MAN B-65332EN/02 SYNCHRONOUS BUILT-IN … USERS Before getting started • Be sure to read this manual thoroughly before using FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series.It

B-65332EN/02

FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR D*S series

DESCRIPTIONS

FOR USERS Before getting started

• Be sure to read this manual thoroughly before using FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series. It contains many important items.

• Do not try operation not described in this manual without permission. Otherwise, your motor may get into trouble. If it is unavoidable to operate your motor in a way not described in this manual, get FANUC's permission in advance.

• In consideration of maintenance, make sure that the motor is in such a mechanical structure that it is easily detachable.

• No part of this manual may be reproduced in any form. • If you order the motor, please order spare motors for maintenance too. • All specifications and designs are subject to change without notice. • The products in this manual are controlled based on Japan’s “Foreign

Exchange and Foreign Trade Law”. The export from Japan may be subject to an export license by the government of Japan.

Further, re-export to another country may be subject to the license of the government of the country from where the product is re-exported. Furthermore, the product may also be controlled by re-export regulations of the United States government.

Should you wish to export or re-export these products, please contact FANUC for advice.

B-65332EN/02 SAFETY PRECAUTIONS

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SAFETY PRECAUTIONS This "Safety Precautions" section describes the precautions which must be observed to ensure safety when using FANUC synchronous built-in servo motors. Users of any motor model are requested to read this manual carefully before using the synchronous built-in servo motor. The users are also requested to understand each function of the motor for correct use. The users are basically forbidden to do any behavior or action not mentioned in this manual. They are invited to ask FANUC previously about what behavior or action is prohibited.

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. * A "motor" described in this manual means all parts of the motor: Stator and rotor. - Read this manual carefully, and store it in a safe place.

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.

- Any person having a medical apparatus such as a pacemaker or AICD must

keep at least 30 cm away from any rotor. A rotor contains very strong magnets. If a person has a medical apparatus and does not keep a safe

distance, the medical apparatus may malfunction. Any person having a medical apparatus such as a pacemaker or defibrillator equipment must not handle the motor if possible to prevent any accidents.

- Do not unpack any rotor from the packing box until starting work.

A rotor contains very strong magnets. Do not unpack any rotor from the packing box until starting work to prevent any accidents.

SAFETY PRECAUTIONS B-65332EN/02

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- Do not remove the tin plates and corrugated cardboard for protection unless it

is necessary. Corrugated cardboard and tin plates are attached to a rotor (using magnetic force) to protect the rotor

and reduce magnetic leakage. Do not remove the tin plates and corrugated cardboard for protection also during work unless it is necessary.

- When moving a rotor, place it flat with the mounting side facing up and slide

it. When moving a rotor on a table after unpacking it, always place it flat with the mounting side facing

up and slide it. If the table is made of magnetic materials, rotating the rotor on its magnet surface, it is highly dangerous. This is because your hand may be caught between the rotor and table.

- Use tapped holes for the sole purpose of lifting the motor.

Tapped holes in the mounting side of the motor can be used to lift up the motor. When other mechanical parts are attached to the motor, however, it may be very dangerous to lift it up using holes in the mounting side. Tapped holes should be used only for lifting the motor and installing the motor.

- When moving the motor, use a crane or another equipment.

A motor is a heavy object. Use a crane or another equipment as required (for the mass of the motor, see the Section 2.2, “SPECIFICATION LIST” in the Part I, “SPECIFICATIONS”).

- Be careful of the magnetic attraction when installing the motor.

A synchronous built-in servo motor has the magnet attraction about 70N/cm2. Before work, consider the magnetic attraction, prepare devices, and take safety measures to prevent accidents.

- 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.

- 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.

- Be sure to make thermostat wiring. Be sure to make thermostat wiring for thermal protection. The method of thermal protection using a

thermostat is described in Part IV, "START-UP."


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- 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.

- While the motor is running, do not get near or touch the motor driving section.

While the motor is running, getting near or touching the motor driving section may entangle cloths or fingers with the motor or cause a collision with a movable part. Before running the motor, check that no object will fly due to the running 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.

- Voltage remains for a while after the power is shut off. Be sure to check that

the voltage is 0 volt before touching the motor. 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. Be sure to check that the voltage has reduced to 0 volt before touching the motor.

- 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.

- While the motor is running, do not stand in the way of travel of the motor.

While the motor is running, standing in the way of travel of the motor may cause injury in the event of an accident.

- 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 standards, refer to the standards.

- 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.

- 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.

CAUTION

CAUTION - Keep electronic devices and magnetic media away from any rotor.

Bring an electronic device such as a personal computer, camera, or cellular phone or magnetic media such as a magnetic card or disk near a rotor may cause a failure or damage.

SAFETY PRECAUTIONS B-65332EN/02

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- 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 causes abnormal heat generation, equipment malfunction, or

failure. Always use a cable with an appropriate current carrying capacity (or thickness).

- Ensure that motors are cooled if they are those that require forcible cooling. If motors are not cooled sufficiently, they may cause a failure or trouble. Ensure that the specified

cooling conditions are met and that motors are cooled properly. Ensure that the amount of the liquid is appropriate and that the liquid piping is not clogged. For that reason, it is requested to perform regular cleaning and inspection. Also, ensure that motors are in such a structure that if the cooling unit stops due to a failure or other reason, the power to the motors are interrupted, causing the motors to stop.

- Use caution against leak current.

The amount of leak current flowing through the synchronous built-in servo motor may exceed the value specified in EN60335-1. Take appropriate measures against leak current by, for example, adopting a structure that prevents the operator from contacting conductive parts near the motor during energization.

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 horizontally.

- Be careful not to lose the nameplate. If you lose the nameplate, you may not besure of the model number of the motor or maintenance

may become difficult. Stick the nameplate on a place where it is easy to read it for maintenance and hard to tear it off, such as on a surface near the motor or inside the cabinet of the machine.

- 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. When handling synchronous built-in servo motors, pay particular attention. Since they are molded of resin and ceramic magnet, they cause chips and cracks easily.


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- When testing the winding or insulation resistance of a motor, satisfy the conditions stipulated in EN60034.

Testing a motor under a condition severer than those specified in EN60034 may damage the motor.

- Do not disassemble the motor. Disassembling the motor may cause a failure or malfunction. Stators are molded products and cannot

be used once disassembled.

- 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.

- 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 this manual 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.

- 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. 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.

- 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 Judgment 100 MΩ or higher Acceptable

10 to 100 MΩ The winding has begun deteriorating. There is no problem with the performance at present. Be sure to perform periodic inspection.

1 to 10 MΩ The winding has considerably deteriorated. Special care is in need. Be sure to perform periodic inspection.

Lower than 1 MΩ Unacceptable. Replace the motor.

B-65332EN/02 PREFACE

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PREFACE This manual covers information on the following models: FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series Standard models Model DiS 22/600 Model DiS 85/400 Model DiS 110/300 Model DiS 260/300 Model DiS 370/300 Model DiS 400/250 Model DiS 800/250 Model DiS 1200/250 Model DiS 1500/200 Model DiS 2100/150 Model DiS 3000/150 High-speed models Model DiS 22/1500 Model DiS 85/1000 Model DiS 110/1000 Model DiS 260/1000

CAUTION Handling or installing the motor incorrectly may not only prevent normal

operation but also adversely affect the life of the motor. Before designing or installing axes, always read Part III, "HANDLING, DESIGN, AND ASSEMBLY."

NOTE

For details of amplifiers, refer to the latest version of "FANUC SERVO AMPLIFIER αi series DESCRIPTIONS" (B-65282EN).

ORGANIZATION OF THIS MANUAL

This manual is mainly divided into the following four chapters: I. SPECIFICATIONS Contains information about the specifications of synchronous built-in servo motors (such as torque

versus speed diagrams, external dimensions, and cooling conditions) and about feedback detectors. II. CONFIGURATIONS AND SELECTION Contains system configurations of synchronous built-in servo motors and information required for

selecting a motor, and explains how to select a motor.

PREFACE B-65332EN/02

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III. HANDLING, DESIGN, AND ASSEMBLY Explains how to handle a synchronous built-in servo motor, how to design a machine, and how to

install a synchronous built-in servo motor. Always read this chapter before designing an axis containing a synchronous built-in servo motor or installing a synchronous built-in servo motor.

IV. START-UP Contains the procedure for actually driving a synchronous built-in servo motor. Be sure to read this

chapter before turning on the power to the CNC.

ACCEPTANCE AND STORAGE

WARNING Mishandling a rotor may be highly dangerous, resulting in a fatal accident. Read

and thoroughly understand the cautions on the next page and Part III, "HANDLING, DESIGN, AND ASSEMBLY," before handling the rotor and strictly observe the cautions when handling it. Do not handle the rotor unless you have been trained in handling synchronous built-in servo motors.

A "motor" described in this manual means all parts of the synchronous built-in servo motor: Stator, rotor, and others.

After you have received a FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR, check it as follows: • Is the motor exactly what you ordered? Check the motor model. • Is it free from any damage? Damage may have occurred during shipment. • Are all accessories supplied with the motor? All models of stators are supplied with a nameplate and laminate sheet. All FANUC SYNCHRONOUS BUILT-IN SERVO MOTORs are strictly inspected and carefully packed before shipment. They need no special incoming inspection. Just check the specifications (for wiring, current, voltage, and other data) of the motor as required. Be extremely careful in measuring the dimensions of the rotor as incoming inspection because it has very strong magnetism. • Do not apply unnecessary external force or shock to the motor. Otherwise, the motor may be

damaged and become incapable of operating normally. • Do not machine the motor without permission. If the motor requires machining, machine only the

portion specified or approved by FANUC. • Keep the motor from contact with and away from water and oil, chemicals which may damage

motors, conductive materials, and other materials harmful to motors. • Store the motor in indoor locations where are free from rainwater, condensation, and excessive dust.

Avoid warming or cooling the motor externally when unnecessary and placing it in special environments.

B-65332EN/02 PREFACE

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HANDLING A ROTOR (CAUTIONS)

WARNING 1 Mishandling a rotor may be highly dangerous, resulting in a fatal accident. Read

and thoroughly understand these cautions and Part III, "HANDLING, DESIGN, AND ASSEMBLY," before handling the rotor and strictly observe the cautions when handling it. Do not handle the rotor unless you have been trained in handling synchronus built-in servo motors.

2 A rotor uses many very strong magnets. It may cause a malfunction of a medical apparatus such as a pacemaker or AICD. For this reason, any person having a medical apparatus must keep away from the rotor. Also arrange the environment to keep any person having a medical apparatus away from the rotor. Keep at least 30 cm away from the rotor when it is absolutely necessary.

When a rotor is shipped from FANUC, it is packed so that the magnets will not seriously affect outside. Do not remove the tin plates and cushioning corrugated cardboard attached to the rotor until the rotor is installed into a stator.

Keep any magnetic material (including a tool) away from the rotor. If magnetic materials such as iron are brought near the rotor, the magnetic materials may be pulled to the rotor with a force of about 70N/cm2, resulting in serious injury. In any case, always keep any magnetic material away from the rotor and also be extremely careful of magnetic materials around the work area.

The following items may be affected by magnetic fields, resulting in damage or malfunction. When handling the rotor, do not carry any item listed below (or another item which is not listed) with you and keep the items away from the magnet fields unless it is necessary. FANUC accepts no liability for any damage such as corruption or failure of an item due to magnetic fields. • Watches, cellular phones, magnetic cards, and other portable items • Magnetic tapes, floppy disks, MO disks, and other magnetic media • Cameras, personal computers, and other electronic devices When moving the rotor on a surface of a magnetic material such as the mounting surface of the machine or a table, always place it flat with the mounting side facing up and slide it. If the rotor is moved with rotating it on its magnet surface, the rotor may be attracted to the magnetic material and your hand may be caught between the rotor and magnetic material, resulting in injury. If your hand is caught under the rotor, it is difficult even to pull out the hand. Be extremely careful in moving the rotor.

PREFACE B-65332EN/02

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It is strictly prohibited to move the rotor by rotating it.

B-65332EN/02 TABLE OF CONTENTS

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TABLE OF CONTENTS

SAFETY PRECAUTIONS............................................................................s-1 DEFINITION OF WARNING, CAUTION, AND NOTE ............................................. s-1 WARNING............................................................................................................... s-1 CAUTION ................................................................................................................ s-3 NOTE .................................................................................................................... s-4

PREFACE....................................................................................................p-1 ORGANIZATION OF THIS MANUAL ......................................................................p-1 ACCEPTANCE AND STORAGE.............................................................................p-2 HANDLING A ROTOR (CAUTIONS).......................................................................p-3

I. SPECIFICATIONS

1 OVERVIEW .............................................................................................3 2 SPECIFICATIONS...................................................................................5

2.1 TERMS USED IN THE SPECIFICATION LIST AND SPEED DIAGRAMS.... 5 2.2 SPECIFICATION LIST................................................................................... 7

2.2.1 Standard Models.......................................................................................................7 2.2.2 High-speed Models.................................................................................................13

2.3 TORQUE-VERSUS-SPEED DIAGRAMS AND OUTPUT-VERSUS-SPEED DIAGRAMS ................................................................................................. 14 2.3.1 Standard Models.....................................................................................................14 2.3.2 High-speed Models.................................................................................................22

2.4 EXTERNAL DIMENSIONS .......................................................................... 24 2.5 POWER CABLE AND THERMOSTAT/THERMISTOR CABLE

SPECIFICATIONS....................................................................................... 37 2.5.1 Power Cable ...........................................................................................................37

2.5.1.1 Standard Models ................................................................................................ 37 2.5.1.2 High-speed Models............................................................................................ 37

2.5.2 Thermostat/Thermistor Cable.................................................................................38 2.5.2.1 Models in which only thermostats are mounted ................................................ 38 2.5.2.2 Models in which both thermostats and thermistors are mounted....................... 38

3 FEEDBACK SENSOR...........................................................................39 3.1 ABSOLUTE αiCZ SENSOR ........................................................................ 39

3.1.1 NAMES AND DRAWING NUMBERS................................................................39 3.1.2 Absolute Maximum Ratings...................................................................................39 3.1.3 Specifications .........................................................................................................40

3.2 SYNCHRONOUS BUILT-IN SERVO MOTOR POSITION DETECTION CIRCUIT ...................................................................................................... 46 3.2.1 Specification and Function.....................................................................................46 3.2.2 Function..................................................................................................................46 3.2.3 Input Specification and the Example of Available Rotary Encoders .....................47

3.2.3.1 Input specifications............................................................................................ 47 3.2.3.2 Internal Signals (A/B Signals, Z Signal) ........................................................... 48 3.2.3.3 Phase relations between Z signal (PZ) and A/B signals .................................... 49 3.2.3.4 External dimensions........................................................................................... 50

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3.2.3.5 Available Rotary Encoders (1Vpp analog signal output) .................................. 50 3.3 3RD PARTY ENCODER.............................................................................. 52

II. CONFIGURATIONS AND SELECTION

1 SYSTEM CONFIGURATION.................................................................55 1.1 CNC SYSTEM REQUIREMENTS ............................................................... 55 1.2 ROTARY ENCODER SELECTION.............................................................. 56 1.3 ABSOLUTE ROTARY ENCODER SYSTEM ............................................... 57

1.3.1 Example of Configuration ......................................................................................57 1.3.2 Applicable Absolute Rotary Encoder.....................................................................57

1.4 INCREMENTAL ROTARY ENCODER SYSTEM......................................... 58 1.4.1 Example of Configuration ......................................................................................58 1.4.2 Applicable Incremental Rotary Encoder ................................................................58

1.5 POLE POSITION DETECTION FUNCTION................................................ 59 1.6 DRIVING WITH MULTIPLE MOTORS ........................................................ 59

2 SELECTION METHODS .......................................................................61 2.1 MOTOR SELECTION.................................................................................. 61

2.1.1 Required Data for Motor Selection ........................................................................61 2.1.2 Overload Duty Characteristic .................................................................................62 2.1.3 Maximum Load Inertia...........................................................................................64

2.1.3.1 Standard models................................................................................................. 64 2.1.3.2 High-speed models ............................................................................................ 65

2.2 POWER SUPPLY MODULE (αiPS) SELECTION....................................... 65 2.2.1 Selecting a Power Supply Module .........................................................................65

2.3 EXTERNAL COOLING UNIT SELECTION.................................................. 66 2.3.1 Overview ................................................................................................................66 2.3.2 Cooling Oil .............................................................................................................66 2.3.3 Example of Selection..............................................................................................67

III. HANDLING, DESIGN, AND ASSEMBLY

1 HANDLING THE MOTOR .....................................................................71 1.1 STATOR ...................................................................................................... 71 1.2 ROTOR........................................................................................................ 72 1.3 FEEDBACK SENSOR ................................................................................. 73

2 MECHANICAL DESIGN........................................................................74 2.1 MOUNTING MOTORS AND ENCODERS................................................... 74

2.1.1 Mounting Rigidity and Noise Protection................................................................74 2.1.2 Rotation Directions of the DiS Series Motor, Rotary Encoder, and Table ............74 2.1.3 Connecting Power Leads........................................................................................76 2.1.4 Reference Point of DiS series Motor and Encoder ................................................77 2.1.5 Mounting Position of DiS series Motor and Encoder ............................................78

2.2 THERMOSTAT CONNECTION................................................................... 78 2.2.1 If Using the Absolute αiCZ Sensor........................................................................79

2.2.1.1 Synchronous Built-in Servo Motor with thermistor .......................................... 79 2.2.1.2 Synchronous Built-in Servo Motor without thermistor ..................................... 79

2.2.2 If Using the Synchronous Built-in Servo Motor Position Detection Circuit..........80


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2.2.3 For 3rd Party Rotary Encoders (That Support the FANUC Serial Interface).........80 2.2.4 If Driving Multiple Motors.....................................................................................81

2.3 FEEDBACK CABLE CONNECTION............................................................ 82 2.3.1 If Using the Absolute αiCZ Sensor........................................................................82

2.3.1.1 Details of Connection of Cable K1.................................................................... 83 2.3.1.2 Details of Connection of Cable K2.................................................................... 84 2.3.1.3 Extending Cable K2........................................................................................... 84 2.3.1.4 Details of Connection of Cable K3.................................................................... 85 2.3.1.5 Details of Connection of Cable K4.................................................................... 86

2.3.2 If Using the Synchronous Built-in Servo Motor Position Detection Circuit..........86 2.3.2.1 Details of Connection of Cable K5.................................................................... 87 2.3.2.2 Setting the Cable Length ................................................................................... 87

2.3.3 If Using a 3rd Party Rotary Encoder (That Supports the FANUC Serial Interface) .........................................................89 2.3.3.1 Details of Connection of Cable K6.................................................................... 89

2.4 GROUND LEAD CONNECTION ................................................................. 90 2.5 MOTOR AND POWER LEAD PROTECTION.............................................. 91 2.6 LIQUID COOLING ....................................................................................... 92

2.6.1 Coolant ...................................................................................................................92 2.6.2 Checking the Normal Operation of Cooling Systems ............................................92

2.7 CONSIDERATION OF ECCENTRICITY ..................................................... 93 2.8 MAGNETIC MATERIAL CLOSING TO COIL .............................................. 93 2.9 BALNCE OF ROTOR .................................................................................. 94 2.10 ROTOR AND STATOR FIXING................................................................... 94

2.10.1 Rotor Fixing ...........................................................................................................94 2.10.2 Stator Fixing...........................................................................................................94

2.11 O-RING FOR COOLING JACKET............................................................... 94 2.12 AUXILIARY BRAKE MEASURES................................................................ 95 2.13 PROTECTION AGAINST DUST AND WATER ........................................... 95 2.14 CONFORMANCE TO STANDARDS ........................................................... 95 2.15 NAMEPLATE ATTACHMENT AND SERIAL NUMBER MANAGEMENT .... 96 2.16 INDICATION OF WARNING........................................................................ 96

3 ASSEMBLY...........................................................................................97 3.1 MOTOR ASSEMBLY................................................................................... 97

3.1.1 Installation Direction of Rotor ...............................................................................97 3.1.2 Surface for Centering .............................................................................................97 3.1.3 Magnetic Attraction Force......................................................................................98 3.1.4 Installation Procedure.............................................................................................98

3.2 ABOSLUTE αiCZ SENSOR INSTALLATION............................................ 100 3.2.1 Abstract ................................................................................................................100 3.2.2 Absolute function of Absolute αiCZ Sensor (The notice for the mounting) .......101 3.2.3 Dimensions on the Sensor Mounting Surface ......................................................102 3.2.4 Dimensions about Installation of the Detection Ring...........................................103 3.2.5 Installation of the sensor head ..............................................................................104

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IV. START-UP

1 OVERVIEW .........................................................................................107 2 SYNCHRONOUS BUILT-IN SERVO MOTOR ....................................108

2.1 OVERVIEW OF START-UP PROCEDURE............................................... 108 2.2 THE ROTATION DIRECTION OF THE MOTOR, THE ENCODER AND

THE TABLE ............................................................................................... 109 2.2.1 Rotation Direction of the Table............................................................................109 2.2.2 Rotation Direction of the Motor and the Direction which the Power Cables are

Pulled Out.............................................................................................................110 2.2.3 Rotation Direction of the Encoder (in the Case of the Absolute αiCZ Sensor) ...110 2.2.4 Parameter (N2022) Setting of rotation direction ..................................................110 2.2.5 Power Lead Connection Check Method (1)

(If the rotation directions of the table, motor, and sensor are determined) ..........110 2.2.6 Power Lead Connection Check Method (1)

(Connect the power cable with checking by oscilloscope)...................................112 2.3 CHECKING THERMOSTAT OPERATION ................................................ 113 2.4 STANDARD PARAMETER SETTING ....................................................... 114 2.5 PHASE ADJUSTMENT BETWEEN THE MOTOR AND THE ENCODER. 115

2.5.1 In Case of the Incremental Encoder Using...........................................................115 2.5.2 In Case of the Absolute Encoder Using ...............................................................115 2.5.3 Phase Adjustment By Pole Position Detection Function......................................116

2.6 TRIAL OPERATION .................................................................................. 117 2.6.1 Parameter Setting for the Trial Operation ............................................................117 2.6.2 Operation by the Program ....................................................................................117

2.7 ADJUSTMENT OF THE PARAMETER AND THE PERFORMANCE CHECK ...................................................................................................... 118

2.8 SHIPPING DATA....................................................................................... 119 2.8.1 Connecting Information .......................................................................................119 2.8.2 Parameter List.......................................................................................................121

3 ABSOLUTE αiCZ SENSOR ...............................................................123 3.1 ABSTRACT................................................................................................ 123 3.2 NOTE......................................................................................................... 124

3.2.1 Interpolation Error Learning ................................................................................124 3.2.2 Temperature Detection .........................................................................................124 3.2.3 Sensor Head..........................................................................................................124

3.3 CHECK METHOD OF AN OUTPUT SIGNAL............................................ 125 3.4 OPERATION IN CASE OF MOVING THE SENSOR HEAD AFTER

INITIAL POWER ON.................................................................................. 126 3.5 MAINTENANCE PARTS............................................................................ 127 3.6 IN CASE OF CHECKING THE OUTPUT AMPLITUDE ............................. 128

4 SYNCHRONOUS BUILT-IN SERVO MOTOR POSITION DETECTION CIRCUIT ........................................................................130 4.1 BLOCK DIAGRAM..................................................................................... 130 4.2 SETTING SWITCHES AND CHECK ROUNDS......................................... 131

4.2.1 Arrangement of Setting Switches and Check Rounds..........................................131 4.2.2 Details of Setting Switch ......................................................................................133


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APPENDIX

A PARAMETERS....................................................................................137 A.1 PARAMETERS FOR DiS400/250 ............................................................. 138 A.2 PARAMETERS FOR DiS800/250 ............................................................. 139

B CONNECTORS ...................................................................................140 B.1 CONNECTOR C1 ...................................................................................... 140 B.2 CONNECTOR C2 ...................................................................................... 141 B.3 CONNECTOR C3 ...................................................................................... 141

I. SPECIFICATIONS

B-65332EN/02 SPECIFICATIONS 1.OVERVIEW

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1 OVERVIEW Parts supplied by FANUC

The following shows a typical system configuration of the FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series. FANUC supplies the following parts according to the system configuration of your machine: • CNC system (CNC, PMC, amplifier, and others) • Synchronous Built-in Servo Motor (stator and rotor) • Absolute αiCZ Sensor • Synchronous Built-in Servo Motor Position Detection Circuit (for use with a 3rd party incremental

encoder) FANUC does not supply parts listed below. Use parts manufactured by 3rd parties as required. • Rotary encoder except absolute αiCZ Sensor • Movable cable, connectors for cable and others • Bearing • Cooling devices (cooler, fan, and others) • External brake • Others that are not in the above list of parts

FANUC's products SERVO AMPLIFIER αiSV series

SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series

SYNCHRONOUS BUILT-IN SERVO MOTOR POSITION DETECTION CIRCUIT

Absolute αiCZ sensor

i series CNC

3rd party rotary encoder

αiCZ sensor (absolute) Absolute system Incremental system

1.OVERVIEW SPECIFICATIONS B-65332EN/02

- 4 -

NOTE 1 Select a rotary encoder which meets the FANUC specifications. For details, see

Part II, "CONFIGURATIONS AND SELECTION." 2 FANUC does not currently supply any system consisting of a synchronous

built-in servo motor, bearing, rotary encoder, and other parts you can use as a machine immediately after you purchase it. As described above, you must purchase required parts and configure a system. When you use a motor consisting of parts supplied by FANUC under the specified conditions, FANUC guarantees the performance of the motor. For a part which is not supplied by FANUC, its performance is guaranteed by the relevant manufacturer. For details of a part which is not supplied by FANUC, contact the relevant parts manufacturer or dealer.

B-65332EN/02 SPECIFICATIONS 2.SPECIFICATIONS

- 5 -

2 SPECIFICATIONS

2.1 TERMS USED IN THE SPECIFICATION LIST AND SPEED DIAGRAMS

- Cooling method There are the following methods for cooling a stator: Liquid cooling (recommend oil cooling) and no cooling.

- Maximum speed Maximum speed of the motor. You can use the motor at up to this speed.

- Upper speed for the maximum torque Upper limit of the speed at which the maximum torque can be maintained. If the speed exceeds this limit, the maximum torque is reduced.

- Continuous torque Torque the motor can generate continuously output. The torque shown here is applicable when the motor is used alone. The actual continuous torque greatly depends on the property of the material of the machine on which the motor is mounted.

- Maximum instantaneous torque Maximum torque the motor can generate when driven using the standard amplifier. The maximum torque can be used only in a short time such as during acceleration or deceleration.

- Continuous current Effective current per phase when the motor outputs the continuous torque. The peak value can be obtained by multiplying this value by 2 .

- Maximum current Effective current per phase when the motor outputs the maximum torque. The peak value can be obtained by multiplying this value by 2 .

- Continuous output/maximum output Value is obtained by converting the torque (Nm) during motor operation to the output (kW). For selection of a power supply module (αiSV), see Part II, "CONFIGURATIONS AND SELECTION."

- Maximum amplifier current Maximum peak current of the standard amplifier. The effective value can be obtained by dividing this value by 2 .

2.SPECIFICATIONS SPECIFICATIONS B-65332EN/02

- 6 -

- Torque constant Torque obtained when 1 Arms flows for one phase. The following expression can be satisfied: [Torque constant] × [Continuous rated current] [Continuous rated torque]. This expression may not be satisfied due to saturated magnetic field, however.

- Number of poles Number of poles means the number of magnet pieces.

- Resistance Armature resistance between terminals of the stator at an ambient temperature of 25°C.

- Thermal time constant Thermal time constant for the stator.

Cooling conditions Conditions for obtaining the rated output when forced cooling is used • IC code:

Code indicating the cooling method that conforms to EN60034-6 • Coolant:

Primary coolant for directly cooling the stator • Flow rate:

Required flow rate of the primary coolant • Recommended pressure:

Recommended pressure for the primary coolant • Maximum pressure:

Maximum pressure for the primary coolant • Required cooling capacity:

Amount of heat absorbed that is required for obtaining the rated output Actually, the cooling conditions vary with the heat dispersion characteristic, heat conductivity, and heat capacity of a machine.

- Mass Mass of the stator and rotor.

- Rotor inertia Inertia for the rotor only.


- 7 -

2.2 SPECIFICATION LIST

2.2.1 Standard Models *1

Model Items Unit

DiS22/600 DiS85/400

Specification No. - A06B-0482-B100 A06B-0482-B102

A06B-0483-B200 A06B-0483-B202

Input power voltage V 200 400 200 400 Cooling condition *2 - LC NC LC NC LC NC LC NC

Maximum speed min-1 600 200 400 Upper speed for the

maximum torque min-1 300 600 130 260

Max. 28 85 Rated torque*3 Cont. *4

Nm 10 6 10 6 35 17 35 17

Max. 14.1 28.3 Rated current*3 Cont. *4

Arms 4.5 2.6 4.5 2.6 11.3 5.7 11.3 5.7

Maximum instantaneous output

1.4 1.8 1.2 2.4

Maximum continuous output *4

kW 0.6 0.4 0.6 0.4 0.8 0.4 1.5 0.7

Cooling IC code *5 - 9U7A7 0A8 9U7A7 0A8 9U7A7 0A8 9U7A7 0A8 Required cooling

capacity *4 W 410 - 410 - 690 - 690 -

Thermal time constant min. 1 60 1 60 1 60 1 60 Torque constant Nm/Arms 2.2 3.0 Number of poles Pole 24 32

Resistance U-V Ω 9.81±5% 3.6±5% Stator 5.3 6

Mass Rotor

kg 1.2 2

Rotor inertia kgm2 0.002 0.008 Max. current of amplifier Ap 20 40

Amplifier(αiSV) - αiSV20 αiSV20HV αiSV40 αiSV40HV

For αiPS selection Max./Cont. *6

kW 3.7/1.1 4.7/1.1 5.8/1.6 6.9/2.3

*1 Standard values at an ambient temperature of 25°C The values may vary depending on the ambient temperature, digital servo software, parameters, power supply

voltage, amplifier specifications, and others. *2 “LC” means “Liquid Cooling”. “NC” means “No Cooling”. For liquid cooling, "oil cooling" is assumed. If liquid is not oil

but water, continuous torque will change depending on the characteristics of coolant. *3 Varies depending on the actual cooling conditions and the thermal characteristics of machine. *4 Continuous data are guaranteed when the cooling condition is satisfied. *5 Based on EN60034-6. *6 Reference data for αiPS selection. Not guaranteed data. Add this raw value when αiPS selection.


- 8 -

*1

Model Items Unit

DiS110/300 DiS260/300


A06B-0484-B300 A06B-0484-B302


Maximum speed min-1 150 300 150 300 Upper speed for the



Nm 45 25 45 25 105 55 105 55


Arms 19.0 11.3 19.0 11.3 19.0 11.3 19.0 11.3


1.2 2.3 2.8 5.5


kW 0.7 0.4 0.7 1.4 1.6 0.8 3.3 1.7


capacity *4 W 500 - 500 - 720 - 720 -


Resistance U-V Ω 0.93±5% 1.6±5% Stator 8 12.5

Mass Rotor

kg 3 5.5




kW 6.3/1.6 8.7/2.4 10.9/3.1 13.6/4.7


voltage, amplifier specifications, and others. *2 “LC” means “Liquid Cooling”. “NC” means “No Cooling”. For liquid cooling, “oil cooling” is assumed. If liquid is not oil



- 9 -

*1

Model Items Unit

DiS370/300 DiS400/250


A06B-0485-B204 A06B-0485-B205





Nm 150 75 150 75 140 65 140 65


Arms 19.0 11.3 19.0 11.3 14.2 6.5 14.2 6.5


3.9 7.8 5.2 14.4


kW 2.4 1.2 4.8 2.4 1.7 0.9 3.7 1.8


capacity *4 W 1610 - 1610 - 900 - 900 -


Resistance U-V Ω 2.1±5% 3.0±5% Stator 16 13

Mass Rotor

kg 7 7




kW 14.2/4.1 18.1/6.5 15.7/3.0 29.0/4.8





- 10 -

*1

Model Items Unit

DiS800/250 DiS1200/250


A06B-0485-B500 A06B-0485-B502





Nm 320 160 320 160 480 240 480 240


Arms 30 15 30 15 35.4 17.7 35.4 17.7


8.4 16.7 12.6 25.2


kW 4.2 2.1 8.4 4.2 6.3 3.2 12.6 6.3


capacity *4 W 1700 - 1700 - 2130 - 2130 -



Mass Rotor

kg 14 19.3

Rotor inertia kgm2 0.18 0.26 Max. current of amplifier Ap 160 180 160 180



kW 22.8/6.5 31.2/10.7 28.4/11.4 45.6/15.9





- 11 -

*1

Model Items Unit

DiS1500/200


Input power voltage V 200 400 Cooling condition *2 - LC NC LC NC

Maximum speed min-1 100 200 Upper speed for the

maximum torque min-1 90 200

Max. 1500 Rated torque*3 Cont. *4

Nm 600 300 600 300

Max. 113 Rated current*3 Cont. *4

Arms 45 23 45 23


14.2 31.5


kW 6.3 3.2 12.7 6.4

Cooling IC code *5 - 9U7A7 0A8 9U7A7 0A8 Required cooling

capacity *4 W 2340 - 2340 -

Thermal time constant min. 1 60 1 60 Torque constant Nm/Arms 13.2 Number of poles Pole 72

Resistance U-V Ω 0.76±5% Stator 44

Mass Rotor

kg 18

Rotor inertia kgm2 0.49 Max. current of amplifier Ap 160 180

Amplifier(αiSV) - αiSV160 αiSV180HV


kW 27.9/10.5 46.1/15.0





- 12 -

*1

Model Items Unit

DiS2100/150 DiS3000/150


A06B-0487-B400 A06B-0487-B402




Max. 1900 2100 2700 3000 Rated torque*3 Cont. *4

Nm 750 375 840 420 1000 500 1200 600

Max. 113 127 113 127 Rated current*3 Cont. *4

Arms 45 22 51 25 45 22 51 25


10.0 22.0 14.1 31.4


kW 5.9 3.0 13.2 6.6 7.9 4.0 18.8 9.4


capacity *4 W 2930 - 2930 - 3830 - 3830 -



Mass Rotor

kg 29 37

Rotor inertia kgm2 1.28 1.7 Max. current of amplifier Ap 160 180 160 180



kW 24.8/8.2 40.1/16.1 31.2/16.2 56.2/22.9





- 13 -

2.2.2 High-speed Models

*1

Model Items Unit

DiS22/1500 DiS85/1000 DiS110/1000 DiS260/1000 Specification No. - A06B-0482-B124 A06B-0483-B224 A06B-0484-B124 A06B-0484-B324

Input power voltage V 200 200 200 200 Cooling condition *2 - LC LC LC LC



Max. 22 85 140 300 Rated torque*3 Cont. *4

Nm 9 40 53 95

Max. 14.1 28.3 56.6 113.1 Rated current*3 Cont. *4

Arms 5.5 12.6 19.0 32.2


1.9 5.4 8.7 20.1


kW 1.1 2.6 3.7 6.0

Cooling IC code *5 - 9U7A7 9U7A7 9U7A7 9U7A7 Required cooling

capacity *4 W 310 600 500 750

Thermal time constant min. 1 1 1 1 Torque constant Nm/Arms 1.7 3.3 2.8 2.9 Number of poles Pole 24 32 40 40

Resistance U-V Ω 6.5±5% 2.27±5% 0.88±5% 0.45±5% Stator 5.3 6 8 12.5

Mass Rotor

kg 1.2 2 3 5.5

Rotor inertia kgm2 0.002 0.008 0.018 0.033 Max. current of amplifier Ap 20 40 80 160

Amplifier(αiSV) - αiSV20 αiSV40 αiSV80 αiSV160


kW 3.7/1.5 7.6/3.3 12.4/4.4 24.6/7.0





- 14 -

2.3 TORQUE-VERSUS-SPEED DIAGRAMS AND OUTPUT-VERSUS-SPEED DIAGRAMS

2.3.1 Standard Models

DiS22/600 (A06B-0482-B100 / -B102, 200V)

DiS22/600 (A06B-0482-B100 / -B102, 400V)

NOTE 1 The maximum output indicates the rated maximum output and is not data for

αiPS selection. For αiPS selection, see Part II, "CONFIGURATIONS AND SELECTION."

