GE Fanuc Automation Computer Numerical Control Products Servo Motor β Series Descriptions Manual GFZ-65232EN/03 December 2002
Warnings, Cautions, and Notes as Used in this Publication GFL-001 Warning Warning notices are used in this publication to emphasize that hazardous voltages, currents, temperatures, or other conditions that could cause personal injury exist in this equipment or may be associated with its use. In situations where inattention could cause either personal injury or damage to equipment, a Warning notice is used. Caution Caution notices are used where equipment might be damaged if care is not taken. Note Notes merely call attention to information that is especially significant to understanding and operating the equipment. This document is based on information available at the time of its publication. While efforts have been made to be accurate, the information contained herein does not purport to cover all details or variations in hardware or software, nor to provide for every possible contingency in connection with installation, operation, or maintenance. Features may be described herein which are not present in all hardware and software systems. GE Fanuc Automation assumes no obligation of notice to holders of this document with respect to changes subsequently made. 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. Copyright 2002 GE Fanuc Automation North America, Inc. All Rights Reserved.
No part of this manual may be reproduced in any form. All specifications and designs are subject to change without notice. In this manual we have tried as much as possible to describe all the various matters. However, we cannot describe all the matters which must not be done, or which cannot be done, because there are so many possibilities. Therefore, matters which are not especially described as possible in this manual should be regarded as impossible.
B-65232EN/03 SAFETY PRECAUTIONS SAFETY PRECAUTIONS This "Safety Precautions" section describes the precautions which must be observed to ensure safety when using FANUC servo motors and servo amplifiers. Users of any servo motor or amplifier model are requested to read the "Safety Precautions" carefully before using the servo motor or amplifier. The users are also requested to read an applicable specification manual carefully and understand each function of the motor or amplifier for correct use. The users are basically forbidden to do any behavior or action not mentioned in the "Safety Precautions." They are invited to ask FANUC previously about what behavior or action is prohibited. Contents 1.1 DEFINITION OF WARNING, CAUTION, AND NOTE...s-2 1.2 FANUC SERVO MOTOR β SERIES...s-3 1.2.1Warning...s-3 1.2.2Caution...s-6 1.2.3Note...s-7 1.3 FANUC SERVO AMPLIFIER β SERIES...s-9 1.3.1Warnings and Cautions Relating to Mounting...s-9 1.3.1.1 Warning...s-9 1.3.1.2 Caution...s-11 1.3.1.3 Note...s-13 1.3.2Warnings and Cautions Relating to a Pilot Run...s-14 1.3.2.1 Warning...s-14 1.3.2.2 Caution...s-15 1.3.3Warnings and Cautions Relating to Maintenance...s-16 1.3.3.1 Warning...s-16 1.3.3.2 Caution...s-18 1.3.3.3 Note...s-19 s-1
SAFETY PRECAUTIONS B-65232EN/03 1.1 DEFINITION OF WARNING, CAUTION, AND NOTE This manual includes safety precautions for protecting the user and preventing damage to the machine. Precautions are classified into Warning and Caution according to their bearing on safety. Also, supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly before attempting to use the machine. WARNING Applied when there is a danger of the user being injured or when there is a damage of both the user being injured and the equipment being damaged if the approved procedure is not observed. CAUTION Applied when there is a danger of the equipment being damaged, if the approved procedure is not observed. NOTE The Note is used to indicate supplementary information other than Warning and Caution. * Read this manual carefully, and store it in a safe place. s-2
B-65232EN/03 SAFETY PRECAUTIONS 1.2 FANUC SERVO MOTOR β SERIES 1.2.1 Warning WARNING - Be safely dressed when handling a motor. Wear safety shoes or gloves when handling a motor as you may get hurt on any edge or protrusion on it or electric shocks. - Use a crane or lift to move a motor from one place to another. Motors are heavy. When moving them, use a crane or lift as required. (For the weight of motors, refer to their respective specification manuals.) When moving a motor using a crane or lift, use a hanging bolt if the motor has a corresponding tapped hole, or textile rope if it has no tapped hole. If a motor is attached with a machine or any other heavy stuff, do not use a hanging bolt to move the motor as the hanging bolt and/or motor may get broken. When moving a motor, be careful not to apply excessive force to its windings as the windings may break and/or their insulation may deteriorate. - Do not touch a motor with a wet hand. A failure to observe this caution is very dangerous because you may get electric shocks. - Before starting to connect a motor to electric wires, make sure they are isolated from an electric power source. A failure to observe this caution is very dangerous because you may get electric shocks. - Do not bring any dangerous stuff near a motor. Motors are connected to a power line, and may get hot. If a flammable is placed near a motor, it may be ignited, catch fire, or explode. - Be sure to ground a motor frame. To avoid electric shocks, be sure to connect the grounding terminal in the terminal box to the grounding terminal of the machine. - Do not ground a motor power wire terminal or short-circuit it to another power wire terminal. A failure to observe this caution may cause electric shocks or a burned wiring. (*) Some motors require a special connection such as a winding changeover. Refer to their respective motor specification manuals for details. s-3
SAFETY PRECAUTIONS WARNING B-65232EN/03 - Connect power wires securely so that they will not get loose. A failure to observe this caution may cause a wire to be disconnected, resulting in a ground fault, short circuit, or electric shock. - Do not supply the power to the motor while any terminal is exposed. A failure to observe this caution is very dangerous because you may get electric shocks if your body or any conductive stuff touches an exposed terminal. - Do not get close to a rotary section of a motor when it is rotating. A rotating part may catch your cloths or fingers. Before starting a motor, ensure that there is no stuff that can fly away (such as a key) on the motor. - Before touching a motor, shut off the power to it. Even if a motor is not rotating, there may be a voltage across the terminals of the motor. Especially before touching a power supply connection, take sufficient precautions. Otherwise you may get electric shocks. - Do not touch any terminal of a motor for a while (at least 5 minutes) after the power to the motor is shut off. High voltage remains across power line terminals of a motor for a while after the power to the motor is shut off. So, do not touch any terminal or connect it to any other equipment. Otherwise, you may get electric shocks or the motor and/or equipment may get damaged. - To drive a motor, use a specified amplifier and parameters. An incorrect combination of a motor, amplifier, and parameters may cause the motor to behave unexpectedly. This is dangerous, and the motor may get damaged. - Do not touch a regenerative discharge unit for a while (at least 30 minutes) after the power to the motor is shut off. A regenerative discharge unit may get hot when the motor is running. Do not touch the regenerative discharge unit before it gets cool enough. Otherwise, you may get burned. - Do not touch a motor when it is running or immediately after it stops. A motor may get hot when it is running. Do not touch the motor before it gets cool enough. Otherwise, you may get burned. s-4
