
Circuit breaker
(trips)
LED Ind.
Description
Amplifier ready
I-57
Part II:
Servo
System
II-2
24 VDC
200-240 VAC
1 or 3 Phase*
(Controller)
Line Filter or
Transformer
Command
Signal
Connection
Position,
Velocity, and
Current Loops
Required
Discharge
Resistor
Option
Connector
Motor
Power
Connection
Motor
M
Amplifier
B
r
a
k
e
Encoder
90VDC
Absolute
Encoder
Battery
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 Servo System Package Options in Section 12: and
Servo Installation in Section 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 6/2000 or C12/2000 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 40C must be derated linearly at 1%/C above
40C up to a maximum ambient temperature of 55C.
II-3
Motor
Rated Torque
Power
Rating
Required
Amplifier Kit
0.5/3000
0.2 kW
12 Amp
(IC800BPK012)
2 Nm (17 in-lbs)
continuous stall
torque; 3000 RPM
0.5 kW
12 Amp
(IC800BPK012)
6 Nm (53 in-lbs)
continuous stall
torque; 2000 RPM
0.9 kW
20 Amp
(IC800BPK020)
12 Nm (106 in-lbs)
continuous stall
torque; 2000 RPM
1.0 kW
20 Amp
(IC800BPK020)
2/3000
6/2000
C12/2000
II-4
Motor Catalog #
0.5/3000
Torque
(Nm)
2/3000
2.0
1.5
1.0
4
Torque
(Nm)
2
0.5
0
0
Speed (RPM)
6/2000
C12/2000
30
20
25
15
20
15
10
Torque 10
(Nm)
5
Torque
5
(Nm)
0
0
0
1000
2000
3000
Speed (RPM)
KEY: - - - -
500
1000
1500
2000
Speed (RPM)
= Intermittent operating
= Continuous operating
II-5
0.5/3000
2/3000
6/2000
C12/2000
5.75 in-lb
0.65 Nm
6.6 kgf-cm
17.7 in-lb
2 Nm
20 kgf-cm
71 in-lb
8 Nm
82 kgf-cm
310 in-lb
35 Nm
357 kgf-cm
40 msec
60 msec
80 msec
150 msec
20 msec
10 msec
40 msec
20 msec
90 VDC (10%)
0.1 A or less
90 VDC (10%)
0.3 A or less
90 VDC (10%)
0.4 A or less
90 VDC (10%)
0.6 A or less
Weight Increase
Approx. 0.88 lb
Approx. 0.4 kg
Approx. 3.3 lb
Approx. 1.5 kg
Approx. 5.1 lb
Approx. 2.3 kg
Approx. 13.9 lb
Approx. 6.3 kg
Inertia Increase
0.00008 in-lb-s
2
0.000009 kg m
2
0.00009 kgf-cm-s
Brake torque
0.00017 in-lb-s
2
0.00002 kg m
2
0.0002 kgf-cm-s
0.00061 in-lb-s
2
0.00007 kg m
2
0.0007 kgf-cm-s
0.0052 in-lb-s
2
0.0006 kg m
2
0.006 kgf-cm-s
100VAC
Rectifier
Surge
Suppressor
500/0.2F
3
C
A
B
0.5
B2
B3
A
B
2,6,C12
A
Brake
Coil
B
Frame Ground
B1
Surge Suppressor: Manufactured by Matsushita Electronic Parts, Ltd.
ERZ-C20DK221, ERZ-C10DK221 or equivalent
Motor Body
II-6
Motor
Amplifier
Model
Amplifier Catalog #
Amplifier Package
Catalog #
0.5/3000
12
A06B-6093-H101
IC800BPK012
2/3000
12
A06B-6093-H101
IC800BPK012
6/2000
20
A06B-6093-H102
IC800BPK020
C12/2000
20
A06B-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-4. Series Servo Amplifier Packages
Description
Package Contents*
Catalog #
12 Amp Series
Amplifier
Package
IC800BPK012
20 Amp Series
Amplifier
Package
IC800BPK020
II-7
0.5/3000
Parameter (Unit)
2/3000
6/2000
C12/2000
MOTOR
Rated output power (kW)
0.2
0.5
0.9
1.0
0.6
12
5.3
17
53
105
6.1
20
60
122
4000
4000
3000
2000
0.00001764
0.0006566
0.00392
0.006272
0.00016
0.00581
0.0347
0.0555
0.00018
0.0067
0.040
0.064
2.8
3.2
5.6
5.9
0.23
0.61
1.05
2.04
2.0
5.4
9.3
18
2.3
6.2
10.7
20.8
7.9
21.4
37.0
71
0.08
0.20
0.35
0.68
Armature resistance () *
0.80
1.4
0.85
1.092
0.0007
0.008
0.009
0.005
10
20
40
60
0.04
0.1
0.3
0.8
0.35
0.89
2.7
0.4
1.0
19
18
30
46
3.4
11
32
66
30
97
283
584
35
112
321
670
125
125
125
125
Weight (kg)
1.0
3.5
8.5
18
Weight (lb)
2.2
7.2
18.7
39.6
Model
SVU-12
SVU-12
SVU-20
SVU-20
3.2
3.2
5.9
5.9
12
12
20
20
AC Power
DC Power
AMPLIFIER
II-8
Catalog #
Section #
the system design includes an axis that must hold Refer to Table II-2
its position when power is removed
10.3
Absolute Encoder
Battery Backup Kit
12.1
AC Line Filters
Prefinished Cables
Discharge Resistor
14.2
15.1
14.7
II-9
Battery (A06B-6093-K001)
Note:
Connection Method
(for use with a single amplifier)
FANUC
RATED IN PUT : 50Hz / 60Hz
220-240~(1-Ph) / 200-240V~(3-Ph)
5.1 A/ (1-ph) / 2.3A(3-ph)
B
A0 6 B - 6 0 9 3 - H1 0 1
EA 6 6 0 0 0 6 1
Ya m a n a sh i4 0 1 -0 5 J A P A N
4
5
6
CX5
NOTE
Battery (A06B-6093-K001)
Snap in
place on
bottom of
amplifier
II-10
Description
Ambient temperature
The ambient temperature should be -10C to 40C. When operating the machine at a
temperature higher than 40C), it is necessary to derate the output power so that the
motors temperature rating is not exceeded.
Vibration
When installed in a machine, the vibration applied to the motor must not exceed 5G.
Altitude
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.
Condition
Description
Ambient temperature
0C to 55C (operating).
Temperature
fluctuation
Within 1.1C/min.
Humidity
Altitude
Vibration
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.
II-11
40
(1.57)
FANUC
RATED INPUT : 50Hz / 60Hz
220-240~(1-Ph) / 200-240V~(3-Ph)
5.1A / (1-ph) / 2.3A (3-ph)
M AX
RATED OUT PUT CURRENT
FANUC
SER VO A MP LIFIER U N IT
B
A0 6 B - 6 0 9 3 - H 1 0 1
EA 66 00 0 6 1
Y a m a n a s h 4i 0 1 - 0 5
OUT PUT VOL AGE : 2 40V~
J AP A N
MAX
RAT ED OUT PUT CURR ENT
POWER
CAUTION
CHARGED
DISCHARGE
CAUTION:
TIME
2min.
Y a m a nas hi 401- 05
CAUTION: DISCHARGE
TIME
Y a m ana s hi 401- 05
ALM
CAUTION: DISCHARGE
TIME
READY
L2/L1
DCC/
DCP
VU
JX5
CHK
JX5
CHK
ALM
L2/L1
JS1B
PWM
0V/
+24V
0V/
+24V
TH2/
TH1
4
5
6
JF1
ENC
/W
CX5X
BAT
0V/
+24V
0V/
+24V
TH2/
TH1
JS1B
PWM
4
5
6
CX5Y
BAT
JF1
ENC
JX5
CHK
JF1
ENC
CX5X
BAT
CX5X
BAT
/W
0V/
+24V
0V/
+24V
TH2/
TH1
4
5
DCC/
DCP
VU
JX5
CHK
JS1B
PW M
JS1B
PW M
4
5
JF1
ENC
CX5X
B AT
CX5Y
B AT
CX5Y
BA T
CX5Y
BAT
10
(.39)
1
(.39)
0
/W
/ L3
DCC/
DCP
VU
/W
0V/
+24V
0V/
+24V
TH2/
TH1
/L3
2
READY
CX11
/L3
DCC/
DCP
VU
2 min.
CX11
CX11
L2/L1
/L3
POWER
CHARGED
2 min.
CX11
L2/L1
JA PA N
READY
ALM
ALM
CAUTION
POWER
CHARGED
POWER
2min.
JA PA N
CAUTION
CAUTION
CHARGED
FANUC
J APAN
3.2 A
DISCHARGE
CAUTION:
TIME
READY
FANUC
SE RV O A MPLIFIER U N IT
B
A0 6B - 60 9 3 - H10 1
E A6 6 0 0 06 1
Y a m a n a s h 4i 0 1 - 0 5
OUTP UT VOLAGE : 2 40V~
3. 2A
40
(1.57)
10
(.39)
10
(.39)
10
(.39)
40
(1.57)
10
(.39)
40
(1.57)
Table II-9 identifies worst-case heat dissipation values for each amplifier. These values may be used to
determine heat load for sizing enclosures and cooling equipment. Heat dissipation for external
regeneration resistors depends on the application and is calculated in Section 0, Step 5.
Table II-9. Heat Dissipation
Amplifier
Catalog #
SVU-12
17.5 watts
A06B-6093-H101
SVU-20
33.3 watts
A06B-6093-H102
II-12
S
BBmax
BF
XD
AK
AJ
G
AH
L
M
MOTOR
MOTOR
Dim.
0.5/3000
Dim.
0.5/3000
60 mm (2.36 in)
BB
3 mm (.118 in)
3 mm (.118 in)
3 0.025 (0.1181/0.1191)
XD
20 (.787)
20 (.787)
50 0.025 (1.9685/1.9675)
50 0.025 (1.9685/1.9675)
S
H
+0
AK
+0
AJ (dia.)
70 (2.76)
BF (dia.)
5.5 (.2165)
NOTES
1. Shaft diameter runout = 0.02 mm max (0.00079 in).
2. Flange surface runout = 0.06 mm max (0.00236 in).
3. Maximum radial load for output shaft is 20 kgf (44 lb).
+0
+0
+0
+0
9 0.009 (0.3543/0.3539)
9 0.009 (0.3543/0.3539)
6 (.236)
6 (.236)
AH
25 (.984)
25 (.984)
100 (3.94)
128 (5.04)
~ 300 (11.81)
~ 300 (11.81)
II-13
BDmax
BF
AJ
Motor
2/3000
Dimension
6/2000
C12/2000
+0
5 0.03
+0
6 0.03
10 0.036 (.394/.392)
H
AJ (dia.)
