FANUC a Series AC SERVO MOTOR. Description Manual (GFZ-65142E/02) - page 7
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR αM series
CHARACTERISTICS
Fig. 3.3 (d)Model αM9 (shaft option)
185
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR αM series
B-65142E/02
3.4
CONNECTION OF
POWER LINE
Models
αM3/3000, αM6/3000,
and αM9/3000
A
Motor
coil
B
C
Ground plate
D
3102A 18-10P
Motor body
186
VI. FANUC AC SERVO MOTOR αL series
B-65142E/02
FANUC AC SERVO MOTOR αL series
1. GENERAL
GENERAL
1
The FANUC AC servo motor αL series is suitable for high-speed
positioning. It has the following features:
Excellent acceleration
The latest neodymium ferrite magnet is employed, and the rotor inertia
characteristics
is minimized. The result is a motor that offers excellent acceleration.
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.
Extended
The use of the latest servo software minimizes the heat generated by
continuous-operation
high-speed rotation, allowing continuous operation over a wide range.
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.
High-performance
The AC servo motor αL series are fitted with incremental pulse coder
detector
αI64 or absolute pulse coder αA64 as its standard pulse coder.
Powerful brake
A powerful brake with an increased holding torque is available as an
option. The brake uses an asbestos-free design.
The L series models αL3, αL6, and αL9, all of which are compatible with
series models α3 and α6 in their installation size, and models αL25 and
αL50, which are compatible with series models α12 and α22 in their
installation size. All these αL series models are compatible with the
conventional FANUC AC servo motor αL series in their installation size.
189
2.TYPES OF MOTORS
AND DESIGNATION
FANUC AC SERVO MOTOR αL series
B-65142E/02
TYPES OF MOTORS AND DESIGNATION
2
The types and specifications of αL series servo motors are described as
follows.
Models
A06B-05jj-Bl ff
αL3/3000,BαL6/3000, and
jj
αL9/3000
61 : Model αL3/3000
62 : Model αL6/3000
64 : Model αL9/3000
l
0 : Taper shaft (standard)
1 : Taper 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
Models
A06B-05jj-Bl ff
αL25/3000 and
jj
αL50/2000
71 : Model αL25/3000
72 : Model αL50/2000
l
0 : Taper shaft (standard)
2 : Taper shaft with the brake (18Nm)
3 : Taper shaft with the brake (40Nm)
ff
75 : With the pulse coder αA64
77 : With the pulse coder αI64
84 : With the serial pulse coder A
190
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR αL series
CHARACTERISTICS
SPECIFICATIONS, AND, CHARACTERISTICS
3
191
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR αL series
B-65142E/02
3.1
TYPES OF MOTORS
Item
Unit
αL3/3000
αL6/3000
αL9/3000
AND
kW
0.9
1.4
2.0
Output
SPECIFICATIONS
HP
1.2
1.8
2.7
Nm
3.0
6.0
9.0
Rated torque at stall
kgf⋅cm
31
61
92
Rating output speed
1/min
3000
3000
3000
Nm
12
24
47
Maximum theoreti-
cal torque
kgf⋅cm
120
240
480
2
kg⋅m
0.00025
0.00049
0.00098
Rotor inertia
kgf⋅cm⋅s2
0.0025
0.0050
0.010
Maximum theoreti-
rad/s2
48000
48000
48000
cal acceleration
Weight
kg
7
11
17
Item
Unit
αL25/3000
αL50/2000
kW
3.5
6.0
Output
HP
4.7
8.0
Nm
25
50
Rated torque at stall
kgf⋅cm
255
510
Rating output speed
1/min
3000
2000
Nm
74
150
Maximum theoreti-
cal torque
kgf⋅cm
750
1500
2
kg⋅m
0.0054
0.0098
Rotor inertia
kgf⋅cm⋅s2
0.055
0.10
Maximum theoreti-
rad/s2
14000
15000
cal acceleration
Weight
kg
25
42
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.
192
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR αL series
CHARACTERISTICS
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 (200V).