B-65232EN/03 SAFETY PRECAUTIONS - Ensure that motors and related components are mounted securely. If a motor or its component slips out of place or comes off when the motor is running, it is very dangerous. - Be careful not get your hair or cloths caught in a fan. Be careful especially for a fan used to generate an inward air flow. Be careful also for a fan even when the motor is stopped, because it continues to rotate while the amplifier is turned on. - When designing and assembling a machine tool, make it compliant with EN60204-1. To ensure the safety of the machine tool and satisfy European standards, when designing and assembling a machine tool, make it compliant with EN60204-1. For details of the machine tool, refer to its specification manual. s-5
SAFETY PRECAUTIONS B-65232EN/03 1.2.2 Caution CAUTION - FANUC motors are designed for use with machines. Do not use them for any other purpose. If a FANUC motor is used for an unintended purpose, it may cause an unexpected symptom or trouble. If you want to use a motor for an unintended purpose, previously consult with FANUC. - Ensure that a base or frame on which a motor is mounted is strong enough. Motors are heavy. If a base or frame on which a motor is mounted is not strong enough, it is impossible to achieve the required precision. - Be sure to connect motor cables correctly. An incorrect connection of a cable cause abnormal heat generation, equipment malfunction, or failure. Always use a cable with an appropriate current carrying capacity (or thickness). For how to connect cables to motors, refer to their respective specification manuals. - Ensure that motors are cooled if they are those that require forcible cooling. If a motor that requires forcible cooling is not cooled normally, it may cause a failure or trouble. For a fan-cooled motor, ensure that it is not clogged or blocked with dust and dirt. For a liquid-cooled motor, ensure that the amount of the liquid is appropriate and that the liquid piping is not clogged. For both types, perform regular cleaning and inspection. - When attaching a component having inertia, such as a pulley, to a motor, ensure that any imbalance between the motor and component is minimized. If there is a large imbalance, the motor may vibrates abnormally, resulting in the motor being broken. - Be sure to attach a key to a motor with a keyed shaft. If a motor with a keyed shaft runs with no key attached, it may impair torque transmission or cause imbalance, resulting in the motor being broken. s-6
B-65232EN/03 SAFETY PRECAUTIONS 1.2.3 Note NOTE - Do not step or sit on a motor. If you step or sit on a motor, it may get deformed or broken. Do not put a motor on another unless they are in packages. - When storing a motor, put it in a dry (non-condensing) place at room temperature (0 to 40 C). If a motor is stored in a humid or hot place, its components may get damaged or deteriorated. In addition, keep a motor in such a position that its shaft is held horizontal and its terminal box is at the top. - Do not remove a nameplate from a motor. If a nameplate comes off, be careful not to lose it. If the nameplate is lost, the motor becomes unidentifiable, resulting in maintenance becoming impossible. For a nameplate for a built-in spindle motor, keep the nameplate with the spindle. - Do not apply shocks to a motor or cause scratches to it. If a motor is subjected to shocks or is scratched, its components may be adversely affected, resulting in normal operation being impaired. Be very careful when handling plastic portions, sensors, and windings, because they are very liable to break. Especially, avoid lifting a motor by pulling its plastic portion, winding, or power cable. - Do not conduct dielectric strength or insulation test for a sensor. Such a test can damage elements in the sensor. - When testing the winding or insulation resistance of a motor, satisfy the conditions stipulated in IEC60034. Testing a motor under a condition severer than those specified in IEC34 may damage the motor. - Do not disassemble a motor. Disassembling a motor may cause a failure or trouble in it. If disassembly is in need because of maintenance or repair, please contact a service representative of FANUC. - Do not modify a motor. Do not modify a motor unless directed by FANUC. Modifying a motor may cause a failure or trouble in it. s-7
SAFETY PRECAUTIONS NOTE B-65232EN/03 - Use a motor under an appropriate environmental condition. Using a motor in an adverse environment may cause a failure or trouble in it. Refer to their respective specification manuals for details of the operating and environmental conditions for motors. - Do not apply a commercial power source voltage directly to a motor. Applying a commercial power source voltage directly to a motor may result in its windings being burned. Be sure to use a specified amplifier for supplying voltage to the motor. - For a motor with a terminal box, make a conduit hole for the terminal box in a specified position. When making a conduit hole, be careful not to break or damage unspecified portions. Refer to an applicable specification manual. - Before using a motor, measure its winding and insulation resistances, and make sure they are normal. Especially for a motor that has been stored for a prolonged period of time, conduct these checks. A motor may deteriorate depending on the condition under which it is stored or the time during which it is stored. For the winding resistances of motors, refer to their respective specification manuals, or ask FANUC. For insulation resistances, see the following table. - To use a motor as long as possible, perform periodic maintenance and inspection for it, and check its winding and insulation resistances. Note that extremely severe inspections (such as dielectric strength tests) of a motor may damage its windings. For the winding resistances of motors, refer to their respective specification manuals, or ask FANUC. For insulation resistances, see the following table. MOTOR INSULATION RESISTANCE MEASUREMENT Measure an insulation resistance between each winding and motor frame using an insulation resistance meter (500 VDC). Judge the measurements according to the following table. Insulation resistance 100MΩ or higher 10 to 100 MΩ 1 to 10 MΩ Lower than 1 MΩ Judgment Acceptable The winding has begun deteriorating. There is no problem with the performance at present. Be sure to perform periodic inspection. The winding has considerably deteriorated. Special care is in need. Be sure to perform periodic inspection. Unacceptable. Replace the motor. s-8