(.1969/.1957)
+0
(.236/.235)
+0
+0
+0
2 0.13 (.0787/.0736)
3 0.29 (.118/.107)
115 (4.53)
165 (6.50)
200 (7.87)
BF
9 (.354)
11 (.433)
13.5 (.532)
BD
134 (5.38)
190 (7.48)
240 (9.45)
(dia.)
See the Connection section (p. 28) for more information about motor cables.
Shaft diameter runout = 0.02 mm max (0.00079 in) for 2/3000 and 6/2000; 0.05 mm (0.00197 in) for C12/2000.
Flange surface runout = 0.06 mm max (0.00236 in) for 2/3000 and 6/2000; 0.10 mm (0.00394 in) for C12/2000.
Maximum radial load for output shaft is 25 kgf (55 lb) for 2/3000; 70 kgf (154 lb) for 6/2000; 450 kgf (990 lb) for C12/2000.
II-14
XD
AK BE U
BC
G
AH
B
L
1
Dimensions shown in mm (in)
Motor
2/3000
Dimension
6/2000
C12/2000
BB
5 mm (.196 in)
5 mm (.196 in)
XD
20 (0.787)
28 (1.10)
70 (2.76)
AK
+0
95 0.035
+0
130 0.035
(3.740/3.739)
+0
(5.118/5.117)
+0
+0
14 0.011 (0.5512/0.5507)
19 0.013 (0.7480/0.7475)
35 0
(1.3783/1.3780)
BC
10 (0.394)
12 (0.472)
N/A
88 (3.46)
110 (4.33)
122 (4.80)
8 (0.315)
10 (0.394)
18 (0.709)
AH
36 (1.42)
46 (1.81)
79 (3.11)
93 (3.66)
117 (4.61)
166 (6.54)
174 (6.85)
203 (7.99)
240 (9.45)
BE
43 (1.69)
90 (3.54)
N/A
Connector
Description
Motor AC Power
II-15
XD
AK U
C
3
BC
G
AH
L
Motor
2/3000
Dimension
6/2000
C12/2000
BB
5 mm (0.196 in)
5 mm (0.196 in)
XD
20 (0.787)
28 (1.10)
70 (2.76)
AK
+0
95 0.035
+0
130 0.035
14 0.011
(3.740/3.739)
+0
(5.118/5.117)
+0
19 0.013
+0
35 0
(0.5512/0.5507)
(0.74801/0.74751)
(1.37831/1.3780)
BC
11 (0.433)
12 (0.472)
N/A
88 (3.46)
110 (4.33)
122 (4.80)
8 (0.315)
10 (0.394)
18 (0.709)
AH
36 (1.42)
46 (1.81)
79 (3.11)
31 (1.22)
28 (1.10)
65 (2.56)
149 (5.87)
169 (6.65)
238 (9.37)
230 (9.06)
255 (10.04)
312 (12.28)
Connector
Description
Brake
Motor AC Power
Figure 9. 2/3000, 6/2000, and C12/2000 motors with brake, side view
NOTES
1.
2.
3.
4.
See the Connection section of the manual (p. 28) for more information about motor cables.
Shaft diameter runout = 0.02 mm max (0.00079 in) for 2/3000 and 6/2000; 0.05 mm (0.00197 in) for C12/2000.
Flange surface runout = 0.06 mm max (0.00236 in) for 2/3000 and 6/2000; 0.10 mm (0.00394 in) for C12/2000.
Maximum radial load for output shaft is 25 kgf (55 lb) for 2/3000; 70 kgf (154 lb) for 6/2000; 450 kgf (990 lb) for C12/2000.
II-16
Radial Load
Axial Load
0.5/3000
20 kg (44 lb)
5 kg (11 lb)
6902
2/3000
25 kg (55 lb)
8 kg (17.6 lb)
6/2000
70 kg (154 lb)
6205
450 kg (990
lb)
135 kg (297
lb)
6208
C12/2000
6003
(without brake)
6202
(with brake)
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 6/2000 with a pulley/gear with a radius of 1.5 inches (3.8 cm) or less, the
radial load when 230 in-lb of peak torque is provided by the motor will exceed the 154 lb maximum
rating. In the case of the timing belt, the belt tension is added to this value, making it necessary to
support the shaft end.
When using a timing belt, shaft failure or bearing overload can be minimized by positioning the pulley
as close to the bearing as possible.
Since a standard single row, deep-groove ball bearing is used for the motor bearing, a very large axial
load cannot be used. Particularly when using a worm gear and a helical gear, it is necessary to
provide another bearing to isolate the thrust load from the gearing.
The motor bearing is generally fixed with a C-snap ring, and there is a small play in the axial direction.
When this play influences the positioning in the case of using a worm gear and a helical gear, for
example, it is necessary to use an additional bearing support.
II-17
FANUC
POWER
CHARGED
CAUTION:DISCHARGE
TIME
2min.
READY
ALM
/L3
DCC/
DCP
VU
/W
2
JX5
CHK
3
/
0V/
+24V
0V/
+24V
TH2/
TH1
140
(5.51)
150
(5.91)
JS1B
PWM
4
5
6
JF1
ENC
CX5X
BAT
CX5Y
BAT
Optional
Battery Case
10
(.39)
20 *
(.79)
41
(1.61)
62
(2.44)
75
(2.95)
10
(.39)
4-5
4x5
(.196)
(.196)
80
(3.15)
56
(2.20)
172
(6.77)
* Measurement applies to the 20 amplifier only. The 12 amplifier does not include the heat sink extension.
Dimensions shown in mm (in).
Figure 10. Series servo amplifier unit, front and side views
II-18
Signal
Action
* 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.
GE
CNCFanuc
control
Motion
unit
Controller
Operator's
panel
Power
magnetics cabinet
Distribution board
Main
unit
Signal ground
Frame ground
System ground
II-19
The ground resistance of the system ground must not exceed 100 ohms (Class-3 ground).
System ground connection cables must have a sufficiently large cross-sectional area to enable them
to safely carry the current that will arise in the event of a problem such as a short-circuit (in general, a
cross-sectional area no less than that of the AC power line must be provided).
The system ground connection cable must be integrated with the AC power line such that power
cannot be supplied if the ground wire is disconnected.
The CX11-3 grounding connector is supplied to provide the servo motor frame ground connection and
should always be installed. A separate 1 meter long cable for this connection is included with the
optional GE Fanuc prefinished motor power cables.
Cable
Grounding
Bar
40 (1.57)
to
80 (3.15)
Cable
Grounding
Clamp
II-20
GE Fanuc
Motion Controller
Cable Grounding
Clamp (A99L-0035Exposed Cable
Shield/Braid
Grounding Bar
(44B295864-001)
II-21
0.5/3000
0.2 kW
2/3000
0.5 kW
6/2000
0.9 kW
C12/2000
1.0 kW
If your installation must be EMC compliant, verify that the use of an AC line filter fully satisfies the EMC
requirements. You may need to select and install a user-supplied noise filter to meet EMC requirements.
Two AC line filters are available:
For AC line filter specifications and dimension drawings, refer to Section 6.2.
II-22
Input Current
3-phase
Input Current
single phase
0.5/3000
1.9 A (rms)
3.2 A (rms)
2/3000
3.2 A (rms)
5.1 A (rms)
6/2000
6.3 A (rms)
10.1 A (rms)
C12/2000
6.3 A (rms)
10.1 A (rms)
NOTE
When multiple amplifiers are connected to a single circuit
breaker, select a breaker by multiplying the sum of the
currents listed in Table II-13 by 0.6.*
Example: Connecting two 6/2000 motors operating on
3-phase power:
(6.3 + 6.3) x 0.6 = 7.6 Arms
A standard 10 Amp circuit breaker can be used.
During rapid motor acceleration, a peak current that is
three times the continuous rating flows. Select a circuit
breaker that does not trip when a current that is three
times the continuous rating flows for two seconds.
*This factor attempts to compensate for applications where all axes are not demanding full power at the same time. In
applications where all axes are running continuously or with high duty cycles, this factor must be increased by 1.
II-23
Description
Voltage: 3-phase
1-phase*
Frequency
50 Hz, 60Hz 2 Hz
7% or less
* Single-phase operation reduces the lifetime of the servo amplifier. For 6/2000 and C12/2000 motors with
acceleration/deceleration duty cycles greater than once every 20 seconds, 3-phase power is recommended.
AC Power Ratings
The power supply rating required when using multiple servo motors can be determined by summing the
requirements of the individual motors.
The power supply ratings listed in Table II-15 are sufficient as continuous ratings. Note, however, that
servo motor acceleration causes a current to momentarily flow that is approximately three times the
continuous current rating.
When the power is turned on, a surge current of about 37A (when 264VAC is applied) flows for 20 msec.
Table II-15. Three-Phase Power Supply Ratings
Motor
0.5/3000
0.4kVA
2/3000
0.77kVA
6/2000
1.4kVA
C12/2000
1.6kVA
II-24
Description
Input voltage
24V DC (10%)
0.4 amps
NOTE
The 24 VDC input is fused to protect the amplifier. The fuse labeled F600
is located below the CX11 connector when the amplifier plastic cover is
removed. The replacement fuse part number is A06B-6073-K250
(Manufacturer: Daito LM32, DC48V, F3.2A).
A spare fuse is included with each amplifier package (IC800BPK012 or
IC800BPK020)
II-25
Rotational Energy to
be Released during
Deceleration
(STEP 1)
Energy to be
Consumed Through
Axis Friction
(STEP 2)
= 6.1910
)(J
+ J L )m Joules
2
where:
Jm
(lb-in-s )
JL
(lb-in-s )
(rpm)
(5.91 10 )t
3
m TL where:
(rpm)
ta
(sec)
TL
(lb-in)
(1.182 10 )T
2
D
where:
100
Th
(lb-in)
(rpm)
(%)
II-26
SVU-12
13 Joules
0.5, 2
SVU-20
16 Joules
6, C12
If the calculated value exceeds the storage capability of the amplifier, then an external regenerative
discharge unit is required (see Step 5).
1
where:
F
F = Deceleration duty (seconds) Example: deceleration once per 5 second cycle, F=5
Select a regenerative resistor with a rating that exceeds the average regenerative power. If this value is
greater than 100 W, contact GE Fanuc for assistance.
Example:
Assume a horizontal axis using a 2 motor (Jm = 0.00581 lb-in-s ) that decelerates once every 6 seconds
(F) for 0.2 seconds (ta) with a maximum speed of 2000 RPM (m). The machine inertia (JL) is 0.0139 lb-in2
s.
