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FANUC AC SERVO UNIT

MAINTENANCE MANUAL

n-a?-

B-54765E /02
FANUC LTD, 1985
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CONTENTS

I. AC SERVO UNIT FOR 1 AXIS 1

1 . STRUCTURE 3
1.1 Models and Designated Specifications of Units 4

2. CONNECTIONS 6
2.1 Connection Diagram 6
2.2 Detailed Servo System Connection Diagrams 8
2.2.1 Details of connections of cable K1 .. 8
2.2.2 Details of connections of cable K2 .. 9
2.2.3 Details of connections of cable K3 .. 9
2.2.4 Details of connections of cable K4 10
2.2.5 Details of connections of cable K5 10
2.2.6 Details of connections of cable K6 12
2.2.7 Details of connections of cable K7 15
2.2.8 Connections of separate regenerative discharge unit 16
2.3 Connection of Power Supply Transformer Tap 18
2.3.1 Primary side connection 18
2.3.2 Connections in the power supply transformer 20
2.3.3 Motors and power transformers employed for each axis . 23
2.4 Connection Diagram of Velocity Control Unit 24
2.4.1 For Model 2-0, 1-0 (A06B-6050-H002) 24
2.4.2 For Model 0, 5 (A06B-6050-H102) 25
2.4.3 For Model 10, 20M, 20, 30 (A06B-6050-H103 , H113, H104) 26
2.4.4 In case Model 30R (A06B-6050-H005) ....'. 27
2.4.5 For Model 0-30 (A06B-6050-H003 , H004) 28

3. SETTING AND ADJUSTMENT FOR VELOCITY CONTROL UNIT . 29


3.1 Setting and Adjustment for Velocity Control PCB 29
3.1.1 Parts location 29
3.1.2 Setting terminal 38
3.1.3 Variable resistor 45
3.1.4 Check terminals 46
3.2 Block Diagram of Velocity Control Unit 48

4 . TROUBLESHOOTING 49
4.1 Protection and Fault Detecting Functions 49
4.2 Troubleshooting 50

5. PARTS SPECIFICATIONS AND LOCATIONS ON VELOCITY UNIT 56


5.1 Model 5-0 Velocity Control Unit (A06B-6050-H301) .... 56
5.2 Model 4-0, 3-0 Velocity Control Unit (A06B-6050-H001) 57
5.3 Model 2-0, 1-0, Velocity Unit (A06B-6050-H002) 58
5.4 Model 0, 5 Velocity Unit (A06B-6050-H102) 59
5.5 Model 10 Velocity Unit (A06B-6050-H103) 60
5.6 Model 20M Velocity Unit (A06B-6050-H113) 61
5.7 Model 20, 30 Velocity Unit (A06B-6050-H104) 62
5.8 Model 30R Velocity Unit (A06B-6050-H0050) 63
5.9 Model 0, 5, 10 Velocity Unit (A06B-6050-M003) 64
5.10 Model 20, 30 Velocity Unit (A06B-6050-H004) 65

II. AC SERVO UNIT FOR 2 AXES 67

1. STRUCTURE 69
1.1 Types of Units and Designated Specifications 70
r

2. CONNECTIONS
2.1 Connection Diagram
2.2 Detailed Servo System Connection Diagram ..
2.2.1 Details of connections of cable K1 ....
2.2.2 Details of connections of cable K2 ....
2.2.3 Details of connections of cable K3 .... 7
2.2.4 Details of connections of cable K4 .... 74
2.2.5 Details of connections of cable K5 .... 75
2.2.6 Details of connections of cable K6 ....
....
76
2.2.7 Details of connections of cable K7 77
2.3 Connection of Power Transformer 77
2.4 Connection Diagram of Velocity Control Unit 78

3. SETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT 80


3.1 Setting and Adjustment of Velocity Control Unit PCB 80
3.1.1 Parts location 80
3.1.2 Setting terminal 82
3.1.3 Variable resistor 83
3.1.4 Check terminals 84
3.2 Block Diagram of Velocity Control Unit 85

4 . TROUBLESHOOTING 86
4.1 Protection and Fault Detect Function 86
4.2 Troubleshooting 86

5. PARTS SPECIFICATION AND LOCATIONS ON VELOCITY UNIT 87


5.1 Model 1-0/2-0 and Model 1-0/2-0 (A06B-6050-H201) 87
5.2 Model 1-0/2-0 and Model 0/5 (A06B-6050-H202) ... 88
5.3 Model 0/5 and Model 0/5 (A06B-6050-H203) 89