2 LC” means “Liquid Cooling”. “NC” means “No Cooling”.

0

5

10

15

20

25

30

0 100 200 300 400 500 600

Speed （min-1)

Torq

ue （

Nm

)

0.0

0.2

0.4

0.6

0.8

1.0

1.2

1.4

0 100 200 300 400 500 600

Speed （min-1)

Out

put （

kW)Intermittent operation

Continuous operation (LC)

Intermittent operation

Continuous operation (NC) Continuous operation (NC)


0.00.20.40.60.81.01.21.41.61.82.0

0 100 200 300 400 500 600

Speed （min-1)

Out

put （

kW)

0

5

10

15

20

25

30

0 100 200 300 400 500 600

Speed （min-1)

Torq

ue （

Nm

) Intermittent operation

Continuous operation (LC) Intermittent operation




- 15 -

DiS85/400 (A06B-0483-B200 / -B202, 200V)

DiS85/400 (A06B-0483-B200 / -B202, 400V)

DiS110/300 (A06B-0484-B100 / -B102, 200V)




0.0

0.2

0.4

0.6

0.8

1.0

1.2

1.4

0 50 100 150 200

Speed （min-1)

Out

put （

kW)

0

20

40

60

80

100

0 50 100 150 200

Speed （min-1)

Torq

ue （

Nm

)






0.0

0.5

1.0

1.5

2.0

2.5

0 100 200 300 400

Speed （min-1)

Out

put （

kW)

0

20

40

60

80

100

0 100 200 300 400

Speed （min-1)

Torq

ue （

Nm






0

20

40

60

80

100

120

0 50 100 150

Speed （min-1)

Torq

ue （

Nm

)

0.0

0.2

0.4

0.6

0.8

1.0

1.2

1.4

0 50 100 150

Speed （min-1)

Out

put （

kW)






Speed（min-1） Speed（min-1

）


- 16 -

DiS110/300 (A06B-0484-B100 / -B102, 400V)

DiS260/300 (A06B-0484-B300 / -B302, 200V)

DiS260/300 (A06B-0484-B300 / -B302, 400V)




0.0

0.5

1.0

1.5

2.0

2.5

0 50 100 150 200 250 300

Speed （min-1)

Out

put （

kW)

0

20

40

60

80

100

120

0 50 100 150 200 250 300

Speed （min-1)

Torq

ue （

Nm

)






Speed（min-1）

Speed（min-1）

0.0

0.5

1.0

1.5

2.0

2.5

3.0

0 50 100 150

回転速度（min-1)

出力

（kW

)

0

50

100

150

200

250

300

0 50 100 150


トル

ク（N

m)







）

Torq

ue (N

m)

Out

put (

kW)

0.0

1.0

2.0

3.0

4.0

5.0

6.0

0 50 100 150 200 250 300


出力

（kW

)

0

50

100

150

200

250

300

0 50 100 150 200 250 300


トル

ク（N

m)






Speed（min-1）

Speed（min-1）

Torq

ue (N

m)

Out

put (

kW)


- 17 -

DiS370/300 (A06B-0484-B400 / -B402, 200V)

DiS370/300 (A06B-0484-B400 / -B402, 400V)

DiS400/250 (A06B-0485-B204 / -B205, 200V)




0.0

0.5

1.0

1.5

2.0

2.5

3.0

3.5

4.0

4.5

0 50 100 150


出力

（kW

)

0

50

100

150

200

250

300

350

400

0 50 100 150


トル

ク（

Nm






回転速度（min-1）回転速度（min-1

）

Torq

ue (N

m)

Out

put (

kW)


）

0

1

2

3

4

5

6

0 25 50 75 100 125

速度（min-1）

出力

（kW

）

0

100

200

300

400

500

600

0 25 50 75 100 125

速度（min-1）

トル

ク（Nm

）







）

Torq

ue (N

m)


）

Out

put (

kW)

0

50

100

150

200

250

300

350

400

0 50 100 150 200 250 300


トル

ク（N

m)

0

1

2

3

4

5

6

7

8

9

0 50 100 150 200 250 300


出力

（kW

)






Torq

ue (N

m)

Speed（min-1）

Speed（min-1）

Out

put (

kW)


- 18 -

DiS400/250 (A06B-0485-B204 / -B205, 400V)

DiS800/250 (A06B-0485-B400 / -B402, 200V)

DiS800/250 (A06B-0485-B400 / -B402, 400V)




0

2

4

6

8

10

12

14

16

18

0 50 100 150 200 250


出力

（kW

)

0

200

400

600

800

1000

0 50 100 150 200 250


トル

ク（N

m) Intermittent operation





回転速度（min-1）

Torq

ue (N

m)


）

Out

put (

kW)

0123456

789

0 25 50 75 100 125


出力

（ kW

)

0

200

400

600

800

1000

0 25 50 75 100 125


トル

ク（N







）

Torq

ue (N

m)


）

Out

put (

kW)

0

3

6

9

12

15

0 50 100 150 200 250

速度（min-1）

出力

（kW

）

0

100

200

300

400

500

600

0 50 100 150 200 250

速度（min-1）

トル

ク（Nm

）







）

Torq

ue (N

m)


） O

utpu

t (kW

)


- 19 -

DiS1200/250 (A06B-0485-B500 / -B502, 200V)

DiS1200/250 (A06B-0485-B500 / -B502, 400V)

DiS1500/200 (A06B-0486-B300 / -B302, 200V)




0

2

4

6

8

10

12

14

0 25 50 75 100 125


出力

（kW

)

0

200

400

600

800

1000

1200

1400

0 25 50 75 100 125


トル

ク（N





Continuous operation (LC)To

rque

(Nm

)


）

Out

put (

kW)

0

200

400

600

800

1000

1200

1400

0 50 100 150 200 250

速度（min-1)

トル

ク（N

m)

0

5

10

15

20

25

30

0 50 100 150 200 250


出力

（kW

)Intermittent operation





Speed (min-1) Speed (min-1)

Torq

ue (N

m)

Out

put (

kW)

0

2

4

6

8

10

12

14

16

0 25 50 75 100


出力

（kW

)

0

200

400

600

800

1000

1200

1400

1600

0 25 50 75 100


トル

ク（N







Torq

ue (N

m)

Out

put (

kW)


- 20 -

DiS1500/200 (A06B-0486-B300 / -B302, 400V)

DiS2100/150 (A06B-0487-B300 / -B302, 200V)

DiS2100/150 (A06B-0487-B300 / -B302, 400V)




0

5

10

15

20

25

0 50 100 150


出力

（kW

)

0

500

1000

1500

2000

2500

0 50 100 150


トル

ク（N







Torq

ue (N

m)

Out

put (

kW)

0

2

4

6

8

10

12

0 25 50 75回転速度（min-1)

出力

（kW

)

0

500

1000

1500

2000

0 25 50 75


トル

ク（N







Torq

ue (N

m)

Out

put (

kW)

0

200

400

600

800

1000

1200

1400

1600

0 50 100 150 200


トル

ク（N

m)

0

5

10

15

20

25

30

35

0 50 100 150 200


出力

（kW







Torq

ue (N

m)

Out

put (

kW)


- 21 -

DiS3000/150 (A06B-0487-B400 / -B402, 200V)

DiS3000/150 (A06B-0487-B400 / -B402, 400V)




0

5

10

15

20

25

30

35

0 50 100 150

速度（min-1)

出力

（kW

)

0

500

1000

1500

2000

2500

3000

3500

0 50 100 150

速度（min-1)

トル

ク（N







Torq

ue (N

m)

Out

put (

kW)

02468

10121416

0 25 50 75


出力

（kW

)

0

500

1000

1500

2000

2500

3000

0 25 50 75


トル

ク（N

m)



Intermittent operation Continuous

operation (LC)



Torq

ue (N

m)

Out

put (

kW)


- 22 -

2.3.2 High-speed Models

DiS22/1500 (A06B-0482-B124, 200V)

DiS85/1000 (A06B-0483-B224, 200V)



2 LC” means “Liquid Cooling”.

0

5

10

15

20

25

0 500 1000 1500

速度(min-1)

トル

ク(N

m)

0

0.5

1

1.5

2

0 500 1000 1500

速度(min-1)

出力

(kW

)


Continuous operation




Torq

ue (N

m)

Out

put (

kW)

0

1

2

3

4

5

6

0 200 400 600 800 1000


出力

（kW

)

0

10

20

30

40

50

60

70

80

90

0 200 400 600 800 1000


トル

ク（N

m)






Torq

ue (N

m)

Out

put (

kW)


- 23 -

DiS110/1000 (A06B-0484-B124, 200V)

DiS260/1000 (A06B-0484-B324, 200V)



2 LC” means “Liquid Cooling”.

0

20

40

60

80

100

120

140

160

0 200 400 600 800 1000

速度（min-1)

トル

ク（N

m)

0

2

4

6

8

10

0 200 400 600 800 1000

速度（min-1)

出力

（kW






Torq

ue (N

m)

Out

put (

kW)

0

50

100

150

200

250

300

350

0 200 400 600 800 1000

速度（min-1)

トル

ク（N

m)

0

5

10

15

20

25

0 200 400 600 800 1000

速度（min-1)

出力

（kW






Torq

ue (N

m)

Out

put (

kW)


- 24 -

2.4 EXTERNAL DIMENSIONS

DiS 22/600 (A06B-0482-B100 / -B102) DiS 22/1500 (A06B-0482-B124)

[Stator dimensions]

- Note • There are no grooves for O-ring.

Prepare recommended O-ring when O-ring is required. • The groove position of the part B is symmetric with part A. • Power cable and Thermostat/Thermistor cable specifications, please refer to Section 2.5, “POWER

CABLE AND THERMOSTAT/THERMISTOR CABLE SPECIFICATIONS.”

Detail of part A: the groove position for the O-ring.


- 25 -

[Rotor dimensions]

[Assembly dimensions]


- 26 -

DiS 85/400 (A06B-0483-B200 / -B202) DiS 85/1000 (A06B-0483-B224)

[Stator dimensions]






- 27 -

[Rotor dimensions]



- 28 -

DiS 110/300 (A06B-0484-B100 / -B102) DiS 260/300 (A06B-0484-B300 / -B302) DiS 370/300 (A06B-0484-B400 / -B402) DiS 110/1000 (A06B-0484-B124) DiS 260/1000 (A06B-0484-B324)

[Stator dimensions]

MODEL X Y DiS110/300 (A06B-0484-B100 / -B102) DiS110/1000 (A06B-0484-B124)

70 33

DiS260/300 (A06B-0484-B300 / B302) DiS260/1000 (A06B-0484-B324)

110 73

DiS370/300 (A06B-0484-B400 / B402) 140 103






- 29 -

[Rotor dimensions]

MODEL Z DiS110/300 (A06B-0484-B100 / -B102) DiS110/1000 (A06B-0484-B124)

46

DiS260/300 (A06B-0484-B300 / -B302) DiS260/1000 (A06B-0484-B324)

86

DiS370/300 (A06B-0484-B400 / -B402) 116

[Assembly dimensions] - DiS110/300 （A06B-0484-B100 / -B102） DiS110/1000 （A06B-0484-B124）





- 30 -

[Assembly dimensions] - DiS260/300 (A06B-0484-B300 / B302) DiS260/1000 (A06B-0484-B324) DiS370/300 (A06B-0484-B400 / B402)





- 31 -

DiS 400/250 (A06B-0485-B204 / -B205) DiS 800/250 (A06B-0485-B400 / -B402) DiS 1200/250 (A06B-0485-B500 / -B502)

[Stator dimensions]

MODEL X Y DiS400/250 (A06B-0485-B204 / -B205) 90 53 DiS800/250 (A06B-0485-B400 / -B402) 140 103 DiS1200/250 (A06B-0485-B500 / -B502) 190 153






- 32 -

[Rotor dimensions]

MODEL Z DiS400/250 (A06B-0485-B204 / -B205) 66 DiS800/250 (A06B-0485-B400 / -B402) 116 DiS1200/250 (A06B-0485-B500 / -B502) 166



- 33 -

DiS 1500/200 (A06B-0486-B300 / -B302) [Stator dimensions]

- Note • The groove position of the part B is symmetric with part A. • Power cable and Thermostat/Thermistor cable specifications, please refer to Section 2.5, “POWER




- 34 -

[Rotor dimensions] [Assembly dimensions]


- 35 -

DiS 2100/150 (A06B-0487-B300 / -B302) DiS 3000/150 (A06B-0487-B400 / -B402)

[Stator dimensions]

MODEL X Y DiS2100/150 （A06B-0487-B300 / -B302） 130 70 DiS3000/150 （A06B-0487-B400 / -B402） 160 100

- Note • The groove position of the part B is symmetric with part A. • Power cable and Thermostat/Thermistor cable specifications, please refer to Section 2.5, “POWER


Recommended O-ring φ554.3 ± 4 × 5.7 ± -0.15 Detail of part A: the groove position for the O-ring.


- 36 -

[Rotor dimensions]

MODEL Z DiS2100/150 (A06B-0487-B300 / -B302) 91 DiS3000/150 (A06B-0487-B400 / -B402) 121



- 37 -

2.5 POWER CABLE AND THERMOSTAT/THERMISTOR CABLE SPECIFICATIONS

2.5.1 Power Cable

2.5.1.1 Standard Models Conductor size Model

(Specification No.) Color Cross-section (mm2)

AWG size Gauge

Outer diameter

U,V,W Black + Label for

distinguish DiS22/600 (A06B-0482-B10*) GND

Yellow/green + Label for distinguish

2.0 14AWG φ3.1

U,V,W Red, white, black DiS85/400 (A06B-0483-B20*) GND Yellow/green

2.0 14AWG φ2.4

U,V,W Red, white, black DiS110/300 (A06B-0484-B10*) DiS260/300 (A06B-0484-B30*) DiS370/300 (A06B-0484-B40*) GND Yellow/green

5.5 10AWG φ4.69


distinguish DiS400/250 (A06B-0485-B20*) GND


5.5 10AWG φ4.7

U,V,W Red, white, black DiS800/250 (A06B-0485-B40*) DiS1200/250 (A06B-0485-B50*) GND Yellow/green

5.5 10AWG φ4.7

U,V,W Red, white, black DiS1500/200 (A06B-0486-B30*) GND Yellow/green

8 8AWG φ7.54

U,V,W Red, white, black DiS2100/150 (A06B-0487-B30*) DiS3000/150 (A06B-0487-B40*) GND Yellow/green

14 6AWG φ8.54

2.5.1.2 High-speed Models

Conductor size Model (Specification No.) Color Cross-section

(mm2) AWG size

Gauge

Outer diameter


distinguish DiS22/1500 (A06B-0482-B124) GND


2.0 14AWG φ3.1


distinguish DiS85/1000 (A06B-0483-B224) GND


2.0 14AWG φ3.1


distinguish DiS110/1000 (A06B-0484-B124) DiS260/1000 (A06B-0484-B324)

GND Yellow/green + Label for

distinguish

5.5 10AWG φ4.7


- 38 -

2.5.2 Thermostat/Thermistor Cable

2.5.2.1 Models in which only thermostats are mounted

Models that fall under this category - DiS85/400, DiS110/300, DiS260/300, DiS370/300, DiS800/250, DiS1200/250,

DiS1500/200, DiS2100/150, DiS3000/150 Conductor size Color

Cross-section (mm2) AWG size Gauge Outer

diameterSheeth Gray - - φ5.5 Thermostat cable

Twisted pair Black/white 0.3 23AWG φ1.44

2.5.2.2 Models in which both thermostats and thermistors are mounted

Models that fall under this category - DiS22/600, DiS22/1500, DiS85/1000, DiS110/1000, DiS260/1000, DiS400/250

Conductor size Color Cross-section (mm2) AWG size Gauge

Outer diameter

Thermostat/thermistor cable(sheeth) Black - - φ6.3 Thermostat (twisted pair) Black/red thermistor (twisted pair) Black/brown

0.2 25AWG φ0.98

B-65332EN/02 SPECIFICATIONS 3.FEEDBACK SENSOR

- 39 -

3 FEEDBACK SENSOR The SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series enables the use of various sensors as feedback sensors for detecting the position, speed, etc.

FANUC supplies absolute-type αiCZ sensors that have the same interface as that of the Pulsecoders for AC servo motor αi series and that have the same structure as that of αiCZ sensors, which are field proven in built-in spindle motors, etc.

FANUC also supplies a synchronous built-in servo motor position detection circuit that converts output signals from 3rd party rotary encoders that have analog 1 Vp-p outputs into FANUC serial interface signals.

3.1 ABSOLUTE αiCZ SENSOR

The absolute αiCZ sensor is used in combination with SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series motors if high-accuracy angle detection is required such as the detection of the angle of rotation of the rotary table of a direct drive and the detection of the angle of rotation about the workpiece axis of a tool grinder. It has a FANUC serial interface, and can be connected directly to a αi series servo amplifier.

3.1.1 NAMES AND DRAWING NUMBERS Names and drawing numbers

Remarks Name Drawing No. Number of teeth Maximum speed

αiCZ sensor 512A A860-2162-T411 512 3000min-1 αiCZ sensor 768A A860-2162-T511 768 2000min-1

αiCZ sensor 1024A A860-2162-T611 1024 1500min-1

NOTE αiCZ Sensor 768A is only applicable for limited rotation (Under +/-1 revolutions

cumulatively).

3.1.2 Absolute Maximum Ratings Absolute Maximum Ratings (common to all specifications) Item Specifications

Power supply voltage -0.5V to +6.0V Operating temperature 0 to +70

Humidity 95%RH or less

3.FEEDBACK SENSOR SPECIFICATIONS B-65332EN/02

- 40 -

3.1.3 Specifications

(1) αiCZ sensor 512A (a) Speed, resolution, accuracy, and electric specifications

Item Min. Typ. Max. Unit Speed 3000 min-1 Resolution 1/3,600,000 Rev. Accuracy ±4 ±8 Sec. Repeatability ±1 Sec. Power supply voltage 4.5 5 5.25 V Current consumption 150 mA Current consumption in the case of backup (Note) 300 μA Water and dust proof class IP67

NOTE 1 Alkaline battery (four pieces of size D) is recommended for backup battery

because the backup current consumption is 3 times as much as the αi Pulsecoder for αiS series Servo Motor.

2 Battery case [A06B-6050-K060] and alkaline batteries (four pieces of size D) [A06B-6050-K061] are available for backup. Besides, an alkaline battery (size D) is available at stores.


- 41 -

(b) External dimensions - αiCZ sensor 512A A860-2162-T411

・

Abs

olut

e αiC

Z S

enso

r is

a pr

ecis

e de

vice

, so

be c

aref

ul in

its

hand

ling.

Par

ticul

arly

, don

’t ap

ply

shoc

k or

stre

ss to

the

sens

or e

lem

ent.

・

Pro

vide

the

dust

-pro

of m

easu

res

agai

nst s

ubst

ance

s, fr

om o

utsi

de s

uch

as a

chi

p.

・

The

wat

erpr

oof

perfo

rman

ce o

f A

bsol

ute

αiC

Z S

enso

r is

IP

67,

but

the

cont

inuo

us e

xpos

ure

to t

he c

oola

nt m

ay c

ause

the

tro

uble

. P

rovi

de t

hew

ater

pro

of m

easu

res

agai

nst t

he c

oola

nt.

・

To e

nsur

e ea

se o

f mai

nten

ance

, ins

tall

Abs

olut

e αiC

Z S

enso

r in

a lo

catio

n w

here

it c

an b

e ap

proa

ched

eas

ily.

・

Do

not a

dd th

e vi

brat

ion

exce

edin

g 1G

to th

e de

tect

ion

circ

uit.

・

The

dete

ctio

n ci

rcui

t sh

ould

be

conn

ecte

d to

the

ear

th.

The

back

sid

e of

the

det

ectio

n ci

rcui

t is

not

pai

nted

so

that

it is

pos

sibl

e to

ear

th t

hede

tect

ion

circ

uit b

y fa

sten

ing

the

fixin

g bo

lt.

・

Fix

a ca

ble

to a

mac

hine

nea

r the

sen

sor h

ead

so th

at te

nsile

load

is n

ot d

irect

ly a

dded

to a

sen

sor h

ead.

・

Th

e ca

ble

of A

bsol

ute

αiC

Z S

enso

r is

all f

lexi

ble.

Acc

esso

ries

F

eele

r ga

ge (t

=0.1

0mm

) x 1

P

aral

lel p

ins

(JIS

B13

54-1

988,

type

A,Φ

3, le

ngth

6) x

4


- 42 -


Item Min. Typ. Max. Unit Speed 2000 min-1 Resolution 1/3,600,000 Rev. Accuracy ±3 ±6 Sec. Repeatability ±1 Sec. Power supply voltage 4.5 5 5.25 V Current consumption 150 mA Current consumption in the case of backup (Note) 300 μA Dustproof/waterproof level IP67

NOTE 1 αiCZ Sensor 768A is only applicable for limited rotation (Under 1 revolutions

cumulatively). 2 Alkaline battery (four pieces of size D) is recommended for backup battery




- 43 -

(b) External dimensions - αiCZ sensor 768A

A860-2162-T511

・

Abs

olut

e αiC

Z S

enso

r is

a pr

ecis

e de

vice

, so

be c

aref

ul in

its

hand

ling.

Par

ticul

arly

, don

’t ap

ply

shoc

k or

stre

ss to

the

sens

or e

lem

ent.

・

Pro

vide

the

dust

-pro

of m

easu

res

agai

nst s

ubst

ance

s, fr

om o

utsi

de s

uch

as a

chi

p.

・

The

wat

erpr

oof p

erfo

rman

ce o

f Abs

olut

e αiC

Z S

enso

r is

IP67

, but

the

cont

inuo

us e

xpos

ure

to th

e co

olan

t may

cau

se th

e tro

uble

. Pro

vide

the

wat

er p

roof

mea

sure

s ag

ains

t the

coo

lant

. ・

To

ens

ure

ease

of m

aint

enan

ce, i

nsta

ll A

bsol

ute

αiC

Z S

enso

r in

a lo

catio

n w

here

it c

an b

e ap

proa

ched

eas

ily.

・

Do

not a

dd th

e vi

brat

ion

exce

edin

g 1G

to th

e de

tect

ion

circ

uit.

・

The

dete

ctio

n ci

rcui

t sho

uld

be c

onne

cted

to th

e ea

rth. T

he b

ack

side

of t

he d

etec

tion

circ

uit i

s no

t pai

nted

so

that

it is

pos

sibl

e to

ear

th th

ede

tect

ion

circ

uit b

y fa

sten

ing

the

fixin

g bo

lt.

・

Fix

a ca

ble

to a

mac

hine

nea

r the

sen

sor h

ead

so th

at te

nsile

load

is n

ot d

irect

ly a

dded

to a

sen

sor h

ead.

・

Th

e ca

ble

of A

bsol

ute

αiC

Z S

enso

r is

all f

lexi

ble.

Acc

esso

ries

F

eele

r ga

ge (t

=0.1

0mm

) x 1

P

aral

lel p

ins

(JIS

B13

54-1

988,

type

A,Φ

3, le

ngth

6) x

4


- 44 -


Item Min. Typ. Max. Unit Speed 1500 min-1 Resolution 1/3,600,000 Rev. Accuracy ±2 ±4 Sec. Repeatability ±1 Sec. Power supply voltage 4.5 5 5.25 V Current consumption 150 mA Current consumption in the case of backup (Note) 300 μA Dustproof/waterproof level IP67

NOTE 1 Alkaline battery (four pieces of size D) is recommended for backup battery




- 45 -

(b) External dimensions - αiCZ sensor 1024A

A860-2162-T611

・

Abs

olut

e αiC

Z S

enso

r is

a pr

ecis

e de

vice

, so

be c

aref

ul in

its

hand

ling.

Par

ticul

arly

, don

’t ap

ply

shoc

k or

stre

ss to

the

sens

or e

lem

ent.

・

Pro

vide

the

dust

-pro

of m

easu

res

agai

nst s

ubst

ance

s, fr

om o

utsi

de s

uch

as a

chi

p.

・

The

wat

erpr

oof p

erfo

rman

ce o

f Abs

olut

e αiC

Z S

enso

r is

IP67

, but

the

cont

inuo

us e

xpos

ure

to th

e co

olan

t may

cau

se th

e tro

uble

. Pro

vide

the

wat

erpr

oof m

easu

res

agai

nst t

he c

oola

nt.

・

To e

nsur

e ea

se o

f mai

nten

ance

, ins

tall

Abs

olut

e αiC

Z S

enso

r in

a lo

catio

n w

here

it c

an b

e ap

proa

ched

eas

ily.

・

Do

not a

dd th

e vi

brat

ion

exce

edin

g 1G

to th

e de

tect

ion

circ

uit.

・

The

dete

ctio

n ci

rcui

t sho

uld

be c

onne

cted

to th

e ea

rth. T

he b

ack

side

of t

he d

etec

tion

circ

uit i

s no

t pai

nted

so

that

it is

pos

sibl

e to

ear

th th

e de

tect

ion

circ

uit b

y fa

sten

ing

the

fixin

g bo

lt.

・

Fix

a ca

ble

to a

mac

hine

nea

r the

sen

sor h

ead

so th

at te

nsile

load

is n

ot d

irect

ly a

dded

to a

sen

sor h

ead.

・

Th

e ca

ble

of A

bsol

ute

αiC

Z S

enso

r is

all f

lexi

ble.

Acc

esso

ries

F

eele

r ga

ge (t

=0.1

0mm

) x 1

P

aral

lel p

ins

(JIS

B13

54-1

988,

type

A,Φ

3, le

ngth

6) x

4


- 46 -

3.2 SYNCHRONOUS BUILT-IN SERVO MOTOR POSITION DETECTION CIRCUIT

The synchronous built-in servo motor position detection circuit is used in conversion from the output signals from the 3rd party rotary encoders that have analog 1 Vp-p outputs into FANUC serial interface signals

3.2.1 Specification and Function Ordering number: A860-2033-T601 Current consumption: 200mA（max.）

3.2.2 Function This circuit has following functions. • Calculation of the absolute position from the signal from a 1 Vp-p analog output rotary encoder

(with one reference mark or with distance-coded reference marks)(Note) • Offset voltage of analog input signals automatically canceled • 2048 times interpolation of 1 cycle of A/B phase signals • Temperature detection from the thermistor signal of the motor • OHAL (Over heat alarm) detection from the thermostat signal of motor • Position data, alarm information and temperature information etc. converted to serial data, and

transmitted to Servo Amplifier

NOTE Absolute position establishment: In case of the rotary encoder with one reference mark, the absolute position is

established by passing the reference mark at once after power on. And in case of the rotary encoder with distance-coded reference marks, the absolute position is established by passing three or four reference marks after power on.


- 47 -

3.2.3 Input Specification and the Example of Available Rotary Encoders

3.2.3.1 Input specifications A/B(type I) Z(type I) A/B(type II) Z(type II)

Specifications Item Symbol Min. Typ. Max.

Unit

Amplitude (A/B phase)

type I: a of A/B phase type II: b of A phase + b of XA phase b of B phase + b of XB phase

0.6 1.0 1.5 VP-P

Amplitude (Z phase)

c of Z phase + c of XZ phase 0.2 0.4 - V

Center Level (DC Level)

type I: VOA,VXA ,VOB,VXB type II: VOA,VOXA ,VOB,VOXB

VOZ,VOXZ

2.0

2.5

3.0

V

Offset Voltage (A/B phase)

type I: VOA-VXA , VOB-VXB

type II: VOA-VOXA , VOB-VOXB -0.1 0 +0.1 V

Offset Voltage (Z phase)

type I: VOZ-VXZ

type II: VOZ-VOXZ -0.05 0 +0.05 V

Pulse width of Z TZ 600 - - nsec Length of Z LZ 1/4 - - Pitch of A(or B) Input Impedance 100 120 140 Ω Input Frequency - - 400 kHz

NOTE The position accuracy depends on the quality of the signal from rotary encoder.

VA VXA,VXB

VB

VOA,VOB

a/2

a/2

a

VXB

VB

VOA,VOXA VOB,VOXB

b/2

b/2

b

VA

VXA Usable component c

0V

0V

TZ,LZ

Vz

c/2

c/2

0V

VOZ

VOXZ

Vxz

Usable component c

TZ,LZ

Vz c/2

c/2

0V

VOZ

Vxz


- 48 -

3.2.3.2 Internal Signals (A/B Signals, Z Signal) A/B signals Z signal (Reference signal)

NOTE Refer to the Section 4.2, “SETTING SWITCHES AND CHECK ROUNDS” in the

Part IV, “START-UP.”

A

90 0

B

PA

PB

Input signals

Internal signals 0,90 (Check Connector and Check Rounds)

Internal signals PA,PB (Check Rounds)

（Note） In case of A/B (type II), A = VA – VXA B = VB – VXB

0 degree position of A/B signals

T0

T0

Z

0V

XZ

PZ

Input signals

Internal signal PZ (Check Connector and Check Round)

Vz

0V

Vxz

PZ

Z （type I） Z（type II）


- 49 -

3.2.3.3 Phase relations between Z signal (PZ) and A/B signals The phase relation between Z signal position (Note1) and A/B signals must satisfy both following conditions. (Refer to the examples of the following diagram.) (1) The position difference between this time Z signal position and next time Z signal position must be

within a quarter cycle of A/B signals (±90 deg). (2) Next time Z signal position must not cross the 0 degree position (Note2) of A/B signals.

NOTE 1 Z signal position is the rising edge of Z signal (PZ) in case of positive direction (A

signal is delayed to B signal), and the falling edge of Z signal (PZ) in case of negative direction (B signal is delayed to A signal).

2 0 degree position is where A signal is T0 (center level) and B signal is higher than T0.

B A B A Good example

PZ PZ

B A B A Bad example

PZ PZ

+90° (OK) -90° (OK)

PZ PZ

-90° (NG)

+90° (NG)

PZ

PZ

PZ

PZ


Both conditions (1) and (2) are satisfied.

Although condition (1) is satisfied, condition (2) is not satisfied.

Although condition (1) is satisfied, condition (2) is not satisfied.

Both conditions (1) and (2) are satisfied.

360°

360°

Phase relation between this time Z signal position and A/B signals

Phase relation between next time Z signal position and A/B signals

T0 T0

T0T0


0 degree position of A/B signals 0 degree position of A/B signals


- 50 -

NOTE If next time Z signal position crosses the 0 degree position of A/B signals, as in a

bad signal waveform example, change the connections of A/B signals as described below. • Exchange A with XA, and exchange B with XB. (Counting direction does not

change.) • Exchange B with XB. (Counting direction changes.)

If the counting direction differs from the move direction of the synchronous built-in servo motor in a good signal waveform example, exchange A with XA.