B-65232EN/03 SAFETY PRECAUTIONS 1.3 FANUC SERVO AMPLIFIER β SERIES 1.3.1 Warnings and Cautions Relating to Mounting 1.3.1.1 Warning WARNING - Check the specification code of the amplifier. Check that the delivered amplifier is as originally ordered. - Mount a ground fault interrupter. To guard against fire and electric shock, fit the factory power supply or machine with a ground fault interrupter (designed for use with an inverter). - Securely ground the amplifier. Securely connect the ground terminal and metal frame of the amplifier and motor to a common ground plate of the power magnetics cabinet. - Be aware of the weight of the amplifier and other components. Control motor amplifiers and AC reactors are heavy. When transporting them or mounting them in the cabinet, therefore, be careful not to injured yourself or damage the equipment. Be particularly carefull not to jam your fingers between the cabinet and amplifier. - Never ground or short-circuit either the power supply lines or power lines. Protect the lines from any stress such as bending. Handle the ends appropriately. - Ensure that the power supply lines, power lines, and signal lines are securely connected. A loose screw, loose connection, or the like will cause a motor malfunction or overheating, or a ground fault. - Insulate all exposed parts that are charged. - Never touch the regenerative discharge resistor or radiator directly. The surface of the radiator and regenerative discharge unit become extremely hot. Never touch them directly. An appropriate structure should also be considered. - Close the amplifier cover after completing the wiring. Leaving the cover open presents a danger of electric shock. s-9
SAFETY PRECAUTIONS B-65232EN/03 WARNING - Do not disassemble the amplifier. - Ensure that the cables used for the power supply lines and power lines are of the appropriate diameter and temperature ratings. - Do not apply an excessively large force to plastic parts. If a plastic section breaks, it may cause internal damage, thus interfering with normal operation. The edge of a broken section is likely to be sharp and, therefore, presents a risk of injury. s-10
B-65232EN/03 SAFETY PRECAUTIONS 1.3.1.2 Caution CAUTION - Do not step or sit on the amplifier. Also, do not stack unpacked amplifiers on top of each other. - Use the amplifier in an appropriate environment. See the allowable ambient temperatures and other requirements, given in the corresponding descriptions. - Protect the amplifier from corrosive or conductive mist or drops of water. Use a filter if necessary. - Protect the amplifier from impact. Do not place anything on the amplifier. - Connect the power supply lines and power lines to the appropriate terminals and connectors. - Connect the signal lines to the appropriate connectors. - Do not block the air inlet to the radiator. A deposit of coolant, oil mist, or chips on the air inlet will result in a reduction in the cooling efficiency. In some cases, the required efficiency cannot be achieved. The deposit may also lead to a reduction in the useful life of the semiconductors. Especially, when outside air is drawn in, mount filters on both the air inlet and outlet. These filters must be replaced regularly. So, an easy-to-replace type of filter should be used. - Before connecting the power supply wiring, check the supply voltage. Check that the supply voltage is within the range specified in this manual, then connect the power supply lines. - Ensure that the combination of motor and amplifier is appropriate. - Ensure that valid parameters are specified. Specifying an invalid parameter for the combination of motor and amplifier may not only prevent normal operation of the motor but also result in damage to the amplifier. - Ensure that the amplifier and peripheral equipment are securely connected. Check that the magnetic contactor, circuit breaker, and other devices mounted outside the amplifier are securely connected to each other and that those devices are securely connected to the amplifier. s-11
SAFETY PRECAUTIONS CAUTION B-65232EN/03 - Check that the amplifier is securely mounted in the power magnetics cabinet. If any clearance is left between the power magnetics cabinet and the surface on which the amplifier is mounted, dust entering the gap may build up and prevent the normal operation of the amplifier. - Apply appropriate countermeasures against noise. Adequate countermeasures against noise are required to maintain normal operation of the amplifier. For example, signal lines must be routed away from power supply lines and power lines. s-12
B-65232EN/03 SAFETY PRECAUTIONS 1.3.1.3 Note NOTE - Keep the nameplate clearly visible. - Keep the legend on the nameplate clearly visible. - After unpacking the amplifier, carefully check for any damage. - Mount the amplifier in a location where it can be easily accessed periodic inspection and daily maintenance. - Leave sufficient space around the machine to enable maintenance to be performed easily. Do not place any heavy objects such that they would interfere with the opening of the doors. - Keep the parameter table and spare parts at hand. Also, keep the specifications at hand. These items must be stored in a location where they can be retrieved immediately. - Provide adequate shielding. A cable to be shielded must be securely connected to the ground plate, using a cable clamp or the like. s-13