III. AC SERVO UNIT FOR 3 AXES 91

1 . STRUCTURE 93
1.1 Types of Unit and Specification Number 94

2 . CONNECTIONS 96
2.1 Connection Diagram 96
2.2 Detailed Servo System Connection Diagram 99
2.2.1 Details of connections of cable K1 . 99
2.2.2 Details of connections of cable K2 . 100
2.2.3 Details of connections of cable K3 . 100
2.2.4 Details of connections of cable K4 100
2.2.5 Details of connections of cable K5 101
2.2.6 Details of connections of cable K6 102
2.2.7 Details of connections of cable K7 103
2.2.8 Connections of separate discharge unit 104
2.3 Connection of Power Transformer 107
2.4 Connection Diagram of Velocity Control Unit 108
2.4.1 Model 0/5, Model 0/5 and Model 0/5 (A06B-6050-H401) 108
2.4.2 Model 0/5, Model 0/5 and Model 10 (A06B-6050-H402) 109
2.4.3 Model 0/5, Model 10 and Model 10 (A06B-6050-H403) . 110
2.4.4 Model 10, Model 10 and Model 10 (A06B-6050-H404) .. 111

3. SETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT 113


3.1 Setting and Adjustment of Velocity Control Unit PCB 113
3.1.1 Parts location 113
3.1.2 Setting terminal 114
3.1.3 Variable resistor 115
3.1.4 Check terminals 116
3.2 Block Diagram of Velocity Control Unit 117

4 . TROUBLESHOOTING 119
4.1 Protection and Fault Detecting Function 119
4.2 Troubleshooting 119

5. PARTS SPECIFICATION AND LOCATIONS ON VELOCITY UNIT... 120


5.1 Model 0/5, Model 0/5 and Model 0/5 (A06B-6050-H401) 120
5.2 Model 0/5, Model 0/5 and Model 10 (A06B-6050-H402) 121
5.3 Model 0/5, Model 10 and Model 10 (A06B-6050-H403) . 122
5.4 Model 10, Model 10 and Model 10 (A06B-6050-H404) .. 123

APPENDIX 125

APPENDIX 1 127

1. REVERSE CONNECTION 127


1.1 Connection and Rotational Direction 127
1.2 Method 127

APPENDIX 2 131

1 . AC SERVO MOTOR MAINTENANCE .. 131


1.1 Outline 131
1.2 Acceptance and Storage ... 131
1.3 Mounting 131
1.4 Replacement of Pulse Coder 133

2. COMPENSATING CIRCUIT SETTING FOR AC SEVO UNIT 135


I. AC SERVO UNIT FOR 1 AXIS

This chapter described the maintenance of AC servo unit for 1 axis which
drives AC servo motor Model 5-0, 4-0, 3-0, 2-0, 1-0, 0, 5, 10, 20M, 20, 30 and
30R.

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1. STRUCTURE

The AC servo unit consists basically of the velocity control unit and
power transformer. In addition, the separate regenerative discharge unit may
be required according to the load conditions.
Eight types of velocity control units are available according to AC servo
motor models employed, and one velocity control unit applies to each servo
motor. Six types of power transformers are also prepared according to the
servo motor models, their combinations, loads, and primary input voltages.
One power transformer applies to one to three servo motors.
Fig. 1.1 shows and example of the structure of the AC servo unit in a
two-controlled axes NC system.

AC servo motor

X-axis X axis
velocity
control Detector
unit
NC
control
unit
Z axis
Z-axis
velocity
control Detector
unit

Power
transformer*
3-phase input
power supply * This figure indicates an example when
two axes employ one power transformer
in common.

Fig. 1.1 Example of AC Servo Unit Structure

3
1 .1 Models and Designated Specifications of Units

Table 1.1 (a)

Name Specifications
, *
A06B-6050-H301
For Model 5-0
For Model 4-0, 3-0 i
-H001
For Model 2-0, 1-0 -H102 (Note 1)
Velocity
control For Model 0, 5, 10 -H103 (Note 2)
<'
unit -HI 13
For Model 20M
For Model 20, 30 -H104 (Note 3)
For Model..30R -HO 05
Transformer AA A06B-6050-H011
For Japan
200V, 220V Transformer MB A06B-6047-H012
II
Transformer MC -HO 13
Power For other If
Transformer MBE -H022
transformer countries
If
190V-550V Transformer MCE -H023
Transformer AAE A06B-6050-H021
Common
II
190V-550V Transformer ABE -H022
fi
Transformer ACE -H0 2 3
It
Separate regenerative discharge unit (Note 4) -H050
II
Input connector Soldering type -K100
(Note 5) II
Crimp style type -K103
II
Spare part A -K101

Note 1. The specification of unit shipped before May in 1984 is


A06B-6050-H003.
Note 2. The specification of unit shipped before May in 1984 is
A06B-6050-H003.
Note 3. The specification of unit shipped before May in 1984 is
A06B-6050-H004.
Note 4. The unit (A06B-6050-H005) for Model 30R normally needs the separate
regenerative discharge unit.
Note 5. The input connector is used for the cable connected to the velocity
control unit, and it comprises the following parts.
One set of the input connector is required for each axis.
Table 1.1(b) shows the parts included in input connector (Soldering
type) .
Table 1.1(c) shows the parts included in input connector (Crimp
style type) .