2
-4
1
1
=
F
6
II-27
FANUC
Part Number
Description
Wire Gauge
A63L-00010460/025KD
NA
A63L-00010460/045KD
NA
10
A63L-00010456/ASL
CX11 contacts
1816 AWG
2
2
(0.12mm 0.5mm )
A63L-00010456/ASM
CX11 contacts
1816 AWG
2
2
(0.12mm 0.5mm )
A660-8011-T604
NA
Tyco
Electronics AMP
Part Number
175363-3
NA
1318182-2
NA
1318095-2
N/A
175362-1
N/A
10
A63L-00010456/ASL
CX11 contacts
1816 AWG
2
2
(0.12mm 0.5mm )
A63L-00010456/ASM
CX11 contacts
1816 AWG
2
2
(0.12mm 0.5mm )
A660-8011-T604
(FANUC p/n)
NA
II-28
Description
Wire Gauge
Caution
When no regenerative discharge resistor is used, installation of a dummy housing
(1318182-2) is recommended for prevention of wrong insertion. Do not make a
connection between the pins (A and B) of CX11-2. Otherwise, the amplifier can be
damaged.
Note:
The following hand tool, which is available from Tyco Electronics (http://www.tycoelectronics.com),
is required for installing the connectors:
Crimp Tool 58571-1 with die 58571-2 (die is installed in the tool at factory).
.Optional connectors are also available for the various motor power and feedback cables.
Table II-20. Available Motor Power and Feedback Cable Connectors for Servo Systems
Part Number
Description
A06B-6050-K119
44A730464-G18
A06B-6050-K120
A06B-6050-K115
A06B-6050-K214
44A730464-G26
Motor Brake Connector Kit (not required for 0.5 motor with brake)
II-29
Connects
When Required
IC800CBL001 (1m)
IC800CBL002 (3m)
Servo Command
Signal
K1
IC800CBL003 (2m)
Servo Command
Signal
K2
Motor Encoder
Feedback
always
K3
3 Phase Servo
Power
always
K4
Amplifier to Motor
(Prefinished cable includes
separate cable to connect motor
frame ground to customer's earth
ground.)
Motor Power
always
K5
N/A
Emergency Stop
always
K7
Amplifier to Regenerative
Discharge Unit
Regenerative
Power Discharge
in most cases1
K8
Regenerative
Power Discharge
in most cases1
K9
N/A
Absolute Encoder
Battery
N/A
Emergency
Stop/Power
Enable
control-dependent; consult
your control
documentation
N/A
24 VDC Amplifier
Power
always
N/A
24 VDC Amplifier
Power
Motor Brake
Power
Control Enable
always
Connection Type
K1
N/A
IC800CBL067, 14m (0.5/3000)
IC800CBL068, 14m (2/3000,
6/2000)
CP4B-1MPB-0140-AZ, 14m
(C12/2000)
44C742238-004. 14m
(2/3000, 6/2000, C12/2000)
N/A
always
II-30
Series Motor
K2
E
CX5Y
CX5X
JF1
Series
Amplifier
K14
K4
K8
K7
Customers
earth ground
K10
PE
24 VDC Power Supply
(24 VDC +10% - 10%)
Breaker
PE
CX11-6
to CX11-4 on
next amplifier
K12
Power Supply
Transformer
200/240 VAC
1 or 3 Phase 3
Spark
Arrester
K3
K13
CX11-5
CX11-4
CX11-3
CX11-2
CX11-1
K15
CX11
Ground Lug
JX5
JS1B
K1
K9
GE Fanuc
Motion
Controller
Machine
E-STOP PB
and NC
Contacts
KEY:
available GE Fanuc cable
user-supplied cable
Figure 14. Cable connection diagram
1
2
3
Line filter and lightning surge absorber can be used in place of a transformer when 200240 VAC is available to the cabinet.
Refer to the note in Section 0 regarding the motor holding brake.
For single-phase operation, AC line phase T is not connected. Refer to the Servo System Specifications in Section 11:for output
current derating.
II-31
PWMA (ALM1)
0V
PWMC (ALM2)
0V
PWME (ALM4)
0V
13
ENBL (ALM8)
(3)
(4)
(5)
(6)
(7)
(8)
(13)
14
0V
(14)
IR
(1)
GDR
(2)
11
IS
(11)
12
GDS
(12)
19
0V
(19)
20
0V
(20)
DRDY
(9)
10
MCON
(10)
15
PD
(15)
16
PD
(16)
17
PREQ
(17)
18
PREQ
(18)
Amplifier
Motion Controller
(see note)
NOTES
The servo command cables for the DSM302 and DSM314 controllers
(IC800CBL001 and IC800CBL002) must be purchased from GE Fanuc.
Proper tooling is required to assemble the connectors. For custom length
cables, contact your GE Fanuc Distributor or GE Fanuc Sales Engineer.
Grounding the cable shield using the grounding bar (44B295864-001)
and cable grounding clamp (A99L-0035-0001) will provide greater noise
immunity.
Wire: 0.08mm twisted pair group shielded cable (10 pairs). The following wire is recommended for
the K1 cable: 28 AWG x 10 pairs (20 conductors).
II-32
Cable (K1)
DSM302 to Servo
Amplifier (JS1B)
IC800CBL001 (1 meter)
GE Fanuc controller
other than DSM302
to Servo Amplifier
(JS1B)
IC800CBL003 (2 meter)
IC800CBL002 (3 meter)
Connector Manufacturer
Cable must be purchased from GE Fanuc
(connectors not sold separately)*
Hirose Electric Co., Ltd.
1
2
11
4
13
12
6
15
14
8
17
16
10
19
18
20
4
3
6
5
14
12
13
8
7
16
15
10
9
18
17
20
19
11
II-33
JF11
SD
(A4)
JF12
SD
(B4)
JF15
REQ
(A3)
JF16
REQ
(B3)
JF19, 18
+5V
(A2, B2)
JF112, 14
0V
(A1, B1)
JF116
0VA
(A6)
JF17
+6VA
(A5)
Shield
(B6)
Amplifier
Motor Encoder
Wire: for +5V, 0V use two parallel conductors of 0.5mm (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
2
2
use 0.5mm (20 AWG) or larger; for SD, *SD, REQ, *REQ use 0.18mm (24 AWG) or larger twisted
pair with 60% braid shield.
Connector
Servo Amplifier
(JF1)
Manufacturer
Hirose Electric Co., Ltd. (connector:FI40-2015S)
(connector cover: F1-20-CV)
1
3
2
12
5
4
14
7
6
16
9
8
18
10
20
A06B-6050-K120
B
A
II-34
JF11
SD
(12)
JF12
SD
(13)
JF15
REQ
(5)
JF16
REQ
(6)
JF118, 20
+5V
(8, 15)
JF112, 14
0V
(1, 2)
JF116
0VA
(10)
JF17
+6VA
(14)
Shield
(4)
Amplifier
Motor Encoder
Wire: for +5V, 0V use two parallel conductors of 0.5mm (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
2
2
use 0.5mm (20 AWG) or larger; for SD, *SD, REQ, *REQ use 0.18mm (24 AWG) or larger twisted
pair with 60% braid shield.
Connector
Manufacturer
Servo Motor
Encoder
A06B-6050-K115
3
2
12
5
4
14
15
14
13
9
8
18
7
6
16
12
10
20
3
11
2
10
NOTE
Cable includes two M4 x 12mm screws and captive lock washers for
securing connector to motor encoder housing.
II-35
JF11
SD
(A)
JF12
SD
(D)
JF15
REQ
(F)
JF16
REQ
(G)
JF118, 20
+5V
(J, K)
JF112, 14
0V
(N, T)
JF116
0VA
(S)
JF17
+6VA
(R)
Shield
(H)
Amplifier
Motor Encoder
Wire: for +5V, 0V use two parallel conductors of 0.5mm (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
2
2
use 0.5mm (20 AWG) or larger; for SD, *SD, REQ, *REQ use 0.18mm (24 AWG) or larger twisted
pair with 60% braid shield.
Connector
Servo Amplifier
(JF1)
Manufacturer
Hirose Electric Co., Ltd. (F140-2015S) [connector
cover: FI-20-CV]
1
2
12
4
14
7
6
16
9
8
18
10
20
44A730464-G38
(CE EXT GND pin
type)
M
L
B
C
N
T
K
S
J
H
II-36
D
E
(L1)
Breaker
MCC
AC Line
Filter
(L2)
T*
(L3)
Amplifier
Wire: 600V, 4-conductor, 1.0mm2 (18 AWG) or larger. For sourcing multiple amplifiers from the same
AC supply, size conductors based on the sum of the current for all amplifiers (see specifications in
Section 11:
Connector
Manufacturer
Part of Kit
A06B-6093-K301
Part of Kit
A06B-6093-K305
The CX11-1 connector contained in the K305 kit is not compatible with Series amplifiers prior to
revision letter H.
II-37
A1
CX11-3 (V)
A2
CX11-3 (W)
A3
CX11-3 (PE)
PE
CX11-3 (PE)
BRK1
B2
BRK2
B3
Motor Stator
Optional
Brake
Amplifier
Motor
1 m ground cable to
customers earth ground
(M4 Ring Terminal)
BRK1
To Brake 90 VDC
Power Supply & Control
BRK2
(supplied by customer)
(M3.5 Spring SpadeTerminals)
Wire: 300V, 6-conductor, 20 AWG (finestrand) 80C, polyurethane jacket with PVC conductors
2
(nominal cross-sectional area 0.75mm ). Ground wire is 18 AWG, 300 V, 1-conductor, 80C, PVC,
green with yellow stripe.
Connector
Servo Amplifier
CX11-3 (motor
power)
Servo Amplifier
CX11-3 (ground)
Manufacturer
Nihon AMP (Housing: 175363-1;
Contact: 1-175218-2)
Part of Kit
A06B-6093-K301 (AMP version G or lower)
Servo Motor
A06B-6050-K119
II-38
Pin 1
PE
Pin 2
BRK1
Pin 3
BRK2
CX11-3 (V)
CX11-3 (W)
CX11-3 (G)
CX11-3 (PE)
PE
Amplifier
Motor Stator
Motor
1 m ground cable to
customers earth ground
(M4 Ring Terminal)
Wire: 300V, 4-conductor, 18 AWG (finestrand) 80C, polyurethane jacket (PUR) with PVC conductors
2
(nominal cross-sectional area 0.75mm ). Ground wire is 18 AWG, 300 V, 1-conductor, 80C, PVC,
green with yellow stripe.
Connector
Servo Amplifier
CX11-3 (motor
power)
Servo Amplifier
CX11-3 (ground)
Manufacturer
Nihon AMP (Housing: 175363-1;
Contact: 1-175218-2)
Part of Kit
A06B-6093-K301 (AMP version G or lower)
Servo Motor
Customer-made cable:
44A730464-G18
(CE EXT GND pin)
II-39
CX11-3 (V)
CX11-3 (W)
CX11-3 (G)
CX11-3 (PE)
PE
Amplifier
Motor Stator
Motor
1 m ground cable to
customers earth ground
(M4 Ring Terminal)
Wire: 300V, 4-conductor, 18 AWG (finestrand) 80C, polyurethane jacket with PVC conductors
2
(nominal sectional area 0.75mm ). Ground wire is 18 AWG, 300 V, 1-conductor, 80C, PVC, green
with yellow stripe.