3.2.3.4 External dimensions

3.2.3.5 Available Rotary Encoders (1Vpp analog signal output) FANUC recommendation：Rotary encoder with binary line count per 1 revolution

Manufacturer Encoder Name Line Count Maximum Velocity [min-1]

HEIDENHAIN

ERA4280(ERA4280C) ERA4480(ERA4480C) ERA4880(ERA4880C) ERA4281(ERA4281C) ERA4481(ERA4481C) ERA4282(ERA4282C)

32768(*1) 16384(*1)

8192 4096

732 1464 2928 5856

*1 If using sensors the line counts of which are 32768 and 16384, use servo software of the following edition or later. Series 90E0/21 and subsequent editions


- 51 -

Other acceptable rotary encoder (non-binary rotary encoder) Manufacturer Encoder Name Line Count Maximum Velocity [min-1]

RON285 (RON285C) 18000 1,333 RON287 (RON287C) 18000 1,333 RON785 (RON785C) 18000 1,000 RON786 (RON786C) 18000 / 36000 1,000 / 666 RON886 (RON886C) 36000 666 ERA780 (ERA780C) 36000 / 45000 / 90000 500 / 500 / 266 ERA880 (ERA880C) 36000 / 45000 100 ERA4280(ERA4280C) ERA4480(ERA4480C) ERA4880(ERA4880C)

12000 / 6000 / 3000 20000 / 10000 / 5000 28000 / 14000 / 7000 40000 / 20000 / 10000 52000 / 26000 / 13000

2000 / 4000 / 8000 1200 / 2400 / 4800 856 / 1712 / 3424 600 / 1200 / 2400 460 / 920 / 1840

HEIDENHAIN

ERA4281(ERA4281C) ERA4481(ERA4481C)

12000 / 6000 24000 / 12000 40000 / 20000 48000 / 24000

2000 / 4000 1000 / 2000 600 / 1200 500 / 1000

ERA4282(ERA4282C) 12000 20000 28000 40000 52000

2000 1200 856 600 460

ROD280(ROD280C) 18000 1333 ROD780(ROD780C) 18000 / 36000 1000 / 666

HEIDENHAIN

ROD880(ROD880C) 36000 666 YRTM150 2688 210 YRTM180 3072 190 YRTM200 3408 170 YRTM260 4320 130 YRTM325 5184 110 YRTM395 6096 90

INA BEARING

YRTM460 7008 80

NOTE 1 Maximum velocity is calculated by the limit of the output/input signal’s frequency

or the mechanical limit of a rotary encoder. Velocity restriction on the control is not included.

2 The encoder manufacturer is responsible for the performance and the guarantee of the rotary encoder. Inquire the encoder manufacturer as for the details.

3 If the binary rotary encoder is used, the setting switch SW3 on the circuit must be set to Setting A, and if the non-binary rotary encoder is used, SW3 must be set to Setting B.

4 If the non-binary rotary encoder is used, the rotation number is limited within ±1 rotation.

FANUC recommends binary sensors. 5 If HEIDENHAIN rotary encoder is used, setting switch SW8 on the circuit must

be set to Setting A, and if INA BEARING YRTM series rotary encoder is used, SW8 must be set to Setting B.

6 If INA BEARING YRTM series rotary encoder is used, the manufacturer’s electronic evaluation system (MEKO BOX) is necessary.


- 52 -

3.3 3RD PARTY ENCODER

FANUC recommends encoders the resolution per revolution of which is binary (represented by a 2n number) and that have FANUC serial interfaces. Example)

RCN723F, RCN223F (manufactured by HEIDENHAIN) MPRZ-536A, MPRZ-736B, MPRZ-1236B (manufactured by MITSUBISHI HEAVY INDUSTRIES)

For information on incremental-type rotary encoders, see Subsection 1.4.2, "Applicable Incremental Rotary Encoder," in Part II, "CONFIGURATIONS AND SELECTION."

II. CONFIGURATIONS AND SELECTION

B-65332EN/02 CONFIGURATIONS AND SELECTION1.SYSTEM CONFIGURATION

- 55 -

1 SYSTEM CONFIGURATION

1.1 CNC SYSTEM REQUIREMENTS The system requirements for driving a synchronous built-in servo motor are as follows: • CNC software option functions Pole position detection function (software option) This function measures the motor rotor (magnet) phase and the sensor setting phase to calculate the

compensation parameter. The pole position detection function is a CNC option function, but is a required one for driving a

synchronous built-in servo motor. Even if using an absolute sensor, incorporate the PMC ladder mentioned in the specifications so that

pole position detection can be performed properly if the battery backup of the absolute αiCZ sensor runs out or if the encoder or motor is replaced.

• Series and editions of applicable servo software Series 30i, 31i, 32i-A

Series 90D0 / P (16) and subsequent editions Series 90E0 / P (16) and subsequent editions

Series 16i, 18i, 21i –B Series 90B1 / K (11) and subsequent editions (Note) Series 90B6 of servo software cannot be used.

Series 0i-C Series 90B8 / K (11) and subsequent editions (Note) Series 90B5 of servo software cannot be used.

Series 0i-D Series 90BC5 / A (01) and subsequent editions (standard) Series 90BE5 / A (01) and subsequent editions (T series, 2-path)

For Series 16i, 18i, and 21i -B and Series 0i-C, the smoothing compensation function cannot be used.

• Encoder FANUC recommends absolute sensors the resolution per revolution of which is binary (represented by a 2n number) and that have FANUC serial interfaces. Example) Adsolute αiCZ sensor (manufactured by FANUC)

RCN723F,RCN223F (manufactured by HAIDENHEIN) MPRZ-536A,MPRZ-736B,MPRZ-1236B (manufactured by MITSUBISHI HEAVY INDUSTRIES)

Even if an incremental encoder is selected, FANUC recommends selecting an encoder the resolution per revolution of which is binary.

If there is no choice but to use a sensor the resolution of which is non-binary (for example, 1,800,000/rev) in combination with a synchronous built-in servo motor position detection circuit, there may be cases in which the smoothing compensation and other functions cannot be used. If using a non-binary sensor, be sure to contact FANUC about the parameter settings for the sensor.

• High-speed synchronous built-in servo motors (high-speed models) High-speed synchronous built-in servo motors can be used only in the system below because they are driven at the maximum speed (1000 or 1500 min-1). Series and editions of applicable CNC/servo software Series 30i, 31i, 32i-A

Series 90D0 / P (16) and subsequent editions Series 90E0 / P (16) and subsequent editions

1.SYSTEM CONFIGURATIONCONFIGURATIONS AND SELECTION B-65332EN/02

- 56 -

Series 0i-D Series 90BC5 / A (01) and subsequent editions (standard) Series 90BE5 / A (01) and subsequent editions (T series, 2-path)

Applicable motor specifications DiS22/1500 : A06B-0482-B124 (200V) DiS85/1000 : A06B-0483-B224 (200V) DiS110/1000 : A06B-0484-B124 (200V) DiS260/1000 : A06B-0484-B324 (200V)

NOTE For the details of the following, refer to the Appendix E, "VELOCITY LIMIT

VALUES IN SERVO SOFTWARE" in "Parameter Manual" (B-65270EN).

• If using a high-resolution sensor such as the RCN223F to drive a motor at a speed of 937 min-1 or greater, set bit 6 of N2271 to 1.

• If a motor is to be driven at a speed of 277 min-1 or greater using IS-C, the rotary tool control function of the servo motor is necessary, as well as the setting for multiplying the maximum speed by 10 (bit 3 of N1408).

1.2 ROTARY ENCODER SELECTION

For the FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series, motors are controlled using feedback signals from a rotary encoder. Rotary encoders are available in absolute type (recommended) and incremental type. • Absolute rotary encoder

- After reference point setting, it is not necessary for the operator to return to the reference position every power of CNC.

- FANUC recommends sensors the resolution per revolution of which is binary (represented by a 2n number) and that have FANUC serial interfaces. Example) Adsolute αiCZ sensor (manufactured by FANUC)

RCN723F,RCN223F (manufactured by HAIDENHEIN) MPRZ-536A,MPRZ-736B,MPRZ-1236B (manufactured by MITSUBISHI HEAVY INDUSTRIES)

- Wiring can be saved because it is directly connected to the servo amplifier. • Incremental rotary encoder

- A synchronous built-in servo motor position detection circuit is necessary for conversion to FANUC serial interface signals.

- It is necessary for the operator to return to the reference point every power on of CNC. - The distance coded encoder can be selected.

The resolution of a rotary encoder must be approximately ten to twenty times better than the target precision.


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1.3 ABSOLUTE ROTARY ENCODER SYSTEM This section explains a system in which an absolute rotary encoder is used.

1.3.1 Example of Configuration When an absolute rotary encoder is used, the absolute position is always determined the reference position setting. Thus, pole position detection is required only once after the power is turned on for the first time. For this reason, Circuit is not required, which are required for an incremental rotary encoder system. Consequently, the system configuration can be made simple. An example of a typical system configuration is shown below:

DiSDiS

1.3.2 Applicable Absolute Rotary Encoder An absolute rotary encoder to be used for the FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series must conform to the FANUC serial interface. If not, the absolute rotary encoder cannot be used. At present, the absolute encoders that can be combined with the DiS series motors are the αiCZ Sensor and those from HEIDENHAIN and Mitsubishi Heavy Industries (MHI). Contact them for detail information, if required.

NOTE 1 Rotary encoder manufacturers are responsible for the specifications,

performance, guarantee, and other items of their rotary encoders. For details, contact the relevant manufacturer.

2 When HRV4 is applied, the rotary encoder must support 2 Mbps communication. For support conditions, contact the relevant manufacturer.


- 58 -

1.4 INCREMENTAL ROTARY ENCODER SYSTEM This section explains a system in which an incremental rotary encoder is used.

1.4.1 Example of Configuration For a system in which an incremental rotary encoder is used, the following devices are required to operate a motor, in addition to a motor.

Synchronous Built-in Servo Motor Position Detection Circuit Synchronous Built-in Servo Motor Position Detection Circuit converts from output signals of the rotary encoder to FANUC serial interface signals and outputs the converted signals to the servo amplifier. This circuit internally multiplies a signal output from the rotary encoder by 2048 and outputs the multiplied signal. An example of a typical system configuration is shown below:

CNC

Thermostat/ Thermistor cable

Power cables FSSB

Incremental encoder Synchronous Built-in Servo Motor

Position Detection Circuit

DiS series motorServo amplifier

In this system, reference position detection and pole position detection are necessary each time the power to the NC is turned ON or OFF.

NOTE For how to install the rotary encoder, see Part III, "HANDLING, DESIGN, AND

ASSEMBLY."

1.4.2 Applicable Incremental Rotary Encoder An incremental rotary encoder to be used for the FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series must satisfy the following specifications: - The output from the rotary encoder is an analog signal at 1 Vp-p. - A reference position signal (Z-phase signal or another signal) is output from one device or the rotary

encoder is distance coded. If reference position signals are output from two or more devices, an alarm may occur when the same signal is detected for the second time. An example is contained in Subsection 3.2.3.5, "Available Rotary Encoders (1 Vp-p analog signal output)," in Section 3.2, "SYNCHRONOUS BUILT-IN SERVO MOTOR POSITION DETECTION CIRCUIT," in Part I, "SPECIFICATIONS." To rotate the motor infinitely, the encoder should output the waveforms of binary count. If not, the motor cannot rotate infinitely.


- 59 -

Example: Encoder output 2nλ/rev. .............Rotate without limitation Encoder not output 2nλ/rev. .......Within ±1 revolution

Contact an encoder manufacturers to get more detail information about the encoders.

NOTE Rotary encoder manufacturers are responsible for the specifications,

performance, guarantee, and other items of their rotary encoders. For details, contact the relevant manufacturer.

1.5 POLE POSITION DETECTION FUNCTION Even if the positional relationship between the encoder and the motor is set precisely, it is necessary to adjust the pole position accurately because the motor and the encoder have mechanical errors internally. The pole position detection function (option) is offered to adjust the pole position accurately.

NOTE 1 “Pole Position Detection Function” is a software optional function of CNC. 2 This function is required if a synchronous built-in servo motor is used. 3 Any position relationship between a motor and an encoder is acceptable, when

using this function. The routing of power leads differs, however, depending on the directions of the motor and the encoder. For details, see Section 2.2, "THE ROTATION DIRECTION OF THE MOTOR AND THE ENCODER," in Part IV, "START-UP."

1.6 DRIVING WITH MULTIPLE MOTORS

One feature of DiS series motors is that multiple motors can be installed in one axis. For example, when the torque obtained by one motor is insufficient, two motors can be arranged along the same axis to ensure the double torque.

NOTE If driving with multiple motors, be sure to contact FANUC about the system

configuration, structure, parameter settings, start-up procedure, and so on. Example 1) If multiple motors are arranged apart from each other If multiple motors are arranged apart from each other as in a long shaft or in the angular axis of a

2-axis table, FANUC recommends a configuration with a single encoder per motor. It is possible to drive with a single encoder if the intermediate structure is of high rigidity.

Motor #1 Motor #2

Encoder Encoder

Amplifier#1

Long shaft, table structure, etc.

Amplifier #2


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Example 2) If multiple motors are arranged near each other If multiple motors are arranged near each other with high rigidity, as in the figure below, it may be

possible to drive with a single encoder. Example 3) If twin motors are connected to larger size amplifier With the methods introduced above, one motor is combined with one amplifier. Combining one

motor with one amplifier is the best method from control and motor protection viewpoints because current is controlled individually. For a machine having many axes, however, the number of axes available for the CNC may be insufficient because as many hardware axes as the number of amplifiers are required. To resolve this problem, a method for connecting multiple motors in parallel and driving them with a large-capacity amplifier is available. The following figure is a typical example of this method. Two motors can be seen as one motor from the amplifier. Therefore, the number of rotary encoders is one and the number of required axes is also one.

Note, however, the following constraints: • Motors must be connected together with high rigidity. • The mechanical assemble precision of the stators, rotors, and encoder must be managed.

NOTE To drive multiple motors with one amplifier, special parameter settings different

from those used in ordinary cases are required. For details, contact FANUC.

Motor #1 Motor #2

Amplifier #1 Amplifier #2

Encoder Shaft

B-65332EN/02 CONFIGURATIONS AND SELECTION 2.SELECTION METHODS

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2 SELECTION METHODS

2.1 MOTOR SELECTION A motor should be selected according to the following items.

NOTE For information related to the motor specifications, also see Part I,

"SPECIFICATIONS."

2.1.1 Required Data for Motor Selection

Load Inertia The load inertia means the moment of inertia fastened to the rotor. For calculating the load inertia, please refer to FANUC SERVO MOTOR αis/αi series DESCRIPTIONS (B-65262EN).

Required Maximum Torque The required maximum Torque means the torque required for implementing desired acceleration and maximum speed when the load inertia described above is present. Make sure that the maximum torque in the motor specifications is not less than the required maximum torque. When checking the requirement, it is desirable to allow a margin of about 10% by taking a load variation into account. And also, if an axis has some heavy friction to rotate, deduct the friction torque from the motor maximum torque.

Root Mean Square Torque The root mean square torque means the root mean value of the torque required in one duty cycle. The root mean square torque must not be greater than the continuous rated torque of the motor. If the root mean square torque exceeds the continuous rated torque, the motor may overheat. It is desirable to allow a margin of about 20% by taking a load variation into account. The continuous rated torque of the motor varies depending on the type of cooling condition used for the motor (no cooling or liquid cooling). It also varies depending on the heat dissipation and other characteristics of the machine. Be extremely careful of torque for supporting frictional load and weight along a vertical axis because it sometimes fluctuates largely. Even when the motor is at rest, it keeps producing torque to prevent drifting. An example of calculation is shown below. For explanation, a simple duty cycle as shown below is assumed. According to the driving conditions, create a torque distribution chart for one cycle. The torque distribution chart is made as follows:

55 5500

NNmm

dduu rr

ii nngg

aa cccc ee

ll eerr aa

tt ii oonn

44 3300

NNmm

dduu rr

ii nngg

dd eecc ee

ll eerr aa

tt ii oonn

6600 NNmm dduurriinngg ssttoopp

1 cycle (5.8 seconds)

0.1s 0.1s 0.5s

116600 NNmm dduurriinngg ccuuttttiinngg aatt aa ccoonnssttaanntt ffeeeeddrraattee

Torq

ue [

Nm

]

Time [seconds]

55 ,,55 11

55 NNmm

dduu rr

ii nngg

aa cccc ee

ll eerr aa

tt ii oonn

44 3300 NN

mm dd

uu rrii nn

gg dd ee

cc eell ee

rr aatt ii oo

nn

5.0s 0.05

s

0.05

s

550

55 5500

NNmm

dduu rr

ii nngg

aa cccc ee

ll eerr aa

tt ii oonn

44 3300

NNmm

dduu rr

ii nngg

dd eecc ee

ll eerr aa

tt ii oonn

6600 NNmm dduurriinngg ssttoopp

1 cycle (5.8 seconds)

0.1s 0.1s 0.5s

116600 NNmm dduurriinngg ccuuttttiinngg aatt aa ccoonnssttaanntt ffeeeeddrraattee

Torq

ue [

Nm

]

Time [seconds]

55 ,,55 11

55 NNmm

dduu rr

ii nngg

aa cccc ee

ll eerr aa

tt ii oonn

44 3300 NN

mm dd

uu rrii nn

gg dd ee

cc eell ee

rr aatt ii oo

nn

5.0s 0.05

s

0.05

s

550

2.SELECTION METHODS CONFIGURATIONS AND SELECTION B-65332EN/02

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The RMS Torque calculated from this chart is:

This value should not exceed the continuous rated torque of motor.

NOTE The continuous rated torque varies depending on the cooling method. For details

of the values, see Part I, "SPECIFICATIONS." These values also vary depending on the actual cooling condition.

2.1.2 Overload Duty Characteristic A DiS series motor can be used intermittently, even out of its continuous rated operating area, when the maximum torque is not exceeded. The overload duty characteristic represents the duty ratio (%) and "on time" for which the motor runs under a given overload condition. The conditions for the "on time" and "off time" of the motor can be calculated as follows: <1> Obtain the overload ratio using the following expression: Overload ratio = load torque ÷ continuous rated torque Then, the duty ratio (%) and on time of the motor can be determined from the overload ratio and

overload duty cycle characteristic curves (shown on the next page).

Example: To run the DiS 3000/150 (no cooling) with a load torque of 720 Nm at very low speed for one

minute: Overload ratio = 720 ÷ 600 = 1.2 (120%) because the rated continuous force of the DiS 3000/150 is 600 Nm. From the overload duty characteristic curve for no cooling, the duty ratio (%) is determined to

be 68% when the motor runs with an overload ratio of 120% for one minute. <2> Obtain the off time of the motor using the following expression. Off time = on time × (100 ÷ duty ratio (%) - 1)

Example: From the value obtained in the example in <1>: Off time=1×(100÷68-1) 0.47 minutes (about 28 seconds) Therefore, it is necessary to keep the motor stopped for at least 28 seconds after it runs for one

minute under the conditions described above.

8.5

430 0.05550 +0.1 0.1 550 160 5.0 430 0.05 60 0.5× + + + +× × × × ×2 2 2 2 2 2

187[Nm]


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The curves of overload duty characteristics are as follows.

No cooling

On time (minutes)

Dut

y (%

)

Liquid cooling

On time (seconds)

Dut

y (%

)

NOTE A drive amplifier used for the DiS series motor incorporates a thermal protection

unit such as a circuit breaker or thermal circuit. In addition to the conditions described above, the thermal protection unit may restrict the use of the motor. Moreover, the software used to control machining operation has a function of protecting the motor and amplifier from short-time overload. This function may also restrict the use of the motor.


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2.1.3 Maximum Load Inertia Maximum load inertia is limited from momentum energy of axis and the capacity of servo amplifier. Moving condition should not exceed the limitation shown below.

2.1.3.1 Standard models (1) Input power voltage: 200 V

Model name Power source voltage [V]

Maximum speed [min-1]

Maximum load inertia [kgm2] *

DiS 22/600 200 600 0.06 DiS 85/400 200 200 20.5 DiS 110/300 200 150 60.7 DiS 260/300 200 150 60.7 DiS 370/300 200 150 60.7 DiS 400/250 200 125 21.8 DiS 800/250 200 125 139.8 DiS 1200/250 200 125 139.8 DiS 1500/200 200 100 218.4 DiS 2100/150 200 75 387.7 DiS 3000/150 200 75 387.3

(2) Input power voltage: 400 V




DiS 22/600 400 600 1.44 DiS 85/400 400 400 4.1 DiS 110/300 400 300 7.8 DiS 260/300 400 300 7.8 DiS 370/300 400 300 7.8 DiS 400/250 400 250 87.4 DiS 800/250 400 250 73.2 DiS 1200/250 400 250 73.2 DiS 1500/200 400 200 114.4 DiS 2100/150 400 150 202.9 DiS 3000/150 400 150 202.5

NOTE This table is based on the operation status when the amplifiers given in the

specification list are used, and does not guarantee controllability. If the load inertia is large, and the rigidity of the connection between the motor

and the load is high, the velocity gain can be increased sufficiently for driving without any problems, but if the rigidity is low, the velocity gain cannot be increased, possibly causing vibration.


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2.1.3.2 High-speed models




DiS 22/1500 200 1500 0.03 DiS 85/1000 200 1000 0.82 DiS 110/1000 200 1000 1.37 DiS 260/1000 200 1000 2.19

NOTE This table is based on the operation status when the amplifiers given in the

specification list are used, and does not guarantee controllability. If the load inertia is large, and the rigidity of the connection between the motor

and the load is high, the velocity gain can be increased sufficiently for driving without any problems, but if the rigidity is low, the velocity gain cannot be increased, possibly causing vibration.

2.2 POWER SUPPLY MODULE (αiPS) SELECTION

2.2.1 Selecting a Power Supply Module Select a power supply module (called a αiPS below) required for driving the DiS series motor as follows. Simply add the value specified in the Section 2.2 “SPECIFICATION LIST” in part I "SPECIFICATIONS.” Choose a proper value according to the input voltage. Example:

- DiS 3000/150, 400V input, Liquid cooling - Description in the “SPECIFICATION LIST” is 55.3/22.7

Choose “55.3kW” for the maximum output, and “22.7kW” for the continuous output.

NOTE αiPS selection described in this subsection assumes the use of DiS series

motors only along one axis. When there is another feed axis or a spindle, consider and add the αiPS capacity required for it.


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2.3 EXTERNAL COOLING UNIT SELECTION

2.3.1 Overview

To forcibly cool a DiS series motor, an external cooling unit is required. The cooling unit to be used must satisfy the "cooling conditions" listed in Section 2.2 "SPECIFICATION LIST" in Part I "SPECIFICATIONS.” If forcible cooling is performed, condensation may occur on the motor depending on the set temperature of the coolant and the ambient temperature of the motor. Condensation may cause reductions in motor insulation. Thus, manage the coolant temperature so that no condensation occurs. For cooling units of the type that follows the room temperature, condensation is less likely to occur, but if the ambient temperature of the motor is high, the continuous rated performance mentioned in the specifications may not be obtained. Cooling units of the type in which the coolant temperature is fixed are less susceptible to the ambient temperature of the motor, but condensation is more likely to occur if the difference from the ambient temperature is great. Select a cooling unit according to the environment in which it is to be used and the required performance.

NOTE If any cooling condition listed in Part I, " "SPECIFICATIONS,” is not satisfied, the

motor output specifications are not guaranteed.

CAUTION If condensation occurs on the motor due to excessive cooling or high humidity,

immediately change the coolant temperature and take other measures condensation. In an environment which keeps condensation for a long time, insulation of the motor may tend to be degraded, resulting in considerable reduction of the life of the motor.

2.3.2 Cooling Oil

If SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series motors are forcibly cooled when used, cooling with cooling oil is assumed. Recommended cooling oil: ISO VG2 or equivalent (for example, Idemitsu Super Multi 2) Be sure to use a cooling oil for which a material safety data sheet (MSDS) has been issued. For information on its handling, refer to the material safety data sheet. When disposing of the cooling oil, observe the laws and regulations of the country and/or the municipality.


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2.3.3 Example of Selection The cooling unit to be used must has the capacity listed under "Cooling capacity" in the Section 2.2 "SPECIFICATION LIST" in Part I "SPECIFICATIONS.” This value is determined under the condition that root mean square torque/continuous rated torque = 1. Under generally use conditions, the capacity is usually lower than the listed value. For example, when root mean square torque/continuous rated torque = 0.7, the heat output is reduced to 0.72 = 0.49 (49%) as compared with that during continuous operation with the continuous rated torque. For this reason, as the required capacity of the cooling unit, the value in the specification list can be reduced to 49%. An example of calculation is shown below: Assume the following machine: - A-axis: One DiS 370/300, liquid cooling, root mean square torque/continuous rated torque = 0.7 - B-axis: One DiS 85/400, liquid cooling, root mean square torque/continuous rated torque = 0.8 Because the cooling capacity required for the A-axis is 1,610 W as listed in Section 2.2 "SPECIFICATION LIST" in Part I "SPECIFICATIONS,” the required cooling capacity under the above condition is: 1,610[W]×0.72=789[W] Similarly, the cooling capacity required for the A-axis is: 690[W]×0.82=442[W] Consequently, if the motors on both the A- and B-axes run simultaneously, the maximum required cooling capacity is: 789[W]+442[W] =1,231[W] If the motors on both the A- and B-axes do not run simultaneously, the required cooling capacity is 789 [W]. To determine the required cooling capacity more precisely, it is advisable to add the duty curves (root mean square torque/continuous rated torque) for both axes based on the time axis and calculate the cooling capacity at the point where the sum is the maximum.

NOTE 1 For how to calculate the root mean square torque, see Subsection 2.1.1

“Required Data for Motor Selection” in Part II, "CONFIGURATIONS AND SELECTION."

2 The cooling capacity calculated as above is required when the internal temperature of the stator rises to a temperature near the maximum operating temperature. For this reason, if the machine is apt to be easily deformed by temperature rising, it may be desirable to select a cooling unit with an adequate margin of the required cooling capacity.

3 Be careful to prevent condensation from forming in the motor due to super cooling.

III. HANDLING, DESIGN, AND ASSEMBLY

B-65332EN/02 HANDLING, DESIGN, AND ASSEMBLY 1.HANDLING THE MOTOR

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1 HANDLING THE MOTOR WARNING

For the DiS series motor, very powerful magnets are used. If the DiS series motor is handled incorrectly, serious accidents including fatal accidents can occur. Read this chapter carefully for thorough understanding, and do not fail to observe the cautions and warnings described in this chapter. Ensure that only persons educated for the handling of the DiS series motor handle the DiS series motor.

1.1 STATOR

Storing the stator The stator is an electric component. When storing stators, observe the following: • Store stators in a temperature range of 0°C to 40°C. • Store stators in an indoor environment where the stators are not exposed to rain and dust. • Ensure that stators are not exposed to water (including condensation), oil, chemicals, and so forth. • Do not machine stators. • Do not apply a shock to stators. • Do not flaw the resin surface of stators.

Transporting stators A large stator may not be carried by hand. In such a case, use an auxiliary tool such as a crane for safe transportation. A motor has many tapped holes for assembly to a machine. Those tapped holes may be used to lift the stator.

NOTE 1 For the positions and sizes of tapped holes, see Part I, "SPECIFICATIONS". 2 When using the tapped holes of a stator for transportation, transport the stator

singly. When using the stator tap to lift up the stator that is attached to another structural member, the stator may be broken.

1.HANDLING THE MOTOR HANDLING, DESIGN, AND ASSEMBLY B-65332EN/02

- 72 -

1.2 ROTOR

WARNING For a rotor, many very powerful magnets are used. So, a rotor can cause

medical appliances such as a pacemaker and AICD to malfunction. Ensure that persons wearing these medical appliances do not get closer to a rotor. If a person wearing any of those medical appliances must get closer to a rotor, the person must be at least 30 cm away from the rotor.

Storing a rotor

When a rotor is shipped from FANUC, it is packed so that it does not affect the outside. Until a rotor is assembled to a machine, keep the tin plates and cushioning corrugated cardboard attached to it.

For other storage requirements, see the description of stators.

Transporting a rotor WARNING

1 Do not remove the corrugated cardboard and tin plates attached during packing unless the need arises.

2 Ensure that no magnetic materials (including a tool) are brought closer to the rotor and that the rotor is away from magnetic materials. If a magnetic material such as iron is brought closer to the rotor, the magnetic material and the rotor can pull each other with a force of up to 70N/cm2, resulting in a serious injury.

3 When moving a rotor on the surface of a magnetic material such as a machine installation face or work table, be sure not to face the magnet side of the rotor to the magnetic material. If the magnet side of the rotor faces the magnetic material, the rotor can be attracted to the magnetic material, with the hand and/or body getting caught between them, resulting in a serious injury. Because of an enormous pulling force.

B-65332EN/02 HANDLING, DESIGN, AND ASSEMBLY 1.HANDLING THE MOTOR

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1.3 FEEDBACK SENSOR

Absolute αiCZ sensors, synchronous built-in servo motor position detection circuits, and 3rd party rotary encoders are precision electronic devices. Handle these components carefully as with ordinary electronic devices.

NOTE For information on the handling of 3rd party rotary encoders, contact the encoder

manufacturers.

CAUTION Do not conduct breakdown and other tests on absolute αiCZ sensors or

synchronous built-in servo motor position detection circuits. Do not disassemble them carelessly by removing screws and the like because this may damage the internal circuitry.

2.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65332EN/02

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2 MECHANICAL DESIGN CAUTION

This chapter provides information about the mechanical design of the DiS series motor inside. The DiS series motor can become uncontrollable when its dimensions for installation are incorrect. Be sure to read this chapter before designing a machine with a DiS series motor mounted.

2.1 MOUNTING MOTORS AND ENCODERS

2.1.1 Mounting Rigidity and Noise Protection

The DiS series motor is controlled using only a feedback signal from the rotary encoder. This means that if the mounting rigidity of the rotary encoder is insufficient, mechanical vibration and the like can affect a feedback signal, resulting in problems such as degraded precision and the inability to control according to instructions. To avoid these problems, be sure to mount a rotary encoder at a high-rigidity location so that it does not pick up peripheral vibration. As a guideline, the rigidity (natural frequency) of the mounting face for the sensing element of a rotary encoder must be 2 kHz or greater. Moreover, ensure that each rotary encoder is mounted with the precision specified for that encoder. If noise from another electric system is carried on a feedback signal from the rotary encoder, problems similar to the ones mentioned above can occur. Ensure that the feedback signal cable offers sufficient shielding performance and is sufficiently grounded and that the feedback signal cable does not run across or along with the motor power lead.

2.1.2 Rotation Directions of the DiS Series Motor, Rotary Encoder, and Table

To drive a DiS series motor normally, the positive direction of the DiS series motor and the positive direction of the rotary encoder must match each other.

CAUTION If the direction of the DiS series motor does not match the direction of the rotary

encoder, the motor can become uncontrollable. In mechanical design and assembly, ensure the matching of the directions.

B-65332EN/02 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN

- 75 -

Rotation direction of the table Generally, the rotation direction of the table is defined as shown the fig. 2.1.2. The direction which the rotational table rotates to the CW is positive direction because the spindle axis rotates to CCW on the workpiece.

+Z +Y

+X

+C

Fig. 2.1.2(a) Rotation direction of the table

Positive direction of DiS series motor

Positive direction of DiS series motor is, counterclockwise of rotor viewing from power leads side.

Fig. 2.1.2(b) Rotation direction of the motor

Positive direction of a rotary encoder The positive direction of a rotary encoder is the direction in which the encoder counts up. The positive direction of a rotary encoder depends on the manufacturer and model. For details, refer to the specifications of a rotary encoder used.

NOTE The information below is subject to change if the specifications of the rotary

encoders are updated. If the specifications of the rotary encoders are changed, they may differ from the corresponding descriptions of this document. For the latest information, contact relevant encoder manufacturer.

- Absolute αiCZ sensor

The positive direction of an absolute αiCZ sensor is the direction in which the detection ring rotates as shown in the figure below.

Fig. 2.1.2(c) Rotation direction of the absolute αiCZ sensor

Rotor

Detection ring


- 76 -

- HEIDENHAIN's absolute rotary encoder RCN223F Positive direction of RCN223 is, counterclockwise of shaft rotation viewing from the feedback cable side. (The opposite side is a flange surface for mounting the encoder.)

Fig. 2.1.2(d) Rotation angle of RCN223F

2.1.3 Connecting Power Leads

WARNING 1 If the motor power lead is connected erroneously, the motor may run abnormally. 2 Thoroughly understand the following description so that the power lead is

connected properly. If the rotation direction of the motor, described in Subsection 2.1.2, "Rotation Directions of the DiS Series Motor, Rotary Encoder, and Table," and the rotation direction (+) of the sensor: match each other: Connect the power lead and the amplifier together in accordance with Fig.

2.1.3 (a) Power lead connection method (1). do not match each other: Connect the power lead and the amplifier together in accordance with Fig.

2.1.3 (b) Power lead connection method (2).

Fig. 2.1.3(a) Power lead connection method (1) Fig. 2.1.3(b) Power lead connection method (2)

WARNING If an MP scale manufactured by Mitsubishi Heavy Industries, Ltd. is used, the

direction (polarity) of the sensor can be changed with the switch on the A/D converter. Be sure to check this setting.

