Alpha Series Ac Servo PDF

GE Fanuc Automation
Computer Numerical Control Products
Alpha Series AC Servo Motor

Descriptions Manual
GFZ-65142E/04
February 2001
GFL-001
Warnings, Cautions, and Notes

as Used in this Publication
Warning
Warning notices are used in this publication to emphasize that hazardous voltages, currents,
temperatures, or other conditions that could cause personal injury exist in this equipment or may
be associated with its use.
In situations where inattention could cause either personal injury or damage to equipment, a
Warning notice is used.
Caution
Caution notices are used where equipment might be damaged if care is not taken.
Note
Notes merely call attention to information that is especially significant to understanding and
operating the equipment.
This document is based on information available at the time of its publication. While efforts
have been made to be accurate, the information contained herein does not purport to cover all
details or variations in hardware or software, nor to provide for every possible contingency in
connection with installation, operation, or maintenance. Features may be described herein which
are not present in all hardware and software systems. GE Fanuc Automation assumes no
obligation of notice to holders of this document with respect to changes subsequently made.
GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory
with respect to, and assumes no responsibility for the accuracy, completeness, sufficiency, or
usefulness of the information contained herein. No warranties of merchantability or fitness for
purpose shall apply.
Copyright 2001 GE Fanuc Automation North America, Inc.

All Rights Reserved.
FANUC SERVO MOTOR series
SAFETY PRECAUTIONS
This Safety Precautions section describes the precautions which must be observed to ensure safety when using
FANUC servo motors (including spindle motors). Users of any servo motor model are requested to read this
manual carefully before using the servo motor.
The users are also requested to read this manual carefully and understand each function of the motor for correct
use.
The users are basically forbidden to do any behavior or action not mentioned in the Safety Precautions. They
are invited to ask FANUC previously about what behavior or action is prohibited.
Contents
1. DEFINITION OF WARNING, CAUTION, AND NOTE . . . . . . . . . . . . . . . . . . . . . . . s2

2. WARNING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . s3
3. CAUTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . s5
4. NOTE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . s6
s1
SAFETY PRECAUTIONS
B65142E/04
DEFINITION OF WARNING, CAUTION, AND NOTE
This manual includes safety precautions for protecting the user and preventing damage to the
machine. Precautions are classified into Warning and Caution according to their bearing on safety.
Also, supplementary information is described as a Note. Read the Warning, Caution, and Note
thoroughly before attempting to use the machine.
WARNING
Applied when there is a danger of the user being injured or when there is a damage of both the user
being injured and the equipment being damaged if the approved procedure is not observed.
CAUTION
Applied when there is a danger of the equipment being damaged, if the approved procedure is not
observed.
NOTE
The Note is used to indicate supplementary information other than Warning and Caution.
` Read this manual carefully, and store it in a safe place.
s2
SAFETY PRECAUTIONS
B65142E/04
WARNING
WARNING
F 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.
F Use a crane or lift to move a motor from one place to another.

Motors are heavy. When moving them, use a crane or lift as required. (For the weight of motors,
refer to their respective specification manuals.)
When moving a motor using a crane or lift, use a hanging bolt if the motor has a corresponding
tapped hole, or textile rope if it has no tapped hole. If a motor is attached with a machine or any
other heavy stuff, do not use a hanging bolt to move the motor as the hanging bolt and/or motor
may get broken. When moving a motor, be careful not to apply excessive force to its windings
as the windings may break and/or their insulation may deteriorate.
F Do not touch a motor with a wet hand.

A failure to observe this caution is vary dangerous because you may get electric shocks.
F 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 vary dangerous because you may get electric shocks.
F 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.
F 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.
F Do not ground a motor power wire terminal or shortcircuit it to another

power wire terminal.
A failure to observe this caution may cause electric shocks or a burned wiring.
: Some motors require a special connection such as a winding changeover. Refer to their
respective motor specification manuals for details.
s3
SAFETY PRECAUTIONS
B65142E/04
WARNING
F 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.
F 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.
F Do not get close to a rotary section of a motor when it is rotating.

A rotating part may catch your cloths or fingers. Before starting a motor, ensure that there is no
stuff that can fly away (such as a key) on the motor.
F 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.
F Do not touch any terminal of a motor for a while (at least 5 minutes) after
the power to the motor is shut off.
High voltage remains across power line terminals of a motor for a while after the power to the
motor is shut off. So, do not touch any terminal or connect it to any other equipment. Otherwise,
you may get electric shocks or the motor and/or equipment may get damaged.
F 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.
F 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.
F Be careful not get your hair or cloths caught in a fan.

Be careful especially for a fan used to generate an inward air flow.
Be careful also for a fan even when the motor is stopped, because it continues to rotate while the
amplifier is turned on.
F 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.
s4
SAFETY PRECAUTIONS
B65142E/04
CAUTION
CAUTION
F 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.
F 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.
F Be sure to connect motor cables correctly.

An incorrect connection of a cable cause abnormal heat generation, equipment malfunction, or
failure. Always use a cable with an appropriate current carrying capacity (or thickness). For how
to connect cables to motors, refer to their respective specification manuals.
F Ensure that motors are cooled if they are those that require forcible
cooling.
If a motor that requires forcible cooling is not cooled normally, it may cause a failure or trouble.
For a fancooled motor, ensure that it is not clogged or blocked with dust and dirt. For a
liquidcooled motor, ensure that the amount of the liquid is appropriate and that the liquid piping
is not clogged. For both types, perform regular cleaning and inspection.
F When attaching a component having inertia, such as a pulley, to a motor,

ensure that any imbalance between the motor and component is
minimized.
If there is a large imbalance, the motor may vibrates abnormally, resulting in the motor being
broken.
F Be sure to attach a key to a motor with a keyed shaft.

If a motor with a keyed shaft runs with no key attached, it may impair torque transmission or
cause imbalance, resulting in the motor being broken.
s5
SAFETY PRECAUTIONS
B65142E/04
NOTE
NOTE
F 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.
F When storing a motor, put it in a dry (noncondensing) place at room

temperature (0 to 40 C).
If a motor is stored in a humid or hot place, its components may get damaged or deteriorated.
In addition, keep a motor in such a position that its shaft is held horizontal and its terminal box
is at the top.
F Do not remove a nameplate from a motor.

If a nameplate comes off, be careful not to lose it. If the nameplate is lost, the motor becomes
unidentifiable, resulting in maintenance becoming impossible. For a nameplate for a builtin
spindle motor, keep the nameplate with the spindle.
F Do not apply shocks to a motor or cause scratches to it.

If a motor is subjected to shocks or is scratched, its components may be adversely affected,
resulting in normal operation being impaired. Be very careful when handling plastic portions,
sensors, and windings, because they are very liable to break. Especially, avoid lifting a motor
by pulling its plastic portion, winding, or power cable.
F Do not conduct dielectric strength or insulation test for a detector.

Such a test can damage elements in the detector.
F When testing the winding or insulation resistance of a motor, satisfy the

conditions stipulated in IEC34.
Testing a motor under a condition severer than those specified in IEC34 may damage the motor.
F Do not disassemble a motor.

Disassembling a motor may cause a failure or trouble in it.
If disassembly is in need because of maintenance or repair, please contact a service representative
of FANUC.
F 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.
s6
SAFETY PRECAUTIONS
B65142E/04
NOTE
F Use a motor under an appropriate environmental condition.
Using a motor in an adverse environment may cause a failure or trouble in it. Refer to their
respective specification manuals for details of the operating and environmental conditions for
motors.
F 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.
F For a motor with a terminal box, make a conduit hole for the terminal box
in a specified position.
When making a conduit hole, be careful not to break or damage unspecified portions. Refer to
an applicable specification manual.
F Before using a motor, measure its winding and insulation resistances, and
make sure they are normal.
Especially for a motor that has been stored for a prolonged period of time, conduct these checks.
A motor may deteriorate depending on the condition under which it is stored or the time during
which it is stored. For the winding resistances of motors, refer to their respective specification
manuals, or ask FANUC. For insulation resistances, see the following table.
F To use a motor as long as possible, perform periodic maintenance and

inspection for it, and check its winding and insulation resistances.
Note that extremely severe inspections (such as dielectric strength tests) of a motor may damage
its windings. For the winding resistances of motors, refer to their respective specification
manuals, or ask FANUC. For insulation resistances, see the following table.
s7
SAFETY PRECAUTIONS
B65142E/04
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
100 M or higher
Judgment
Acceptable
10 to 100 M
The winding has begun deteriorating. There is no problem

with the performance at present. Be sure to perform
periodic inspection.
1 to 10 M
The winding has considerably deteriorated. Special care

is in need. Be sure to perform periodic inspection.
Lower than 1 M
Unacceptable. Replace the motor.
s8
PREFACE
B65142E/04
PREFACE
This manual describes the specifications and characteristics of the a series

servo motors. The manual consists of the following chapters:
I. SPECIFICATIONS FOR THE series
This chapter provides general notes on the use of the a series and
explains how to select the optimum motor for a given application.
This chapter also provides the specifications common to each model
of the series, concerning the detectors, internal brakes, plug
connectors, and so forth.
II. FANUC AC SERVO MOTOR series
This chapter explains how to specify a certain a series servo motor and
provides specifications, dimensions, and data sheets for the entire
range of series servo motors.
III. FANUC AC SERVO MOTOR M series
This chapter explains how to specify a certain M series servo motor
and provides specifications, dimensions, and data sheets for the entire
range of M series servo motors.
IV. FANUC AC SERVO MOTOR L series
This chapter explains how to specify a certain L series servo motor
range of L series servo motors.
V. FANUC AC SERVO MOTOR C series
This chapter explains how to specify a certain aC series servo motor
range of C series servo motors.
VI. FANUC AC SERVO MOTOR a(HV) series
This chapter explains how to specify a certain a(HV) series servo
motor and provides specifications, dimensions, and data sheets for the
entire range of (HV) series servo motors.
VII. FANUC AC SERVO MOTOR aM(HV) series
This chapter explains how to specify a certain a(HV) series servo
motor and provides specifications, dimensions, and data sheets for the
entire range of (HV) series servo motors.
p1
PREFACE
B65142E/04
VIII. SUPPLEMENT
This supplement explains how to increase the maximum allowable
speed of AC servo motors.
Although this manual provides information on detector signal outputs, it
does not describe connection to a servo amplifier or NC. For details of
these connections, refer to the FANUC SERVO MOTOR series
Maintenance Manual (B65165E).
Related manuals
The following six kinds of manuals are available for FANUC SERVO
MOTOR series. In the table, this manual is marked with an asterisk (*).
Document name
FANUC AC SERVO MOTOR series

DESCRIPTIONS
Document
number
B65142E
FANUC AC SPINDLE MOTOR series

DESCRIPTIONS
B65152E
FANUC SERVO AMPLIFIER series

DESCRIPTIONS
B65162E
FANUC CONTROL MOTOR series

SERVO AMPLIFIER UNIT
DESCRIPTIONS
B65192E
Major contents
D
D
D
D
Specification
Characteristics
External dimensions
Connections
D
D
D
D
Specification
Characteristics
External dimensions
Connections
*
D Selection of motor
D Connection of motor
D Specifications and
functions
D Installation
D External dimensions and
maintenance area
D Connections
D Selection of
amplifier
D Connection of
amplifier
D Start up the system
(Hardware)
D Troubleshooting
D Maintenance of
motor
FANUC SERVO MOTOR series

MAINTENANCE MANUAL
B65165E
D Start up procedure
D Troubleshooting
D Maintenance of motor

PARAMETER MANUAL
B65150E
D Initial setting
D Setting parameters
D Description of parameters
FANUC AC SPINDLE MOTOR series

PARAMETER MANUAL
B65160E
D Initial setting
D Setting parameters
D Description of parameters
p2
Major usage
D Start up the system

(Software)
D Tuning the system
(Parameters)
Table of Contents
B65142E/04
SAFETY PRECAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . s1
PREFACE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . p1
I. DESCRIPTIONS FOR THE series

1. GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2. PRECAUTIONS ON USE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1
APPLICABLE AMPLIFIERS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1.1
2.1.2
2.2
Applicable Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data for Selecting PSM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
INSTALLATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6
6
13
14
2.3
COUPLING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15
2.4
AXIS LOAD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
17
2.5
ENVIRONMENT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
18
2.6
ACCEPTANCE AND STORAGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
21
3. INSTRUCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
22
3.1
DRIVE SHAFT COUPLING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
23
3.2
MACHINE MOVEMENT PER 1 REVOLUTION OF MOTOR SHAFT . . . . . . . . . . . . . . . . . . . . .
26
4. SELECTING A MOTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
27
4.1
CALCULATING CONDITIONS FOR SELECTING A MOTOR . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.1
4.1.2
4.1.3
4.1.4
Calculating the Load Torque and Load Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Calculating the Acceleration Torque . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Calculating the Rootmeansquare Value of the Torques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Calculating the Percentage Duty Cycle with the Maximum Cutting Torque . . . . . . . . . . . . . . . . . . . . .
28
29
34
37
39
4.2
PRECAUTIONS FOR USING LINEAR SCALE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
41
4.3
HOW TO FILL IN THE SERVO MOTOR SELECTION DATA TABLE . . . . . . . . . . . . . . . . . . . .
43
4.3.1
4.3.2
4.4
Title . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
CHARACTERISTIC CURVE AND DATA SHEET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1
4.4.2
4.4.3
44
45
52
Performance Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Data Sheet . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
How to Use Duty Cycle Curves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
52
52
54
5. CONDITIONS FOR APPROVAL RELATED TO THE IEC34 STANDARD . . . . . .
55
5.1
APPLICABLE MOTORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1.1
5.1.2
5.2
DRIVES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2.1
5.2.2
5.3
200 VAC Input Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

400 VAC Input Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
POWER CABLE CONNECTORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3.1
5.3.2
5.4
200 VAC Input Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

400 VAC Input Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Models 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Models 3 and Higher . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
APPROVED SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4.1
5.4.2
Motor Speed (IEC341) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Output (IEC341) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
c1
56
56
57
58
58
58
59
59
61
63
63
64
Table of Contents
5.4.3
5.4.4
5.4.5
5.4.6
B65142E/04
Protection Type (IEC345) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Cooling Method (ICE346) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Mounting Method (IEC347) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Heat Protection (IEC3411) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
64
64
65
65
6. FEEDBACK DETECTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
66
6.1
BUILTIN DETECTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
67
6.2
PULSE CODER RESOLUTION AND CONTROL RESOLUTION . . . . . . . . . . . . . . . . . . . . . . . .
68
6.3
ABSOLUTETYPE PULSE CODER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
69
6.4
DETECTOR INPUT/OUTPUT SIGNALS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
70
6.5
SEPARATE TYPE POSITION DETECTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
71
6.5.1
6.5.2
6.5.3
6.5.4
Separate Type Pulse Coder Type and Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Separate Type Pulse Coder Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Input Signals and Layout of Connector Pins of Separate Type Pulse Coder . . . . . . . . . . . . . . . . . . . . .
External Dimensions of Separate Type Pulse Coder . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
71
72
73
75
7. BUILTIN BRAKE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
79
7.1
BRAKE SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
80
7.2
CAUTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
81
7.3
CONNECTOR SHAPES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
82
7.4
CONNECTION OF THE BRAKES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
83
7.5
RECOMMENDED PARTS IN BRAKE CIRCUITS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
84
7.6
BRAKE CABLE (TUV/EMC COMPATIBLE) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
84
7.7
REDUCING THE BRAKE SHAFT FALL AMOUNT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
85
8. CONNECTORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
86
8.1
CONNECTOR ON THE MOTOR SIDE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.1.1
8.2
CONNECTORS ON THE CABLE SIDE (MODELS 1 AND 2) . . . . . . . . . . . . . . . . . . . . . . . . .

8.2.1
8.2.2
8.3
Specifications of Connectors on the Motor Side . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Connector Kit Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Cable Assembly Specifications (14m Standard) (for 1 and 2) . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
SPECIFICATIONS OF THE CONNECTORS ON THE CABLE SIDE

(MODELS 3 AND HIGHER) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.1
8.3.2
8.3.3
8.3.4
87
87
89
89
90
91
Specifications of Plug Connectors on the Cable Side (Waterproof TVapproved Type) . . . . . . . . . .

Specifications of Plug Connectors on the Cable Side (Waterproof Type) . . . . . . . . . . . . . . . . . . . . . . .
Specifications of Plug Connectors on the Cable Side (Nonwaterproof Type) . . . . . . . . . . . . . . . . . . .
Cable Assembly Specifications (3 or Above) (14m Standard) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
93
94
96
98
9. COOLING FAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
99
9.1
COOLING FAN SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
100
9.2
MOTOR CONNECTOR SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
100
9.3
ABOUT CONNECTOR CABLES . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
100
9.4
WIRING DIAGRAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
101
II. FANUC AC SERVO MOTOR series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103

1. GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
2. TYPES OF MOTORS AND DESIGNATION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
c2
B65142E/04
Table of Contents
3. SPECIFICATIONS AND CHARACTERISTICS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

3.1
TYPE OF MOTORS AND SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
110
3.2
112
3.3
OUTLINE DRAWINGS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
128
3.4
CONNECTION OF POWER LINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
144

1. GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
3.1
TYPES OF MOTORS AND SPECIFICATIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
153
3.2
154
3.3
166
3.4
180

1. GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
3.1
186
3.2
187
3.3
193
3.4
198

1. GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
3.1
204
3.2
205
3.3
210
3.4
217
VI. FANUC AC SERVO MOTOR (HV) series

1. GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
c3
Table of Contents
B65142E/04

3.1
225
3.2
226
3.3
236
3.4
247
VII. FANUC AC SERVO MOTOR M (HV) series

1. GENERAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 251
3.1
255
3.2
256
3.3
264
3.4
274
VIII. SUPPLEMENT
(Following AC servo motors are extended the allowable maximum speed.) . . . . . .
1. REQUIRED CONDITIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 277
2. SERVO MOTOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 278
3. SERVO SOFTWARE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 279
4. SERVO PARAMETER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 280
5. SELECTING PSM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 281
6. CHARACTERISTICS CURVE AND DATA SHEET . . . . . . . . . . . . . . . . . . . . . . 282
c4
I. DESCRIPTIONS FOR THE series
DESCRIPTIONS FOR THE series
B65142E/04
1. GENERAL
GENERAL
The FANUC AC servo motor series has been designed for machine tool
feed axis applications. This servo motor series has the following
features:
Smooth rotation
The special magnetic pole shape minimizes torque ripples which, when
combined with precise current control and accurate pulse coder feedback,
enables extremely smooth motor rotation.
Excellent acceleration
The use of a special rotor shape results in motors that are smaller and
lighter than previous models, but which can develop a high level of
torque. These motors, therefore, provide excellent acceleration
characteristics.
High reliability
A totallyenclosed, frictionfree brushless design is used. This allows

the servo motors to be used in demanding environments with no need for
special checks or maintenance.
Builtin, highprecision
detector
A lowindexingerror optical encoder (pulse coder) is built into the

motors. This pulse coder enables precise positioning.
Pulse coders that output 65,536, or 1,000,000 pulses per rotation are
available. As such, the series motors can be used for positioning
applications ranging from simple positioning to those requiring a high
degree of precision. (Available pulse coders vary with the series and
model of the motor being used.)
The FANUC AC servo motor series consists of the , M, C, (HV)
series, and M (HV), all of which are suitable general machine tool,
control applications, and the L series, designed for controlling machine
tools that require frequent positioning operations, such as punch presses
and PCB drilling machines.
Each of these series is further divided into the following models:
D series
1/3000, 2/2000, 2/3000, 3/3000, 6/2000, 6/3000, 12/2000,
12/3000, 22/1500, 22/2000, 22/3000, 30/1200, 30/2000,
30/3000, 40/2000, 40/2000 (with fan), 65/2000, 100/2000,
150/2000, 300/2000, 400/2000
D M series
M2/3000, M2.5/3000, M6/3000, M9/3000, M22/3000,
M30/3000, M40/3000, M40/3000 (with fan)
D L series
L6/3000, L9/3000, L25/3000, L50/2000
D C series,
C3/2000, C6/2000, C12/2000, C22/1500
3
1. GENERAL
B65142E/04
D (HV) series
3/3000HV, 6/3000HV, 12/3000HV, 22/3000HV, a30/3000HV,
40/2000HV, 1000/2000HV
D M(HV) series
M6/3000 (HV), M9/3000 (HV), M22/3000 (HV),
M30/3000 (HV), M40/3000 (HV)
B65142E/04
PRECAUTIONS ON USE
2. PRECAUTIONS ON USE
B65142E/04
2.1
APPLICABLE
AMPLIFIERS
2.1.1
Applicable Amplifiers
The FANUC a series AC servo motors can be driven using FANUC

series servo amplifiers.
Servo amplifier module (SVM)/
Servo amplifier unit (SVU)
Servo motor
Model name
a1/3000
a2/2000
a
a2/3000
Specification
A06B0371B***
A06B0372B***
A06B0373B***
Model name
Specification
Connection axis
SVM112
A06B6079H101
A06B6096H101
SVM212/12
A06B6079H201
A06B6096H201
L and M axes
SVM212/20
A06B6079H202
A06B6096H202
L axis
SVM212/40
A06B6079H204
A06B6080H204
L axis
SVM312/12/12
A06B6079H301
A06B6080H301
A06B6096H301
L, M and N axes
SVM312/12/20
A06B6079H302
A06B6080H302
A06B6096H302
L and M axes
SVM312/20/20
A06B6079H303
A06B6080H303
A06B6096H303
L axis
SVM312/12/40
A06B6079H305
A06B6080H305
A06B6096H305
L and M axes
SVM312/20/40
A06B6079H306
A06B6080H306
A06B6096H306
L axis
SVU112
A06B6089H101
L and M axes
SVU212/12
A06B6089H201
L axis
SVU212/20
A06B6089H202
L axis
SVU212/40
A06B6089H204
L axis
SVU312/12/12
A06B6089H301
L, M and N axes
SVU312/12/20
A06B6089H302
L and M axes
SVU312/20/20
A06B6089H303
L axis
B65142E/04

Servo motor
Model name
aM2/3000
aM2.5/3000
a
aC3/2000
aC6/2000
Specification
A06B0376B***
A06B0377B***
A06B0121B***
A06B0126B***
Model name
Specification
Connection axis
SVM120
A06B6079H102
A06B6096H102
SVM212/20
A06B6079H202
A06B6096H202
M axis
SVM220/20
A06B6079H203
A06B6096H203
L and M axes
SVM220/40
A06B6079H205
A06B6096H205
L axis
SVM312/12/20
A06B6079H302
A06B6080H302
A06B6096H302
N axis
SVM312/20/20
A06B6079H303
A06B6080H303
A06B6096H303
M and N axes
SVM320/20/20
A06B6079H304
A06B6080H304
A06B6096H304
L, M and N axes
SVM312/20/40
A06B6079H306
A06B6080H306
A06B6096H306
M axis
SVM320/20/40
A06B6079H307
A06B6080H307
A06B6096H307
L and M axes
SVU120
A06B6089H102
SVU212/20
A06B6089H202
M axis
SVU220/20
A06B6089H203
L and M axes
SVU220/40
A06B6089H205
L axis
SVU312/12/20
A06B6089H302
N axis
SVU312/20/20
A06B6089H303
M and N axes
SVU320/20/20
A06B6089H304
L, M and N axes

Servo motor
Model name
a3/3000
a6/2000
Specification
A06B0123B***
A06B0127B***
B65142E/04
Model name
Specification
Connection axis
SVM140S
A06B6079H103
A06B6096H103
SVM212/40
A06B6079H204
A06B6096H204
M axis
SVM220/40
A06B6079H205
A06B6096H205
M axis
SVM240/40
A06B6079H206
A06B6096H206
L axis
SVM240/80
A06B6079H207
A06B6096H207
L axis
SVM240L/40L
A06B6079H209
A06B6096H209
L and M axes
SVM312/12/40
A06B6079H305
A06B6080H305
A06B6096H305
N axis
SVM312/20/40
A06B6079H306
A06B6080H306
A06B6096H306
N axis
SVM320/20/40
A06B6079H307
A06B6080H307
A06B6096H307
N axis
SVU140
A06B6089H104
SVU212/40
A06B6089H204
M axis
SVU220/40
A06B6089H205
M axis
SVU240/40
A06B6089H206
L and M axes
SVU240/80
A06B6089H207
L axis
B65142E/04

Servo motor
Model name
a12/2000
aC22/1500
(The SVU2 is unapplicable to the
aC22/1500.)
a22/1500
Specification
A06B0142B***
A06B0145B***
A06B0146B***
Model name
Specification
Connection axis
SVM140L
A06B6079H104
A06B6096H104
SVM212/40
A06B6079H204
A06B6096H204
M axis
SVM220/40
A06B6079H205
A06B6096H205
M axis
SVM240/40
A06B6079H206
A06B6096H206
L axis
SVM240/80
A06B6079H207
A06B6096H207
L axis
SVM240L/40L
A06B6079H209
A06B6096H209
L and M axes
SVM312/12/40
A06B6079H305
A06B6080H305
A06B6096H305
N axis
SVM312/20/40
A06B6079H306
A06B6080H306
A06B6096H306
N axis
SVM320/20/40
A06B6079H307
A06B6080H307
A06B6096H307
N axis
SVU140
A06B6089H104
SVU212/40
A06B6089H204
M axis
SVU220/40
A06B6089H205
M axis
SVU240/40
A06B6089H206
L and M axes
SVU240/80
A06B6089H207
L axis
SVM140L
A06B6079H104
A06B6096H104
SVM240/80
A06B6079H207
A06B6096H207
L axis
SVM240L/40L
A06B6079H209
A06B6096H209
L, M axes
SVU140
A06B6089H104

Servo motor
Model name
a6/3000
aM6/3000
a12/3000
a22/2000
a
a30/1200
aM9/3000
aL6/3000
a
aL9/3000
Specification
A06B0128B***
A06B0162B***
A06B0143B***
A06B0148B***
A06B0151B***
A06B0163B***
A06B0562B***
A06B0564B***
B65142E/04
Model name
Specification
Connection axis
SVM180
A06B6079H105
A06B6096H105
SVM240/80
A06B6079H207
A06B6096H207
M axis
SVM280/80
A06B6079H208
A06B6096H208
L and M axes
SVU180
A06B6089H105
SVU240/80
A06B6089H207
M axis
SVU280/80
A06B6089H208
L and M axes
SVU212/80
A06B6089H209
M axis
SVU220/80
A06B6089H210
M axis
SVM180
A06B6079H105
A06B6096H105
SVM240/80
A06B6079H207
A06B6096H207
M axis
SVM280/80
A06B6079H208
A06B6096H208
L and M axes
SVU180
A06B6089H105
a22/3000
a30/2000
a30/3000
a40/2000
a40/2000 (with FAN)
aM22/3000
aM30/3000
aL25/3000
aL50/2000
A06B0148B***
A06B0152B***
A06B0153B***
A06B0157B***
A06B0158B***
A06B0165B***
A06B0166B***
A06B0571B***
A06B0572B***
SVM1130
A06B6079H106
A06B6096H106
SVU1130
A06B6089H106
M40/3000
A06B0169B***
SVM1130
SVU1130
A06B6079H106 (Note 7)
A06B6096H106 (Note 7)
A06B6089H106 (Note 8)
a65/2000
A06B0331B***
SVM1240
A06B6079H107
A06B6096H107
M40/3000
(with fan)
a100/2000
a150/2000
A06B0170B***
SVM1360
A06B6079H108
A06B6096H108
300/2000
400/2000
A06B0137B***
A06B0138B***
SVM1360
2 modules /1motor
A06B6079H108
or
A06B6096H108
A06B0332B***
A06B0333B***
10
B65142E/04

Servo motor
Model name
a3/3000HV
a6/3000HV
Specification
A06B0171B***
A06B0172B***
a12/3000HV
aM6/3000HV
a
aM9/3000HV
A06B0176B***
A06B0182B***
A06B0183B***
a22/3000HV
a30/3000HV
a
aM22/3000HV
aM30/3000HV
A06B0177B***
A06B0178B***
A06B0185B***
A06B0186B***
Model name
Specification
Connection axis
SVM120HV
A06B6085H102
A06B6097H102
SVM220/20HV
A06B6085H201
A06B6097H201
L and M axes
SVM220/40HV
A06B6085H202
A06B6097H202
L axis
SVM220/60HV
A06B6085H203
A06B6097H203
L axis
SVM140HV
A06B6085H103
A06B6097H103
SVM220/40HV
A06B6085H202
A06B6097H202
M axis
SVM240/40HV
A06B6085H204
A06B6097H204
L and M axes
SVM240/60HV
A06B6085H205
A06B6097H205
L axis
SVM160HV
A06B6085H104
A06B6097H104
SVM220/60HV
A06B6085H203
A06B6097H203
M axis
SVM240/60HV
A06B6085H205
A06B6097H205
M axis
SVM260/60HV
A06B6085H207
A06B6097H207
L and M axes
40/2000HV
A06B0179B***
SVM180HV
A06B6097H105
(Note 9)
M40/3000HV
A06B0189B***
SVM180HV
A06B6097H105
(Note 9)
1000/2000HV
A06B0131B***
SVM1320HV
2 modules /1motor
A06B6097H107
(FSSB interface)
Servo motor
Model name
Specification
Dynamic Brake modules(DBM)

Model name
Specification
a300/2000
a400/2000
A06B0137B***
A06B0138B***
DBM
2 modules /1motor
A06B6079H401
a1000/2000HV
A06B0131B***
DBM
2 modules /1motor
A06B6079H401
11
B65142E/04
CAUTION
1 If a motor is used in a combination other than those listed
above, it may become broken.
2 For details on the servo amplifier module (SVM), refer to
FANUC Servo Amplifier series Descriptions (B-65162E).
3 For details on the servo amplifier unit (SVU), refer to
FANUC Servo Amplifier series Descriptions (B-65162E).
4 When using the series servo amplifier modules for three
axes (SVM3) on the B type interface CNC such as FS20 and
FS21 series, the specification varies from one NC to
another. Refer to FANUC Control Servo Amplifier series
Descriptions (B-65162E).
5 When the SVM-130 is used to drive the 22/3000,
30/3000, 40/2000 (with fan), M22/3000, M30/3000,
L25/3000, or L50/2000, it must be cooled by forced air
flow.
6 When using C series servo amplifiers, consult with our
service person.
7 The fan adapter (A06B6078K002) is necessary for each
servo motor amplifier. Refer to FANUC Servo Motor
Amplifier series Descriptions (B65162E).
8 SVU1130 can be connected to NC through only TYPE A
I/F or TYPE B I/F, and FSSB I/F is not available.
9 SVU180HV can be connected to NC through only FSSB
I/F.
12
B65142E/04
2.1.2
Data for Selecting PSM
Maximum output at accelerating
Motor model
Rating output
Case 1
Case 2
M40/3000
3.0kW
18.4kW
20.7kW
M40/3000 (with fan)
10kW
30.2kW
34.0kW
300/2000
37kW
82kW
94kW
400/2000
40kW
84kW
96kW
40/2000HV
5.9kW
16.7kW
18.8kW
M40/3000HV
3.0kW
21.4kW
24.0kW
1000/2000HV
100kW
168kW
189kW
For Cases 1 and 2, refer to motor power output list for selecting the power
supply of the FANUC SERVO AMPLIFIER series DESCRIPTIONS
(B65162E).
CAUTION
These data is only for selecting the PSM and it does not
guarantee the power of motors.
When the one motor driven in the 300/2000, 400/2000, or

1000/2000HV, the selection is as follows.
Motor Model
Case 1
Case 2
Case (high frequency)(*)
300/2000
PSM30 2
PSM30 2
PSM37 2
400/2000
PSM30 2
PSM30 2
PSM37 2
1000/2000HV
PSM75HV 2
PSM75HV 2
PSM75HV 2
CAUTION
(*) In the case of high frequently positioning such as press
machine or positioning over 30 times per minute, the PSM
should be selected with the following condition. The
continuous rating of the PSM should be under the 1.5 times
to the amount of acceleration maximum of the same time
moving axis.
13
2.2
The servo motor contains a precision detector, and is carefully machined

and assembled to provide the required precision. Pay attention to the
following items to maintain the precision and prevent damage to the
detector.
INSTALLATION
B65142E/04
D Secure the servo motor uniformly using four bolt holes provided on
the front flange.
D Ensure that the surface on which the machine is mounted is sufficiently

flat.
D When mounting on the machine, take care not to apply a shock to the
motor.
D When it is unavoidable to tap the motor for adjusting the position, etc.,
use a plastic hammer and tap only the front flange if possible.
14
B65142E/04
2.3
COUPLING
A precision detector is directly connected to the servo motor shaft.