Connector
Servo Amplifier
CX11-3 (motor power)
Part No.
Part of Kit
A06B-6093-K301 (AMP version G or lower)
A06B-6093-K305 (AMP version H or higher)
Part of Kit
A06B-6093-K305 (AMP version G or lower)
A06B-6093-K305 (AMP version H or higher)
Maker
Nihon AMP (Housing: 1753631; Contact:
1-175218-2)
U
Servo Motor
II-40
+24V
SVU
JX5
(20)
Series Servo
Amplifier
ESP
(17)
CAUTION
SVU
JX5
(20)
Series Servo
Amplifier
ESP
(17)
Pin 20 of JX5
supplies +24 VDC.
Do not apply external
voltage to this
terminal.
SVU
JX5
(20)
Series Servo
Amplifier
ESP
(17)
Connector
JX5
Manufacturer
Hirose Electric Co., Ltd. (F140-2015S; F1-20-CV cover)
1
2
11
4
13
12
6
15
14
8
17
16
10
19
18
20
4
3
6
5
14
12
13
8
7
16
15
10
9
18
17
20
19
11
II-41
30 ohm
Resistor
K7
CX11-2 (DCC)
CX11-6 (TH1)
K8
CX11-6 (TH2)
Amplifier
65 (2.56)
57 (2.24)
150
(5.91)
To
CX11-2
NOTE
DCP
DCC
A06B-6093-H401
(20 Watt unit)
2- 4.5 (0.177)
TH1
TH2
To
CX11-6
52 60
(2.05)(2.36)
Resistor kit
contains two
standoffs and
mounting
hardware
100
(3.94)
7 10 Max
(.276) (.394)
1000
(39.4)
230 (9.1)
220 (8.7)
200 (7.9)
6 (0.236)
CX11-2 (DCC)
CX11-6 (TH1)
CX11-6 (TH2)
CX11-2 (DCP)
K7
K8
K7
Customer must
attach connectors
II-42
4 (0.157)
A06B-6093-H402
(100 Watt Unit)
4.3
(0.169)
60
(2.36)
42.7
(1.68)
1.2 20
(0.047) (0.787)
Connector
Servo Amplifier
CX11-2, -6
Manufacturer
Nihon AMP (Housing: 175362-1; Contact: 1-175218-2)
DCP
TH1
DCC
TH2
+6V
0V
Battery Unit
Amplifier
Connector
Servo Amplifier
(CX5X)
Manufacturer
Japan Aviation Electronics Industry (Housing: IL-L2S-S3LB(N); Contact: IL-C2-1-00001)
II-43
Coil
Spark Arrester
E-Stop Pushbutton
AC Line
Contactor
(MCC)
Cable Specification: Heavy-duty vinyl power cord, 2-conductor 0.5mm (20 AWG)
Spark Arrester: To protect internal contacts, always use a spark arrester appropriate for the contactor
you select.
+24V
CX11-4 (0V)
0V
Customer-supplied 24 VDC
Power Supply
Amplifier
Connector
Manufacturer
DC Power Supply
N/A
N/A
Servo Amplifier
CX11-4
Part of Kit
A06B-6093-K301 (AMP version G or lower)
A06B-6093-K305 (AMP version H or higher)
II-44
K1324 VDC Amplifier Power Daisy Chain Cable (0.5/3000, 2/3000, 6/2000,
C12/2000)
CX11-5 (24V)
CX11-4 (24V)
CX11-5 (0V)
CX11-4 (0V)
Manufacturer
DC Power Supply
N/A
N/A
Servo Amplifier
CX11-5
Part of Kit
A06B-6093-K301 (AMP version G or lower)
A06B-6093-K305 (AMP version H or higher)
Customer-supplied
90 VDC brake
power supply
Brake Coil
(Energize
to release)
C Ground
Optional Motor Brake
Connector
Motor Brake
Manufacturer
DDK CE Series (CE02-6A10SL-3CS) with Raychem
Boot (222A-32-25142)
C
A
B
II-45
Description
Over-voltage
Issued when the DC voltage in the main circuit power supply is abnormally high.
DC link undervoltage
Issued when the DC voltage in the main circuit power supply is abnormally low or
when the circuit breaker has tripped.
Regenerative
overheat
Overheat
Issued when the temperature inside the amplifier becomes so high that the
thermostat trips.
Fan failure
Issued when the fan unit built into the amplifier fails.
Over-current
II-46
Part III:
i
Series Servo
System
III-2
Rated Torque
Encoder
Required
Amplifier
Motor Catalog #
64ia
(64K)
SVM1-20i
64ia
(64K)
SVM1-20i
64ia
(64K)
SVM1-20i
2 Nm (17.7 lbf-in)
continuous stall
torque; 4000 RPM
128ia
(128K)
SVM1-20i
128ia
(128K)
SVM1-20i *
7 Nm (62.0 lbf-in)
continuous stall
torque; 3000 RPM
128ia
(128K)
SVM1-20i **
12/3000is
11 Nm (97.4 lbf-in)
continuous stall
torque; 3000 RPM
128ia
(128K)
SVM1-40i
22/2000is
20 Nm (177.0 lbf-in)
continuous stall
torque; 2000 RPM
128ia
(128K)
SVM1-40i
0.4/5000is
0.5/5000is
1/5000is
2/4000is
4/4000is
8/3000is
A06B-6130-H002
A06B-6130-H002
A06B-6130-H002
A06B-6130-H002
A06B-6130-H002
A06B-6130-H002
A06B-6130-H003
A06B-6130-H003
III-3
Amplifier Model
Amplifier Catalog #
0.4/5000is
SVM1-20i
A06B-6130-H002
IC800BIK020
0.5/500is
SVM1-20i
A06B-6130-H002
IC800BIK020
1/5000is
SVM1-20i
A06B-6130-H002
IC800BIK020
2/4000is
SVM1-20i
A06B-6130-H002
IC800BIK020
4/4000is
SVM1-20i
A06B-6130-H002
IC800BIK020
8/3000is
SVM1-20i
A06B-6130-H002
IC800BIK020
12/3000is
SVM1-40i
A06B-6130-H003
IC800BIK040
22/2000is
SVM1-40i
A06B-6130-H003
IC800BIK040
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 III-3. i Series Servo Amplifier Packages
Description
20 Amp i-Series
Amplifier Package
Package Contents*
40 Amp i-Series
Amplifier Package
Catalog #
IC800BIK020
IC800BIK040
III-4
Catalog #
Absolute Encoder
Battery Backup Kit
19.5
AC Line Filters
23.2
Pre-finished Cables
Refer to Cable
Connections Table
24
Discharge Resistor
A06B-6130-H401
A06B-6130-H402
A06B-6089-H500
A06B-6089-H713
23.7
Ground Clamp
A99L-0035-0001, Clamp
44B295864-001, Bar
22.3
Section #
18.4
III-5
0.4/5000is
0.5/5000is
1/5000is
2/4000is
4/4000is
Nm
0.4
0.65
1.2
2.0
3.5
7.0
11.0
20.0
lbf-in
3.5
5.8
10.6
17.7
31.0
62.0
97.4
177.0
Stall Current
*
A (rms)
3.6
2.9
2.7
3.3
4.7
6.0
10.2
11.3
Rated Output
*
kW
0.13
0.2
0.4
0.5
0.75
1.2
1.8
2.5
HP
0.17
0.27
0.54
0.67
1.0
1.6
2.4
3.4
Rating
Speed
RPM
4000
4000
4000
4000
3000
2000
2000
2000
Max. Speed
RPM
5000
5000
5000
4000
4000
3000
3000
2000
Peak Torque
*
Nm
1.0
2.5
5.0
7.0
10.0
15.0
27.0
45.0
lbf-in
8.9
22.1
44.3
62.0
88.5
132.8
239.0
398.3
Rotor Inertia
Kgm2
Rated torque
at stall *
Torque
Constant *
12/3000is
22/2000is
0.00001
0.000018
0.000034
0.000291
0.000515
0.00117
0.00228
0.00527
7.3756215
13.276118
25.07711
214.6305
379.8445
862.9477
1681.6417
3886.9525
0.000019
0.000027
0.000043
0.000311
0.000535
0.00124
0.00235
0.00587
Nm/A
0.112
0.223
0.45
0.62
0.75
1.16
1.08
1.77
lbf-ft-s2
*(10-6)
Rotor Inertia
(with brake)
8/3000is
Kgm
Lbf-in/A
Back EMF
Const.
(1 phase) *
Vsec/rad
(rms)
0.038
0.074
0.14
0.21
0.25
0.39
0.36
0.59
Resistance
(1 phase) *
ohm
0.55
0.85
1.5
1.6
0.94
1.00
0.39
0.44
Mechanical
Time
Constant
sec
0.001
0.0009
0.0007
0.004
0.003
0.003
0.002
0.002
Thermal time
Constant
min
10
15
15
20
20
25
30
Static friction
Nm
0.04
0.04
0.04
0.1
0.2
0.3
0.4
0.8
Weight
kg
0.8
1.0
1.5
2.8
4.3
7.4
11.9
17.0
Weight
(with brake)
kg
1.2
1.4
1.9
3.8
5.3
9.6
14.1
23.0
Max Current
A (peak)
20
20
20
20
20
20
40
40
lb
lb
These values are standard values at 20C 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.