++Signal cable

++

αiSV

U

V

W

G

DiS Motor

U

V

W

G

αiSV

U

V

W

G

DiS Motor

U

V

W

G


- 77 -

CAUTION (for avoiding confusion during maintenance!) If it is necessary to route the motor power lead as shown in Fig. 2.1.3 (b) Power

lead connection method (2), take the measures below to avoid confusion during maintenance. 1 If extending the power lead with some method or other, indicate on the power

magnetics cabinet, etc. that V and W are replaced with each other. 2 If connecting the power lead to an amplifier, using a relay terminal block, connector,

etc., replace V and W on the motor side of the terminal block or connector, and on the amplifier side, place U, V, and W in the order of 1, 2, and 3. Apply a label to the terminal block or connector on the motor side that V and W are replaced with each other.

3 If a device such as a rotary table has a connector, terminal block, etc., replace V and W with each other inside the device. Apply a label to the interior of the device that V and W are replaced with each other.

2.1.4 Reference Point of DiS series Motor and Encoder

Reference point of DiS series motor Reference point of DiS series motor is as follows.

Reference points of motor are on every magnetic pole unit. For example, in case of 40 poles motor, the reference points are on every 18 degrees (360/(40/2)) based on the figure above.

Reference point of rotary encoder (HEIDENHAIN RCN223F) Reference point of HEIDENHAIN RCN223F is as follows.

Reference point is where the small white reference marks meet viewing from the feedback cable side.

NOTE Be sure to confirm the correct reference point of encoders. For an incremental

encoder, it has also a reference point in itself. For details, contact a manufacturer of encoder.


- 78 -

2.1.5 Mounting Position of DiS series Motor and Encoder To match the magnetic pole position of motor to the encoder, the positional relationship between the motor and the encoder is predetermined, where the motor and the encoder are on their reference points at the same time, as shown below.

It is not necessary to consider the mounting angle of encoder, as long as the motor and the encoder are on their reference points at the same time.

CAUTION 1 Before mounting a rotary encoder, check that the positive direction of the DiS

series motor matches the positive direction of the rotary encoder. If a positive direction mismatch exists, the motor can become uncontrollable.

2 If a rotary encoder is mounted at an incorrect position, the power factor can drop, and a soft thermal (OVC) alarm can be issued. In addition, the motor can become uncontrollable. Before turning on the power to the machine after machine assembly, recheck the positional If a rotary encoder is mounted at an incorrect relationships.

3 For an incremental encoder system, “Pole Position Detection Function” is necessary. Using this function can absorb the mechanical tolerance of mounting position electrically and automatically.

2.2 THERMOSTAT CONNECTION A stator has a built-in thermostat used to prevent the motor from overheating. The specification of the thermostat is as follows: - Actuation temperature: 90°C±5°C (temperature inside the motor) - Normal close (Usually, the contact is closed. The contact is opened at 90°C±5°C.) - The leads do not have polarities. - Use 24 VDC (1A or less). The connection method differs with the feedback sensor used.

CAUTION If an emergency stop is applied immediately after overheating is detected, the

motor may run through inertia if it is accelerating, for example, and the axis may drop if it is a vertical axis. FANUC recommends that when overheating is detected, an emergency stop is applied after the machine is stopped safely by actuating the brake, etc., if required.

For thermistor-mounted models, the thermistor can be used only for a monitor for temperature display and other purposes. It cannot be used for overheat alarms. It is possible to drive a motor without connecting a thermistor.


- 79 -

2.2.1 If Using the Absolute αiCZ Sensor

In accordance with the connection in the figures below, connect it to the connector of IN3 from the absolute αiCZ sensor detection circuit.

2.2.1.1 Synchronous Built-in Servo Motor with thermistor

Connector C2（Compatible cable O.D.: φ5.7 to 7.3）

See Appendix B.2, “CONNECTOR C2” for details.

Synchronous Built-in Servo Motor

Thermostat wire (Black/Red)


Shield

(8) Thermistor wire (Brown/Black)

Thermistor wire (Brown/Black)

Drain wire

Absolute αiCZ Sensor Detection circuit (IN3)

Thermistor

Thermostat

Shield

(4)

(10)

(7)

(3)

THM1

THM2

OH1

OH2

FG

NOTE 1 The connector needs to be prepared by the customer. 2 Temperature display is not correct if the thermistor wires are not connected.

2.2.1.2 Synchronous Built-in Servo Motor without thermistor

Connector C2（Compatible cable O.D.: φ5.7 to 7.3）

See Appendix B.2, “CONNECTOR C2” for details.




Shield Drain wire


Thermostat

Shield

(10)

(7)

(3)

OH1

OH2

FG

NOTE 1 The connector needs to be prepared by the customer. 2 Temperature display is not correct because the thermistor wires are not

connected.


- 80 -

2.2.2 If Using the Synchronous Built-in Servo Motor Position Detection Circuit

The connection of the thermostat if using the synchronous built-in servo motor position detection circuit is the same as that if using the absolute αiCZ sensor. In accordance with the connection shown in Subsection 2.2.1, "If Using the Absolute αiCZ Sensor," connect it to the connector of IN3 from the synchronous built-in servo motor position detection circuit.

2.2.3 For 3rd Party Rotary Encoders (That Support the FANUC Serial Interface)

As shown in the figure below, connect the leads of the thermostat to the I/O (PMC) of the CNC.

In normal operation (when the motor is not overheated)

PMC

CNC

Drives the system.

TH1

TH2

Stator

Contact closed

When the motor is overheated PMC signals can be processed with the following methods:

PMC

CNC

Emergency stop

TH1

TH2

Stator

Contact opened

Alarm information

(1) Process alarms with a PMC ladder.

The customer configures the system (including a PMC ladder) so that if the thermostat operates (contact open), alarm information is passed from the PMC to the CNC and the machine stops safely with an emergency stop.

(2) Detect overheat alarms with servo software. For information on software that supports this and parameter settings, refer to the following parameter manual. Subsection 4.14.2, "Detection of an Overheat Alarm by Servo Software when a Linear Motor and a Synchronous Built-in Servo Motor are Used" in "Parameter Manual" (B-65270EN).


- 81 -

2.2.4 If Driving Multiple Motors

If multiple DiS series motors are to be driven with a single amplifier, thermostats can be connected with either of the two methods below. The customer can freely choose between the two methods. Each method has an advantage and disadvantage.

Serial connection of multiple thermostats

CNC

Stator #1

Stator #2

PMC

In this case, only one signal lead system is connected to the PMC. However, which motor overheated cannot be identified easily.

Parallel connection of multiple thermostats

CNC

Stator #1

Stator #2

PMC

In this case, signal lead systems as many as the number of stators are connected to the PMC. However, which motor overheated can be easily identified.


- 82 -

2.3 FEEDBACK CABLE CONNECTION

2.3.1 If Using the Absolute αiCZ Sensor

If using the absolute αiCZ sensor, connect it as shown in the figure below. Block diagram of connection

IN1

IN2

IN3

K1 K2

CNC αiSV

FANUC Serial I/F Absolute

αiCZ sensor

Synchronous built-in servo motor

Detection ringSensor head 1

Sensor head 2

The sensor cable, which is from the sensor head to the detection circuit, can be extended up to 4 m as shown in the figure below. Block diagram of connection

Sensor head 1

Sensor head 2

Synchronous built-in servo motor

Detection ring

K2 extensionK3

K4IN3

IN2

IN1

Approx. 0.4m 4m or less Approx. 0.8m

Approx. 2m 4m or less Approx. 0.3m

Extension cable (4m or less)

Extension cable(4m or less)

Sensor cable(0.8m)

Absolute αiCZ sensor


- 83 -

2.3.1.1 Details of Connection of Cable K1

(5)

Absolute αiCZ Sensor Detection circuit (OUT1)

20-pin half-pitch connector

αiSV

RD

＊RD

0V

0V

6V

Ground plate

Shield

FG Drain wire

5V

5V

(6)

(9)

(20)

(12)

(14)

(7)

(16)

(6)

(5)

(8)

(9)

(7)

(10)

(4)

(3)

Connector C1 See Appendix B.1, “CONNECTOR C1” for details.

Cable specification

Signal name Cable length : 28m or less Cable length : 50m or less

5V, 0V, 6V 0.3mm2 × 5 Strand configuration 12/0.18 or 60/0.08 Insulation outer diameter is less than φ1.5

0.5mm2 × 5 Strand configuration 20/0.18 or 104/0.08 Insulation outer diameter is φ1.5 or less.

SD, *SD RD, *RD

0.18mm2 or more Twisted-pair wire Insulation outer diameter is less than φ1.5

0.18mm2 or more Twisted-pair wire Insulation outer diameter is φ1.5 or less.

Drain wire 0.15mm2 or more 0.15mm2 or more Recommended cable materials

Recommended cable material specification Summary Configuration Cable outer diameter

A66L-0001-0460 Flexible cable 28m or less long 0.3mm2 5 cables 0.20mm2 1 pairs φ5.7 to 7.3mm

A66L-0001-0481 Fixed cable 28m or less long 0.5mm2 5 cables 0.20mm2 1 pairs φ5.7 to 7.3mm

A66L-0001-0462 Flexible cable 50m or less long 0.3mm2 5 cables 0.18mm2 1 pairs φ6.5 to 8.0mm

A66L-0001-0491 Fixed cable 50m or less long 0.5mm2 5 cables 0.18mm2 1 pairs φ5.7 to 7.3mm

NOTE 1 The ground plate to which the shield is connected must be placed as close as

possible to the servo amplifier so that distance between the ground plate and the servo amplifier becomes shortest.

2 In case that the cable is prepared by MTB, total resistance of 5V and 0V must be 2Ω or less.


- 84 -

NOTE 3 Pulsecoder side connector can accept maximum 0.5mm2 (wire construction

20/0.18 or 104/0.08,diameter φ1.5 or less) wire and sheath diameter is φ5.7 to φ8.0. In case of using thicker wire or cable, take measures described below.

The total resistance (Round trip) of 5 V and 0 V must be less than 2Ω.

[Case 1] Cable conductor exceeds 0.5mm2 . [Case 2] Sheath diameter of exceeds φ8.

Soldering or crimping

Detection circuit αi SV

Connector

Cable thicker than φ8 αi SV Detection circuit

The total resistance (Round trip) of 5 V and 0 V must be less than 2Ω.

4 For details of the recommended cable materials, refer to "FANUC SERVO AMPLIFIER αi series Descriptions" (B-65282EN).


See Subsection 2.2.1, "If Using the Absolute αiCZ Sensor," in this Part. If cable K2 needs to be extended, see the next subsection.

2.3.1.3 Extending Cable K2 • In case Synchronous Built-in Servo Motor has the thermistor




Shield



Drain wire

Relay connector

Thermistor

Thermostat

Shield

(8)


OH1

OH2

FG

THM1

THM2

Drain wire

Shield

Connector C2

(4)

(10)

(7)

(3)

Connector C3 Connector C2 (Compatible cable O.D.: φ5.7 to 7.3)

OH1

OH2

FG

THM1

THM2

OH1

OH2

FG

THM1

THM2

* See Appendix B,“CONNECTORS” for details of the connectors. Cable specification: THM1,THM2,OH1,OH2: 0.2mm2

Recommended cable conductor: A66L-0001-0482

NOTE 1 The connector needs to be prepared by the customer. 2 Temperature display is not correct if the thermistor wires are not connected.


- 85 -

• In case Synchronous Built-in Servo Motor has no thermistor Synchronous

Built-in Servo Motor



Shield Drain wire

Relay connector

Thermostat

Shield


OH1

OH2

FG Drain wire

Shield

Connector C2

(10)

(7)

(3)

Connector C3 Connector C2 (Compatible cable O.D.: φ5.7 to 7.3)

OH1

OH2

FG

OH1

OH2

FG

* See Appendix B,“CONNECTORS” for details of the connectors. Cable specification: OH1,OH2: 0.2mm2

Recommended cable: A66L-0001-0482

NOTE 1 The connector needs to be prepared by the customer. 2 Temperature display is not correct because the thermistor wires are not

connected.


Absolute αiCZ Sensor Sensor head 1

Absolute αiCZ Sensor Detection circuit (IN1) Shield

(1)

Drain wire

A


RA (2)

(8) B

RB (9)

(5)

(6)

(4)

(7)

(3)

Z

RZ

+5V

0V

FG

(1)

(2)

A

RA

B

RB

Z

RZ

+5V

0V

FG

(8)

(9)

(5)

(6)

(4)

(7)

(3)


Cable specification: 5V, 0V: 0.5mm2、A, RA, B,RB, Z, RZ: 0.2mm2 Recommended cable conductor: A66L-0001-0482

NOTE When a cable other than recommended above is used, ensure that the sum of

the resistance between 0V and 5V is 2Ω or less.


- 86 -


Absolute αiCZ Sensor Sensor head 2

Absolute αiCZ Sensor Detection circuit (IN2) Shield

(1)

Drain wire

A


RA (2)

(8) B

RB (9)

(5)

(10)

(4)

(7)

(3)

D1

D2

+5V

0V

FG

(1)

(2)

A

RA

B

RB

D1

D2

+5V

0V

FG

(8)

(9)

(5)

(10)

(4)

(7)

(3)


Cable specification: 5V, 0V: 0.5mm2、A, RA, B,RB, D1, D2: 0.2mm2 Recommended cable conductor: A66L-0001-0482

NOTE When a cable other than recommended above is used, ensure that the sum of

the resistance between 0V and 5V is 2Ω or less.

2.3.2 If Using the Synchronous Built-in Servo Motor Position Detection Circuit

If using the synchronous built-in servo motor position detection circuit, connect it as shown in the figure below.

FSSB

IN1

αiSV

IN3

Rotary Encoder with 1Vpp analog output(one or distance-coded reference marks)

Synchronous Built-in Servo MotorPosition Detection Circuit

FANUC Serial I/F

CNC

K1 K2

K5


- 87 -

NOTE 1 Connection of cables K1 and K2 is the same as that for the absolute αiCZ

sensor. For details, see Subsection 2.3.1, "If Using the Absolute αiCZ Sensor," of this Part. If a cable needs to be extended, make sure that the maximum cable length is not exceeded by performing calculation as described in the next subsection.

2 If using signal cables with a relay, treat the shield by using a connector, etc.

2.3.2.1 Details of Connection of Cable K5 Synchronous Built-in Servo Motor

Position Detection Circuit (IN1) Rotary Encoder with 1Vpp analog

output Shield

Drain wire

+5V

0V

(1)

(2)

A

RA

B

RB

Z

RZ

+5V

0V

FG

(8)

(9)

(5)

(6)

(4)

(7)

(3)

Connector <Crimp type> JN1HS10PL1: Compatible cable O.D.: φ5.7 to 7.3

JN1HS10PL2: Compatible cable O.D.: φ6.5 to 8.0



TerminalJN1-22-22P

<Connector kit FANUC specification>

A06B-6114-K206

0V

+5V

NOTE 1 Use the cable supplied with the encoder or specified by the encoder manufacturer.2 The connector needs to be prepared by the customer.

2.3.2.2 Setting the Cable Length

Design the cable length so that the voltage drop due to cables K1 and K5 is 0.2 V or less. There are no restrictions on the length of cable K2 due to a voltage drop, but the length should be equivalent to those of other cables. <Conductor resistance> 0.25mm2 : 77.4 Ω/km 0.32mm2 : 60.5 Ω/km 0.50mm2 : 38.7 Ω/km


- 88 -

<Consumption current of the synchronous built-in servo motor position detection circuit> A860-2033-T601 200mA (MAX.)

NOTE 1 Make sure that the current flowing through cable K1 is the sum of the

consumption currents of the synchronous built-in servo motor position detection circuit and the rotary encoder.

2 In calculation, the length of cable IN1 of the synchronous built-in servo motor position detection circuit can be ignored because its length is short.

3 If using signal cables with a relay, treat the shield by using a connector, etc.

[Example of calculation] Calculate the maximum length of cable K5 under the following conditions. • Heidenhain ERA4280C is used (Maximum current: 100mA) • Cable K1 length: 10m

(1) Voltage drop by K1: Vd Vd = ( 0.2A + 0.1A ) × 38.7 ÷ 1000 Ω/m ÷ 2 × ( 10m × 2 ) = 0.116 V ↑ ↑ ↑ ↑ Total current (max.) 0.5mm2 Number of wire 5V, 0V (2) Maximum length of K5: L L = ( 0.2V - 0.116V ) ÷ 0.1A ÷ ( 77.4 ÷ 1000 Ω/km ÷ 2 × 2 ) = 10.8 m ↑ ↑ ↑ ↑ Permissible Vd Consumption current (Note) voltage drop of the rotary encoder

NOTE HEIDENHAIN ERA4280C’s standard head cable has two wires of 0.25mm2 for

5V and 0V respectively.

Consumption Current = Synchronous Built-in Servo Motor Position Detection Circuit + Rotary Encoder

IN1

IN3


Synchronous Built-in Servo MotorPosition Detection Circuit

(Power cables)

K2

K5


Calculate the voltage drop without this cable.

FSSB

αiSVFANUC

Serial I/F

CNC K1


- 89 -

2.3.3 If Using a 3rd Party Rotary Encoder (That Supports the FANUC Serial Interface)

If using a 3rd party rotary encoder that supports the FANUC serial interface, connect it as shown in the figure below.


(5)

3rd party rotary encoder (that supports the FANUC serial interface)

20-pin half-pitch connector

αiSV

RD

*RD

0V

0V

Ground plate

Shield

FG Drain wire

5V

5V

(6)

(9)

(20)

(12)

(14)

(16)

(2)

(1) SD

*SD

NOTE This cable needs to be prepared by the customer or the encoder manufacturer. Use the cable supplied with the encoder or specified by the encoder manufacturer.

FSSB

αiSV3rd party rotary encoder (that supports the FANUC serial interface)

FANUCSerial I/F

CNC

K6


- 90 -

2.4 GROUND LEAD CONNECTION Ground lead connection is very important to safety, conformance to the European standards, and improved noise protection. A typical example of connection is shown below.

NOTE 1 Connect all ground leads securely. 2 If an absolute type rotary encoder is used, the synchronous built-in servo motor

position detection circuit is not required; the feedback cable is connected directly to αiSV.

3 For some types of rotary encoders, it is recommended that the main rotary encoder unit be grounded. For details, refer to the specifications of each rotary encoder or contact the manufacturer of each rotary encoder.

4 Use ground leads that conform to the European standard (EN) and UL in thickness, color, type, and so forth.

5 The amount of leak current flowing through the DiS series motor sometimes may little bit large. Take appropriate measures by, for example, adopting a structure that prevents the operator from contacting conductive parts near the motor when turning on electricity.

αiPS αiSV

Ground bar (insulated)Power supply

（transformer）

Feedback

Power cables

PE

PE G U V W

Ground

Shield


Encoder

Machine body

24V power supply, etc. Power suuply or circuit to be prepared by users according to the machine

Synchronous Built-in Servo Motor Position Detection Circuit


- 91 -

2.5 MOTOR AND POWER LEAD PROTECTION

In order to obtain a desired torque, one amplifier may be used to drive multiple DiS series motors. If a motor fails or a power lead is broken in such a case, a current larger than the specified level flows into other motor. In this case, an alarm may be issued because of an insufficient torque, or an overheat alarm may be issued because of an excessive current flowing into a drivable motor. An abrupt increase in current can burn a power lead or motor. Take protection measures as shown below.

Stator #1

Stator #2

Stator #3

Stator #4 Fuse

Fuse

Fuse

Fuse

PMC

Power lead

Thermostat

U

V

W

Term

inal

blo

ck

Ser

vo a

mpl

ifier

mod

ule

Pow

er s

uppl

y m

odul

e

Gro

und

faul

t in

terr

upte

r

Thre

e-ph

ase

pow

er

As shown above, insert a fuse between the servo amplifier module and each stator. If an excessive current flows through a power lead, an inserted fuse can shut down power. When a fuse with a built-in microswitch is used, whether the fuse has blown can be known by applying the signal to the PMC. With this function, the machine can be stopped more safely with damage minimized when a fuse blows; for example, the machine can be stopped after retracting the machine.


- 92 -

2.6 LIQUID COOLING

2.6.1 Coolant

Steel is employed for a cooling jacket used with the DiS series motor. So, cooling liquid use oil. Moreover, do not use a strong alkaline anti-corrosive agent.

NOTE On cooling liquid, a restriction may be imposed not only from the motor but also

from the chiller. So, consult with a chiller supplier as well to select a cooling medium that does not adversely affect the motor and chiller.

2.6.2 Checking the Normal Operation of Cooling Systems When the DiS series motor is operated using forced cooling, abnormal flow of a coolant may cause overheat or a burnout of the DiS series motor. Therefore, it is necessary to prepare a system that always monitors the cooling systems and stops the DiS series motor safely in case of an abnormality. When cooling piping is disconnected at some midpoint, it may take some time until the cooling unit detects it. The motor may burn out before the cooling unit detects a failure. In addition, when, for example, cooling piping is disconnected near the motor, a lot of coolant is applied to the motor, probably causing defective insulation or other failures. So, the system is recommended to stop the motor by always monitoring the cooling systems instead of waiting for the cooling unit itself to detect a failure. For example, as shown in the figure below, create a system that has a sensor for monitoring the status returned to the cooling unit and stops the DiS series motor using a PMC ladder or other program upon detection of an abnormality. This method can stop the motor safely even when the cooling unit itself fails or cooling piping is disconnected, unless an abnormality occurs in the sensor.

Cooling unit alarm

Coolant inlet

Coolant exit

Cooling unit

Cooling piping Coolant

Coolant flowrate monitoring sensor for detecting a decrease in coolant flowrate

Amplifier Motor

NOTE 1 Please prepare components such as the sensor and PMC ladder required for

this system by yourself. 2 Overheat and a burnout of the motor cannot be prevented only by this system.

Be sure to make thermostat wiring described earlier.


- 93 -

2.7 CONSIDERATION OF ECCENTRICITY Theoretically, if the stator and the rotor had no eccentricity, no magnetic attraction force works. But if they had eccentricity, magnetic attraction force works along the direction of eccentricity as shown below. Therefore, it is necessary to consider the capacity of bearing load etc. And also, the eccentricity sometimes makes the feed smoothness worse.

2.8 MAGNETIC MATERIAL CLOSING TO COIL If some magnetic material was used closing to the coil, the material may be heated because of induction. Therefore, use some non-magnetic material if it is used near the coil. Or when using magnetic material, keep distance at least 3mm between the material and the coil.

Stator

Rotor

Center of stator

Center of rotor

Eccentricity

0

100

200

300

400

500

600

0.00 0.02 0.04 0.06 0.08 0.10

偏心量[mm]

磁気

吸引

力[N

]

DiS22

DiS110 DiS85

DiS400

DiS260

DiS370

0

200

400

600

800

1000

1200

1400

1600

0.00 0.02 0.04 0.06 0.08 0.10

偏心量[mm]

磁気

吸引

力[N

]

DiS3000

DiS2100 DiS1500 DiS1200

DiS800

Eccentricity [mm]

Mag

netic

attr

actio

n fo

rce

[N]

Eccentricity [mm]

Mag

netic

attr

actio

n fo

rce

[N]


- 94 -

2.9 BALNCE OF ROTOR It is unnecessary to adjust a balance of rotor as it rotates relatively lower speed. But for lower vibration and smoother rotation, sometimes it is better to adjust a balance of rotor. If adjusting a balance of rotor, do not machine the rotor itself or apply a screw for balance. Be sure to provide a part such as a balance ring and adjust a balance on that portion. If the part for adjusting a balance reaches the inside of the stator, the part must be of a non-magnetic material. If the part were of a magnetic material, the magnetic part would be heated abnormally, affecting the life of the motor.

2.10 ROTOR AND STATOR FIXING

2.10.1 Rotor Fixing The rotor needs to be fixed using screws and tapped holes in both end faces. If possible, use all tapped holes in both end faces. The fixing screws must have a strength category of 10.9 or more and be tightened with an appropriate torque.

Shrink fitting The rotor can also be fixed by shrink fitting its inside diameter into a shaft. Determine the shrink fit allowance by gauging with the inside diameter of the rotor. If heating the rotor, make sure that it does not exceed 100oC. If heated at higher temperatures, the rotor would be demagnetized. Cooling the shaft for shrink fitting can reduce the possibility of a shrink fit failure. When determining the clearance, make sure that the transmission torque and the safety factor are sufficient so that the rotor does not slide. If a clearance of 0.1 mm or greater is necessary, shrink fitting is not recommended because rotor may be deformed due to shrink fitting.

2.10.2 Stator Fixing If possible, use all tapped holes in both end faces of the jacket to fix the stator. The fixing screws must have a strength category of 10.9 or more and be tightened with an appropriate torque. Since the stator is a resin molded product, do not use heat shrink fitting to fix it.

2.11 O-RING FOR COOLING JACKET O-rings are required when applying force cooling. Prepare proper O-rings according to the machine design, as O-rings are not attached to the motor. DiS 3000/150, DiS 2100/150, and DiS 1500/200 have grooves to fit O-rings. Use recommended size of O-rings for large motors. Others have no groove to fit O-rings. Prepare the grooves on the machine side. In this case, O-rings should be fitted to the area that FANUC recommends.

NOTE Choose proper material of O-ring according to the coolant characteristics.


- 95 -

2.12 AUXILIARY BRAKE MEASURES

The DiS series motor allows the dynamic brake to be applied by connecting the power lead. If an object being moved weighs much or moves at high speed, a longer coasting distance is required. The motor itself does not have a mechanical brake, so that a mechanical brake is needed to preserve the position at power-off time. This is because strong magnetic attraction can cause the motor to move freely to the magnetically stateblest position even with the horizontal axis.

2.13 PROTECTION AGAINST DUST AND WATER If magnetic dust such as metallic dust is located near a rotor, the dust may be attracted to the rotor. In particular, dust larger than the air gap between the stator and rotor is caught between the gap, resulting in a failure. In order to remove dust that builds up on the rotor, it is strongly recommended that some sealing mechanism be installed. Moreover, if the motor is exposed to coolant ceaselessly, the insulation of the motor can degrade. Consider a structure that can minimize the penetration of coolant. Usually, increasing the internal pressure by air purge operation is very effective. Besides coolant penetrating into the motor from the outside, condensation may occur on the motor because of excessive cooling or excessively high humidity. If condensation lasts for a long time, the insulation of the motor can degrade. In such a case, take anti-condensation measures such as reviewing the cooling condition and blowing dry air to the motor. For reference information, a typical axis structure is shown below.

NOTE If sufficient dust and water protection is provided, foreign matter may penetrate

unexpectedly near the motor, causing a failure or reducing the life of the motor remarkably.

2.14 CONFORMANCE TO STANDARDS Machine design and component selection considering the following are needed to conform to the CE marking of Europe: • Machine design, cabling, and so forth conforming to Article 19 of EN60204-1 • Machine design and component selection conforming to the machine commands of Europe • Use of components conforming to the European standards

(Recommended) (Recommended)


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• Conformance to the standards related to electric wiring and cabling, insulation, and dust and water protection

• Ensuring a use condition that guarantees the rating of the motor • Conformance to the EMC commands • Conformance to the standards related to safety Conformance to other standards such as the UL standard of the U.S.A. may need to be considered separately. Referring to each relevant standard for details, perform machine design and component selection without failing to satisfy each standard. Take necessary action according to the guideline titled "To Conform to the EMC Commands (A-72937)" released by FANUC separately.

NOTE 1 To obtain "To Conform to the EMC Commands (A-72937)", contact your FANUC

sales representative. 2 For details of the standards such as the EN and UL standards, refer to each

standard.

2.15 NAMEPLATE ATTACHMENT AND SERIAL NUMBER MANAGEMENT

One of the nameplates and a sheet for lamination are packed together with the stators of all models. For maintenance, attach the nameplate to the following location where: • The nameplate is always visible at the time of maintenance. • The nameplate is easily visible without removing components. • The nameplate is not easily detached. Next, to protect the nameplate, attach the laminated sheet over the nameplate. The recommended nameplate attachment locations include: • Inside of the door of the cabinet • Near the main power supply of the machine • Near the operator's panel or the back of the operator's panel In addition, record and keep the combinations of machine numbers and motor serial numbers so that which machine incorporates a motor of which serial number can be identified easily after machine shipment.

2.16 INDICATION OF WARNING Be sure to indicate a warning to notify the maintenance operators of the presence of magnets on the rotor and prevent an accident from occurring. For example, attach a label or sticker that clearly indicates the mounting location of a rotor by providing an illustration at a position that is accessed for maintenance at all times or at an easily noticeable position. Ensure that such a label or sticker is not easily removed or is hidden behind a component.

NOTE The customer is to prepare a warning label or sticker.

B-65332EN/02 HANDLING, DESIGN, AND ASSEMBLY 3.ASSEMBLY

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3 ASSEMBLY WARNING

For the DiS series motor, very powerful magnets are used. If the DiS series motor is handled incorrectly, serious accidents including fatal accidents can occur. Read this chapter carefully for thorough understanding, and do not fail to observe the cautions and warnings described in this chapter. Ensure that only persons educated for the handling of the DiS series motor handle the DiS series motor.

3.1 MOTOR ASSEMBLY This section introduces how to install the rotor into the stator. Depending on the structure of the machine, consider the safest procedure.

3.1.1 Installation Direction of Rotor There is no installation direction of the rotor. Both side of the rotor have the same dimension. Order of magnetic poles does not change, even if the rotor was installed in reverse.

3.1.2 Surface for Centering Following surfaces are for centering the stator and the rotor.

3.ASSEMBLY HANDLING, DESIGN, AND ASSEMBLY B-65332EN/02

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3.1.3 Magnetic Attraction Force The rotor is strongly attracted while installing to the stator. For your safety, it is necessary to consider some safety measure and jigs.

CAUTION

Powerful magnetic attraction is exerted at all times until the rotor comes inside the stator completely.

3.1.4 Installation Procedure

Rotor setting Fix the jig to the rotor. This jig has a special figure that it can adjust the position of the rotor and the stator.

NOTE From this page, a typical example of installation way is introduced. According to

your machine, please consider some proper and safety installation way.

Maximum attraction force = 70N/cm2 (area of magnets on the rotor surface)


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Stator setting Fix the stator to the base jig not to be lifted by magnetic attraction force. And prepare the another jig to guide the inner surface of rotor.

Installing Slowly drop the rotor into the stator supporting with jigs not to suddenly fall down by the magnetic attraction force.

Completed To fix the installation jig to the stator, the rotor and stator are assembled in one body. The magnetic attraction force no longer works, as it is canceled.


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3.2 ABOSLUTE αiCZ SENSOR INSTALLATION

3.2.1 Abstract

Absolute αiCZ Sensor should be installed along with the following procedure. (1) Insert and attach the parallel pins to the sensor mounting surface of the table. (2) Attach the detection ring to the shaft (or the sleeve). Then adjust eccentricity, and fix the detection

ring with bolts. (3) Adjust the gap between the sensor head and the detection ring, and fix the sensor head to the table.

* The groove on the single rotation signal area of the detection ring must pass the sensor head 1 within a stroke. Refer to the Subsection 3.2.2, “Absolute function of Absolute αiCZ Sensor (The notice for the mounting)” for details.

Parallel pins

Sensor head 1

Sensor head 2

Outlines of the parts to be mounted Appearance after mounting

Detection ring

Single rotation signal area

Groove

Sensor head 1

Groove

Stroke

Detection ring


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3.2.2 Absolute function of Absolute αiCZ Sensor (The notice for the mounting)

[The principles of the Absolute αiCZ Sensor] Absolute αiCZ Sensor establish the absolute position within the single rotation after power on and

detect the single rotation signal (Z phase). After that, keep the absolute position by the back-up battery.

In CNC system of FANUC, it is need to establish the absolute position within the single rotation for the reference position return. In the absolute system with Absolute αiCZ Sensor, it is need to do the reference position return. (i) The first power on of CNC (ii) When disconnecting of the battery during the power off of the CNC loses the backup data.

Before the reference position return, it is need to detect the single rotation signal (Z phase) by moving the machine (table) by the manual or rotating it by JOG or Handle after detecting the polo position

[The notice for the mounting] If you use Absolute αiCZ Sensor with the backup battery for machine which has the motor can not

rotate more than single rotation (Tilting axis of the table and so on), it is need to mount Absolute αiCZ Sensor with taking the mechanical relation into consideration for easy detecting a single rotation signal (Z phase) by Sensor head 1 when making the table.

When mounting Absolute αiCZ Sensor to the machine (table), please mount the detection ring as the Sensor head 1 is near the single rotation signal (Z phase). By this mounting, it is possible to detect easily a single rotation signal (Z phase) and establish the absolute position within single rotation.

We recommend that the detecting position of the single rotation signal by Sensor head 1 be adjusted in ±5 degree or less for the most stable position of the table tilting axis or the origin of the rotational axis.

Sensor head 2

Sensor head and the single rotation signal of Absolute αiCZ sensor

Sensor head 1

Single rotation signal (Z phase)

Single rotation signal (Z phase)

Detect the single rotation signal by the sensor head 1


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3.2.3 Dimensions on the Sensor Mounting Surface Prepare the hole and the tap on the sensor mounting surface as shown in fig. 3. Insert the parallel pins in the 2-φ3H6 holes. Parallel pins are used as a guide when adjusting the gap between the sensor head and the detection ring explained.

NOTE A=[The external diameter of detection ring]/2+3.1 Design the position of tap for sensor head attachment to satisfy this dimension

as a setting up machine not as parts.


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3.2.4 Dimensions about Installation of the Detection Ring Adjust the detection ring so that the eccentricity of the alignment track becomes within 0.01mm. The height of the detection ring mounting surface should be 1±0.3mm from the sensor head mounting surface. The perpendicularity between the sensor head mounting surface and the rotational center is 0.01mm or less. Use of some kind of thread locker is recommended to prevent loosening of the bolts.

