FANUC a Series AC SERVO MOTOR. Description Manual (GFZ-65142E/02)

2. TYPE OF MOTORS

B-65142E/02

FANUC AC SERVO MOTOR α series

AND DESIGNATION

Models

A06B-01jj-Bl ff

α3/3000, α6/2000,

and α6/3000

23 : Model α3/3000

27 : Model α6/2000

28 : Model α6/3000

0 : Taper shaft (standard)

1 : Taper shaft with the brake (8Nm)

5 : Straight shaft

6 : Straight shaft with the brake (8Nm)

75 : With the pulse coder αA64

77 : With the pulse coder αI64

84 : With the serial pulse coder A

The standard shafts used for models α3/3000, α6/2000, and α6/3000 are

taper shafts. Use a taper shaft as far as circumstances, such as the delivery

time and maintenance, permit.

Models

A06B-01jj-Bl ff

α12/2000, α12/3000,

α22/1500, α22/2000,

42 : Model α12/2000

α22/3000, α30/1200,

43 : Model α12/3000

α30/2000, α30/3000,

46 : Model α22/1500

α40/2000, and

47 : Model α22/2000

α40/2000 (with fan)

48 : Model α22/3000

51 : Model α30/1200

52 : Model α30/2000

53 : Model α30/3000

57 : Model α40/2000

58 : Model α40/2000 (with fan)

0 : Straight shaft (standard)

1 : Straight shaft with the brake (35Nm)

5 : Taper shaft

6 : Taper shaft with the brake (35Nm)

75 : With the pulse coder αA64

77 : With the pulse coder αI64

84 : With the serial pulse coder A

A straight shaft is fitted as the standard shaft for models α12 to α40.

When early delivery and case-of-maintenance are important, a straight

shaft should be used. For model α40, a tapered shaft is not available.

3.SPECIFICATIONS AND

CHARACTERISTICS

FANUC AC SERVO MOTOR α series

B-65142E/02

3.1

TYPE OF MOTORS

α2/2000

Item

Unit

α0.5/3000

α1/3000

α2/3000

AND

SPECIFICATIONS

0.4

0.2

0.3

0.5

Output

0.5

0.3

0.4

0.6

1.0

2.0

Rated torque

at stall

kgf⋅cm

6.5

Rating output

2000

1/min

3000

speed

3000

Maximum

3.4

theoretical

torque

kgf⋅cm

160

kg⋅m²

0.000017

0.00036

0.00060

Rotor inertia

kgf⋅cm⋅s²

0.00018

0.0037

0.0061

Maximum

theoretical

rad/s²

190000

22000

26000

acceleration

Weight

The above values are under the condition at 20°C.

Note

The above values shown in the maximum theoretical torque

are the theoretical values.

The actual maximum torque is restricted by the current limit

values of the drive amplifier.

3. SPECIFICATIONS AND

B-65142E/02

FANUC AC SERVO MOTOR α series

CHARACTERISTICS

α6/2000

Item

Unit

α3/3000

α6/3000

1.0

0.9

1.4

Output

1.4

1.3

1.9

3.0

6.0

Rated torque

at stall

kgf⋅cm

Rating output

2000

1/min

3000

speed

3000

Maximum

theoretical

torque

kgf⋅cm

280

571

kg⋅m²

0.0014

0.0026

Rotor inertia

kgf⋅cm⋅s²

0.014

0.027

Maximum

theoretical

rad/s²

20000

21000

acceleration

Weight

The above values are under the condition at 20°C.

Note

The above values shown in the maximum theoretical torque

are the theoretical values.

The actual maximum torque is restricted by the current limit

values of the drive amplifier.