III-6
III-7
Motor
Shaft Detail
Dimensions shown mm
Dimension
0.4/5000is
0.5/5000is
1/5000is
Connector
Description
75
89.5
118.5
Brake (optional)
101.5
116
145
Power
+0.000
9 0.009
+0.000
9 0.009
+0.000
14 0.011
Encoder
A
A with brake
A1
A2
A3
+0.0
+0.0
1.2 0.1
1.2 0.1
3
+ 0 . 000
0 . 025
+ 0 . 000
0 . 025
+0.0
2 0.1
+0.00
5 0.33
A4
M3 Depth 6
M3 Depth 6
M4 Depth 10
A5
25
25
30
65
79.5
108.5
B with brake
91.5
106
135
34.5
49
78
61
75.5
104.5
C with brake
Notes:
1. Shaft diameter runout = 0.02mm max
2. Flange surface runout = 0.06mm max
3. Maximum radial load for output shaft is
20kgf (44lb)
Figure III-2. 0.4is, 0.5is and 1is Series Servo Motor Outline Drawing
III-8
Power/Brake
Connections
1
Motor
2is Shaft
4is Shaft
Shaft Detail
Dimensions shown mm
Dimension
2/4000is
4/4000is
130
166
A with brake
159
195
119
155
B with brake
148
184
75
111
C with brake
75
111
59
95
D with brake
59
95
III-9
Motor
8/3000is
12/3000is
Shaft Detail
Dimensions shown mm
Dimension
8/3000is
12/3000is
Connector
Description
166
222
Brake (optional)
A with brake
191
247
Power
A1
36
45
Encoder
108
164
Notes:
B with brake
133
189
Figure III-4. 8is and 12is Series Servo Motor Outline Drawing
III-10
Motor
Shaft Detail
Dimensions shown mm
Dimension
22/2000is
Connector
Description
202
Brake (optional)
A with brake
243
Power
141
Encoder
B with brake
182
Notes:
1. Shaft diameter runout = 0.03mm max
2. Flange surface runout = 0.06mm max
III-11
Unit
0.4is
0.5is
22is
Nm
lbf-in
5.8
10.6
26.6
70.8
309.8
Response Time
msec
40
40
60
160
160
Brake
msec
20
20
10
30
30
Voltage
VDC
Power Supply
1.2
8is
12is
0.65
2is
4is
1is
35
24 ( 10%)
Current
0.5
0.5
0.9
1.1
1.2
Wattage
12
12
22
26
29
0.4
0.4
1.0
2.2
6.0
Weight Increase
kg
Inertia Increase
kg-m
lbf-in-s
0.000009
0.000009
0.00002
0.00007
0.0006
0.0000797
0.0000797
0.000177
0.0006195
0.000531
Model No.
Name of Manufacturer
Specifications
Rectifier
D3SB60
Switch
N/A
N/A
Spark Killer
XEB0471
47 ohm/0.1 F
Withstand voltage 400V min
Surge
Absorber
ERZV10D820
III-12
Spark
Killer
Surge
Absorber
(BK)
24 VDC
Power Supply
24 VDC
10%
Brake Coil
(BK)
(With no polarity)
Motor
240 VAC
220 VAC
200VAC
Switch
-
Rectifier
Spark
Killer
Surge
Absorber
(BK)
0V
Transformer
24 V rms
10%
Brake Coil
(BK)
(With no polarity)
Figure III-6. Connecting Motor Holding Brake Control and Power Circuit
Option 1: Use a commercial 24 VDC power supply as the power supply for the is series servo motor brake.
To prevent amplifier malfunction or damage do not use the same 24V power supply for the amplifier control
logic circuitry as the power supply for the brake. The power supply for a relay, solenoid, or another peripheral
device can be used for the brake. Be careful of the power capacity and changes in voltage due to load
changes.
Option 2: Alternately you may build a power supply for the brake circuit (equivalent to 24 Vrms) produced by
full-wave rectification after transforming commercial power (50 Hz/60 Hz). For user built full-wave rectification,
transform the secondary voltage into approximately 29 VAC by taking voltage drop in the rectifier or cable into
account. Check to make sure the power capacity and power voltage fluctuations of the voltage applied to the
brake falls within 24 Vrms 10%.
If the brake switching contact is installed on the DC side (at the position shown in the figure), the life of the
contact is generally shortened due to the surge voltage when the brake is turned off. Provide an adequate
contact capacity and always use a surge absorber and spark killer for protecting the contact. Installing the
switching contact on the DC side of the power provides the fastest brake operation time.
III-13
is Motors
is Series Amplfier
JF1 Connector
N/C
N/C
Description
All is Motors
RD
RD
+5 VDC
8,9
9,20
0 VDC
7,10
12,14
+6 VA (battery)
Frame Ground
16
Cable Shield
16
Phase U
is Series
Amplfier
Motor Connector
Phase V
Phase W
Earth (case)
PE
Brake VDC
n/a
n/a
n/a
Brake VDC
n/a
n/a
n/a
Brake VDC
Brake VDC
Earth (case)
Description
III-14
SVM-20i
SVM-40i
1
3-Phase 200-240VAC
2
1-Phase 200-240VAC
3-Phase 200-240VAC
24 VDC /0.9A
24 VDC /0.9A
Built In
Built In
Notes:
Specification
Ambient Temperature
Operation
Storage
0 to 55 C
o
-20 to 60 C
Humidity
Vibration
Below 0.5 G
DC LINK CHARGED LED (red) indicates that the amplifier has high (motor) voltage DC present.
LINK LED (green) indicates that the FSSB (fiber optic) interface is functioning.
ALM LED (yellow) is turned ON when an alarm condition is detected. When an alarm is detected,
power is dropped and the motor is stopped by dynamic braking action. Alarm information is
additionally displayed as diagnostic data in the GE Fanuc DSM324i motion controller. The amplifier
control power must be cycled to reset this alarm state. The table below details the alarm conditions
the i Series Servo Amplifier System can detect.
III-15
Description
DC Link UnderVoltage
Issued when the DC voltage in the main circuit power supply is abnormally low. Indicates
low AC mains power dip or hardware problem. Make sure the plug-in (gray faceplate) circuit
board is securely seated in the amplifier base. Replace amplifier.
DC Link OverVoltage
Issued when the DC voltage in the main circuit power supply is abnormally high. Indicates
high AC mains power or hardware problem. Make sure the plug-in (gray faceplate) circuit
board is securely seated in the amplifier base. May also be caused by excessive
regenerated power. Increase acceleration/deceleration time and/or add additional
regenerative discharge capacity. Replace amplifier.
Excessive
Deceleration
Power
If no external regeneration resistor is used, the discharge resistor thermal sensor jumper is
missing on connector CXA20. This input requires a normally closed contact for normal
operation.
When using an external regeneration resistor, the thermal sensor in the regeneration
resistor has tripped. Indicating excessive regenerated power load to the regeneration
resistor. Use a meter to confirm an open circuit on the thermal sensor leads. Make sure the
plug-in (gray faceplate) circuit board is securely seated in the amplifier base. Increase
capacity of external regeneration resistor or decrease deceleration rate or frequency, and/or
the top speed from which the axis must decelerate.
Control Power
Under-Voltage
The 24 VDC control power is below 21.6 VDC. Check the supply voltage level and make
sure the CXA19A and CXA19B connectors are secure and associated cables are wired
correctly. Replace amplifier.
Internal Cooling
Fan Stopped
Fan is jammed, has failed or is not connected. Check for foreign material in fan blades.
Make sure fan is plugged in. Make sure the plug-in (gray faceplate) circuit board is securely
seated in the amplifier base. Replace amplifier.
IPM Alarm
Excessive current in the power transistors. Phase to phase or phase to ground short circuit
on motor power output. Make sure the plug-in (gray faceplate) circuit board is securely
seated in the amplifier base. Possible incorrect phase connection of the motor power wiring.
Motor type code must be configured correctly in the GE Fanuc controller. Disconnect motor
power leads from amplifier and reset E-stop condition. If IPM alarm occurs replace amplifier.
If no IPM alarm the problem is in the motor or motor power cable. Check for electrical shorts
in the motor power cable or motor winding shorted to frame ground.
IPM Overheat
Issued when the temperature inside the amplifier becomes so high that the thermostat trips.
Make sure the plug-in (gray faceplate) circuit board is securely seated in the amplifier base.
Check that the heat sink cooling fan (if applicable) is running. Make sure the ambient
o
temperature around the amplifier is 55 C or lower. Check that the motor load is within the
rating of the motor.
Motor Over-current
Issued when an abnormally high current is detected in the main circuit. Make sure the plugin (gray faceplate) circuit board is securely seated in the amplifier base. Check for electrical
shorts in the motor power cable or motor winding shorted to frame ground. Possible
incorrect phasing on motor power wiring. Motor type code may be configured incorrectly in
the DSM324 controller. Possible excessive force loading on motor.
FSSB
Communication
Error
FSSB connector or cable failure. Check the connections to the COP10A and COP10B
connectors. Try replacing the optical cable. Replace amplifier.
III-16
III-17
Note
Fan is required for SVM1-20i
amplifier when 4is motor is used with
a single phase AC supply to the
amplifier. Fan is always required
with the 8is motor.
III-18
III-19
Note
III-20
SVM1-20i Amplifier
SVM1-40i Amplifier
Figure III-10. Installing the IC800BBK021 Absolute Encoder Battery Pack (One-Axis)
III-21
One kit provides battery backup for up to four absolute encoders. The user is responsible for manufacturing
the cable used to connect the battery pack to the amplifier. The battery connection is made to the CXA19B
connector on the last amplifier in the sequence supported by the battery pack. Terminals CXA19B-B3 (6V)
2
and CXA19B-A2 (0V) are used and wire should be 0.3 mm minimum cross sectional area. The battery power
is distributed to the other amplifiers in the sequence by daisy chaining the CXA19A connections to the
CXA19B connections on adjacent amplifiers. See Section 24:i Series Servo System Connection for more
detail.
The battery service life is approximately one year and we recommend a yearly replacement schedule.
The IC800ABK001 battery pack is panel-mounted and requires a cutout in the mounting surface. Mounting
dimensions and terminal designations are shown below.
BC
78
(3.07)
93
(3.66)
103
(4.06)
E
40
(1.57)
78
(3.07)
103
(4.06)
All dimensions in mm (in)
A
B
C
D
E
Figure III-11. Absolute Encoder Battery Pack IC800ABK001 (up to Four Axes)
III-22
Description
Ambient temperature
Ambient humidity
Vibration
When installed in a machine, the vibration applied to the motor must not exceed 5G.
Altitude
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.
III-23
Condition
Description
Ambient temperature
0C to 55C (operating).
Temperature fluctuation
Within 1.1C/min.
Humidity
Altitude
Vibration
Atmosphere
The amplifier must be installed in a cabinet that protects it from contaminants such as dust, coolant, organic
solvents, acid, corrosive gas, and salt. Adequate protection must also be provided for applications where the
amplifier could be exposed to radiation, such as microwave, ultraviolet, laser light, or x-rays.
To adequately protect the amplifier, you must ensure that:
Contaminants such as dust and fluid cannot enter through the air inlet or outlet.
The flow of cooling air is not obstructed.
The amplifier can be accessed for inspection.
The amplifier can be disassembled for maintenance and later reinstalled.
There is sufficient separation between the power and signal lines to avoid interference. Noise
protection should be provided.
III-24
NOTE
Figure III-13. Panel Cut-out Drawing for Through-Cabinet Mounting of the SVM-40i Amplifier
III-25
Dimensions shown in mm
III-26
III-27
SVM1-20i
SVM1-40i
III-28
Catalog #
A06B-6130-H002
A06B-6130-H003
Amplifier
base heat
dissipation
(a)
20 watt
20 watt
Amplifier
heat
coefficient
(K)
7.7
Motor
Model
Motor
Current
(b)
Total heat
dissipation
[Watts]
[Arms]
0.4/5000is
3.6
47.7
0.5/5000is
2.9
42.3
1/5000is
2.7
40.8
2/4000is
3.3
45.4
4/4000is
4.7
56.2
66.2
8/3000is
7.1
(heat sink in
cabinet)
12/3000is
10.2
92.4
22/2000is
11.3
100.2
1.4
(heat sink
external to
cabinet)
12/3000is
10.2
34.2
22/2000is
11.3
35.8
Signal
Action
* The bundle of group A cables must be separated from the bundle of group B cables by at least 10 cm.