Drawing No. Outer diameter

of the alignment track

Size of through hole Size of bolt

Recommended torque to tighten bolt

(Nm) A860-2162-T411 φ101 8- φ3.4 through hole, P.C.D= φ90 Ｍ3 1.5 ± 5% A860-2162-T511 φ152.2 8- φ4.5 through hole, P.C.D= φ134 Ｍ4 3.0 ± 5% A860-2162-T611 φ203.4 8- φ5.6 through hole, P.C.D= φ170 Ｍ5 6.0 ± 5%

NOTE 1 It is recommended that the spindle shaft (or the sleeve) is so designed that the

clearance between the shaft and the inner diameter of the detection ring is more than 0.1mm or more on both side of the shaft for smooth adjustment.

2 The detection ring should be fixed to the shaft with the bolts (Don’t fix it with shrink fitting).

3 The detection ring consists of the Z ring and A/B ring. Do not remove the bolt to fasten these rings together. The table should be so designed that it would not be interfered with the bolt head because through hole is not counter bored.

4 Perform centering on the centering track. (The outer diameter of the Z ring is not assured of coaxiality with the pitch circle of the teeth of the A/B phase.) Use a plastic hammer, etc. so as not to damage the teeth of the detection ring during centering.

5 The magnetic dust stuck to the teeth of the detection ring may cause the incorrect detection. Perform an air blow after alignment.

6 If the detection ring is tightened with excessive torque, the detection ring may deform and affect the detection accuracy. Fix with recommended torque to tighten bolt.


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3.2.5 Installation of the sensor head The installation method of the sensor head is described below.（The installation method of the sensor head 1 and the sensor head 2 are the same.） (1) Attach the sensor head to the sensor mounting surface so that the groove on the sensor head is

engaged with the parallel pins, and fix the sensor head temporally. The magnet is contained inside the sensor head, and it draws each other with a detection ring. Be careful that the detection ring does not strike the sensor head in installing.

(2) Put the feeler gage (included: t=0.1mm) between the detection ring and the sensor head. Push the sensor head to the detection ring lightly and fix the sensor head firmly (recommended fastening torque: 1.3Nm ±10%). Use of some kind of thread locker is recommended to prevent loosening of the bolt to fix the sensor head.

(3) Pull off the feeler gage. Rotate the spindle slowly and check that the detection ring does not contact

with the sensor head.

The groove on the sensor head for the parallel pins to be engaged

Feeler gage

Sensor head

Detection ring Bolt

IV. START-UP

B-65332EN/02 START-UP 1.OVERVIEW

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1 OVERVIEW Part IV, "START-UP," describes the procedure necessary for driving motors after SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series motors and feedback sensors are assembled together in accordance with Part III, "HANDLING, DESIGN, AND ASSEMBLY." It also describes the start-up procedure for the absolute αiCZ sensor, as well as the settings for the synchronous built-in servo motor position detection circuit.

WARNING DiS series motors may run abnormally, which is very dangerous, if the start-up

procedure is not followed correctly. Read this chapter carefully for thorough understanding, and do not fail to

observe the cautions and warnings described in this chapter.

START-UP B-65332EN/02

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2. SYNCHRONOUS BUILT-IN SERVO MOTOR

2 SYNCHRONOUS BUILT-IN SERVO MOTOR

2.1 OVERVIEW OF START-UP PROCEDURE At first, this section explains overview of start-up procedure and checkpoints for operating SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series.

[Checkpoints] (1) Connect power and signal cables as the rotation direction of the motor corresponds with a

rotary encoder. If you operate the motor with wrong connection of the cables, there is a possibility of the unexpected operation of the motor. Please understand right connection and connect the cables rightly. (As for details, refer to the Section 2.2, “THE ROTATION DIRECTION OF THE MOTOR AND THE ENCODER” in this Part.)

(2) Be sure to connect the thermostat. In case of using the Absolute αiCZ Sensor (A860-2162-T***), the thermostat can be connected to its detection circuit or synchronous built-in servo motor position detection circuit. In case of another rotary encoder, it can be connected to PMC.

(3) Please make your system that can be stopped by an emergency stop switch. For safe start-up of the Synchronous built-in servo motor, please do certainly the procedure (2)

and (3).

[Checkpoints] (1) Set the parameters of your motor and your rotary encoder. (2) The parameter settings of the motor are different when the cooling condition (liquid cooling or

no cooling) changes. If you use the motor under liquid cooling conditions, it is necessary to change some standard

parameters because the parameters, which are loaded automatically, are for the no cooling condition. For high-speed models, the liquid cooling parameters are set automatically.

(3) The parameters about the rotary encoder are not set automatically because they are different for the each rotary encoder. Be sure to set those parameters manually with Parameter Manual (B-65270EN).

(4) Set velocity gain=150, position gain=1000. (Because these parameters are adjusted later, please set the small value in the first step) (5) At first, set the torque limit parameter (N2060) the small value (about 1000). (After the normal operation of the motor, change this parameter to standard setting.) (6) Set the excessive limit parameter at moving time (N1828) the small value. (As for the (6), set the appropriate parameter for the actual operation of your machine.)

Connect power cables, a feedback cable and signal cables of a thermostat and a thermistor (*1)

Set standard parameter. (Refer to the Section 2.4, “STANDARD PARAMETER SETTING” and Appendix.)

To next page

B-65332EN/02 START-UP

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*2 Pole position detection function is CNC’s optional function. But this function is indispensable function for the Synchronous Built-in Servo Motor operation.

[Checkpoints] (1) It is need to know the rotor (or the magnet) phase of the AC servo motor for CNC controller

because the current which is based on the rotor phase controls the AC servo motor. Set correctly the phase between the rotor and the encoder. If the phase of them is different, the power loss become big or the motor operates unexpectedly.

(As for the details, refer to the Section 2.5, “PHASE ADJUSTMENT BETWEEN THE MOTOR AND THE ENCODER” in this part.)

(2) Set the parameter of the excessive error limit at stopping time (N1829) higher. (If the alarm of the excessive error at stopping time, this parameter (N1829) is set higher.)

[Checkpoints] (1) By the JOG or Handle mode, check that the motor normally operates. In this check, ensure that

the emergency stop switch can be pressed immediately when the unexpected operation happens.

(2) After checking the operation, return the torque limit parameter (N2060) to the standard value. (3) Return the parameters of the excess error on moving (N1828) and stopping (N1829) to the

original value.

2.2 THE ROTATION DIRECTION OF THE MOTOR, THE ENCODER AND THE TABLE

2.2.1 Rotation Direction of the Table Generally, the rotation direction of the table is defined as shown the Fig. 2.2.1. The direction which the rotational table rotates to the CW is positive direction because the spindle axis rotates to CCW on the workpiece.

+Z +Y

+X

+C

Fig. 2.2.1

Detect pole position(*2). (Refer to the Section 2.5, “PHASE ADJUSTMENT BETWEEN THE MOTOR AND THE ENCODER” in this part.)

Check that the motor normally operates or not. (Refer to the Section 2.6, “TRIAL OPERATION” in this part.)

Put the motor into trial operation and adjust the parameter. (Refer to the Section2.7, “ADJUSTMENT OF THE PARAMETER AND THE PERFORMANCE CHECK” in this part.)


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2.2.2 Rotation Direction of the Motor and the Direction which the Power Cables are Pulled Out

The positive direction of the motor is shown as the Fig. 2.2.2 when you show the motor from the power cables side.

Fig. 2.2.2

2.2.3 Rotation Direction of the Encoder (in the Case of the Absolute αiCZ Sensor)

The positive direction of Absolute αiCZ Sensor is the direction which the detection ring rotates to as Fig. 2.2.3 shown.

Fig. 2.2.3

2.2.4 Parameter (N2022) Setting of rotation direction When the direction of the table (Fig. 2.2.1) and the direction of the encoder (Fig. 2.2.3) are Same : Parameter (N2022) = +111 Different : Parameter (N2022) = -111

2.2.5 Power Lead Connection Check Method (1) (If the rotation directions of the table, motor, and sensor are determined)

Explain about the power cables connection method of the motor when understanding correctly the construction and the coordinates of the machine (table) and the rotation directions of the motor and the encoder.

WARNING 1 There is a possibility that the motor rotates unexpectedly when the motor power

cables connections are wrong. 2 Please understand well the following explanation and connect the power cables

correctly. The rotation direction of the motor (Fig. 2.2.2) and the encoder (Fig. 2.2.3) are Same: connect the power cables according to the method (1) (Fig. 2.2.5(a))

Rotor

Detection ring


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Different: connect the power cables according to the method (2) (Fig. 2.2.5(b))

Fig. 2.2.5(a) Connecting method (1) Fig. 2.2.5(b) Connecting method (2) Example of the connection 1） If the structure in which the motor and the sensor are installed on the table is as shown in Fig.

2.2.5(c)

Fig. 2.2.5(c) Construction and the connection [Summary] In the following table, summarize the rotation direction parameter (N2022) and the power cables

connection every combination of the table, motor, encoder’s direction Combination

No. Direction of

the table Direction of the encoder Parameter (N2022) Direction of the

motor Connecting

method 1 Positive (+) (1) 2

Positive (+) ＋111 Negative (-) (2)

3 Positive (+) (2) 4

Positive (+) Negative (-) －111

Negative (-) (1) 5 Positive (+) (1) 6

Positive (+) －111 Negative (-) (2)

7 Positive (+) (2) 8

Negative (-) Negative (-) ＋111

Negative (-) (1)

WARNING It is possible to change the direction by the switch, which exists in the A/D

converter box, if you use MP scale which made by the Mitsubishi Heavy Industry.

Please confirm sufficiently this setting.

αiSV

U

V

W

G

DiS Motor

U

V

W

G

αiSV

U

V

W

G

DiS Motor

U

V

W

G

+X

+Y +Z +C

If the directions the coordinate and the encoder are same, N2022=111

If the positive directions the motor and the encoder are different, connect the power leads according to the connecting method (2) of the Fig. 2.2.5 (b).


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CAUTION (To avoid the confusion on maintenance) If the power leads of the motor have to be connected as shown Fig. 2.2.5 (b)

Connecting method (2), please deal with the following procedure for avoiding the confusion on maintenance. 1 If the power leads is extend by some method, please specify that the

connection between V phase and W phase be changed on the distribution board, terminal and so on.

2 If the power leads are connected by the terminal board or the connector, the power leads have to be changed on the motor side. On servo amplifier side, the power leads have to be connected to normally.

Please put an attention seal which is specified the change of the power leads on the terminal board or the connector.

3 If the machine (the rotary table) has the terminal board or the connector, please change the power leads in the machine (table).

2.2.6 Power Lead Connection Check Method (1) (Connect the power cable with checking by oscilloscope)

If you can’t understand the mounting construction of the motor and the encoder or the direction of the encoder that is made by the other company, please confirm the phase of the power cables by the following procedure with oscilloscope and connect them to the amplifier. [Connecting method]

Fig. 2.2.6(a) Connection diagram between the Oscilloscope and the motor Connection of the probe) Measure the voltage from U phase to V phase on ch1 and U phase to W phase on ch 2. CH1: V phase (probe)-U phase (probe GND) CH2: W phase (probe)-U phase (probe GND) Setting of the oscilloscope) • For the easy judgment (as for details, refer to next page), make the measurement range of the ch2

smaller for the ch1. Ex.) ch1:50V/div. ch2:20V/div. (The amplitude of ch2 shows bigger)

• The setting of the voltage range or the time range is different on each the motor or speed which the table can be rotated at. Please set the appropriate range with measurement of the waveform.

[Checking method] (i) Check the rotation direction parameter(N2022).

DiS Motor

U

V

W

CH1 CH2


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(ii) If N2022=111, rotate the motor to the direction which the position data increase. If N2022=-111, rotate the motor to the direction which the position data decrease. (iii) Check the phase between U-V phase and U-W phase by waveform of the oscilloscope. (iv) If the waveforms from the small amplitude to the large amplitude are measured as shown in Fig.

2.2.6(b), connect the power cables according to the connecting method (1).

Fig. 2.2.6(b) Waveforms

(v) If the waveforms from the large amplitude to the small amplitude are measured as shown in Fig. 2.2.6(c), connect the power cables according to the connecting method (2).

Fig. 2.2.6(c) Waveforms

2.3 CHECKING THERMOSTAT OPERATION Connect the thermostat in accordance with Section 2.2, "THERMOSTAT CONNECTION," in Part III, "HANDLING, DESIGN, AND ASSEMBLY." Check that the thermostat operates normally after the CNC is turned on, using the procedure below. (1) For the absolute αiCZ sensor

• Remove connector IN3 from the detection circuit. • Check that an overheat alarm is generated. • Turn off the power to the CNC. • Put back connector IN3 to its original status. • Turn on the power to the CNC, and check that the overheat alarm is now off.

(2) For the synchronous built-in servo motor position detection circuit + 3rd party encoder • Remove connector IN3 from the position detection circuit. • Check that an overheat alarm is generated.

αiSV

U

V

W

G

DiS Motor

U

V

W

G

Connecting method (1)

αiSV

U

V

W

G

DiS Motor

U

V

W

G

Connecting method (2)


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• Turn off the power to the CNC. • Put back connector IN3 to its original status. • Turn on the power to the CNC, and check that the overheat alarm is now off.

(3) If the thermostat is connected to the PMC • Remove the thermostat connected to the PMC. • Check that an overheat alarm is generated. • Turn off the power to the CNC. • Put back the thermostat connection to its original status. • Turn on the power to the CNC, and check that the overheat alarm is now off.

2.4 STANDARD PARAMETER SETTING (i) Set the standard parameters of the motor and the encoder. (ii) The parameter settings of the motor are different for the cooling condition (liquid cooling or no

cooling). If you use the motor under the liquid cooling conditions, it is necessary to correct some parameters

because the parameters which are loaded automatically are for the no cooling. For high-speed models, only liquid cooling settings are required, and liquid cooling parameters are set.

(iii) The parameters about the encoder are not applied the automatic parameter setting because they are different for the each motor and the encoder. Be sure to set those parameters with Parameter Manual (B-65270EN).

CAUTION

1 There is a possibility that the motor rotates unexpectedly if the parameter setting of the encoder is wrong.

2 The AMR (N2001) setting in the following table is the example of the different parameter setting even if the motor is same. Please set the correct parameter with confirming the Description sufficiently.

Example）Setting of AMR(N2001)

Setting of AMR (N2001) Applicable motor Specification

Number of pole αiCZ sensor 512A

(Note 1) αiCZ sensor 1024A

(Note 2) DiS22 A06B-0482-B*** 24 00011000 00001100

DiS85 A06B-0483-B*** 32 00100000 00010000

DiS110, 260, 370 A06B-0484-B*** 40 00101000 00010100

DiS400, 800, 1200 A06B-0485-B*** 56 00111000 00011100

DiS1500 A06B-0486-B*** 72 01001000 00100100

DiS2100, 3000 A06B-0487-B*** 88 01011000 00101100

NOTE 1 In case of αiCZ sensor 512A, set the number of the poles of Synchronous

Built-in Servo Motor in binary. 2 In case of αiCZ sensor 1024A, set a value obtained by dividing the number of

poles of Synchronous Built-in Servo Motor by 2 in binary. (iv) Set the velocity gain (N2021)＝150 and the position gain (N1825)＝1000 Though these parameters are adjusted later, please set the small value in the first step. As for the adjustment of these parameters, please refer to the Section 2.7, “ADJUSTMENT OF THE

PARAMETER AND THE PERFORMANCE CHECK” and Parameter Manual (B-65270EN).


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(v) At first, set the torque limit parameter (N2060) the small value (about 1000). (vi) Set the excessive limit parameter at moving time (N1828) the small value. (As for the (v) and (vi), set the appropriate parameter for the actual operation of the machine.)

2.5 PHASE ADJUSTMENT BETWEEN THE MOTOR AND THE ENCODER

It is need to know the rotor (the magnet phase) for CNC because the current which synchronized to the rotor phase controls Synchronous Built-in Servo motor. But be different from αiS motor, the customer has to set the rotor (the magnet) phase by oneself because the customer mounts the rotor, the stator and the encoder. For the setting of the rotor phase, use the pole position detection function. The pole position detection function enable to measure the rotor (magnet) phase by detecting the rotor moving with the slight current

CAUTION 1 Pole position detection function is CNC’s optional function. But this function is

indispensable function for Synchronous Built-in Servo Motor operation. 2 For the safe using of this function, it is necessary that the table can be rotated

freely when the brake is released. 3 On the vertical axis, release the brake mechanism at a gravitationally stable

position before performing pole position detection. As for the details of the pole position detection, please refer to Subsection 2.5.3, “Phase Adjustment By Pole Position Detection Function.”

2.5.1 In Case of the Incremental Encoder Using Until return to the reference point of the encoder, it is necessary to detect the rotor (the magnet) phase for the current control by the pole position detection function in every power-on of CNC.

2.5.2 In Case of the Absolute Encoder Using It is not necessary to detect the pole position when the encoder can send the absolute position within the single rotation. (Refer to the Subsection 3.2.2, “Absolute function of Absolute αiCZ Sensor (The notice for the mounting)” in the Part III, “HANDLING, DESIGN, AND ASSEMBLY” too.) The current is controlled by the rotor (the magnet) phase which is calculated from the absolute angle data when power-on and the phase shift value (AMR offset) in the parameter. It is necessary to measure the AMR offset by the pole position detection function when assembling the machine or changing the phase between the rotor and the encoder for exchanging the encoder.


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CAUTION 1 It is necessary to detect the single rotation signal after first power-on of CNC

when Absolute αiCZ Sensor is used as the absolute detector. (Refer to the Subsection 3.2.2, “Absolute function of Absolute αiCZ Sensor (The notice for the mounting)” in the Part III, “HANDLING, DESIGN, AND ASSEMBLY.”)

2 Even if the absolute encoder is used, pole position detection and reference point return is needed on the following case. (1) First power-on of CNC (2) The backup data is lost for the consumption or the disconnection of the

battery. Please control pole position detection function and a reference position return by

PMC ladder.

2.5.3 Phase Adjustment By Pole Position Detection Function Adjust the phase between the motor and the encoder by the following procedure with the pole position detection function. (i) Confirm that the pole position detection function is effective. (ii) Select MDI mode (iii) Set parameter to use the pole position detection function.

No. #7 #6 #5 #4 #3 #2 #1 #0 2213(FS30/31/32i) OCM

OCM 1: Pole position detection is effective. (iv) Set parameter to use or not AMR offset

No. #7 #6 #5 #4 #3 #2 #1 #0 2229(FS30/31/32i) FORME ABSEN

ABSEN 0: AMR offset is not used. 1: AMR offset is used. (Set this value.)

FORME 0: Automatic selection mode 1: Minute operation mode (Set this value.)

NOTE 1 After the pole position is detected and establish the absolute position within one

revolution, the compensation value (AMR offset) between the encoder and the rotor phase (Magnet phase) is calculated and memorized in parameter N2139.

2 If the motor is rotated by hand more than single rotation before the pole position detection, the compensation value is immediately memorized in parameter N2139 after detecting.

(v) Set (or confirm) “0” to AMR (N2139) offset and power off/on of CNC.

CAUTION Before detecting the pole position, if an unsuitable value is set in the AMR offset,

there is a possibility that the motor rotates unexpectedly. Make sure that the AMR offset is “0”.

(vi) Release the emergency switch and detect the pole position. Pole position detection request signals: RPREQ1 to RPREQ8


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No. #7 #6 #5 #4 #3 #2 #1 #0 G135 RPFEQ8 RPFEQ7 RPFEQ6 RPFEQ5 RPFEQ4 RPFEQ3 RPFEQ2 RPFEQ1

(vii) Confirm the pole position detection completion signal Pole position detection completion signals: RPFIN1 to RPFIN8

No. #7 #6 #5 #4 #3 #2 #1 #0 F159 RPFIN8 RPFIN7 RPFIN6 RPFIN5 RPFIN4 RPFIN3 RPFIN2 RPFIN1

NOTE If the pole position detection completion signal is not “1”, confirm the status of

the pole position detecting signals RPDET1 to RPDET8 <F158>. “0” : There is a possibility that the pole position detection request signal isn’t

sent. Please check the ladder. “1” : There is a possibility that the cause is the influence of the noise. Please

check the earth connection again. After detecting the pole position, AMR offset is memorized when establishing the absolute position within single rotation. Recommended procedure） If the absolute position within single rotation is established, we recommend the several check of the

AMR offset value before the actual operation of the motor as the following procedure. • Set the memorized AMR offset value to “0” and power off of the CNC. • After rotating the rotor by the hand and power on again. • Detect the pole position again and check the value of AMR offset.

If there are some mistakes (the different connection of the power cables or the unsuitable parameter setting and so on), the value of AMR offset changes largely by the several check with moving the rotor.

If the change of AMR offset is ±5 or less, the motor operates normally. If the change of AMR offset is large (ex. 90 or larger), please the following items again before

operating the motor. (i) The connection of the power cables (Refer to Subsections 2.2.5 and 2.2.6.) (ii) The parameter of the encoder (Refer to Parameter Manual (B-65720EN).) (iii) The connection of the earth line. Enhance the connection of the earth line and reduce the influence of the noise.

2.6 TRIAL OPERATION Explanation for the trial operation

2.6.1 Parameter Setting for the Trial Operation

• Set the time constant (N1620) about 1000ms. • Make the velocity loop gain high as the hunting doesn’t happen when rotating the motor by JOG or

Handle.

2.6.2 Operation by the Program • Check that the motor rotates to the positive/negative direction by the sample program (An example

is shown below). Sample program for the trial operation O0003


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N1 G01G90X90. F21600. (Move to +90degree by cutting feed) G04X1. (Dwell for 1 second) G01X-90.F2160. (Move to –90 degree by cutting feed) G04X1. (Dwell for 1 second) G01X0.F21600. (Move to +0 degree by cutting feed) G04X2. (Dwell for 2 seconds) N999 M99

2.7 ADJUSTMENT OF THE PARAMETER AND THE PERFORMANCE CHECK

The procedure which is described in this chapter is the method by using SERVO GUIDE. (1) Velocity loop gain adjustment The velocity loop gain can be adjusted by increasing the velocity loop gain while measuring the

frequency characteristics. • Set the velocity loop gain, as the oscillation phenomena don’t occur with checking Bode plot.

(Refer to Figs. 2.7(a) and 2.7(b)) • Increase the gain so that the frequency can be as high as possible where the phase in Fig. 2.7(a)

is at -180 degrees and the gain there does not exceed 0 dB.

Fig. 2.7(a) Good example of the frequency characteristics

Fig. 2.7(b) Not good example of the frequency characteristics


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• Try to increase the velocity loop gain with other function which is High-frequency Resonance Elimination Filter and so on.

(As for the detail of the parameter adjustment, refer to Parameter Manual (B-65270EN).) (2) Performance checking of Acceleration/Deceleration Check the performance of acceleration/deceleration.

• Collect POSF and TCMD with a program similar to the program example shown in Subsection 2.6.2, "Operation by the Program," while reducing the time constant gradually (until the collected waveform TCMD reaches 100% as shown in Fig. 2.7(c)).

Fig. 2.7(c) TCMD and the second-order differential of POSF

• Check the maximum acceleration by the second-order differential mode of the display. Check that the measured acceleration is satisfied the specification of the acceleration for the

machine (table). (3) Smoothing compensation If need, do the smoothing compensation. As for the details of the Smoothing compensation, refer to the Parameter Manual (B-65270EN).

2.8 SHIPPING DATA

Please attach the following information and the shipping data when DiS series motors are mounted to the rotary table and shipped and the other CNC is connected to them at the other place.

2.8.1 Connecting Information Declare the rotation direction of the table, the connection of the motor power cables, and the direction and the setting of the encoder.

Direction of the table and the connection of the motor power cables Combination

(*1) Table direction Encoder direction

Parameter (N2022)

Motor direction

Change the power cables in the machine

1 Positive (+) No 2

Positive (+) (Note 2)

+111 Negative (-) Yes

3 Positive (+) Yes 4

Positive (+) (Note 1) Negative (-)

(Note 3) -111

Negative (-) No *1 Select the number by circle mark


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NOTE 1 The coordinate of the CNC increase 2 In case of Absolute αiCZ Sensor, the direction which the detection ring rotates to

as shown Fig. 2.8.1(a) is positive.

Fig. 2.8.1(a) Rotation direction of Absolute αiCZ Sensor (positive)

3 In case of Absolute αiCZ Sensor, the direction which the detection ring rotates to as shown Fig. 2.8.1(b) is negative.

Fig. 2.8.1(b) Rotation direction of Absolute αiCZ Sensor (negative)

Connection and the setting of the encoder

Item Yes/No (*2) Remark

Output direction changing of the encoder Yes/No (Note 4) Connect the thermostat to Absolute αiCZ Sensor (Note 5) Yes/No Absolute αiCZ Sensor only

Connect the thermistor to Absolute αiCZ Sensor (Note 6) Yes/No DiS motor with the thermistor +

Absolute αiCZ Sensor only Connect the thermostat to PMC Yes/No

*2 Select Yes or No by circle mark.

NOTE 4 In case of MP scale which made by Mitsubishi Heavy Industry; take care of the

setting because the output direction is selectable in the A/D converter box. 5 It is not necessary to connect the thermostat to PMC. Set N2300#7=”0”. 6 90D0/90E0 N (14) or subsequent editions

Detection ring


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2.8.2 Parameter List

The parameters in the following table 2.8.2 are the essential parameter for driving the DiS series motor correctly. Please attach this parameter list, which are used for the assembly or test to the machine (table).

Table 2.8.2 Shipping parameter list Parameter

No. The value on

shipping Kind (*1) Name/explanation

2000#0 Detection PLC0: Specify whether to multiply the number of velocity and position pulse multiple 10 times

2001 Proper AMR: Specify the AMR value according to the encoder and DiS motor’s number of poles

2020 Proper Motor ID number 2021 Construction LDINT: Load inertia ratio 2022 Construction Rotation direction of the motor 2023 Detection Number of velocity pulse 2024 Detection Number of position pulse 2040 Proper PK1: Current loop gain 2041 Proper PK2: Current loop gain 2042 Proper PK3: Current loop gain 2043 Proper PK1V: Velocity loop integral gain 2044 Proper PK2V: Velocity loop proportional gain 2057 Proper PVPA: Phase D current at high-speed 2058 Proper PALPH: Phase D current limit 2060 Proper TRQLMT: Torque limit (It is possible to change) 2061 Proper EMFCMP: Back electromotive force compensation 2062 Cooling OVC1: Overload protection coefficient 2063 Cooling OVC2: Overload protection coefficient 2065 Cooling POVCLMT: Soft thermal coefficient 2086 Cooling Rated current parameter

2112 Proper AMR conversion coefficient 1: Depend on the pole number of DiS series motor and the encoder.

2138 Proper AMR conversion coefficient 2: Depend on the pole number of DiS series motor and the encoder.

2139 Individual AMR offset 2161 Cooling OVCSTP: OVC magnification at a stop 2185 Detection Position pulses conversion coefficient

2213#7 OCM: Pole position detection function 2229#0 ABSEN: AMR offset is 0: not used or 1: used

2229#3 WATRA: After pole position detection, an unexpected operation is 0: Monitored or 1: Not monitored

2300#2 DD: Synchronous built-in servo motor control is effective 2300#3 Detection THRMO: Overheat detection and temperature display (Note 1) 2300#7 Detection CKLNOH: Overheat detection and temperature display (Note 1) 2377 Individual Smoothing ripple compensation (positive direction) 2378 Individual Smoothing ripple compensation (negative direction) 2380 Individual Smoothing ripple compensation (positive direction) 2381 Individual Smoothing ripple compensation (negative direction)

*1 The means of kind

Proper : A proper parameter for the motor. There is a possibility that the velocity loop gain can be changed by the actual operating condition of the machine (the table).


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Construction : Depend on the construction of the table. If the kinds of the motor and the encoder are different, these parameters are same in every machine (the table).

Detection : Depend on the encoder. Individual : Even if the kinds of the motor and the encoder are same, these parameters are

different by the every machine (the table). (These setting must be attached with the table.)

Cooling : Depend on the cooling method. Standard parameter setting is for No cooling. Only the liquid cooling can be changed.

NOTE 1 The setting about the overheat detecting and the indication is as follows.

CKLNOH 2300#7

THRMO 2300#3 Contents Temperature

Indication 0 - Connect the thermostat only to Absolute αiCZ Sensor Impossible 1 0 Connect the thermostat only to DI signal of PMC Impossible 1 1 Connect the thermostat and thermistor to Absolute αiCZ Sensor Possible

NOTE 2 The parameters in the Table 2.8.2 are used actually when making and testing

the machine (table) on the basis of the standard parameters. There is a possibility that the more adjustment is needed under the actual

operating conditions of the machine.

B-65332EN/02 START-UP 3.ABSOLUTE αiCZ SENSOR

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3 ABSOLUTE αiCZ SENSOR

3.1 ABSTRACT

A start-up procedure of Absolute αiCZ Sensor is shown below.

NOTE 1 The check method of an output signal is described in the Sections 3.3, “CHECK

METHOD OF AN OUTPUT SIGNAL” and 3.6, “IN CASE OF CHECKING THE OUTPUT AMPLITUDE” in this Part.

2 When the sensor head is moved after power ON, please perform operation described in Section 3.4, “OPERATION IN CASE OF MOVING THE SENSOR HEAD AFTER INITIAL POWER ON” in this Part.

3 When it is difficult to rotate the table in one whole revolution, repeat the rotational motion to CW and CCW direction alternately at the speed written above until the sum of the rotational angle becomes more than one revolution with seeing next section (Section 3.2, “Note”).

Installation (Refer to the Section 3.2 in the Part III, “ABOSLUTE αiCZ SENSOR INSTALLATION)

Detection ring Sensor head

Connection (Refer to the Sections 2.3 in the Part III, “CHECKING THERMOSTAT

OPERATION” and 3.2 in this Part, “NOTE”)

Power ON

Setting of parameters (Refer to the Parameter manual (B-65270EN).)

Interpolation error learning (One or more revolutions are turned at 30min-1 (Recommendation).)

3.ABSOLUTE αiCZ SENSOR START-UP B-65332EN/02

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3.2 NOTE

3.2.1 Interpolation Error Learning

• Absolute αiCZ Sensor mounts the circuit which learns the interpolation error automatically and compensates it. If learning conditions are satisfied, learning operation starts automatically, and it is completed after one or more revolutions. Although learning conditions differ with each specification, learning operation in 30min-1 is recommended in every specification.

Learning conditions αiCZ Sensor 512A : 25 to 105min-1, Constant speed, One or more revolutions αiCZ Sensor 768A : 20 to 70min-1, Constant speed, One or more revolutions αiCZ Sensor 1024A : 15 to 50min-1, Constant speed, One or more revolutions Recommended learning conditions Common : 30min-1, Constant speed, One or more revolutions

• After “First power ON after Absolute αiCZ Sensor installation” and “Operation in case of moving the sensor head after power ON (See the Section 3.4, “OPERATION IN CASE OF MOVING THE SENSOR HEAD AFTER INITIAL POWER ON” in this Part)”, turn Absolute αiCZ Sensor on learning conditions above, in order to perform interpolation error learning.

• The learning data is backed up by a battery. • When it is difficult to rotate the table in one whole revolution, repeat the rotation to CW and CCW

direction alternately at the speed written above. Repeat the motion until the sum of the rotational angle becomes more than one revolution.

• If learning conditions are satisfied, Absolute αiCZ Sensor always continues to learn.

3.2.2 Temperature Detection

• Absolute αiCZ Sensor can perform Overheat alarm detection by thermostat, and temperature detection by thermistor.

Thermostat : Overheat alarm detection Thermistor : Temperature detection • Note that Overheat Alarm is always generated if the thermostat wires are not connected. • Note that a temperature display is not right if the thermistor wires are not connected.

3.2.3 Sensor Head • The detection circuit memorizes the condition of the initial power ON. Do not move the sensor head

after power ON. • If the sensor head is moved after power ON, a reference position may shift. Moreover, pulse miss

alarm may be generated. Generate battery zero alarm and perform reference position return operation, according to “Operation in case of moving the sensor head after power ON (ee the Section 3.4, “OPERATION IN CASE OF MOVING THE SENSOR HEAD AFTER INITIAL POWER ON” in this Part)”.


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3.3 CHECK METHOD OF AN OUTPUT SIGNAL (1) The axis for which odd number is set to a parameter No.1023

Set the value of the following "L axis" as No.2151 (2153). The axis for which even number is set to a parameter No.1023

Set the value of the following "M axis" as No.2151 (2153). No.2151(2153) Set value L axis M axis J axis K axis 3418 3546 9562 9690 (A check of the amplitude value and offset value of the sensor

head 1 is possible.) 3419 3547 9563 9691 (A check of the amplitude value and offset value of the sensor

head 2 is possible.) (2) Set up parameter No.2115(2152) = 0. (3) Check the value of No.353(354) on the diagnosis screen.

Example 1 4 5 5 Sensor head number. 1:Sensor head 1, 2:Sensor head 2 The level of 1-9 shows an amplitude value. 3-7 are standard values. The level of 1-9 shows an offset value of A phase. 3-7 are standard values. The level of 1-9 shows an offset value of B phase. 3-7 are standard values.

NOTE Above values should be checked during rotating. Especially, offset value cannot

be measured during stopping.