SAFETY PRECAUTIONS B-65232EN/03 1.3.2 Warnings and Cautions Relating to a Pilot Run 1.3.2.1 Warning WARNING - Before turning on the power, check that the cables connected to the power magnetics cabinet and amplifier, as well as the power lines and power supply lines, are securely connected. Also, check that no lines are slack. - Before turning on the power, ensure that the power magnetics cabinet is securely grounded. - Before turning on the power, check that the door of the power magnetics cabinet and all other doors are closed. Ensure that the door of the power magnetics cabinet containing the amplifier, and all other doors, are securely closed. During operation, all doors must be closed and locked. - Apply extreme caution if the door of the power magnetics cabinet or another door must be opened. Only a person trained in the maintenance of the corresponding machine or equipment should open the door, and only after shutting off the power supply to the power magnetics cabinet (by opening both the input circuit breaker of the power magnetics cabinet and the factory switch used to supply power to the cabinet). If the machine must be operated with the door open to enable adjustment or for some other purpose, the operator must keep his or her hands and tools well away from any dangerous voltages. Such work must be done only by a person trained in the maintenance of the machine or equipment. - When operating the machine for the first time, check that the machine operates as instructed. To check whether the machine operates as instructed, first specify a small value for the motor, then increase the value gradually. If the motor operates abnormally, perform an emergency stop immediately. - After turning on the power, check the operation of the emergency stop circuit. Press the emergency stop button to check that the motor stops immediately, and that the power being supplied to the amplifier is shut off by the magnetic contactor. - Before opening a door or protective cover of a machine to enable adjustment of the machine, first place the machine in the emergency stop state and check that the motor has stopped. s-14
B-65232EN/03 SAFETY PRECAUTIONS 1.3.2.2 Caution CAUTION - Note whether an alarm status relative to the amplifier is displayed at power-up or during operation. If an alarm is displayed, take appropriate action as explained in the maintenance manual. If the work to be done requires that the door of the power magnetics cabinet be left open, the work must be carried out by a person trained in the maintenance of the machine or equipment. Note that if some alarms are forcibly reset to enable operation to continue, the amplifier may be damaged. Take appropriate action according to the contents of the alarm. - Before operating the motor for the first time, mount and adjust the position and speed sensors. Following the instructions given in the maintenance manual, adjust the position and speed sensors for the spindle so that an appropriate waveform is obtained. If the sensors are not properly adjusted, the motor may not rotate normally or the spindle may fail to stop as desired. - If the motor makes any abnormal noise or vibration while operating, stop it immediately. Note that if operation is continued in spite of there being some abnormal noise or vibration, the amplifier may be damaged. Take appropriate corrective action, then resume operation. - Observe the ambient temperature and output rating requirements. The continuous output rating or continuous operation period of some amplifiers may fall as the ambient temperature increases. If the amplifier is used continuously with an excessive load applied, the amplifier may be damaged. - Unless otherwise specified, do not insert or remove any connector while the power is turned on. Otherwise, the amplifier may fail. s-15
SAFETY PRECAUTIONS B-65232EN/03 1.3.3 Warnings and Cautions Relating to Maintenance 1.3.3.1 Warning WARNING - Read the maintenance manual carefully and ensure that you are totally familiar with its contents. The maintenance manual describes daily maintenance and the procedures to be followed in the event of an alarm being issued. The operator must be familiar with these descriptions. - Notes on replacing a fuse or PC board 1) Before starting the replacement work, ensure that the circuit breaker protecting the power magnetics cabinet is open. 2) Check that the red LED that indicates that charging is in progress is not lit. The position of the charging LED on each model of amplifier is given in this manual. While the LED is lit, hazardous voltages are present inside the unit, and thus there is a danger of electric shock. 3) Some PC board components become extremely hot. Be careful not to touch these components. 4) Ensure that a fuse having an appropriate rating is used. 5) Check the specification code of a PC board to be replaced. If a modification drawing number is indicated, contact FANUC before replacing the PC board. Also, before and after replacing a PC board, check its pin settings. 6) After replacing the fuse, ensure that the screws are firmly tightened. For a socket-type fuse, ensure that the fuse is inserted correctly. 7) After replacing the PC board, ensure that it is securely connected. 8) Ensure that all power lines, power supply lines, and connectors are securely connected. - Take care not to lose any screws. When removing the case or PC board, take care not to lose any screws. If a screw is lost inside the nit and the power is turned on, the machine may be damaged. s-16
B-65232EN/03 SAFETY PRECAUTIONS WARNING - Notes on replacing the battery of the absolute pulse coder Replace the battery only while the power is on. If the battery is replaced while the power is turned off, the stored absolute positioning data will be lost. Some series servo amplifier modules have batteries in their servo amplifiers. To replace the battery of any of those models, observe the following procedure: Open the door of the power magnetics cabinet; Leave the control power of the power supply module on; Place the machine in the emergency stop state so that the power being input to the amplifier is shut off; Then, replace the battery. Replacement work should be done only by a person who is trained in the related maintenance and safety requirements. The power magnetics cabinet in which the servo amplifier is mounted has a high-voltage section. This section presents a severe risk of electric shock. - Check the number of any alarm. If the machine stops upon an alarm being issued, check the alarm number. Some alarms indicate that a component must be replaced. If the power is reconnected without first replacing the failed component, another component may be damaged, making it difficult to locate the original cause of the alarm. - Before resetting an alarm, ensure that the original cause of the alarm has been removed. - Contact FANUC whenever a question relating to maintenance arises. - Notes on removing the amplifier Before removing the amplifier, first ensure that the power is shut off. Be careful not to jam your fingers between the power magnetics cabinet and amplifier. s-17