3.SPECIFICATIONS AND

CHARACTERISTICS

FANUC AC SERVO MOTOR α series

B-65142E/02

α22/1500

α30/1200

α12/2000

α40/2000

Item

Unit

α22/2000

α30/2000

α40/2000

α12/3000

(with fan)

α22/3000

α30/3000

3.0

3.3

2.1

3.8

4.5

5.9

7.3

2.8

4.4

4.8

Output

4.0

4.4

2.8

5.0

6.7

7.8

9.8

3.8

5.9

7.1

Rated torque

at stall

kgf⋅cm

122

225

306

387

571

1500

1200

Rating output

2000

1/min

2000

speed

3000

Maximum

130

200

270

theoretical

torque

kgf⋅cm

670

1400

2100

2800

kg⋅m²

0.0062

0.012

0.017

0.022

Rotor inertia

kgf⋅cm⋅s²

0.064

0.12

0.17

0.23

Maximum

theoretical

rad/s²

11000

12000

acceleration

Weight

The above values are under the condition at 20°C.

Note

The above values shown in the maximum theoretical torque

are the theoretical values.

The actual maximum torque is restricted by the current limit

values of the drive amplifier.

3. SPECIFICATIONS AND

B-65142E/02

FANUC AC SERVO MOTOR α series

CHARACTERISTICS

Item

Unit

α65/2000

α100/2000

α150/2000

8.2

Output

100

150

Rated torque

at stall

kgf⋅cm

663

1019

1529

Rating output

1/min

2000

speed

Maximum

290

440

590

theoretical

torque

kgf⋅cm

3000

4500

6000

kg⋅m²

0.019

0.026

0.034

Rotor inertia

kgf⋅cm⋅s²

0.19

0.27

0.35

Maximum

theoretical

rad/s²

16000

17000

acceleration

Weight

100

120

The above values are under the condition at 20°C.

Note

The above values shown in the maximum theoretical torque

are the theoretical values.

The actual maximum torque is restricted by the current limit

values of the drive amplifier.

3.SPECIFICATIONS AND

CHARACTERISTICS

FANUC AC SERVO MOTOR α series

B-65142E/02

3.2

CHARACTERISTIC

CURVE AND DATA

SHEET

Speed-torque

The intermittent operation zone is determined by the input voltage

characteristics

applied to the drive amplifier. The curve shown is the value for the rated

input voltage (200V).

Overload duty

The overload duty characteristic curves are determined based on the

characteristic

temperature restriction for the single motor unit (the temperature is

restricted by means of a thermal trip built into the motor). The curves are

determined by assuming that the temperature increases gradually under

certain overload conditions. Therefore, the curves do not apply to the

rapid temperature rise which occurs, for example, when the motor shaft

is locked. (An overcurrent flows in the motor windings until the thermal

trip operates. The temperature rises momentarily.)

To detect such an abrupt temperature rise, the FANUC digital servo

system provides a software thermal function that uses servo software to

observe the current. During operation that is characterized by frequent

acceleration/deceleration cycles, control is imposed by the software

thermal function.

Driving units (such as amplifiers) and built-in detectors contain their own

overheating protection devices. Therefore, note that control may be

imposed according to how the equipment is being used.

Data sheet

The parameters given in the data sheet are representative values for an

ambient temperature of 20°C. They are subject to an error of +10%.

The indicated logical values are threshold values for the single motor unit

(when the motor is not restricted by the control system).

The maximum torque that can be produced during acceleration or

deceleration in actual use is calculated as the approximate product of the

motor torque constant and the current limit value of the amplifier.

Example : α3/3000

A Motor torque constant = 0.65 (Nm/Arms)

A Amplifier limit value = 40 Apeak

A Maximum torque value

= 40 x 0.707 x 0.65

(Converted to an effective value)

= 18.4 Nm (Converted to an effective value)

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.

3. SPECIFICATIONS AND

B-65142E/02

FANUC AC SERVO MOTOR α series

CHARACTERISTICS

Model α0.5/3000

Specification : A06B-0113-Bjjj

Duty

Torque

(time %)

Over load duty

Speed - torque characteristics

(Nm)

ÃÃÃÃÃÃÃ

ntermittent operating

Continuous operating

Speed (1/min)

”ON” time (min.)