Parameter No.1023Odd or Even

ParameterNo.2151 (2153)

=“3418”


=“3546”


=“0”

Check the valueof No.353 (354)

on the diagnosis screen

Odd Even

Sensor head 1



=“3418”


=“3546”


=“0”



Odd Even

Sensor head 1



=“3419”


=“3547”


=“0”



Odd Even

Sensor head 2



=“3419”


=“3547”


=“0”



Odd Even

Sensor head 2


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3.4 OPERATION IN CASE OF MOVING THE SENSOR HEAD AFTER INITIAL POWER ON

The sensor head, the detection ring, and the detection circuit are possible to be replaced separately. After replacement, generate battery zero alarm according to the following procedure. Then perform reference position return operation. (1) Remove Cable K1 from connector out1. (2) Connect Connector IN2 to Connector OUT1. (It is OK even if it has connected Connector IN1 and Connector IN3.) (3) Waits 10 seconds or more. (4) Reconnect cables other than cable K1 correctly. (5) Reconnect cable K1. (6) Check that battery zero alarm is generated. If alarm is not generated, return to a procedure (1). (7) Perform reference position return operation.

to SVMto Absolute

αiCZ Sensor

K1 IN1

IN2

IN3

Sensor head 2

Sensor head 1

K2

Detectioncircuit

OUT1

to SVMto Absolute

αiCZ Sensor

K1 IN1

IN2

IN3

Sensor head 2

Sensor head 1

K2

Detectioncircuit

OUT1

to SVMK1 OUT1

to AbsoluteαiCZ Sensor

IN2

Sensor head 2

Sensor head 1

K2

Detectioncircuit

IN1

IN2

IN3

to SVMK1 OUT1


IN2

Sensor head 2

Sensor head 1

K2

Detectioncircuit

IN1

IN2

IN3

to SVMK1


Sensor head 2

Sensor head 1

K2

Detectioncircuit

OUT1IN2 IN1

IN2

IN3

to SVMK1


Sensor head 2

Sensor head 1

K2

Detectioncircuit

OUT1IN2 IN1

IN2

IN3

to SVM

K1to AbsoluteαiCZ Sensor

Sensor head 2

Sensor head 1

K2

Detectioncircuit

OUT1 IN1

IN2

IN3

to SVM

K1to AbsoluteαiCZ Sensor

Sensor head 2

Sensor head 1

K2

Detectioncircuit

OUT1 IN1

IN2

IN3

to SVMK1 to Absolute

αiCZ SensorSensor head 2

Sensor head 1

K2

Detectioncircuit

OUT1 IN1

IN2

IN3

to SVMK1 to Absolute

αiCZ SensorSensor head 2

Sensor head 1

K2

Detectioncircuit

OUT1 IN1

IN2

IN3

To αiSV

To αiSV

To αiSV

To αiSV

To αiSV


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3.5 MAINTENANCE PARTS

Absolute αiCZ Sensor consists of four parts (detection ring, sensor head 1, sensor head 2, and detection circuit), as shown in the following figure. Each parts are able to be replaced separately in maintenance. Please refer to the following drawing numbers for the parts.

Main drawing number

Part drawing number

αiCZ Sensor 512A A860-2162-T411



Detection ring A860-2160-V901 A860-2160-V902 A860-2160-V903 Sensor head 1 A860-2162-V001(Common) Sensor head 2 A860-2162-V012(Common)

Detection circuit A860-2162-V201(Common)

Detection ring Sensor head 2

Sensor head 1

Detection circuit


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3.6 IN CASE OF CHECKING THE OUTPUT AMPLITUDE The method to check the output amplitude is described below.

5V0VT0A2 B2

ZRZ A1B1

IN1

IN3

IN2

OUT1

To αiSV To Absolute αiCZ Sensor

Arrangement of a check terminal

5V0VT0B2A2 5V0VT0B2A2

A1B1ZRZ A1B1ZRZ


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• Supply the power by connecting 5V and 0V check-pin to the power source. • Lissajous’ waveform of A /B phase signal is close to a true circle

Specification of the A/B phase and Z phase output signal (at room temperature, 500min-1)

Signal Check terminal

Output amplitude Offset

Sensor head 1 A phase signal(Amplification)Sensor head 1 B phase signal(Amplification)

A1 B1

1300-3000mVp-p ±180mV

Sensor head 2 A phase signal(Amplification)Sensor head 2 B phase signal(Amplification)

A2 B2

1300-3000mVp-p ±180mV

Sensor head 1 Z phase signal Z 400-600mVp-p

Sensor head 1 RZ signal RZ

70-150mVp-p * Offset is the difference

between the DC component of Z and RZ

(Connect the ground of the oscilloscope probe to T0 in checking each signal)

T0

B A

A output amplitude

B output amplitude

A offset

B offset

Z output amplitude

Z

RZ

T0

Z offset


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4.SYNCHRONOUS BUILT-IN SERVO MOTOR POSITION DETECTION CIRCUIT

4 SYNCHRONOUS BUILT-IN SERVO MOTOR POSITION DETECTION CIRCUIT

4.1 BLOCK DIAGRAM

Cable Number Connection Remarks

K1 αiSV~ Synchronous Built-in Servo Motor Position Detection Circuit

Part III- Section 2.3, “FEEDBACK CABLE CONNECTION

Subsection 2.3.1.1, “Details of Connection of Cable K1”

K4 Synchronous Built-in Servo Motor Position Detection Circuit ~ Rotary encoder



K5 Synchronous Built-in Servo Motor Position Detection Circuit ~ Synchronous Built-in Servo Motor (Signal cable)



NOTE In case that the signal cable is relayed, the shield should be connected by using

connector etc.

FSSB

IN1

αiSV IN3


Synchronous Built-in Servo Motor Position Detection Circuit

FANUC Serial I/F

CNC

K1 K5

K4


Power Cable


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4.SYNCHRONOUS BUILT-IN SERVO MOTOR POSITION

DETECTION CIRCUIT

4.2 SETTING SWITCHES AND CHECK ROUNDS

4.2.1 Arrangement of Setting Switches and Check Rounds

NOTE Specification of connector housing, contact and

crimping tool for the check connector (HIROSE Electric Co.)

Connector housing : DF20A-10DS-1C Contact : DF20F-2030SCFA Crimping tool : HT302/DF20B-2830S

(This drawing does not show actual setting condition.)

Setting A

SW1 SW2

SW3 SW4

SW5 SW6

SW7 SW8

0V 5V

PA PB

PZ T1

0 90

Setting B

0V : Signal ground 5V : Power source T1 : 2.5VDC (=1/2 Vcc) PZ : Comparator output (input signals are Z and XZ) 0 : Differentially amplified signal (2×(XA-A)) 90 : Differentially amplified signal (2×(XB-B))

Signal assignment in CHECK connector 10 8 6 4 2

0 90 5V

PZ T1 0V

9 7 5 3 1


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4.SYNCHRONOUS BUILT-IN SERVO MOTOR POSITION DETECTION CIRCUIT

Setting Reference mark Distance-coded One SW Function

Line count Binary Non-binary Binary Non-binarySW1 Not used A (shipment setting) A A A A SW2 Not used A (shipment setting) A A A A

A Valid SW3 (Note 2)

Detection of position error B Invalid

A B A B

A Distance-coded SW4 (Note 2)

Reference mark B One

A A B B

SW5 Not used A (shipment setting) A A A A SW6 Not used A (shipment setting) A A A A SW7 Not used A (shipment setting) A A A A

A HEIDENHAIN SW8

Distance-coded pattern(valid in case of SW4=A) B INA BEARING YRTM

A A or B A A

NOTE 1 Setting of all switches is Setting A at shipment. 2 Refer to the followings for the relation between Pulse error (PULSE MISS alarm)

/ Count error (COUNT MISS alarm) and setting of setting switch SW3/SW4

Synchronous Built-in Servo Motor Position Detection Circuit has the function to detect Pulse error (PULSE MISS alarm) or Count error (COUNT MISS alarm) in case of the following conditions. <Detection conditions of Pulse error> (1) In case that the amplitude of A/B phase signals are abnormal (low amplitude) (2) In case that Z phase signal cannot be detected (3) In case that the relation between A/B phase signal state and the interpolation data is abnormal (4) In case that the absolute position cannot be calculated even if three or four reference marks are

passed after power-on (5) In case that there is a difference between the absolute position data added the first calculated

absolute position data to the accumulated position data of A/B phase signals and the absolute position data calculated at each the reference mark after absolute position establishment

<Detection condition of Count error> (1) In case that there is the error in the pulse count of A/B phase signals on basis of Z phase position The relation between the setting of setting switch SW3/SW4 and the detection function of Pulse error / Count error is as follows.

Pulse error Count errorSW4 SW3 (1) (2) (3) (4) (5) (1)

A Valid Valid Valid Valid Valid Invalid A B Valid Valid Valid Invalid Invalid Invalid A Valid Invalid Valid Invalid Invalid Valid

B B Valid Invalid Valid Invalid Invalid Invalid


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4.SYNCHRONOUS BUILT-IN SERVO MOTOR POSITION

DETECTION CIRCUIT

4.2.2 Details of Setting Switch (1) Setting switch SW3

Valid or invalid of detection of position error can be set with the setting of SW3 Setting A : Valid Setting B : Invalid

NOTE PMAL occurs in case that SW3=A, SW4=A and the position error is detected. CMAL occurs in case that SW3=A, SW4=B and the position error is detected.

(2) Setting switch SW4 Reference mark of the rotary encoder can be set with the setting of SW4 Setting A : Distance-coded reference marks Setting B : One reference mark (3) Setting switch SW8 Distance-coded pattern (line count between two reference marks) can be set with the setting of SW8 (valid only in case of SW4=A)

Setting A : In case that HEIDENHAIN rotary encoder or other rotary encoder has same distance-coded pattern as HEIDENHAIN rotary encoder is used

Setting B : In case that INA BEARING YRTM series rotary encoder or other rotary encoder has same distance-coded pattern as INA BEARING YRTM series rotary encoder

NOTE This circuit is not available for the rotary encoder has not same distance-coded

pattern as HEIDENHAIN or INA BEARING YRTM. (4) Setting switches SW1, SW2, SW5, SW6 and SW7 SW1, SW2, SW5, SW6 and SW7 are not used. Setting should not be changed. (Setting of those switches is Setting A at shipment.)

APPENDIX

B-65332EN/02 APPENDIX A.PARAMETERS

- 137 -

A PARAMETERS For information on the parameters for the SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series, refer to "Parameter Manual" (B-65270EN). As of the issue of this specification (February 2009), B-65270EN/07 is the latest version.

Appendix A, "PARAMETERS," describes the following parameters for synchronous built-in servo motors, which are not described in the Parameter Manual. A.1 DiS400/250 (HRV2) A.2 DiS800/250 (HRV2)

A.PARAMETERS APPENDIX B-65332EN/02

- 138 -

A.1 PARAMETERS FOR DiS400/250

These parameters are for HRV2 and applied for the No Cooling system.

*: NC means No Cooling

• In case of the Liquid Cooling system, please change the parameters as follows. The parameter setting is the same both 200V system and 400V system. POVC1 (N2062 (N1877)): 32743 → 32646, POVC2 (N2063 (N1878)): 308→ 1528 POVCLMT (N2065 (N1893)): 903→ 4290, RTCURR (N2086 (N1979)): 753→ 1641

NameFS30/31/32iFS16/18/21iPMi,0iC,D

αi SV-80NC

αi SV-80HVNC

NameFS30/31/32iFS16/18/21iPMi,0iC,D

αi SV-80NC

αi SV-80HVNC

2003 00001000 00001000 WKAC 2076 0 02004 00000011 00000011 OSCTPL 2077 0 02005 00000000 00000000 PDPCH 2078 0 02006 00000000 00000000 PDPCL 2079 0 02007 00000000 00000000 DPFEX 2080 0 02008 00000000 00000000 DPFZW 2081 0 02009 00000000 00000000 BLENDL 2082 0 02010 00000000 00000000 MOFCTL 2083 0 02011 00000000 00000000 SDMR1 2084 0 02012 00000000 00000000 SDMR2 2085 0 02013 00000000 00000000 RTCURR 2086 753 7532014 00000000 00000000 TDPLD 2087 0 02200 01000000 01000000 MCNFB 2088 0 02209 00010000 00010000 BLBSL 2089 0 02210 00000100 00000100 ROBSTL 2090 0 02211 00001000 00001000 ACCSPL 2091 0 02300 10000110 10000110 ADFF1 2092 0 02301 00000000 00000000 VMPK3V 2093 0 0

PK1 2040 494 494 BLCMP2 2094 0 0PK2 2041 -1949 -1352 AHDRTL 2095 0 0PK3 2042 -2943 -2943 RADUSL 2096 0 0

PK1V 2043 415 415 SMCNT 2097 0 0PK2V 2044 -3713 -3713 DEPVPL 2098 0 0PK3V 2045 0 0 ONEPSL 2099 400 400PK4V 2046 -8235 -8235 INPA1 2100 0 0POA1 2047 2271 2271 INPA2 2101 0 0

BLCMP 2048 0 0 DBLIM 2102 0 0DPFMX 2049 0 0 ABVOF 2103 0 0POK1 2050 956 956 ABTSH 2104 0 0POK2 2051 510 510 TRQCST 2105 8080 8080

RESERV 2052 0 0 LP24PA 2106 0 0PPMAX 2053 21 21 VLGOVR 2107 0 0PDDP 2054 1894 1894 RESERV 2108 0 0

PHYST 2055 319 319 BELLTC 2109 0 0EMFCMP 2056 0 0 MGSTCM 2110 1281 1281

PVPA 2057 0 0 DETQLM 2111 1535 0PALPH 2058 0 0 AMRDML 2112 0 0PPBAS 2059 0 0 NFILT 2113 0 0TQLIM 2060 7282 7282 NINTCT 2127 0 0

EMFLMT 2061 0 0 MFWKCE 2128 16776 0POVC1 2062 32743 32743 MFWKBL 2129 14 0POVC2 2063 308 308 LP2GP 2130 0 0

TGALMLV 2064 4 4 LP4GP 2131 0 0POVCLMT 2065 903 903 LP6GP 2132 0 0PK2VAUX 2066 0 0 PHDLY1 2133 0 0

FILTER 2067 0 0 PHDLY2 2134 0 0FALPH 2068 0 0 DGCSMM 2159 0 0VFFLT 2069 0 0 TRQCUP 2160 0 0ERBLM 2070 0 0 OVCSTP 2161 120 120PBLCT 2071 0 0 POVC21 2162 0 0

SFCCML 2072 0 0 POVC22 2163 0 0PSPTL 2073 0 0 POVCLMT2 2164 0 0AALPH 2074 20480 20480 MAXCRT 2165 85 85MODEL 2075 0 0

B-65332EN/02 APPENDIX A.PARAMETERS

- 139 -

A.2 PARAMETERS FOR DiS800/250


*: NC means No Cooling

• In case of the Liquid Cooling system, please change the parameters as follows. 200V system POVC1 (N2062 (N1877)): 32713 → 32529, POVC2 (N2063 (N1878)): 690 → 2989 POVCLMT (N2065 (N1893)): 1200→ 4801, RTCURR (N2086 (N1979)): 868 → 1737 OVCSTP (N2161 (N1784)): 0 → 107 400V system POVC1 (N2062 (N1877)): 32713 → 32529, OVC2 (N2063 (N1878)): 690 → 2989 POVCLMT (N2065 (N1893)): 948→ 3793, RTCURR (N2086 (N1979)): 772 → 1544

パラメータ名

FS30/31/32iFS16/18/21iPMi 0iC,D

DiS800/250αiSV160

NC

DiS800/250αiSV180HV

NCパラメータ名

FS30/31/32iFS16/18/21iPMi 0iC,D

DiS800/250αiSV160

NC

DiS800/250αiSV180HV

NC2003 00001000 00001000 WKAC 2076 0 02004 00000011 00000011 OSCTPL 2077 0 02005 00000000 00000000 PDPCH 2078 0 02006 00000000 00000000 PDPCL 2079 0 02007 00000000 00000000 DPFEX 2080 0 02008 00000000 00000000 DPFZW 2081 0 02009 00000000 00000000 BLENDL 2082 0 02010 00000000 00000000 MOFCTL 2083 0 02011 00000000 00000000 SDMR1 2084 0 02012 00000000 00000000 SDMR2 2085 0 02013 00001000 00001000 RTCURR 2086 868 7722014 00001000 00001000 TDPLD 2087 0 02200 01000000 01000000 MCNFB 2088 0 02209 00010000 00010000 BLBSL 2089 0 02210 00000100 00000100 ROBSTL 2090 0 02211 00000000 00000000 ACCSPL 2091 0 02300 10000100 10000100 ADFF1 2092 0 02301 00000000 00000000 VMPK3V 2093 0 0

PK1 2040 738 496 BLCMP2 2094 0 0PK2 2041 -2500 -1588 AHDRTL 2095 0 0PK3 2042 -2996 -2996 RADUSL 2096 0 0

PK1V 2043 386 343 SMCNT 2097 0 0PK2V 2044 -3461 -3076 DEPVPL 2098 0 0PK3V 2045 0 0 ONEPSL 2099 400 400PK4V 2046 -8235 -8235 INPA1 2100 0 0POA1 2047 2437 2742 INPA2 2101 0 0

BLCMP 2048 0 0 DBLIM 2102 0 0DPFMX 2049 0 0 ABVOF 2103 0 0POK1 2050 956 956 ABTSH 2104 0 0POK2 2051 510 510 TRQCST 2105 16519 18584

RESERV 2052 0 0 LP24PA 2106 0 0PPMAX 2053 21 21 VLGOVR 2107 0 0PDDP 2054 1894 1894 RESERV 2108 0 0PHYST 2055 319 319 BELLTC 2109 0 0

EMFCMP 2056 0 0 MGSTCM 2110 0 0PVPA 2057 0 0 DETQLM 2111 0 0

PALPH 2058 0 0 AMRDML 2112 0 0PPBAS 2059 0 0 NFILT 2113 0 0TQLIM 2060 5648 5020 NINTCT 2127 0 0

EMFLMT 2061 0 0 MFWKCE 2128 0 0POVC1 2062 32713 32713 MFWKBL 2129 0 0POVC2 2063 690 690 LP2GP 2130 0 0

TGALMLV 2064 4 4 LP4GP 2131 0 0POVCLMT 2065 1200 948 LP6GP 2132 0 0PK2VAUX 2066 0 0 PHDLY1 2133 0 0

FILTER 2067 0 0 PHDLY2 2134 0 0FALPH 2068 0 0 DGCSMM 2159 0 0VFFLT 2069 0 0 TRQCUP 2160 0 0ERBLM 2070 0 0 OVCSTP 2161 0 0PBLCT 2071 0 0 POVC21 2162 0 0

SFCCML 2072 0 0 POVC22 2163 0 0PSPTL 2073 0 0 POVCLMT2 2164 0 0AALPH 2074 0 0 MAXCRT 2165 165 185MODEL 2075 0 0

Name Name

B.CONNECTORS APPENDIX B-65332EN/02

- 140 -

B CONNECTORS

B.1 CONNECTOR C1 Select connector C1 from the table below.

Connection type

Manufacture

Connector type

Connector manufacturer type

Terminal manufacturer

type

Connector kit FANUC specification

Straight plug JN2DS10SL ( is ”1” or ”2”; Note 1)

A06B-6114-K204#S (terminal included)

Japan Aviation

Electronics Industry Angle plug

JN2FS10SL ( is ”1” or ”2”; Note 1)

JN1-22-22S A06B-6114-K204#E (terminal included)

Straight plug HR34B-12WP-10SC ( is ”A” or ”B”; Note 2) ---------------------------

Crimp type

Hirose Electric

Angle plug HR34B-12WLP-10SC ( is ”A” or ”B”; Note 2)

HR34B-SC1 ---------------------------

Straight plug HR34B-12WP-10S ( is ”A” or ”B”; Note 2) A06B-6114-K205#S

Solder type Hirose Electric

Angle plug HR34B-12WLP-10SC ( is ”A” or ”B”; Note 2)

-------------- A06B-6114-K205#E

NOTE 1 For the portion, make a selection from the outside diameter of the cable

sheath. 1: Compatible cable O.D. φ5.7 to φ7.3 2: Compatible cable O.D. φ6.5 to φ8.0

2 For the portion, make a selection from the outside diameter of the cable theath. A: Compatible cable O.D. φ5.7 to φ7.3 B: Compatible cable O.D. φ6.5 to φ8.0

Jigs and tools specifically for the assembly of crimp connectors

Manufacture Manufacturer specification FANUC specification Applicable cable thickness

CT150-2-JN1-E A06B-6114-K201#JN1E21AWG(0.5mm2:20/0.18) 23AWG(0.3mm2) 25AWG(0.18mm2)

Japan Aviation Electronics

Industry CT150-2-JN1-D A06B-6114-K201#JN1D

20AWG(0.5mm2:104/0.08) 21AWG(0.5mm2:20/0.18) 25AWG(0.18mm2)

Tool for crimping terminal

Hirose Electric HT102/HR34B-1 ------------------- Japan Aviation

Electronics Industry

ET-JN1 A06B-6114-K201#JN1R ------------------------------- Tool for pulling terminal out

Hirose Electric RP6-SC-TP --------------------

NOTE Jigs and tools of each manufacturer are made specifically for the connectors of

that manufacturer.

B-65332EN/02 APPENDIX B.CONNECTORS

- 141 -


Connection type

Manufacturer

Connector type

Connector manufacturer

type

Compatible cable O.D.

Terminal manufacture

r type

Connector kit FANUC

specification JN1HS10PL1 φ5.7 to φ7.3 Tool for

crimping terminal

Japan Aviation

Electronics Industry

Relay JN1HS10PL2 φ6.5 to φ8.0

JN1-22-22P A06B-6114-K206 (terminal included)

NOTE Jigs and tools specifically for the assembly of connectors are the same as those

for connector C1. See Appendix B.1, "CONNECTOR C1," in this Part.


Connection type

Manufacturer

Connector type

Connector manufacturer type

Terminal manufacturer

type

Connector kit FANUC specification

Straight plug JN1DS10SL ( is ”1” or ”2”; Note 1)

A06B-6114-K200#S (terminal included)

Tool for crimping terminal

Japan Aviation

Electronics Industry Angle plug

JN1FS10SL ( is ”1” or ”2”; Note 1)

JN1-22-22S A06B-6114-K200#E (terminal included)

NOTE 1 For the portion, make a selection from the outside diameter of the cable

coating. 1: Compatible cable O.D. φ5.7 to φ7.3 2: Compatible cable O.D. φ6.5 to φ8.0

2 Jigs and tools specifically for the assembly of connectors are the same as those for connector C1. See Appendix B.1, "CONNECTOR C1," in this Part.

B-65332EN/02 INDEX

i-1

INDEX

<Number> 3RD PARTY ENCODER ..............................................52

<A> ABOSLUTE αiCZ SENSOR INSTALLATION .........100 ABSOLUTE αiCZ SENSOR..................................39,123 Absolute function of Absolute αiCZ Sensor (The notice for the mounting) ......................................101 Absolute Maximum Ratings...........................................39 ABSOLUTE ROTARY ENCODER SYSTEM .............57 Abstract ........................................................................100 ABSTRACT.................................................................123 ACCEPTANCE AND STORAGE............................... p-2 ADJUSTMENT OF THE PARAMETER AND THE PERFORMANCE CHECK .................................118 Applicable Absolute Rotary Encoder.............................57 Applicable Incremental Rotary Encoder ........................58 Arrangement of Setting Switches and Check Rounds..131 ASSEMBLY ..................................................................97 AUXILIARY BRAKE MEASURES .............................95 Available Rotary Encoders (1Vpp analog signal output) ............................................................................50

<B> BALNCE OF ROTOR ...................................................94 BLOCK DIAGRAM ....................................................130

<C> CAUTION.....................................................................s-3 CHECK METHOD OF AN OUTPUT SIGNAL .........125 Checking the Normal Operation of Cooling Systems ....92 CHECKING THERMOSTAT OPERATION ..............113 CNC SYSTEM REQUIREMENTS ...............................55 CONFORMANCE TO STANDARDS ..........................95 Connecting Information ...............................................119 Connecting Power Leads................................................76 CONNECTOR C1........................................................140 CONNECTOR C2........................................................141 CONNECTOR C3........................................................141 CONNECTORS ...........................................................140 CONSIDERATION OF ECCENTRICITY....................93 Coolant ...........................................................................92 Cooling Oil.....................................................................66

<D> DEFINITION OF WARNING, CAUTION, AND NOTE............................................................................s-1 Details of Connection of Cable K1 ................................83 Details of Connection of Cable K2 ................................84 Details of Connection of Cable K3 ................................85 Details of Connection of Cable K4 ................................86 Details of Connection of Cable K5 ................................87

Details of Connection of Cable K6 ................................89 Details of Setting Switch..............................................133 Dimensions about Installation of the Detection Ring...103 Dimensions on the Sensor Mounting Surface ..............102 DRIVING WITH MULTIPLE MOTORS......................59

<E> Example of Configuration .........................................57,58 Example of Selection .....................................................67 Extending Cable K2 .......................................................84 EXTERNAL COOLING UNIT SELECTION...............66 External dimensions ...................................................2450

<F> FEEDBACK CABLE CONNECTION ..........................82 FEEDBACK SENSOR..............................................39,73 For 3rd Party Rotary Encoders (That Support the FANUC Serial Interface)...................80 Function .........................................................................46

<G> GROUND LEAD CONNECTION ................................90

<H> HANDLING A ROTOR (CAUTIONS)....................... p-3 HANDLING THE MOTOR...........................................71 High-speed models..........................................13,22,37,65

<I> If Driving Multiple Motors.............................................81 If Using a 3rd Party Rotary Encoder (That Supports the FANUC Serial Interface) .................89 If Using the Absolute αiCZ Sensor...........................79,82 If Using the Synchronous Built-in Servo Motor Position Detection Circuit .........................................80,86 IN CASE OF CHECKING THE OUTPUT AMPLITUDE...............................................................128 In Case of the Absolute Encoder Using........................115 In Case of the Incremental Encoder Using...................115 INCREMENTAL ROTARY ENCODER SYSTEM......58 INDICATION OF WARNING ......................................96 Input Specification and the Example of Available Rotary Encoders .............................................................47 Input specifications ........................................................47 Installation Direction of Rotor .......................................97 Installation of the sensor head ......................................104 Installation Procedure.....................................................98 Internal Signals (A/B Signals, Z Signal) ........................48 Interpolation Error Learning ........................................124

<L> LIQUID COOLING .......................................................92

INDEX B-65332EN/02

i-2

<M> Magnetic Attraction Force .............................................98 MAGNETIC MATERIAL CLOSING TO COIL...........93 MAINTENANCE PARTS ...........................................127 Maximum Load Inertia...................................................64 MECHANICAL DESIGN..............................................74 Models in which both thermostats and thermistors are mounted..........................................................................38 Models in which only thermostats are mounted.............38 MOTOR AND POWER LEAD PROTECTION............91 MOTOR ASSEMBLY ...................................................97 MOTOR SELECTION...................................................61 MOUNTING MOTORS AND ENCODERS .................74 Mounting Position of DiS series Motor and Encoder ....78 Mounting Rigidity and Noise Protection........................74

<N> NAMEPLATE ATTACHMENT AND SERIAL NUMBER MANAGEMENT .........................................96 NAMES AND DRAWING NUMBERS........................39 NOTE..................................................................... s-4,124

<O> Operation by the Program ............................................117 OPERATION IN CASE OF MOVING THE SENSOR HEAD AFTER INITIAL POWER ON........................126 ORGANIZATION OF THIS MANUAL ..................... p-1 O-RING FOR COOLING JACKET...............................94 Overload Duty Characteristic.........................................62 Overview..............................................................3,66,107 OVERVIEW OF START-UP PROCEDURE ..............108

<P> Parameter (N2022) Setting of rotation direction ..........110 Parameter List ..............................................................121 Parameter Setting for the Trial Operation ....................117 PARAMETERS ...........................................................137 PARAMETERS FOR DiS400/250 ..............................138 PARAMETERS FOR DiS800/250 ..............................139 PHASE ADJUSTMENT BETWEEN THE MOTOR AND THE ENCODER.................................................115 Phase Adjustment By Pole Position Detection Function .......................................................................116 Phase relations between Z signal (PZ) and A/B signals .49 POLE POSITION DETECTION FUNCTION...............59 Power Cable ...................................................................37 POWER CABLE AND THERMOSTAT/ THERMISTOR CABLE SPECIFICATIONS................37 Power Lead Connection Check Method (1) (Connect the power cable with checking by oscilloscope) ..........112 Power Lead Connection Check Method (1) (If the rotation directions of the table, motor, and sensor are determined) ............................................................110 POWER SUPPLY MODULE (αiPS) SELECTION......65 PREFACE .................................................................... p-1 PROTECTION AGAINST DUST AND WATER.........95

<R> Reference Point of DiS series Motor and Encoder.........77 Required Data for Motor Selection ................................61 ROTARY ENCODER SELECTION .............................56 Rotation Direction of the Encoder (in the Case of the Absolute αiCZ Sensor) ..................110 Rotation Direction of the Motor and the Direction which the Power Cables are Pulled Out .......................110 Rotation Direction of the Table....................................109 Rotation Directions of the DiS Series Motor, Rotary Encoder, and Table.........................................................74 ROTOR ..........................................................................72 ROTOR AND STATOR FIXING..................................94 Rotor Fixing ...................................................................94

<S> SAFETY PRECAUTIONS ...........................................s-1 Selecting a Power Supply Module .................................65 SELECTION METHODS..............................................61 Sensor Head .................................................................124 SETTING SWITCHES AND CHECK ROUNDS .......131 Setting the Cable Length ................................................87 SHIPPING DATA........................................................119 Specification and Function.............................................46 SPECIFICATION LIST ...................................................7 Specifications ..............................................................5,40 Standard models ................................................7,14,37,64 STANDARD PARAMETER SETTING......................114 STATOR ........................................................................71 Stator Fixing...................................................................94 Surface for Centering .....................................................97 SYNCHRONOUS BUILT-IN SERVO MOTOR.........108 SYNCHRONOUS BUILT-IN SERVO MOTOR POSITION DETECTION CIRCUIT.......................46,130 Synchronous Built-in Servo Motor with thermistor .......79 Synchronous Built-in Servo Motor without thermistor ..79 SYSTEM CONFIGURATION.......................................55

<T> Temperature Detection.................................................124 TERMS USED IN THE SPECIFICATION LIST AND SPEED DIAGRAMS .......................................................5 THE ROTATION DIRECTION OF THE MOTOR, THE ENCODER AND THE TABLE ..........................109 THERMOSTAT CONNECTION ..................................78 Thermostat/Thermistor Cable.........................................38 TORQUE-VERSUS-SPEED DIAGRAMS AND OUTPUT-VERSUS-SPEED DIAGRAMS ....................14 TRIAL OPERATION...................................................117

<W> WARNING ...................................................................s-1

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* B - 6 5 3 3 2 E N / 0 2 *

Draw.

Title

New design A. Nishioka 10.04.26 01 PAGE

Absolute αiCZ Sensor (for SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series) / Addition of the function for detecting the disconnection of Sensor head

1 / 7 FANUC LTD. DescriptionDesign Date Edit

B-65332EN/02-01

H.Terashima

Absolute αiCZ Sensor (for SYNCHRONOUS BUILT-IN SERVO MOTOR DiS

series)/ Addition of the function for detecting the disconnection of sensor head

1. Type of applied technical documents

Title FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series

DESCRIPTIONS

Spec. No./Ver. B-65332EN/02

2. Summary of change

Group Name／Outline New・Add Correct・Del

Applicable Date

Basic Function

Optional Function

Unit

Maintenance Parts

Notice

Correction

Another Absolute αiCZ Sensor (for SYNCHRONOUS BUILT-IN

SERVO MOTOR DiS series)／Addition of the function for detecting the disconnection of sensor head

Add May. 2010

Draw.

Title




B-65332EN/02-01

H.Terashima

3. Outline For absolute αiCZ Sensor (for SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series), the specification of the detection circuit is changed for detecting the disconnection of Sensor head 2 during the CNC is power off, which detect the absolute position. By this changing of the specification, there is no change for the property of the sensor such as the external dimension and the installation, and for setting of parameters.

4. Application models This function applies to the αiCZ Sensor described in the following table.

Names and Specifications

Remarks Name Specification

Number of teeth Maximum speed

αiCZ Sensor 512A A860-2162-T411 512 3000min-1



NOTE αiCZ Sensor 768A is only applicable for limited rotation (Under +/-1 revolutions cumulatively).

5. Specification

The specification of Detection circuit is changed. This change makes the specification of maintenance parts changed. (The main specification and the maintenance parts specifications of Detection ring and Sensor heads are not changed.)

Specifications for the maintenance parts Main spec.

Parts spec. αiCZ Sensor 512A

A860-2162-T411 αiCZ Sensor 768A

A860-2162-T511 αiCZ Sensor 1024A

A860-2162-T611 Detection ring A860-2160-V901 A860-2160-V902 A860-2160-V903 Sensor head 1 A860-2162-V001 (Common) Sensor head 2 A860-2162-V012 (Common)

Detection circuit (before) A860-2162-V201 ⇒ (after) A860-2162-V203 (Common)

NOTE 1 In case of the old type Sensor head 2 (A860-2162-V011), the function for detecting the

disconnection of Sensor head is not available.

2 If using this function with extension cables, Cable K4 needs to be used as the extension cable

for Sensor head 2. For the details of Cable K4, refer to Section 2.3 in Chapter III in FANUC

SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series DESCRIPTIONS B-65332EN/02;

“FEEDBACK CABLE CONNECTION”. This function cannot be used when Cable K3 is used as

the extension cable for Sensor head 2.