SAFETY PRECAUTIONS B-65232EN/03 1.3.3.2 Caution CAUTION - Ensure that all required components are mounted. When replacing a component or PC board, check that all components, including the snubber capacitor, are correctly mounted. If the snubber capacitor is not mounted, for example, the IPM will be damaged. - Tighten all screws firmly. - Check the specification code of the fuse, PC board, and other components. When replacing a fuse or PC board, first check the specification code of the fuse or PC board, then mount it in the correct position. The machine will not operate normally if a fuse or PC board having other than the correct specification code is mounted, or if a fuse or PC board is mounted in the wrong position. - Mount the correct cover. The cover on the front of the amplifier carries a label indicating a specification code. When mounting a previously removed front cover, take care to mount it on the unit from which it was removed. - Notes on cleaning the heat sink and fan 1) A dirty heat sink or fan results in reduced semiconductor cooling efficiency, which degrades reliability. Periodic cleaning is necessary. 2) Using compressed air for cleaning scatters the dust. A deposit of conductive dust on the amplifier or peripheral equipment will result in a failure. 3) To clean the heat sink, do so only after turning the power off and ensuring that the heat sink has cooled to room temperature. The heat sink becomes extremely hot, such that touching it during operation or immediately after power-off is likely to cause a burn. Be extremely careful when touching the heat sink. s-18
B-65232EN/03 SAFETY PRECAUTIONS 1.3.3.3 Note NOTE - Ensure that the battery connector is correctly inserted. If the power is shut off while the battery connector is not connected correctly, the absolute position data for the machine will be lost. - Store the manuals in a safe place. The manuals should be stored in a location where they can be accessed immediately it so required during maintenance work. - Notes on contacting FANUC Inform FANUC of the details of an alarm and the specification code of the amplifier so that any components required for maintenance can be quickly secured, and any other necessary action can be taken without delay. s-19
B-65232EN/03 TABLE OF CONTENTS TABLE OF CONTENTS SAFETY PRECAUTIONS... s-1 I. DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series 1 OVERVIEW...3 2 NOTES ON USE...4 2.1 COMPATIBLE AMPLIFIERS...5 2.1.1 Amplifiers Suitable for the βm series Servo Motors... 5 2.1.2 Amplifiers Suitable for the β series Servo Motors... 7 2.2 INSTALLATION...10 2.3 COUPLING...11 2.4 AXIS LOAD...13 2.5 ENVIRONMENT...14 2.6 ACCEPTANCE AND STORAGE...18 3 INSTRUCTIONS...19 3.1 DRIVE SHAFT COUPLING...20 3.2 MACHINE MOVEMENT PER 1 REVOLUTION OF MOTOR SHAFT...23 4 SELECTING A MOTOR...24 4.1 MOTOR SELECTION...26 4.1.1 Blanks for Those Other than Data... 26 4.1.2 Data Items to be Entered... 27 4.2 CHARACTERISTIC CURVE AND DATA SHEET...35 4.2.1 Characteristic Curves... 35 4.2.2 Data Sheet... 36 4.2.3 How to Use Overload Duty Curves... 37 5 IEC34 STANDARD...38 5.1 REQUIREMENTS FOR COMPLIANCE...39 5.1.1 Drive Unit... 39 5.1.2 Connector... 39 5.2 APPROVAL SPECIFICATIONS...41 5.2.1 Rotational Speed (IEC34-1)... 41 5.2.2 Output (IEC34-1)... 41 5.2.3 Protection Mode (IEC34-5)... 42 5.2.4 Cooling Method (IEC34-6)... 42 c-1
TABLE OF CONTENTS B-65232EN/03 5.2.5 Installation Method (IEC34-7)... 43 5.2.6 Heat Protection (IEC34-11)... 43 6 EMC DIRECTIVE...44 7 FEEDBACK DETECTOR...45 7.1 BUILT-IN DETECTOR...46 7.2 ABSOLUTE-TYPE PULSE CODER...47 7.3 EXTERNAL POSITION DETECTOR...48 7.4 DETECTOR SIGNAL OUTPUT...49 8 BUILT-IN BRAKE...50 8.1 BRAKE SPECIFICATIONS...51 8.2 FIGURES OF CONNECTORS...52 8.3 CONNECTION OF THE BRAKES...53 9 CONNECTORS...56 9.1 SPECIFICATIONS OF MOTOR CONNECTORS...57 9.2 βm0.2 AND βm0.3 CONNECTORS ON CABLE SIDE...59 9.2.1 Specifications of βm0.2 and βm0.3 Connectors for Power and Brake... 59 9.2.2 Specifications of βm0.2 and βm0.3 Connectors for Signal... 60 9.3 βm0.4 TO βm1 CONNECTORS ON CABLE SIDE...62 9.3.1 Specifications of βm0.4 to βm1 Connectors for Power and Brake... 62 9.3.2 Specifications of βm0.4 to βm1 Connectors for Signal... 63 9.4 β1 TO β6 CONNECTORS ON CABLE SIDE...64 9.4.1 Specifications of β1 to β6 Connectors for Power and Brake (TÜV-certified and Waterproof Type)... 64 9.4.2 Specifications of β1 to β6 Connectors for Power and Brake (Not TÜV-compliant and Waterproof Type)... 66 9.4.3 Specifications of β1 to β6 Connectors for Power and Brake (Not TÜV-compliant and Non-waterproof Type)... 67 9.4.4 Specifications of β1 to β6 Connectors for Signal... 68 II. FANUC AC SERVO MOTOR βm series 1 TYPES OF MOTORS AND DESIGNATION...71 2 SPECIFICATIONS AND CHARACTERISTICS...73 2.1 TYPE OF MOTORS AND SPECIFICATIONS...74 2.2 CHARACTERISTIC CURVE AND DATA SHEET...75 c-2
B-65232EN/03 TABLE OF CONTENTS 2.3 SPEED-TORQUE CHARACTERISTICS WHEN HRV1 CONTROL AND AN I/O Link β AMPLIFIER ARE USED...81 2.4 OUTLINE DRAWINGS...82 III. FANUC AC SERVO MOTOR β series 1 TYPES OF MOTORS AND DESIGNATION...95 2 SPECIFICATIONS AND CHARACTERISTICS...96 2.1 TYPE OF MOTORS AND SPECIFICATIONS...97 2.2 CHARACTERISTIC CURVE AND DATA SHEET...98 2.3 SPEED-TORQUE CHARACTERISTICS FOR HRV CONTROL...103 2.4 OUTLINE DRAWINGS...105 IV. FANUC AC SERVO AMPLIFIER β series 1 OVERVIEW...113 2 CONFIGURATION...114 2.1 FSSB INTERFACE...115 2.1.1 SVU-4, SVU-12, SVU-20 (Three-phase Power Input)... 115 2.1.2 SVU-4, SVU-12, SVU-20 (Single-phase Power Input)... 116 2.1.3 SVU-40, SVU-80 (Three-phase Power Input)... 117 2.1.4 SVU-40, SVU-80 (Single-phase Power Input)... 118 2.2 I/O Link INTERFACE...119 2.2.1 SVU-4, SVU-12, SVU-20 (Three-phase Power Input)... 119 2.2.2 SVU-4, SVU-12, SVU-20 (Single-phase Power Input)... 120 2.2.3 SVU-40, SVU-80 (Three-phase Power Input)... 121 2.2.4 SVU-40, SVU-80 (Single-phase Power Input)... 122 2.3 PWM INTERFACE...123 2.3.1 SVU-4, SVU-12, SVU-20 (Three-phase Power Input)... 123 2.3.2 SVU-4, SVU-12, SVU-20 (Single-phase Power Input)... 124 2.3.3 SVU-40, SVU-80 (Three-phase Power Input)... 125 2.3.4 SVU-40, SVU-80 (Single-phase Power Input)... 126 2.4 METHOD OF CONNECTING THE FAN MOTOR...127 2.5 UNIT TYPES AND SPECIFICATIONS...128 2.6 CIRCUIT BREAKER, ELECTROMAGNETIC CONTACTOR, AND AC LINE FILTER...137 2.6.1 Circuit Breaker Rating... 137 2.6.2 Electromagnetic Contactor Rating... 139 c-3
TABLE OF CONTENTS B-65232EN/03 2.6.3 AC Line Filter... 139 2.7 CONNECTOR...140 3 SPECIFICATIONS...141 3.1 SPECIFICATIONS...142 3.2 DERATING...143 3.2.1 For SVU-20... 143 3.2.2 For SVU-40 and SVU-80... 144 3.3 PROTECTION AND ABNORMALITY DETECTION FUNCTIONS...146 3.4 NORMAL OPERATING MODE...148 4 SEPARATED REGENERATIVE DISCHARGE UNIT...149 4.1 FOR SVU-4, SVU-12, AND SVU-20...150 4.1.1 Cases Where a Separated Regenerative Discharge Unit Is Not Required... 150 4.1.2 Cases Where a Separated Regenerative Discharge Unit Is Required... 152 4.1.3 For SVU-40 and SVU-80... 154 4.1.4 Notes on Regenerative Discharge Unit Installation... 156 5 POWER SUPPLY...162 5.1 INPUT POWER SUPPLY...163 5.1.1 Three-phase Input Power Supply for Motor Power... 163 5.1.2 Single-phase Input Power Supply for Motor Power... 163 5.1.3 Single-phase Input for Control Power... 163 5.2 POWER SUPPLY RATINGS...164 5.2.1 Three-phase Input Power Supply Ratings for Motor Power... 164 5.3 POWER TRANSFORMER FOR EXPORTS...165 5.3.1 Specification... 165 5.3.2 How to Select a Transformer... 166 6 HEAT DISSIPATION...167 7 INSTALLATION CONDITIONS AND NOTES...168 7.1 ENVIRONMENTAL CONDITIONS...169 7.2 SELECTING A GROUND FAULT INTERRUPTER...170 7.3 NOISE PROTECTION...171 7.3.1 Separation of Signal Lines... 171 7.3.2 Grounding... 173 7.3.3 Noise Suppressor... 174 7.3.4 Cable Clamp and Shield Processing... 175 7.4 INSTALLING LIGHTNING SURGE ABSORBERS...178 c-4