** Electromagnetic shielding involves shielding groups from each other by means of a grounded metal (steel) plate.
22.2 Grounding
A typical machine has three separate grounds:
Signal Ground: Provides the reference potential (0 V) for the electrical signal system.
Frame Ground: Ensures safety and shields external and internal noise.
System Ground: Connects each unit and the inter-unit frame ground system to earth ground.
Power
magnetics
unit
GEServo
Fanuc
Motion
amp.
Controller
CNC
control
unit
Operator's
panel
Power
magnetics cabinet
Distribution board
Main
unit
Signal ground
Frame ground
System ground
Figure III-16. Ground System
III-29
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 crosssectional area no less than that of the AC power line must be provided).
The system ground connection cable must be integrated with the AC power line such that power cannot
be supplied if the ground wire is disconnected.
The SVM1-20i CZ7-3 motor power connector servo motor frame ground connection on pin A2 should
always be installed.
Cable
Grounding
Bar
40 (1.57)
to
80 (3.15)
Cable
Grounding
Clamp
III-30
Note:
Amplifier
Shield/Braid
G round ing Bar
(4 4B29 5864- 001)
III-31
0.4/5000is
0.13 kW
0.5/5000is
0.2 kW
1/5000is
0.4 kW
2/4000is
0.5 kW
4/4000is
0.75 kW
8/3000is
1.2 kW
12/3000is
1.8 kW
22/2000is
2.5 kW
If your installation must be EMC compliant, verify that the use of an AC line filter fully satisfies the EMC
requirements. You may need to select and install a user-supplied noise filter to meet EMC requirements.
Two AC line filters are available for GE Fanuc:
For AC line filter specifications and dimension drawings, refer to Section 6.2.
III-32
Input Current
3-phase (Arms)
Input Current
Single Phase (Arms)
0.4/5000is
0.7
1.4
0.5 /5000is
1.1
2.2
1/5000is
2.1
4.3
2/4000is
2.6
5.4
4/4000is
3.9
8.1
8/3000is
6.3
9.7
12/3000is
9.4
22/2000is
13.1
Note:
When multiple amplifiers are connected to a single circuit breaker, select
a breaker by multiplying the sum of the currents listed in Table III-14 by
0.6. (This factor attempts to compensate for applications where all axes
are not demanding full power at the same time. In applications where all
axes are running continuously or with high duty cycles, this factor must be
increased to 1.)
Example: Connecting two 8/3000is motors operating on 3-phase power:
(6.3 + 6.3) x 0.6 = 7.6 Arms
A standard 10 Amp circuit breaker can be used.
During rapid motor acceleration, a peak current that is three times the
continuous rating flows. Select a circuit breaker that does not trip when a
current that is three times the continuous rating flows for two seconds.
III-33
Description
Voltage: 3-phase
1-phase
Frequency
50 Hz, 60Hz 2 Hz
7% or less
AC Power Ratings
The power supply rating required when using multiple servo motors can be determined by summing the
requirements of the individual motors.
The power supply ratings listed in Table III-16 are sufficient as continuous ratings. Note, however, that servo
motor acceleration causes a current to momentarily flow that is approximately three times the continuous
current rating.
When the power is turned on, a surge current of about 37A (when 264VAC is applied) flows for 20 msec.
Table III-16. Three-Phase Power Supply Ratings
Motor
0.4/5000is
0.13 kW
0.5/5000is
0.2 kW
1/5000is
0.4 kW
2/4000is
0.5 kW
4/4000is
0.75 kW
8/3000is
1.2 kW
12/3000is
1.8 kW
22/2000is
2.5 kW
III-34
Description
Input voltage
24V DC (10%)
0.9 amps
FU1 (3.2A)
(Rating indicated in white.)
FU1 (3.2A)
(Rating indicated in white.)
SVM1-20i Amplifier
SVM1-40i Amplifier
III-35
No Fan Cooling
Fan Cooling
Fan Cooling
A06B-6089-H500
200 watt
400 watt
A06B-6089-H713
600 watt
800 watt
Switch Positions:
The switches are sequentially numbered 1, 2, 3, and 4 with the one at the top as switch 1. The ON position is
on the left, and the OFF position is on the right.
Switch 1 Setting:
Switch 2 Setting:
Switches 3 and 4
Settings:
III-36
SVM1-40i
Regenerative Discharge Unit
SW3
SW4
ON
ON
OFF
ON
OFF
OFF
AIR FLOW
380
(14.96)
360
(14.17)
+ +
+ +
Terminal board
screws:
M4x4
45
(1.77)
1.6 (0.063)
25 (0.984)
90
(3.54)
Figure III- 20. 200 W Regenerative discharge unit (A06B-6089-H500), front and side views
III-37
23
10
(0.906) (0.254)
380
360 (14.96)
334 (14.17)
(13.15)
335
(13.19)
T3
110
(4.33)
Fan Motor
22 (0.866)
AIR IN
130
(5.12)
5 (0.197) min.
8 (.315)
150
(5.91)
11 (0.433)
T3
75
(2.95)
Screw M4X8L
9 (0.354)
+ + + + + +
1
Figure III-21. 800 W Regenerative discharge unit (A06B-6089-H713), Front, Side, and End Views with T3
Terminal Detail
III-38
A06B-6089-H713 (800 W)
11
(0.433)
2-M5 (0.196)
11
(.433)
2-M6 (0.236)
4-R4.0 max.
360
338 (14.17)
(13.31)
4-R4.0 max.
360
338 (14.17)
(13.31)
38.0
(1.50)
76.0
(2.99)
136
(5.35)
68.0
(2.68)
CAUTION:
Attach packing (acrylonitrile-butadiene
rubber or soft NBR) around the cutout to
keep out oil and dust.
III-39
Rotational Energy to
be Released during
Deceleration
(STEP 1)
Energy to be
Consumed Through
Axis Friction
(STEP 2)
= 6.1910
)(J
+ J L )m Joules
2
where:
2
Jm
(lb-in-s )
JL
(lb-in-s )
(rpm)
(5.91 10 )t
3
m TL where:
(rpm)
ta
(sec)
TL
(lb-in)
(1.182 10 )T
2
D
where:
100
Th
(lb-in)
(rpm)
(%)
III-40
SVM1-20i
16 Joules
SVM1-40i
50 Watt
If the calculated value exceeds the storage capability of the amplifier, then an external regenerative
discharge unit is required (see Step 5).
STEP 5: Selecting a Regenerative Discharge Unit
If a separate regenerative discharge unit is required, the following calculation will determine the unit
required:
Average Regenerative Power (W) = Average Regenerative Energy (Joules) x
1
where:
F
F = Deceleration duty (seconds) Example: deceleration once per 5 second cycle, F=5
Select a regenerative resistor with a rating that exceeds the average regenerative power.
Example:
2
Assume a horizontal axis using a 2/4000is motor (Jm = 0.0002146 lb-in-s ) that decelerates once every 6
seconds (F) for 0.2 seconds (ta) with a maximum speed of 2000 RPM (m). The machine inertia (JL) is
2
0.00139 lb-in-s .
-4
1
1
=
F
6
III-41
Power Cable
(Shielded)
Feedback Cable
(Right Angle)
Feedback Cable
(Straight)
Brake Power
Cable
B0.5/5000is
B1/5000is
B2/4000is
SVM1-20i
SVM1-20i
SVM1-20i
SVM1-20i
7M
CP8B-1WPB-0070-AZ
CP8B-1WPB-0070-AZ
CP8B-1WPB-0070-AZ
CP9B-0WPB-0070-AZ
14 M
CP8B-1WPB-0140-AZ
CP8B-1WPB-0140-AZ
CP8B-1WPB-0140-AZ
CP9B-0WPB-0140-AZ
7M
CP8B-1WEB-0070-AZ
CP8B-1WEB-0070-AZ
CP8B-1WEB-0070-AZ
CP9B-0WEB-0070-AZ
Amplifier Model
Power Cable
B0.4/5000is
14 M
CP8B-1WEB-0140-AZ
CP8B-1WEB-0140-AZ
CP8B-1WEB-0140-AZ
CP9B-0WEB-0140-AZ
7M
CFDA-3WPB-0070-AZ
CFDA-3WPB-0070-AZ
CFDA-3WPB-0070-AZ
CFDA-3WPB-0070-AZ
14 M
CFDA-3WPB-0140-AZ
CFDA-3WPB-0140-AZ
CFDA-3WPB-0140-AZ
CFDA-3WPB-0140-AZ
7M
CFDA-0WPB-0070-AZ
CFDA-0WPB-0070-AZ
CFDA-0WPB-0070-AZ
CFDA-0WPB-0070-AZ
14 M
CFDA-0WPB-0140-AZ
CFDA-0WPB-0140-AZ
CFDA-0WPB-0140-AZ
CFDA-0WPB-0140-AZ
7M
CB6N-5WPM-0070-AZ
CB6N-5WPM-0070-AZ
CB6N-5WPM-0070-AZ
14 M
CB6N-5WPM-0140-AZ
CB6N-5WPM-0140-AZ
CB6N-5WPM-0140-AZ
A06B-6114-K204#E
A06B-6114-K204#E
A06B-6114-K204#E
A06B-6114-K204#E
A06B-6114-K204#S
A06B-6114-K204#S
A06B-6114-K204#S
A06B-6114-K204#S
Motor
Power/Brake
Connector Kit
90 Deg
N/A
N/A
N/A
A06B-6114-K220#E
Straight
N/A
N/A
N/A
A06B-6114-K220#S
Motor Power
Connector Kit
90 Deg
A06B-6114-K230#E
A06B-6114-K230#E
A06B-6114-K230#E
N/A
Straight
A06B-6114-K230#S
A06B-6114-K230#S
A06B-6114-K230#S
N/A
90 Deg
A06B-6114-K232#E
A06B-6114-K232#E
A06B-6114-K232#E
N/A
Straight
A06B-6114-K232#S
A06B-6114-K232#S
A06B-6114-K232#S
N/A
Motor Brake
Connector Kit
III-42
Table III-21. 4is to 22is Motor Power, Feedback and Brake Cables and Connector Kits
Motor Model
B4/4000is
SVM1-20i
Amplifier Model
Power Cable
Power Cable
(Shielded)
Feedback Cable
(Right Angle)
Feedback Cable
(Straight)
Holding Brake
Power Cable
Motor Power
Connector Kit
Motor Brake
Connector Kit
SVM1-20i
B12/3000is
SVM1-40i
B22/2000is
SVM1-40i
7M
CP9B-0WPB-0070-AZ
CP3B-0WPB-0070-AZ
CP5B-0WPB-0070-AZ
CP6B-0WPB-0070-AZ
14 M
CP9B-0WPB-0140-AZ
CP3B-0WPB-0140-AZ
CP5B-0WPB-0140-AZ
CP6B-0WPB-0140-AZ
7M
CP9B-0WEB-0070-AZ
CP3B-0WEB-0070-AZ
CP5B-0WEB-0070-AZ
CP6B-0WEB-0070-AZ
14 M
CP9B-0WEB-0140-AZ
CP3B-0WEB-0140-AZ
CP5B-0WEB-0140-AZ
CP6B-0WEB-0140-AZ
7M
CFDA-3WPB-0070-AZ
CFDA-3WPB-0070-AZ
CFDA-3WPB-0070-AZ
CFDA-3WPB-0070-AZ
14 M
CFDA-3WPB-0140-AZ
CFDA-3WPB-0140-AZ
CFDA-3WPB-0140-AZ
CFDA-3WPB-0140-AZ
7M
CFDA-0WPB-0070-AZ
CFDA-0WPB-0070-AZ
CFDA-0WPB-0070-AZ
CFDA-0WPB-0070-AZ
14 M
CFDA-0WPB-0140-AZ
CFDA-0WPB-0140-AZ
CFDA-0WPB-0140-AZ
CFDA-0WPB-0140-AZ
7M
CB4N-0WPM-0070-AZ
CB4N-0WPM-0070-AZ
CB4N-0WPM-0070-AZ
14 M
CB4N-0WPM-0140-AZ
CB4N-0WPM-0140-AZ
CB4N-0WPM-0140-AZ
A06B-6114-K204#E
A06B-6114-K204#E
A06B-6114-K204#E
A06B-6114-K204#S
A06B-6114-K204#S
A06B-6114-K204#S
B8/3000is
90 Deg A06B-6114-K220#E
Straight A06B-6114-K220#S
90 Deg
N/A
N/A
N/A
A06B-6079-K812
N/A
N/A
A06B-6079-K812
N/A
N/A
A06B-6079-K815
Straight
N/A
A06B-6079-K811
A06B-6079-K811
A06B-6079-K814
90 Deg
N/A
A06B-6114-K213#E
A06B-6114-K213#E
A06B-6114-K213#E
Straight
N/A
A06B-6114-K213#S
A06B-6114-K213#S
A06B-6114-K213#S
III-43
No.