Pay attention to the following items to prevent damage to the detector.
D When connecting the power transmission elements such as a gear, a
pulley and a coupling to the shaft, take care not to apply a shock to the
shaft.
D Generally, in the case of straight shaft, use a span ring for connection
with the shaft.
D In the case of tapered shaft, match the tapered surface with the power
transmission element and fix by tightening the screw at the end. When
the woodruff key is too tight, dont tap it with a hammer. Use the
woodruff key mainly for positioning, and use the tapered surface for
torque transmission. Machine the tapered surface of the power
transmission element so that over 70% of the whole surface is
contacted.
D To remove the connected power transmission element, be sure to use

a jig such as a gear puller.
15
B65142E/04
D When tapping slightly to remove the tightly contacted tapered surface,

tap in the radial direction to prevent a shock in the axial direction.
D Suppress the rotary unbalance of the connected power transmission

element to the level as low as possible. It is usually believed that there
is no problem in the symmetrical form . Be careful when rotating
continuously the asymmetrical different form power transmission
element. Even if the vibration caused by the unbalance is as small as
0.5G, it may damage the motor bearing or the detector.
An exclusive large oil seal is used in the front flange of the models 3 to
40.
The oil seal surface is made of steel plate. Take care not to apply a force
to the oil seal when installing the motor or connecting the power
transmission elements.
16
B65142E/04
2.4
The allowable axis load of the motor shaft is as follows.
AXIS LOAD
Motor model
Radial load
Axial load
Front bearing
(reference)
1/2
M2/2.5
25 [kgf]
8 [kgf]
6003
3/6
M6/9
L6/9
C3/6
3/6HV
M6/9HV
70 [kgf]
20 [kgf]
6205
12/22/30/40
M22/30/40/40 (with fan)
L25/50
C12/22
12/22/30/40HV
M22/30/40HV
450 [kgf]
135 [kgf]
6208
65/100/150
900 [kgf]
250 [kgf]
6312
300/400
1200 [kgf]
200 [kgf]
NU2214
1000
1400 [kgf]
200 [kgf]
6317 Combination bearing
The above values are the reference assuming the use as a feed axis on the
typical machine tool.
D The allowable radial load is the value when a load is applied to the
shaft end. It indicates the total continuous force applied to the shaft
in some methods of mounting (e.g, belt tension) and the force by load
torque (e.g., moment/pulley radius).
D The belt tension is critical particularly when a timing belt is used. Too
tight belt causes breakage of the shaft or other fault.
Belt tension must be controlled so as not to exceed the limits calculated
from the permissible radial load indicated above.
D In some operation conditions, the pulley diameter and the gear size
need to be checked. For example, when using the model 3 with a
pulley/gear with the radius of 2.5cm or less, the radial load at the
occurrence of 180kgcm torque will exceed 70kg. In the case of timing
belt, as the belt tension is added to this value, it is thus necessary to
support the shaft end.
D Actually, when using a timing belt, a possible fault like a broken shaft
can be prevented by positioning the pulley as close to the bearing as
possible.
D When there is a possibility of a large load, the machine tool builder
needs to examine the life by referring to the shaft diameter, bearing,
etc.
D Since the standard single row deep groove ball bearing is used for the
motor bearing, a very large axial load can not be used. Particularly,
when using a worm gear and a helical gear, it is necessary to provide
another bearing.
D The motor bearing is generally fixed with a C-snap ring, and there is
a small play in the axial direction. When this play influences the
positioning in the case of using a worm gear and a helical gear, for
example, it is necessary to fix it with another bearing.
17
B65142E/04
2.5
ENVIRONMENT
Ambient temperature
The ambient temperature should be 0C to 40C. When operating the

machine at a higher temperature, it is necessary to lower the output power
so that the motor temperature does not exceed the specified constant
value. (The values in the data sheet are determined for an ambient
temperature of 20C.)
Vibration
When installed in a machine, the vibration applied to the motor must not
exceed 5G.
Installation height
Up to 1,000 meters above the sea level requires, no particular provision

for attitude. When operating the machine at a higher level, special care
is unnecessary if the ambient temperature is lowered 1C at every 100m
higher than 1,000m. For example, when the machine is installed at a place
of 1,500 meters above sea level, there is no problem if the ambient
temperature is 35C or less. For higher temperatures, it is necessary to
limit the output power.
If any one of the three environmental conditions specified above is not
satisfied, the output must be restricted.
Dripproof environment
The level of motor protection is such that a single motor unit can satisfy
IP65 of the IEC standard. (The connector section for the fan of
fanequipped models is excluded.) However, this standard relates only
to shortterm performance. So, note the following when using the motor
in actual applications:
D Protect the motor surface from the cutting fluid or lubricant. Use a
cover when there is a possibility of wetting the motor surface. Only
the telescopic cover of the sliding part can not completely prevent
leakage of the cutting fluid. Pay attention to the drop along the
structure body, too.
18
B65142E/04
D Prevent the cutting fluid from being led to the motor through the cable.
When the motor connector is used in the up position, put a drip loop
in the cable.
D When the motor connector is up, the cutting fluid is collected in the
cable connector through the cable. Turn the motor connector sideways
or downward as far as possible. Most of the defects caused by the
cutting fluid have occurred in the cable connector.
The standard receptacle on the motor side is waterproof. If the cable
connector will be subjected to moisture, it is recommended that an R
class or waterproof plug be used. Suitable plugs are listed in the cable
plug combination recommendations in Chapter 8. (The standard MS
plug is not waterproof; water is liable to enter the pin section.)
19
Shaft attachment section

requirements
The motor shaft is sealed to prevent penetration of oil into the motor
housing. However, sealing may not be perfect under severe working
conditions.
B65142E/04
When oil bath lubrication is provided for the gear engagement, for
example, the oil level must be below the lip of the shafts oil seal. Set the
oil level so that oil merely splashes the lip. Thus, as the shaft rotates, the
oil seal can repel oil. If, however, pressure is applied continuously while
the shaft is stopped, oil may penetrate the lip. When the shaft is always
immersed in oil, for example, under the condition that the motor is to be
used with the shaft oriented vertically a special design is required. For
example, another oil seal could be installed on the machine side, and a
drain provided so that oil penetrating that seal can drain off.
When grease is used for lubrication, the oil seal characteristics are usually
lost.
In either case, ensure that no pressure is applied to the oil seal lip.
The motor shaft oil seal diameter is as shown below.

Motor mode
Oil seal diameter
1/2
M2/2.5
15 [mm]
3/6
M6/9
L6/9
C3/6
3/6HV
M6/9HV
24 [mm]
12/22/30/40
M22/30/40
L25/50
C12/22
12/22/30/40HV
M22/30/40HV
35 [mm]
65/100/150
60 [mm]
300/400
70 [mm]
1000HV
85 [mm]
20
B65142E/04
2.6
When the servo motor is delivered, check the following items.
ACCEPTANCE AND
STORAGE
D The motor meets the specifications.

(Specifications of the model/shaft/detector)
D Damage caused by the transportation.
D The shaft is normal when rotated by hand.
D The brake works.
D Looseness or play in screws.
FANUC servo motors are completely checked before shipment, and the
inspection at acceptance is normally unnecessary. When an inspection is
required, check the specifications (wiring, current, voltage, etc.) of the
motor and detector.
Store the motor indoors. The storage temperature is -20C to +60C.
Avoid storing in the following places.
D Place with high humidity so condensation will form.
D Place with extreme temperature changes.
D Place always exposed to vibration.
(The bearing may be damaged.)
D Place with much dust.
21
3. INSTRUCTIONS
INSTRUCTIONS
22
B65142E/04
B65142E/04
3.1
DRIVE SHAFT
COUPLING
Direct connection using

a flexible coupling
3. INSTRUCTIONS
There are four methods for connecting the motor shaft to the ball screw:
D Direct connection through a flexible coupling
D Direct connection through a rigid coupling
D Connection through gears
D Connection through timing belts
It is important to understand the advantages and disadvantages of each
method, and select one that is most suitable for the machine.
Direct connection by a flexible coupling has the following advantages
over connection using gears:
D Even if the angle of the motor shaft to the ball screw changes, it can
be compensated to a certain extent.
D Because a flexible coupling connects elements with less backlash,
driving noise from joints can be significantly suppressed.
However, this method has the following disadvantages:
D The motor shaft and the ball screw must not slide from each other in
the radial direction (for single coupling).
D Loose assembly may result in lower rigidity.
When the motor shaft needs to be connected directly to the ball screw,
connecting them using a flexible coupling facilitates adjustment and
installation of the motor.
To use a single coupling, the machine needs to be designed so that the
centers of the motor shaft and the ball screw are aligned. (In the same way
as with a rigid coupling, the use of a single coupling demands that there
be almost no relative eccentricity between the axes.)
If it is difficult to align the centers, a double coupling needs to be
employed.
23
3. INSTRUCTIONS
B65142E/04
Ball screw
Flexible coupling
Motor shaft
Locking element
Ball screw
Flexible coupling
Motor shaft
Locking element
Direct connection using

a rigid coupling
Direct connection using a rigid coupling has the following advantages

over direct connection using a flexible coupling:
D More economical
D The coupling rigidity can be increased.
D If the rigidity is the same as with a flexible coupling, the inertia can
be reduced.
However, this method has the following disadvantages:
D The motor shaft and the ball screw must not slide from each other in
the radial direction, and the angle of the motor shaft to the ball screw
must be fixed.
For this reason, a rigid coupling needs to be mounted very carefully.
It is desirable that the run-out of the ball screw is 0.01 mm or less. When
a rigid coupling is used on the motor shaft, the run-out of the hole for the
ball screw must be set to 0.01 mm or less by adjusting the tightness of the
span ring.
The run-out of the motor shaft and the ball screw in the radial direction
can be adjusted or compensated to a certain extent by deflection. Note,
however, that it is difficult to adjust or measure changes in the angle.
Therefore, the structure of the machine should be such that precision can
be fully guaranteed.
24
B65142E/04
Gears
3. INSTRUCTIONS
This method is used when the motor cannot be put in line with the ball
screw because of the mechanical interference problem or when the
reduction gear is required in order to obtain large torque. The following
attention should be paid to the gear coupling method:
D Grinding finish should be given to the gear, and eccentricity, pitch
error, tooth-shape deviations etc. should be reduced as much as
possible. Please use the JIS, First Class as a reference of precision.
D Adjustment of backlash should be carefully performed. Generally, if
there is too little backlash, a high-pitched noise will occur during
high-speed operation, and if the backlash is too big, a drumming sound
of the tooth surfaces will occur during acceleration/deceleration.
Since these noises are sensitive to the amount of backlash, the structure
should be so that adjustment of backlash is possible at construction
time.
Timing belt
A timing belt is used in the same cases as gear connection, but in

comparison, it has advantages such as low cost and reduced noise during
operation, etc. However, it is necessary to correctly understand the
characteristics of timing belts and use them appropriately to maintain
high precision.
Generally, the rigidity of timing belt is sufficiently higher than that of
other mechanical parts such as ball screw or bearing, so there is no danger
of inferiority of performance of control caused by reduction of rigidity by
using timing belt. When using a timing belt with a position detector on
the motor shaft, there are cases where poor precision caused by backlash
of the belt tooth and pulley tooth, or elongation of belt after a long time
becomes problem, so consideration should be given to whether these
errors significantly affect precision. In case the position detector is
mounted behind the timing belt (for example, on the ball screw axis), a
problem of precision does not occur.
Life of the timing belt largely varies according to mounting precision and
tension adjustment. Please refer to the manufacturers Instruction Manual
for correct use.
Connection between the

straight shaft and a
connecting element
To use a straight shaft that has no key groove, connect the shaft with a
coupling using a span ring.
Because the span ring connects elements by the friction generated when
the screw is tightened, it is free from backlash and the concentration of
stress. For this reason, the span ring is highly reliable for connecting
elements.
To assure sufficient transmission with the span ring, factors such as the
tightening torque of the screw, the size of the screw, the number of screws,
the clamping flange, and the rigidity of connecting elements are
important. Refer to the manufacturers specifications before using the
span ring.
When a coupling or gear is mounted using the span ring, tighten the
screws to remove a run-out of the coupling or gear including the shaft.
25
3. INSTRUCTIONS
3.2
The machine movement per 1 revolution of motor shaft must be

determined at the first stage of machine design referring the load torque,
load inertia, rapid traverse speed, and relation between minimum
increment and resolution of the position sensor mounted on the motor
shaft. To determine this amount, the following conditions should be taken
into consideration.
MACHINE
MOVEMENT PER 1
REVOLUTION OF
MOTOR SHAFT
B65142E/04
D The machine movement per 1 revolution of motor shaft (L) must be

such that the desired rapid traverse speed can be obtained. For
example, if the maximum motor speed is 1500 min1 and the rapid
traverse speed must be 12 m/min., the amount of L must be 8
mm/rev. or higher.
D As the machine movement per 1 revolution of motor shaft is reduced,
both the load torque and the load inertia reflected to motor shaft also
decrease.
Therefore, to obtain large thrust, the amount of L should be the
lowest value at which the desired rapid traverse speed can be obtained.
D Assuming that the accuracy of the reduction gear is ideal, it is
advantageous to make the machine movement per 1 rev. of motor shaft
as low as possible to obtain the highest accuracy in mechanical servo
operations. In addition, minimizing the machine movement per 1 rev.
of motor shaft can increase the servo rigidity as seen from the
machines side, which can contribute to system accuracy and
minimize the influence of external load changes.
D When the machine is operation is characterized by repeated
acceleration/deceleration cycles, a heating problem may occur due to
the current flow caused by the acceleration and deceleration. Should
this occur, the machine travel distance per motor shaft revolution
should be modified. Given optimum conditions, the machine travel
distance per motor shaft revolution is set such that the motors rotor
inertia equals the load inertia based on motor shaft conversion. For
machines such as punch presses and PCB drilling machines, the
machines travel distance per motor shaft revolution should be set so
as to satisfy this optimum condition as far as possible, while also
considering the rapid traverse rate and increment system.
26
B65142E/04
4. SELECTING A MOTOR
SELECTING A MOTOR
When selecting an applicable motor, the load, rapid traverse feedrate,

increment system, and other conditions must be considered. This section
describes how to calculate the load and other conditions, showing an
example of a table with a horizontal axis.
Motors are subjected to two types of torque: constant load torque
(including friction), and cutting power and acceleration/deceleration
torque. Calculate the two loads accurately and select a motor that satisfies
the following conditions:
Condition 1
When the machine is operating without any load, the torque is
within about 70% of the continuous torque rating.
When the machine tool is stopped, the motor is generating torque in
a balanced state with the frictioninduced load. If acceleration/
deceleration torque required for actual operation is added when this
value is close to the rated torque, the rated torque may be exceeded as
the average torque, and the motor is more likely to overheat.
This figure of within 70% of the continuous torque rating is for
reference only. Determine the appropriate torque based upon actual
machine tool conditions.
Condition 2
Acceleration can be made with a desired time constant.
Generally, the load torque helps deceleration. If acceleration can be
executed with a desired time constant, deceleration can be made with
the same time constant. Calculate the acceleration torque and check
that the torque required for acceleration is within the intermittent
operating zone of the motor.
Condition 3
The frequency of positioning in rapid traverse is set to a desired
value. The greater the frequency of positioning in rapid traverse, the
greater the ratio of acceleration time to the entire operation time. This
may overheat the motor. When the acceleration time constant is
increased according to the rapid traverse feedrate and positioning
frequency constant, the amount of produced heat decreases in inverse
proportion to the acceleration time constant.
Condition 4
If the load condition varies during a single cycle, the
rootmeansquare value of the torques is smaller than or equal to
the rated torque.
Condition 5
The time for which the table can be moved with the maximum
cutting torque (percentage duty cycle and ON time) is within a
desired range.
The procedure for selecting a motor is described below:
27
4.1
This section describes the procedure for selecting a servo motor best
suited for a table with a horizontal axis (figure below).
CALCULATING
CONDITIONS FOR
SELECTING A
MOTOR
B65142E/04
Fc
fg
Sample mechanical
specifications of the
table and workpiece
Sample specifications of
the feed screw
(ball screw)
Db
Lb
P
: Shaft diameter = 32 (mm) = 32 103 (m)

: Shaft length = 1000 (mm) = 1 (m)
: Pitch = 8 (mm) = 8 103 (m)
Sample specifications of
the operation of the
motor shaft
Ta
Vm
ta
JM
JL
ks
: Acceleration torque (kgfcm) (Nm)

: Motor speed in rapid traverse = 3000 (min1) = 50 (s1)
: Acceleration time (s) = 0.10 (s)
: Motor inertia (kgfcmsec2) (kgm2)
: Load inertia (kgfcmsec2) (kgm2)
: Servo position loop gain = 30 (s1)
: Weight of movable parts (table and workpiece) = 1000 (kgf) =

98000 (N)
w
: Weight of movable parts (table and workpiece) = 1000 (kg)
: Friction coefficient of the sliding surface = 0.05
: Efficiency of the driving system (including a ball screw) = 0.9

fg
: Gib fastening force (kgf) = 50 (kgf) = 490 (N)
Fc
: Thrust counter force caused by the cutting force (kgf) = 100 (kgf)
= 980 (N)
Fcf
: Force by which the table is pressed against the sliding surface,
caused by the moment of cutting force = 30 (kgf) = 294 (N)
Z1/Z2 : Gear reduction ratio = 1/1
28
B65142E/04
4.1.1
Calculating the Load
Torque and Load
Inertia
Calculating the load
torque
The load torque applied to the motor shaft is generally given by the
following equation:
Tm + F L ) Tf
2ph
Tm : Load torque applied to the motor shaft
F
: Force required to move a movable part (table or tool post) along

the axis
: Traveling distance of the machine tool per revolution of the motor = P (Z1/Z2)
Tf
: Friction torque of the nut of the ball screw or bearing applied to

the motor shaft (input if necessary)
F depends on the weight of the table, friction coefficient, whether cutting

is in progress, and whether the axis is horizontal or vertical. If the axis
is vertical, F also depends on the presence of a counterbalance. For a table
with a horizontal axis, F is calculated as follows:
When Tf = 2 (kgfcm) = 0.2 (Nm)
When cutting is not executed:
F = (W + fg)
Example)
F = 0.05 (1000 + 50) = 52.5 (kgf) = 514.5 (N)
Tm = (52.5 0.8)/(2 0.9) + 2 = 9.4 (kgfcm) = 0.92 (Nm)
When cutting is in progress:
F = Fc + (W + fg + Fcf)
Example)
F = 100 + 0.05 (1000 + 50 + 30) = 154 (kgfcm) = 1509 (N)
Tmc = (154 0.8)/(2 0.9) + 2 = 23.8 (kgfcm) = 2.3 (Nm)
To satisfy condition 1, check the data sheet and select a motor whose load
torque (rated torque at stall) when cutting is not executed is 0.92 (Nm) or
higher and the maximum speed is 3000 (min1) or higher. Considering
the acceleration/deceleration conditions, provisionally select 2/3000
(rated torque at stall is 2.0 (Nm)).
D Cautions
When calculating the torque, take the following precautions:

D Allow for the friction torque caused by the gib fastening force (fg).
The torque calculated only from the weight of a movable part and the
friction coefficient is generally quite small. The gib fastening force
and precision of the sliding surface may have a great effect on the
torque.
D The preload of the bearing or nut of the ball screw, pretension of the
screw, and other factors may make Tc of the rolling contact
considerable. In a small, lightweight machine tool, the friction torque
will greatly affect the entire torque.
29
B65142E/04
D Allow for an increase in friction on the sliding surface (Fcf) caused by

the cutting resistance. The cutting resistance and the driving force
generally do not act through a common point as illustrated below.
When a large cutting resistance is applied, the moment increases the
load on the sliding surface.
When calculating the torque during cutting, allow for the friction
torque caused by the load.
Cutting force
Cutting force
Driving force
Driving force
D The feedrate may cause the friction torque to vary greatly. Obtain an
accurate value by closely examining variations in friction depending
on variations in speed, the mechanism for supporting the table (sliding
contact, rolling contact, static pressure, etc.), material of the sliding
surface, lubricating system, and other factors.
D The friction torque of a single machine varies widely due to
adjustment conditions, ambient temperature, and lubrication
conditions. Collect a great amount of measurement data of identical
models so that a correct load torque can be calculated. When adjusting
the gib fastening force and backlash, monitor the friction torque.
Avoid generating an unnecessarily great torque.
Calculating the load

inertia
Unlike the load torque, an accurate load inertia can be obtained just by
calculation. The inertia of all objects moved by the revolution of a driving
motor forms the load inertia of the motor. It does not matter whether the
object is rotated or moved along a straight line. Calculate the inertia
values of individual moving objects separately, then add the values
together, according to a rule, to obtain the load inertia. The inertia of
almost all objects can be calculated according to the following basic rules:
D Inertia of a cylindrical
object (ball screw, gear,
coupling, etc.)
Db
Lb
30
B65142E/04
The inertia of a cylindrical object rotating about its central axis is

calculated as follows:
Jb +
32
pgb
4
D L
2
980 b b (kgfcms )
Jb : Inertia (kgfcms2)
b
: Weight of the object per unit volume (kg/cm3)
Db : Diameter of the object (cm)

Lb : Length of the object (cm)
SI unit
Jb +
pgb 4
D L
2
32 b b (kgfm )
Jb : Inertia (kgfm2)
b
: Weight of the object per unit volume (kg/cm3)
Db : Diameter of the object (m)

Lb : Length of the object (m)
Example)
When the shaft of a ball screw is made of steel (g = 7.8 103 (kg/m3)),
inertia Jb of the shaft is calculated as follows:
Jb=7.8 103 B32 0.0324 1=0.0008 [kgm2]
(=0.0082 [kgcms2])
D Inertia of a heavy object
moving along a straight
line (table, workpiece,
etc.)
J+ W
980
( L )2 (kgfcms2)
2p
W : Weight of the object moving along a straight line (kg)

L
: Traveling distance along a straight line per revolution

of the motor (cm)
SI unit
J+W
( L )2
2p
(kgfcms2)
W : Weight of the object moving along a straight line (kg)

L
: Traveling distance along a straight line per revolution

of the motor (cm)
Example)
When W is 1000(kg) and L is 8(mm), Jw of a table and workpiece is
calculated as follows:
Jw = 1000 (0.008B2B)2 = 0.00162 (kgm2) = 0.0165 (kgfcms2)
31
B65142E/04
D Inertia of an object
whose speed is
increased above or
decreased below the
speed of the motor shaft
The inertia applied to the motor shaft by inertia Jo is calculated as follows:

Z
J + ( 1) 2
Z2
Jo
(Z1, Z2 : Number of teeth when the gear connection)
J + ( 1 )2
Z
Jo
( 1 : Deceleration ratio)
or
J0: Inertia before the speed is changed
D Inertia of a cylindrical
object in which the
center of rotation is
displaced
Center of rotation
J + J o ) MR 2
(kgfcms2)
J0 : Inertia around the center of the object

M
: Weight of the object
: Radius of rotation
The above equation is used to calculate the inertia of, for example, a large
gear which is hollowed out in order to reduce the inertia and weight.
The sum of the inertia values calculated above is J (load inertia) for
accelerating the motor.
In this example, the sum of Jb and Jw obtained in above is load inertia JL.
JL = 0.000803 + 0.00162 = 0.00242 (kgfm2)
32
B65142E/04
D Note
Limitations on
load inertia
The load inertia has a great effect on the controllability of the motor as
well as the time for acceleration/deceleration in rapid traverse. When the
load inertia is increased, the following two problems may occur: When
a command is changed, it takes more time for the motor to reach the speed
specified by the new command. When a machine tool is moved along two
axes at a high speed to cut an arc or curve, a larger error occurs.
When the load inertia is smaller than or equal to the rotor inertia of the
motor, those problems will not occur. When the load inertia is up to three
times the rotor inertia, the controllability may have to be lowered a little.
Actually, this will not adversely affect the operation of an ordinary metal
cutting machine. If a router for woodworking or a machine to cut a curve
at a high speed is used, it is recommended that the load inertia be smaller
than or equal to the rotor inertia.
When the load inertia is greater than the rotor inertia by a factor of more
than 3 to 5, the controllability of the motor will be adversely affected. If
the load inertia much larger than three times the rotor inertia, an
adjustment in the normal range may be insufficient. Avoid using a
machine with such a great load inertia.
33
4.1.2
Following the procedure described below, calculate the torque required

for acceleration:
Calculating the
Acceleration Torque
B65142E/04
Calculating acceleration
torque : Procedure 1
Assuming that the motor shaft operates ideally in the acceleration/
deceleration mode determined by the NC, calculate the acceleration.
Multiply the acceleration by the entire inertia (motor inertia + load
inertia). The product is the acceleration torque. The equation is given
below.
D In linear
acceleration/deceleration
Speed
Torque
Command
Vm
Ta
Operation of
the motor
Time
ta
Speed variation
Ta + Vm
) Vm
Vr + Vm
1
JM
ta
1
2p
JL
ta
2p
{1
Vr
Vm
Acceleration required to
achieve the speed
(1e ks@ta)
(1e ks@ta) B h
1 (1e ks@ta)}
ta @ ks
Ta : Acceleration torque
Vm : Motor speed in rapid traverse
ta
: Acceleration time
JM : Motor inertia
JL : Load inertia
Vr : Point from which the acceleration torque starts to decrease
ks : Servo position loop gain
: Machine tool efficiency
34
Speed
B65142E/04
Example)
Try to perform linear acceleration/deceleration under the following
condition.
Vm+3000 (min1)+50 (s1), ta+0.1 (s), ks+30 (s1),
JL+0.0247 (kgfcms2)
Select 2/3000, and calculate its acceleration torque.
JM motor inertia is 0.0056 (kgfcms2) when 2/3000 is selected, so
the load inertia is calculated as follows:
Ta +50 2 1/0.1 0.0056 (1*e30 0.1)
)50 2 1/0.1 0.0247 (1*e30 0.1)B0.9
+98.6 (kgfcm)+9.67 (Nm)
Torque (Nm)
Torque (Nm)
12.1 (Nm)
2049 (min1)
Speed (min1)
Speedtorque characteristics of
2/3000
Speed (min1)
Speedtorque characteristics of
3/3000
The speedtorque characteristics of 2/3000 show that the acceleration

torque of 9.67 (Nm) is beyond the intermittent operating zone of 2/3000
(see the characteristic curve above and data sheet). (The torque is
insufficient for 2/3000.)
If the operation specifications of the shaft (for instance, the acceleration
time) cannot be changed, a larger motor must be selected. Select an
3/3000 (JM is 0.014 (kgfcms2)) and calculate the acceleration torque
again.
Ta = 123.7 (kgcm) = 12.1 (Nm)
Vr = 2050 (min1)
In acceleration, an acceleration torque of 12.1 (Nm) is required at 2050
(min1). The speedtorque characteristic curve shown above shows that
the acceleration is possible with 3/3000.
As 2/3000 is changed to 3/3000, the size of the attachment flange is
increased from 90 mm 90 mm to 130 mm 130 mm. If the machine
tool does not allow a larger motor, the specifications must be changed.
For example, the acceleration time must lengthen.
35
To obtain T (torque) required by the motor shaft, add Tm (friction torque)

to Ta acceleration torque.
B65142E/04
T + Ta ) Tm
T=12.1(Nm)+0.9(Nm)=13.0(Nm)
Check that T obtained in Procedure 2 above is smaller than or equal to the

maximum torque. Using the speedtorque characteristic curve on the data
sheet of the corresponding motor, check that T obtained in Procedure 1
above is within the intermittent operating zone at Vr.
As Vr is 2050 (min1) and T is 13.0 (Nm), the acceleration is possible with
the specified time constant (condition 2).
36
B65142E/04
4.1.3
Calculating the
Rootmeansquare
Value of the Torques
Calculating the
frequency of positioning
in rapid traverse
Generate an operation cycle which includes rapid traverse. Write the

timespeed graph and timetorque graph as shown below.
In a common cutting machine, the frequency of positioning in rapid
traverse will cause no problems. In a special machine tool which
frequently executes rapid traverse, however, the motor must be checked
to see whether it is overheated by the current required for acceleration or
deceleration.
Torque
Speed
Ta+Tm
Tm
Time
t1
t2
t1
To
TmTa
t3
t1
t2
t1
to
Time
t3
to
From the timetorque graph, obtain the rootmeansquare value of

torques applied to the motor during the single operation cycle. Check
whether the value is smaller than or equal to the rated torque (condition
3).
Trms +
(Ta ) Tm) t ) Tm t t ) (TaTm) t ) To t

2
Ta : Acceleration torque
Tm : Friction torque
To : Torque when stopped
If Trms is smaller than or equal to 90% of the rated torque at stall (Ts), the
motor is judged to be usable.
(A margin including the overall thermal efficiency is considered.)
Example)
When an 3/3000 (Ts = 31 (kgfcm) = 3.0 (Nm)) is used under the
following conditions: Ta = 12.1 (Nm), Tm = To = 0.9 (Nm), t1 = 0.1
(s), t2 = 1.8 (s), t3 = 7.0 (s)
Trms +
(12.1 ) 0.9)
+ 20.2(Nm) t Ts
0.1 ) 0.9 2
0.9 + 2.9
1.8 ) (12.10.9)2
tO
0.1 ) 0.9 2
0.9 + 2.61(Nm)
The 3/3000 can be used for operation. (Condition 3)

37
Calculating the torque in

a cycle in which the load
varies
If the load conditions (cutting load, acceleration/deceleration conditions,

etc.) vary widely in a single cycle, write a timetorque graph according
to the operation cycle, as in above item. Obtain the rootmeansquare
value of the torques and check that the value is smaller than or equal to
the rated torque (condition 4).
B65142E/04
Torque
T1
T4
T2
Tn
T5
T3
Time
t1
t2
t3
t4
t5
tn
to
Trms +
T 1 t 1 ) T 2 t 2 ) T 3 t 3 )AAA ) T n t n
to
2
to = t1 + t2 + + Tn
NOTE
When the motor is being operated at high speed for a
comparatively large proportion of the time, you must take
the rotating speed of the motor into consideration and
evaluate whether output can be specified in terms of a
continuous operation torque.
38
B65142E/04
4.1.4
Calculating the
Percentage Duty Cycle
with the Maximum
Cutting Torque
Check that the time for which the table can be moved with the maximum
cutting torque, Tmc, (percentage duty cycle and ON time) is within a
desired range of cutting time. (Condition 5)
If Tmc (maximum load torque) applied to the motor shaft during cutting,
which is obtained in Subsec. 4.1.1, is smaller than the product of rated
torque at stall of the motor (Tc) and (thermal efficiency), the motor can
be used in continuous cutting. If Tmc is greater than the product (Tmc
> Tc _ ), follow the procedure below to calculate the percentage ratio of
time (tON) Tmc can be applied to the motor to total time (t) of a single
cutting cycle. ( is assumed to be 0.9. Calculate the percentage
considering the specifications of the machine.)
Tmc t Tc
a AAA Operation can be continued with the maximum
Tmc u Tc
a AAA Calculate the percentage duty cycle, according
cutting torque. (The percentage duty cycle with

the maximum cutting torque is 100%.)
to the following figure and expressions.
Example)
As calculated in Subsec. 4.1.1,
Tmc = 21.8 (kgfcm) = 2.1 (Nm)
3/3000: Tc = 31 (kgfcm) = 3.0 (Nm)
Tc +3.0 0.9+2.7 (Nm)uTmc+2.1 (Nm)
No problems will occur in continuous cutting.
Calculating the
percentage duty cycle
with the maximum
cutting torque
Torque
Maximum cutting torque (Tmc)
Tm
ON
tON
OFF
Time
tOFF
t
t ON
: Time maximum cutting torque (Tmc) is applied
t OFF : Time no maximum cutting torque Tmc is applied

t
: Maximum time of a single cutting cycle
Calculate the rootmeansquare value of torques applied in a single

cutting cycle as described in Subsec 4.1.3. Specify tON and tOFF so that
the value does not exceed the product of rated torque at stall of the motor
(Tc) and thermal efficiency (). Then, calculate the percentage duty cycle
with the maximum cutting torque as shown below.
t ON
Percentage duty cycle with the
+
t ON ) t OFF
maximum cutting torque (Tmc)
39
100(%)
B65142E/04
Example)
Assume that Tmc is 4.0(Nm) (Tm = 0.9(Nm)).
4.0
t ON ) 0.9 2
t ON ) t OFF
t OFF
t 2.7(Nm)
(90% of rated torque of

3/3000)
Therefore,
t ON
1
t OFF t 1.3
The ratio of noncutting time to cutting time must be 1.3 or greater.

