FANUC a Series AC SERVO MOTOR. Description Manual (GFZ-65142E/02) - page 5
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR α series
CHARACTERISTICS
Fig. 3.3 (j)Models α12, α22, α30, and α40
Serial A
119
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR α series
B-65142E/02
Fig. 3.3 (k)Models α12, α22, α30, and α40 (with the brake)
Serial A
(α40/2000)
120
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR α series
CHARACTERISTICS
Fig. 3.3 (l)Models α12, α22, α30, and α40 (shaft option)
except
40
Note) The standard straight shafts only is used for model α40.
121
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR α series
B-65142E/02
Fig. 3.3 (m)Model α40 (with fan)
Serial A
122
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR α series
CHARACTERISTICS
Fig. 3.3 (n)Model α40 (with fan) (with the brake)
Serial A
123
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR α series
B-65142E/02
Fig. 3.3 (o)Models α65, α100, and α150
Serial A
124
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR α series
CHARACTERISTICS
Fig. 3.3 (p)Models α65, α100, and α150 (with the brake)
Serial A
125
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR α series
B-65142E/02
3.4
CONNECTION OF
POWER LINE
Model
α0.5/3000
A1
Motor
coil
A2
A3
Dynamic D-3200M
Ground plate
Free hanging type
B1
(AMP JAPAN, LTD.
3-179554-3)
Motor body
B2
Only the motor with the
Brake
brake
coil
B3
Note)
No surge absorber for brake is contained in
the motor.
Prepare a surge absorber in the power
magnetics cabinet.
Models
α1/3000, α2/2000, and
α2/3000
1
Motor
coil
2
Special connector
3
(AMP JAPAN, LTD.)
Ground plate
4
Motor body
5
Only the motor with the
Brake
brake
coil
6
Note)
No surge absorber for brake is contained in
the motor.
Prepare a surge absorber in the power
magnetics cabinet.
126
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR α series
CHARACTERISTICS
Models
α3/3000, α6/2000, and
α6/3000
A
Motor
coil
B
C
Grounding plate
D
Motor body
3102A 18-10P
Models
α12/2000, α12/3000,
α22/1500, α22/2000,
A
and α30/1200
Motor
coil
B
C
Grounding plate
D
Motor body
3102A 22-22P
Models
α22/3000, α30/2000,
α30/3000, and α40/2000
A
Motor
B
coil
C
D
E
F
Grounding plate
3102A 24-10P
G
Motor body
127
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR α series
B-65142E/02
Models
α65/2000, α100/2000,
and α150/2000
U
Motor
coil
V
W
Terminal board
Grounding plate
Dimension of screw : M8
G
Motor body
128
III. FANUC AC SERVO MOTOR
α(HV) series
B-65142E/02
FANUC AC SERVO MOTOR α(HV) series
1. GENERAL
GENERAL
1
The FANUC AC servo motor α(HV) series is suitable for application to
the feed axes of machine tools. These motors have the following features:
Direct connection to a
A 400V power source can be connected directly without using a
400V power source
transformer.
Compact
The use of the latest ferrite magnet, combined with an optimized
mechanical design, reduces both the overall length and weight. The result
is compact, lightweight servo motors.
Excellent waterproofing
The use of waterproof connectors and FANUC’s unique stator seal
provide excellent waterproofing, ensuring that no liquid, such as coolant,
can enter the motor.
Smooth rotation
Further improvements have been made to the unique magnetic pole shape
to minimize torque ripple. The result is extremely smooth rotation.
Controllability
The use of the latest servo software maintains controllability even when
a disturbance occurs.
Built-in
A high-resolution pulse coder αA64 or α164 is provided as standard,
high-performance
assuring accurate positioning.
detector
Powerful brake
A powerful brake with an increased holding torque is available as an
option. The brake uses an asbestos-free design.
The α(HV) series includes models α3HV and α6HV, both of which are
compatible with α series models α3 and α6 in their installation size, and
models α12HV, α22HV and α30HV, which are compatible with series
models α12, α22, α30 in their installation size.
131
2.TYPES OF MOTORS
AND DESIGNATION
FANUC AC SERVO MOTOR α(HV) series
B-65142E/02
TYPES, OF, MOTORS, AND, DESIGNATION
2
The types and specifications of α(HV) series servo motors are described
as follows.
Models
A06B-01jj-Bl ff
α3/3000HV, and
jj
α6/3000HV
71 : Model α3/3000HV
72 : Model α6/3000HV
l
0 : Taper shaft (standard)
1 : Taper shaft with the brake (8Nm)
5 : Straight shaft
6 : Straight shaft with the brake (8Nm)
ff
75 : With the pulse coder αA64
77 : With the pulse coder αI64
84 : With the serial pulse coder A
The standard shafts used for models α3/3000HV and α6/3000HV are
taper shafts. Use a taper shaft as far as circumstances, such as the delivery
time and maintenance, permit.