Name
Connector Kit
Remarks
DC link charge LED
CZ7-1
CZ7-2
CZ7-2
CX29
A06B-6130K203
CX30
A06B-6130K204
CXA20
A06B-6130K202
Regenerative resistor
thermal protector
connector
CXA19B
A06B-6130K201
CXA19A
A06B-6130K201
10
COP10B
N/A
11
COP10A
N/A
12
ALM
N/A
13
JX5
N/A
No Connection
(Reserved)
14
LINK
N/A
FSSB communication
status LED
15
JF1
A06B-6073K214
16
POWER
N/A
17
CX5X
A06B-6093K303
18
GROUND
N/A
III-44
External regenerative
discharge register
connector
Motor power connector
No.
Name
Connector Kit
CX29
A06B-6130-K203
CX30
A06B-6130-K204
CXA20
A06B-6130-K202
SW
N/A
CZ4
CZ5
CZ6
Remarks
DC link charge LED
A06B-6110K200#XXS
A06B-6110K202#YYS
A06B-6110K201#XYM
CXA19B
A06B-6130-K201
10
CXA19A
A06B-6130-K201
11
COP10B
N/A
12
COP10A
N/A
13
ALM
N/A
14
JX5
N/A
No Connection (Reserved)
15
LINK
N/A
16
JF1
A06B-6073-K214
17
POWER
N/A
18
CX5X
A06B-6093-K303
19
GROUND
N/A
III-45
Connector Location
No.
Name
Description
No.
DC link charge
LED
Name
CXA20
Description
No.
Regenerative resistor
overtemperature
switch connector
13
Name
JX5
Description
Reserved
CZ7-1
CXA19B
14
LINK
Fiberoptic link
status LED
CZ7-2
Discharge resistor
connector
CXA19A
15
JF1
Serial encoder
feedback
CZ7-3
Motor power
connector
10
COP10B
16
POWER
Control power
status display
LED
CX29
11
COP10A
17
CX30
E-stop signal
connector
12
ALM
18
CX5X
Absolute
encoder
battery
Notes
1: Always install the circuit breakers,
magnetic contactor, and AC line filter.
2. User a regulated 24 VDC power
supply for the amplifier. The 24 VDC
power supply for the amplifier and
power supply for the motor brake
cannot be shared.
3. The IC800ABK001 encoder battery
pack mounts separately on the panel
and can power up to four axes.
Alternatively, the IC800BBK021 oneaxis lithium battery can be snapped
onto each amplifier.
Tapped hole
for grounding
the amplifier
Connector Location
No.
Name
1
2
CX29
Description
No.
CZ5
Name
Main power
connector
13
ALM
Servo alarm
status LED
CZ6
Discharge
resistor
connector
14
JX5
Reserved
Description
No.
Name
Description
CX30
E-stop signal
connector
CXA19B
24 VDC power
input
15
LINK
Fiberoptic link
status LED
CXA20
Regenerative
resistor
overtemperature
switch connector
10
CXA19A
24 VDC power
input
16
JF1
Serial encoder
feedback
SW
11
COP10B
Fiber optic
servo
command
17
POWER
Control power
status display
LED
CZ4
12
COP10A
Fiber optic
servo
command
18
CX5X
Absolute encoder
batter
19
Notes
III-47
Connects
K1
K2
K3
When Required
always
AC Power to Amplifier
Customer Supplied
always
always
Amplifier to Regenerative
Discharge Unit
in most cases
K4
in most cases
K5
Customer Supplied
always
K5
Customer Supplied
Connection of or Daisy Chain to
an adjacent amplifier the 24 VDC,
E-stop and encoder battery
backup signals
always
K6
Customer Supplied
control-dependent;
consult your control
documentation
Customer Supplied
Customer Supplied
K7
K8
K9
ZA66L-6001-0023#L150R0
0.15 meter
ZA66L-6001-0023#L1R003
1 meter
ZA66L-6001-0023#L3R003
3 meter
ZA66L-6001-0026#L1R003
1 meter
ZA66L-6001-0026#L5R003
5 meter
ZA66L-6001-0026#L10R03
10 meter
ZA66L-6001-0026#L20R03
20 meter
III-48
Vendor Part
Number
Ferrule
316892
Housing
316890
Stopper
316891
Spring
900357
The core diameter is 200 micrometer, and the plastic clad diameter is 230 micrometer
Cable must be clamped so that no stretching force is applied and no forces within 200mm of
connector.
III-49
SVM
*RD
5V
9, 20
0V
12, 14
6V
FG
16
20-pin Encoder connector (JF1)
Connector kit: A06B-6073-K214
Servo Motor
RD
5
8, 9
7, 10
4
3
Drain Wire
Cable Length
28m or Less
2
5V, 0V, 6V
0.3mm x 5
Wire construction
12/0.18 or 60/0.08
Insulation outer diameter
1.5 or less
RD, *RD
0.18mm or more
Twisted pair wire
Drain wire
0.15 mm or more
50m or Less
2
0.5mm x 5
Wire construction
20/0.18 or 104/0.08
Insulation outer diameter
1.5 or less
2
0.18mm or more
Twisted pair wire
2
0.15 mm or more
Notes:
1. The grounding bar to which the feedback cable shield is connected must be placed as close as
possible to the amplifier.
2. Total resistance of the 5V and 0V wire path must be less than 2.
2
3. Motor encoder connector can accept maximum 0.5mm wire size (wire construction 20/0.18 or
104/0.08, insulation outer diameter 1.5 or less) wire and sheath diameter is 5.7 to 8.0.
III-50
Receptacle Housing
Use the following receptacle housing.
Manufacturer Model Number
175363-3
Key Specification
Manufacturer
Receptacle Contact
Receptacle Contact
Model Number
L size
1-75218-2
Conductor Size
2
0.51.25 mm
20/18/16 AWG
Insulation Outer
Diameter (mm)
1.82.8
Manual Tool
Model Number
91558-1
Manufacturer
Tyco Electronics
AMP
Description
Housing: Incorrect-insertion prevention key 175636-3 (Qty. 1)
Incorrect-insertion prevention key 1318095-2 (Qty. 1)
Contact: L size, 1-175218-2 (Qty. 10)
2
Applicable wire diameter: 0.51.25mm , AWG 20/18/16
Applicable tool: 91558-1 (not included in this kit)
CZ7
L1
L3
L2
III-51
Receptacle Housing
Use the following receptacle housing.
Manufacturer Model Number
Key Specification
1-917807-2
Manufacturer
XX
Receptacle Contact
Receptacle Contact
Model Number
S size
316040-6
Conductor Size
1.252.20 mm
16/14 AWG
Insulation Outer
Diameter (mm)
3.03.8
Manual Tool
Model Number
234170-1
Manufacturer
Tyco Electronics
AMP
Description
Housing: XX key 917807-2 (Qty. 1)
Contact: S size, 316040-6 (Qty. 4)
2
Applicable wire diameter: 1.252.20mm , AWG 16/14
Applicable tool: 234170-1 (not included in this kit)
CZ4
III-52
A2
A1
B2
B1
i Servo Amplifier
CZ7 (B1) U
CZ7 (A1) V
CZ7 (B2) W
CZ7 (A2)
GND (Body)
Receptacle Housing
Use the following receptacle housing.
Manufacturer Model Number
Manufacturer
1318095-2
Receptacle Contact
Receptacle Contact
Model Number
L size
1-75218-2
Conductor Size
2
0.51.25 mm
20/18/16 AWG
Insulation Outer
Diameter
Manual Tool
Model Number
1.82.8
91558-1
Manufacturer
Tyco Electronics
AMP
Description
Housing: Incorrect insertion prevent key 175363-3 (Qty. 1)
Incorrect insertion prevent key 1318095-2 (Qty. 1)
Contact: L size, 1-175218-2 (Qty. 10)
2
Applicable wire diameter: 0.51.25mm , AWG 20/18/16
Applicable tool: 91558-1 (not included in this kit)
CZ7
III-53
i Servo Amplifier
CZ5 (B1) U
CZ5 (A1) V
CZ5 (B2) W
CZ5 (A2)
GND (Body)
Receptacle Housing
Use the following receptacle housing.