The percentage duty cycle is calculated as follows:
t ON
t ON ) t OFF
100 + 43.5%
Finally, the 3/3000 that satisfies conditions 1 to 5 is selected.

D Limitations on ON time
The period during which continuous operation under an overload is

allowed is also restricted by the OVC alarm level and overload duty cycle
characteristics.
40
B65142E/04
4.2
PRECAUTIONS FOR
USING LINEAR
SCALE
In the case where the machine moves in a linear direction and movement
is directly detected by linear scale such as inductosyn, magnescale etc.,
special considerations are necessary in comparison with the method
where feedback is produced by detecting the motor shaft rotation. This
is because the machine movement now directly influences the
characteristics of the control system.
Machine system natural

frequency
Pulse coder
Command
Position
control
circuit
Motor
Linear scale
Servo
amplifier
This method is shown in the figure above by block diagram. The response
of this control system is determined by the adjustment value (position
loop gain) of the position control circuit. In other words, the position loop
gain is determined by the specified response time of the control system.
In the diagram above, the section enclosed by the broken line is called the
velocity loop. Unless the response time of this section where position
signal is detected is sufficiently shorter than the response time determined
by the position loop gain, the system does not operate properly. In other
words, when a command signal is put into point A, response time of the
machine where position signals are detected must be sufficiently shorter
than the response time defined by the position loop gain.
When the response of the detector section is slow, the position loop gain
must be reduced to have the system operate normally, and as a result, the
response of the whole system is slow. The same problem is caused when
inertia is great (see Subsec. 4.1.1)).
The main causes for slow response are the mass of the machine and the
elastic deformation of the machine system. The larger the volume, and
the greater the elastic deformation, the slower the response becomes.
As an index for estimating the response of this machine system, the
natural frequency of the machine is used, and this is briefly calculated by
the following equation.
Wm + 1
2p
Km
JL
Wm : Natural frequency
JL : Load inertia reflected to motor shaft
Km : Rigidity of machine system
(=Torque necessary to elastically deform 1 [rad] at the motor
shaft when the machine table is clamped.)
41
B65142E/04
The above values can be obtained by calculating the elastic deformation

for each section of the driving system. If the value of this natural
frequency (Hz) is more than the value of position loop gain (sec1), it
operates normally in most cases. That is to say, when setting 20 (sec1)
as the value of position loop gain, natural frequency of machine system
must be more than 20 (Hz). In this case, attention must be paid to the fact
that response becomes a problem for extremely small amounts of
movement.
Consequently, the natural frequency should be calculated from the
rigidity at extremely small displacement such as less than 10 m.
Stick slip
If machine movement causes a stick slip, the control system does not
operate normally. That is, it does not stop where it is supposed to, but a
phenomenon occurs where it goes beyond and then back within an
extremely small range (hunting). To avoid stick slip, the machine rigidity
should be increased, or friction characteristics of the sliding surface
should be improved. When the sliding surface friction characteristic is
as in the figure below, stick slip occurs easily.
Friction coefficient
Proper friction characteristic
Friction characteristic
which causes stick slip
Speed
Value of machine
overrun
(Damping coefficient of
machine system)
When the machine is floated by static pressure, etc., there are cases where
the machine keeps on moving within the range of backlash although the
motor shaft has stopped. If this amount is large, hunting will also occur.
To avoid this, backlash should be reduced (especially the backlash of the
last mass where position detector is mounted) and the appropriate
damping should be considered.
42
B65142E/04
4.3
HOW TO FILL IN THE
SERVO MOTOR
SELECTION DATA
TABLE
Select a suitable motor according to load conditions, rapid traverse rate,

increment system and other factors. To aid in selecting the correct motor,
we recommend filling in the Servo Motor Selection Data Table on the
following page.
This section describes the items to fill in the Servo Motor Selection Data
Table.
Servo Motor Selection Data Table
Machine
NC model
FS
Type
Spindle
motor
Power Mate
Axis
Item
Specifications of moving object
Axis movement direction (horizontal, vertical, rotation, slant
*
_ degree)
* Weight of moving object (including workpiece, etc.)
kgf
* Counterbalance
kgf
Table support (sliding, rolling, static pressure) or friction
*
coefficient
Diameter
mm
Pitch
mm
Length
mm
Ball
*
Rack and pinion (diameter of pinion, traveling
screw
distance of the machine tool per revolution of
the pinion)
Other
* Total gear ratio
Mechanical specifications
Traveling distance of the machine tool per revolution of the
motor
mm
Least input increment of NC (resolution)
mm
* Maximum rapid traverse feedrate
mm/min
Motor speed in rapid traverse
min1
* Cutting rapid traverse
mm/min
*1 Motor shaft converted load inertia
kgfcms2
Inertia of coupling, reduction gear and pulley
kgfcms2
*2 Steadystate load torque
kgfcm
* Cutting thrust
kgf
Maximum cutting torque (including steadystate load)
kgfcm
Maximum cutting duty/ON time
%/min
Positioning distance
mm
*3 Required positioning time
sec
Inposition set value
m
Rapid traverse positioning frequency (continuous,
intermittent)
times/min
Machine tool efficiency
43
B65142E/04
Axis
Item
Motor specifications and characteristics
Motor type (desired size and output)
Feedback type (when an absolute, incremental or pulse
position detector is required)
Options (when a brake, nonstandard shaft, etc. is
required)
Separate type pulse coder (yes/no)
Acceleration/deceleration time in rapid traverse
msec
Acceleration/deceleration time in cutting feed
msec
Feedforward during rapid traverse (yes/no)
Position loop gain
1/sec
Dynamic brake stop distance
mm
Note
Operating
patterns/
Remarks
Be sure to fill in units other than the above if used. (Sometimes deg is used instead of mm for the rotary
axis.)
* Note required values for selecting the motor.
*1 If possible enter the total load inertia. If you enter the inertia of coupling, reduction gear and pulley
(motor shaft conversion) in the next item, you can also calculate the total load inertia by adding the
weight of the moving object and ball screw values by logical calculation in the case of a linear shaft.
*2 Steadystate load torque refers to the steadystate components such as friction (holding torque is
included in the case of a gravity shaft) when the motor is rotating at a fixed speed. Enter the statestate
load torque as far as possible. If details are unknown, use a value calculated logically from the weight
and friction coefficient.
Enter the steadystate load torque of the rotary axis in the same way as for load inertia as it cannot be
calculated logically. You need not enter the torque required for acceleration/deceleration.
*3 Servo delay and setting times must also be taken into consideration in the positioning time.
Enter typical operating patterns (time in horizontal column and torque and speed in vertical column, etc.) if
they are already known.
In cases where the machine tool makes special movements or the motor is rotated continuously, enter as
many details as possible. Feel free to enter any other comments.
4.3.1
Title
Kind of machine tool
Fill in this blank with a general name of machine tools, such as lathe,
milling machine, machining center, and others.
Type of machine tool
Fill in this blank with the type of machine tool decided by machine tool
builder.
CNC equipment
Fill in this blank with the name of CNC (16iMA, 21iTA, PMiD, etc.)
employed.
Spindle motor output
Enter the specifications and output of the spindle motor. (This item is
needed when selecting PSM.)
Axis
Fill in this blank with names of axes practically employed in CNC

command. If the number of axes exceeds 4 axes, enter them in the second
sheet.
44
B65142E/04
4.3.2
Data
Specifications of moving
object
Be sure to enter data in this row. Data entered here is needed for
determining the approximate motor load conditions (inertia, load torque).
D Axis movement direction
Enter the movement directions of driven parts such as the table and tool
post (e.g. horizontal, vertical). Write their angle from the horizontal level
if their movement directions are slant (e.g. slant 60).
D weight of driven parts
Enter the weight of driven parts, such as table, tool post, etc. by the
maximum value including the weight of workpiece, jig, and so on. Do
not include the weight of the counter balance in the next item in this item.
D Counter balance
Enter the weight of the counter balance in the vertical axis, if provided.
Enter whether the counter balance is made by a weight or force as this
influences inertia.
D Table support
Enter the type of table slide (e.g. rolling, sliding or static pressure).
Enter a special slide way material like Turcite, if used. Also enter the
friction coefficient value. This item is significant in estimating the friction
coefficient for calculating mainly the load torque.
D Feed screw
Enter the diameter, pitch, and axial length of the lead screw in order.
If a rack and pinion or other mechanism is used, also enter the traveling
distance of the machine tool per revolution of the pinion.
D Total gear ratio
Enter the gear ratio between the ball screw and the servo motor, gear ratio
between the final stage pinion and the servo motor in case of the rack
pinion drive, or gear ratio between the table and the motor in case of rotary
table.
Mechanical
specifications
Enter basic data that is required for selecting the motor.

For details on how to calculate each of the items, see 4.1 to 4.2.
Pay special attention to the unit for calculating and expressing torque.
D Movement per rotation of

motor
Enter the movement of the machine tool when the motor rotates one turn.
Example
D When the pitch of ball screw is 12 mm and the gear ratio is 2/3,
12 2/3 = 8 mm
D When the gear ratio is 1/72 in rotary table ;
360 1/72 = 5 deg
D Least input increment

CNC
Enter the least input increment of NC command. (The standard value is

0.001 mm.)
D Rapid traverse rate
Enter the rapid traverse rate required for machine tool specifications.
D Motor speed in rapid

traverse
Enter the motor speed during rapid traverse.
D Cutting rapid traverse
Enter the rapid traverse rate required for machine tool specifications.
D Motor shaft converted

load inertia
Enter a load inertia applied by the moving object reflected on the motor
shaft. Do not include the inertia of the motor proper in this value. For
details on this calculation, see 4.1.1.
In the case of a linear shaft, enter the load inertia calculated by logical
calculation if you enter the next item. In the case of a rotary shaft,
however, the load inertia cannot be calculated by logical calculation.
45
D Inertia of coupling,
reduction gear and
pulley
Enter values to two digits past the decimal point. (e.g. 0.2865 0.29)
D Steadystate load torque
Enter load inertia applied on transfer mechanisms other than couplings,

moving objects and ball screw.
B65142E/04
Enter the torque obtained by calculating the force applied for moving the
machine tool and statestate components such as friction (including
holding torque in the case of a gravity shaft) reflected on the motor shaft
when it is rotating at a fixed speed. (Do not include any torque required
for acceleration/deceleration in this item.) If details are unknown, use a
value calculated logically from the weight and friction coefficient. Enter
the steadystate load torque of the rotary axis in the same way as for load
inertia as it cannot be calculated logically.
If the load torque values differ during lifting and lowering in the vertical
axis, enter both values. Also, if the load torque values differ during rapid
traverse and cutting feed, enter a notice to that effect.
Since torque produced in low speed without cutting may be applied even
when the motor has stopped, a sufficient allowance is necessary as
compared with the continued rated torque of the motor. Suppress this load
torque so that it is lower than 70% of the rated torque.
D Cutting thrust
Enter the maximum value of the force applied during cutting by the force
in the feed axis direction.
D Maximum cutting torque
Enter the torque value on the motor shaft corresponding to the maximum
value of the above cutting thrust. When you enter this value, add the
steadystate load to the motor shaft converted value for the cutting thrust.
Since the torque transfer efficiency may substantially deteriorate to a large
extent due to the reaction from the slideway, etc. produced by the cutting
thrust, obtain an accurate value by taking measured values in similar
machine tools and other data into account.
46
B65142E/04
D Maximum cutting duty /

ON time
Enter the duty time and ON time with the maximum cutting torque in the
above item applied.
Torque
ON
Maximum cutting
torque
OFF
t
T
ON
Time
: Time that the maximum cutting torque is applied
OFF : Time when cutting torque is not applied

Duty : (t/T) 100 (%)
ON time = t (min)
D Positioning distance
Enter the distance as a condition required for calculating the rapid traverse
positioning frequency.
When an exclusive positioning device is used, enter this value together
with the desired positioning time below.
D Required positioning
time
Enter the required positioning time when an exclusive positioning device

is used.
When the device is actually attached on the machine tool, note that servo
delay and setting times must also be taken into consideration in the
positioning time.
D Inposition set value
Enter the inposition set value as a condition required for calculating the
above positioning times when an exclusive positioning device is used.
Note that the positioning time changes according to this value.
D Rapid traverse
positioning frequency
Enter the rapid traverse positioning frequency by the number of times per
minute. Enter whether the value is for continuous positioning over a long
period of time or for intermittent positioning within a fixed period of time.
(This value is used to check the OVC alarm and whether the motor is
overheated or not by a flowing current during acceleration/deceleration,
or to check the regenerative capacity of the amplifier.)
D Machine tool efficiency
This value is used for calculating the transfer efficiency of motor output
on a machine tool. (Standard value is 0.9.)
Generally, a drop in transfer efficiency is expected if a reduction gear
having a large deceleration rate is used.
Motor specifications and

characteristics
D Motor type
Enter the motor type, if desired.
D Feedback type
Enter the specifications (absolute/increment or number of pulses: 65,536

or 10,000) of the feedback detector (pulse coder) built into the motor.
D Options
Enter options such as a motor brake and nonstandard shaft, if required.
47
D Separate type pulse

coder
Enter the name of the separate type pulse coder, if used.
D Acceleration /
deceleration time
constant at rapid
traverse
The acceleration/deceleration time is determined according to the load

inertia, load torque, motor output torque, and working speed. For details
of calculations, refer to Subsec. 4.1.2 and 4.1.3.
The acceleration/deceleration mode at rapid traverse is generally linear
acceleration/deceleration in FANUCs CNC.
B65142E/04
Speed
Vm
Time
ta
D Acceleration/
deceleration time
constant at cutting feed
ta
The acceleration/deceleration at cutting feed is exponential acceleration

/deceleration in general. This blank is filled in with its time constant
Speed
Vm
0.632Vm
Time
te
te
te : Time constant
D Feedforward during
rapid traverse
Enter whether or not feedforward control is used.

Generally, feedforward control can reduce the delay time in executing
servo commands. However, overheating of the motor is more likely to
occur as a higher torque is required for acceleration/deceleration. Since
mechanical shock increases by only the No.1 time constant, generally also
set the No.2 acceleration/deceleration time constant or FAD time constant
when using feedforward control.
D Position loop gain
Fill in this blank with a value which is considered to be settable judging

it from the inertia value based on experiences.
Since this value is not always applicable due to rigidity, damping
constant, and other factors of the machine tool, it is usually determined
on the actual machine tool. If the position detector is mounted outside the
motor, this value is affected by the machine tool rigidity, backlash
amount, and friction torque value. Enter these values without fail.
48
B65142E/04
D Dynamic brake stop

distance
This is coasting distance when the machine tool is stopped by dynamic

braking with both ends of the motor power line shorted, if the machine
tool is in trouble.
There are two ways of shortening this dynamic brake stop distance, the
emergency stop distance shortening function, and the emergency stop
distance shortening function (additional hardware is required) effective
during power interruptions.
Vm
Vm : Rapid traverse rate, mm/sec or deg /sec

l1
: Coasting distance due to delay time t1 of receiver
l2
: Coasting distance due to deceleration time t2 of magnetic contactor (MCC)
l3
: Coasting distance by dynamic braking after magnetic contactor

has been operated
(t1+t2) is usually about 0.05 seconds.
Coasting distance(mm or deg)

+ Vm
(t 1 ) t 2) ) (J m ) J 1)
(A
No ) B
No3)
Jm : Motor inertia (kgcms2)

J
: Load inertia (kgcms2)
No : Motor speed at rapid traverse (rpm)

L
: Machine movement on onerotation of motor (mm or deg)

(No L=Vm)
A: Coefficient A for calculating the dynamic brake stop distance

B: Coefficient B for calculating the dynamic brake stop distance
For details, see the table on the following page.
49
Coefficients for
calculating the dynamic
brake stopping distance
B65142E/04
Jm (kgfcms2)
1/3000
4.4 102
1.7 108
0.0031
2/2000
1.5
102
109
0.0056
2/3000
1.5 102
6.5 109
0.0061
3/3000
3.1 102
3.3 109
0.014
6/2000
1.1
102
2.1
109
0.027
2.4
102
1.0
109
0.027
7.0
103
3.0
109
0.064
12/3000
1.4
102
1.5
109
0.064
22/1500
3.8 103
1.3 109
0.12
22/2000
6.1 103
8.1 1010
0.12
22/3000
7.3
103
6.8
1010
0.12
1.6
103
1.3
109
0.17
1.8
103
1.2
109
0.17
4.3
103
4.9
1010
0.17
40/2000
1.8
103
6.3
1010
0.23
65/2000
1.7 103
4.2 1010
0.19
100/2000
1.3 103
2.4 1010
0.27
150/2000
1.0
103
1.7
1010
0.35
3.3
104
1.0
1010
0.80
1.9
104
1.0
1010
1.05
Model
series
6/3000
12/2000
30/1200
30/2000
30/3000
300/2000
400/2000
6.6
M series
M3/3000
2.0 102
7.8 109
0.0030
M2.5/3000
7.0 103
4.8 109
0.0053
4.4
102
3.7
109
0.008
1.8
102
1.5
109
0.014
1.2
102
4.8
1010
0.026
M22/3000
6.2
103
6.8
1010
0.059
M30/3000
3.0 103
3.2 1010
0.11
M40/3000
2.2 103
6.7 1011
0.12
103
1010
0.12
M3/3000
M6/3000
M9/3000
M40/3000 (with fan)
1.3
1.2
L series
L6/3000
2.7 102
5.5 109
0.0050
102
1010
0.010
L9/3000
2.4
L25/3000
6.3 103
9.1 1010
0.055
L50/2000
3.0 103
6.2 1010
0.10
C3/2000
8.1 103
1.3 108
0.014
C6/2000
2.9
103
8.2
109
0.027
1.6
103
1.3
108
0.064
3.8
103
1.3
109
0.12
8.7
C series
C12/2000
C22/2000
50
B65142E/04
Jm (kgfcms2)
3/3000HV
3.4 102
3.0 109
0.014
6/3000HV
1.3 102
1.8 109
0.027
12/3000HV
1.4 102
1.5 109
0.064
22/3000HV
7.8
103
6.4
1010
0.12
4.3
103
5.0
1010
0.17
5.9
103
2.0
1010
0.23
4.7
105
7.6
1011
4.25
Model
(HV) series
30/3000HV
40/2000HV
1000/2000HV
M (HV) series
M6/3000HV
1.4 102
1.9 109
0.014
M9/3000HV
1.1 102
5.2 1010
0.026
M22/3000HV
8.6
103
3.1
1010
0.059
6.8
103
6.4
1011
0.11
5.8
103
5.0
1011
0.12
M30/3000HV
M40/3000HV
The values of A and B are calculated by assuming that the resistance of

the power line is 0.05 per phase. The values will vary slightly according
to the resistance value of the power line.
The coefficient above values are applicable when the series servo
amplifier is being used. The coefficient may change, depending on the
type of the servo amplifier. Contact FANUC when using the C series
amplifier.
51
4.4
Performance of each motor model is represented by characteristic curves

and data sheet shown below.
CHARACTERISTIC
CURVE AND DATA
SHEET
4.4.1
B65142E/04
The typical characteristic curves consist of the following.
Performance Curves
Speedtorque
characteristics
These are known as operating curves and describe the relationship

between the output torque and speed of the motor. The motor can be
operated continuously at any combination of speed and torque within the
prescribed continuous operating zone. Outside of this zone, the motor
must be operated on an intermittent basis using the duty cycle curves. The
limit of continuous operating zone is determined under the following
conditions. And this zone may be limited by the thermal protection of
mounted precision instrument. (pulse coder)
D The ambient temperature for the motor is 20C.
D The drive current of the motor is pure sine wave.
The limit of intermittent operating zone is determined by input voltage to
the motor.
Actual operation is limited by the current limit of servo unit.
Due to the negative temperature coefficient of the magnetic material,
continuous operating zone must be derated at the rate of 0.19% per degree
centigrade rise of magnets. (i.e. for ambient temperature above 20 derate
0.19% for each degree over)
Overload duty
characteristic
These curves are known as duty cycle curves and provided very important
information on how to determine the ON time for intermittent overload
torque without overheating the motor. The curves shown in the following
figures are ones determined by the limit of the temperature of the motors.
When the motor is driven by some driving circuit having thermal protect
devices such as thermal relay or fuse, the ON time may be limited by
the characteristics of those elements.
4.4.2
The data sheet gives the values of motor parameters relating to the
performance.
The values of parameters are those under the following conditions.
D The ambient temperature for the motor is 20C.
D The drive current of the motor is pure sine wave.
Data Sheet
Important parameters on the data sheet are defined as follows :

Continuous RMS current at stall TENV : Is (Arms)
Maximum effective current that allows continuous motor operation
Torque constant : Kt (kgfcm/Arms) (Nm/Arms)
This is known as torque sensitivity and represents the torque
developed per ampere of phase current. This value is a motorspecific
constant, and is calculated by the flux distribution and location of coils
in the armature, and the dimensions of the motor.
52
B65142E/04
Back EMF (electromotive force) constant: Kv (Vrmssec)

((Vrmssec/rad))
The back EMF constant indicates the strength of the permanent
magnetic field. It is the value of the generated voltage at a specified
speed when the rotor is rotated mechanically. Back EMF is a
motorspecific constant, and is also calculated by the flux distribution
and location of coils in the armature, and the dimensions of the motor.
Expressed in [min1] units, back EMF has the dimensions of
[Vrms/min1]. The relationship can be given as:
(Vrmssec1/rad) = (9.55 Vrms/min1)
The back EMF constant is indicated as the RMS voltage per phase, so
multiple by 3 to obtain the actual terminal voltage.
Kt (kgf @ cmArms) + 30.6Kv (Vrms @ sec rad)
SI unit
Kt (NmArms) + 3Kv (Vrms @ sec rad)
For this reason, when back EMF constant drops lower than the
demagnetization of the magnet, the torque constant also drops by the
same ratio.
Mechanical time constant : tm (sec)
This is a function of the initial rate of rise in velocity when a step
voltage is applied. It is calculated from the following relationship.
tm +
Jm @ Ra
Kt @ Kv
Jm : Rotor inertia (kgfm2)

Ra : Resistance of the armature ()
Thermal time constant : tt (min)

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.
Static friction : Tf (kgfcm) (Nm)
This is the noload torque required just to rotate the rotor.
53
4.4.3
Servo motors can be operated in the range exceeding continuous rated

torque depending on thermal time constant. Duty characteristics shows
the Duty (%) and the ON time in which motor can be operated under
the given overload conditions. Calculation procedure is as follows.
How to Use Duty Cycle

Curves
B65142E/04
1 Calculate Torque percent by formula (b) below.