Models
A06B-01jj-Bl ff
α12/3000HV, α22/3000HV
jj
and α30/3000HV
76 : Model α12/3000HV
77 : Model α22/3000HV
78 : Model α30/3000HV
l
0 : Straight shaft (standard)
1 : Straight shaft with the brake (35Nm)
5 : Taper shaft
6 : Taper shaft with the brake (35Nm)
ff
75 : With the pulse coder αA64
77 : With the pulse coder αI64
84 : With the serial pulse coder A
A straight shaft is fitted as the standard shaft for models α12/3000HV,
α22/3000HV and α30/3000HV. When early delivery and case-of-
maintenance are important, a straight shaft should be used.
132
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR α(HV) series
CHARACTERISTICS
SPECIFICATIONS, AND, CHARACTERISTICS
3
133
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR α(HV) series
B-65142E/02
3.1
TYPES OF MOTORS
Item
Unit
α3/3000HV
α6/3000HV
AND
kw
0.9
1.4
SPECIFICATIONS
Output
HP
1.3
1.9
Nm
3.0
6.0
Rated torque at stall
kgf⋅cm
31
61
Rating output speed
1/min
3000
3000
Nm
27
56
Maximum theoretical
torque
kgf⋅cm
280
570
kg⋅m2
0.0014
0.0026
Rotor inertia
kgf⋅cm⋅s2
0.014
0.027
Maximum theoretical
rad/s2
20000
21000
acceleration
Weight
kg
8
13
The above values are under the condition at 20°C.
Note
The above values shown in the maximum theoretical torque
are the theoretical values.
The actual maximum torque is restricted by the current limit
values of the drive amplifier.
134
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR α(HV) series
CHARACTERISTICS
Item
Unit
α12/3000HV
α22/3000HV
α30/3000HV
kw
2.8
4.0
4.0
Output
HP
3.8
5.4
5.4
Nm
12
22
30
Rated torque at
stall
kgf⋅cm
122
224
306
Rating output
1/min
3000
3000
3000
speed
Maximum
Nm
66
130
200
theoretical
torque
kgf⋅cm
670
1400
2100
kg⋅m2
0.0062
0.012
0.017
Rotor inertia
kgf⋅cm⋅s2
0.064
0.12
0.17
Maximum
theoretical ac-
rad/s2
11000
11000
12000
celeration
Weight
kg
18
29
41
The above values are under the condition at 20°C.
Note
The above values shown in the maximum theoretical torque
are the theoretical values.
The actual maximum torque is restricted by the current limit
values of the drive amplifier.
135
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR α(HV) series
B-65142E/02
3.2
CHARACTERISTIC
CURVE AND DATA
SHEET
Speed-torque
The intermittent operation zone is determined by the input voltage
characteristics
applied to the drive amplifier. The curve shown is the value for the rated
input voltage (400V).
Overload duty
The overload duty characteristic curves are determined based on the
characteristic
temperature restriction for the single motor unit (the temperature is
restricted by means of a thermal trip built into the motor). The curves are
determined by assuming that the temperature increases gradually under
certain overload conditions. Therefore, the curves do not apply to the
rapid temperature rise which occurs, for example, when the motor shaft
is locked. (An overcurrent flows in the motor windings until the thermal
trip operates. The temperature rises momentarily.)
To detect such an abrupt temperature rise, the FANUC digital servo
system provides a software thermal function that uses servo software to
observe the current. During operation that is characterized by frequent
acceleration/deceleration cycles, control is imposed by the software
thermal function.
Driving units (such as amplifiers) and built-in detectors contain their own
overheating protection devices. Therefore, note that control may be
imposed according to how the equipment is being used.
Data sheet
The parameters given in the data sheet are representative values for an
ambient temperature of 20°C. They are subject to an error of +10%.
The indicated logical values are threshold values for the single motor unit
(when the motor is not restricted by the control system).
The maximum torque that can be produced during acceleration or
deceleration in actual use is calculated as the approximate product of the
motor torque constant and the current limit value of the amplifier.
Example : α3/3000HV
A Motor torque constant = 1.06 (Nm/Arms)
A Amplifier limit value = 20 Apeak
A Maximum torque value
= 20
0.707
1.06
(Converted to an effective value)
= 14.9 Nm
This value is for reference only. The actual value will vary depending on
changes in the power supply, as well as variations in motor parameters and
amplifier limit values.
In some models, if the maximum current flows in the motor, the actual
maximum torque is affected by, for example, magnetic saturation. As a
result, the actual maximum torque will be lower than the calculated value.