Manufacturer Model Number
Key Specification
2-917807-2
YY
Manufacturer
Tyco Electronics AMP
Receptacle Contact
Receptacle Contact
Model Number
S size
316040-6
Conductor Size
1.252.2 mm
16/14 AWG
Insulation Outer
Diameter
Manual Tool
Model Number
3.03.8
234170-1
Manufacturer
Tyco Electronics
AMP
Description
Housing: YY key 2-917807-2 (Qty. 1)
Contact: S size 316040-6 (Qty. 4)
2
Applicable wire diameter: 1.252.20mm , AWG 16/14
Applicable tool: 234170-1 (not included in this kit)
CZ5
III-54
30 ohms, 20 watts
A06B-6130-H402
Regenerative Discharge
Resistor
SVM1-20i
CZ7 (DCP)
B1
DCP
CZ7 (DCC)
A1
DCC
Housing: 175362-3
Contact: 1-175218-2
Manufacturer: Tyco Electronics AMP
Wire cross-sectional area: 0.50 to 1.25mm2
CXA20
(TH1) 1
TH1
CXA20
(TH1) 2
TH2
Housing: 1-1618120-3
Contact: 1318107-1
Manufacturer: Tyco Electronics AMP
Wire cross-sectional area: 0.30 to 0.85mm2
Connector kit: Not required; connector included
on resistor
III-55
CZ7 (DCP)
B1
CZ7 (DCC)
A1
CXA20-1
(TH1)
CXA20-2
(TH1)
Housing: 1-1318120-3
Contact: 1318107-1
Manufacturer: Tyco Electronics AMP
Wire cross-sectional area: 0.30 to 0.85mm2
Connector Kit: A06B-6130-K202
Caution
Do not connect the DCP and DCC pins to each other.
III-56
SVM1-40i
When a Separate Regenerative Discharge Resistor is Used
The following regenerative discharge resistor models are available for the SVM1-40i amplifier. The users
must manufacture the connecting cables.
A06B-6089-H500
A06B-6089-H713
SVM1-40i
CZ6-B1
(RC)
CZ7-B2
(RE)
Cable specification:
Two-conductor polyvinyl heavy-duty
power cable (JIS C3312)
Conductor size: 3.5mm2
Crimp terminal: 5.5-4
Housing: 3-917807-2
Contact: 613041-6
Manufacturer: Tyco Electronics AMP
Wire cross-sectional area: 3.5 to 5.5mm2
Connector Kit: A06B-6110-K201#XYM
CXA20-1
(TH1)
CXA20-2
(TH1)
Cable specification:
Two-conductor polyvinyl heavy-duty
power cable (JIS C3312)
Conductor size: 0.75mm2
Crimp terminal: 1.25-4
Housing: 1-1318120-3
Contact: 1318107-1
Manufacturer: Tyco Electronics AMP
Wire cross-sectional area: 0.3 to 0.85mm2
Connector Kit: A06B-6130-K202
CZ6
CXA20
R1
RC
TH1
RE
RC
TH1
III-57
CZ6-A1
(RC)
CZ6-A2
(RI)
Cable specification:
Two-conductor polyvinyl heavy-duty power cable (JIS C3312)
Conductor size: 3.5mm2
Crimp terminal: 5.5-4
Housing: 3-917807-2
Contact: 613041-6
Manufacturer: Tyco Electronics AMP
Wire cross-sectional area: 3.5 to 5.5mm2
Connector Kit: A06B-6110-K201#XYM
CXA20-1
CXA20-2
(TH1)
(TH2)
Cable specification:
Two-conductor polyvinyl heavy-duty power cable (JIS C3312)
Conductor size: 0.75mm2
Crimp terminal: 1.25-4
Housing: 1-1318120-3
Contact: 1318107-1
Manufacturer: Tyco Electronics AMP
Wire cross-sectional area: 0.3 to 0.85mm2
Connector Kit: A06B-6130-K202
III-58
Details of Cable K6 24V, E-Stop and Battery Daisy Chain for Multi-Axis Systems
For multi-axis systems, the 24VDC control power, emergency stop, and absolute encoder backup battery
signals can be daisy chained from the first amplifier to up to four adjacent amplifiers using the CXA19
connections. The state of the E-stop input signal on connector CX30 on the first amplifier is passed to the
other connected amplifiers, allowing an emergency stop condition to be executed on all amplifiers
simultaneously. When using this connection for the encoder battery backup, the IC800ABK001 multi-axis
battery kit must be connected to the first amplifier. Do not use the IC800BBK021 single-axis battery kit.
i SVM
i SVM
CXA19B-A1
(24V)
CXA19A-A1
(24V)
CXA19B-B1
(24V)
CXA19A-B1
(24V)
CXA19B-A2
(0V)
CXA19A-A2
(0V)
CXA19B-B2
(0V)
CXA19A-B2
(0V)
CXA19B-A3
(ESP)
CXA19A-A3
(ESP)
CXA19B-B3
(BAT)
CXA19A-B3
(BAT)
Housing: 1-1318119-3
Contact: 1318107-1
Manufacturer: Tyco Electronics AMP
Wire cross-sectional area: 0.3 to 0.85mm2
Connector Kit: A06B-6130-K201
Housing: 1-1318119-3
Contact: 1318107-1
Manufacturer: Tyco Electronics AMP
Wire cross-sectional area: 0.3 to 0.85mm2
Connector Kit: A06B-6130-K201
B
A
3
2
1
III-59
Spark Arrestor
CX29-3 (RLY2)
(MCC)
User-supplied Contactor for
Amplifier AC Supply
Normally open
internal relay
contact (see
contact ratings
below)
Housing: 3-1318130-3
Contact: 1318107-1
Manufacturer: Tyco Electronics AMP
Wire cross-sectional area: 0.3 to 0.85mm2
Connector Kit: A06B-6130-K203
Contact Ratings
Specification of
Internal Contact
Resistor Load
(cos=1)
Inductance Load
(cos=0.4, L/R=7msec)
Rated load
250 VAC, 5A
30 VDC, 5A
250 VAC, 2A
30 VDC, 2A
Max. current
5A
5A
III-60
SVM1
CX30-1 (24V)
CX30-3 (ESP)
Housing: 3-1318120-3
Contact: 1318107-1
Manufacturer: Tyco Electronics AMP
Wire cross-sectional area: 0.3 to 0.85mm2
Connector Kit: A06B-6130-K204
III-61
i SVM
CXA19B-A1
(24V)
CXA19B-B1
(24V)
CXA19B-A2
(0V)
0V
B
CXA19B-B2
(0V)
A
3
M3 Screw
Terminals
2
1
CXA19B-A3
(ESP)
CXA19B-B3
(BAT)
Housing: 1-1318119-3
Contact: 1318107-1
Manufacturer: Tyco Electronics AMP
Wire cross-sectional area: 0.3 to 0.85mm2
Connector Kit: A06B-3160-K201
III-62
Index
#
Servo System
AMPLIFIERS, III-15
HEAT DISSIPATION, III-28
INSTALLATION, III-23
MOTOR OUTLINE DRAWINGS, III-8
OVERVIEW, III-3
PACKAGE OPTIONS, III-5
SERVO MOTOR SPECIFICATIONS, III-6
SPEED-TORQUE CURVES, III-6
SYSTEM CONNECTION, III-42
A
Absolute Encoder Battery, I-11, II-10, III-20
AC line filter, II-22, III-32
AC power, I-30, I-33, II-22, II-24, III-32, III-34
Alarm Functions, I-57, II-46, III-15
Amplifier Control Power, II-25, III-34
Amplifier Package, Series, I-7
Amplifiers, 0-1
HEAT DISSIPATION, I-13, II-12
I HEAT DISSIPATION, III-26
I MODELS, III-4
ALARM FUNCTIONS, I-22, I-57, II-17, II-46,
III-15
i, III-16
CONNECTOR KIT, II-29
Series, I-42, II-28
ENVIRONMENTAL REQUIREMENTS, I-12,
II-11
MAINTENANCE CLEARANCES, II-12
MODELS, I-7, II-7, III-4
B
Battery Packs, Encoder, I-11
Battery, Packs Encoder, II-10
I SERIES, III-20
C
Cable Connections
SERIES, I-43
Cables, Series
Cables, i Series
Cables, connection
F
Feedback, I-42
Fuses, II-25, III-35
G
Ground fault interrupter
SERIES, I-29, II-21
Grounding
SERIES, I-27
SERIES, II-19
SERIES, III-29
H
Heat dissipation
SERIES, I-13
SERIES, II-12
I, III-28
I SERIES, III-26
Catalog Numbers
SERIES, I-7
SERIES, II-7
I SERIES, III-4
Connection
I
Installation Guidelines, I-12, II-11
I, III-23
Connectors
SERIES MOTORS, I-42, II-28
D
DC power, II-25, III-34
Dimensions
SERIES AMPLIFIER, II-18
SERIES AMPLIFIER PANEL CUTOUTS, I23
SERIES AMPLIFIERS, I-23
SERIES REGENERATIVE D.U., I-38
SERIES REGENERATIVE D.U., III-37
AC LINE FILTERS, I-31
DISCHARGE RESISTOR, I-39, III-37
MOTOR, II-5
E
Encoder
BATTERY, I-11, II-10
i series, III-20
Environmental requirements
AMPLIFIERS, I-12, II-11
SERIES, I-12, II-11
I AMPLIFIERS, III-24
I SERIES, III-23
MOTORS, I-12, II-11, III-23
L
Line Filter, I-30, II-22, III-32
M
Maintenance Clearances, II-12, III-26
Motor Dimensions
0.5/3000, II-13
12/3000, I-16
2/3000, II-14
2/3000 W/BRAKE, II-16
22/3000, I-16
30/3000, I-16
40/2000, I-19
6/2000, II-14
6/2000 W/BRAKE, II-16
6/3000, I-14
C12/2000, II-14
C12/2000 W/BRAKE, II-16
SERIES, II-5
BRAKE, I-6, I-10, II-6, III-12
ENVIRONMENTAL REQUIREMENTS, I-12,
II-11, III-23
SPEED-TORQUE CURVES
HRV function, I-5, II-5, III-6
N
Noise Protection
Protection
SERIES, I-57, II-46
I SERIES, III-15
R
Radial Load, I-22, II-17
Regenerative Discharge Units
Overview
SERIES, I-34
SERIES, II-25
I SERIES, III-35
P
Package Options, I-9, II-9
I, III-5
Part Numbers
SERIES, I-7, II-7
SERIES, III-4
S
Sealing Option, I-10
Servo motors, 0-1
Servo Motors, II-5
Servo package options, I-9, II-9
I, III-5
Shaft Loading
SERIES, I-22, II-17
Specifications
SERIES, I-8
SERIES, II-8
Speed-Torque curves
SERIES, I-5, II-5
I SERIES, III-6
Standards, 0-1
Switch Settings, I-26, III-36
T
Transformer, I-30, II-22, III-32