2 Motor can be operated at any point on and inside the curve
corresponding to the given over load conditions obtained form 1.
3 Calculate tF by formula (a)
100
1)
Duty percent
Load torque
TMD +
Continuous rated torque
t F + tR
tF
: OFF time
tR
: ON time
. . . . . . . . . (a)
. . . . . . . . . (b)
The values of tR and tF obtained form the above mentioned procedure

shows the ones limited by motor thermal conditions.
Note that thermal protection devices such as a circuit breaker and
thermal circuit are incorporated into the drive amplifier. These devices
also impose a restriction on motor usage.
When the motor is overloaded, the software (OVC alarm) imposes an
additional restriction on motor drive duration.
54
B65142E/04
5. CONDITIONS FOR APPROVAL

RELATED TO THE IEC34
STANDARD
CONDITIONS FOR APPROVAL RELATED TO THE IEC34

STANDARD
55

STANDARD
This chapter describes the conditions the following FANUC , series AC

servo motors must clear before they can be approved for the IEC34
standard.
For details on EMC compliance authorization, refer to the separate
manual Compliance with EMC Directives
5.1
APPLICABLE
MOTORS
5.1.1
200 VAC Input Types
The following FANUC AC servo motor series can comply with the
IEC34 standard if you follow the descriptions in this chapter. The TV
mark is printed on the nameplates of the following motors.
( series motors produced before March 1995 comply with the IEC34
standard only on condition that #T or #U is designated at the end of
the specification code indicated on the nameplate.)
series
Model name
B65142E/04
M series
Motor specification number
Mode name
1/3000
A06B0371Bxxx
M2/3000
A06B0376Bxxx
2/2000
A06B0372Bxxx
M2.5/3000
A06B0377Bxxx
2/3000
A06B0373Bxxx
M6/3000
A06B0162Bxxx
3/3000
A06B0123Bxxx
M9/3000
A06B0163Bxxx
6/2000
A06B0127Bxxx
M22/3000
A06B0165Bxxx
6/3000
A06B0128Bxxx
M30/3000
A06B0166Bxxx
12/2000
A06B0142Bxxx
M40
A06B0169Bxxx
12/3000
A06B0143Bxxx
M40 (with fan) A06B0170Bxxx
22/1500
A06B0146Bxxx
L series
22/2000
A06B0147Bxxx
22/3000
A06B0148Bxxx
L6/3000
A06B0562Bxxx
30/1200
A06B0151Bxxx
L9/3000
A06B0564Bxxx
30/2000
A06B0152Bxxx
L25/3000
A06B0571Bxxx
30/3000
A06B0153Bxxx
L50/3000
A06B0572Bxxx
40/2000
A06B0157Bxxx
C series
40/2000
(with fan)
A06B0158Bxxx
65/2000
A06B0331Bxxx
C3/2000
A06B0121Bxxx
100/2000
A06B0332Bxxx
C6/2000
A06B0126Bxxx
150/2000
A06B0333Bxxx
C12/2000
A06B0141Bxxx
300/2000
A06B0137Bxxx
C22/1500
A06B0145Bxxx
400/2000
A06B0138Bxxx
Model name
Mode name
56

STANDARD
B65142E/04
5.1.2
The following FANUC AC servo motor HV series can comply with the
IEC34 standard if you follow the descriptions in this chapter. The TV
mark is printed on the nameplates of the following motors.
( series motors produced before March 1995 comply with the IEC34
standard only on condition that #T or #U is designated at the end of
the specification code indicated on the nameplate.)
400 VAC Input Types
(HV) series
Model name
3/3000HV
A06B0171Bxxx
6/3000HV
A06B0172Bxxx
12/3000HV
A06B0176Bxxx
22/3000HV
A06B0177Bxxx
30/3000HV
A06B0178Bxxx
40/2000HV
A06B0179Bxxx
1000/2000HV
A06B0131Bxxx
M(HV) series
Model name
M6/3000HV
A06B0182Bxxx
M9/3000HV
A06B0183Bxxx
M22/3000HV
A06B0185Bxxx
M30/3000HV
A06B0186Bxxx
M40/3000HV
A06B0189Bxxx
57

STANDARD
B65142E/04
5.2
DRIVES
5.2.1
200 VAC Input Types
5.2.2
400 VAC Input Types
The FANUC , M, L, and C series AC servo motors can be driven

only by the FANUC servo amplifiers for 200 to 230 VAC.
The FANUC (HV) series and M(HV) series AC servo motors can be
driven only by the FANUC servo amplifiers for 400 to 460 VAC.
58
B65142E/04

STANDARD
5.3
POWER CABLE
CONNECTORS
5.3.1
Models a1 and a2
The motor power cable must be connected using the following specified
connectors.
Model
Name
Connector Kit Specification

[FANUC Specification]
1/3000
Connector kit
2/2000
w/ contacts
2/3000
M2/3000
M2.5/3000
Connector kit
w/out contacts
Dedicated Tools
Specification
[FANUC Specification]
Crimping tool
1763468
9145963
(AMP Japan)
[A06B6050K121] (AMP Japan)
[A97L02000979/L]
1763467 (AMP
Japan) [contacts
not provided]
Extractor
9146771
(AMP Japan)
[A97L02000980/D3]
* Also, see 8. Connectors.
Section 8.2.3 of IEC2041 (EN602041), which must be met to acquire

CE marking approval, stipulates that all exposed live conductors of
electric equipment and machines be connected to a protection link circuit.
In order to comply with this stipulation, sufficient care must be paid when
using the above connector kits.
D When connecting the connector kit assembly, connect the metal shell
of the connectors shown below to the protection link circuit.
D Use leads that meet the following specifications:
Brake
Number of
Cores
W/out brake
5 or more
W/ brake
7 or more
Cable Size
Insulation
O.D.
AWG18 to 16
1.8 to
(0.85 to 1.25 mm2) 2.8 mm
Sheath O.D.
(*)
10.4 to
11.4 mm
(*) Note that waterproof performance may be impaired if a sheath of

inappropriate O.D. is used.
D An earth lead for the connector shell is also required in addition to the
motor earth. Connect each of these to the GND terminal on the
amplifier.
FANUC can also provide cable assemblies that use IECcompliant leads.
The following are FANUC specifications:
- Cable assembly (14 m as standard)
Model with no brake:

A06B6080K824
Model with builtin brake: A06B6080K825
59

STANDARD
B65142E/04
Connecting the Connector Shell Grounding Wire
MOTOR SIDE
CONNECTOR
KIT
60
AMP. SIDE

STANDARD
B65142E/04
5.3.2
The motor power cable and brake fan unit must be connected using the
connectors and cable clamps specified below.
Models a3 and Higher
Cable
Type
For Power
90V brake
fan unit
connection
Motor
model
name
Plug connector maker

specification
[FANUC specification]
3/3000,
6/2000,
6/3000,
M6/3000,
M9/3000
L6/ 3000,
L9/3000,
C3/2000,
C6/2000,
3/ 3000HV,
6/3000HV,
M6/3000HV,
M9/3000HV
Straight
type
12/2000,
12/3000,
22/1500,
22/2000,
30/1200,
C12/2000,
C22/1500,
12/3000HV,
22/3000HV,
30/3000HV,
M22/3000HV,
M30/3000HV
Straight
type
22/3000,
30/2000,
30/3000,
40/2000,
40/2000FAN
M22/3000,
M30/3000,
L25/3000,
L50/2000
Straight
type
H/MS3106A1810S
DT (10)
[A63L00010648/
61810SH]
H/MS305710A
(10)
[A63L00010592/
10AK]
Hirose Electric
Lshape H/MS3108B1810S
type
DT (10)
[A63L00010648/
81810SH]
JL04V6A2222SE
EB
[A63L00010648/
62222SJ]
JL042022CK(14)
[A63L00010653/
12A]
Japan Aviation
Electronics Industry
Lshape JL04V8A2222SE
type
EB
[A63L00010648/
82222SJ]
JL04V6A2410SE
(G)EB
[A63L00010648/
62410SJ]
Lshape JL04V8A2410SE
type
(G)EB
[A63L00010648/
82410SJ]
Common to all Straight

models exclud- type
ing (HV)
series
JL04V6A10SL3SE
EB
[A63L00010648/
610SL3SJ]
Lshape JL04V8A10SL3SE
type
EB
[A63L00010648/
810SL3SJ]
61
Cable clamp
specification
and connector
maker name
JL042428CK(17)
[A63L00010653/
16A]
Japan Aviation
JL041012CK(05)
[A63L00010653/
04A]
Japan Aviation

STANDARD
B65142E/04
D Also see Section 8.

D The power cable for the 22/3000, 30/2000, 30/3000, 40/2000,
40/2000FAN, M22/3000, M30/3000, L25/3000, and
L50/2000 has 7 conductors. Its grounding wire (one conductor)
must have a cross section not less than that for the U, V, or W line (two
conductors). For the grounding wire for the other connectors, its cross
section must not be less than that for the U, V, or W line.
D TUV have certified that the plug connector and cable clamp mentioned
above, when combined with the FANUC series servo motors, satisfy
the VDE0627 safety standard. As indicated in the table below, several
manufacturers offer other plug connectors. For information about
whether the plug connectors satisfy the safety standard when
combined with the FANUC series servo motors, contact the
corresponding manufacturer. Contact the manufacturers if you require
details of their products.
Manufacturer
Product series name
Hirose Electric (HRS)
H/MS310 TUVconforming series
Japan Aviation Electronics Industry

(JAE)
JL04V series
DDK Ltd. (DDK)
CE05 series
D If a cable or conduit hose seal adapter is used, consult an appropriate

connector maker.
62

STANDARD
B65142E/04
5.4
The following specifications are approved for the IEC34 standard.
APPROVED
SPECIFICATIONS
5.4.1
The allowable maximum speeds of motors are as listed below.
Motor Speed (IEC341)
The allowable maximum speeds are specified in such a way that the
approval conditions of the IEC34 standard, as they relate to rotational
speed, are satisfied. When the allowable maximum speeds are used, the
characteristics are not guaranteed. For the maximum speed that each
motor can support, refer to the respective data sheet.
Ratedoutput
speed [min1]
Allowable maximum
speed [min1]
1/3000,
2/3000,
3/3000,
6/3000,
M2/3000,
M2.5/3000
M6/3000,
M9/3000,
L6/3000,
L9/3000
3/3000HV
6/3000HV
M6/3000HV, M9/3000HV
12/3000,
22/3000,
30/3000,
M22/3000
M30/3000
L25/3000,
12/3000HV, 22/3000HV,
30/3000HV,
M22/3000HV, M30/3000HV
3000
4000
2/2000,
12/2000,
30/2000,
C3/2000,
L50/2000
2000
2500
22/1500,
C22/1500
1500
2000
30/1200
1200
1500
2000
2500
M40/3000
1000
3000
M40/3000 (with fan)
3000
3000
M40/2000HV, 300/2000,
400/2000, 1000/2000HV
2000
2000
M40/3000HV
1000
3000
Motor model
65/2000,
6/2000,
22/2000,
40/2000,
C6/2000,
100/2000,
63
C12/2000,
150/2000

STANDARD
5.4.2
Output (IEC341)
5.4.3
Protection Type
(IEC345)
B65142E/04
The rated output is guaranteed as continuous output only for the

ratedoutput speed. The output in an intermittent operation range is not
specified. When rated output increases due the use of an external fan
(excluding models with cooling fan), the servo motor does not comply
with the IEC34 standard. Note, however, that this poses no problem if the
fan is used for the purpose of cooling, and the motor is used with output
held at the current output rating. The approved output of each model is
as listed in II to VII.3, Specifications and Characteristics (described
later).
Motor protection confirms to IP65.
Note that on models with builtin fan, the fan connector is IP00. On
models where the power cable is connected to the terminal box, you must
pay attention to the cable routing port, for example, by using a conduit that
complies with IP65.
IP6x: Completely dustproof machine
This structure completely prevents dust from entering the machine.
IPx5: Sprinkleproof machines
A sprinkleproof machine shall not suffer inadvertent influence when
they are exposed to water sprinkled from nozzles at any angle to the
machine.
The conditions of the IPx5 type test are as follows:
Nozzle inside diameter:
Amount of sprinkled water:
Water pressure at the nozzle:
Sprinkle time per a surface of 1 m2:
Minimum required time:
Distance between the nozzle and machine:
6.3 (mm)
12.5 (liters/minute)
30 (kPa)
1 (minute)
3 (minutes)
Approximately 3 m
CAUTION
IPx5 evaluates machines for waterproofness in a
shortterm test as described above, allowing chances that
the machines may get dry after the test. If a machine is
exposed to liquids other than water or so continuously to
water that it cannot get dry, it may suffer inadvertent
influence even if the degree of exposure is low.
5.4.4
Cooling Method
(ICE346)
The motor cooling methods are as listed below.

Motor model
IC code
Method
40/2000 with fan
IC416
Fully closed; cooled by an external independent fan
Other models
IC410
Fully closed; cooled by a natural air flow
64

STANDARD
B65142E/04
5.4.5
The motors can be mounted by the following methods.
Mounting Method
(IEC347)
5.4.6
Heat Protection
(IEC3411)
IMB5: Flange mounting with the shaft facing sideways (from the rear)
IMV1: Flange mounting with the shaft facing upward (from the rear)
IMV3: Flange mounting with the shaft facing downward
(from the rear)
The heat protection type is as listed below:

TP211
1: Temperature rise limit category 1 for heat protection
2: Stop only at stage 1 (no warning)
2: Protection for gradual and abrupt overload
Remarks
For details on EMC compliance authorization, refer to the separate

manual Compliance with EMC Directives
65
6. FEEDBACK DETECTOR
FEEDBACK DETECTOR
66
B65142E/04
B65142E/04
6.1
BUILTIN DETECTOR
All AC servo motors feature a pulse coder (optical encoder).

The pulse coder outputs position information and an alarm signal.
The following lists the available pulse coders are compatible.
Pulse coder type
Resolution
Absolute/
Division/rev incremental
Applicable motor
Pulse coder A64
65,536
Absolute
All models
Pulse coder I64
65,536
Incremental
All models
Absolute
All models except C

series
Pulse coder A1000 1,000,000
67
B65142E/04
6.2
PULSE CODER
RESOLUTION AND
CONTROL
RESOLUTION
65,536
divisions/revolution
With the NCs flexible feed gear function, 1m control can be performed
for feed pitches of up to 30 mm per motor revolution.
1,000,000
divisions/revolution
With the NCs flexible feed gear function 0.1m control (up to 100
mm/revolution) and 0.01m control (up to 10 mm/revolution) can be
performed.
Increasing the speed loop gain as far as possible is effective. This can be
easily achieved by increasing the resolution
68
B65142E/04
6.3
ABSOLUTETYPE
PULSE CODER
When the NC is turned off, the pulse coder position detection function is
backed up by battery. So, when the NC is next turned on, the operator does
not have to perform reference position return.
For backup, a battery unit must be installed in the NC or servo amplifier.
If a lowbattery indication appears on the NC, renew the battery as soon
as possible.
Replace the battery while the NC is turned on.
69
6.4
The type pulse coders signals are inputed or outputed as shown below.
The pin assignments of the signals for the connector used for each model
are also shown.
DETECTOR
INPUT/OUTPUT
SIGNALS
Models
1/3000, 2/2000,
2/3000, M2/3000,
M2.5/3000
Signal
name
DSUB 15P
Models
3/3000 to 400/1200
3/3000HV to
1000/2000HV
C3/2000 to C22/1500
M3/3000 to M40/3000,
M40/3000 (with fan)
M6/3000HV to
M40/3000HV
L3/3000 to L50/3000
B65142E/04
A64
A1000
I64
SD
*SD
12
13
12
13
REQ
*REQ
5
6
5
6
+5V
0V
Shield
+6VA
0VA
8, 15
1, 2, 3
4
14
10
8, 15
1, 2, 3
4
Signal
name
3102A 2029PW
70
Pin No.
Pin No.
A64
A1000
I64
I8
SD
*SD
A
D
A
D
REQ
*REQ
F
G
F
G
+5V
0V
Shield
+6VA
0VA
J, K
N, T
H
R
S
J, K
N, T
H
B65142E/04
6.5
SEPARATE TYPE
POSITION
DETECTOR
For detecting a position by attaching directly to a ball screw or a machine,

use a separate type position detector. Pay attention to the following items
when using the separate type position detector.
D Increase the machine rigidity between the servo motor and the position
detector to minimize mechanical vibration. If the machine rigidity is
low or the structure vibrates, poor performance, over shoot is likely to
occur.
D Generally, when the separate type detector is used, the influence of
gear, ball screw pitch error or table inclination is decreased and the
positioning accuracy and geometrical accuracy (roundness, etc.) are
increased, but the smoothness may deteriorate due to the elasticity in
the machine between the servo motor and the position detector.
D It is necessary to use the built-in pulse coder with a resolution equal
to or finer than that of the separate type position detector.
To connect the separate type position detector to the NC, connect only the
signals described in the connecting manual. (A, B, Z, 0V, 5V and REQ
if necessary)
When the other signal is connected, the unit may malfunction.
Do not connect the C1, C2, C4, and C8 signals output from the separate
type pulse coder unit.
FANUC provides the following external position (rotary) detector.
6.5.1
Separate Type Pulse
Coder Type and
Specifications
D Pulse coder A1000S
Four types of separate type pulse coder are available. Features and rapid
traverserelated limitations are the same as the builtin pulse coder.
A8600372T001
1,000,000 P/rev (Up to 4000 min1)
D Incremental pulse coder

unit
D Absolute pulse coder

unit
A8600301T0jj
jj
01 :
02 :
03 :
04 :
2000P/rev (Up to 3000min -1)

2500P/rev (Up to 2400min -1)
3000P/rev (Up to 2000min -1)
4000P/rev (Up to 1500min -1)
A8600324T1jj
jj
01 :
02 :
03 :
04 :
2000P/rev (Up to 3000min -1)

2500P/rev (Up to 2400min -1)
3000P/rev (Up to 2000min -1)
4000P/rev (Up to 1500min -1)
71
D Highspeed high
resolution pulse coder
unit
B65142E/04
A8600314T1jj
jj
11 : 2000P/rev (Up to 3000min -1)
12 : 2500P/rev (Up to 2400min -1)
13 : 3000P/rev (Up to 2000min -1)
The following signal conversion circuits are required for connecting
highspeed high resolution pulse coder units to the NC.
Signal conversion circuit: A06B6061J0jj
jj
01 : For two systems
02 : For four systems
6.5.2
Separate Type Pulse
Coder Specifications
Pulse coder A1000S
Item
Power voltage
Specification
5 (V)"5%
Current consumption
Up to 0.3 (A)
Working temperature range
0 to )60 (C)
Resolution
1,000,000 (/rev.)
Maximum speed of rotation
4000 (min1)
Up to 1 104 (kgm2)
Input shaft inertia

Input shaft startup torque
Up to 0.1 (Nm)
Radial
2.0 (N)
Axial
1.0 (N)
Rated loads
Shaft diameter runout
0.02 103 (m)

Dustproof, dripproof
(IP55 or equivalent: when waterproof
connector is fitted)
Structure
Vibration resistance acceleration
Weight
5 (G) (50 to 2,000 (Hz))

Approx. 0.75 (kg)
72
B65142E/04
Incremental pulse coder

unit
Absolute pulse coder
unit
Highspeed and
highresolution pulse
coder unit
Item
Power voltage
Specification
5 (V)"5%
Current consumption
Up to 0.35 (A)
Working temperature range
0 to )60 (C)
Maximum response frequency
100 103 (Hz)

Up to 5 103 (kgm2)
Input shaft inertia

Input shaft startup torque
Up to 0.8 (Nm)
Radial
20 (N)
Axial
10 (N)
Rated loads
0.02 103 (m)
Weight
Approx. 2.0 (kg)
6.5.3
Input Signals and
Layout of Connector
Pins of Separate Type
Pulse Coder
Pulse coder A1000S
Pin No.
3102A2029PW
73
Signal name
A1000S
3102A2029P
SD
*SD
A
D
REQ
*REQ
F
G
+5V
0V
J, K
N, T
Shield
+6VA
0VA
R
S
B65142E/04
Incremental pulse coder

unit
Pin No.
Absolute pulse coder

unit
Incremental
3102A2029P
Absolute
3102A2214P
Signal name
Incremental
310A20-29P
Absolute
3102A22-14P
A
*A
A
D
A
B
B
*B
B
E
C
D
Z
*Z
F
G
E
F
C1
C2
C4
C8
G
H
J
K
+5V
0V
C, J, K
N, P, T
L
M
Shield
OH1
OH2
REQ
+6VA
0VA
T
U
Highspeed and
highresolution pulse
coder unit
Pin No
3102A2214P
74
Signal name
Highspeed and
highresolution
3102A22-14P
A
*A
A
B
B
*B
C
D
Z
*Z
E
F
C1
C2
C4
C8
G
H
J
K
+5V
0V
L, T
M, U
Shield
OH1
OH2
B65142E/04
6.5.4
External Dimensions of
Separate Type Pulse
Coder
Separate Type Pulse Coder Name
Dwg. No.
Pulse coder A1000S
Fig. 6.5.4 (a)
Incremental pulse coder unit
Fig. 6.5.4 (b)
Absolute pulse coder unit

Highspeed and highresolution pulse coder unit
Fig. 6.5.4 (c)
75
B65142E/04
Pulse coder A1000S
MS connector : MS3102A2029P
Fig. 6.5.4 (a)
76
B65142E/04
Fig. 6.5.4 (b) Incremental pulse coder unit
77
B65142E/04
Absolute pulse coder unit/Highspeed and highresolution

pulse coder unit
78
Key position
Applox. 123.5
Fig. 6.5.4 (c)
B65142E/04
7. BUILTIN BRAKE
BUILT-IN BRAKE
Some of the , (HV), C, M, and L series Models use motors that

contain a holding brake to prevent falling along a vertical axis.
Motors with a built-in brake have different outlines and weight from other
types of motors. For their outlines, refer to appropriate outline drawings.
79
7. BUILTIN BRAKE
7.1
The specifications of builtin brakes are listed below.
B65142E/04
BRAKE
SPECIFICATIONS
Motor model
Brake torque
Response Release
time
Brake
Supply voltage
Current
Weight increase
Inertia increase
Resistance value
Motor model
Brake torque
Response Release
time
Brake
Supply voltage
Current
Weight increase
Inertia increase
Resistance value
Motor model
Brake torque
Response Release
time
Brake
Supply voltage
Current
Weight increase
Inertia increase
Resistance value
12
22
30
3
6
1
C12
M6
2
C22
Unit
M2
M22
M9
M30
C3
M2.5
M40
C6
M40
(with fan)
Nm
2
8
35
kgfcm
20
82
357
msec
60
70
120
msec
20
30
30
VDC (10%) 90
90
90
A
0.2 or less 0.4 or less 0.5 or less
kg
Approx. 1.3 Approx. 2.3 Approx. 6.3
2
kgm
0.00002
0.00007
0.0006
0.0002
0.0007
0.006
kgfcms2
516
295
220
40
65
100
150
35
357
120
30
90
0.6 or less
Approx. 10
0.0010
0.010
220
100
1020
180
60
90
1.0 or less
Approx. 15
0.0010
0.010
99
L25
L50
Nm
8
18
40
kgfcm
82
184
408
msec
70
100
120
msec
30
70
30
VDC (10%) 90
90
90
A
0.4 or less 0.5 or less 0.5 or less
kg
Approx. 2.3 Approx. 6.0 Approx. 6.0
kgm2
0.00007
0.0006
0.0006
0.0007
0.006
0.006
kgfcms2
295
220
220
Unit
L6
L9
12HV
22HV
3HV
30HV
6HV
Unit
40HV
M6HV
M22HV
M9HV
M30HV
M40HV
Nm
8
35
kgfcm
82
357
msec
70
120
msec
30
30
VDC (10%) 24
24
A
1.5 or less 2.0 or less
kg
Approx. 2.3 Approx. 6.3
2
kgm
0.00007
0.0006
0.0007
0.006
kgfcms2
21
16
The values shown above are standard values at 20C.

80
B65142E/04
7. BUILTIN BRAKE
7.2
CAUTIONS
CAUTION
Pay attention to the following points when motors with
brakes are used.
1 Configure the brake circuit referring to the brake wiring
diagrams and recommended parts described in the
following items.
2 For the , M, L and C brake power supplies, use the
fullwave rectified 100 VAC or 90 VDC power supplies. The
allowable voltage fluctuation for both of these power
supplies is 10%. Do not use a halfwave rectified 200 VAC
power supply. Doing so will damage the surge absorber.
3 For the (HV) and M(HV), use the 24 VDC power supply.
The allowable voltage fluctuation for this power supply is
10%.
4 The brake in the motor is used to hold the machine when the
servo motor control is OFF. It is possible to brake the
machine by turning OFF the brake power in an emergency
stop or during a power interruption. However, it is impossible
to use this brake to reduce the stop distance in normal
operation.
5 Allow sufficient time to start the servo motor before
releasing the brake. Dont use the brake as an aid for the
axis to stop at the same position for a long time, such as an
index table. Turn the servo off when holding the axis by the
built-in brake or another holding means. At this time, allow
sufficient time to set the brake before turning off the servo.
6 Models 40/2000 are longer because they contain a brake.
If an excessive load is applied to the opposite side of the
flange, the flange may be damaged. Do not apply any load
to the opposite side of the flange. Do not subject the motor
to excessive force.
7 Motor brake connectors do not have polarity.
81
7. BUILTIN BRAKE
7.3
The following shows the shape and pin arrangement of the brake
connectors.
CONNECTOR
SHAPES
B65142E/04
Models 1, 2, M2,
M2.5
Connections: 5=BK, 6=BK

(Connect to inside of power
connector.)
6 5 4 3 2 1
1763392
(AMP Japan)
Models 3 to 150, M,
L, C
A
Connections: A=BK,
B=BK, C=GND
JL04V2E10SL3PEB
(Japan Aviation Electronics Industry)
Models (HV), M(HV)
H/MS3102A10SL4P
(Hirose Electric)
* BK stands for the brake signal.
82
Connections: A=BK, B=BK
B65142E/04
7.4
The following shows example of brake connections.
7. BUILTIN BRAKE
CONNECTION OF
THE BRAKES
Models
, M, L, C
Switch
Surge absorber
Motor
Rectifier
Brake coil
Spark killer
Switch
Motor
Surge absorber
(With no polarity)
Spark killer
Brake coil
Models
(HV) and M(HV)
Switch
Surge absorber
Motor
Brake coil
(With no polarity)
Spark killer
83
7. BUILTIN BRAKE
B65142E/04
7.5
RECOMMENDED
PARTS IN BRAKE
CIRCUITS
Name
Rectifier
Switch
Model No.
D3SB60
Name of Manufacturer
SHINDENGEN ELECTRIC MFG. CO., LTD.
Order Dwg. No.

(FANUC Procurement
Dwg. No.)
Qty
Required Specifications
Withstand voltage 400 V min.
Rated control capacity

500VAC, 5A
Spark killer
S2A0
OKAYA ELECTRIC IND.

CO., LTD.
500/0.2F
Withstand voltage 400 V min.
Surge absorber
ERZV20D221
Matsusihita Electric Industrial Co., Ltd.
Varister voltage 220V

Max. allowable circuit voltage
140VAC
A06B6050K112
A06B6050K113
7.6
BRAKE CABLE
(TUV/EMC
COMPATIBLE)
Cable Dwg. No.
Motor Type
Brake Power Voltage
Connector Shape
Straight
Elbow
A06B6080K825
1,2
M2, 2.5
90VDC
Packaged inside power connector
3 to 150
M3 to 30
L, C
90VDC
3 pins
A06B6080K806
(HV)
M(HV)
24VDC
2 pins
A06B6080K807
Use a cable of maximum length 14 m and minimum conductor

crosssection area of 0.5 mm2 per lead.
84
B65142E/04
7.7
REDUCING THE
BRAKE SHAFT FALL
AMOUNT
7. BUILTIN BRAKE
When a motor with brake is applied to gravity shafts, the fall amount of
the shaft in a power interruption or an emergency stop, or when the CNC
is turned OFF may be a problem. The following describes an effective
way of minimizing this fall amount.
(1) Provide a control switch or relay on the DC side (see position in figure
below) of the brake circuit to quickly activate the brake.
(2) It is essential that this switch or relay be disconnected as quickly as
possible to shorten the fall amount in the vertical axis.
(3) Taking the power supply for actuating the relay directly from the mains
power supply (mainly 200 VAC in Japan) is effective for quickly
disconnecting the relay in a power interruption.
(4) To prevent the shaft from falling during an emergency stop, it is
sometimes effective to use the brake control function in the servo
software. This function enables continuous excitation of the motor
until the motor builtin brake operates.
For details, see Parameter Manual B65150E.
To NC Servo amplifier
Braker
Relay
Coil
Surve absorber
Motor
Rectifier
Switch
Brake
coil
Spark killer
85
8. CONNECTORS
DESCRIPTIONS FOR series
CONNECTORS
86
B65142E/04
B65142E/04
8.1
CONNECTOR ON
THE MOTOR SIDE
8. CONNECTORS
The FANUC series AC servo motors use TVapproved connectors

on the power cable and brake/fan unit in order to comply with the IEC34
standard. Dripproof receptacle connectors are used as standard for all
cables including those for signals (except for the 1, and 2 series).
These connectors are dripproof even when not engaged.
Strictly speaking, the IEC34 for connectors is different from the MS
standard with respect to the connector disengagedstate waterproof
function and appearance (black in color). However, the TVapproved
connectors are compatible with the MSstandard round connectors in size
and shape. So, MSstandard plug connectors other than those
recommended below are also usable. (The waterproof plug connectors
recommended in Sections 8.3.1 and 8.3.2 should be used if it is necessary
to keep the whole system waterproof.)
8.1.1
Specifications of
Connectors on the
Motor Side
Connectors for 1 and 2
Motor Type
1/3000
2/2000, 2/3000
M2/3000
M2.5/3000
For Power
For Signal
For Brake
1763392
SDAB15P
(Hirose Electric)
Power connectors are used. For

details, see chapter 7. Brakes.
(AMP Japan)
87
8. CONNECTORS
B65142E/04
Connectors for 3 to 40
Motor Type
3/3000, 6/2000
6/3000
M6/3000, M9/3000,
L6/3000, L9/3000,
C3/2000, C6/2000
3/3000HV
6/3000HV
M6/3000HV
M9/3000HV
For Power
22/3000, 30/2000
30/3000, 40/2000
40/2000FAN
M22/3000, M30/3000,
M40/3000,
M40/3000FAN,
L25/3000, L50/2000
For Brake
JL04V2E10SL3PEB
(Japan Aviation Electronics
Industry)
H/MS3102A1810PDT (10)
(Hirose Electric)
H/MS3102A10SL4P
(Hirose Electric)
12/2000, 12/3000
22/1500, 22/2000
30/1200
C12/2000, C22/1500
12/3000HV,
22/3000HV
30/3000HV
40/2000HV
M22/3000HV
M30/3000HV
M40/3000HV
For Signal
JL04V2E10SL3PEB
Industry)
JL04HV2E2222PEB
Industry)
H/MS3102A2029PCW4 (10)
(Hirose Electric)
H/MS3102A10SL4P
(Hirose Electric)
JL04V2E2410PE(G)B
Industry)
JL04V2E10SL3PEB
Industry)
Fan connectors
Motor Type
For Fan
40/2000FAN
M40/3000FAN
JL04V2E10SL3PEB
Industry)
300, 400
H/MS3102A1810PDT(10)
(Hirose Electric)
CAUTION
1 The motors should be installed with their connector facing downward as long as possible.
When it is impossible to install a motor in this position, allow slack in the cable to keep liquids
such as a dielectric fluid from going along the cable into the cable or motor. If there is a
possibility that the motors and connectors get wet, provide a cover to protect them.
2 If a motor is not connected to the earth ground through the machine (frame), connect the motor
grounding point and the amplifier grounding point to absorb noise using a 1.25 mm2 or larger
conductor other than the grounding conductor in the power cable. Keep the grounding
conductor as far from the power cable as possible.
88
B65142E/04
8.2
CONNECTORS ON
THE CABLE SIDE
(MODELS a1 AND a2)
8. CONNECTORS
FANUC can provide TVapproved connectors for models 1, and 2.

The table below lists the specifications of connector kits. The connectors
used in models 1 and 2 are dripproof in an engaged position.
8.2.1
Connector Kit
Specifications
Motor model
Power cable
Signal cable
(straight type)
1763468 (AMP Japan)

A06B6050K121
(FANUC specification)
HDAB15S [connector]
HDAW15CV
[waterproof cover]
(Hirose Electric)
A06B6050K115
(FANUC specification)
Applicable wire
size (Note1)
AWG#18 to AWG#16
AWG#20 (maximum)
Insulation external diameter

(Note 2)
f1.8 to 2.8
Not specified
Compatible cable
O.D.
f10.4 to 11.4
Connector kit
specifications
f8.4 to 9.2
Water proof:
f10.4 to 11.2
CAUTION
1 AMP Japan connector contacts used in the power cable for
the 1 and 2 are crimp type. Be careful about the
applicable wire. The size of conductors used must meet the
following requirements so that they carry the required
current.
1 and 2 power cables:
AWG#18 to 16
1 and 2 signal cables: AWG#20 for +5V, 0V, 6VA,
and 0VA, and AWG#24 or
greater for the others
2 For 1 and 2 power cables, select the external diameter
that matches the cable clamp applicable range (10.4 to 11.4
mm2) in order to secure TUV approval and waterproof
performance. (See above table)
NOTE
For crimp contacts, insulations as well as wires are crimped.
So, they must meet the size requirements listed above. An
insulation smaller than those listed here may also be used
depending on the wire and tool used. Contact AMP Japan
for details.
89
8. CONNECTORS
B65142E/04
The following dedicated tools are required to insert and remove the
contacts. They should be prepared separately from the connector kit.
Crimping tool specification (power connector for 1 and 2):
9145963 (AMP Japan)
A97L02000979/L
(FANUC)
Extractor specification (power connector for 1, and 2):
9146771 (AMP Japan)
A97L02000980/D3 (FANUC)
8.2.2
Cable Assembly
Specifications
(14m Standard)
(for 1 and 2)
The following cables for 1 and 2 are provided by FANUC.