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.
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.
193
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR αL series
B-65142E/02
Model αL3/3000
Specification : A06B-0561-Bjjj
Torque
Duty
(Nm)
Speed - torque characteristics
Over load duty
(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. 00025
kgm2
Rotor inertia
Jm
0. 0025
kgfcms2
Continuous RMS current at stall
Is
5. 8
A (rms)
(*)
0. 51
Nm/A (rms)
Torque constant
(*)
Kt
5. 2
kgfcm/A (rms)
Back EMF constant
(*)
Ke
18
V/1000min -1
(*)
Kv
0. 17
Vsec/rad
Armature resistance
(*)
Ra
0. 810
Ω
Mechanical time constant
(*)
tm
0. 002
s
Thermal time constant
tt
15
min
0. 3
Nm
Static friction
Tf
3
kgfcm
Maximum allowable current
Im
55
A (peak)
11.8
Nm
Maximum theoretical torque
Tm
120
kgfcm
Maximum theoretical
48000
rad/s2
acceleration
Weight
7
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.
194
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR αL series
CHARACTERISTICS
Model αL6/3000
Specification : A06B-0562-Bjjj
Torque
Duty
(Nm)
Speed - torque characteristics
Over load duty
(time %)
Â
Intermittent operating
ÂÂÂÂÂÂÂ
Â
ontinuous operating
ÂÂÂÂÂÂÂ
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. 00049
kgm2
Rotor inertia
Jm
0. 0050
kgfcms2
Continuous RMS current at stall
Is
11. 4
A (rms)
(*)
0. 52
Nm/A (rms)
Torque constant
(*)
Kt
5. 3
kgfcm/A (rms)
Back EMF constant
(*)
Ke
18
V/1000min -1
(*)
Kv
0. 17
Vsec/rad
Armature resistance
(*)
Ra
0. 275
Ω
Mechanical time constant
(*)
tm
0. 001
s
Thermal time constant
tt
20
min
0. 5
Nm
Static friction
Tf
5
kgfcm
Maximum allowable current
Im
80
A (peak)
23. 5
Nm
Maximum theoretical torque
Tm
240
kgfcm
Maximum theoretical
48000
rad/s2
acceleration
Weight
11
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.
195
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR αL series
B-65142E/02
Model αL9/3000
Specification : A06B-0564-Bjjj
Torque
Duty
(Nm)
Speed - torque characteristics
(time %)
Over load duty
Intermittent operating
ontinuous operating
Â
Speed (1/min)
”ON” time (min.)
Data sheet
Parameter
Symbol
Value
Unit
Rating output speed
Nmax
3000
min -1
9. 0
Nm
Rated torque at stall
(*)
Ts
92
kgfcm
0. 00098
kgm2
Rotor inertia
Jm
0. 010
kgfcms2
Continuous RMS current at stall
Is
16. 9
A (rms)
(*)
0. 52
Nm/A (rms)
Torque constant
(*)
Kt
5. 3
kgfcm/A (rms)
Back EMF constant
(*)
Ke
18
V/1000min -1
(*)
Kv
0. 17
Vsec/rad
Armature resistance
(*)
Ra
0. 110
Ω
Mechanical time constant
(*)
tm
0. 001
s
Thermal time constant
tt
25
min
0. 9
Nm
Static friction
Tf
9
kgfcm
Maximum allowable current
Im
140
A (peak)
47. 0
Nm
Maximum theoretical torque
Tm
480
kgfcm
Maximum theoretical
48000
rad/s2
acceleration
Weight
17
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.
196
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR αL series
CHARACTERISTICS
Model αL25/3000
Specification : A06B-0571-Bjjj
Torque
Duty
(Nm)
Speed - torque characteristics
Over load duty
(time %)
Intermittent operating
ÂÂÂÂÂÂÂ
Continuous operating
ÂÂÂÂÂÂÂ
Speed (1/min)
”ON” time (min.)