B-65232EN/03 TABLE OF CONTENTS 8 CAUTIONS FOR SAFETY STANDARDS RELATED TO AMPLIFIER INSTALLATION...181 8.1 OVERVIEW...182 8.2 STANDARD CATEGORIES RELATED TO INSULATION DESIGN...183 8.3 PROTECTION AGAINST SHOCK HAZARDS...184 8.4 PROTECTIVE GROUNDING...186 8.5 CAUTIONS FOR CONFIGURING AN EMERGENCY STOP CIRCUIT...187 8.6 SUPPRESSING ELECTROMAGNETIC INTERFERENCE...188 8.7 PROTECTIVE GROUND WIRE CONNECTION...189 8.7.1 SVU-4/12/20 (PWM Interface)... 189 8.7.2 SVU-4/12/20 (I/O Link Interface)... 190 8.7.3 SVU-40/80 (FSSB Interface)... 191 8.7.4 SVU-40/80 (I/O Link Interface)... 192 9 OUTLINE DRAWINGS AND MAINTENANCE CLEARANCES...193 9.1 OUTLINE DRAWINGS AND PANEL CUT-OUT DRAWINGS...194 9.1.1 Servo Amplifier Unit SVU-4,SVU-12,SVU-20 (FSSB Interface)... 194 9.1.2 Servo Amplifier Unit SVU-40,SVU-80 (FSSB Interface)... 195 9.1.3 AC Line Filter... 196 9.1.4 Power Transformer for Export... 199 9.1.5 Separated Regenerative Discharge Unit... 200 9.1.6 Battery Case... 203 9.2 PANEL CUT-OUT DRAWINGS...204 9.2.1 SVU40, SVU-80... 204 9.2.2 Separated Regenerative Discharge Unit... 205 9.3 MAINTENANCE AREA...207 V. CONNECTION 1 TOTAL CONNECTION DIAGRAM...213 1.1 FSSB INTERFACE (SVU4, SVU-12, SVU-20)...214 1.1.1 Three-phase Input... 214 1.1.2 Single-phase Input (SVU4, SVU-12, SVU-20)... 215 1.2 I/O Link INTERFACE (SVU4, SVU-12, SVU-20)...216 1.2.1 Three-phase Input... 216 1.2.2 Single-phase Input (SVU4, SVU-12, SVU-20)... 217 1.3 PWM INTERFACE (SVU4, SVU-12, SVU-20)...218 1.3.1 Three-phase Input... 218 1.3.2 Single-phase Input (SVU4, SVU-12, SVU-20)... 219 c-5
TABLE OF CONTENTS B-65232EN/03 2 CONNECTOR LOCATIONS FOR β SERIES AMPLIFIER...220 2.1 FSSB INTERFACE (SVU4, SVU-12, SVU-20)...221 2.2 I/O Link INTERFACE (SVU4, SVU-12, SVU-20)...222 2.3 PWM INTERFACE (SVU4, SVU-12, SVU-20)...223 2.4 PIN ASSIGNMENT OF CONNECTOR CX11 (SVU4, SVU-12, SVU-20)..224 2.4.1 When No Regenerative Resistor Is Used... 225 2.4.2 When a Regenerative Resistor Is Used... 226 3 DIMENSIONS INCLUDING CABLES...227 3.1 FSSB INTERFACE (SVU-4, SVU-12, SVU-20)...228 3.2 I/O Link INTERFACE (SVU-4, SVU-12, SVU-20)...229 3.3 PWM INTERFACE (SVU-4, SVU-12, SVU-20)...230 4 DETAILS OF CABLE CONNECTIONS...231 4.1 K1 CABLE CONNECTION (ONLY FOR PWM INTERFACE)...232 4.2 K2 CABLE CONNECTION...235 4.3 K3 CABLE CONNECTION...239 4.4 K4 CABLE CONNECTION...240 4.5 K5 CABLE CONNECTION...245 4.5.1 FOR FSSB Interface or PWM Interface... 245 4.5.2 ESP Signal Using More than One β Amplifier... 246 4.5.3 ESP Signal in Using a Servo Check Pin Board... 247 4.6 K7 CABLE CONNECTION...248 4.6.1 When Regenerative Discharge Unit is Used... 248 4.6.2 When Regenerative Discharge Unit is not Used... 248 4.7 K8 CABLE CONNECTION...249 4.7.1 When Regenerative Discharge Unit is Used... 249 4.7.2 When Regenerative Discharge Unit is not Used... 249 4.8 K9 CABLE CONNECTION...250 4.9 K10 CABLE CONNECTION...252 4.10 K12 CABLE CONNECTION...253 4.11 K13 CABLE CONNECTION...254 4.12 K14 CABLE CONNECTION...255 5 TOTAL CONNECTION DIAGRAM...256 5.1 FSSB INTERFACE (SVU40, SVU-80)...257 5.1.1 Three-phase Power Input... 257 5.1.2 Single-phase Power Input... 258 5.2 I/O Link INTERFACE(SVU40, SVU-80)...259 c-6
B-65232EN/03 TABLE OF CONTENTS 5.2.1 Three-phase Power Input... 259 5.2.2 Single-phase Power Input... 260 5.3 PWM INTERFACE (SVU40, SVU-80)...261 5.3.1 Three-phase Power Input... 261 5.3.2 Single-phase Power Input... 262 6 CONNECTOR ALLOCATION DIAGRAM OF β AMPLIFIERS (SVU40, SVU-80)...263 6.1 FSSB INTERFACE...264 6.2 I/O Link INTERFACE (SVU-40, SVU-80)...265 6.3 PWM INTERFACE (SVU-40, SVU-80)...266 7 DIMENSIONS INCLUDING CABLES...267 7.1 FSSB INTERFACE (SVU-40, SVU-80)...268 7.2 I/O Link INTERFACE (SVU-40, SVU-80)...269 7.3 PWM INTERFACE (SVU-40, SVU-80)...270 8 DETAILS OF CABLE CONNECTIONS...271 8.1 K1 CABLE CONNECTION (ONLY FOR PWM INTERFACE)...272 8.2 K2 CABLE CONNECTION (ONLY FOR PWM INTERFACE)...273 8.3 K3 CABLE CONNECTION...274 8.4 K4 CABLE CONNECTION...275 8.5 K7 AND K8 CABLES CONNECTION...276 8.6 K14 CABLE CONNECTION...278 8.7 K15 CABLE CONNECTION...279 8.8 K12 CABLE CONNECTION...280 8.9 K12 CABLE CONNECTION...281 8.10 OTHER CABLE CONNECTIONS...282 9 FANUC I/O Link CONNECTION (FOR I/O Link INTERFACE ONLY)...283 9.1 OVERVIEW...284 9.2 FANUC I/O Link CONNECTION VIA ELECTRIC CABLE...285 9.3 FANUC I/O Link CONNECTION VIA OPTICAL CABLE...287 10 CONNECTION OF BUILT-IN DI (FOR I/O Link INTERFACE ONLY)...288 10.1 INPUT SIGNAL SPECIFICATION...289 10.2 LIST OF SIGNALS...290 10.3 SIGNAL CONNECTION WITH THE POWER MAGNETICS CABINET...291 c-7
TABLE OF CONTENTS B-65232EN/03 10.4 SKIP SIGNAL INTERFACE...292 10.4.1 High-Speed Skip Signal Input Specification... 292 11 EXTERNAL PULSE INPUT (ONLY FOR I/O Link INTERFACE)...293 11.1 CONNECTION WHEN AN A/B-PHASE PULSE GENERATOR OF DIFFERENTIAL TYPE IS USED...294 11.1.1 K22 Cable Connection... 294 11.2 CONNECTION WHEN A MANUAL PULSE GENERATOR AVAILABLE FROM FANUC IS USED...295 11.2.1 K23 Cable Connection... 295 11.2.2 K24 Cable Connection... 297 11.2.3 Manual Pulse Generator Adapter... 298 c-8
I. DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series
B-65232EN/03 DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series 1.OVERVIEW 1 OVERVIEW SERVO MOTOR βm series - Compactness The FANUC AC SERVO MOTOR β series is an economical AC servo motor series most suitable for positioning peripheral devices of industrial machines and machine tools, and has the features listed below. By employing a most advanced high-performance magnet and optimized structure, the SERVO MOTOR βm series is made shorter and compact in overall size. - Superior acceleration performance With a high maximum output torque and low inertia, high acceleration performance and highly frequent positioning are made possible. - High-resolution detector High-precision positioning is enabled by mounting a highly reliable, high-resolution β pulse coder (optical encoder). (Resolution: 65,536/rev.) - High environmental resistance The SERVO MOTOR βm series has high environmental resistance satisfying IP65 as standard. - Brake option SERVO MOTOR β series - Compactness - High-resolution detector An optional built-in holding brake is available. By employing a most advanced high-performance magnet and larger frame, the SERVO MOTOR β series is made compact and thin in overall size. High-precision positioning is enabled by mounting a highly reliable, high-resolution β pulse coder (optical encoder). (Resolution: 32,768/rev.) - High environmental resistance The SERVO MOTOR β series has high environmental resistance satisfying IP65 as standard. - Brake option An optional built-in holding brake is available. - 3 -
2.NOTES ON USE DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series B-65232EN/03 2 NOTES ON USE - 4 -