Motor Type
For Power
1/3000
A06B6080K824
2/2000
(w/ shielded leads)
2/3000
M2/3000
M2.5/2000
For Power
(for model with brake)
A06B6080K825
(w/ shielded leads)
For Signal
A06B6080K841
(w/ doubleshielded
leads)
* All cables in the above table are EMCcompliant.

* The cable assembly for signals is usable when the NC is Series 16,
Series 18A, Series 15B, Series 21TA, Power Mate MODEL D, F
(TYPE A I/F), Series 16B, Series 18B, Series 20, Series 21GA,
Series 21TB, or Power Mate MODEL H (TYPE B I/F).
90
B65142E/04
8.3
SPECIFICATIONS OF
THE CONNECTORS
ON THE CABLE SIDE
(MODELS a3 AND
HIGHER)
8. CONNECTORS
To meet the IEC34 standard, TVapproved plug connectors and cable

clamps should be used in connecting the power cable and brake/fan unit.
To meet the IEC34 standard by using a cable or conduit hose seal adaptor,
contact the manufacturer for details.
FANUC can provide TVapproved types (waterproof) and waterproof
types as plug connectors on the cable side for the FANUC series AC
servo motors; all these connectors are black. Of course, conventional plug
connectors may be used, because they are MScompatible.
The specifications of each connector are explained based on the examples
shown below.
91
8. CONNECTORS
B65142E/04
Example of connector connection
[A]
[C]
Plug connector
(straight type)
[B]
Cable clamp
[E]
Plug connector
(elbow type)
Cable seal adapter
(straight type)
[F]
Receptacle connector
(motor side)
[D]
Cable seal adapter

(90 elbow type)
Plug connector
(singleunit block type)
[G]
Conduit hose seal adapter

(straight type)
[H]
Conduit hose
92
Conduit hose seal adapter

(90 elbow type)
B65142E/04
8. CONNECTORS
8.3.1
Specifications of Plug
Connectors on the
Cable Side (Waterproof
TVapproved Type)
Model Name
[A] Straight Type Plug

Connector
[B] Elbow Type Plug

Connector
[C] Cable Clamp
[D] Single Block Type

Plug Connector
For Power
3/3000, 6/2000
6/3000,
M6/3000, M9/3000
L6/3000, L9/3000
C3/2000, C6/2000
3/3000HV
6/3000HV
M6/3000HV
M9/3000HV
H/MS3106A1810S
DT(10)
(Hirose Electric)
H/MS3108A1810S
DT(10)
(Hirose Electric)
H/MS305710A(10)
(Hirose Electric)
H/MS3106A1810S
DT(13)
(Hirose Electric)
12/2000, 12/3000
22/1500, 22/2000
30/1200
C12/2000, C22/1500
12/3000HV
22/3000HV
30/3000HV
40/2000HV
M22/3000HV
M30/3000HV
M40/3000HV
JL04V6A2222SEEB
(Japan Aviation
Electronics Industry)
JL04V8A2222SEEB
(Japan Aviation
JL042022CK(14)
(Japan Aviation
JL04V6A2222SE
(Japan Aviation
22/3000, 30/2000
30/3000, 40/2000
40/2000FAN (*1)
M22/3000
M30/3000
M40/3000
M40/3000FAN (*1)
L25/3000
L50/2000
JL04V6A2410SE(G)
EB
(Japan Aviation
JL04V8A2410SE(G)
EB
(Japan Aviation
JL042428CK(17)
(Japan Aviation
JL04V6A2410SE(G)
(Japan Aviation
For Signal
Common to all models
Not subject to IEC34 standard (Select from the waterproof connectors in the following item.)
For Brake
(excluding HV
series) (*1)
JL04V6A10SL3SEEB
(Japan Aviation
JL04V8A10SL3SEEB
(Japan Aviation
JL041012CK(05)
(Japan Aviation
JL04V6A10SL3SE
(Japan Aviation
HV series
Not subject to IEC34 standard (Select from the waterproof connectors in the following item.)
*1 The connector for the 40 fan and M40 fan is the same connector
used on a standard brake.
93
8. CONNECTORS
B65142E/04
NOTE
1 You must pay attention when selecting connectors made by
manufacturers not listed in the table above.
For details, 5. IEC34 Standard Compliance Authorization
Conditions.
2 When connector type [D] is used, and a seal adapter must
be used for compliance with the IEC34 standard, consult the
contact manufacturer separately.
3 Signal connectors and brake connectors for the HV series
are not subject to the IEC34 standard. Select from the
waterproof connectors in the following item.
8.3.2
Connectors on the
Cable Side
(Waterproof Type)
Model Name

Connector
[B] Elbow Type Plug

Connector
[C] Cable Clamp

Plug Connector
For Power
3/3000, 6/2000
6/3000,
M6/3000, M9/3000
L6/3000, L9/3000
C3/2000, C6/2000
3/3000HV
6/3000HV
M6/3000HV
M9/3000HV
JA06A1810SJ1EB
(Japan Aviation
H/MS3106A1810S(10)
(Hirose Electric)
MS3106A1810SBBSS
(DDK Ltd.)
JA08A1810SJ1EB
JL0418CK(13)
(Japan Aviation
(Japan Aviation
H/MS3108A1810S(10)
H/MS305710A(10)
(Hirose Electric)
(Hirose Electric)
MS3108A1810SBBAS CE305710A1(D265)
(DDK Ltd.)
(DDK Ltd.)
JA06A1810SJ1(A72)
(Japan Aviation
H/MS3106A1810S(13)
(Hirose Electric)
MS3106A1810SB
(D190)
(DDK Ltd.)
12/2000, 12/3000
22/1500, 22/2000
30/1200
C12/2000, C22/1500
12/3000HV
22/3000HV
30/3000HV
40/2000HV
M22/3000HV
M30/3000HV
M40/3000HV
JA06A2222SJ1EB
(Japan Aviation
H/MS3106A2222S(10)
(Hirose Electric)
MS3106A2222SBBSS
(DDK Ltd.)
JA08A2222SJ1EB
JL042022CK(14)
(Japan Aviation
(Japan Aviation
H/MS3108B2222S(10)
H/MS305712A(10)
(Hirose Electric)
(Hirose Electric)
MS3108A2222SBBAS CE305712A1(D265)
(DDK Ltd.)
(DDK Ltd.)
JA06A2222SJ1(A72)
(Japan Aviation
H/MS3106A2222S(13)
(Hirose Electric)
MS3106A2222SB
(D190)
(DDK Ltd.)
22/3000, 30/2000
30/3000, 40/2000
40/2000FAN (*1)
M22/3000
M30/3000
M40/3000
M40/3000HVFAN (*1)
L25/3000
L50/2000
JA06A2410SJ1EB
(Japan Aviation
H/MS3106A2410S(10)
(Hirose Electric)
MS3106A2410SBBSS
(DDK Ltd.)
JA08A2410SJ1EB
JL042428CK(17)
(Japan Aviation
(Japan Aviation
H/MS3108B2410S(10)
H/MS305716A(10)
(Hirose Electric)
(Hirose Electric)
MS3108A2410SBBAS CE305716A1(D265)
(DDK Ltd.)
(DDK Ltd.)
JA06A2410SJ1(A72)
(Japan Aviation
H/MS3106A2410S(13)
(Hirose Electric)
MS3106A2410SB
(D190)
(DDK Ltd.)
94
B65142E/04
Model Name

Connector
[B] Elbow Type Plug

Connector
8. CONNECTORS
[C] Cable Clamp

Plug Connector
For Signal
JA06A2029SWJ1EB
(Japan Aviation
H/MS3106A2029SW(11)
(Hirose Electric)
MS3106A2029SW
BBSS
(DDK Ltd.)
JA08A2029SWJ1EB
(Japan Aviation
H/MS3108B2029SW(11)
(Hirose Electric)
MS3108A2029SW
BBAS
(DDK Ltd.)
JA06A2029SWJA(A72)
JL042022CK(14)
(Japan Aviation
(Japan Aviation
H/MS3106A2029SW(14)
H/MS305712A(10)
(Hirose Electric)
(Hirose Electric)
MS3106A2029SW
CE305712A1(D265)
B(D190)
(DDK Ltd.)
(DDK Ltd.)

(excluding HV series)*1
JA06A10SL3SJ1EB
(Japan Aviation
H/MS3106A10SL3S(10)
(Hirose Electric)
MS3106A10SL3S
BBSS
(DDK Ltd.)
JA08A10SL3SJ1EB
(Japan Aviation
H/MS3108B10SL3S(10)
(Hirose Electric)
MS3108A10SL3S
BBAS
(DDK Ltd.)
JA041012CK(06)
(Japan Aviation
H/MS30574A1(10)
(Hirose Electric)
CE30574A1(D265)
(DDK Ltd.)
JA06A10SL3SJ1(A72)
(Japan Aviation
H/MS3106A10SL3S(13)
(Hirose Electric)
MS3106A10SL3S
B(D190)
(DDK Ltd.)
HV series
JA06A10SL4SJ1EB
(Japan Aviation
H/MS310610SL4S(10)
(Hirose Electric)
MS3106A10SL4S
BBSS
(DDK Ltd.)
JA08A10SL4SJ1EB
(Japan Aviation
H/MS3108B10SL4S(10)
(Hirose Electric)
MS3108A10SL4S
BBAS
(DDK Ltd.)
JL041012CK(06)
(Japan Aviation
H/MS30574A1(10)
(Hirose Electric)
CE30574A1(D265)
(DDK Ltd.)
JA06A10SL4SJ1(A72)
(Japan Aviation
H/MS3106A10SL4S(13)
(Hirose Electric)
MS3106A10SL4S
B(D190)
(DDK Ltd.)
For Brake
*1 The connector for the 40 fan or aM40 fan is the same connector used
on a standard brake.
Cableside plug
connector specification
(waterproof/seal adapter
specification)
Model Name
[E] Cable Seal Adapter

Straight Type
[F] Cable Seal Adapter

Elbow Type
[G] Conduit Hose

Seal Adapter
Straight Type
[H] Conduit Hose Seal

Adapter Elbow Type
For Power
3/3000, 6/2000
6/3000,
M6/3000, M9/3000
L6/3000, L9/3000
C3/2000, C6/2000
3/3000HV
6/3000HV
M6/3000HV
M9/3000HV
YSO 181214
YLO 181214
(DAIWA DENGYOU CO., (DAIWA DENGYOU CO.,
LTD.)
LTD.)
ACS12RLMS18F
ACA12RLMS18F
(NIPPON FLEX CO., LTD.) (NIPPON FLEX CO., LTD.)
CKD1218
C90 KD1218
(SANKEI MANUFACTUR- (SANKEI MANUFACTURING CO., LTD.)
ING CO., LTD.)
MSA 1618
(DAIWA DENGYOU
CO., LTD.)
RCC104RLMS18F
(NIPPON FLEX CO.,
LTD.)
KKD1618
(SANKEI MANUFACTURING CO., LTD.)
MAA 1618
(DAIWA DENGYOU CO.,
LTD.)
RCC304RLMS18F
(NIPPON FLEX CO.,
LTD.)
K90 KD1618
12/2000, 12/3000
22/1500, 22/2000
30/1200
C12/2000, C22/1500
12/3000HV
22/3000HV
30/3000HV
40/2000HV
M22/3000HV
M30/3000HV
M40/3000HV
YSO 221214
(DAIWA DENGYOU CO.,
LTD.)
ACS16RLMS22F
(NIPPON FLEX CO.,
LTD.)
CKD1622
MSA 2222
(DAIWA DENGYOU
CO., LTD.)
RCC106RLMS22F
(NIPPON FLEX CO.,
LTD.)
KKD2222
MAA 2222
(DAIWA DENGYOU CO.,
LTD.)
RCC306RLMS22F
(NIPPON FLEX CO.,
LTD.)
K90 KD2222
YLO 221214
(DAIWA DENGYOU CO.,
LTD.)
ACA16RLMS22F
(NIPPON FLEX CO.,
LTD.)
C90 KD1622
95
8. CONNECTORS
Model Name
22/3000, 30/2000
30/3000, 40/2000
40/2000FAN (*1)
M22/3000
M30/3000
M40/3000
M40/3000FAN (*1)
L25/3000
L50/2000
B65142E/04
[E] Cable Seal Adapter

Straight Type
[F] Cable Seal Adapter

Elbow Type
[G] Conduit Hose

Seal Adapter
Straight Type
YSO 241517
(DAIWA DENGYOU CO.,
LTD.)
ACS20RLMS24F
(NIPPON FLEX CO.,
LTD.)
CKD2024
YLO 241517
(DAIWA DENGYOU CO.,
LTD.)
ACS20RLMS24F
(NIPPON FLEX CO.,
LTD.)
C90 KD2024
MSA 2224
(DAIWA DENGYOU
CO., LTD.)
RCC106RLMS24F
(NIPPON FLEX CO.,
LTD.)
KKD2224
MAA 2224
(DAIWA DENGYOU CO.,
LTD.)
RCC306RLMS24F
(NIPPON FLEX CO.,
LTD.)
K90 KD2224
MSA 1620
(DAIWA DENGYOU
CO., LTD.)
RCC104RLMS20F
(NIPPON FLEX CO.,
LTD.)
KKD1620
MAA 1620
(DAIWA DENGYOU CO.,
LTD.)
RCC304RLMS20F
(NIPPON FLEX CO.,
LTD.)
K90 KD1620
MSA 1010
(DAIWA DENGYOU
CO., LTD.)
KKD1010
MAA 1010
(DAIWA DENGYOU CO.,
LTD.)
K90 KD1010
[H] Conduit Hose Seal

Adapter Elbow Type
For Signal
YSO 20911
(DAIWA DENGYOU CO.,
LTD.)
ACS12RLMS20F
(NIPPON FLEX CO.,
LTD.)
CKD1220
YLO 20911
(DAIWA DENGYOU CO.,
LTD.)
ACA12RLMS20F
(NIPPON FLEX CO.,
LTD.)
C90 KD1220
For Brake

(*1)
YSO 1058
(DAIWA DENGYOU CO.,
LTD.)
CKD810
YLO 1058
(DAIWA DENGYOU CO.,
LTD.)
C90 KD810
*1 The connector for the 40 fan or aM40 fan is the same connector used
Waterproofing performance can be improved by using a [D] single block
type connector in combination with an [E] to [H] seal adapter. The above
table is for reference only. Consult the respective manufacturer for details.
8.3.3
Connectors on the
Cable Side
(Nonwaterproof Type)
Model Name
[A] Straight Type Plug Connector
[B] Elbow Type Plug Connector
[C] Cable Clamp
For Power
3/3000, 6/2000
6/3000,
M6/3000, M9/3000
L6/3000, L9/3000
C3/2000, C6/2000
3/3000HV
6/3000HV
M6/3000HV
M9/3000HV
MS3106B1810S(A72)
MS3108B1810S(A72)
MS305710A(A72)
(Japan Aviation Electronics Indus- (Japan Aviation Electronics Indus- (Japan Aviation Electronics Industry)
try)
try)
H/MSA3106A1810S(10)
H/MSA3108B1810S(10)
H/MSA305710A(10)
(Hirose Electric)
(Hirose Electric)
(Hirose Electric)
MS3106B1810SB
MS3108B1810SB
MS305710A(D265)
(DDK Ltd.)
(DDK Ltd.)
(DDK Ltd.)
96
B65142E/04
Model Name
[A] Straight Type Plug Connector
[B] Elbow Type Plug Connector
8. CONNECTORS
[C] Cable Clamp
12/2000, 12/3000
22/1500, 22/2000
30/1200
C12/2000, C22/1500
12/3000HV
22/3000HV
30/3000HV
40/2000HV
M22/3000HV
M30/3000HV
M40/3000HV
MS3106B2222S(A72)
MS3108B2222S(A72)
MS305712A(A72)
try)
try)
H/MSA3106A2222S(10)
H/MSA3108B2222S(10)
H/MSA305712A(10)
(Hirose Electric)
(Hirose Electric)
(Hirose Electric)
MS3106B2222SB
MS3108B2222SB
MS305712A(D265)
(DDK Ltd.)
(DDK Ltd.)
(DDK Ltd.)
22/3000, 30/2000
30/3000, 40/2000
40/2000FAN (*1)
M22/3000
M30/3000
M40/3000
M40/3000FAN (*1)
L25/3000
L50/2000
MS3106B2410S(A72)
MS3108B2410S(A72)
MS305716A(A72)
try)
try)
H/MSA3106A2410S(10)
H/MSA3108B2410S(10)
H/MSA305716A(10)
(Hirose Electric)
(Hirose Electric)
(Hirose Electric)
MS3106A2410SB
MS3108B2410SB
MS305716A(D265)
(DDK Ltd.)
(DDK Ltd.)
(DDK Ltd.)
For Signal
MS3106B2029SW(A72)
MS3108B2029SW(A72)
MS305712A(A72)
try)
try)
H/MSA3106A2029SW(11)
H/MSA3108B2029SW(11)
H/MSA305712A(10)
(Hirose Electric)
(Hirose Electric)
(Hirose Electric)
MS3106A2029SWB
MS3108B2029SWB
MS305712A(D265)
(DDK Ltd.)
(DDK Ltd.)
(DDK Ltd.)
For Brake

(excluding HV series)*1
MS3106B10SL3S(A72)
MS3108B10SL3S(A72)
MS30574A(A72)
try)
try)
H/MSA3106A10SL3S(10)
H/MSA3108B10SL3S(10)
H/MSA30574A(10)
(Hirose Electric)
(Hirose Electric)
(Hirose Electric)
MS3106A10SL3SB
MS3108A10SL3SB
MS30574A(D265)
(DDK Ltd.)
(DDK Ltd.)
(DDK Ltd.)
HV series
MS3106B10SL4S(A72)
MS3108B10SL4S(A72)
MS30574A(A72)
try)
try)
H/MSA3106A10SL4S(10)
H/MSA3108B10SL4S(10)
H/MSA30574A(10)
(Hirose Electric)
(Hirose Electric)
(Hirose Electric)
MS3106A10SL4SB
MS3108A10SL4SB
MS30574A(D265)
(DDK Ltd.)
(DDK Ltd.)
(DDK Ltd.)
*1 The connector for the 40 fan or M40 fan is the same connector used
The table only examples. Contact each manufacturer for details.
97
8. CONNECTORS
B65142E/04
The following cables for 3 and above are provided by FANUC.
8.3.4
Cable Assembly
Specifications
(3 or Above)
(14m Standard)
Motor Type
3/3000, 6/2000
6/3000,
M6/3000, M9/3000
L6/3000, L9/3000
C3/2000, C6/2000
3/3000HV
6/3000HV
M6/3000HV
M9/3000HV
For Power (top row: straight

type, bottom row: elbow type)
For Signal (top row: straight

type, bottom row: elbow type)
A06B6080K806
A06B6080K800
A06B6080K801
A06B6080K807
12/2000, 12/3000
22/1500, 22/2000
30/1200
C12/2000, C22/1500
12/3000HV
22/3000HV
30/3000HV
40/2000HV
M22/3000HV
M30/3000HV
M40/3000HV
22/3000, 30/2000
30/3000, 40/2000
40/2000FAN (*2)
M22/3000
M30/3000
M40/3000
M40/3000FAN (*2)
L25/3000
L50/2000
For Brake and Fan (elbow type

only)
A06B6080K806
A06B6080K842
A06B6080K843
A06B6080K802
A06B6080K803
A06B6080K807
A06B6080K804
A06B6080K805
A06B6080K806
*1 All cables in the above table are EMCcompliant.

*2 Cable for fan of the a40/2000 fan and aM40/3000 fan is A06B6080K806.
98
B65142E/04
9. COOLING FAN
COOLING FAN
Models 40, M40, 300, 400, and 1000 can be fitted with an
optional cooling fan. The cooling fan requires a singlephase 200 VAC
or threephase 200VAC power supply.
The specifications and connection diagram are given below. Use fuses or
a circuit breaker in the power magnetics cabinet.
99
9. COOLING FAN
B65142E/04
9.1
COOLING FAN
SPECIFICATIONS
40 with Fan
Motor Type
Input Voltage [V]
Singlephase
200 VAC
Singlephase
230 VAC
Rated Current [A]
0.64"0.06
0.74"0.06
Surge Current [A]
1.06"0.1
1.22"0.1
Protection Circuit Setting

Temperature [C]
135
Protection Type (IEC345)
IP00
Rated current(Arms)
Motor Type
Input voltage
50Hz
60Hz
0.25 Arms
0.23Arms
200V (Threephase)
0.25 Arms
0.35Arms
200V (Threephase)
0.75 Arms
0.75Arms
M40/3000 (with fan) 200V (Singlephase)

300/2000
400/2000
1000/2000HV
9.2
MOTOR CONNECTOR
SPECIFICATIONS
Motor Type
Receptacle Connector
JL04V2E10SL3PEB (Japan
Aviation Electronics Industry)
40 with Fan
H/MS3102A1810PDT(10)
(Hirose Electric)
300, 400
* 1 Standard brake connectors are used as fan connectors for the 40/M40.
* 2 3class power connectors are used as fan connectors for the 300/400.
9.3
ABOUT CONNECTOR
CABLES
40/2000 with fan,
M40/3000 with fan,
300/2000, 400/2000,
1000/2000HV
The user must prepare connector cables referring to the following

specifications.
Item
Specification
Cable plug connector
For details, see the brake and fan connector

specifications in 8.3 Cable Connector
Specifications.
Recommend Lead
Diameter (conductor
diameter)
1 mm2 (AWG18 or equivalent) max.
100
B65142E/04
9. COOLING FAN
9.4
WIRING DIAGRAM
40/2000 with fan
M40/3000 with fan
The following shows the wiring diagram for connection to the fan unit.
Fan motor 1
GND
Fan motor body
Fan motor unit
Magnetics cabinet
Fan motor
GND
300/2000
400/2000
R
S
T
1000/2000HV
R
S
T
101
II. FANUC AC SERVO MOTOR series
B65142E/04
1. GENERAL
GENERAL
The FANUC AC servo motor series consists of a range of servo motors

that are suitable for the feed axes of machine tools. They have the
following features:
characteristics
The rotor inertia has been reduced without sacrificing maximum output
torque. As a result, the motors offer excellent acceleration characteristics.
Compact
The use of the latest ferrite magnet, combined with an optimized

mechanical design, reduces both the overall length and weight. The result
is compact, lightweight servo motors.
Excellent waterproofing
The use of waterproof connectors and FANUCs unique stator seal

provide excellent waterproofing, ensuring that no liquid, such as coolant,
can enter the motor.
Extended
continuousoperation
The use of the latest servo software minimizes the heat generated by
highspeed rotation, allowing continuous operation over a wide range.
Smooth rotation
Further improvements have been made to the unique magnetic pole shape
to minimize torque ripple. The result is extremely smooth rotation.
Controllability
The use of the latest servo software maintains controllability even when
a disturbance occurs.
Highperformance
detector
The highresolution pulse coder model A1000, A64 or I64 is

provided as standard. This pulse coder allows precise positioning.
Powerful brake
A powerful brake with an increased holding torque is available as an

option. The brake uses an asbestosfree design.
105
2.TYPES OF MOTORS
AND DESIGNATION
B65142E/04
TYPES OF MOTORS AND DESIGNATION
The types and specifications of series servo motors are described as

follows.
Models
1/3000, 2/2000,
and 2/3000
A06B03jjBl ff
jj
71
72
73
l
0:
1:
5:
6:
ff
75
77
88
: Model 1/3000
: Model 2/2000
: Model 2/3000
Taper shaft (standard)
Taper shaft with the brake (2Nm)
Straight shaft
Straight shaft with the brake (2Nm)
: Pulse coder A64
: Pulse coder I64
: Pulse coder A1000
The standard shafts used for models 1/3000, 2/2000, and 2/3000 are
taper shafts. Use a taper shaft as far as circumstances, such as the delivery
time and maintenance, permit.
Models
3/3000, 6/2000,
and 6/3000
A06B01jjBl ff
jj
23
27
28
l
0:
1:
5:
6:
ff
75
77
88
: Model 3/3000
: Model 6/2000
: Model 6/3000
Straight shaft
: Pulse coder A64
: Pulse coder I64
: Pulse coder A1000
The standard shafts used for models 3/3000, 6/2000, and 6/3000 are
106
B65142E/04
Models
12/2000, 12/3000,
22/1500, 22/2000,
22/3000, 30/1200,
30/2000, 30/3000,
40/2000, and
40/2000 (with fan)
2. TYPE OF MOTORS
AND DESIGNATION
A06B01jjBl ff
jj
42
43
46
47
48
51
52
53
57
58
l
0:
1:
5:
6:
ff
75
77
88
:
:
:
:
:
:
:
:
:
:
Model 12/2000
Model 12/3000
Model 22/1500
Model 22/2000
Model 22/3000
Model 30/1200
Model 30/2000
Model 30/3000
Model 40/2000
Model 40/2000 (with fan)
Straight shaft (standard)

Taper shaft
: Pulse coder A64
: Pulse coder I64
: Pulse coder A1000
A straight shaft is fitted as the standard shaft for models 12 to 40.

When early delivery and caseofmaintenance are important, a straight
shaft should be used. For model 40, a tapered shaft is not available.
Models
65/2000, 100/2000,
and 150/2000
A06B03jjBl ff
jj
31 : Model 65/2000
32 : Model 100/2000
33 ; Model 150/2000
l
0:
2:
ff
75
77
88

; Pulse coder A64
: Pulse coder I64
: Pulse coder A1000
107
2.TYPES OF MOTORS
AND DESIGNATION
Models
300/2000,
400/2000
B65142E/04
A06B013jB0 ff
j
7 : Model 300/2000
8 : Model 400/2000
ff
75 ; With the pulse coder A64
77 : With the pulse coder I64
88 : With the pulse coder A1000
D For these models, a tapered shaft is standard. a straight shaft is not
available.
D For these models,a brake option is not available.
108
B65142E/04
3. SPECIFICATIONS AND
CHARACTERISTICS
SPECIFICATIONS AND CHARACTERISTICS
109
3.SPECIFICATIONS AND
CHARACTERISTICS
B65142E/04
3.1
TYPE OF MOTORS
AND
SPECIFICATIONS
Item
Unit
1/3000
2/2000
2/3000
kw
0.3
0.4
0.5
HP
0.4
0.5
0.6
Nm
1.0
2.0
kgfcm
10
20
min1
3000
2000
3000
kgm2
0.00030
0.00055
kgfcms2
0.0031
0.0056
kg
2.8
4.3
Output
Rated torque
at stall
Rating rotation speed
Rotor inertia
Mass
The above values are under the condition at 20C.
Item
Unit
3/3000
6/2000
6/3000
kw
0.9
1.0
1.4
HP
1.3
1.4
1.9
Nm
3.0
6.0
kgfcm
31
61
min1
3000
2000
3000
kgm2
0.0014
0.0026
kgfcms2
0.014
0.027
kg
13
Output
Rated torque
at stall
Rotor inertia
Mass
110
B65142E/04
Item
CHARACTERISTICS
Unit
12/2000
12/3000
22/1500
22/2000
22/3000
30/1200
30/2000
30/3000
40/2000
40/2000
(with fan)
kw
2.1
2.8
3.0
3.8
4.4
3.3
4.5
4.8
5.9
7.3
HP
2.8
3.8
4.0
5.0
5.9
4.4
6.0
6.4
7.8
9.8
Nm
12
22
30
38
56
kgfcm
122
225
306
387
571
min1
2000
3000
1500
2000
3000
1200
2000
3000
2000
2000
kgm2
0.0062
0.012
0.017
0.022
0.022
kgfcms2
0.064
0.12
0.17
0.23
0.23
kg
18
29
41
52
55
Output
Rated torque
at stall
Rotor inertia
Mass

Item
Unit
65/2000
100/2000
150/2000
40/2000HV
M40/3000HV
kw
8.2
10
12
37
40
HP
11
14
16
50
54
Nm
65
100
150
300
390
kgfcm
663
1019
1529
3060
3980
min1
2000
2000
2000
2000
2000
kgm2
0.019
0.026
0.034
0.079
0.103
kgfcms2
0.19
0.27
0.35
0.80
1.05
kg
80
100
120
180
220
Output
Rated torque
at stall
Rotor inertia
Mass
111
CHARACTERISTICS
B65142E/04
3.2
CHARACTERISTIC
CURVE AND DATA
SHEET
Speedtorque
characteristics
The intermittent operation zone is determined by the input voltage

applied to the drive amplifier. The curve shown is the value for the rated
input voltage (200V).
On models 1 to 6, the maximum speed of rotation is increased by using
HRV control. The speed-torque characteristics for when HRV control is
used are described at the end of this item.
Overload duty
characteristic
The overload duty characteristic curves are determined based on the

temperature restriction for the single motor unit (the temperature is
restricted by means of a thermal trip built into the motor). The curves are
determined by assuming that the temperature increases gradually under
certain overload conditions. Therefore, the curves do not apply to the
rapid temperature rise which occurs, for example, when the motor shaft
is locked. (An overcurrent flows in the motor windings until the thermal
trip operates. The temperature rises momentarily.)
To detect such an abrupt temperature rise, the FANUC digital servo
system provides a software thermal function that uses servo software to
observe the current. During operation that is characterized by frequent
acceleration/deceleration cycles, control is imposed by the software
thermal function.
Driving units (such as amplifiers) and builtin detectors contain their own
overheating protection devices. Therefore, note that control may be
imposed according to how the equipment is being used.
Data sheet
The parameters given in the data sheet are representative values for an
ambient temperature of 20C. They are subject to an error of +10%.
The indicated logical values are threshold values for the single motor unit
(when the motor is not restricted by the control system).
The maximum torque that can be produced during acceleration or
deceleration in actual use is calculated as the approximate product of the
motor torque constant and the current limit value of the amplifier.
Example : 3/3000
D Motor torque constant = 0.65 (Nm/Arms)
D Amplifier limit value = 40 Apeak
D Maximum torque value
= 40 x 0.707 x 0.65
(Converted to an effective value)
= 18.4 Nm
This value is for reference only. The actual value will vary depending on
changes in the power supply, as well as variations in motor parameters and
amplifier limit values.
In some models, if the maximum current flows in the motor, the actual
maximum torque is affected by, for example, magnetic saturation. As a
result, the actual maximum torque will be lower than the calculated value.
The intermittent operation area (maximum torque value) indicated in the
speed to torque characteristics is the effective value, determined
according to the combination with the amplifier.
112
CHARACTERISTICS
B65142E/04
Model 1/3000
Specification : A06B0371Bjjj
Torque
(Nm)
Duty
(time %)
Speed torque characteristics
Over load duty
Intermittent operating
Continuous operating
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Rated torque at stall
Nmax
(*)
Value
3000
1.0
Ts
10
Rotor inertia
Jm
Continuous RMS current at stall