Data sheet
Parameter
Symbol
Value
Unit
Rating output speed
Nmax
3000
min -1
25
Nm
Rated torque at stall
(*)
Ts
255
kgfcm
0. 0054
kgm2
Rotor inertia
Jm
0. 055
kgfcms2
Continuous RMS current at stall
Is
37
A (rms)
(*)
0. 66
Nm/A (rms)
Torque constant
(*)
Kt
6. 8
kgfcm/A (rms)
Back EMF constant
(*)
Ke
23
V/1000min -1
(*)
Kv
0. 22
Vsec/rad
Armature resistance
(*)
Ra
0. 049
Ω
Mechanical time constant
(*)
tm
0. 001
s
Thermal time constant
tt
30
min
1. 2
Nm
Static friction
Tf
12
kgfcm
Maximum allowable current
Im
200
A (peak)
74
Nm
Maximum theoretical torque
Tm
750
kgfcm
Maximum theoretical
13600
rad/s2
acceleration
Weight
25
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.
197
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR αL series
B-65142E/02
Model αL50/2000
Specification : A06B-0572-Bjjj
Torque
Duty
(Nm)
Speed - torque characteristics
Over load duty
(time %)
Intermittent operating
ÂÂÂÂÂÂÂ
ontinuous operating
Â
Speed (1/min)
”ON” time (min.)
Data sheet
Parameter
Symbol
Value
Unit
Rating output speed
Nmax
2000
min -1
50
Nm
Rated torque at stall
(*)
Ts
510
kgfcm
0. 0098
kgm2
Rotor inertia
Jm
0. 10
kgfcms2
Continuous RMS current at stall
Is
51
A (rms)
(*)
0. 96
Nm/A (rms)
Torque constant
(*)
Kt
9. 8
kgfcm/A (rms)
Back EMF constant
(*)
Ke
33
V/1000min -1
(*)
Kv
0. 32
Vsec/rad
Armature resistance
(*)
Ra
0. 038
Ω
Mechanical time constant
(*)
tm
0. 001
s
Thermal time constant
tt
35
min
1. 8
Nm
Static friction
Tf
18
kgfcm
Maximum allowable current
Im
280
A (peak)
147
Nm
Maximum theoretical torque
Tm
1500
kgfcm
Maximum theoretical
15000
rad/s2
acceleration
Weight
42
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.
198
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR αL series
CHARACTERISTICS
3.3
OUTLINE DRAWINGS
Model
Fig. No.
Models αL3/3000, αL6/3000, and αL9/3000
Fig. 3.3 (a)
Models αL3/3000, αL6/3000, and αL9/3000 (with the brakeK
Fig. 3.3 (b)
Models αL25/3000 and αL50/2000
Fig. 3.3 (c)
Models αL25/3000 and αL50/2000 (with the brakeK
Fig. 3.3 (d)
199
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR αL series
B-65142E/02
Fig. 3.3 (a)Models αL3/3000,αL6/3000, and αL9/3000
Serial A
200
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR αL series
CHARACTERISTICS
Fig. 3.3 (b)Models αL3/3000,αL6/3000, and αL9/3000 (with the brake)
Serial A
201
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR αL series
B-65142E/02
Fig. 3.3 (c)Models αL25/3000 and αL50/2000
Serial A
202
3. SPECIFICATIONS AND
B-65142E/02
FANUC AC SERVO MOTOR αL series
CHARACTERISTICS
Fig. 3.3 (d)Models αL25/3000 and αL50/2000 (with the brake)
Serial A
203
3.SPECIFICATIONS AND
CHARACTERISTICS
FANUC AC SERVO MOTOR αL series
B-65142E/02
3.4
CONNECTION OF
POWER LINE
Models
αL3/3000,BαL6/3000,B
A
and αL9/3000
Motor
coil
B
C
Ground plate
D
3102A 18-10P
Motor body
Models
αL25/3000B and
αL50/2000
A
Motor
coil
B
C
D
E
F
Ground plate
G
3102A 24-10P
Motor body
204