3 Even if this function cannot be used for reasons that either item 1 or 2 described above is not

satisfied, the sensor can be used with invalidness of the function by the setting switch in the

detection circuit. For the details of the setting switch, see Section 8 in this document; “Setting

switch”.

Draw.

Title




B-65332EN/02-01

H.Terashima

6. Function for detecting the disconnection of Sensor head In case any disconnection is in sensor head cable with valid of this function, the alarm described in the following table is detected.

Alarm

State 1 State 2 No. Name

Remarks

In case that the sensor head cable of Sensor head 1 is disconnected. SV0366 PULSE MISS

(INT) During power on

In case that the sensor head cable of Sensor head 2 is disconnected. SV0368 SERIAL DATA

ERROR (INT)

In case that the CNC is next turned on after the sensor head cable of Sensor head 1 is disconnected.

SV0366 PULSE MISS (INT)

In case that the CNC is next turned on after the sensor head cable of Sensor head 2 is disconnected.

SV0368 SERIAL DATA ERROR (INT) In the backup status

(during power off)

In case that the CNC is next turned on after the connector on the sensor head cable of Sensor head 2 is reconnected.

DS0306 APC ALARM:

BATTERY VOLTAGE 0

NOTE 3

NOTE 1 In case this function is invalid, a part of the alarms differ from that described in the above table. For

the details of the alarm in case that this function is invalid, refer to Appendix A in this document;

“Alarms and the cause concerning αiCZ Sensor (for SYNCHRONOUS BUILT-IN SERVO MOTOR

DiS series)”.

2 Even if the connector on the sensor head cable of Sensor head 1 is reconnected during backup

status, no alarm is detected when the CNC is next turned on, because the shift in the position is

not occurred.

3 In case that the connector on the sensor head cable of Sensor head 2 is reconnected, the

reference position return operation must be performed again according to the operation described

in Section 9 in this document; “Initialize Operation of Detection circuit”.

The sensor head cable of Sensor head 1

αiSV

FSSB

CNC

FANUC Serial I/F

Sensor head 1

Sensor head 2

Absolute

αiCZ sensor

Detectioncircuit

The sensor head cable of Sensor head 2

Thermostat/Thermistor lead

Draw.

Title




B-65332EN/02-01

H.Terashima

7. Connection specification Block diagram of connection <If using this function with extension cables> If using this function with extension cables, Cable K4 needs to be used as the extension cable for Sensor head 2.

NOTE 1 For the details of Cable K1 to K4, see Section 2.3 in Chapter III in FANUC SYNCHRONOUS

BUILT-IN SERVO MOTOR DiS series DESCRIPTIONS B-65332EN/02; “FEEDBACK CABLE

CONNECTION”.

2 Distinguish the extension cables between Cable K3 and Cable K4.

3 This function cannot be used when Cable K3 is used as the extension cable for Sensor head 2.

The sensor can be used by invalidness of the function by the setting switch in the detection circuit.

See Section 8 in this document for details, “Setting switch”.

αiSV

FSSB

CNC

FANUC Serial I/F

OUT1 IN1

IN2K1

Sensor head 1

Sensor head 2

Detectioncircuit

Synchronous Built-in

Servo Motor DiS series

K2

IN3

Detection ring

Absolute

αiCZ Sensor

FSSB

CNC FANUC

Serial I/F OUT1 IN1

IN2K1

Approx. 0.4m

Sensor cable Approx. 0.8m

Extension cable 4m or less

K3

K4 Detection

circuit

IN3

αiSV K2 extension

Sensor head 1

Sensor head 2

Detection ring

Absolute

αiCZ Sensor

Synchronous Built-in

Servo Motor DiS series

Draw.

Title




B-65332EN/02-01

H.Terashima

8. Setting switch If using this function, the following conditions should be satisfied. Even if this function cannot be used for reasons that any one of the following conditions is not satisfied, the sensor could be used by invalidness of the function by the setting switch in the detection circuit. [The conditions for the application of this function] Condition 1: The present specification of Sensor head 2, A860-2162-V012, is necessary.

(This function cannot be used with the old specification of Sensor head 2, A860-2162-V011). Condition 2: If using this function with extension cables, Cable K4 needs to be used as the extension cable

for Sensor head 2. This function cannot be used when Cable K3 is used as the extension cable for Sensor head 2.

[Setting switch]

*Both 1 and 2 of SW1 are set to A at shipment

A Valid 1

B Invalid Setting switch SW1

2 Not used

IN1

IN2

OUT1

Draw.

Title




B-65332EN/02-01

H.Terashima

9. Initialize Operation of Detection circuit

Whenever parts of the sensor (Sensor head, Detection ring, or Detection circuit) is replaced, or any sensor head is moved after initial power ON, initialize operation of the detection circuit is necessary according to the operation is shown below. When the initialize operation was done correctly, APC ALARM: BATTERY VOLTAGE 0 is issued. After the alarm was issued, the reference position return operation becomes necessary again.

Start operation

Remove Cable K1 from Connector OUT1.

Remove Connector IN2 of Sensor head 2

Switch the SW1 to “Valid” once and switchto ”Invalid” again. (Refer to NOTE)

Reconnect Connector IN2.

Reconnect Cable K1.

A860-2162-V203

A860-2162-V201

Check the setting of setting switch SW 1

(Refer to NOTE)

“Invalid” setting

“Valid” setting

Perform the operation described in Section 3.4 in ChapterIV in FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series DESCRIPTIONS B-65332EN/02; “Operation in case of moving the sensor head after initial power ON”.

Detection circuit

K1 OUT1 IN1

IN2

To αiSV To Sensor head 1 To Thermostat/Thermistor To Sensor head 2

The alarm is not issued

Check that APC ALARM: BATTERY VOLTAGE 0

is issued.

NOTE 1 See Section 8 “Setting switch” for the SW1. 2 In case the initialize operation of detection circuit is

necessary when A860-2162-V203 is used with “Valid” setting of SW1, the operation is unnecessary, which is needed when A860-2162-V201 is used, that Connector IN2 is connected to Connector OUT1 and it is left for 10 seconds.

Check the specification of the detection circuit

The alarm is issued

Perform reference position return operation

IN3

Draw.

Title




B-65332EN/02-01

H.Terashima

Appendix A. Alarms and the causes concerning αiCZ Sensor (for SYNCHRONOUS BUILT-IN SERVO MOTOR

DiS series) with invalid setting of the function for detecting the disconnection of sensor head

Alarm No. Name Description Cause

SV0364

SOFT PHASE ALARM

(INT)

An abnormal condition develops in the data from the sensor. (Speed variation comes to more than the prescriptions.)

- The communication data was disturbed. - The signal in the separate detector was disturbed.

SV0366 PULSE MISS (INT)

An abnormal condition develops in the signal of the sensor.

- The gap between the sensor head and the detection ring was large. (A/B signal was small.)

- The sensor head signal was broken. (A/B signal was small.)

- The runout of the shaft in which the sensor ring was mounted was large. (The signal phase difference between sensor head 1 and sensor head 2 became out of the prescribed value, compared with the signal phase difference at power on.)

- The detection circuit was broken.

SV0367 COUNT MISS (INT)

A count error occurred in the sensor. - The signal in the sensor detector was disturbed.

SV0368

SERIAL DATA

ERROR (INT)

The communication data from the sensor cannot be received.

- The feedback cable was broken. - The connector of the feedback cable was not

connected correctly.

SV0369

DATA TRANS. ERROR

(INT)

An abnormal condition develops in the data from the sensor. (CRC error *)

- The communication data was disturbed.

* CRC: Cyclic Redundancy Check

TitleFANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series DESCRIPTIONS

01 10.08.12 T. Senoo Newly designed Draw. B-65332EN/02-02

Ed. Date Design Description FANUC LTD. PAGE 1/103

FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series DESCRIPTIONS

1. Type of applied technical documents

Name FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR

DiS series DESCRIPTIONS

Spec. No／Edition B-65332EN/02

2. Summary of change

Group Name/Outline New, Add Correct, Delete

Applicable Date

Basic Function

SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series DESCRIPTIONS / Add SYNCHRONOUS BUILT-IN SERVO MOTOR DiS 15/1000, DiS 60/400, DiS 70/300, DiS 150/300,

DiS 200/300, DiS 250/250, DiS 500/250, DiS 1000/200,

DiS 1500/100, DiS 2000/100, DiS 2000/150, DiS 5000/50.

Add August, 2010

Optional Function

Unit

Maintenance Parts

Notice

Correction

Another

M.Aochi




3. Required condition of CNC system for added SYNCHRONOUS BUILT-IN SERVO MOTOR

[CNC] Series 30i/31i/32i

Series 0i-D

[Servo Software series and editions] (Series 30i, 31i, 32i)

Series 90E4 / 04.0 and subsequent editions

Series 90E1 / 04.0 and subsequent editions

(Series 0i-D)

Series 90C8 / 01.0 editions (scheduled) (standard)

Series 90E8 / 01.0 editions (scheduled) (T series, 2-path)

[Servo amplifier] An amplifier for SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series is limited to “Servo amplifier αi series”.

An applicable amplifier for each motor is showed in the following table.

Input power voltage: 200V Model Name (Specification) Applicable Amplifier (Specification)

DiS 15/1000 (A06B-0492-B100) αiSV 20 (A06B-6117-H103)

DiS 60/400 (A06B-0493-B200)

DiS 70/300 (A06B-0494-B100) αiSV 40 (A06B-6117-H104)

DiS 150/300 (A06B-0494-B300)

DiS 200/300 (A06B-0494-B400)

DiS 250/250 (A06B-0495-B200)

αiSV 80 (A06B-6117-H105)

DiS 500/250 (A06B-0495-B400)

DiS 1000/200 (A06B-0496-B300)

DiS 1500/100 (A06B-0497-B300)

DiS 2000/100 (A06B-0497-B400)

αiSV 160 (A06B-6117-H106)

DiS 2000/150 (A06B-0497-B490) αiSV 360 (A06B-6117-H109) ※ DiS 5000/50 (A06B-0488-B400) can be driven by only 400V power voltage.




Input power voltage: 400V

Model Name (Specification) Applicable Amplifier (Specification)

DiS 15/1000 (A06B-0492-B100) αiSV 20HV (A06B-6127-H103)

DiS 60/400 (A06B-0493-B200)

DiS 70/300 (A06B-0494-B100) αiSV 40HV (A06B-6127-H104)

DiS 150/300 (A06B-0494-B300)

DiS 200/300 (A06B-0494-B400)

DiS 250/250 (A06B-0495-B200)

αiSV 80HV (A06B-6127-H105)

DiS 500/250 (A06B-0495-B400)

DiS 1000/200 (A06B-0496-B300)

DiS 1500/100 (A06B-0497-B300)

DiS 2000/100 (A06B-0497-B400)

αiSV 180HV (A06B-6127-H106)

DiS 2000/150 (A06B-0497-B490) αiSV 360HV (A06B-6127-H109) DiS 5000/50 (A06B-0488-B400) αiSV 180HV (A06B-6127-H106)

[Encoder] FANUC recommends encoders the resolution per revolution of which is represented by a 2n number and that have FANUC serial interfaces.

Example） αiCZ 512A, αiCZ 768A, αiCZ 1024A (manufactured by FANUC)

RCN223F (manufactured by Heidenhain)

Encoders the resolution per revolution of which is not represented by a 2n number (for example, 1,800,000rev) connected to synchronous built-in servo motor position detection circuit MUST be used with the encoder parameters consulted by FANUC.

CAUTION • 2-axes or 3-axes amplifier can be also used, but there is the possibility that motor’s specification is limited.

Please refer to “12. Specification in the case of using 2-axes amplifier” to see the detail.




[Motor ID No.] Motor ID No. is showed in the following table.

But on August 2010 at present, Servo Software doesn’t have the parameter table applied to the Motor ID No.

It’s necessary for the customer to input the parameter according to “11. Parameter”.

Motor ID No. Model Name (Specification)

Input power voltage: 200V Input power voltage: 400V

DiS 15/1000 (A06B-0492-B100) 551 552

DiS 60/400 (A06B-0493-B200) 553 554

DiS 70/300 (A06B-0494-B100) 555 556

DiS 150/300 (A06B-0494-B300) 557 558

DiS 200/300 (A06B-0494-B400) 559 560

DiS 250/250 (A06B-0495-B200) 561 562

DiS 500/250 (A06B-0495-B400) 563 564

DiS 1000/200 (A06B-0496-B300) 565 566

DiS 1500/100 (A06B-0497-B300) 567 568

DiS 2000/100 (A06B-0497-B400) 569 570

DiS 2000/150 (A06B-0497-B490) 571 572

DiS 5000/50 (A06B-0488-B400) - 573

[Other] CNC to be used with DiS series motor must include option for “Pole position detection function”.




4. Characteristic Curve and Data Sheet The characteristic curves and data sheets given below describe the performance of each motor.

4-1. Characteristic Curve The characteristic curves representing the “speed-torque characteristics”, “speed-output characteristics” and “overload duty characteristic” are given for each motor model. [Speed-Torque Characteristic, Speed-Output Characteristic]

Speed-torque characteristics indicate the relationship between the torque and speed of the motor. Speed-output characteristics indicate the relationship between the output and speed of the motor.

In the continuous operating zone, the motor winding temperature is protected from exceeding the overheat temperatures (130°C) when the ambient temperature is 25°C (in the case of liquid cooling, the coolant temperature is 20°C), and an ideal sine current wave is present.

In the continuous operating zone, the motor can be used continuously with any combination of a speed and a torque, a speed and an output. In the intermittent operating zone outside the continuous operating zone, the motor is used intermittently using the overload duty characteristic.

Input power voltage may limit the intermittent operating zone.

[Overload Duty Characteristic] Please refer to “ II. 2.1.2 Overload Duty Characteristic” in SYNCHORONOUS BUILT-IN SERVO MOTOR DiS series DESCRIPTIONS (B-65332EN/02) to see the explanation of overload duty characteristic.

4-2. Data Sheet The data sheets give the values relating to the motor’s performance and others. The detail of the each item included in the data sheet is showed as follows.

[Cooling condition] “LC” means “Liquid Cooling” and “NC” means “No Cooling”. For liquid cooling, “oil cooling” is assumed. Please refer to “ II. 2.3.2 Cooling Oil” in SYNCHORONOUS BUILT-IN SERVO MOTOR DiS series DESCRIPTIONS (B-65332EN/02) to see the information of Oil recommended by FANUC. In addition, don’t adopt water what cause rust.

Cont. Rated torque and Stall torque can be generated only in the case where the housing is satisfied with the dimensions mentioned in “7-1. Housing Dimension in liquid cooling”, the coolant temperature is under 20°C, and flow rate is over 15L/min.

If the condition mentioned above is not satisfied, there is the possibility that motor’s specification is limited.

[Maximum speed] Maximum speed at which the motor can continuously operate

[Upper speed for the maximum torque] The speed range in which the motor can operate with the maximum torque

[Max. Rated torque] Maximum motor torque

[Cont. Rated torque] Maximum torque that allows the motor in rotating to operate continuously

If the value varies by the motor’s speed, its maximum value is described.

The values depend on the actual cooling conditions and thermal characteristics of machine. [Stall torque]

Maximum torque that allows the motor to operate continuously at 0[min-1]

The values depend on the actual cooling conditions and thermal characteristics of machine.




[Max. Rated current] Maximum effective current value that can be passed through the motor

[Cont. Rated current] Maximum effective current value that allows the motor in rotating to operate continuously

If the value varies by the motor’s speed, its maximum value is described.


[Stall current] Maximum effective current value that allows the motor to operate continuously at 0[min-1]


[Maximum intermittent output] Maximum output the motor can generate intermittently

Every motor has different speed at which the output is Maximum, so please confirm by “Speed-Output Characteristic”.

[Maximum continuous output] Maximum output the motor can generate continuously

Every motor has different speed at which the output is Maximum, so please confirm by “Speed-Output Characteristic”.


[Cooling IC code] Based on EN60034-6

[Required cooling capacity] The value is used in selecting a cooling unit.

Cont. Rated torque and Stall torque are guaranteed when the cooling condition is satisfied.

[Thermal time constant] This is a function of the initial rate of rise of winding temperature at rated current. It is defined as the time required to attain 63.2 percent of the final temperature rise.

[Torque constant] This is known as torque sensitivity and represents the torque developed per ampere of phase current.

This value is a motor-specific constant, and is calculated by the flux distribution and location of coils in the armature, and the dimensions of the motor.

[Number of poles] The number of the rotor’s magnets

This value affects the parameter about an encoder, so please confirm the value in inputting the motor’s operating parameter.

[Resistance] The resistance between terminal U and V

The resistance between terminal V and W, between terminal W and U are alike.

[Mass (Stator)] The mass of the stator

[Mass (Rotor)] The mass of the rotor




[Rotor inertia] The inertia of the rotor

[Max. current of amplifier] Maximum current of the applicable amplifier

The value may be different from Max. Rated current.

[Amplifier] The name of the applicable amplifier is described.

[For αiPS selection] Reference data for αiPS selection is not guaranteed data. Add this raw value when αiPS selection.

CAUTION • 2-axes or 3-axes amplifier can be also used, but there is the possibility that motor’s specification is limited.

Please refer to the chapter “12. Specification in the case of using 2-axes amplifier” to see the detail.




4-3. Characteristic Curve and Data Sheet of each model

DiS 15/1000 (A06B-0492-B100) Speed-Torque Characteristic, Speed-Output Characteristic

200V

400V

0

1

2

3

4

0 250 500 750 1000

Speed(min-1)

Out

put(k

W)

0

10

20

30

40

0 250 500 750 1000

Speed(min-1)

Torq

ue(N

m)

0

0.5

1

1.5

2

0 200 400 600

Speed(min-1)

Out

put(k

W)Intermittent operation


Continuous operation (NC)










NOTE)

• “LC” means “Liquid Cooling” and “NC” means “No Cooling”.

• Output indicates motor’s output and it is not data for αiPS selection.

0

10

20

30

40

0 200 400 600

Speed(min-1)

Torq

ue(N

m)




0%

10%

20%

30%

40%

50%60%

70%

80%

90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

DiS 15/1000 (A06B-0492-B100) Overload Characteristic

200V Liquid Cooling 200V No Cooling


NOTE)

• Overload Characteristic is calculated by the thermal characteristic of the motor in rotating. There is the possibility that allowed ON time becomes shorter at 0[min-1].

0%

10%

20%

30%

40%

50%60%

70%

80%

90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX0%

10%

20%30%

40%

50%

60%

70%80%

90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%

10%20%

30%

40%

50%60%

70%

80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX




DiS 15/1000 (A06B-0492-B100) Data Sheet

Model Items Unit

DiS 15/1000

Specification No. - A06B-0492-B100 Input power voltage V 200 400 Cooling condition - LC NC LC NC Maximum speed min-1 600 1000

Upper speed for the maximum torque min-1 400 1000

Max. 35 35 Rated torque

Cont. 16 8.7 15 8.7 Stall torque

Nm 13 8.7 13 8.7

Max. 14.1 14.1 Rated current

Cont. 5.8 3.1 5.6 3.1 Stall current

Arms 4.7 3.1 4.7 3.1

Maximum intermittent output 1.6 3.7 Maximum continuous output

kW 1.0 0.5 1.6 0.9

Cooling IC code - 9U7A7 0A8 9U7A7 0A8 Required cooling capacity W 500 - 450 -

Thermal time constant min. 1.6 14 1.6 14 Torque constant Nm/Arms 3.2 Number of poles Pole 16

Resistance U-V Ω 8.48±5％ Stator 6.0

Mass Rotor

kg 1.2


Amplifier (αiSV) - αiSV 20 αiSV 20HV For αiPS selection

Max. / Cont. kW 3.5/1.6 5.6/2.1

NOTE)

• Standard values at an ambient temperature of 25°C


• The values may vary depending on the ambient temperature, digital servo software, parameters, power supply voltage, amplifier specifications, and others.

• It is possible for the values to vary without notice.

• The detail of the each item is explained in “4-2. Data Sheet”.





200V

400V

0

1

2

3

4

5

6

0 100 200 300 400

Speed(min-1)

Out

put(k

W)

0

50

100

150

0 100 200 300 400

Speed(min-1)

Torq

ue(N

m)













NOTE)



0

50

100

150

0 50 100 150 200

Speed(min-1)

Torq

ue(N

m)

0

0.5

1

1.5

2

2.5

0 50 100 150 200

Speed(min-1)O

utpu

t(kW

)




0%

10%

20%

30%

40%

50%

60%

70%

80%

90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX0%

10%

20%

30%

40%

50%

60%

70%

80%

90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX




NOTE)


0%

10%

20%

30%

40%

50%

60%

70%

80%

90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX0%

10%

20%

30%

40%

50%

60%

70%

80%

90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX





Model Items Unit

DiS 60/400




Cont. 65 24 60 24 Stall torque

Nm 51 24 51 24



Arms 7.8 3.7 7.8 3.7


kW 1.4 0.5 2.5 1.0




Mass Rotor

kg 2.9



Max. / Cont. kW 5.2/2.8 8.1/3.7

NOTE)










200V

400V

0

1

2

3

4

5

0 100 200 300

Speed(min-1)

Out

put(k

W)

0

0.5

1

1.5

2

0 50 100 150

Speed(min-1)O

utpu

t(kW

)













NOTE)



0

50

100

150

200

0 50 100 150

Speed(min-1)

Torq

ue(N

m)

0

50

100

150

200

0 100 200 300

Speed(min-1)

Torq

ue(N

m)




0%

10%

20%

30%

40%

50%60%

70%

80%

90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX0%

10%

20%

30%

40%

50%

60%

70%

80%

90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX




NOTE)


0%

10%

20%

30%

40%

50%

60%

70%

80%

90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX0%

10%

20%

30%

40%

50%

60%

70%

80%

90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX





Model Items Unit

DiS 70/300





Nm 62 35 62 35



Arms 7.8 4.3 7.8 4.3


kW 1.2 0.5 2.3 1.1




Mass Rotor

kg 3.7



Max. / Cont. kW 5.9/2.2 8.4/3.3

NOTE)










200V

400V

0

2

4

6

8

10

12

0 100 200 300

Speed(min-1)

Out

put(k

W)













NOTE)



0

100

200

300

400

0 50 100 150

Speed(min-1)

Torq

ue(N

m)

0

1

2

3

4

5

0 50 100 150

Speed(min-1)O

utpu

t(kW

)

0

100

200

300

400

0 100 200 300

Speed(min-1)

Torq

ue(N

m)




0%

10%20%

30%

40%

50%60%

70%

80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX0%

10%

20%

30%

40%

50%

60%

70%

80%

90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX




NOTE)


0%

10%

20%

30%

40%

50%

60%

70%

80%

90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX0%

10%20%

30%

40%

50%60%

70%

80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX





Model Items Unit

DiS 150/300





Nm 150 73 150 73



Arms 16.7 8.2 16.7 8.2


kW 2.7 1.1 5.0 2.3


Thermal time constant min. 1.9 60 1.9 60 Torque constant Nm/Arms 10 Number of poles Pole 32

Resistance U-V Ω 2.59±5％ Stator 14

Mass Rotor

kg 6.9



Max. / Cont. kW 11.8/4.6 17.7/6.8

NOTE)










200V

400V

0

1

2

3

4

5

0 50 100 150

Speed(min-1)O

utpu

t(kW

)

0

2

4

6

8

10

12

0 100 200 300

Speed(min-1)

Out

put(k

W)













NOTE)



0

100

200

300

400

500

600

0 50 100 150

Speed(min-1)

Torq

ue(N

m)

0

100

200

300

400

500

600

0 100 200 300

Speed(min-1)

Torq

ue(N

m)




0%

10%20%

30%

40%

50%60%

70%

80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX




NOTE)


0%10%

20%30%

40%50%

60%70%

80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%

10%20%

30%

40%

50%60%

70%

80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%

10%20%

30%40%

50%

60%70%

80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX





Model Items Unit

DiS 200/300





Nm 210 98 210 98



Arms 16.7 7.6 16.7 7.6


kW 3.8 1.5 7.2 3.1




Mass Rotor

kg 9.4



Max. / Cont. kW 13.4/6.2 19.2/9.5

NOTE)










200V

400V

0

2

4

6

8

10

12

14

0 50 100 150 200 250

Speed(min-1)

Out

put(k

W)

0

100

200

300

400

500

600

700

0 50 100 150 200 250

Speed(min-1)

Torq

ue(N

m)

0

1

2

3

4

5

6

7

0 25 50 75 100 125

Speed(min-1)O

utpu

t(kW

)













NOTE)



0

100

200

300

400

500

600

700

0 25 50 75 100 125

Speed(min-1)

Torq

ue(N

m)







NOTE)


0%

10%20%

30%40%

50%

60%70%

80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%

10%20%

30%40%

50%

60%70%

80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%

20%30%40%50%

60%70%80%

90%100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%

20%30%40%50%

60%70%80%

90%100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX





Model Items Unit

DiS 250/250





Nm 220 120 215 120



Arms 18.6 10.1 18.2 10.1


kW 2.9 1.6 5.6 3.1




Mass Rotor

kg 8.6



Max. / Cont. kW 13.6/4.5 21.4/7.0

NOTE)










200V

400V

0

5

10

15

20

25

30

0 50 100 150 200 250

Speed(min-1)

Out

put(k

W)

0

200

400

600

800

1000

1200

1400

0 50 100 150 200 250

Speed(min-1)

Torq

ue(N

m)













NOTE)



0

200

400

600

800

1000

1200

1400

0 25 50 75 100 125

Speed(min-1)

Torq

ue(N

m)

0

2

4

6

8

10

12

14

0 25 50 75 100 125

Speed(min-1)O

utpu

t(kW

)







NOTE)


0%10%20%

30%40%50%60%70%

80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%

20%30%40%50%

60%70%80%

90%100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%

20%30%40%50%

60%70%80%

90%100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%

20%30%40%50%

60%70%80%

90%100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX





Model Items Unit

DiS 500/250





Nm 450 200 450 200

Max. 113 113 Rated current


Arms 39.0 17.6 39.0 17.6


kW 6.8 2.7 13.6 5.5




Mass Rotor

kg 15



Max. / Cont. kW 24.4/10.5 40.1/17.3

NOTE)










200V

400V

0

5

10

15

20

25

0 50 100 150 200

Speed(min-1)

Out

put(k

W)

0

2

4

6

8

10

12

0 25 50 75 100

Speed(min-1)O

utpu

t(kW

)

0

500

1000

1500

2000

0 25 50 75 100

Speed(min-1)

Torq

ue(N

m)













NOTE)



0

500

1000

1500

2000

0 50 100 150 200

Speed(min-1)

Torq

ue(N

m)







NOTE)


0%10%20%

30%40%50%60%70%

80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%20%

30%40%50%60%70%

80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%

20%30%40%50%

60%70%80%

90%100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%

20%30%40%50%

60%70%80%

90%100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX





Model Items Unit

DiS 1000/200





Nm 840 470 910 470



Arms 45.0 24.6 47.4 24.6


kW 8.8 4.9 20.9 9.8




Mass Rotor

kg 20



Max. / Cont. kW 21.7/12.0 33.7/25.4

NOTE)










200V

400V

0

5

10

15

20

25

0 25 50 75 100

Speed(min-1)

Out

put(k

W)

0

500

1000

1500

2000

2500

3000

0 25 50 75 100

Speed(min-1)

Torq

ue(N

m)













NOTE)



0

500

1000

1500

2000

2500

3000

0 10 20 30 40 50

Speed(min-1)

Torq

ue(N

m)

0

2

4

6

8

10

0 10 20 30 40 50

Speed(min-1)O

utpu

t(kW

)







NOTE)


0%10%20%30%40%50%60%70%80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%20%30%40%50%60%70%80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%

20%30%40%50%

60%70%80%

90%100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%

20%30%40%50%

60%70%80%

90%100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX





Model Items Unit

DiS 1500/100





Nm 1300 750 1300 750



Arms 42.4 24.0 42.4 24.0


kW 7.3 3.9 15.7 7.9




Mass Rotor

kg 26



Max. / Cont. kW 22.1/11.7 33.8/20.7

NOTE)










200V

400V

0

5

10

15

20

25

0 25 50 75 100

Speed(min-1)

Out

put(k

W)

0

1000

2000

3000

4000

5000

0 10 20 30 40 50

Speed(min-1)

Torq

ue(N

m)

0

1000

2000

3000

4000

5000

0 25 50 75 100

Speed(min-1)

Torq

ue(N

m)

0

2

4

6

8

10

0 10 20 30 40 50

Speed(min-1)O

utpu

t(kW

)













NOTE)









NOTE)


0%10%20%30%40%50%60%70%80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX0%

10%20%30%40%50%60%70%80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%20%30%40%50%60%70%80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX0%

10%20%30%40%50%60%70%80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX





Model Items Unit

DiS 2000/100





Nm 2000 940 2000 940



Arms 44.0 20.3 44.0 20.3


kW 8.1 4.7 19.2 9.4




Mass Rotor

kg 35



Max. / Cont. kW 27.7/14.1 38.2/25.8

NOTE)










200V

400V

0

5

10

15

20

25

0 25 50 75

Speed(min-1)O

utpu

t(kW

)

0

1000

2000

3000

4000

5000

0 25 50 75

Speed(min-1)

Torq

ue(N

m)













NOTE)



0

1000

2000

3000

4000

5000

0 50 100 150

Speed(min-1)

Torq

ue(N

m)

0

10

20

30

40

50

0 50 100 150

Speed(min-1)

Out

put(k

W)







NOTE)


0%10%

20%30%

40%50%60%

70%80%

90%100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX0%

10%

20%30%

40%50%60%

70%80%

90%100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%

20%30%

40%50%60%

70%80%

90%100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX0%

10%

20%30%

40%50%60%

70%80%

90%100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX





Model Items Unit

DiS 2000/150





Nm 2000 920 2000 920



Arms 87.8 40.6 87.8 40.6


kW 17.3 7.2 34.6 14.5


Thermal time constant min. 6 120 6 120 Torque constant Nm/Arms 26 Number of poles Pole 88


Mass Rotor

kg 35



Max. / Cont. kW 38.3/24.1 59.3/41.3

NOTE)










400V



NOTE)


0

5

10

15

20

0 10 20 30 40 50

Speed(min-1)O

utpu

t(kW

)

0

2000

4000

6000

8000

10000

12000

0 10 20 30 40 50

Speed(min-1)

Torq

ue(N

m)







NOTE)



0%10%

20%30%

40%50%

60%70%

80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX0%

10%

20%30%

40%50%60%

70%80%

90%100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX





Model

Items Unit DiS 5000/50

Specification No. - A06B-0488-B400 Input power voltage V 400 Cooling condition - LC NC Maximum speed min-1 50

Upper speed for the maximum torque min-1 10

Max. 10000 Rated torque

Cont. 4500 2000 Stall torque

Nm 4100 2000

Max. 127 Rated current

Cont. 40.7 17.8 Stall current

Arms 37.2 17.8

Maximum intermittent output 18.8 Maximum continuous output

kW 17.7 10.5

Cooling IC code - 9U7A7 0A8 Required cooling capacity W 6800 -

Thermal time constant min. 7.3 180 Torque constant Nm/Arms 126 Number of poles Pole 128


Mass Rotor

kg 70

Rotor inertia kgm2 6.87 Max. current of amplifier Ap 180

Amplifier (αiSV) - αiSV 180HV For αiPS selection

Max. / Cont. kW 75.5/27.0

NOTE)




• It is possible for the values to vary without notice. • The detail of the each item is explained in “4-2. Data Sheet”.




5. Other Specification

[Power Cable]

Conductor size

Model Name (Specification) Color Cross-section(mm2)

AWG Size

Gauge

Outer Diameter

Min. Bending Radius (mm)

DiS 15/1000 (A06B-0492-B100)

DiS 60/400 (A06B-0493-B200)

DiS 70/300 (A06B-0494-B100)

DiS 150/300 (A06B-0494-B300)

DiS 200/300 (A06B-0494-B400)

Phase

U, V, W

Red, White,

Black 2 14AWG ∅2.6~∅3.5 21.0

DiS 250/250 (A06B-0495-B200)

DiS 500/250 (A06B-0495-B400) Phase

U, V, W

Red, White,

Black 5.5 10AWG ∅4.2~∅5.1 30.6

DiS 1000/200 (A06B-0496-B300)

DiS 1500/100 (A06B-0497-B300)

DiS 2000/100 (A06B-0497-B400)

Phase

U, V, W

Red, White,

Black 8 8AWG ∅4.9~∅5.8 34.8

DiS 2000/150 (A06B-0497-B490) Phase

U, V, W

Red, White,

Black 14 6AWG ∅6.2~∅7.4 44.4

DiS 5000/50 (A06B-0488-B400) Phase

U, V, W

Red, White,

Black 8 8AWG ∅4.9~∅5.8 34.8

Power cable is about 2m long.

[Signal Cable]

Conductor size

Model Name (Specification) Color Cross-section(mm2)

AWG Size

Gauge

Outer Diameter

Min. Bending Radius (mm)

Sheath Black - - ∅5.2 31.2

ThermostatWhite /

Red

DiS 15/1000 (A06B-0492-B100)

DiS 60/400 (A06B-0493-B200)

DiS 70/300 (A06B-0494-B100)

DiS 150/300 (A06B-0494-B300)

DiS 200/300 (A06B-0494-B400)

DiS 250/250 (A06B-0495-B200)

DiS 500/250 (A06B-0495-B400)

DiS 1000/200 (A06B-0496-B300)

DiS 1500/100 (A06B-0497-B300)

DiS 2000/100 (A06B-0497-B400)

DiS 2000/150 (A06B-0497-B490)

DiS 5000/50 (A06B-0488-B400)

ThermistorBlue /

Brown

0.2 24AWG ∅1.33 7.98

Signal cable is about 2m long.