(*)
Is
Torque constant
(*)
Kt
Back EMF constant (1phase)

(*)
Ke
Unit
min -1
Nm
kgfcm
0.00030
kgm2
0.0031
kgfcms2
2.3
A (rms)
0.44
Nm/A (rms)
4.5
kgfcm/A (rms)
15.5
V (rms)/1000min -1
(*)
Kv
0.15
V (rms)sec/rad
Armature resistance (1phase)

(*)
Ra
1.73
Mechanical time constant
tm
0.010
Thermal time constant

Static friction
(*)
tt
15
Tf
Mass
min
0.10
Nm
kgfcm
2.8
kg
(*) The values are the standard values at 20C and the tolerance is "10%.
The speedtorque characteristics very depending on the type of software, parameter
setting, and input voltage of the digital servo motor. (The above figures show average
values.) These values may be changed without prior notice.
On model 1, the maximum speed of rotation is increased by using HRV control. The
speed-torque characteristics for when HRV control is used are described at the end
of this item.
113
CHARACTERISTICS
Model 2/2000
Model 2/3000
Torque
(Nm)
B65142E/04
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
2000
2.0
Ts
20
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
3000
2.0
20
min -1
Nm
kgfcm
0.00055
0.00055
kgm2
0.0056
0.0056
kgfcms2
2.2
3.0
A (rms)
0.90
0.67
Nm/A (rms)
9.2
6.9
kgfcm/A (rms)
31.3
23.5
V (rms)/1000min -1
(*)
Kv
0.30
0.22
V (rms)sec/rad

(*)
Ra
2.44
1.38
tm
0.005

Static friction
(*)
0.005
tt
20
Tf
Mass
20
min
0.15
0.15
Nm
1.5
1.5
kgfcm
4.3
4.3
kg
of this item.
114
CHARACTERISTICS
B65142E/04
Model 3/3000
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
3.0
Ts
31
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.0014
kgm2
0.014
kgfcms2
4.6
A (rms)
0.65
Nm/A (rms)
6.6
kgfcm/A (rms)
23
V (rms)/1000min -1
(*)
Kv
0.22
V (rms)sec/rad

(*)
Ra
0.57
tm
0.006

Static friction
(*)
tt
45
Tf
Mass
min
0.3
Nm
kgfcm
8.0
kg
of this item.
115
CHARACTERISTICS
Model 6/2000
Model 6/3000
B65142E/04
Duty
(time %)
Torque Speed torque characteristics

(Nm)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
2000
6.0
Ts
61
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
3000
6.0
61
min -1
Nm
kgfcm
0.0026
0.0026
kgm2
0.027
0.027
kgfcms2
5.6
1.08
11. 0
38
10.0
A (rms)
0.60
Nm/A (rms)
6.1
kgfcm/A (rms)
21
V (rms)/1000min -1
(*)
Kv
0.36
0.20
V (rms)sec/rad

(*)
Ra
0.65
0.18
tm
0.004

Static friction
(*)
0.004
tt
50
0.3
Tf
Mass
50
min
0.3
Nm
kgfcm
13
13
kg
of this item.
116
CHARACTERISTICS
B65142E/04
Model 12/2000
Model 12/3000
Torque
(Nm)
Duty
(time %)
Over load duty
Intermittent
operating
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Ts
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Value
Unit
2000
3000
12
12
122
122
min -1
Nm
kgfcm
0.0062
0.0062
kgm2
0.064
0.064
kgfcms2
8.8
1.36
13.8
47
15.5
A (rms)
0.77
Nm/A (rms)
7.9
kgfcm/A (rms)
27
V (rms)/1000min -1
(*)
Kv
0.45
0.26
V (rms)sec/rad

(*)
Ra
0.49
0.17
tm
0.005
0.005

Static friction
(*)
tt
60
Tf
Mass
60
min
0.8
0.8
Nm
kgfcm
18
18
kg
117
CHARACTERISTICS
Model 22/1500
Model 22/2000
Model 22/3000
Torque
(Nm)
B65142E/04
Duty
(time %)
Over load duty
Intermittent
operating
Continuous
operating
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Ts
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Value
Unit
1500
2000
3000
22
22
22
224
224
224
min -1
Nm
kgfcm
0.012
0.012
0.012
kgm2
0.12
0.12
0.12
kgfcms2
12.5
1.76
18.7
1.17
18.0
12.0
62
41
32.1
A (rms)
0.68
Nm/A (rms)
7.0
kgfcm/A (rms)
24
V (rms)/1000min -1
(*)
Kv
0.59
0.39
0.23
V (rms)sec/rad

(*)
Ra
0.315
0.140
0.049
tm
0.004

Static friction
(*)
0.004
tt
65
1.2
Tf
Mass
0.004
65
1.2
65
1.2
min
Nm
12
12
12
kgfcm
29
29
29
kg
118
CHARACTERISTICS
B65142E/04
Model 30/1200
Model 30/2000
Model 30/3000
Torque
(Nm)
Duty
(time %)
Over load duty
Intermittent
operating
Continuous
operating
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Ts
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Value
Unit
1200
2000
3000
30
30
30
306
306
306
min -1
Nm
kgfcm
0.017
0.017
0.017
kgm2
0.17
0.17
0.17
kgfcms2
12.6
2.37
20.2
1.48
24.2
15.1
83
52
33.7
A (rms)
0.89
Nm/A (rms)
9.1
kgfcm/A (rms)
31
V (rms)/1000min -1
(*)
Kv
0.79
0.49
0.30
V (rms)sec/rad

(*)
Ra
0.34
0.13
0.046
tm
0.003

Static friction
(*)
0.003
tt
70
1.8
Tf
Mass
0.003
70
1.8
70
1.8
min
Nm
18
18
18
kgfcm
41
41
41
kg
119
CHARACTERISTICS
Model 40/2000
Specification : A06B0157B0jj
Model 40/2000(with fan)
Specification : A06B0158B0jj
Torque
(Nm)
B65142E/04
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Ts
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Value
2000
Unit
2000 (with fan)
38
56
390
570
min -1
Nm
kgfcm
0.022
0.022
kgm2
0.23
0.23
kgfcms2
27.0
1.40
40.1
1.40
A (rms)
Nm/A (rms)
14.3
14.3
kgfcm/A (rms)
49
49
V (rms)/1000min -1
(*)
Kv
0.47
0.47
V (rms)sec/rad

(*)
Ra
0.080
0.080
tm
0.003
(*)
tt
Static friction
Tf
0.003
75
1.8
Mass
30
1.8
min
Nm
18
18
kgfcm
52
55
kg
120
CHARACTERISTICS
B65142E/04
Model 65/2000
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
2000
65
Ts
660
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.019
kgm2
0.19
kgfcms2
62
1.04
A (rms)
Nm/A (rms)
10.6
kgfcm/A (rms)
36
V (rms)/1000min -1
(*)
Kv
0.35
V (rms)sec/rad

(*)
Ra
0.020
tm
0.001

Static friction
(*)
tt
70
3.7
Tf
Mass
min
Nm
38
kgfcm
80
kg
121
CHARACTERISTICS
Model 100/2000
Torque
(Nm)
Duty
(time %)
B65142E/04
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
2000
100
Ts
1020
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.026
kgm2
0.27
kgfcms2
85
1.17
A (rms)
Nm/A (rms)
12.0
kgfcm/A (rms)
41
V (rms)/1000min -1
(*)
Kv
0.39
V (rms)sec/rad

(*)
Ra
0.014
tm
0.001

Static friction
(*)
tt
80
5.5
Tf
56
Mass
100
min
Nm
kgfcm
kg
122
CHARACTERISTICS
B65142E/04
Model 150/2000
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
2000
150
Ts
1530
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.034
kgm2
0.35
kgfcms2
113
1.31
A (rms)
Nm/A (rms)
13.3
kgfcm/A (rms)
46
V (rms)/1000min -1
(*)
Kv
0.44
V (rms)sec/rad

(*)
Ra
0.011
tm
0.001

Static friction
(*)
tt
90
7.4
Tf
75
Mass
120
min
Nm
kgfcm
kg
123
CHARACTERISTICS
Model 300/2000
B65142E/04
Data sheet
Parameter
Symbol

Nmax
(*)
Value
2000
300
Ts
3060
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.079
kgm2
0.80
kgfcms2
187
1.55
A (rms)
Nm/A (rms)
15.9
kgfcm/A (rms)
54
V (rms)/1000min -1
(*)
Kv
0.52
V (rms)sec/rad

(*)
Ra
0.012
tm
0.001

Static friction
(*)
tt
Tf
150
min
Nm
20
Weight
180
kgfcm
kg
values.)
124
CHARACTERISTICS
B65142E/04
Model 400/2000
Data sheet
Parameter
Symbol

Nmax
(*)
Value
2000
390
Ts
3980
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.103
kgm2
1.05
kgfcms2
183
2.07
A (rms)
Nm/A (rms)
21.2
kgfcm/A (rms)
72
V (rms)/1000min -1
(*)
Kv
0.69
V (rms)sec/rad

(*)
Ra
0.014
tm
0.001

Static friction
(*)
tt
Tf
180
min
Nm
20
Weight
220
kgfcm
kg
values.)
125
CHARACTERISTICS
Speed-torque
characteristics (HRV
control)
B65142E/04
On the following models, the intermittent operating zone can be extended

by using HRV control.
Torque (Nm)
D 1/3000
Torque (Nm)
D 2/2000 and 2/3000
NOTE
HRV control sometimes cannot be used depending on the
CNC system. Using HRV control increases the intermittent
operating zone at high motor operating speeds. The
continuous operating zone, however, is the same as when
conventional control methods are used.
126
B65142E/04
CHARACTERISTICS
Torque (Nm)
D 3/3000
Torque (Nm)
D 6/2000 and 6/3000
NOTE
127
CHARACTERISTICS
B65142E/04
3.3
OUTLINE DRAWINGS
Model
Fig. No.
Models 1 and 2
Fig. 3.3(a)
Models 1 and 2 (with the brake)
Fig. 3.3(b)
Models 1 and 2 (shaft option)
Fig. 3.3(c)
Models 3 and 6
Fig. 3.3(d)
Fig. 3.3(e)
Fig. 3.3(f)
Models 12, 22, 30 and 40
Fig. 3.3(g)
Models 12, 22, 30 and 40 (with the brake)
Fig. 3.3(h)
Models 12, 22, 30 and 40 (shaft option)
Fig. 3.3(i)
Model 40 (with fan)
Fig. 3.3(j)
Model 40 (with fan) (with the brake)
Fig. 3.3(k)
Models 65, 100 and 150
Fig. 3.3(l)
Models 65, 100 and 150 (with the brake)
Fig. 3.3(m)
Models 300 and 400
Fig. 3.3(n) (o)
128
Fig. 3.3 (a)
Models 1 and 2
B65142E/04
129
CHARACTERISTICS
Fig. 3.3 (b)
CHARACTERISTICS
130
B65142E/04
Fig. 3.3 (c)
B65142E/04
131
CHARACTERISTICS
B65142E/04
Key width
Fig. 3.3 (d)
Models 3 and 6
CHARACTERISTICS
132
CHARACTERISTICS
Key width
Fig. 3.3 (e)
B65142E/04
133
Fig. 3.3 (f)
CHARACTERISTICS
134
B65142E/04
Max 0.05mm
Max 0.07mm
Max 0.10mm
4410N(450kgf)
Taps for eyebolt : M8 depth 15+1
Eyebolts are not attached
Models 12, 22, 30, and 40
Notes)
Rabbet diameter eccentricity
Mounting face runout
Rated load
Fig. 3.3 (g)
135
MS3102A 2222P
(12/2000,12/3000,22/1500,22/2000,30/1200)
MS3102A 2410P
(22/3000,30/2000,30/3000,40/2000)
MS3102A 2029PW
B65142E/04
CHARACTERISTICS
136
Max 0.05mm
Max 0.07mm
Max 0.10mm
4410N(450kgf)
MS3102A 10SL3P
(Including a earth pin)

Models 12, 22, 30, and 40 (with the brake)
Notes)
Rated load
Fig. 3.3 (h)
MS3102A 2222P
(12/2000,12/3000,22/1500,22/2000,30/1200)
MS3102A 2410P
(22/3000,30/2000,30/3000,40/2000)
MS3102A 2029PW
CHARACTERISTICS
B65142E/04
Fig. 3.3 (i)
Models 12, 22, 30, and 40 (shaft option)
B65142E/04
137
CHARACTERISTICS
Model 40 (with fan)
138

No weight more than 100kg
No acceleration more than 1G
Direction of the air flow is downward only
Notes)
Max 0.05mm
Rabbet dia. eccentricity
Max 0.07mm
Max 0.10mm
Rated load
4410N(450kgf)
Fig. 3.3 (j)
Speed
This chart is spec. for one fan motor.

Prepare a protect fuse in power supply.
40 W
2900min1
40 W
2700min1
Input
60 Hz
50 Hz
Frequency
Input Voltage
200 V
MS3102A 2410P
Fan Motor Specification
MS3102A 10SL3P
Including a earth pin
Pin
Fan Connector
MS3102A 2029PW
Note
Earth
Single phase 200Vac

2 fans in parallel
CHARACTERISTICS
B65142E/04
139

2900min1
2700min1
Speed

40 W
40 W
Input
60 Hz
Pin
Earth
Single phase 200Vac

2 fans in parallel
Note
MS3102A 2029PW
Fan Connector
MS3102A 2410P
50 Hz
200 V
MS3102A 10SL3P
Frequency
Input Voltage
MS3102A 10SL3P
Model 40 (with fan) (with the brake)
Notes)
Max 0.05mm
Max 0.07mm
Max 0.10mm
Rated load
4410N(450kgf)
Fig. 3.3 (k)
B65142E/04
CHARACTERISTICS
Fig. 3.3 (l)
Models 65, 100, and 150
CHARACTERISTICS
140
B65142E/04
Fig. 3.3 (m) Models 65, 100, and 150 (with the brake)
B65142E/04
141
CHARACTERISTICS
Fig. 3.3 (n)
Models 300/2000 and 400/2000
CHARACTERISTICS
142
B65142E/04
Fig. 3.3 (o)
Models 300/2000 and 400/2000 (terminal box)
B65142E/04
143
CHARACTERISTICS
CHARACTERISTICS
B65142E/04
3.4
CONNECTION OF
POWER LINE
Models
1/3000, 2/2000, and
2/3000
1
Motor
coil
Special connector
(AMP JAPAN, LTD.)
Ground plate
4
Motor body
5
Only the motor with the
brake
Brake
coil
Note)
No surge absorber for brake is contained in
the motor.
Prepare a surge absorber in the power
magnetics cabinet.
Models
3/3000, 6/2000, and
6/3000
A
Motor
coil
B
C
Grounding plate
D
Motor body
3102A 1810P
Models
12/2000, 12/3000,
22/1500, 22/2000,
and 30/1200
A
Motor
coil
B
C
Grounding plate
D
3102A 2222P
144
Motor body
B65142E/04
Models
22/3000, 30/2000,
30/3000, and 40/2000
CHARACTERISTICS
A
Motor
coil
B
C
D
E
3102A 2410P
Models
65/2000, 100/2000,
and 150/2000
F
Grounding plate
G
Motor body
Motor
coil
Terminal board
Dimension of screw : M8
Grounding plate
G
Motor body
Models
40/2000 and 400/2000
145
CHARACTERISTICS
B65142E/04
CAUTION
1 The motors should be installed with their connector facing
downward as long as possible. When it is impossible to
install a motor in this position, allow slack in the cable to
keep liquids such as a dielectric fluid from going along the
cable into the cable or motor. If there is a possibility that the
motors and connectors get wet, provide a cover to protect
them.
2 If a motor is not connected to the earth ground through the
machine (frame), connect the motor grounding point and
the amplifier grounding point to absorb noise using a 1.25
mm2 or larger conductor other than the grounding
conductor in the power cable. Keep the grounding
146
FANUC AC SERVO MOTOR M series
B65142E/04
1. GENERAL
GENERAL
The FANUC AC servo motor M series is suitable for application to the

feed axes of small machine tools. It has the following features:
characteristics
A high maximum output torque and intermediate rotor inertia result in

excellent acceleration characteristics.
Compact
The use of the latest neodymium ferrite magnet further reduces the size
and weight of the servo motors. This produces a servo motor that is
sufficiently compact to allow its use in small machine tools.

Extended
continuousoperation
Smooth rotation
Controllability
Highperformance
detector
Highresolution pulse coder A1000, A64, I64 is used in the standard

configuration, enabling precise positioning.
Powerful brake

The types and specifications of M series servo motors are described as
follows.
The M series includes the following models:
D Models M2 and M2.5 (excluding shaft type models) that are
compatible with the installation dimensions of the series models 1
and 2.
D Models M3, M6, and M9 that are compatible with the installation
dimensions of the series models 3 and 6.
D Models M22 and M30 that are compatible with the installation
dimensions of the series models 12, 22, and 30.
149
2.TYPES OF MOTORS
AND DESIGNATION
B65142E/04
Models
M2/3000, M2.5/3000
A06B03jjBl ff
jj
76
77
l
0:
1:
5:
6:
ff
75
77
88
: Model M2/3000
: Model M2.5/3000
Straight shaft
: Pulse coder A64
: Pulse coder I64
: Pulse coder A1000
The standard shafts used for M2/3000 and M2.5/3000 are taper shafts.
Use a taper shaft as far as circumstances, such as the delivery time and
maintenance, permit.
Models
M6/3000, M9/3000
A06B01jjBl ff
jj
62
63
l
0:
1:
5:
6:
ff
75
77
88
: Model M6/3000
: Model M9/3000
Straight shaft
: Pulse coder A64
: Pulse coder I64
: Pulse coder A1000
The standard shafts used for M series are taper shafts. Use a taper shaft
as far as circumstances, such as the delivery time and maintenance,
permit.
150
B65142E/04
Models
M22/3000, M30/3000
2. TYPE OF MOTORS
AND DESIGNATION
A06B01jjBl ff
jj
65
66
l
0:
1:
5:
6:
ff
75
77
88
: Model M22/3000
: Model M30/3000
Straight shaft
: Pulse coder A64
: Pulse coder I64
: Pulse coder A1000
The standard shafts used for M22/3000 and M30/3000 are straight
shafts. Use a taper shaft as far as circumstances, such as the delivery time
and maintenance, permit.
Models
M40/3000 and
M40/3000 with FAN
A06B01jjBl ff
jj
69
70
l
0:
1:
ff
75
77
88
: Model M40/3000
: Model M40/3000 with fan
: With the pulse coder A64
: With the pulse coder I64
For these models, a tapered shaft is not available.
151
CHARACTERISTICS
152
B65142E/04
CHARACTERISTICS
B65142E/04
3.1
TYPES OF MOTORS
AND
SPECIFICATIONS
Item
Unit
M2/3000
M2.5/3000
M6/3000
kw
0.5
0.5
1.4
HP
0.7
0.7
1.9
Nm
2.5
6.0
kgfcm
20
26
61
min1
3000
3000
3000
kgm2
0.00026
0.00051
0.0013
kgfcms2
0.0027
0.0052
0.014
kg
2.8
4.3
Output

Rotor inertia
Mass
Item
Unit
M9/3000
M22/3000
M30/3000
M40/3000
M40/3000
with fan
kw
1.8
3.8
3.8
3.0
10
HP
2.4
5.1
5.1
4.1
14
Nm
9.0
20
30
40
70
kgfcm
92
204
306
408
714
min1
3000
3000
2000 (S1)
3000
(S360%)
1000
2000
kgm2
0.0025
0.0058
0.011
0.012
0.012
kgfcms2
0.026
0.059
0.11
0.12
0.12
kg
12
18
30
41
43
Output
Rotor inertia
Mass
153
CHARACTERISTICS
B65142E/04
3.2
CHARACTERISTIC
CURVE AND DATA
SHEET
Speedtorque
characteristics

Intermittent operating zone (S3) in the speed-torque characteristics
refers to the intermittent cycle operating zone in the IEC34-1 standard. In
this zone, ON operation of six minutes and OFF operation of four minutes
in a 10-minute cycle is possible.
On models M40/3000 and M40/3000 with fan Intermittent operating
(S325%) in the Speedtorque characteristics is permitting operating
zone in IEC341, and it enables to operate 2.5min ON and 7.5min OFF
in 10min cycle time.
Equally, (S360%) in the Speedtorque characteristics enables to
operate 6min ON and 4min OFF in 10min cycle time.
On models M2 to M9, the maximum speed of rotation is increased by
using HRV control. The speed-torque characteristics for when HRV
control is used are described at the end of this item.
Overload duty
characteristic

thermal function.
154
B65142E/04
Data sheet
CHARACTERISTICS
ambient temperature of 20C. They are subject to an error of "10%.
155
CHARACTERISTICS
Model M2/3000
B65142E/04
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
2.0
Ts
20
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.00027
kgm2
0.0028
kgfcms2
3.0
A (rms)
0.67
Nm/A (rms)
6.8
kgfcm/A (rms)
23
V (rms)/1000min -1
(*)
Kv
0.22
V (rms)sec/rad

(*)
Ra
1.73
tm
0.003

Static friction
(*)
tt
15
Tf
Mass
min
0.15
Nm
1.5
kgfcm
2.8
kg
On model M2, the maximum speed of rotation is increased by using HRV control.
The speed-torque characteristics for when HRV control is used are described at the
end of this item
156
CHARACTERISTICS
B65142E/04
Model M2.5/3000
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
2.5
Ts
26
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.00052
kgm2
0.0053
kgfcms2
3.7
A (rms)
0.67
Nm/A (rms)
6.8
kgfcm/A (rms)
23
V (rms)/1000min -1
(*)
Kv
0.22
V (rms)sec/rad

(*)
Ra
0.59
tm
0.002

Static friction
(*)
tt
20
Tf
Mass
min
0.2
Nm
kgfcm
4.3
kg
On model M2.5, the maximum speed of rotation is increased by using HRV control.
end of this item
157
CHARACTERISTICS
Model M6/3000
B65142E/04
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
6.0
Ts
61
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.0013
kgm2
0.014
kgfcms2
8.0
A (rms)
0.75
Nm/A (rms)
7.6
kgfcm/A (rms)
26
V (rms)/1000min -1
(*)
Kv
0.25
V (rms)sec/rad

(*)
Ra
0.463
tm
0.003

Static friction
(*)
tt
45
Tf
Mass
min
0.3
Nm
kgfcm
kg
158
CHARACTERISTICS
B65142E/04
Model M9/3000
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
9.0
Ts
92
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.0025
kgm2
0.026
kgfcms2
10.4
A (rms)
0.86
Nm/A (rms)
8.8
kgfcm/A (rms)
30
V (rms)/1000min -1
(*)
Kv
0.29
V (rms)sec/rad

(*)
Ra
0.181
tm
0.002

Static friction
(*)
tt
50
Tf
Mass
min
0.3
Nm
kgfcm
12
kg
159
CHARACTERISTICS
Model M22/3000
B65142E/04
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
20
Ts
204
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.0058
kgm2
0.059
kgfcms2
26.5
A (rms)
0.75
Nm/A (rms)
7.7
kgfcm/A (rms)
26
V (rms)/1000min -1
(*)
Kv
0.25
V (rms)sec/rad

(*)
Ra
0.07
tm
0.002

Static friction
(*)
tt
60
Tf
Mass
min
0.8
Nm
kgfcm
18
kg
160
CHARACTERISTICS
B65142E/04
Model M30/3000
Torque
(Nm)
Duty
(time %)
Over load duty
(S1)
Intermittent
operating
(S360%)
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
2000 (S1)
3000 (S360%)
30
Ts
306
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.011
kgm2
0.11
kgfcms2
27.9
1.08
A (rms)
Nm/A (rms)
11.0
kgfcm/A (rms)
38
V (rms)/1000min -1
(*)
Kv
0.36
V (rms)sec/rad

(*)
Ra
0.05
tm
0.001

Static friction
(*)
tt
65
1.2
Tf
Mass
min
Nm
12
kgfcm
30
kg
The 2000 to 3000 rpm range of this servo motor is the intermittent operation range,
and is used mainly for positioning. In the intermittent operation range (S3 to 60%),
ON operation of six minutes and OFF operation of four minutes in a 10-minute cycle
is possible.
161
CHARACTERISTICS
Model M40/3000
B65142E/04
SpeedTorque Characteristics
Over Load Duty

100
90
120
Duty (time%)
100
Torque (Nm)
80
Intermitting
Operation
60
40
20
Continuous
Operating
0
0
2000
120%
130%
140%
150%
160%
40
30
20
10
S325%
Inter.Op.
1000
110%
80
70
60
50
0
3000
Speed (min1)
10
100
1000
Ontime (min)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
1000
40
Ts
408
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.012
kgm2
0.12
kgfcms2
32.3
1.24
A (rms)
Nm/A (rms)
12.6
kgfcm/A (rms)
43
V (rms)/1000min -1
(*)
Kv
0.41
V (rms)sec/rad

(*)
Ra
0.05
tm
0.001

Static friction
(*)
tt
70
1.8
Tf
Weight
min
Nm
18
kgfcm
41
kg
values.)
S3 to 25% intermittent operating zone shows 2.5 min continuous operating zone in
10 min cycle.
162
CHARACTERISTICS
B65142E/04
Model M40/3000FAN
Over Load Duty

100
90
300
Duty (time%)
Torque (Nm)
250
200
Intermitting
Operation
150
100
50
Continuous
Operating
0
0
2000
120%
130%
60
50
140%
150%
160%
40
30
20
10
S360%
Inter.Op.
1000
110%
80
70
3000
Speed (min1)
10
Ontime (min)
100
Data sheet
Parameter
Symbol

Nmax
(*)
Value
2000
70
Ts
714
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.012
kgm2
0.12
kgfcms2
56.5
1.24
A (rms)
Nm/A (rms)
12.6
kgfcm/A (rms)
43
V (rms)/1000min -1
(*)
Kv
0.41
V (rms)sec/rad

(*)
Ra
0.05
tm
0.001

Static friction
(*)
tt
30
1.8
Tf
Weight
min
Nm
18
kgfcm
43
kg
values.)
S3 to 60% intermitting operating zone shows 6 min continuous operating zone in 10 min
cycle.
163
CHARACTERISTICS
Speed-torque
characteristics (HRV
control)
B65142E/04

Torque (Nm)
D M2/3000
Torque (Nm)
D M2.5/3000
NOTE
164
B65142E/04
CHARACTERISTICS
Torque (Nm)
D M6/3000
Torque (Nm)
D M9/3000
NOTE
165
CHARACTERISTICS
B65142E/04
3.3
OUTLINE DRAWINGS
Model
Fig. No.
Models M2/3000 and M2.5/3000 (standard)
Fig. 3.3 (a)
Models M2/3000 and M2.5/3000 (with the brake)
Fig. 3.3 (b)
Model M2/3000 (shaft option)
Fig. 3.3 (c)
Model M2.5/3000 (shaft option)
Fig. 3.3 (d)
Models M6/3000 and M9/3000 (standard)
Fig. 3.3 (e)
Models M6/3000 and M9/3000 (with the brake)
Fig. 3.3 (f)
Fig. 3.3 (g)
Fig. 3.3 (h)
Models M22/3000 to M40/3000 (standard)
Fig. 3.3 (i)
Models M22/3000 to M40/3000 (with the brake)
Fig. 3.3 (j)
Models M22/3000 to M40/3000 (shaft option)
Fig. 3.3 (k)
Model M40/3000 (with fan)
Fig. 3.3 (l)
Model M40/3000 (with fan) (with the brake)
Fig. 3.3 (m)
166
Fig. 3.3 (a)
Models M2/3000 and M2.5/3000 (standard)
B65142E/04
167
CHARACTERISTICS
Fig. 3.3 (b)
Models M2/3000 and M2.5/3000 (with the brake)
CHARACTERISTICS
168
B65142E/04
Fig. 3.3 (c)
B65142E/04
169
CHARACTERISTICS
Fig. 3.3 (d)
Model M2.5/3000 (shaft option)
CHARACTERISTICS
170
B65142E/04
CHARACTERISTICS
Fig. 3.3 (e)
Models M6/3000 and M9/3000 (standard)
Serial A
B65142E/04
171
Fig. 3.3 (f)
Models M6/3000 and M9/3000 (with the brake)
Serial A
CHARACTERISTICS
172
B65142E/04
Fig. 3.3 (g)
Models M6/3000 (shaft option)
B65142E/04
173
CHARACTERISTICS
Fig. 3.3 (h)
CHARACTERISTICS
174
B65142E/04
Max 0.05mm
Max 0.07mm
Max 0.10mm
4410N(450kgf)

Models M22/3000 to M40/3000 (standard)
Notes)
Rated load
Fig. 3.3 (i)
175
MS3102A 2410P
MS3102A 2029PW
B65142E/04
CHARACTERISTICS
Max 0.05mm
Max 0.07mm
Max 0.10mm
4410N(450kgf)

Models M22/3000 to M40/3000 (with the brake)
Notes)
Rated load
Fig. 3.3 (j)
176
MS3102A 2410P
MS3102A 2029PW
CHARACTERISTICS
B65142E/04
Fig. 3.3 (k)
Models M22/3000 to M40/3000 (shaft option)
B65142E/04
177
CHARACTERISTICS
178

Max 0.05mm
Max 0.07mm
Max 0.10mm
4410N(450kgf)
Model M40/3000 (with fan)
Notes)
Rated load
Fig. 3.3 (l)
40 W
2700 min1
Input
Speed
2900 min1
40 W
60 Hz
Pin
Fan Connector
MS3102A 2029PW
Earth
Single phase 200VAC
Note
MS3102A 10SL3P

50 Hz
200 V
Frequency
Input Voltage
MS3102A 2410P
CHARACTERISTICS
B65142E/04
Max 0.05mm
Max 0.07mm
Max 0.10mm
4410N(450kgf)
179
MS3102A 2410P
2900 min1
2700 min1
Speed

40 W
40 W
Input
60 Hz
50 Hz
200 V
MS3102A 2029PW
Frequency
Input Voltage
MS3102A 10SL3P
Pin
Fan Connector
Note
Earth
Single phase 200VAC

2 fans in parallel
MS3102A 10SL3P

Notes)
Rated load
Fig. 3.3 (m) Models M40/3000 (with fan) (with the brake)
B65142E/04
CHARACTERISTICS
CHARACTERISTICS
B65142E/04
3.4
CONNECTION OF
POWER LINE
Models
M2/3000, M2.5/3000
1
Motor
coil
2
3
Special connector
(AMP JAPAN, LTD.)
Ground plate
4
Motor body
5
Only the motor with the
brake
Brake
coil
Note)
No surge absorber for brake is contained in
the motor.
Prepare a surge absorber in the power
magnetics cabinet.
Models
M6/3000, M9/3000
A
Motor
coil
B
C
Ground plate
D
Motor body
3102A 1810P
Models
M22/3000, M30/3000,
M40/3000,
M40/3000 (with fan)
A
Motor
coil
B
C
D
E
3102A 2410P
180
F
Grounding plate
G
Motor body
FANUC AC SERVO MOTOR L series
B65142E/04
1. GENERAL
GENERAL
The FANUC AC servo motor L series is suitable for highspeed

positioning. It has the following features:
characteristics
The latest neodymium ferrite magnet is employed, and the rotor inertia
is minimized. The result is a motor that offers excellent acceleration.

