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FANUC SERVO AMPLIFIER a series. DESCRIPTIONS (B-65162E/03) - page 22

B-65162E/03

APPENDIX

F. SPECIFICATIONS OF CABLES

Sym-

FANUC specification

Use

Specification

bol

(complete cable)

Composite 12-conductor group shielded cable,

6 conductors 0.5mm² (20/0.18)

3 pairs 0.18 mm² (7/0.18) (Note 4)

α1, α2,

αM2, αM2.5

(for FS15B,

A06B-6050-K853

K22

16, 18, 20,

(Cable length : 14m)

SVM pulse

φ8.5

SPM side (JY2)

coders)

Motor side

Connector manufactured by Hirose Electric

Connector: FI40A-20S

Connector kit:

Housing: FI-20-CV5

A06B-6050-K1

15

Composite 12-conductor group shielded cable,

6 conductors 0.5mm² (20/0.18)

3 pairs 0.18 mm² (7/0.18) (Note 4)

α1, α2,

αM2, αM2.5

(for FS0,

A06B-6050-K854

K22

FS15A,

(Cable length : 14m)

pulse cod-

φ8.5

CNC side (M**)

ers)

Motor side

Connector manufactured by Honda Tsushin

Kogyo

Connector kit:

Connector: MR-20LMH

A06B-6050-K1

15

NOTE

4

FANUC drawing number (wire only): A66L-0001-0286

Contact:

Hitachi Cable Trading Company

03(3255)5415

Oki Electric Cable Co., Ltd.

044(766)3171

633

F. SPECIFICATIONS OF CABLES

APPENDIX

B-65162E/03

Sym-

FANUC specification

Use

Specification

bol

(complete cable)

Composite 12-conductor group shielded cable,

6 conductors 0.5mm² (20/0.18)

3 pairs 0.18 mm² (7/0.18) (Note 4)

α3, α6, α12,

A02B-0200-K800

α22, α30,

Motor side

(Cable length : 14m)

NC side(JF*)

α40, α65,

φ8.5

Connector:

SVM side (JF*)

α100, α150,

H/MS3106A20-29SW(11)

Connector manufactured by

αM3, αM6,

JA06A-20-29SW-JI-EB

Hirose Electric

Cable clamp:

αM9, αM22,

Connector: FI40-2015S

H/MS3057-12A

αM30, αC3,

Housing: FI-20-CV

αC6, αC12,

K22

Composite 12-conductor group shielded cable,

αC22, αL3,

6 conductors 0.5mm² (20/0.18)

αL6, αL9,

3 pairs 0.18 mm² (7/0.18) (Note 4)

αL25, αL50

(for FS15B,

16, 18, 20,

A02B-0200-K801

SVM pulse

Motor side

(Cable length : 14m)

coders)

NC side(JF*)

φ8.5

Connector:

SVM side (JF*)

H/MS3106A20-29SW(11)

Connector manufactured by

JA06A-20-29SW-JI-EB

Hirose Electric

Cable clamp:

Connector: FI40-2015S

H/MS3057-12A

Housing: FI-20-CV

Composite 12-conductor group shielded cable,

6 conductors 0.5mm² (20/0.18)

3 pairs 0.18 mm² (7/0.18) (Note 4)

α3, α6, α12,

A02B-0098-K860

α22, α30,

Motor side

(Cable length : 14m)

α40, α65,

φ8.5

Connector:

α100, α150,

H/MS3106A20-29SW(11)

NC side(JF*)

αM3, αM6,

JA06A-20-29SW-JI-EB

Connector manufactured by

αM9, αM22,

Honda Tsushin Kogyo

Cable clamp:

H/MS3057-12A

αM30, αC3,

Connector: MR-20LMH

αC6, αC12,

K22

αC22, αL3,

Composite 12-conductor group shielded cable,

6 conductors 0.5mm² (20/0.18)

αL6, αL9,

3 pairs 0.18 mm² (7/0.18) (Note 4)

αL25, αL50

(for FS0

and FS15A

A02B-0098-K861

pulse cod-

Motor side

(Cable length : 14m)

ers)

φ8.5

Connector:

H/MS3106A20-29SW(11)

NC side(M*)

JA06A-20-29SW-JI-EB

Connector manufactured by

Cable clamp:

Honda Tsushin Kogyo

H/MS3057-12A

Connector: MR-20LMH

NOTE

4

FANUC drawing number (wire only): A66L-0001-0286

Contact:

Hitachi Cable Trading Company

03(3255)5415

Oki Electric Cable Co., Ltd.