B-65232EN/03 DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series 2.NOTES ON USE 2.1 COMPATIBLE AMPLIFIERS 2.1.1 Amplifiers Suitable for the βm series Servo Motors The FANUC AC SERVO MOTOR βm series can be driven by the FANUC SERVO AMPLIFIER β series or αi series. Motor model Series Model Interface Specification Connection axis β series servo amplifier FSSB A06B-6093-H119 1-axis SVU-4 βm0.2/4000 unit I/O Link A06B-6093-H159 βm0.3/4000 αi series servo amplifier 2-axis SVM2-4/4i FSSB A06B-6114-H201 L, M module 3-axis SVM3-4/4/4i FSSB A06B-6114-H301 L, M, N Connection Motor model Series Model Interface Specification axis β series servo amplifier FSSB A06B-6093-H112 1-axis SVU-20 unit TYPE B A06B-6093-H102 1-axis SVM1-20i FSSB A06B-6114-H103 βm0.4/4000 SVM2-20/20i FSSB A06B-6114-H205 L, M αi series servo amplifier 2-axis SVM2-20/40i FSSB A06B-6114-H206 L module SVM3-20/20/20i FSSB A06B-6114-H303 L, M, N 3-axis SVM3-20/20/40i FSSB A06B-6114-H304 L, M Connection Motor model Series Model Interface Specification axis FSSB A06B-6093-H112 β series servo amplifier 1-axis SVU-20 I/O Link A06B-6093-H152 unit TYPE B A06B-6093-H102 βm0.5/4000 1-axis SVM1-20i FSSB A06B-6114-H103 βm1/4000 SVM2-20/20i FSSB A06B-6114-H205 L, M αi series servo amplifier 2-axis SVM2-20/40i FSSB A06B-6114-H206 L module SVM3-20/20/20i FSSB A06B-6114-H303 L, M, N 3-axis SVM3-20/20/40i FSSB A06B-6114-H304 L, M WARNING Using a combination other than those listed above is likely to result in motor damage. - 5 -
2.NOTES ON USE DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series B-65232EN/03 NOTE 1 For information about the β series servo amplifier unit, refer to Part IV of this manual. For information about the αi series servo amplifier module, refer to FANUC AC SERVO AMPLIFIER αi series DESCRIPTIONS (B-65282EN). 2 The β series servo amplifier unit uses two types of interfaces with a CNC, namely, FSSB and TYPE B. The αi series servo amplifier module uses only one interface with a CNC, namely, FSSB. Before selecting a servo amplifier, check the interface of a CNC to be used. A β series servo amplifier unit with the I/O Link option for providing a position control feature is also available for choice. 3 βm0.4/4000 cannot be used with a β series servo amplifier unit with the I/O Link option. 4 When using the βm series servo motor with the α series servo amplifier module, consult with FANUC. - 6 -
B-65232EN/03 DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series 2.NOTES ON USE 2.1.2 Amplifiers Suitable for the β series Servo Motors The FANUC AC SERVO MOTOR β series can be driven by the FANUC SERVO AMPLIFIER β series or α series. Motor model Series Model Interface Specification β1/3000 β2/3000 β series servo amplifier unit α series servo amplifier module 1-axis SVU-12 1-axis SVM1-12 SVM2-12/12 2-axis SVM2-12/20 SVM2-12/40 SVM3-12/12/12 SVM3-12/12/20 3-axis SVM3-12/20/20 SVM3-12/12/40 SVM3-12/20/40 FSSB I/O Link TYPE B FSSB TYPE A, B FSSB TYPE A, B FSSB TYPE A, B FSSB TYPE A, B FSSB TYPE A TYPE B FSSB TYPE A TYPE B FSSB TYPE A TYPE B FSSB TYPE A TYPE B FSSB TYPE A TYPE B A06B-6093-H111 A06B-6093-H151 A06B-6093-H101 A06B-6096-H101 A06B-6079-H101 A06B-6096-H201 A06B-6079-H201 A06B-6096-H202 A06B-6079-H202 A06B-6096-H204 A06B-6079-H204 A06B-6096-H301 A06B-6079-H301 A06B-6080-H301 A06B-6096-H302 A06B-6079-H302 A06B-6080-H302 A06B-6096-H303 A06B-6079-H303 A06B-6080-H303 A06B-6096-H305 A06B-6079-H305 A06B-6080-H305 A06B-6096-H306 A06B-6079-H306 A06B-6080-H306 Connection axis L, M L L L, M, N L, M L L, M L - 7 -
2.NOTES ON USE DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series B-65232EN/03 Motor model Series Model Interface Specification β3/3000 β6/2000 β series servo amplifier unit α series servo amplifier module 1-axis SVU-20 1-axis SVM1-20 SVM2-12/20 2-axis SVM2-20/20 SVM2-20/40 SVM3-12/12/20 SVM3-12/20/20 3-axis SVM3-20/20/20 SVM3-12/20/40 SVM3-20/20/40 FSSB I/O Link TYPE B FSSB TYPE A, B FSSB TYPE A, B FSSB TYPE A, B FSSB TYPE A, B FSSB TYPE A TYPE B FSSB TYPE A TYPE B FSSB TYPE A TYPE B FSSB TYPE A TYPE B FSSB TYPE A TYPE B A06B-6093-H112 A06B-6093-H152 A06B-6093-H102 A06B-6096-H102 A06B-6079-H102 A06B-6096-H202 A06B-6079-H202 A06B-6096-H203 A06B-6079-H203 A06B-6096-H205 A06B-6079-H205 A06B-6096-H302 A06B-6079-H302 A06B-6080-H302 A06B-6096-H303 A06B-6079-H303 A06B-6080-H303 A06B-6096-H304 A06B-6079-H304 A06B-6080-H304 A06B-6096-H306 A06B-6079-H306 A06B-6080-H306 A06B-6096-H307 A06B-6079-H307 A06B-6080-H307 Connection axis M L, M L N M, N L, M, N M L, M WARNING Driving a motor according to a combination other than those listed above can damage the motor. - 8 -
B-65232EN/03 DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series 2.NOTES ON USE NOTE 1 For information about the β series servo amplifier unit, refer to Part IV of this manual. For information about the αi series servo amplifier module, refer to FANUC AC SERVO AMPLIFIER αi series DESCRIPTIONS (B-65282EN). 2 The β series servo amplifier unit uses two types of interfaces with a CNC, namely, FSSB and TYPE B. The α series servo amplifier module uses three types of interfaces with a CNC, namely, FSSB, TYPE A, and TYPE B. Before selecting a servo amplifier, check the interface of a CNC to be used. A β series servo amplifier unit with the I/O Link option for providing a position control feature is also available for choice. 3 An α series servo amplifier module marked with TYPE A, B allows switching between TYPE A and TYPE B 4 When using the β series servo motor with the αi series servo amplifier module, consult with FANUC. - 9 -
2.NOTES ON USE DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series B-65232EN/03 2.2 INSTALLATION The servo motor contains a precision detector, and is carefully machined and assembled to provide the required precision. Pay attention to the following items to maintain the precision and prevent damage to the detector. (1) Secure the servo motor uniformly using four bolt holes provided on the front flange. (2) The machine surface on which the motor is mounted must be flat. (3) When mounting on the machine, take care not to apply a shock to the motor. (4) When striking the motor is unavoidable for fine position adjustment, strike only the flange on the front side with a plastic hammer softly so that impact is not applied to any portions other than the flange on the front side. (5) When handling model βm0.2/4000 or βm0.3/4000, be sure to hold the main body of the motor. Do not carry the motor by holding the lead wire only. - 10 -