[Maximum Load Inertia] Maximum load inertia is limited from momentum energy of axis and the capacity of servo amplifier. Load inertia should not exceed the limitation shown below.


Model Name (Specification) Maximum Speed[min-1]

Maximum Load Inertia

[kgm2](*) Maximum Inertia

Ratio

DiS 15/1000 (A06B-0492-B100) 600 0.19 159

DiS 60/400 (A06B-0493-B200) 200 11.17 1595

DiS 70/300 (A06B-0494-B100) 150 18.32 1018

DiS 150/200 (A06B-0494-B300) 150 43.51 1318

DiS 200/300 (A06B-0494-B400) 150 62.98 1400

DiS 250/250 (A06B-0495-B200) 125 82.41 841

DiS 500/250 (A06B-0495-B400) 125 164.84 970

DiS 1000/200 (A06B-0496-B300) 100 251.00 474

DiS 1500/100 (A06B-0497-B300) 50 961.38 808

DiS 2000/100 (A06B-0497-B400) 50 1310.53 829

DiS 2000/150 (A06B-0497-B490) 75 895.86 567 * without Rotor Inertia


Model Name (Specification) Maximum

Speed [min-1]

Maximum Load Inertia

[kgm2](*) Maximum Inertia

Ratio

DiS 15/1000 (A06B-0492-B100) 1000 0.60 500

DiS 60/400 (A06B-0493-B200) 400 5.07 724

DiS 70/300 (A06B-0494-B100) 300 8.54 475

DiS 150/200 (A06B-0494-B300) 300 7.03 213

DiS 200/300 (A06B-0494-B400) 300 7.52 167

DiS 250/250 (A06B-0495-B200) 250 9.60 98

DiS 500/250 (A06B-0495-B400) 250 82.34 484

DiS 1000/200 (A06B-0496-B300) 200 162.76 307

DiS 1500/100 (A06B-0497-B300) 100 480.09 403

DiS 2000/100 (A06B-0497-B400) 100 685.97 434

DiS 2000/150 (A06B-0497-B490) 75 456.79 289

DiS 5000/50 (A06B-0488-B400) 50 3430.88 499 * without Rotor Inertia

In case that Inertia Ratio (Total Inertia / Rotor Inertia) is over 300, previously consult with FANUC.




NOTE This table is based on the operation status when the amplifiers given in the specification list are used, and does not

guarantee controllability. If the load inertia is large, and the rigidity of the connection between the motor and the load is

high, the velocity gain can be increased sufficiently for driving without any problems, but if the rigidity is low, the

velocity gain cannot be increased, possibly causing vibration.




8-M6Depth13(both sides)

1.5(Slit depth)

2

30(Slit width)

22.5°45°

80.

5mi

n. O121

O140

f8

O

2

30(Groove)

80 ±0.2

B

Detail of B：Groove for O-ring

184.8

O130

A

Detail of A:Cable output area

25

30

R5R

5

R5

R5

C1 C1

6. External Dimensions

Tolerances without individual indications must underlie JIS B 0405 general tolerances (m).

DiS 15/1000 (A06B-0492-B100)

[Stator Dimensions]




Coolant In

Coolant Out

17 ±1

30

30

The positive directionof the motor

[Rotor Dimensions]

[Assembly Dimensions]

8-φ6.6 Depth7.5M6 Depth10(both sides)

2-φ6.6 Depth7.5φ6H8 Depth12(both sides)

40H8

O

7.57.5

46

22.5°

O5545°





1.5(Slit depth)

2

30(Slit width)

22.5°45°

116.5

min. O

161

O

180

f8

O

2

50(Groove)

100 ±0.2

O170

B

Detail of B:Groove for O-ring

184.8

A


27

R5

R5

R5

R5

30

C1 C1

DiS 60/400 (A06B-0493-B200)

[Stator Dimensions]




Coolant In Coolant Out

30 30

17 ±1


8-φ9 Depth7.5M8 Depth15(both sides)


75H8

O

7.57.5

66

22.5°

O89

45°

[Rotor Dimensions]





B



O220

30(Slit width)

1.5(Slit depth)

2 2

162

.5min. O

211

O

230f8

O

184.8

80 ±0.2

30(Groove)

22.5°45°

A


30

29

R5 R

5

R5 R

5

C1 C1

DiS 70/300 (A06B-0494-B100)

[Stator Dimensions]




8-φ11 Depth7.5M10 Through(both sides)

2-φ6.6 Depth7.5φ6H8 Depth12(both sides)46

110H8

O

7.5 7.5

O131

22.5°45°

Coolant In

Coolant Out

17 ±1

30

30


[Rotor Dimensions]





B

Detail of B：Groove for O-ring

O220

30(Slit width) 1.5

(Slit depth)

2 2

162.5

min. O

211

O

230f8

O

184.8

120 ±0.2

70(Groove)


15°30°

A


29

30

R5 R

5

R5 R

5

C1 C1

DiS 150/300 (A06B-0494-B300)

[Stator Dimensions]





2-φ6.6 Depth7.5φ6H8 Depth12(both sides)86

110H8

O

7.5 7.5

O131

15°

30°


17 ±1

30 30The positive directionof the motor

[Rotor Dimensions]






O220

30(Slit width)

1.5(Slit depth)

2 2

11.25°22.5°

162.5

min

. O

211

O

230f8

O

150 ±0.2

100(Groove)

B


4.8 18

A


29

30

R5R

5

R5 R

5

C1 C1

DiS 200/300 (A06B-0494-B400)

[Stator Dimensions]





17 ±1


[Rotor Dimensions]




116

110H8

O

7.5 7.5

O131

11.25°22.5°





15°

30°

30(Slit width)

O300

1.5(Slit depth)

2 2

238.5

min. O

291

O

310

f8

O

50(Groove)

100 ±0.2

B


184.8

A


31

50R5 R

5

R 5 R 5

C1 C1

DiS 250/250 (A06B-0495-B200)

[Stator Dimensions]





17 ±1




66

7.5 7.5

185H8

O

O205

15°30°

[Rotor Dimensions]






7.5°

15°

30(Slit width)

O300

1.5(Slit depth)

2 2

238.5

min. O

291

O

310f8

O

100(Groove)

150 ±0.2

A


50

31

R5 R

5

R5 R

5

B


4.8 18

C1C1

DiS 500/250 (A06B-0495-B400)

[Stator Dimensions]





17 ±1




7.5°15°

116

7.5 7.5

185H8

O

O205

[Rotor Dimensions]





O436

30(Slit width)

15°

30°

130 ±0.2

70(Groove)

354.

5min

. O

425

O

455

f8

O

5 5

1.5(Slit depth)


B


7.5 19.5

A


R 5R 5

50R 5 R

5

45

C1 C1

DiS 1000/200 (A06B-0496-B300)

[Stator Dimensions]





19.5 ±1


16-φ14 Depth10M12 Depth20(both sides)

2-φ9 Depth10φ8H8 Depth16(both sides)

11.25°22.5°

O315

91

10 10

295H8

O

[Rotor Dimensions]





30(Slit width)

O544

15°

30°


A


50

R5 R

5

454.

5min

. O

531

O

565f8

O

5 5

70(Groove)

130 ±0.2

B


19.57.5

50

R5 R

5

1.5(Slit depth)

C1C1

DiS 1500/100 (A06B-0497-B300)

[Stator Dimensions]





35 35

19.5 ±1


O415

11.25°22.5°

91

10 10

395H8

O



[Rotor Dimensions]





30(Slit width)

O544


22.5°

11.25°

A


R5 R

5

50

50

R5 R

5

5 5

454

.5

min.

O

531

O

565f8

O

100(Groove)

160 ±0.2

B


19.57.5

1.5(Slit depth)

C1C1

DiS 2000/100 (A06B-0497-B400), DiS 2000/150 (A06B-0497-B490)

[Stator Dimensions]





35 35

19.5 ±1


O415

15°

7.5° 24-φ14 Depth10M12 Depth20(both sides)


121

10 10

395H8

O

[Rotor Dimensions]





30(Slit width)

O774


A


659.5

min. O

755

O

795

f8

O

5 5

100(Groove)

180 ±0.2

B


29.57.5

1.5(Slit depth)

22.5°

11.25° C1C1

φ10H8 Depth20(both sides)

R5R

5

R5 R

5

62

50

DiS 5000/50 (A06B-0488-B400)

[Stator Dimensions]




O616

590H8

O



2020

18°

9°

141


19.5 ±1

45 45


[Rotor Dimensions]






Housing internal

diam

eter

X

Housing

12max.O

Coolant In

Y

Detail of C : Coolant In

C

Chamfer

7. Housing Dimensions in liquid cooling and Applicable O-rings

7-1. Housing Dimensions in liquid cooling In the case of liquid cooling, input and output diameter of coolant should be satisfied as the following figure.

• Coolant output diameter is the same as input diameter. The position of Coolant Out may differ by model, so please confirm in “6. External Dimensions”.

• If the housing inside diameter and coolant input, output diameters are out of the dimensions in the figure, it is possible that coolant leak out.

• Chamfer the lead-in of the housing to prevent O-rings from being damaged.

Model Name (Specification) X Y

DiS 15/1000 (A06B-0492-B100) ∅140H8 30

DiS 60/400 (A06B-0493-B200) ∅180H8 30

DiS 70/300 (A06B-0494-B100) ∅230H8 30

DiS 150/300 (A06B-0494-B300) ∅230H8 30

DiS 200/300 (A06B-0494-B400) ∅230H8 30

DiS 250/250 (A06B-0495-B200) ∅310H8 30

DiS 500/250 (A06B-0495-B400) ∅310H8 30

DiS 1000/200 (A06B-0496-B300) ∅455H8 35

DiS 1500/100 (A06B-0497-B300) ∅565H8 35

DiS 2000/100 (A06B-0497-B400) ∅565H8 35

DiS 2000/150 (A06B-0497-B490) ∅565H8 35

DiS 5000/50 (A06B-0488-B400) ∅795H9 45




7-2. Applicable O-rings In the case of liquid cooling, 2 O-rings are necessary per one motor. Please prepare O-rings, as they are not attached to the motor.

Applicable O-rings are described in the following table. It is also possible to buy the O-rings from FANUC.

Model Name (Specification) Applicable O-rings Purchase Specification

DiS 15/1000 (A06B-0492-B100) AS568-252 4D A06B-0492-K002

DiS 60/400 (A06B-0493-B200) AS568-261 4D A06B-0493-K002

DiS 70/300 (A06B-0494-B100)

DiS 150/300 (A06B-0494-B300)

DiS 200/300 (A06B-0494-B400)

AS568-269 4D A06B-0494-K002

DiS 250/250 (A06B-0495-B200)

DiS 500/250 (A06B-0495-B400) AS568-278 4D A06B-0495-K002

DiS 1000/200 (A06B-0496-B300) JIS B2401 G445 4D A06B-0486-K002

DiS 1500/100 (A06B-0497-B300)

DiS 2000/100 (A06B-0497-B400)

DiS 2000/150 (A06B-0497-B490)

JIS B2401 G555 4D A06B-0487-K002

DiS 5000/50 (A06B-0488-B400) JIS B2401 G780 4D A06B-0488-K002




8. Consideration of Eccentricity Theoretically, if the stator and the rotor had no eccentricity, no magnetic attraction force works. But if they had eccentricity, magnetic attraction force works along the direction of eccentricity as shown below. Therefore, it is necessary to consider the capacity of bearing load etc. And also, the eccentricity sometimes makes the feed smoothness worse.

Stator

Rotor

Center of stator

Center of rotor

Eccentricity

0

200

400

600

800

1000

1200

1400

1600

1800

2000

0.00 0.02 0.04 0.06 0.08 0.10

Eccentricity [mm]

Mag

netic

attr

actio

n fo

rce

[N]

DiS 1000

DiS 250

DiS 500

DiS 1500

DiS 2000

DiS 60 DiS 70 DiS 15

DiS 5000

DiS 200

DiS 150




9. Grounding a motor (Ground lead connection)

All added models don’t have a ground lead, as conventional DiS series have. So, please prepare a ground lead and connect as shown in the figure.

For safety, ground the part that is conductive to jacket, surely. Refer to the following shows an example of a CE marking conformity.

CAUTION • Be sure to ground the motor to prevent accidents. • The motor does not have ground wire. Prepare them by customer referencing

the maximum current listed.

Crimp terminalBe sure to use an O-type crimp terminal. Y-type (split end type) is impossible.

Washer, spring washerUse a washer and a spring washer.

Do not through

Type and thickness of ground wireSelect a wire with a thickness which allows themaximum motor current. The wire must bestriped with green and yellow.

Where to Ground

On the part which is conductive to stator core directly. If the part of exposed position (may easily be touched by a person or may be splashed with water or oil), a terminal box is required.

Crimp terminalBe sure to use an O-type crimp terminal. Y-type (split end type) is impossible.

Washer, spring washerUse a washer and a spring washer.

Do not throughDo not through



Where to Ground


Where to Ground


WARNING • Be sure to ground the motor, referencing the above instruction, to prevent

shock hazards.




10. Temperature Display by Thermistor

All added models have a thermistor, which can be used for winding temperature display.

When a motor is rotating for a long time, the winding temperatures of all phase are the same because effective current values of all phase are as much. So, monitored temperature corresponds to the maximum value of winding temperature.

But when a motor operates at 0[min-1], as shown in the following figure, effective current values of all phase are different each other, so the winding temperatures of all phase are also different. In that case, there is the possibility that monitored temperature doesn’t correspond to the maximum value of winding temperature.

Rotating 0[min-1]

Current of phase V, W

Current of phase U

The winding temperatures of all phaseare the same.

The temperature of phase U > The temperature of phase V, W




11. Parameter

11-1. Standard Parameter DiS 15/1000 (A06B-0492-B100)


Name FS30/31/32i

FS0i-D αiSV 20

NC αiSV 20HV

NC Name

FS30/31/32iFS0i-D

αiSV 20 NC

αiSV 20HVNC

2003 00001000 00001000 MODEL 2075 0 0 2004 00000011 00000011 WKAC 2076 0 0 2005 00000000 00000000 OSCTPL 2077 0 0 2006 00000000 00000000 PDPCH 2078 0 0 2007 00000000 00000000 PDPCL 2079 0 0 2008 00000000 00000000 DPFEX 2080 0 0 2009 00000000 00000000 DPFZW 2081 0 0 2010 00000000 00000000 BLENDL 2082 0 0 2011 00000000 00000000 MOFCTL 2083 0 0 2012 00000000 00000000 SDMR1 2084 0 0 2013 00000000 00000000 SDMR2 2085 0 0 2014 00000000 00000000 RTCURR 2086 1440 1440 2018 00000000 00000000 TDPLD 2087 0 0 2200 01000000 01000000 MCNFB 2088 0 0 2210 00000100 00000100 BLBSL 2089 0 0 2211 00011000 00001000 ROBSTL 2090 0 0 2300 10000110 10000110 ACCSPL 2091 0 0 2301 00000000 00000000 ADFF1 2092 0 0 2305 72 0 VMPK3V 2093 0 0

PK1 2040 309 154 BLCMP2 2094 0 0 PK2 2041 -1713 -857 AHDRTL 2095 0 0 PK3 2042 -3067 -3067 RADUSL 2096 0 0

PK1V 2043 69 69 SMCNT 2097 0 0 PK2V 2044 -618 -618 DEPVPL 2098 0 0 PK3V 2045 0 0 ONEPSL 2099 400 400 PK4V 2046 -8235 -8235 INPA1 2100 0 0 POA1 2047 13637 13637 INPA2 2101 0 0

BLCMP 2048 0 0 DBLIM 2102 0 0 DPFMX 2049 0 0 ABVOF 2103 0 0 POK1 2050 956 956 ABTSH 2104 0 0 POK2 2051 510 510 TRQCST 2105 612 612

RESERV 2052 720 1200 LP24PA 2106 0 0 PPMAX 2053 21 21 VLGOVR 2107 0 0 PDDP 2054 1894 1894 RESERV 2108 0 0

PHYST 2055 319 319 BELLTC 2109 0 0 EMFCMP 2056 0 0 MGSTCM 2110 2305 2049

PVPA 2057 0 0 DETQLM 2111 8854 0 PALPH 2058 0 0 AMRDML 2112 0 0 PPBAS 2059 0 0 NFILT 2113 0 0 TQLIM 2060 7282 7282 NINTCT 2127 0 0

EMFLMT 2061 0 0 MFWKCE 2128 16000 0 POVC1 2062 32675 32675 MFWKBL 2129 277 0 POVC2 2063 1160 1160 LP2GP 2130 0 0

TGALMLV 2064 4 4 LP4GP 2131 0 0 POVCLMT 2065 3300 3300 LP6GP 2132 0 0 PK2VAUX 2066 0 0 PHDLY1 2133 0 0

FILTER 2067 0 0 PHDLY2 2134 0 0 FALPH 2068 0 0 DGCSMM 2159 0 0 VFFLT 2069 0 0 TRQCUP 2160 0 0 ERBLM 2070 0 0 OVCSTP 2161 0 0 PBLCT 2071 0 0 POVC21 2162 0 0

SFCCML 2072 0 0 POVC22 2163 0 0 PSPTL 2073 0 0 POVCLMT2 2164 0 0 AALPH 2074 -20480 -20480 MAXCRT 2165 25 25

※ NC means No Cooling • In case of the Liquid Cooling system, please change the parameters according “11-2. Parameter for Soft Thermal”. • Please set parameters for an encoder according to "Parameter Manual" (B-65270EN/07). • This motor’s number of poles is 16. • Please be sure to confirm the content described in “11-3. Parameter for Current Display”.




DiS 60/400 (A06B-0493-B200)


Name FS30/31/32i

FS0i-D αiSV 40

NC αiSV 40HV

NC Name

FS30/31/32iFS0i-D

αiSV 40 NC

αiSV 40HVNC
















DiS 70/300 (A06B-0494-B100)


Name FS30/31/32i

FS0i-D αiSV 40

NC αiSV 40HV

NC Name

FS30/31/32iFS0i-D

αiSV 40 NC

αiSV 40HVNC
















DiS 150/300 (A06B-0494-B300)


Name FS30/31/32i

FS0i-D αiSV 80

NC αiSV 80HV

NC Name

FS30/31/32iFS0i-D

αiSV 80 NC

αiSV 80HVNC
















DiS 200/300 (A06B-0494-B400)


Name FS30/31/32i

FS0i-D αiSV 80

NC αiSV 80HV

NC Name

FS30/31/32iFS0i-D

αiSV 80 NC

αiSV 80HVNC







PVPA 2057 0 0 DETQLM 2111 2625 7710PALPH 2058 0 0 AMRDML 2112 0 0 PPBAS 2059 0 0 NFILT 2113 0 0 TQLIM 2060 6190 6190 NINTCT 2127 0 0









DiS 250/250 (A06B-0495-B200)


Name FS30/31/32i

FS0i-D αiSV 80

NC αiSV 80HV

NC Name

FS30/31/32iFS0i-D

αiSV 80 NC

αiSV 80HVNC
















DiS 500/250 (A06B-0495-B400)


Name FS30/31/32i

FS0i-D αiSV 160

NC αiSV 180HV

NC Name

FS30/31/32iFS0i-D

αiSV 160 NC

αiSV 180HVNC






PHYST 2055 319 319 BELLTC 2109 0 0 EMFCMP 2056 0 -11264 MGSTCM 2110 2049 2049





SFCCML 2072 0 0 POVC22 2163 0 0 PSPTL 2073 0 0 POVCLMT2 2164 0 0 AALPH 2074 20480 20480 MAXCRT 2165 165 185





DiS 1000/200 (A06B-0496-B300)


Name FS30/31/32i

FS0i-D αiSV 160

NC αiSV 180HV

NC Name

FS30/31/32iFS0i-D

αiSV 160 NC

αiSV 180HVNC
















DiS 1500/100 (A06B-0497-B300)


Name FS30/31/32i

FS0i-D αiSV 160

NC αiSV 180HV

NC Name

FS30/31/32iFS0i-D

αiSV 160 NC

αiSV 180HVNC
















DiS 2000/100 (A06B-0497-B400)


Name FS30/31/32i

FS0i-D αiSV 160

NC αiSV 180HV

NC Name

FS30/31/32iFS0i-D

αiSV 160 NC

αiSV 180HVNC







PVPA 2057 -1038 -2054 DETQLM 2111 1244 2161PALPH 2058 -489 -430 AMRDML 2112 0 0 PPBAS 2059 0 0 NFILT 2113 0 0 TQLIM 2060 7282 6473 NINTCT 2127 0 0









DiS 2000/150 (A06B-0497-B490)


Name FS30/31/32i

FS0i-D αiSV 360

NC αiSV 360HV

NC Name

FS30/31/32iFS0i-D

αiSV 360 NC

αiSV 360HVNC
















DiS 5000/50 (A06B-0488-B400)


Name FS30/31/32i

FS0i-D αiSV 180HV

NC Name

FS30/31/32iFS0i-D

αiSV 180HV NC

2003 00001000 MODEL 2075 0 2004 00000011 WKAC 2076 0 2005 00000000 OSCTPL 2077 0 2006 00000010 PDPCH 2078 0 2007 00000000 PDPCL 2079 0 2008 00000000 DPFEX 2080 0 2009 00000000 DPFZW 2081 0 2010 00000000 BLENDL 2082 0 2011 00000000 MOFCTL 2083 0 2012 00000000 SDMR1 2084 0 2013 00000000 SDMR2 2085 0 2014 00000000 RTCURR 2086 916 2018 01000000 TDPLD 2087 0 2200 01000000 MCNFB 2088 0 2210 00000100 BLBSL 2089 0 2211 00011000 ROBSTL 2090 0 2300 10000110 ACCSPL 2091 0 2301 10010100 ADFF1 2092 0 2305 12 VMPK3V 2093 0

PK1 2040 417 BLCMP2 2094 0 PK2 2041 -3875 AHDRTL 2095 0 PK3 2042 -3181 RADUSL 2096 0

PK1V 2043 1096 SMCNT 2097 0 PK2V 2044 -9817 DEPVPL 2098 0 PK3V 2045 0 ONEPSL 2099 400 PK4V 2046 -8235 INPA1 2100 0 POA1 2047 859 INPA2 2101 0

BLCMP 2048 0 DBLIM 2102 0 DPFMX 2049 0 ABVOF 2103 0 POK1 2050 956 ABTSH 2104 0 POK2 2051 510 TRQCST 2105 22101

RESERV 2052 60 LP24PA 2106 0 PPMAX 2053 21 VLGOVR 2107 0 PDDP 2054 1894 RESERV 2108 0

PHYST 2055 319 BELLTC 2109 0 EMFCMP 2056 0 MGSTCM 2110 1793

PVPA 2057 -527 DETQLM 2111 767 PALPH 2058 -665 AMRDML 2112 0 PPBAS 2059 0 NFILT 2113 0 TQLIM 2060 7282 NINTCT 2127 0

EMFLMT 2061 0 MFWKCE 2128 16000 POVC1 2062 32731 MFWKBL 2129 540 POVC2 2063 459 LP2GP 2130 0

TGALMLV 2064 4 LP4GP 2131 0 POVCLMT 2065 1337 LP6GP 2132 0 PK2VAUX 2066 0 PHDLY1 2133 0

FILTER 2067 0 PHDLY2 2134 0 FALPH 2068 0 DGCSMM 2159 0 VFFLT 2069 0 TRQCUP 2160 0 ERBLM 2070 0 OVCSTP 2161 0 PBLCT 2071 0 POVC21 2162 0

SFCCML 2072 0 POVC22 2163 0 PSPTL 2073 0 POVCLMT2 2164 0 AALPH 2074 24576 MAXCRT 2165 185





11-2. Parameter for Soft Thermal In the case of Liquid Cooling system, please change the parameters according to the following table after setting Standard Parameters described in “11-1. Standard Parameter”.

DiS 15/1000 (A06B-0492-B100) Parameter for Soft Thermal


Cooling method POVC1 (N2062)

POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)

No cooling 32675 1160 3300 1440 0 0 0 0 Liquid cooling 32401 4589 11603 2700 125 32601 2091 8308



POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)





POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)




POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)


CAUTION • Parameters for Soft Thermal are for thermal protection of the SYNCHRONOUS BUILT-IN SERVO MOTOR and the

Servo Amplifier. Be sure to confirm the parameters are correct. If the parameters are wrong, there is a possibilitythat the motor and amplifier will be damaged.

• Even in the case of Liquid Cooling system, please use Standard Parameters at the stage of checking operations,and after checking correct operations, change the parameters according to the following table.







POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)




POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)





POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)




POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)





POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)




POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)








POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)




POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)





POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)




POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)





POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)




POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)








POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)




POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)





POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)




POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)





POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)




POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)








POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)





11-3. Parameter for Current Display As the parameters showed in “11-1. Standard Parameter” and “11-2. Parameter for Soft Thermal” are set, CURRENT (%) in servo tuning screen shows the ratio between running current and Cont. Rated current (on August 2010 at present).

But in general Cont. Rated current is more than Stall current, so running with near 100% current at 0[min-1] may cause overheat.

If assumed running pattern includes long time and high load at 0[min-1], please change the parameter N2086 as follows.

After changing the parameter, CURRENT (%) shows the ratio between running current and Stall current.

※ “LC” means “Liquid Cooling” and “NC” means “No Cooling” in the table.

DiS 15/1000 (A06B-0492-B100) RATED CURRENT

PARAMETER (N2086) αiSV 20

LC αiSV 20

NC αiSV 20HV

LC αiSV 20HV

NC Cont. Rated Torque ratio 2700 1440 2595 1440

Stall Torque ratio 2159 1440 2159 1440



LC αiSV 40

NC αiSV 40HV

LC αiSV 40HV





LC αiSV 40

NC αiSV 40HV

LC αiSV 40HV





LC αiSV 80

NC αiSV 80HV

LC αiSV 80HV





LC αiSV 80

NC αiSV 80HV

LC αiSV 80HV








LC αiSV 80

NC αiSV 80HV

LC αiSV 80HV





LC αiSV 160

NC αiSV 180HV

LC αiSV 180HV





LC αiSV 160

NC αiSV 180HV

LC αiSV 180HV





LC αiSV 160

NC αiSV 180HV

LC αiSV 180HV





LC αiSV 160

NC αiSV 180HV

LC αiSV 180HV





LC αiSV 360

NC αiSV 360HV

LC αiSV 360HV







PARAMETER (N2086) αiSV 180HV

LC αiSV 180HV

NC Cont. Rated Torque ratio 2097 916

Stall Torque ratio 1915 916




12. Specification in the case of using 2-axes amplifier

12-1. Combinations that restrict motor’s specification Combinations described in the following table restrict motor’s specification compared with the case where 1-axis amplifier is applied.

Other combinations can be used as well as the case where 1-axis amplifier is applied.

Combinations that restrict motor’s specification

Input power voltage: 200V Model Name (Specification) Applicable Amplifier (Specification)

DiS 500/250 (A06B-0495-B400)

DiS 1000/200 (A06B-0496-B300)

DiS 1500/100 (A06B-0497-B300)

DiS 2000/100 (A06B-0497-B400)

αiSV 80/160 (A06B-6117-H210)

αiSV 160/160 (A06B-6117-H211)


There is no combination that restricts on August 2010 at present.

Please refer to “12-2. Characteristic Curve and Data Sheet in the case of using 2-axes amplifier” to see the restricted motor’s specification

If the combination described in the table is applied, parameters for Liquid Cooling are different from what are used in the case of using 1-axis amplifier.

CAUTION • If the parameters for 1-axis amplifier, described in “11-2. Parameter for Soft Thermal”, are used in the combination

above mentioned, there is the possibility that the motor and amplifier will be damaged. Please be sure to refer to“12-3. Parameter for Soft Thermal in the case of using 2-axes amplifier”.




0%10%20%30%40%50%60%70%80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%

20%30%

40%50%60%

70%80%

90%100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

11-2. Characteristic Curve and Data Sheet in the case of using 2-axes amplifier DiS 500/250 (A06B-0495-B400) Speed-Torque Characteristic, Speed-Output Characteristic

200V (In the case of using 2-axes amplifier)



Liquid Cooling No Cooling

NOTE)


0

2

4

6

8

10

12

14

0 25 50 75 100 125

Speed(min-1)O

utpu

t(kW

)

0

200

400

600

800

1000

1200

1400

0 25 50 75 100 125

Speed(min-1)

Torq

ue(N

m)







NOTE)







200V (in the case of using 2-axes amplifier)

Model

Items Unit DiS 500/250





Nm 450 200



Arms 39.0 17.6


kW 5.9 2.7




Mass Rotor

kg 15


Amplifier (αiSV) - αiSV 80/160

αiSV 160/160 For αiPS selection

Max. / Cont. kW 24.4/8.6

NOTE)




• It is possible for the values to vary without notice. • The detail of the each item is explained in “4-2. Data Sheet”.




0%10%20%30%40%50%60%70%80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%20%30%40%50%

60%70%80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX






NOTE)


0

2

4

6

8

10

12

0 25 50 75 100

Speed(min-1)O

utpu

t(kW







NOTE)



0

500

1000

1500

2000

0 25 50 75 100

Speed(min-1)

Torq

ue(N

m)






Model Items Unit

DiS 1000/200





Nm 750 470



Arms 39.0 24.6


kW 7.9 4.9




Mass Rotor

kg 20




Max. / Cont. kW 21.7/10.4

NOTE)









0%10%20%30%40%50%60%70%80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%20%30%40%50%60%70%80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX






NOTE)


0

2

4

6

8

10

0 10 20 30 40 50

Speed(min-1)O

utpu

t(kW

)

0

500

1000

1500

2000

2500

3000

0 10 20 30 40 50

Speed(min-1)

Torq

ue(N







NOTE)








NOTE)






Model Items Unit

DiS 1500/100





Nm 1200 750



Arms 39.0 24.0


kW 6.3 3.9




Mass Rotor

kg 26




Max. / Cont. kW 22.1/9.5




0%10%20%30%40%50%60%70%80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX

0%10%20%30%40%50%60%70%80%90%

100%

1 10 100 1000 10000ON time[sec]

duty

[%]

120%

140%

160%

180%

200%

MAX






NOTE)


0

2

4

6

8

10

0 10 20 30 40 50

Speed(min-1)O

utpu

t(kW

)

0

1000

2000

3000

4000

5000

0 10 20 30 40 50

Speed(min-1)

Torq

ue(N

m)







NOTE)








Model Items Unit

DiS 2000/100





Nm 1800 940



Arms 39.0 20.3


kW 7.7 4.7




Mass Rotor

kg 35




Max. / Cont. kW 27.9/12.3

NOTE)









12-3. Parameter for Soft Thermal in the case of using 2-axes amplifier In the case of combination described in “12-1. Combinations that restrict motor’s specification”, and Liquid Cooling system, please change the parameters according to the following table after setting Standard Parameters described in “11-1. Standard Parameter”.

DiS500/250 (A06B-0495-B400) Parameter for Soft Thermal in the case of using 2-axes amplifier

Input power voltage: 200V Applicable amplifier：αiSV 80/160 or αiSV 160/160


POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)


DiS 1000/200 (A06B-0496-B300) Parameter for Soft Thermal in the case of using 2-axes amplifier



POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)





POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)





POVC2 (N2063)

POVLMT(N2065)

RTCURR(N2086)

OVCSTP(N2161)

POVC21 (N2162)

POVC22 (N2163)

POVCLMT2(N2164)


CAUTION • Parameters for Soft Thermal are for thermal protection of the SYNCHRONOUS BUILT-IN SERVO MOTOR and the

Servo Amplifier. Be sure to confirm the parameters are correct. If the parameters are wrong, there is a possibilitythat the motor and amplifier will be damaged.

• Even in the case of Liquid Cooling system, please use Standard Parameters at the stage of checking operations,and after checking correct operations, change the parameters according to the following table.




12-4. Parameter for Current Display in the case of using 2-axes amplifier If assumed running pattern includes long time and high load at 0[min-1], please change the parameter N2086 as follows.

After changing the parameter, CURRENT (%) shows the ratio between running current and Stall current.

Please refer to “11-3. Parameter for Current Display” to see the detail.

※ “LC” means “Liquid Cooling” and “NC” means “No Cooling” in the table.

DiS 500/250 (A06B-0495-B400)

RATED CURRENT PARAMETER (N2086)

αiSV 80/160

αiSV 160/160LC

αiSV 80/160

αiSV 160/160NC

Cont. Rated Torque ratio 2259 1062 Stall Torque ratio 2259 1019

DiS 1000/200 (A06B-0496-B300)


αiSV 80/160

αiSV 160/160LC

αiSV 80/160

αiSV 160/160NC


DiS 1500/100 (A06B-0497-B300)


αiSV 80/160

αiSV 160/160LC

αiSV 80/160

αiSV 160/160NC


DiS 2000/100 (A06B-0497-B400)


αiSV 80/160

αiSV 160/160LC

αiSV 80/160

αiSV 160/160NC


Documents

MAN B-65332EN/02 SYNCHRONOUS BUILT-IN … USERS Before getting started • Be sure to read this manual thoroughly before using FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series.It