Extended
continuousoperation
Smooth rotation
Controllability
Highperformance
detector

Powerful brake

The L series models L6, and L9, all of which are compatible with
series models 3 and 6 in their installation size, and models L25 and
L50, which are compatible with series models 12 and 22 in their
installation size. All these L series models are compatible with the
conventional FANUC AC servo motor L series in their installation size.
183
2.TYPES OF MOTORS
AND DESIGNATION
B65142E/04
The types and specifications of L series servo motors are described as

follows.
Models
L3/3000, L6/3000, and
L9/3000
Models
L25/3000 and
L50/2000
A06B05jjBl ff
jj
62
64
l
0:
1:
ff
75
77
88
: Model L6/3000
: Model L9/3000
: Pulse coder A64
: Pulse coder I64
: Pulse coder A1000
A06B05jjBl ff
jj
71
72
l
0:
2:
3:
ff
75
77
88
: Model L25/3000
: Model L50/2000
: Pulse coder A64
: Pulse coder I64
: Pulse coder A1000
184
B65142E/04
CHARACTERISTICS
185
CHARACTERISTICS
B65142E/04
3.1
TYPES OF MOTORS
AND
SPECIFICATIONS
Item
Unit
L6/3000
L9/3000
L25/3000
L50/2000
kw
1.4
2.0
3.5
6.0
HP
1.8
2.7
4.7
8.0
Nm
6.0
9.0
25
50
kgfcm
61
92
255
510
min1
3000
3000
3000
2000
kgm2
0.00049
0.00098
0.0054
0.0098
kgfcms2
0.0050
0.010
0.055
0.10
kg
11
17
25
42
Output
Rated torque
at stall
Rotor inertia
Mass
186
B65142E/04
CHARACTERISTICS
3.2
CHARACTERISTIC
CURVE AND DATA
SHEET
Speedtorque
characteristics

On models L6 to L9, the maximum speed of rotation is increased by
using HRV control. The speed-torque characteristics for when HRV
control is used are described at the end of this item
Overload duty
characteristic

thermal function.
Data sheet
ambient temperature of 20C. They are subject to an error of "10%.
187
CHARACTERISTICS
Model L6/3000
B65142E/04
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
6.0
Ts
61
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.00049
kgm2
0.0050
kgfcms2
11.4
A (rms)
0.52
Nm/A (rms)
5.3
kgfcm/A (rms)
18
V (rms)/1000min -1
(*)
Kv
0.17
V (rms)sec/rad

(*)
Ra
0.275
tm
0.001

Static friction
(*)
tt
25
Tf
Mass
min
0.5
Nm
kgfcm
11
kg
On model L6, the maximum speed of rotation is increased by using HRV control.
end of this item
188
CHARACTERISTICS
B65142E/04
Model L9/3000
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
9.0
Ts
92
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.00098
kgm2
0.010
kgfcms2
16.9
A (rms)
0.52
Nm/A (rms)
5.3
kgfcm/A (rms)
18
V (rms)/1000min -1
(*)
Kv
0.17
V (rms)sec/rad

(*)
Ra
0.110
tm
0.001

Static friction
(*)
tt
45
Tf
Mass
min
0.9
Nm
kgfcm
17
kg
On model L9, the maximum speed of rotation is increased by using HRV control.
end of this item
189
CHARACTERISTICS
Model L25/3000
B65142E/04
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
25
Ts
255
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.0054
kgm2
0.055
kgfcms2
37
A (rms)
0.66
Nm/A (rms)
6.8
kgfcm/A (rms)
23
V (rms)/1000min -1
(*)
Kv
0.22
V (rms)sec/rad

(*)
Ra
0.049
tm
0.001

Static friction
(*)
tt
45
1.2
Tf
Mass
min
Nm
12
kgfcm
25
kg
190
CHARACTERISTICS
B65142E/04
Model L50/2000
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
2000
50
Ts
510
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.0098
kgm2
0.10
kgfcms2
51
A (rms)
0.96
Nm/A (rms)
9.8
kgfcm/A (rms)
33
V (rms)/1000min -1
(*)
Kv
0.32
V (rms)sec/rad

(*)
Ra
0.038
tm
0.001

Static friction
(*)
tt
70
1.8
Tf
Mass
min
Nm
18
kgfcm
42
kg
191
CHARACTERISTICS
(Remarks)
Speedtorque
characteristics
(HRV control)
B65142E/04

Torque (Nm)
D L6/3000
Torque (Nm)
D L9/3000
NOTE
192
B65142E/04
CHARACTERISTICS
3.3
OUTLINE DRAWINGS
Model
Fig. No.
Models L6/3000 and L9/3000
Fig. 3.3 (a)
Models L6/3000 and L9/3000 (with the brake)
Fig. 3.3 (b)
Models L25/3000 and L50/2000
Fig. 3.3 (c)
Fig. 3.3 (d)
193
Fig. 3.3 (a)
Models L6/3000 and L9/3000
CHARACTERISTICS
194
B65142E/04
Fig. 3.3 (b)
B65142E/04
195
CHARACTERISTICS
Fig. 3.3 (c)
Models L25/3000 and L50/2000
CHARACTERISTICS
196
B65142E/04
Fig. 3.3 (d)
B65142E/04
197
CHARACTERISTICS
CHARACTERISTICS
B65142E/04
3.4
CONNECTION OF
POWER LINE
Models
L6/3000 and L9/3000
A
Motor
coil
B
C
Ground plate
D
3102A 1810P
Models
L25/3000 and
L50/2000
Motor body
Motor
coil
B
C
D
E
F
Ground plate
G
3102A 2410P
198
Motor body
FANUC AC SERVO MOTOR C series
B65142E/04
1. GENERAL
GENERAL
The FANUC AC servo motor C series is suitable for application to the

feed axes of machine tools. These motors have the following features:
High costeffectiveness
High costeffectiveness has been achieved. Although a lowpower

amplifier is used, high acceleration is offered.
Compact


Smooth rotation
Controllability
Highperformance
detector

Powerful brake

The C series includes models C3 and C6, both of which are
compatible with series models 3 and 6 in their installation size, and
models C12 and C22, which are compatible with series models 12
and 22 in their installation size.
201
2.TYPES OF MOTORS
AND DESIGNATION
B65142E/04
The types and specifications of C series servo motors are described as

follows.
Models
C3/2000 and C6/2000
Models
C12/2000 and C22/1500
A06B01jjBl ff
jj
21 : Model C3/2000
26 : Model C6/2000
l
0 : Taper shaft (standard)
1 : Taper shaft with the brake (8Nm)
5 : Straight shaft
6 : Straight shaft with the brake (8Nm)
ff
75 : Pulse coder A64
77 : Pulse coder I64
The standard shafts used for models C3/2000 and C6/2000 are taper
shafts. Use a taper shaft as far as circumstances, such as the delivery
A06B01jjBl ff
jj
41 : Model C12/2000
45 : Model C22/1500
l
0:
1:
5:
6:
ff
75
77

Taper shaft
: Pulse coder A64
: Pulse coder I64
A straight shaft is fitted as the standard shaft for models C12/2000 and
C22/1500. When early delivery and caseofmaintenance are
important, a straight shaft should be used.
NOTE
For the C series, pulse coder A1000 cannot be used.
202
B65142E/04
CHARACTERISTICS
203
CHARACTERISTICS
B65142E/04
3.1
TYPES OF MOTORS
AND
SPECIFICATIONS
Item
Unit
C3/2000
C6/2000
C12/2000 C22/1500
kw
0.3
0.6
1.0
1.5
HP
0.4
0.8
1.4
2.1
Nm
3.0
6.0
12
22
kgfcm
31
61
122
224
min1
2000
2000
2000
1500
kgm2
0.0014
0.0026
0.0062
0.012
kgfcms2
0.014
0.027
0.064
0.12
kg
13
18
29
Output
Rated torque
at stall
Rotor inertia
Mass
204
B65142E/04
CHARACTERISTICS
3.2
CHARACTERISTIC
CURVE AND DATA
SHEET
Speedtorque
characteristics

Overload duty
characteristic

thermal function.
Data sheet
Example : C3/2000
= 20 x 0.707 x 1.06
= 14.9 Nm
205
CHARACTERISTICS
Model C3/2000
B65142E/04
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
2000
3.0
Ts
31
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.0014
kgm2
0.014
kgfcms2
2.8
A (rms)
1.06
Nm/A (rms)
10.8
kgfcm/A (rms)
37
V (rms)/1000min -1
(*)
Kv
0.35
V (rms)sec/rad

(*)
Ra
1.85
tm
0.006

Static friction
(*)
tt
45
Tf
Mass
min
0.3
Nm
kgfcm
kg
206
CHARACTERISTICS
B65142E/04
Model C6/2000
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
2000
6.0
Ts
61
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.0026
kgm2
0.027
kgfcms2
3.6
A (rms)
1.68
Nm/A (rms)
17.1
kgfcm/A (rms)
59
V (rms)/1000min -1
(*)
Kv
0.56
V (rms)sec/rad

(*)
Ra
1.52
tm
0.004

Static friction
(*)
tt
50
Tf
Mass
min
0.3
Nm
kgfcm
13
kg
207
CHARACTERISTICS
Model C12/2000
B65142E/04
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
2000
12
Ts
122
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.0062
kgm2
0.064
kgfcms2
5.9
A (rms)
2.04
Nm/A (rms)
20.8
kgfcm/A (rms)
71
V (rms)/1000min -1
(*)
Kv
0.68
V (rms)sec/rad

(*)
Ra
1.10
tm
0.005

Static friction
(*)
tt
60
Tf
Mass
min
0.8
Nm
kgfcm
18
kg
208
CHARACTERISTICS
B65142E/04
Model C22/1500
Torque
(Nm)
Duty
(time %)
Over load duty
Continuous
operating
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
1500
22
Ts
224
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.012
kgm2
0.12
kgfcms2
12.5
1.76
A (rms)
Nm/A (rms)
18.0
kgfcm/A (rms)
62
V (rms)/1000min -1
(*)
Kv
0.59
V (rms)sec/rad

(*)
Ra
0.32
tm
0.003

Static friction
(*)
tt
65
1.2
Tf
Mass
min
Nm
12
kgfcm
29
kg
209
CHARACTERISTICS
B65142E/04
3.3
OUTLINE DRAWINGS
Model
Fig. No.
Models C3/2000 and C6/2000
Fig. 3.3(a)
Models C3/2000 and C6/2000 (with the brake)
Fig. 3.3(b)
Models C3/2000 and C6/2000 (shaft option)
Fig. 3.3(c)
Models C12/2000 and C22/1500
Fig. 3.3(d)
Fig. 3.3(e)
Fig. 3.3(f)
210
Fig. 3.3 (a)
Models C3/2000 and C6/2000
B65142E/04
211
CHARACTERISTICS
Fig. 3.3 (b)
CHARACTERISTICS
212
B65142E/04
Fig. 3.3 (c)
B65142E/04
213
CHARACTERISTICS
Max 0.05mm
Max 0.07mm
Max 0.10mm
4410N(450kgf)

Models C12/2000 and C22/1500
Notes)
Rated load
Fig. 3.3 (d)
214
MS3102A 2222P
MS3102A 2029PW
CHARACTERISTICS
B65142E/04
215
MS3102A 2222P
MS3102A 2029PW
Max 0.05mm
Max 0.07mm
Max 0.10mm
4410N(450kgf)
MS3102A 10SL3P
(Including a earth pin)
Notes)
Rated load
Fig. 3.3 (e)
B65142E/04
CHARACTERISTICS
Fig. 3.3 (f)
CHARACTERISTICS
216
B65142E/04
B65142E/04
CHARACTERISTICS
3.4
CONNECTION OF
POWER LINE
Models
C3/2000 and C6/2000
Motor
coil
Ground plate
3102A 1810P
Motor body
Models
C12/2000 and
C22/1500
Motor
coil
Ground plate
3102A 2222P
Motor body
CAUTION
them.
217
VI. FANUC AC SERVO MOTOR

(HV) series
FANUC AC SERVO MOTOR (HV) series
B65142E/04
1. GENERAL
GENERAL
The FANUC AC servo motor (HV) series is suitable for application to

the feed axes of machine tools. These motors have the following features:
Direct connection to a
400V power source
A 400V power source can be connected directly without using a

transformer.
Compact


Smooth rotation
Controllability
Builtin
highperformance
detector
A highresolution pulse coder A1000, A64, I64 is provided as

standard, assuring accurate positioning.
Powerful brake

The (HV) series includes models 3HV and 6HV, both of which are
compatible with series models 3 and 6 in their installation size, and
models 12HV, 22HV, 30HV, and 40HV, which are compatible with
series models 12, 22, 30 and 40 in their installation size.
221
2.TYPES OF MOTORS
AND DESIGNATION
B65142E/04
The types and specifications of (HV) series servo motors are described
as follows.
Models
3/3000HV and
6/3000HV
A06B01jjBl ff
jj
71
72
l
0:
2:
5:
7:
ff
75
77
88
: Model 3/3000HV
: Model 6/3000HV
Taper shaft with the brake (8Nm/24VDC)
Straight shaft
Straight shaft with the brake (8Nm/24VDC)
: Pulse coder A64
: Pulse coder I64
: Pulse coder A1000
The standard shafts used for models 3/3000HV and 6/3000HV are
Models
12/3000HV, 22/3000HV
and 30/3000HV
A06B01jjBl ff
jj
76
77
78
l
0:
2:
5:
7:
ff
75
77
88
: Model 12/3000HV
: Model 22/3000HV
: Model 30/3000HV
Taper shaft
: Pulse coder A64
: Pulse coder I64
: Pulse coder A1000
A straight shaft is fitted as the standard shaft for models 12/3000HV,

22/3000HV and 30/3000HV. When early delivery and caseof
maintenance are important, a straight shaft should be used.
222
B65142E/04
Models
40/2000HV
2. TYPE OF MOTORS
AND DESIGNATION
A06B0179Bl ff
l
0:
2:
ff
75
77
88

Straight shaft with the brake (35Nm 24VDC)
This model, a tapered shaft is not available.
Models
1000/2000HV
A06B0131B0 ff
ff
77 : With the pulse coder I64
This model, a tapered shaft is standard, a straight shaft is not available.
This model, a brake option is not available.
223
CHARACTERISTICS
224
B65142E/04
B65142E/04
CHARACTERISTICS
3.1
TYPES OF MOTORS
AND
SPECIFICATIONS
Unit
3/3000HV
6/3000HV
kw
0.9
1.4
HP
1.3
1.9
Nm
3.0
6.0
kgfcm
31
61
min1
3000
3000
kgm2
0.0014
0.0026
kgfcms2
0.014
0.027
kg
13
Item
Output

Rotor inertia
Mass

Item
Unit
12/3000HV
22/3000HV
30/3000HV
40/2000HV
1000/2000HV
kw
2.8
4.4
4.8
5.9
100
HP
3.8
5.9
6.4
7.9
136
Nm
12
22
30
38
900
kgfcm
122
224
306
390
9180
min1
3000
3000
3000
2000
2000
kgm2
0.0062
0.012
0.017
0.022
0.417
kgfcms2
0.064
0.12
0.17
0.23
4.25
kg
18
29
41
52
470
Output

Rotor inertia
Mass
225
CHARACTERISTICS
B65142E/04
3.2
CHARACTERISTIC
CURVE AND DATA
SHEET
Speedtorque
characteristics

On models 3HV to 6HV, the maximum speed of rotation is increased
by using HRV control. The speed-torque characteristics for when HRV
control is used are described at the end of this item
Overload duty
characteristic

thermal function.
Data sheet
Example : 3/3000HV
0.707
1.06
= 20
= 14.9 Nm
226
B65142E/04
CHARACTERISTICS
227
CHARACTERISTICS
Model 3/3000HV
B65142E/04
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
3.0
Ts
31
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.0014
kgm2
0.014
kgfcms2
2.8
A (rms)
1.06
Nm/A (rms)
10.8
kgfcm/A (rms)
37
V (rms)/1000min -1
(*)
Kv
0.35
V (rms)sec/rad

(*)
Ra
1.85
tm
0.006

Static friction
(*)
tt
45
Tf
Mass
min
0.3
Nm
kgfcm
kg
On model 3HV, the maximum speed of rotation is increased by using HRV control.
end of this item
228
B65142E/04
Model 6/3000HV
CHARACTERISTICS
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
6.0
Ts
61
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.0026
kgm2
0.027
kgfcms2
3.6
A (rms)
1.68
Nm/A (rms)
17.1
kgfcm/A (rms)
59
V (rms)/1000min -1
(*)
Kv
0.56
V (rms)sec/rad

(*)
Ra
1.52
tm
0.004

Static friction
(*)
tt
50
Tf
Mass
min
0.3
Nm
kgfcm
13
kg
On model 6HV, the maximum speed of rotation is increased by using HRV control.
end of this item
229
CHARACTERISTICS
Model 12/3000HV
B65142E/04
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
12
Ts
122
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.0062
kgm2
0.064
kgfcms2
8.8
A (rms)
1.36
Nm/A (rms)
13.8
kgfcm/A (rms)
47
V (rms)/1000min -1
(*)
Kv
0.45
V (rms)sec/rad

(*)
Ra
0.49
tm
0.005

Static friction
(*)
tt
60
Tf
Mass
min
0.8
Nm
kgfcm
18
kg
230
B65142E/04
Model 22/3000HV
CHARACTERISTICS
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
22
Ts
224
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.012
kgm2
0.12
kgfcms2
12.5
1.76
A (rms)
Nm/A (rms)
18.0
kgfcm/A (rms)
62
V (rms)/1000min -1
(*)
Kv
0.59
V (rms)sec/rad

(*)
Ra
0.32
tm
0.003

Static friction
(*)
tt
65
1.2
Tf
Mass
min
Nm
12
kgfcm
29
kg
The characteristics graphs above show the characteristics of the motor
when combined with the 60HV servo amplifier. (For the specification of
the servo amplifier, see Section 2.1 in Chapter 1.)
231
CHARACTERISTICS
Model 30/3000HV
B65142E/04
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
30
Ts
306
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.017
kgm2
0.17
kgfcms2
12.6
2.37
A (rms)
Nm/A (rms)
24.2
kgfcm/A (rms)
83
V (rms)/1000min -1
(*)
Kv
0.79
V (rms)sec/rad

(*)
Ra
0.34
tm
0.003

Static friction
(*)
tt
70
1.8
Tf
Mass
min
Nm
18
kgfcm
41
kg
The characteristics graphs above show the characteristics of the motor
when combined with the 60HV servo amplifier. (For the specification of
the servo amplifier, see Section 2.1 in Chapter 1.)
232
CHARACTERISTICS
B65142E/04
Model 40/2000HV
Over Load Duty
120
100
90
100
Duty (time%)
Torque (Nm)
80
60
40
Continuous
Operating
20
110%
80
Intermitting
Operation
120%
70
60
50
130%
140%
150%
160%
40
30
20
10
0
500
1000
Speed
1500
2000
(min1)
10
100
1000
Ontime (min)
Data sheet
Parameter
Symbol
Rating speed
Nmax
(*)
Value
2000
38
Ts
390
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.022
kgm2
0.23
kgfcms2
19.2
1.98
A (rms)
Nm/A (rms)
20.2
kgfcm/A (rms)
69
V (rms)/1000min -1
(*)
Kv
0.66
V (rms)sec/rad

(*)
Ra
0.16
tm
0.003

Static friction
(*)
tt
75
1.8
Tf
Weight
min
Nm
18
kgfcm
52
kg
values.)
These values may be changed without prior notice.
233
CHARACTERISTICS
Model 1000/2000HV
B65142E/04
Data sheet
Parameter
Symbol
Rating speed
Nmax
(*)
Value
2000
900
Ts
9180
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.417
kgm2
4.25
kgfcms2
220
4.09
41.7
142.7
A (rms)
Nm/A (rms)
kgfcm/A (rms)
V (rms)/1000min -1
(*)
Kv
1.36
V (rms)sec/rad

(*)
Ra
0.011
tm
0.0008

Static friction
(*)
tt
Tf
100
min
Nm
40
Weight
470
kgfcm
kg
values.)
234
B65142E/04
(Remarks)
Speedtorque
characteristics
(HRV control)
CHARACTERISTICS

Torque (Nm)
D 3/3000HV
Torque (Nm)
D 6/3000HV
CAUTION
235
CHARACTERISTICS
B65142E/04
3.3
OUTLINE DRAWINGS
Model
Fig. No.
Models 3/3000HV and 6/3000HV
Fig. 3.3 (a)
Models 3/3000HV and 6/3000HV (with the brake)
Fig. 3.3 (b)
Models 3/3000HV and 6/3000HV (shaft option)
Fig. 3.3 (c)
Models 12/3000HV, 22/3000HV, and 30/3000HV
Fig. 3.3 (d)

(with the brake)
Fig. 3.3 (e)

(shaft option)
Fig. 3.3 (f)
Models 40/2000HV
Fig. 3.3 (g)
Models 40/2000HV (with the brake)
Fig. 3.3 (h)
Models 1000/2000HV
Fig. 3.3 (i) (j)
236
CHARACTERISTICS
Fig. 3.3 (a)
Key width
Models 3/3000HV and 6/3000HV
B65142E/04
237
Fig. 3.3 (b)
Key width
Models 3/3000HV and 6/3000HV (with the brake)
CHARACTERISTICS
238
B65142E/04
Fig. 3.3 (c)
Models 3/3000HV and 6/3000HV (shaft option)
B65142E/04
239
CHARACTERISTICS
Max 0.05mm
Max 0.07mm
Max 0.10mm
4410N(450kgf)

Models 12/3000HV, 22/3000HV and 30/3000HV
Notes)
Rated load
Fig. 3.3 (d)
240
MS3102A 2222P
MS3102A 2029PW
CHARACTERISTICS
B65142E/04
241
MS3102A 2222P
MS3102A 2029PW
Max 0.05mm
Max 0.07mm
Max 0.10mm
4410N(450kgf)
MS3102A 10SL4P
(Without a earth pin)
Models 12/3000HV, 22/3000HV and 30/3000HV (with the brake)
Notes)
Rated load
Fig. 3.3 (e)
B65142E/04
CHARACTERISTICS
Fig. 3.3 (f)
Models 12/3000HV, 22/3000HV and 30/3000HV (shaft option)
CHARACTERISTICS
242
B65142E/04
Fig. 3.3 (g)
Model 40/2000HV
B65142E/04
243
CHARACTERISTICS
Fig. 3.3 (h)
Model 40/2000HV (with the brake)
CHARACTERISTICS
244
B65142E/04
Fig. 3.3 (i)
Model 1000/2000HV
B65142E/04
245
CHARACTERISTICS
B65142E/04
Fig. 3.3 (j)
Model 1000/2000HV (terminal box)
R
S
T
CHARACTERISTICS
246
B65142E/04
CHARACTERISTICS
3.4
CONNECTION OF
POWER LINE
Models
3/3000HV and
6/3000HV
Motor
coil
Ground plate
3102A 1810P
Motor body
Models
12/3000HV, 22/3000HV,
30/3000HV, and
40/3000HV
Motor
coil
Ground plate
3102A 2222P
Models
1000/2000HV
247
Motor body
CHARACTERISTICS
B65142E/04
CAUTION
them.
248
VII. FANUC AC SERVO MOTOR

M (HV) series
FANUC AC SERVO MOTOR M (HV) series
B65142E/04
1. GENERAL
GENERAL
The FANUC AC servo motor M(HV) series is ideal for the feed shafts
of small machine tools. The features of this servo motor are as follows:
Direct connection to a
400V power source
A 400V power source can be connected directly without using a

transformer.
characteristics
A high maximum output torque and intermediate rotor inertia result in

excellent acceleration characteristics.
Compact


Wide continuous
operating zone
The latest servo software minimizes heat generation at high operating

speeds, and extends the continuous operating zone.
Smooth rotation
Controllability
Highperformance
detector

Powerful brake

The M (HV) series includes the following models:
D Models M6HV and M9HV that are compatible with the installation
dimensions of the series models 3 and 6
D Models M22HV, M30HV, and M40HV that are compatible with
the installation dimensions of the series models 12, 22, 30, and
40
251
2.TYPES OF MOTORS
AND DESIGNATION
B65142E/04
Models
M6/3000HV and
M9/3000HV
A06B01jjBl ff
jj
82
83
l
0:
2:
5:
7:
ff
75
77
88
: Model M6/3000HV
: Model M9/3000HV
Straight shaft
: Pulse coder A64
: Pulse coder I64
: Pulse coder A1000
The standard shafts used for models M6/3000HV and M9/3000HV are
Models
M22/3000HV and
M30/3000HV
A06B01jjBl ff
jj
85
86
l
0:
2:
5:
7:
ff
75
77
88
: Model M22/3000HV
: Model M30/3000HV
Taper shaft
: Pulse coder A64
: Pulse coder I64
: Pulse coder A1000
A straight shaft is fitted as the standard shaft for models M22/3000HV

and M30/3000HV. When early delivery and caseofmaintenance are
important, a straight shaft should be used.
252
B65142E/04
Models
M40/3000HV
2. TYPE OF MOTORS
AND DESIGNATION
A06B0189l ff
l
0:
2:
ff
75
77
88

Straight shaft with the brake (35Nm 24VDC)
This model, a tapered shaft is not available.
253
CHARACTERISTICS
254
B65142E/04
B65142E/04
CHARACTERISTICS
3.1
TYPES OF MOTORS
AND
SPECIFICATIONS
Item
Unit
M6/
M9/
M22/
3000HV 3000HV 3000HV
M30/
3000HV
M40/
3000HV
kw
1.4
1.8
3.8
3.8
3.0
HP
1.9
2.4
5.1
5.1
4.0
Nm
20
30
40
kgfcm
61
92
204
306
408
min1
3000
3000
3000
2000(S1)
3000(S360%)
1000
Output
Rated
torque
at stall
Rating
rotation
speed
Rotor
inertia
kgm2
0.0013
0.0025
0.0058
0.011
0.012
kgfcms2
0.014
0.026
0.059
0.11
0.12
Mass
kg
7.5
12
29
41
41
255
CHARACTERISTICS
B65142E/04
3.2
CHARACTERISTIC
CURVE AND DATA
SHEET
Speedtorque
characteristics

On model M40/3000HV, Intermittent operating (S3 to 25%) in the
Speedtorque characteristics is permitting operating zone in IEC341,
and it enables to operate 2.5 min ON and 7.5 min OFF in 10 min cycle
time.
Equally, (S3 to 60%) in the Speedtorque characteristics enables to
operate 6 min ON and 4 min OFF in 10 min cycle time.
On models M6HV to M9HV, the maximum speed of rotation is
increased by using HRV control. The speed-torque characteristics for
when HRV control is used are described at the end of this item
Overload duty
characteristic

thermal function.
Data sheet
Example : M6/3000HV
D Amplifier limit value = 40 (Apeak)
0.707
1.50 (Nm)
= 40
256
B65142E/04
CHARACTERISTICS
257
CHARACTERISTICS
Model M6/3000HV
B65142E/04
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
6
Ts
61
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.0013
kgm2
0.014
kgfcms2
4.0
A (rms)
1.50
Nm/A (rms)
15.3
kgfcm/A (rms)
52
V (rms)/1000min -1
(*)
Kv
0.50
V (rms)sec/rad

(*)
Ra
1.80
tm
0.003
(*)
tt
Static friction
Tf
Maximum allowable current
Im
45
Nm
kgfcm
60
Mass
min
0.3
7.5
A (peak)
kg
On model M6HV, the maximum speed of rotation is increased by using HRV
control. The speed-torque characteristics for when HRV control is used are described
at the end of this item
258
B65142E/04
Model M9/3000HV
CHARACTERISTICS
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
9
Ts
92
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.0025
kgm2
0.026
kgfcms2
5.8
A (rms)
1.56
Nm/A (rms)
15.9
kgfcm/A (rms)
54
V (rms)/1000min -1
(*)
Kv
0.52
V (rms)sec/rad

(*)
Ra
0.67
tm
0.002
(*)
tt
Static friction
Tf
Im
50
Nm
kgfcm
120
Mass
min
0.3
12
A (peak)
kg
On model M9HV, the maximum speed of rotation is increased by using HRV
control. The speed-torque characteristics for when HRV control is used are described
at the end of this item
259
CHARACTERISTICS
Model M22/3000HV
B65142E/04
Torque
(Nm)
Duty
(time %)
Over load duty
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
3000
20
Ts
204
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.0058
kgm2
0.059
kgfcms2
12.1
1.66
A (rms)
Nm/A (rms)
16.9
kgfcm/A (rms)
58
V (rms)/1000min -1
(*)
Kv
0.55
V (rms)sec/rad

(*)
Ra
0.26
tm
0.002
(*)
tt
Static friction
Tf
Im
60
Mass
min
0.8
Nm
kgfcm
90
A (peak)
18
kg
260
B65142E/04
Model M30/3000HV
CHARACTERISTICS
Torque
(Nm)
Duty
(time %)
Over load duty
Intermittent
operating
(S360%)
Continuous
operating (S1)
Speed (min1)
ON time (min.)
Data sheet
Parameter
Symbol

Nmax
(*)
Value
2000 (S1)
3000 (S360%)
30
Ts
306
Unit
min -1
Nm
kgfcm
0.011
kgm2
0.11
kgfcms2
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
(*)
Kv
0.64
V (rms)sec/rad