The intermittent operation area (maximum torque value) indicated in the
speed to torque characteristics is the effective value, determined
according to the combination with the amplifier.
136
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR α(HV) series
CHARACTERISTICS
Model α3/3000HV
Specification : A06B-0171-Bjjj
Torque
Duty
Speed - torque characteristics
Over load duty
(Nm)
(time %)
Intermittent operating
Continuous operating
Speed (1/min)
”ON” time (min.)
Data sheet
Parameter
Symbol
Value
Unit
Rating output speed
Nmax
3000
min -1
3. 0
Nm
Rated torque at stall
(*)
Ts
31
kgfcm
0. 0014
kgm2
Rotor inertia
Jm
0. 014
kgfcms2
Continuous RMS current at stall
Is
2. 8
A (rms)
(*)
1. 06
Nm/A (rms)
Torque constant
(*)
Kt
10. 8
kgfcm/A (rms)
Back EMF constant
(*)
Ke
37
V/1000min -1
(*)
Kv
0. 35
Vsec/rad
Armature resistance
(*)
Ra
1. 85
Ω
Mechanical time constant
(*)
tm
0. 006
s
Thermal time constant
tt
45
min
0. 3
Nm
Static friction
Tf
3
kgfcm
Maximum allowable current
Im
37
A (peak)
27
Nm
Maximum theoretical torque
Tm
280
kgfcm
Maximum theoretical
20000
rad/s2
acceleration
Weight
8
kg
(*) The values are the standard values at 20°C and the tolerance is "10%.
The speed-torque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
137
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR α(HV) series
B-65142E/02
Model α6/3000HV
Specification : A06B-0172-Bjjj
Torque
Duty
Speed - torque characteristics
Over load duty
(Nm)
(time %)
Intermittent operating
ÂÂÂÂÂÂÂ
Continuous operating
Speed (1/min)
”ON” time (min.)
Data sheet
Parameter
Symbol
Value
Unit
Rating output speed
Nmax
3000
min -1
6. 0
Nm
Rated torque at stall
(*)
Ts
61
kgfcm
0. 0026
kgm2
Rotor inertia
Jm
0. 027
kgfcms2
Continuous RMS current at stall
Is
3. 6
A (rms)
(*)
1. 68
Nm/A (rms)
Torque constant
(*)
Kt
17. 1
kgfcm/A (rms)
Back EMF constant
(*)
Ke
59
V/1000min -1
(*)
Kv
0. 56
Vsec/rad
Armature resistance
(*)
Ra
1. 52
Ω
Mechanical time constant
(*)
tm
0. 004
s
Thermal time constant
tt
45
min
0. 3
Nm
Static friction
Tf
3
kgfcm
Maximum allowable current
Im
47
A (peak)
56
Nm
Maximum theoretical torque
Tm
570
kgfcm
Maximum theoretical
21000
rad/s2
acceleration
Weight
13
kg
(*) The values are the standard values at 20°C and the tolerance is "10%.
The speed-torque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
138
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR α(HV) series
CHARACTERISTICS
Model α12/3000HV
Specification : A06B-0176-Bjjj
Torque
Duty
(Nm)
Speed - torque characteristics
(time %)
Over load duty
ÂÂÂÂÂÂÂ
ntermittent operating
ÂÂÂÂÂÂÂ
ontinuous operating
Speed (1/min)
”ON” time (min.)
Data sheet
Parameter
Symbol
Value
Unit
Rating output speed
Nmax
3000
min -1
12
Nm
Rated torque at stall
(*)
Ts
122
kgfcm
0. 0062
kgm2
Rotor inertia
Jm
0. 064
kgfcms2
Continuous RMS current at stall
Is
8. 8
A (rms)
(*)
1. 36
Nm/A (rms)
Torque constant
(*)
Kt
13.8
kgfcm/A (rms)
Back EMF constant
(*)
Ke
47
V/1000min -1
(*)
Kv
0. 45
Vsec/rad
Armature resistance
(*)
Ra
0. 49
Ω
Mechanical time constant
(*)
tm
0. 005
s
Thermal time constant
tt
60
min
0. 8
Nm
Static friction
Tf
8
kgfcm
Maximum allowable current
Im
70
A (peak)
66
Nm
Maximum theoretical torque
Tm
670
kgfcm
Maximum theoretical
11000
rad/s2
acceleration
Weight
18
kg
(*) The values are the standard values at 20°C and the tolerance is "10%.
The speed-torque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
139
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR α(HV) series
B-65142E/02
Model α22/3000HV
Specification : A06B-0177-Bjjj
Torque
Duty
(Nm)
Speed - torque characteristics
(time %)
Over load duty
Intermittent operating
Continuous operating
ÂÂÂÂÂÂÂ
Speed (1/min)
”ON” time (min.)