B-65232EN/03 DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series 2.NOTES ON USE 2.3 COUPLING A precision detector is directly attached to the shaft end of the servo motor. Pay attention to the following items to prevent damage to the detector. (1) When connecting the power transmission elements such as a gear, a pulley and a coupling to the shaft, take care not to apply a shock to the shaft. (2) Generally, in the case of straight shaft, use a span ring for connection with the shaft. (3) In the case of tapered shaft, match the tapered surface with the power transmission element and fix by tightening the screw at the end. Even if the power transmission element cannot be mounted securely, for example, because of the woodruff key being tight, do not strike the shaft with a hammer or the like. The woodruff key mounted on the taper shaft is used mainly for positioning, while the tapered surface of the shaft is used for torque transmission. The tapered surface of the transmission element should be ground so that at least 70% of the papered surface meets the shaft surface for efficient torque transmission. (4) To remove the connected power transmission element, be sure to use a jig such as a gear puller. - 11 -
2.NOTES ON USE DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series B-65232EN/03 (5) Even when a light impact needs to be applied to remove the jointed taper surface, for example, just strike it softly in the radial direction. Do not apply impact in the axial direction. (6) Suppress the rotary unbalance of the connected power transmission element to the level as low as possible. It is usually believed that there is no problem in the symmetrical form. Be careful when rotating continuously the asymmetrical different form power transmission element. Even if the vibration caused by the unbalance is as small as 0.5G, it may damage the motor bearing or the detector. (7) An exclusive large oil seal is used in the front flange of the models β3/3000 and β6/2000. The oil seal surface is made of steel plate. Take care not to apply a force to the oil seal when installing the motor or connecting the power transmission elements. - 12 -
B-65232EN/03 DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series 2.NOTES ON USE 2.4 AXIS LOAD The allowable axis load of the motor shaft is as follows. Motor model Radial load Axial load βm0.2/4000 βm0.3/4000 βm0.4/4000 βm0.5/4000 βm1/4000 β1/3000 β2/3000 β3/3000 β6/2000 6.4kgf 4kgf 699 20kgf 5kgf 6902 25kgf 8kgf 70kgf 20kgf 6205 Front bearing (reference) 6003 (standard) 6202 (with brake) (1) 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 (e.g, belt tension) and the force by load torque (e.g., moment/pulley radius). (2) The belt tension is critical particularly when a timing belt is used. Too tight belt causes breakage of the shaft or other fault. Belt tension must be controlled so as not to exceed the limits calculated from the permissible radial load indicated above. (3) In some operation conditions, the pulley diameter and the gear size need to be checked. For example, when using the model β6 with a pulley/gear with the radius of 2.5cm or less, the radial load at the occurrence of 180kgf cm torque will exceed 70kgf. In the case of timing belt, as the belt tension is added to this value, it is thus necessary to support the shaft end. The timing belt is also subject to the belt tension restrictions. Therefore, some support is required; for example, the end of the motor shaft should be supported mechanically. (4) Actually, when using a timing belt, a possible fault like a broken shaft can be prevented by positioning the pulley as close to the bearing as possible. (5) When there is a possibility of a large load, the machine tool builder needs to examine the life by referring to the shaft diameter, bearing, etc. (6) Since the standard single row deep groove ball bearing is used for the motor bearing, a very large axial load can not be used. Particularly, when using a worm gear and a helical gear, it is necessary to provide another bearing. (7) 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 fix it with another bearing. - 13 -
2.NOTES ON USE DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series B-65232EN/03 2.5 ENVIRONMENT (1) Ambient temperature The ambient temperature should be -10 to 40 C. When operating the machine at a higher temperature, it is necessary to lower the output power so that the motor temperature does not exceed the specified constant value. (The values in the data sheet are determined for an ambient temperature of 20 C.) (2) Vibration When installed in a machine, the vibration applied to the motor must not exceed 5G. (3) Installation height Up to 1,000 meters above the sea level requires, no particular provision for attitude. When operating the machine at a higher level, special care is unnecessary if the ambient temperature is lowered 1 C at every 100m higher than 1,000m. For example, when the machine is installed at a place of 1,500 meters above sea level, there is no problem if the ambient temperature is 35 C or less. For higher temperatures, it is necessary to limit the output power. 40 C 35 C 0 1000 1500 Sea level [m] - 14 -
B-65232EN/03 DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series 2.NOTES ON USE (4) Drip-proof environment The protection form for a single motor unit satisfies IP65 of the IEC standards (equivalent to JP65, dust-proof and jet-proof type, of JIS C4004-1980, code for revolving electric machines) These standards, however, refer only to short-term performance. In actual operation, note also the following: (a) Protect the motor surface from the cutting fluid or lubricant. Use a cover when there is a possibility of wetting the motor surface. Only the telescopic cover of the sliding part can not completely prevent leakage of the cutting fluid. Pay attention to the drop along the structure body, too. (b) Prevent the cutting fluid from being led to the motor through the cable. When the motor connector is used in the sideways position, put a drip loop in the cable. Slack - 15 -
2.NOTES ON USE DESCRIPTIONS FOR FANUC AC SERVO MOTOR β series B-65232EN/03 (c) When the motor connector is up, the cutting fluid is collected in the cable connector through the cable. Turn the motor connector sideways or downward as far as possible. Most of the defects caused by the cutting fluid have occurred in the cable connector. The standard receptacle on the motor side is waterproof. If the cable connector will be subjected to moisture, it is recommended that an R class or waterproof plug be used. Suitable plugs are listed in the cable plug combination recommendations in Chapter 9. (The standard MS plug is not waterproof; water is liable to enter the pin section.) (d) The connectors and lead wires of power and signal lines of models βm0.2/4000 and βm0.3/4000 are not drip-proof. When a connector or lead wire must be drip-proof, the machine tool builder needs to provide drip protection. If model βm0.2/4000 or βm0.3/4000 is exposed to coolant, for example, direct the lead wire outlet downward whenever possible. Moreover, do not install the shaft in the upward direction. To prevent coolant from running to the motor through the cable, slack a part of the cable, for example, as a countermeasure. - 16 -