Data sheet

Parameter

Symbol

Value

Unit

Rating output speed

Nmax

3000

min ^-1

0. 6

Rated torque at stall

(*)

6. 5

kgfcm

0. 000017

kgm²

Rotor inertia

0. 00018

kgfcms²

Continuous RMS current at stall

2. 8

A (rms)

(*)

0. 23

Nm/A (rms)

Torque constant

(*)

2. 3

kgfcm/A (rms)

Back EMF constant

(*)

7. 9

V/1000min ^-1

(*)

0. 08

Vsec/rad

Armature resistance

(*)

0. 80

Mechanical time constant

(*)

0. 0007

Thermal time constant

min

0. 04

Static friction

0. 4

kgfcm

Maximum allowable current

A (peak)

3. 4

Maximum theoretical torque

kgfcm

Maximum theoretical

190000

rad/s²

acceleration

Weight

1. 0

(*) The values are the standard values at 20°C and the tolerance is "10%.

The speed-torque characteristics very depending on the type of software, parameter

setting, and input voltage of the digital servo motor. (The above figures show average

values.) These values may be changed without prior notice.

3.SPECIFICATIONS AND

CHARACTERISTICS

FANUC AC SERVO MOTOR α series

B-65142E/02

Model α1/3000

Specification : A06B-0371-Bjjj

Duty

Torque Speed - torque characteristics

Over load duty

(time %)

(Nm)

Intermittent operating

ontinuous operating

Speed (1/min)

”ON” time (min.)

Data sheet

Parameter

Symbol

Value

Unit

Rating output speed

Nmax

3000

min ^-1

1. 0

Rated torque at stall

(*)

kgfcm

0. 00036

kgm²

Rotor inertia

0. 0037

kgfcms²

Continuous RMS current at stall

2. 2

A (rms)

(*)

0. 44

Nm/A (rms)

Torque constant

(*)

4. 5

kgfcm/A (rms)

Back EMF constant

(*)

15. 5

V/1000min ^-1

(*)

0. 15

Vsec/rad

Armature resistance

(*)

1. 73

Mechanical time constant

(*)

0. 010

Thermal time constant

min

0. 10

Static friction

kgfcm

Maximum allowable current

A (peak)

Maximum theoretical torque

kgfcm

Maximum theoretical

22000

rad/s²

acceleration

Weight

2. 8

(*) The values are the standard values at 20°C and the tolerance is "10%.

The speed-torque characteristics very depending on the type of software, parameter

setting, and input voltage of the digital servo motor. (The above figures show average

values.) These values may be changed without prior notice.

3. SPECIFICATIONS AND

B-65142E/02

FANUC AC SERVO MOTOR α series

CHARACTERISTICS

Model α2/2000

Specification : A06B-0372-Bjjj

Model α2/3000

Specification : A06B-0373-Bjjj

Torque

Duty

Speed - torque characteristics

(time %)

Over load duty

(Nm)

ÃÃÃÃÃÃ

Intermittent operating

ÃÃÃÃÃÃ

ontinuous operating

ÃÃÃÃÃÃÃ

Speed (1/min)

”ON” time (min.)

Data sheet

Parameter

Symbol

Value

Unit

Rating output speed

Nmax

2000

3000

min ^-1

2. 0

Rated torque at stall

(*)

kgfcm

0. 00060

kgm²

Rotor inertia

0. 0061

kgfcms²

Continuous RMS current at stall

2. 2

2. 9

A (rms)

(*)

0. 90

0. 67

Nm/A (rms)

Torque constant

(*)

9. 2

6. 9

kgfcm/A (rms)

Back EMF constant

(*)

31. 3

23. 5

V/1000min ^-1

(*)

0. 30

0. 22

Vsec/rad

Armature resistance

(*)

2. 44

1. 38

Mechanical time constant

(*)

0. 005

Thermal time constant

min

0. 15

Static friction

1. 5

kgfcm

Maximum allowable current

A (peak)

Maximum theoretical torque

160

kgfcm

Maximum theoretical

26000

rad/s²

acceleration

Weight

4. 3

(*) The values are the standard values at 20°C and the tolerance is "10%.

The speed-torque characteristics very depending on the type of software, parameter

setting, and input voltage of the digital servo motor. (The above figures show average

values.) These values may be changed without prior notice.

3.SPECIFICATIONS AND

CHARACTERISTICS

FANUC AC SERVO MOTOR α series

B-65142E/02

Model α3/3000

Specification : A06B-0123-Bjjj

Torque

Duty

(Nm)

Speed - torque characteristics

(time %)

Over load duty

Intermittent operating

ÃÃÃÃÃÃÃ

Continuous operating

ÃÃÃÃÃÃÃ

Speed (1/min)

”ON” time (min.)

Data sheet

Parameter

Symbol

Value

Unit

Rating output speed

Nmax

3000

min ^-1

3. 0

Rated torque at stall

(*)

kgfcm

0. 0014

kgm²

Rotor inertia

0. 014

kgfcms²

Continuous RMS current at stall

4. 6

A (rms)

(*)

0. 65

Nm/A (rms)

Torque constant

(*)

6. 6

kgfcm/A (rms)

Back EMF constant

(*)

V/1000min ^-1

(*)

0. 22

Vsec/rad

Armature resistance

(*)

0. 57

Mechanical time constant

(*)

0. 006

Thermal time constant

min

0. 3

Static friction

kgfcm

Maximum allowable current

A (peak)

Maximum theoretical torque

280

kgfcm

Maximum theoretical

20000

rad/s²

acceleration

Weight

(*) The values are the standard values at 20°C and the tolerance is "10%.

The speed-torque characteristics very depending on the type of software, parameter

setting, and input voltage of the digital servo motor. (The above figures show average

values.) These values may be changed without prior notice.

100

3. SPECIFICATIONS AND

B-65142E/02

FANUC AC SERVO MOTOR α series

CHARACTERISTICS

Model α6/2000

Specification : A06B-0127-Bjjj

Model α6/3000

Specification : A06B-0128-Bjjj

Torque

Duty

Speed - torque characteristics

Over load duty

(Nm)

(time %)

Intermittent operating

ÃÃÃÃÃÃ

Continuous operating

ÃÃÃÃÃÃÃ

Speed (1/min)

”ON” time (min.)

Data sheet

Parameter

Symbol

Value

Unit

Rating output speed

Nmax

2000

3000

min ^-1

6. 0

Rated torque at stall

(*)

kgfcm

0. 0026

kgm²

Rotor inertia

0. 027

kgfcms²

Continuous RMS current at stall

5. 6

10. 0

A (rms)

(*)

1. 08

0. 60

Nm/A (rms)

Torque constant

(*)

11. 0

6. 1

kgfcm/A (rms)

Back EMF constant

(*)

V/1000min ^-1

(*)

0. 36

0. 20

Vsec/rad

Armature resistance

(*)

0. 65

0. 18

Mechanical time constant

(*)

0. 004

Thermal time constant

min

0. 3

Static friction

kgfcm

Maximum allowable current

132

A (peak)

Maximum theoretical torque

570

kgfcm

Maximum theoretical

21000

rad/s²

acceleration

Weight

(*) The values are the standard values at 20°C and the tolerance is "10%.

The speed-torque characteristics very depending on the type of software, parameter

setting, and input voltage of the digital servo motor. (The above figures show average

values.) These values may be changed without prior notice.

101

3.SPECIFICATIONS AND

CHARACTERISTICS

FANUC AC SERVO MOTOR α series

B-65142E/02

Model α12/2000

Specification : A06B-0142-Bjjj

Model α12/3000

Specification : A06B-0143-Bjjj

Torque

Duty

Speed - torque characteristics

Over load duty

(Nm)

(time %)

ÃÃÃÃ

ntermittent

operating

ÃÃÃÃ

ÃÃÃÃÃÃÃ

Continuous operating

ÃÃÃÃÃÃÃ

Speed (1/min)

”ON” time (min.)

Data sheet

Parameter

Symbol

Value

Unit

Rating output speed

Nmax

2000

3000

min ^-1

Rated torque at stall

(*)

122

kgfcm

0. 0062

kgm²

Rotor inertia

0. 064

kgfcms²

Continuous RMS current at stall

8. 8

15. 5

A (rms)

(*)

1. 36

0. 77

Nm/A (rms)

Torque constant

(*)

13. 8

7. 9

kgfcm/A (rms)

Back EMF constant

(*)

V/1000min ^-1

(*)

0. 45

0. 26

Vsec/rad

Armature resistance

(*)

0. 49

0. 17

Mechanical time constant

(*)

0. 005

Thermal time constant

min

0. 8

Static friction

kgfcm

Maximum allowable current

120

A (peak)

Maximum theoretical torque

670

kgfcm

Maximum theoretical

11000

rad/s²

acceleration

Weight

(*) The values are the standard values at 20°C and the tolerance is "10%.

The speed-torque characteristics very depending on the type of software, parameter

setting, and input voltage of the digital servo motor. (The above figures show average

values.) These values may be changed without prior notice.

102

3. SPECIFICATIONS AND

B-65142E/02

FANUC AC SERVO MOTOR α series

CHARACTERISTICS

Model α22/1500

Specification : A06B-0146-Bjjj

Model α22/2000

Specification : A06B-0147-Bjjj

Model α22/3000

Specification : A06B-0148-Bjjj

Torque

Duty

Speed - torque characteristics

(time %)

Over load duty

(Nm)

Intermittent

operating

ÃÃÃÃÃ

Continuous

operating

Speed (1/min)

”ON” time (min.)

Data sheet

Parameter

Symbol

Value

Unit

Rating output speed

Nmax

1500

2000

3000

min ^-1

Rated torque at stall

(*)

224

kgfcm

0. 012

kgm²

Rotor inertia

0. 12

kgfcms²

Continuous RMS current at stall

12. 5

18. 7

32. 1

A (rms)

(*)

1. 76

1. 17

0. 68

Nm/A (rms)

Torque constant

(*)

18. 0

12. 0

7. 0

kgfcm/A (rms)

Back EMF constant

(*)

V/1000min ^-1

(*)

0. 59

0. 39

0. 23

Vsec/rad

Armature resistance

(*)

0. 315

0. 140

0. 049

Mechanical time constant

(*)

0. 004

Thermal time constant

min

1. 2

Static friction

kgfcm

Maximum allowable current

105

160

275

A (peak)

130

Maximum theoretical torque

1400

kgfcm

Maximum theoretical

11000

rad/s²

acceleration

Weight

(*) The values are the standard values at 20°C and the tolerance is "10%.

The speed-torque characteristics very depending on the type of software, parameter

setting, and input voltage of the digital servo motor. (The above figures show average

values.) These values may be changed without prior notice.

103

3.SPECIFICATIONS AND

CHARACTERISTICS

FANUC AC SERVO MOTOR α series

B-65142E/02

Model α30/1200

Specification : A06B-0151-Bjjj

Model α30/2000

Specification : A06B-0152-Bjjj

Model α30/3000

Specification : A06B-0153-Bjjj

Torque

Duty

Speed - torque characteristics

(time %)

Over load duty

(Nm)

Intermittent

operating

ÃÃÃÃ

Continuous

operating

Speed (1/min)

”ON” time (min.)

Data sheet

Parameter

Symbol

Value

Unit

Rating output speed

Nmax

1200

2000

3000

min ^-1

Rated torque at stall

(*)

306

kgfcm

0. 017

kgm²

Rotor inertia

0. 17

kgfcms²

Continuous RMS current at stall

12. 6

20. 2

33. 7

A (rms)

(*)

2. 37

1. 48

0. 89

Nm/A (rms)

Torque constant

(*)

24. 2

15. 1

9. 1

kgfcm/A (rms)

Back EMF constant

(*)

V/1000min ^-1

(*)

0. 79

0. 49

0. 30

Vsec/rad

Armature resistance

(*)

0. 34

0. 13

0. 046

Mechanical time constant

(*)

0. 003

Thermal time constant

min

1. 8

Static friction

kgfcm

Maximum allowable current

120

190

320

A (peak)

200

Maximum theoretical torque

2100

kgfcm

Maximum theoretical

12000

rad/s²

acceleration

Weight

(*) The values are the standard values at 20°C and the tolerance is "10%.