Data sheet
Parameter
Symbol
Value
Unit
Rating output speed
Nmax
3000
min -1
22
Nm
Rated torque at stall
(*)
Ts
224
kgfcm
0. 012
kgm2
Rotor inertia
Jm
0. 12
kgfcms2
Continuous RMS current at stall
Is
12. 5
A (rms)
(*)
1. 76
Nm/A (rms)
Torque constant
(*)
Kt
18. 0
kgfcm/A (rms)
Back EMF constant
(*)
Ke
62
V/1000min -1
(*)
Kv
0. 59
Vsec/rad
Armature resistance
(*)
Ra
0. 32
Ω
Mechanical time constant
(*)
tm
0. 003
s
Thermal time constant
tt
65
min
1. 2
Nm
Static friction
Tf
12
kgfcm
Maximum allowable current
Im
105
A (peak)
130
Nm
Maximum theoretical torque
Tm
1400
kgfcm
Maximum theoretical
11000
rad/s2
acceleration
Weight
29
kg
(*) The values are the standard values at 20°C and the tolerance is "10%.
The speed-torque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
140
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR α(HV) series
CHARACTERISTICS
Model α30/3000HV
Specification : A06B-0178-Bjjj
Torque
Duty
(Nm)
Speed - torque characteristics
(time %)
Over load duty
ÂÂÂÂÂÂÂ
ntermittent operating
Continuous operating
Speed (1/min)
”ON” time (min.)
Data sheet
Parameter
Symbol
Value
Unit
Rating output speed
Nmax
3000
min -1
30
Nm
Rated torque at stall
(*)
Ts
306
kgfcm
0. 017
kgm2
Rotor inertia
Jm
0. 17
kgfcms2
Continuous RMS current at stall
Is
12. 6
A (rms)
(*)
2.37
Nm/A (rms)
Torque constant
(*)
Kt
24. 2
kgfcm/A (rms)
Back EMF constant
(*)
Ke
83
V/1000min -1
(*)
Kv
0. 79
Vsec/rad
Armature resistance
(*)
Ra
0. 34
Ω
Mechanical time constant
(*)
tm
0. 003
s
Thermal time constant
tt
70
min
1. 8
Nm
Static friction
Tf
18
kgfcm
Maximum allowable current
Im
120
A (peak)
200
Nm
Maximum theoretical torque
Tm
2100
kgfcm
Maximum theoretical
12000
rad/s2
acceleration
Weight
41
kg
(*) The values are the standard values at 20°C and the tolerance is "10%.
The speed-torque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
141
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR α(HV) series
B-65142E/02
3.3
OUTLINE DRAWINGS
Model
Fig. No.
Models α3/3000HV and α6/3000HV
Fig. 3.3(a)
Models α3/3000HV and α6/3000HV (with the brake)
Fig. 3.3(b)
Models α3/3000HV and α6/3000HV (shaft option)
Fig. 3.3(c)
Models α12/3000HV, α22/3000HV, and α30/3000HV
Fig. 3.3(d)
Models α12/3000HV, α22/3000HV, and α30/3000HV
Fig. 3.3(e)
(with the brake)
Models α12/3000HV, α22/3000HV, and α30/3000HV
Fig. 3.3(f)
(shaft option)
142
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR α(HV) series
CHARACTERISTICS
Fig. 3.3 (a)Models α3/3000HV and α6/3000HV
Serial A
Key width
143
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR α(HV) series
B-65142E/02
Fig. 3.3 (b)Models α3/3000HV and α6/3000HV (with the brake)
Serial A
Key width
144
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR α(HV) series
CHARACTERISTICS
Fig. 3.3 (c)Models α3/3000HV and α6/3000HV (shaft option)
145
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR α(HV) series
B-65142E/02
Fig. 3.3 (d)Models α12/3000HV, α22/3000HV and α30/3000HV
Serial A
146
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR α(HV) series
CHARACTERISTICS
Fig. 3.3 (e)Models α12/3000, α22/3000 and α30/3000HV (with the brake)
Serial A
147
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR α(HV) series
B-65142E/02
Fig. 3.3 (f)Models α12/3000HV, α22/3000HV and α30/3000HV (shaft option)
148
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR α(HV) series
CHARACTERISTICS
3.4
CONNECTION OF
POWER LINE
Models
α3/3000HV and
α6/3000HV
Motor
coil
Ground plate
3102A 18-10P
Motor body
Models
α12/3000HV, α22/3000HV
and α30/3000HV
Motor
coil
Ground plate
3102A 22-22P
Motor body
149