044(766)3171

634

B-65162E/03

APPENDIX

F. SPECIFICATIONS OF CABLES

Sym-

FANUC specification

Use

Specification

bol

(complete cable)

Twisted pair unified shield 10-pair 0.09mm² (7/0.127) (Note 5)

CNC-AMP-

K23

TYPE A I/F

CNC side (JV**)

φ6.2

SVM side (JV**)

Connector manufactured by

Connectormanufactured

Honda Tsushin Kogyo

by Honda Tsushin Kogyo

Connector: PCR-E20FA

Connector: PCR-E20FA

Housing: PCR-V20LA

Housing: PCR-V20LA

A02B-0120-K800

(Cable length : 5m)

Twisted pair unified shield 10-pair 0.09mm² (7/0.127) (Note 5)

CNC-AMP-

K23

TYPE B I/F

CNC side (JV**)

φ6.2

SVM side (JV**)

Connector manufactured by

Connectormanufactured

Honda Tsushin Kogyo

by Honda Tsushin Kogyo

Connector: PCR-E20FA

Connector: PCR-E20FA

Housing: PCR-V20LA

Housing: PCR-V20LA

Twisted pair unified shield 10-pair 0.09mm² (7/0.127) (Note 5)

CNC-AMP

A02B-0098-K841

K23

FS0, FS15A

(Cable length : 5m)

φ6.2

SVM side (JV**)

CNC side (M**)

Connectormanufactured

Connector manufactured by

by Honda Tsushin Kogyo

Honda Tsushin Kogyo

Connector: PCR-E20FA

Connector: MR-20LMH

Housing: PCR-V20LA

NOTE

5

FANUC drawing number (wire only): A66L-0001-0286#10P

Contact:

Hitachi Cable Trading Company

03(3255)5415

Oki Electric Cable Co., Ltd.

044(766)3171

635

F. SPECIFICATIONS OF CABLES

APPENDIX

B-65162E/03

Sym-

FANUC specification

Use

Specification

bol

(complete cable)

Vinyle cabtyre cable JIS C 3312 2-core 1.25mm² (50/0.18)

SVM-DBM

(for interlock

K24

signal)

SVM side (CX8)

φ9.6

Dynamic brake side

Connector manufactured by AMP Japan

T2-4

Receptacle housing: 2-178128-3

Receptacle contact: 1-175218-2

Vinyle cabtyre cable JIS C 3312 2-core 1.25mm² (50/0.18)

SVM-DBM

(for driving

K25

coil)

SVM side (CX9)

φ9.6

Dynamic brake side

Connector manufactured by AMP Japan

T2-4

Receptacle housing: 2-178128-3

Receptacle contact: 1-175218-2

636

B-65162E/03

APPENDIX

F. SPECIFICATIONS OF CABLES

(3) Spindle amplifier module

Sym-

FANUC specification

Use

Specification

bol

(complete cable)

Vinyle cabtyre cable JIS C 3312 4-core 0.75mm² (30/0.18)

A06B-6050-K801

α0.5

(Cable length : 14m)

(Motor

K10

power line)

A06B-6050-K803

φ10

Motor side

(Cable length : 7m)

SPM side (TB2)

AMP connector

T1.25-4

Connector kit :

A06B-6050-K121

Vinyle cabtyre cable JIS C 3312 4-core 2mm² (37/0.26)

α1

(Motor

K10

power line)

φ12

SPM side (TB2)

Motor side

T2-4

T2-5

Vinyle cabtyre cable JIS C 3312 4-core 3.5mm² (45/0.32)

φ14

SPM side (TB2)

Motor side

α1.5, α2

T5.5-4S

T5.5-5

(Motor

K10

power line)

Heat resistive vinyle cable 3.5mm² (45/0.32)

SPM side (TB2)

Motor side

φ4.6

T5.5-4S

T5.5-5

Vinyle cabtyre cable JIS C 3312 4-core 5.5mm² (70/0.32)

SPM side (TB2)

φ16.5

Motor side

α3

T5.5-4S

T5.5-5

(Motor

K10

power line)

Heat resistive vinyle cable 3.5mm² (45/0.32)

SPM side (TB2)

Motor side

T5.5-4S

φ4.6

T5.5-5

637

F. SPECIFICATIONS OF CABLES

APPENDIX

B-65162E/03

Sym-

FANUC specification

Use

Specification

bol

(complete cable)

Vinyle cabtyre cable JIS C 3312 4-core 8mm² (50/0.45)

φ20

α6

SPM side (TB2)

Motor side

αP8, αP12

T8-4S

T8-5

K10

(Motor

Heat resistive vinyle cable 3.5mm² (45/0.32)

power line)

SPM side (TB2)

Motor side

T5.5-4S

φ4.6

T5.5-5

Heat resistive vinyle cable 5.5mm² (35/0.45)

α8

αP15

K10

(Motor

power line)

SPM side (TB2)

Motor side

φ5.2

T5.5-4S

T5.5-5

Vinyle cabtyre cable JIS C 3312 4-core 14mm² (88/0.45)

α12

SPM side (TB2)

φ24

Motor side

T14-6

T14-5

αP18

K10

(Motor

Heat resistive vinyle cable 8mm² (50/0.45)

power line)

SPM side (TB2)

Motor side

φ5.8

T8-6

T8-5

Heat resistive vinyle cable 14mm² (88/0.45)

α15

αP22

K10

(Motor

power line)

SPM side (TB2)

Motor side

φ7

T14-6

T14-5

638

B-65162E/03

APPENDIX

F. SPECIFICATIONS OF CABLES

Sym-

FANUC specification

Use

Specification

bol

(complete cable)

Heat resistive vinyle cable 14mm² (88/0.45)

α18

αP30

K10

(Motor

power line)

SPM side (TB2)

Motor side

T14-6

φ7

T14-8

Heat resistive vinyle cable 22mm² (7/20/0.45)

α22

αP40

αP50

K10

αP60

(Motor

power line)

SPM side (TB2)

Motor side

T22-6

φ9.6

T22-8

Heat-resistive vinyle cable (Note 1) 38mm² (7/34/0.45)

3 each

α30 (motor

K10

SPM side (TB2)

φ11.7

Motor side

power line)

T38-6S (Note 3)

T38-10

Heat-resistive vinyle cable (Note 1) 22mm² (7/20/0.45)

1 each

SPM side (TB2)

φ9.6

Motor side

T22-6

T22-10

Heat-resistive vinyle cable (Note 1) 50mm² (19/16/0.45)

3 each

PSM-45

K10

(Power line)

SPM side (TB2)

φ13.6

Motor side

T60-10

T60-10

Heat-resistive vinyle cable (Note 1) 22mm² (7/20/0.45)

1 each

SPM side (TB2)

Motor side

φ9.6

T22-6

T22-10

NOTE

1

Heat-resistant cable: Furukawa Electric Co., Ltd.

Contact:

03(3286)3144

LMFC (Fire-retardant Polyflex electric cable, Maximum

allowable conductor temperature:

105°C)

2

Crimp terminal: Nichifu Contact: 03(3452)7381

8-4S

3

Crimp terminal: Japan Crimp Terminal Production

38-6S

639

F. SPECIFICATIONS OF CABLES

APPENDIX

B-65162E/03

Sym-

FANUC specification

Use

Specification

bol

(complete cable)

Twisted pair unified shield 10-pair 0.09mm² (7/0.127) (Note 1)

SPM

(Interface

K12

between NC

and SPM)

NC side (JA7A)

SPM side (JA7B)

HONDA connector

HONDA connector

Connector : PCR-E20FA

Connector : PCR-E20FA

Housing

: PCR-V20LA

Housing

: PCR-V20LA

Composite 16-core unified

6-core 0.5mm² (20/0.18)

shield cable

5-pair 0.18mm² (7/0.18) (Note 2)

PSM

(For pulse

A06B-6078-K811

generator,

K14

(Cable length : 7m)

Built-in

sensor)

SPM side (JY2)

Motor side

HIROSE connector

AMP connector

Connector : FI40B-20S

Housing : 178289-6

Housing

: FI-20-CV5

Connector

:

1-175217-2

Composite 16-core unified

6-core 0.5mm² (20/0.18)

shield cable

5-pair 0.18mm² (7/0.18) (Note 2)

α0.5

(For pulse

generator,

K14

Built-in

sensor)

SPM side (JY2)

Motor side

HIROSE connector

Connector kit :

Connector : FI40B-20S

A06B-6050-K110

Housing

: FI-20-CV5

Composite 12-core unified

6-core 0.5mm² (20/0.18)

shield cable

3-pair 0.18mm² (7/0.18) (Note 3)

SPM

(For

A06B-6078-K813

K15

magnetic

(Cable length : 7m)

sensor)

SPM side (JY3)

Metal receptacle on

HIROSE connector

megnetic sensor side

Connector : FI40-2015S

Housing

: FI-20-CV

NOTE

1

FANUC’S specification (Material only) :

A66L-0001-0284#10P

2

FANUC’S specification (Material only) : A66L-0001-0368

3

FANUC’S specification (Material only) : A66L-0001-0286

640

B-65162E/03

APPENDIX

F. SPECIFICATIONS OF CABLES

Sym-

FANUC specification

Use

Specification

bol

(complete cable)

Composite 12-core unified

6-core 0.5mm² (20/0.18)

shield cable

3-pair 0.18mm² (7/0.18) (Note 3)

A06B-6078-K814

(Cable length : 7m)

SPM side (JY3)

Position coder side

HIROSE connector

Connector :

Connector : FI40-2015S

MS3106B 20-29S

SPM

Housing

: FI-20-CV

Cable clamp :

MS3057-12A

(For

K16

Position

Composite 12-core unified

6-core 0.5mm² (20/0.18)

coder)

shield cable

3-pair 0.18mm²

(7/0.18) (Note 5)

A06B-6078-K815

(Cable length : 7m)

SPM side (JY3)

Position coder side

HIROSE connector

Connector :

Connec-

MS3108B 20-29S

tor

: FI40-2015S

Cable clamp :

Housing

: FI-20-CV

MS3057-12A

Twisted pair unified shield 10-pair 0.18mm² (7/0.18) (Note 4)

SPM

(For high-

A06B-6078-K816

resolution

K18

(Cable length : 7m)

magnetic

pulse coder)

SPM side (JY5)

Pre-amplifier side

HIROSE connector

HIROSE connector

Connector : FI40B-20S

HR22-12WTPA-20S

Housing

: FI-20-CV5

Twisted pair unified shield 10-pair 0.18mm² (7/0.18) (Note 4)

A06B-6078-K817

(Cable length : 7m)

SPM side (JY4)

Position coder side

HIROSE connector

Connector :

Connector : FI40B-20S

MS3106B 20-29S

SPM

Housing

: FI-20-CV5

Cable clamp :

(For High-

MS3057-12A

resolution

K31

position

Twisted pair unified shield 10-pair 0.18mm² (7/0.18) (Note 4)

coder)

A06B-6078-K818

(Cable length : 7m)

SPM side (JY4)

Position coder side

HIROSE connector

Connector :

Connector : FI40B-20S

MS3108B 20-29S

Housing

: FI-20-CV5

Cable clamp :

MS3057-12A

641

G. SERVO AMPLIFIER NOISE

PROTECTION

APPENDIX

B-65162E/03

G.1

SERVO AMPLIFIER

NOISE GENERATION

Fig. G.1 is a schematic diagram of a servo amplifier.

Converter section

Inverter section

Power

Motor

supply

Control

circuit

Noise current i

Control power supply

Fig.G.1 Schematic Diagram of Servo Amplifier

The servo amplifier converts alternating current to direct current in the

converter section, and exercises variable motor speed control by PWM

control based on switching by the six transistors in the inverter section.

Switching noise is generated by the six transistors turning on and off at

high speed. Each time a transistor is turned on or off, noise current (i)

flows to ground through stray capacitance (C) between the cable or motor

and ground. The value of this noise current (i) depends on stray

capacitance (C) and transistor switching speed (dV/dt), as follows:

i = C dV/dt

The frequency band of this noise is about 30 to 40 MHz. So, a device

using low frequencies (such as an AM radio) is affected by this noise.

However, FM radios and TV sets, which use higher frequencies, are not

normally affected by this noise.

As described above, noise is generated by the transistor switching that is

performed when the motor is driven.

In addition, when a servo amplifier performs power regeneration when a

motor decelerates (rotation energy is fed back to the power supply during

deceleration), voltage variations caused by current phase commutation at

regeneration can affect the operation of a device that shares that power

supply.

644

G. SERVO AMPLIFIER NOISE

B-65162E/03

APPENDIX

PROTECTION

Noise generated by a servo amplifier are classified into the three major

G.2

types described below.

TYPES OF NOISE

(1) Conductive Noise

Noise generated by a servo amplifier travels through a conductor such as

a run wire, and affects a device connected to the same power supply.

Power supply

Servo amplifier

Motor

Electronic

device

Noise can travel through a shared

ground wire.

Fig.G.2 (a) Conductive Noise

(2) Induced Noise

Noise is induced when a signal line or a line from a nearby device runs

near a line carrying a noise current.

Motor

Power supply

Servo amplifier

Sensor

Signal line

Electronic

device

Fig.G.2 (b) Electromagnetically Induced Noise

645

G. SERVO AMPLIFIER NOISE

PROTECTION

APPENDIX

B-65162E/03

Motor

Power supply

Servo amplifier

Sensor

Signal line

Electronic

device

Fig.G.2 (c) Electrostatically Induced Noise

(3) Radiation Noise

Noise generated in a servo amplifier is radiated into the surroundings,

with a power line acting as an antenna.

Power supply

Servo amplifier

Motor

Electronic

device

Sensor

Fig.G.2 (d) Radiation Noise

Noise travels in many different ways, and affects the system to various

extents, depending on the system configuration.

646

G. SERVO AMPLIFIER NOISE

B-65162E/03

APPENDIX

PROTECTION

Present-day technology cannot eliminate noise completely. So,

G.3

cost-effective measures must be applied, depending on the level of the

NOISE PROTECTION

noise and the status of the installation.

G.3.1

If a noise problem is detected after installation, more costs may be incurred

to solve the problem. So, the following precautions must be applied:

Precautions to be

Applied Prior to

1

Separate power lines and motor power lines from signal lines.

Installation

2

Contain power lines and motor power lines in a metallic conduit.

3

Perform appropriate grounding installation including grounding

wire connections. (This also serves as a measure against electric

shock due to leakage currents.)

4

Grounding wires should be as thick and short as possible.

The electric installation standard defines types of grounding as follows:

Type of grounding

Application

Ground resistance

Class-3 grounding

300VAC or less

100Ω or less

Special class-3 grounding

300VAC to 600VAC

10Ω or less

G.3.2

Noise-related measures including those for devices affected by noise,

must be applied from the viewpoint of the entire system.

Measures

(1)

Measures to be applied to a device affected by noise

1

Separate the power lines and motor power lines from the signal

lines to minimize the influence of noise.

2

Separate the power supply system to eliminate any noise

propagation path.

3

Run the signal lines through ferrite core beads to maximize the

impedance against noise.

4

Employ line filters and shielding wires for the signal lines to

protect against noise.

(2)

Measures to be applied to a noise source

1

Reduce the level of noise by installing a noise protective device

such as a noise filter.

2

Confine noise by running the lines in metallic conduits or by

using shielding wires.

3

Eliminate any noise propagation path by using an insulating

transformer.

(3)

Measures specific to each type of noise

The types of noise are described in G.2 above. Different measures

should be taken for each type of noise. The measures and their effects

depend on the environment (power supply, electromagnetic wave

strength), machine operating status, machine anti-noise properties,

and so forth.

647

G. SERVO AMPLIFIER NOISE

PROTECTION

APPENDIX

B-65162E/03

Apply the most efficient measures as described in Table G.3.2

Table.G.3.2 Measures Specific to Each Type of Noise

Type of noise

Conduc-

Induced

Radiation

Measures

tive noise

noise

noise

Separation of power lines and motor power lines from

f

f

signal lines

Use of metallic conduits

f

f

Wiring and grounding

Elimination of parallel wiring

f

Employing shielded wires for power lines and motor

f

power lines

Secure grounding

f

Line filter

f

f

Noise protective device

(at noise source)

Insulating transformer

f

f

Running signal lines through ferrite core beads

f

f

Noise protective device

(on devices affected by noise)

Employing shielded wires for signal lines

f

f

Others

Power system separation

f

G.3.3

Examples of Noise

Protection

(1)

AM Radio

<<Symptoms>>

When a motor is activated, radios in the plant pick up noise, such that

the radio output becomes inaudible.

<<Possible causes>>

Radiation noise from the motor power line connected to a servo

amplifier is being picked up by the radios.

<<Measures>>

1

Install a noise filter (LC filter) on the power supply.

2

Install a capacitor between each input phase and ground.

<<Notes>>

D The measures described above may prove ineffective in some

areas, such as dense residential areas and mountain areas, where

radio signals are weak.

D When installing a noise filter, minimize the length of the wiring

between the filter and servo amplifier.

(2)

FM Radio

<<Symptoms>>

When the machine is operated, radios in the neighborhood are

affected by noise. A radio in a car parked outside the plant also picks

up noise.

648

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