(*)
Ra
0.16
tm
0.002
(*)
tt
Static friction
Tf
Im
16.3
1.85
Nm/A (rms)
18.8
kgfcm/A (rms)
64
V (rms)/1000min -1
65
1.2
12
160
Mass
A (rms)
30
min
Nm
kgfcm
A (peak)
kg
The 2000 to 3000 min1 range of this servo motor is the intermittent operation range,
and is used mainly for positioning. In the intermittent operation range (S3 to 60%),
ON operation of six minutes and OFF operation of four minutes in a 10-minute cycle
is possible.
261
CHARACTERISTICS
Model M40/3000HV
B65142E/04
Over Load Duty
120
100
90
100
Duty (time%)
Intermitting
Operation
80
Torque (Nm)
110%
80
60
40
20
Continuous
Operating
S325%
Inter.Op.
120%
70
60
50
130%
140%
150%
160%
40
30
20
10
0
0
0
1000
2000
3000
Speed (min1)
10
100
1000
Ontime (min)
Data sheet
Parameter
Symbol
Rating speed
Nmax
(*)
Value
1000
40
Ts
408
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Unit
min -1
Nm
kgfcm
0.012
kgm2
0.12
kgfcms2
20.2
1.98
A (rms)
Nm/A (rms)
20.2
kgfcm/A (rms)
69
V (rms)/1000min -1
(*)
Kv
0.66
V (rms)sec/rad

(*)
Ra
0.13
tm
0.001

Static friction
(*)
tt
70
1.8
Tf
Weight
min
Nm
18
kgfcm
41
kg
setting, and input voltage of the digital servo software. (The above figures show
average values.)
S3 to 25% intermitting operating zone shows 2.5 min continuous operating zone in
10 min cycle.
262
B65142E/04
(Remarks)
Speedtorque
characteristics
(HRV control)
CHARACTERISTICS

Torque (Nm)
D M6/3000HV
Torque (Nm)
D M9/3000HV
NOTE
263
CHARACTERISTICS
B65142E/04
3.3
OUTLINE DRAWINGS
Model
Fig. No.
Models M6/3000HV and M9/3000HV (standard)
Fig. 3.3 (a)
Models M6/3000HV and M9/3000HV (with the brake)
Fig. 3.3 (b)
Models M6/3000HV (shaft option)
Fig. 3.3 (c)
Fig. 3.3 (d)
Fig. 3.3 (e)
Models M22/3000HV and M30/3000HV

(with the brake)
Fig. 3.3 (f)
Models M22/3000HV and M30/3000HV (shaft option)
Fig. 3.3 (g)
Model M40/3000HV
Fig. 3.3 (h)
Model M40/3000HV (with the brake)
Fig. 3.3 (i)
264
Fig. 3.3 (a)
B65142E/04
265
CHARACTERISTICS
Fig. 3.3 (b)
CHARACTERISTICS
266
B65142E/04
Fig. 3.3 (c)
B65142E/04
267
CHARACTERISTICS
Fig. 3.3 (d)
CHARACTERISTICS
268
B65142E/04
Max 0.05mm
Max 0.07mm
Max 0.10mm
4410N(450kgf)

Notes)
Rated load
Fig. 3.3 (e)
269
MS3102A 2222P
MS3102A 2029PW
B65142E/04
CHARACTERISTICS
270
Max 0.05mm
Max 0.07mm
Max 0.10mm
4410N(450kgf)
MS3102A 10SL4P
(Without a earth pin)

Notes)
Rated load
Fig. 3.3 (f)
MS3102A 2222P
MS3102A 2029PW
CHARACTERISTICS
B65142E/04
Fig. 3.3 (g)
Models M22/3000HV and M30/3000HV (shaft option)
B65142E/04
271
CHARACTERISTICS
Fig. 3.3 (h)
Model M40/2000HV (standard)
CHARACTERISTICS
272
B65142E/04
Fig. 3.3 (i)
Model M40/2000HV (with the brake)
B65142E/04
273
CHARACTERISTICS
CHARACTERISTICS
B65142E/04
3.4
CONNECTION OF
POWER LINE
Models
M6/3000HV and
M9/3000HV
A
Motor
coil
B
C
Grounding plate
D
Motor body
3102A 1810P
Models
M22/3000HV,
M30/3000HV, and
M40/3000HV
Motor
coil
Ground plate
3102A 2222P
274
Motor body
VIII. SUPPLEMENT
(Following AC servo motors are extended the
allowable maximum speed.)
SUPPLEMENT
(Following AC servo motors are extended the allowable maximum speed.)
B65142E/04
1. REQUIRED
CONDITIONS
REQUIRED CONDITIONS
Servo Motor
S The following table shows the applied motors and their allowable maximum speed.
S The specification numbers of Servo Motor for order are same as before.
S Some motors need the manufacture date since January 99.
Servo Software
S It is necessary to use 90A0 or later series software and HRV2 (LEVELUP HRV) control.
Servo Parameters
S It is necessary to change the parameters.
Servo Amplifier
(SVM, SVU)
S It is not necessary to change.
Power supply module

(PSM)
S It may be necessary to select again depending on the situation.
277
2. SERVO
MOTOR
SUPPLEMENT
B65142E/04
SERVO MOTOR
D The following table shows the applied motors and their allowable
maximum speed.
D The specification numbers of Servo Motor for order are same as
before.
D Some motors need the manufacture date since January 99.
Allowable maximum speed
Applicable
manufacture date
Before
After
12/3000
3000min1
4000min1
since Jan. 1999
22/3000
3000min1
4000min1
since Jan. 1999
30/3000
3000min1
4000min1
since Jan. 1999
40/2000
2000min1
2500min1
not required
40/2000 with
fan
2000min1
2500min1
not required
65/2000
2000min1
2500min1
not required
100/2000
2000min1
2500min1
not required
150/2000
2000min1
2500min1
not required
M22/3000
3000min1
4000min1
not required
M30/3000
3000min1
4000min1
not required
12/3000HV
3000min1
4000min1
since Jan. 1999
M22/3000HV
3000min1
4000min1
not required
M30/3000HV
3000min1
4000min1
not required
NOTE
22/3000HV and 30/3000HV are not extend the
maximum allowable speed for the moment.
278
B65142E/04
SUPPLEMENT
3. SERVO
SOFTWARE
SERVO SOFTWARE
It is necessary for 90A0 or later series servo software and the control to
be HRV2 (LEVELUP HRV) control.
Refer to FANUC AC SERVO MOTOR series PARAMETER
MANUAL (B65150E /after edition 03) as 90A0 series servo software
and its edition for HRV2 (LEVELUP HRV) control.
279
4. SERVO
PARAMETER
SUPPLEMENT
B65142E/04
SERVO PARAMETER
D The parameters for extended the maximum allowable speed are the
following.
1) 12/3000, 22/3000, 30/3000, 40/2000, 40/2000
(with fan), 65/2000, 100/2000, 150/2000, 12/3000HV
1. Download the parameter in 90A0001U and after.
2. Set up the LEVELUP HRV control.
No.1809 / 2004 00000011
No.1852 / 2040 Multiply normal parameter by 0.8
No.1853 / 2041 Multiply normal parameter by 1.6
2) M22/3000, M30/3000, (M40/3000, M40/3000
(with fan)), M22/3000HV, M30/3000HV
1. Download the parameter in 90A0001U and after.
2. Change the parameter as Table 4.
Table 4 Parameter for changing ( inside the bold flame)
Model
99.11.2
Symbol
Spec. No.
ID No.
Parameter No.
FS15
FS16,18
1809
2004
M22/3000
M30/3000
0165
100
0166
101
M22/3000HV M30/3000HV
0185
106
0186
107
M40/3000
(with fan)
0170
108
M40/3000
0169
110
00000011
00000011
00000011
00000011
01000011
00000011
PK1
PK2
1852
1853
2040
2041
670
4054
1030
5246
1120
4755
1059
4117
2017
8287
1197
5048
PVPA
PALPH
1869
1870
2057
2058
7695
2700
5129
1680
5135
2000
6422
3226
3848
1144
3865
3168
AALPH
1967
2074
12288
28672
8192
20480
MFWKCE
1736
2128
8000
1000
2000
2000
PHDLY1
PHDLY2
1756
1757
2133
2134
0
0
0
0
0
0
0
0
0
0
0
0
1 Although the M40/3000 and M40/3000 (with fan) are not intended for higher speeds,
parameters best suited to LEVELUP HRV are available to them.
2 See the Parameter Manual (B65150E) for details of servo software 90A0 001U.
3 See the Section 4.3 LEVELUP HRV control of the Parameter Manual (B65150E) for details
of setting the LEVELUP HRV control.
4 The parameter in Table 4 is the besttuned parameter for LEVELUP HRV control. If the speed
is not extended, it has better controllability with this parameter.
5 See the Parameter Manual (B65150E edition 03 or later) for details of servo parameters.
280
B65142E/04
SUPPLEMENT
5. SELECTING
PSM
SELECTING PSM
In case of the using motors with extended speed, it is necessary to use

Case 2 for accelerating maximum output in FANUC SERVO
AMPLIFIER series DESCRIPTIONS (B65162/after edition 03)
Refer to FANUC SERVO AMPLIFIER series DESCRIPTIONS
(B65162/after edition 03) as the details.
281
6. CHARACTERISTICS
CURVE AND
SUPPLEMENT
DATA SHEET (Following AC servo motors are extended the allowable maximum speed.)
B65142E/04
CHARACTERISTICS CURVE" AND DATA SHEET"
Characteristics Curve and Data sheet are shown in following pages.
282
Model 12/3000
Over Load Duty
40
100
35
90
Torque (Nm)
Intermitting
Operation
25
20
15
10
Continuous
Operating
5
0
110%
80
30
Duty (time%)
B65142E/04
6. CHARACTERISTICS
CURVE AND
DATA SHEET
SUPPLEMENT
S360%
Inter.Op.
120%
70
60
50
130%
140%
150%
160%
40
30
20
10
0
1000
2000
3000
4000
Speed (min1)
10
100
1000
Ontime (min)
Data sheet
Parameter
Symbol
Value
Unit
Rating speed
Nmax
3000
min -1
Maximum speed
Nlim
4000
min -1
(*)
12
Ts
122
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Nm
kgfcm
6.2E3
kgm2
6.4E2
kgfcms2
15.5
A (rms)
0.77
Nm/A (rms)
7.9
kgfcm/A (rms)
27.1
V (rms)/1000min -1
(*)
Kv
0.26
V (rms)sec/rad

(*)
Ra
0.18
tm
0.006

Static friction
(*)
tt
60
Tf
Weight
min
0.8
Nm
kgfcm
18
kg
average values.)
S3 to 60% intermitting operating zone shows 6 min ON and 4 min OFF in 10 min
cycle.
283
6. CHARACTERISTICS
CURVE AND
SUPPLEMENT
Model 22/3000
B65142E/04
Over Load Duty
70
100
60
90
110%
80
Duty (time%)
Torque (Nm)
50
Intermitting
Operation
40
30
20
Continuous
Operating
10
S360%
Inter.Op.
120%
70
60
50
130%
140%
150%
160%
40
30
20
10
0
0
0
1000
2000
3000
4000
Speed (min1)
10
100
1000
Ontime (min)
Data sheet
Parameter
Symbol
Value
Unit
Rating speed
Nmax
3000
min -1
Maximum speed
Nlim
4000
min -1
(*)
22
Ts
224
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Nm
kgfcm
1.2E2
kgm2
1.2E1
kgfcms2
32.1
A (rms)
0.68
Nm/A (rms)
7.0
kgfcm/A (rms)
23.9
V (rms)/1000min -1
(*)
Kv
0.23
V (rms)sec/rad

(*)
Ra
0.05
tm
0.004

Static friction
(*)
tt
65
1.2
Tf
Weight
min
Nm
12
kgfcm
30
kg
average values.)
cycle.
284
Model 30/3000
Torque (Nm)
80
Over Load Duty

100
70
90
60
80
Duty (time%)
B65142E/04
6. CHARACTERISTICS
CURVE AND
DATA SHEET
SUPPLEMENT
Intermitting
Operation
50
40
30
20
Continuous
Operating
10
S360%
Inter.Op.
110%
120%
70
60
50
130%
140%
150%
160%
40
30
20
10
0
1000
2000
3000
4000
Speed (min1)
10
100
1000
Ontime (min)
Data sheet
Parameter
Symbol
Value
Unit
Rating speed
Nmax
3000
min -1
Maximum speed
Nlim
4000
min -1
(*)
30
Ts
306
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Nm
kgfcm
1.7E2
kgm2
1.7E1
kgfcms2
33.7
A (rms)
0.89
Nm/A (rms)
9.1
kgfcm/A (rms)
31.1
V (rms)/1000min -1
(*)
Kv
0.30
V (rms)sec/rad

(*)
Ra
0.05
tm
0.003

Static friction
(*)
tt
70
1.8
Tf
Weight
min
Nm
18
kgfcm
41
kg
average values.)
cycle.
285
6. CHARACTERISTICS
CURVE AND
SUPPLEMENT
Model 40/2000
Model 40/2000FAN
B65142E/04
Over Load Duty

100
140
90
120
Duty (time%)
100
Torque (Nm)
110%
80
Intermitting
Operation
80
60
40
20
Continuous
Operating
S360%
Inter.Op.
120%
70
60
50
130%
140%
150%
160%
40
30
20
10
0
500
1000 1500 2000 2500

Speed
(min1)
10
100
1000
Ontime (min)
Data sheet
Parameter
Symbol
Value
Unit
Rating speed
Nmax
2000
2000
min -1
Maximum speed
Nlim
2500
2500
min -1
(*)
Ts
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
38
56
388
571
Nm
kgfcm
2.2E2
2.2E2
kgm2
2.3E1
2.3E1
kgfcms2
27.2
1.40
40.1
1.40
A (rms)
Nm/A (rms)
14.3
14.3
kgfcm/A (rms)
48.8
48.8
V (rms)/1000min -1
(*)
Kv
0.47
0.47
V (rms)sec/rad

(*)
Ra
0.08
0.08
tm
0.003
0.003

Static friction
(*)
tt
75
1.8
Tf
Weight
30
1.8
min
Nm
18
18
kgfcm
52
55
kg
average values.)
cycle.
286
Model 65/2000
Over Load Duty

100
180
90
160
80
140
Torque (Nm)
120
Duty (time%)
B65142E/04
6. CHARACTERISTICS
CURVE AND
DATA SHEET
SUPPLEMENT
Intermitting
Operation
100
80
60
110%
70
120%
60
130%
140%
150%
160%
50
40
30
40
20
Continuous
Operating
20
S360%
Inter.Op.
10
0
0
0
500
1000 1500 2000 2500

Speed (min1)
10
100
1000
Ontime (min)
Data sheet
Parameter
Symbol
Value
Unit
Rating speed
Nmax
2000
min -1
Maximum speed
Nlim
2500
min -1
(*)
65
Ts
663
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Nm
kgfcm
1.8E2
kgm2
1.9E1
kgfcms2
62.5
1.04
A (rms)
Nm/A (rms)
10.6
kgfcm/A (rms)
36.3
V (rms)/1000min -1
(*)
Kv
0.35
V (rms)sec/rad

(*)
Ra
0.02
tm
0.001

Static friction
(*)
tt
120
3.7
Tf
Weight
min
Nm
38
kgfcm
80
kg
average values.)
cycle.
287
6. CHARACTERISTICS
CURVE AND
SUPPLEMENT
Model 100/2000
B65142E/04
Over Load Duty

100
300
90
250
Duty (time%)
Torque (Nm)
200
Intermitting
Operation
150
100
50
0
110%
80
Continuous
Operating
S360%
Inter.Op.
120%
70
60
50
130%
140%
150%
160%
40
30
20
10
0
500
1000 1500 2000 2500
Speed (min1)
10
100
1000
Ontime (min)
Data sheet
Parameter
Symbol
Value
Unit
Rating speed
Nmax
2000
min -1
Maximum speed
Nlim
2500
min -1
(*)
100
Ts
1020
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Nm
kgfcm
2.6E2
kgm2
2.7E1
kgfcms2
85.3
1.17
A (rms)
Nm/A (rms)
12.0
kgfcm/A (rms)
40.9
V (rms)/1000min -1
(*)
Kv
0.39
V (rms)sec/rad

(*)
Ra
0.01
tm
0.001

Static friction
(*)
tt
130
5.5
Tf
56
Weight
100
min
Nm
kgfcm
kg
average values.)
cycle.
288
Model 150/2000
Over Load Duty

100
350
90
300
110%
80
Torque (Nm)
250
Duty (time%)
B65142E/04
6. CHARACTERISTICS
CURVE AND
DATA SHEET
SUPPLEMENT
Intermitting
Operation
200
150
100
50
Continuous
Operating
S360%
Inter.Op.
120%
70
60
50
130%
140%
150%
160%
40
30
20
10
0
500
1000 1500 2000 2500
Speed (min1)
10
100
1000
Ontime (min)
Data sheet
Parameter
Symbol
Value
Unit
Rating speed
Nmax
2000
min -1
Maximum speed
Nlim
2500
min -1
(*)
150
Ts
1531
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Nm
kgfcm
3.4E2
kgm2
3.5E1
kgfcms2
114.9
1.30
A (rms)
Nm/A (rms)
13.3
kgfcm/A (rms)
45.6
V (rms)/1000min -1
(*)
Kv
0.44
V (rms)sec/rad

(*)
Ra
0.01
tm
0.001

Static friction
(*)
tt
140
7.4
Tf
75
Weight
120
min
Nm
kgfcm
kg
average values.)
cycle.
289
6. CHARACTERISTICS
CURVE AND
SUPPLEMENT
Model M22/3000
B65142E/04
Over Load Duty

100
60
90
50
Duty (time%)
40
Torque (Nm)
110%
80
Intermitting
Operation
30
20
10
Continuous
Operating
S360%
Inter.Op.
120%
70
60
50
130%
140%
150%
160%
40
30
20
10
0
1000
2000
3000
4000
Speed (min1)
10
100
1000
Ontime (min)
Data sheet
Parameter
Symbol
Value
Unit
Rating speed
Nmax
3000
min -1
Maximum speed
Nlim
4000
min -1
(*)
20
Ts
204
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Nm
kgfcm
5.8E3
kgm2
5.9E2
kgfcms2
26.5
A (rms)
0.75
Nm/A (rms)
7.7
kgfcm/A (rms)
26.3
V (rms)/1000min -1
(*)
Kv
0.25
V (rms)sec/rad

(*)
Ra
0.07
tm
0.002

Static friction
(*)
tt
60
Tf
Weight
min
0.8
Nm
kgfcm
18
kg
average values.)
cycle.
290
Model M30/3000
Over Load Duty

100
90
90
80
70
60
80
Torque (Nm)
100
Duty (time%)
B65142E/04
6. CHARACTERISTICS
CURVE AND
DATA SHEET
SUPPLEMENT
Intermitting
Operation
50
40
30
20
Continuous
Operating
10
S360%
Inter.Op.
110%
120%
70
60
50
130%
140%
150%
160%
40
30
20
10
0
1000
2000
3000
4000
Speed (min1)
10
100
1000
Ontime (min)
Data sheet
Parameter
Symbol
Value
Unit
Rating speed
Nmax
2000
min -1
Maximum speed
Nlim
4000
min -1
(*)
30
Ts
306
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Nm
kgfcm
1.1E2
kgm2
1.1E1
kgfcms2
27.9
1.08
A (rms)
Nm/A (rms)
11.0
kgfcm/A (rms)
37.6
V (rms)/1000min -1
(*)
Kv
0.36
V (rms)sec/rad

(*)
Ra
0.05
tm
0.001

Static friction
(*)
tt
65
1.2
Tf
Weight
min
Nm
12
kgfcm
30
kg
average values.)
cycle.
291
6. CHARACTERISTICS
CURVE AND
SUPPLEMENT
Model 12/3000HV
B65142E/04
Over Load Duty

100
35
90
30
80
Duty (time%)
Torque (Nm)
40
Intermitting
Operation
25
20
15
10
Continuous
Operating
S360%
Inter.Op.
110%
120%
70
60
50
130%
140%
150%
160%
40
30
20
10
0
1000
2000
3000
4000
Speed (min1)
10
100
1000
Ontime (min)
Data sheet
Parameter
Symbol
Value
Unit
Rating speed
Nmax
3000
min -1
Maximum speed
Nlim
4000
min -1
(*)
12
Ts
122
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Nm
kgfcm
6.2E3
kgm2
6.4E2
kgfcms2
8.8
A (rms)
1.36
Nm/A (rms)
13.8
kgfcm/A (rms)
47.4
V (rms)/1000min -1
(*)
Kv
0.45
V (rms)sec/rad

(*)
Ra
0.56
tm
0.006

Static friction
(*)
tt
60
Tf
Weight
min
0.8
Nm
kgfcm
18
kg
average values.)
cycle.
292
Model M22/3000HV
Over Load Duty

100
60
90
50
40
Torque (Nm)
110%
80
Duty (time%)
B65142E/04
6. CHARACTERISTICS
CURVE AND
DATA SHEET
SUPPLEMENT
Intermitting
Operation
30
20
10
Continuous
Operating
S360%
Inter.Op.
120%
70
60
50
130%
140%
150%
160%
40
30
20
10
0
1000
2000
3000
4000
Speed (min1)
10
100
1000
Ontime (min)
Data sheet
Parameter
Symbol
Value
Unit
Rating speed
Nmax
3000
min -1
Maximum speed
Nlim
4000
min -1
(*)
20
Ts
204
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Nm
kgfcm
5.8E3
kgm2
5.9E2
kgfcms2
12.1
1.66
A (rms)
Nm/A (rms)
16.9
kgfcm/A (rms)
57.9
V (rms)/1000min -1
(*)
Kv
0.55
V (rms)sec/rad

(*)
Ra
0.26
tm
0.002

Static friction
(*)
tt
60
Tf
Weight
min
0.8
Nm
kgfcm
18
kg
average values.)
cycle.
293
6. CHARACTERISTICS
CURVE AND
SUPPLEMENT
Model M30/3000HV
B65142E/04
Over Load Duty
80
100
70
90
Duty (time%)
Torque (Nm)
110%
80
60
Intermitting
Operation
50
40
30
20
S360%
Inter.Op.
Continuous
Operating
10
0
120%
70
60
50
130%
140%
150%
160%
40
30
20
10
0
1000
2000
3000
4000
Speed (min1)
10
100
1000
Ontime (min)
Data sheet
Parameter
Symbol
Value
Unit
Rating speed
Nmax
3000
min -1
Maximum speed
Nlim
4000
min -1
(*)
30
Ts
306
Rotor inertia
Jm

(*)
Is
Torque constant
(*)
Kt

(*)
Ke
Nm
kgfcm
1.1E2
kgm2
1.1E1
kgfcms2
16.3
1.85
A (rms)
Nm/A (rms)
18.8
kgfcm/A (rms)
64.5
V (rms)/1000min -1
(*)
Kv
0.62
V (rms)sec/rad

(*)
Ra
0.16
tm
0.002

Static friction
(*)
tt
65
1.2
Tf
Weight
min
Nm
12
kgfcm
30
kg
average values.)
cycle.
294
Index
B65142E/04
[Numbers]
Connectors, 86
Connectors on the cable side (models 1 and 2), 89
200 VAC input types, 56, 58
Cooling fan, 99
400 VAC input types, 57, 58
Cooling fan specifications, 100

Cooling method (ICE346), 64
[A]
Coupling, 15
About connector cables, 100

Absolutetype pulse coder, 69
[D]
Acceptance and storage, 21
Data, 45
Applicable Amplifiers, 6
Data for Selecting PSM, 13
Applicable amplifiers, 6
Data sheet, 52
Applicable motors, 56
Detector input/output signals, 70
Approved specifications, 63
Drive shaft coupling, 23
Axis load, 17
Drives, 58
[B]
[E]
Brake cable (TUV/EMC compatible), 84
Environment, 18
Brake specifications, 80
External dimensions of separate type pulse coder, 75
Builtin brake, 79
Builtin detector, 67
[F]
Feedback detector, 66
[C]
Cable assembly specifications (3 or above) (14m
standard), 98
[H]
Cable assembly specifications (14m standard) (for 1

and 2), 90
Heat protection (IEC3411), 65
Calculating conditions for selecting a motor, 28
How to fill in the servo motor selection data table, 43
Calculating the acceleration torque, 34
How to use duty cycle curves, 54
Calculating the load torque and load inertia, 29

Calculating the percentage duty cycle with the maximum cutting torque, 39
[I]
Calculating the rootmeansquare value of the

torques, 37
Input signals and layout of connector pins of separate

type pulse coder, 73
Characteristic curve and data sheet, 52, 112, 154, 187,

205, 226, 256
Installation, 14
Characteristics Curve and Data Sheet, 282
Instructions, 22
Conditions for approval related to the IEC34 standard,

55
[M]
Connection of power line, 144, 180, 198, 217, 247,

274
Connection of the brakes, 83
Machine movement per 1 revolution of motor shaft,

26
Connector kit specifications, 89
Models 1 and 2, 59
Connector on the motor side, 87
Models 3 and higher, 61
Connector shapes, 82
Motor connector specifications, 100

i1
Index
B65142E/04
Motor speed (IEC341), 63
Separate type pulse coder specifications, 72
Mounting method (IEC347), 65
Separate type pulse coder type and specifications, 71

Servo Motor, 278
Servo Parameter, 280
[O]
Servo Software, 279
Outline drawings, 128, 166, 193, 210, 236, 264
Specifications and characteristics, 109, 152, 185, 203,

224, 254
Output (IEC341), 64
Specifications of connectors on the motor side, 87

Specifications of plug connectors on the cable side
(nonwaterproof type), 96
[P]

(waterproof TVapproved type), 93
Performance curves, 52
Power cable connectors, 59

(waterproof type), 94
Precautions for using linear scale, 41

Precautions on use, 5
Specifications of the connectors on the cable side

(models 3 and higher), 91
Protection type (IEC345), 64

Pulse coder resolution and control resolution, 68
[T]
[R]
Title, 44
Recommended parts in brake circuits, 84
Type of motors and specifications, 110
Reducing the brake shaft fall amount, 85
Types of motors and designation, 106, 150, 184, 202,

222, 252
Required Conditions, 277
Types of motors and specifications, 153, 186, 204,

225, 255
[S]
[W]
Selecting a motor, 27
Selecting PSM, 281
Wiring diagram, 101
Separate type position detector, 71
i2
03
Mar., 1994
Date
01
Edition
02
Dec., 1998 Addition of VII. FANUC AC SERVO MOTOR M(HV) series
04
Contents
________________________________________
Addition of 5. CONDITIONS FOR APPROVAL RELATED TO THE

IEC34 STANDARD in Part I
Mar., 1995 Addition of 8. CONNECTORS in Part I
Addition of III. FANUC AC SERVO MOTOR (HV) series
Addition of models M40, M40 with fan, 40/2000HV, M40/3000HV,

300/2000, 400/2000, and 1000/2000HV
Feb., 2001
Addition of VIII. SUPPLEMENT
Correction of errors
Edition
Date
FANUC AC SERVO MOTOR a series DESCRIPTIONS (B65142E)
Revision Record
Contents
No part of this manual may be

reproduced in any form.
All specifications and designs

are subject to change without
notice.

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GE Fanuc Automation

Computer Numerical Control Products

Alpha Series AC Servo Motor

Warnings, Cautions, and Notes

Copyright 2001 GE Fanuc Automation North America, Inc.

FANUC SERVO MOTOR series

1. DEFINITION OF WARNING, CAUTION, AND NOTE . . . . . . . . . . . . . . . . . . . . . . . s2

DEFINITION OF WARNING, CAUTION, AND NOTE

` Read this manual carefully, and store it in a safe place.

F Be safely dressed when handling a motor.

F Use a crane or lift to move a motor from one place to another.

F Do not touch a motor with a wet hand.

F Do not bring any dangerous stuff near a motor.

F Be sure to ground a motor frame.

F Do not ground a motor power wire terminal or shortcircuit it to another

F Do not get close to a rotary section of a motor when it is rotating.

F Before touching a motor, shut off the power to it.

F To drive a motor, use a specified amplifier and parameters.

F Do not touch a motor when it is running or immediately after it stops.

F Be careful not get your hair or cloths caught in a fan.

F Ensure that motors and related components are mounted securely.

F Ensure that a base or frame on which a motor is mounted is strong

F Be sure to connect motor cables correctly.

F When attaching a component having inertia, such as a pulley, to a motor,

F Be sure to attach a key to a motor with a keyed shaft.

F When storing a motor, put it in a dry (noncondensing) place at room

F Do not remove a nameplate from a motor.

F Do not apply shocks to a motor or cause scratches to it.

F Do not conduct dielectric strength or insulation test for a detector.

F When testing the winding or insulation resistance of a motor, satisfy the

F Do not disassemble a motor.

F Do not modify a motor.

F Do not apply a commercial power source voltage directly to a motor.

F To use a motor as long as possible, perform periodic maintenance and

MOTOR INSULATION RESISTANCE MEASUREMENT

The winding has begun deteriorating. There is no problem

The winding has considerably deteriorated. Special care

Unacceptable. Replace the motor.

This manual describes the specifications and characteristics of the a series

FANUC AC SERVO MOTOR series

FANUC AC SPINDLE MOTOR series

FANUC SERVO AMPLIFIER series

FANUC CONTROL MOTOR series

FANUC SERVO MOTOR series

FANUC AC SERVO MOTOR series

FANUC AC SPINDLE MOTOR series

D Start up the system

I. DESCRIPTIONS FOR THE series

ACCEPTANCE AND STORAGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

DRIVE SHAFT COUPLING . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

MACHINE MOVEMENT PER 1 REVOLUTION OF MOTOR SHAFT . . . . . . . . . . . . . . . . . . . . .

CALCULATING CONDITIONS FOR SELECTING A MOTOR . . . . . . . . . . . . . . . . . . . . . . . . . . .

Calculating the Load Torque and Load Inertia . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

PRECAUTIONS FOR USING LINEAR SCALE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

HOW TO FILL IN THE SERVO MOTOR SELECTION DATA TABLE . . . . . . . . . . . . . . . . . . . .

CHARACTERISTIC CURVE AND DATA SHEET . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5. CONDITIONS FOR APPROVAL RELATED TO THE IEC34 STANDARD . . . . . .

200 VAC Input Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

POWER CABLE CONNECTORS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .