Difference between revisions of "Fanuc Alpha Series AC Servo Motors"
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[https://s3.amazonaws.com/Icarus/DOCUMENTS/Fanuc_Manuals_1113.pdf#page=85 Page 85] (70 in the PDF) shows the encoder's 17-pin circular connector wiring. | [https://s3.amazonaws.com/Icarus/DOCUMENTS/Fanuc_Manuals_1113.pdf#page=85 Page 85] (70 in the PDF) shows the encoder's 17-pin circular connector wiring. | ||
| + | |||
| + | In the "65162E/03" manual: | ||
| + | |||
| + | [https://s3.amazonaws.com/Icarus/DOCUMENTS/Fanuc_Manuals_467.pdf#page=265 Page 265] (245 in the PDF) shows the "Type A" and "Type B" serial encoder connector pinout ''for certain models of amplifiers''. | ||
TODO: find out where the details of the wiring from the 17-pin connector to the encoder's internal 14-pin connector are documented. | TODO: find out where the details of the wiring from the 17-pin connector to the encoder's internal 14-pin connector are documented. | ||
| Line 31: | Line 35: | ||
! 14-pin | ! 14-pin | ||
! 17-pin | ! 17-pin | ||
| + | ! 20-pin | ||
|- | |- | ||
| SD | | SD | ||
| 8 | | 8 | ||
| A | | A | ||
| + | | 1 | ||
|- | |- | ||
| *SD | | *SD | ||
| 10 | | 10 | ||
| D | | D | ||
| + | | 2 | ||
|- | |- | ||
| REQ | | REQ | ||
| 7 | | 7 | ||
| F | | F | ||
| + | | 5 | ||
|- | |- | ||
| *REQ | | *REQ | ||
| 9 | | 9 | ||
| G | | G | ||
| + | | 6 | ||
|- | |- | ||
| +5V | | +5V | ||
| 14,13 | | 14,13 | ||
| J,K | | J,K | ||
| + | | 18,20 | ||
|- | |- | ||
| 0V | | 0V | ||
| 3,4 | | 3,4 | ||
| N,T | | N,T | ||
| + | | 12,14 | ||
|- | |- | ||
| shield | | shield | ||
| | | | ||
| H | | H | ||
| + | | | ||
|- | |- | ||
| +6VA | | +6VA | ||
| 12 | | 12 | ||
| R | | R | ||
| + | | 7 | ||
|- | |- | ||
| 0VA | | 0VA | ||
| 5 | | 5 | ||
| S | | S | ||
| + | | 16 | ||
|} | |} | ||
Revision as of 04:25, 4 March 2020
Overview
Fanuc "red cap" servos that typically use proprietary serially interfaced (RS-422) high resolution encoders. Some of them are absolute with battery backup, and some are "incremental". I believe both of them have some level of absolute resolution (10-bit?) per turn for commutation purposes (these motors have no hall sensors).
Specifications
In the "65142E/04" manual:
Pages 122-140 (109-127 in the PDF) show the specifications for different models.
Model Numbers
In the "65142E/04" manual:
Pages 119-121 (106-108 in the PDF) detail the model number scheme.
Wiring Diagram
In the "65142E/04" manual:
Pages 157-159 (144-146 in the PDF) show the power connector wiring.
Page 116 (101 in the PDF) shows the cooling fan wiring (applicable models).
Page 85 (70 in the PDF) shows the encoder's 17-pin circular connector wiring.
In the "65162E/03" manual:
Page 265 (245 in the PDF) shows the "Type A" and "Type B" serial encoder connector pinout for certain models of amplifiers.
TODO: find out where the details of the wiring from the 17-pin connector to the encoder's internal 14-pin connector are documented.
| Name | 14-pin | 17-pin | 20-pin |
|---|---|---|---|
| SD | 8 | A | 1 |
| *SD | 10 | D | 2 |
| REQ | 7 | F | 5 |
| *REQ | 9 | G | 6 |
| +5V | 14,13 | J,K | 18,20 |
| 0V | 3,4 | N,T | 12,14 |
| shield | H | ||
| +6VA | 12 | R | 7 |
| 0VA | 5 | S | 16 |
Page 102 (87 in the PDF) is a section detailing the connector and cable part numbers.
Replacement Parts
4-pin circular connector
Motor side receptacle:
Hirose H/MS3102A18-10P-D-T1(73)
Cable side plug:
17-pin circular connector
Motor side receptacle:
Cable side plug:
Encoder
Page 81-85 (66-70 in the PDF) have information about the two types of built-in encoders, the absolute "A64" and the incremental "I64".
The "I64" encoder's Fanuc part number seems to be "A860-0365-V501", or "A860-0365-T101" when bundled with the external circular connector to internal rectangular connector cable.
The external round jack to internal rectangular plug cable assembly's part number when bought individually is "A860-0360-V906". It's half made up of the above mentioned Hirose H/MS3102A20-29P(73) receptacle, the rectangular connector plug is yet to be identified.
Possible encoder cover part numbers: "A290-0511-X053" or "A290-0511-X054".
Online Resources
Alpha Series AC Servo Motor Descriptions Manual GFZ-65142E/04 (February 2001)
Alpha Series AC Servo Motor Descriptions Manual GFZ-65142E/02 (March 1995)