The speed-torque characteristics very depending on the type of software, parameter

setting, and input voltage of the digital servo motor. (The above figures show average

values.) These values may be changed without prior notice.

104

3. SPECIFICATIONS AND

B-65142E/02

FANUC AC SERVO MOTOR α series

CHARACTERISTICS

Model α40/2000

Specification : A06B-0157-B0jj

Model α40/2000(with fan)

Specification : A06B-0158-B0jj

Torque

Duty

Speed - torque characteristics

Over load duty

(Nm)

(time %)

Intermittent operating

ÃÃÃÃÃÃÃ

Continuous operating

Speed (1/min)

”ON” time (min.)

Data sheet

Parameter

Symbol

Value

Unit

Rating output speed

Nmax

2000

2000 (with fan)

min ^-1

Rated torque at stall

(*)

390

570

kgfcm

0. 022

kgm²

Rotor inertia

0. 23

kgfcms²

Continuous RMS current at stall

27. 0

40. 1

A (rms)

(*)

1. 40

Nm/A (rms)

Torque constant

(*)

14. 3

kgfcm/A (rms)

Back EMF constant

(*)

V/1000min ^-1

(*)

0. 47

Vsec/rad

Armature resistance

(*)

0. 080

Mechanical time constant

(*)

0. 003

Thermal time constant

min

1. 8

Static friction

kgfcm

Maximum allowable current

270

A (peak)

270

Maximum theoretical torque

2800

kgfcm

Maximum theoretical

12000

rad/s²

acceleration

Weight

(*) The values are the standard values at 20°C and the tolerance is "10%.

The speed-torque characteristics very depending on the type of software, parameter

setting, and input voltage of the digital servo motor. (The above figures show average

values.) These values may be changed without prior notice.

105

3.SPECIFICATIONS AND

CHARACTERISTICS

FANUC AC SERVO MOTOR α series

B-65142E/02

Model α65/2000

Specification : A06B-0331-Bjjj

Torque

Duty

(Nm)

Speed - torque characteristics

(time %)

Over load duty

Intermittent operating

ÃÃÃÃÃÃÃ

ontinuous operating

Speed (1/min)

”ON” time (min.)

Data sheet

Parameter

Symbol

Value

Unit

Rating output speed

Nmax

2000

min ^-1

Rated torque at stall

(*)

660

kgfcm

0. 019

kgm²

Rotor inertia

0. 19

kgfcms²

Continuous RMS current at stall

A (rms)

(*)

1. 04

Nm/A (rms)

Torque constant

(*)

10. 6

kgfcm/A (rms)

Back EMF constant

(*)

V/1000min ^-1

(*)

0. 35

Vsec/rad

Armature resistance

(*)

0. 020

Mechanical time constant

(*)

0. 001

Thermal time constant

120

min

3. 7

Static friction

kgfcm

Maximum allowable current

420

A (peak)

290

Maximum theoretical torque

3000

kgfcm

Maximum theoretical

16000

rad/s²

acceleration

Weight

(*) The values are the standard values at 20°C and the tolerance is "10%.

The speed-torque characteristics very depending on the type of software, parameter

setting, and input voltage of the digital servo motor. (The above figures show average

values.) These values may be changed without prior notice.

106

3. SPECIFICATIONS AND

B-65142E/02

FANUC AC SERVO MOTOR α series

CHARACTERISTICS

Model α100/2000

Specification : A06B-0332-Bjjj

Torque

Duty

Speed - torque characteristics

Over load duty

(Nm)

(time %)

Intermittent operating

ÃÃÃÃÃÃÃ

ontinuous operating

Speed (1/min)

”ON” time (min.)

Data sheet

Parameter

Symbol

Value

Unit

Rating output speed

Nmax

2000

min ^-1

100

Rated torque at stall

(*)

1020

kgfcm

0. 026

kgm²

Rotor inertia

0. 27

kgfcms²

Continuous RMS current at stall

A (rms)

(*)

1. 17

Nm/A (rms)

Torque constant

(*)

12. 0

kgfcm/A (rms)

Back EMF constant

(*)

V/1000min ^-1

(*)

0. 39

Vsec/rad

Armature resistance

(*)

0. 014

Mechanical time constant

(*)

0. 001

Thermal time constant

130

min

5. 5

Static friction

kgfcm

Maximum allowable current

580

A (peak)

440

Maximum theoretical torque

4500

kgfcm

Maximum theoretical

17000

rad/s²

acceleration

Weight

100

(*) The values are the standard values at 20°C and the tolerance is "10%.

The speed-torque characteristics very depending on the type of software, parameter

setting, and input voltage of the digital servo motor. (The above figures show average

values.) These values may be changed without prior notice.

107

3.SPECIFICATIONS AND

CHARACTERISTICS

FANUC AC SERVO MOTOR α series

B-65142E/02

Model α150/2000

Specification : A06B-0333-Bjjj

Torque

Duty

(Nm)

Speed - torque characteristics

(time %)

Over load duty

Intermittent operating

ÃÃÃÃÃÃÃ

Continuous operating

ÃÃÃÃÃÃÃ

Speed (1/min)

”ON” time (min.)

Data sheet

Parameter

Symbol

Value

Unit

Rating output speed

Nmax

2000

min ^-1

150

Rated torque at stall

(*)

1530

kgfcm

0. 034

kgm²

Rotor inertia

0. 35

kgfcms²

Continuous RMS current at stall

113

A (rms)

(*)

1. 31

Nm/A (rms)

Torque constant

(*)

13. 3

kgfcm/A (rms)

Back EMF constant

(*)

V/1000min ^-1

(*)

0. 44

Vsec/rad

Armature resistance

(*)

0. 011

Mechanical time constant

(*)

0. 001

Thermal time constant

140

min

7. 4

Static friction

kgfcm

Maximum allowable current

690

A (peak)

590

Maximum theoretical torque

6000

kgfcm

Maximum theoretical

17000

rad/s²

acceleration

Weight

120

(*) The values are the standard values at 20°C and the tolerance is "10%.

The speed-torque characteristics very depending on the type of software, parameter

setting, and input voltage of the digital servo motor. (The above figures show average

values.) These values may be changed without prior notice.

108

3. SPECIFICATIONS AND

B-65142E/02

FANUC AC SERVO MOTOR α series

CHARACTERISTICS

3.3

OUTLINE DRAWINGS

Model

Fig. No.

Model α0.5

Fig.

3.3(a)

Model α0.5 (with the brake)

Fig.

3.3(b)

Models α0.5 (shaft option)

Fig.

3.3(c)

Models α1 and α2

Fig.

3.3(d)

Models α1 and α2 (with the brake)

Fig.

3.3(e)

Models α1 and α2 (shaft option)

Fig.

3.3(f)

Models α3 and α6

Fig.

3.3(g)

Models α3 and α6 (with the brake)

Fig.

3.3(h)

Models α3 and α6 (shaft option)

Fig.

3.3(i)

Models α12, α22, α30 and α40

Fig.

3.3(j)

Models α12, α22, α30 and α40 (with the brake)

Fig.

3.3(k)

Models α12, α22, α30 and α40 (shaft option)

Fig.

3.3(l)

Model α40 (with fan)

Fig.

3.3(m)

Model α40 (with fan) (with the brake)

Fig.

3.3(n)

Models α65, α100 and α150

Fig.

3.3(o)

Models α65, α100 and α150 (with the brake)

Fig.

3.3(p)

109

FANUC a Series AC SERVO MOTOR. Description Manual (GFZ-65142E/02) - page 4