- 4
Table 1.1 (b) The Parts Included in Input Connector (Soldering Type)

Name Qty Use Model FANUC specifications


Connector and cover 1 CN1 MR-20LFH* A63L-000 1-0 134/02
Connector and cover 1 CN5 MR-20LWMH* A63L-000 1-0134/ 15
Connector and cover 1 CN6 MR-20LWFH* A63L-0001-0134/05
Housing 1 CN2 SMS6PW-5** A63L-0001-0202/6W
Pin 5 CN2 RC16M-SCT3** A63L-0001-0226

Table 1.1 (c) The Parts Included in Input Connector (Crimp Style Type)

Name Q'ty Use Model FANUC specifications


Connector and cover 1 CN1 A63L-0001-0134/22
MR-20L, MRP-20F01*
Connector and cover 1 CN5 MR-20LW, MRP-20M01* A63L-000 1-0 134/35
Connector and cover 1 CN6 MR-20LW, MRP-20F01* A63L-0001-0134/25
Contact 40 CN1 ,6 MRP-F112* A63L-0001-0135/F112
Contact 20 CN5 MRP -Ml 12* A63L-0001-0135/M112
Housing 1 CN2 SMS6PW-5** A63L-000 1-0202 /6W
Pin 5 CN2 RC16M-S23A** A63L-0001-0127/S23A

* Manufacturer: HONDA Tsushin Co., Ltd.


** Manufacturer: Burndy Japan Co., Ltd.

-5
2. CONNECTIONS

2.1 Connection Diagram

Fig. 2.1(a) is a standard connection diagram.

K6

NC control unit ]CN5 T1


A
K7
0]CN6 1
2 Machine side
3
K1 \
0 ]CN1 4
5
Servo motor

o
Velocity control Detector
unit 6

o]
I
O' CN2 7
K5
l 8
K2
Electromagnetic
Power contactor Fuse
Power Emergency stop
source U transformer
O O 00 EMG
AC 30 V
W
oo 00 K4 /- +10%
-O1|O AC 100V

O O 00 -15%
10

Terminal screw M4 K3
(When 3.5mm2 cable is used, use
crimp style terminal 5.5 S4.)

Note: Cable K3 is not needed for


velocity control unit of 5-0.

Fig. 2.1 (a)


Fig. 2.1(b) shows connection diagram when the separate regenerative discharge unit is employed.

K6

I
NC control unit 0]CN5 T1
A
K7
Q] CN6 1
2 Machine side
3
K1
Q] CN1 4 1
Servo motor
5
Velocity control Detector

0]
unit
CN2
6
7
K5
o
Electromagnetic
K2
T2
8
4+
;
l
Power
source u
_
contactor Fuse Power
transformer
4 6
Emergency stop
o o 00 EMG
AC 3<f>
V
W
o~~o
O O
00
00
K8
1 T3
2 Discharge K4 I-

-O)|O AC 100V
+10%
-15%
3 unit
4 1*

Terminal screw M4 K3
(When 3.5 mm2 cable is used, use
crimp style terminal 5.5 S4.)

Fig. 2.1 (b)

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2.2 Detailed Servo System Connection Diagrams

2.2.1 Details of connections of cable K1


Velocity control unit

|jW*
NC control unit
CN 1(7)
'

:xxxxocc_ - i-'
VCMD
EC
t CN 1(201
vw
vw >
VT

OVL1 CN 113)
1*
OVL 2 CN 1(161
VRDY 1 CN 1(41
VRDY 2 CN 1(17)
L
ENBL 1
ENBL 2
CN 1(2!
CN 1(1?
AA/V
PRDY 1 CN 1(11 + 24 V
L

PRDY 2 CN 104)
wrj; W fC
rfr
*ALM1 CN 1(8)
+ALM2 CN 1(9) b Note 1)
+ALM4 CNlW
cum
,
*ALM8
COM CNIW li
Cable employed:
For VCMD/ EC
0.1 ~0.18mnT paird Connector employed MR20LFH

Note:
shielded cable.


For others; 0.18 0.3mm:
200V vinyl wire
(Honda Tsushin Kogyo, Co. Ltd.)

These signals are employed from edition c of velocity control PCB


(A20B-1000-0560) .
These are not employed in velocity control unit
for Model 5-0, 4-0 and 3-0.

Vinyle sheath
Shield
BE,
on AOMN Twisted
Paper tape
pair
w B(P
PP Y l(o
0 W
W
Shield
w
RR
Shield
GN,
w w pvc Sheath V\(0 <)
1

Drain wire
Cotton fiber

(a) (b)
Fig. 2.2.1
-8
2.2.2 Details of connections of cable K2

Power transformer
Velocity control unit
1st 2nd 3rd
axis axis axis
i i l
11 'II 47 1 8A CN2(1)
-Q-
12 45 48 CT CN 2 (2)
43 46 49 18B CN 2 (3)
<>
51 T0II1 CN 2 (4)
o
52 T0H2 CN 2 (5)

Connector SWS6PW-5 \ (Nippon Bumdy


Screw terminal M4
employed { RC16M-SCT3 } Co.)

Fig. 2.2.2

2.2.3 Details of connections of cable K3

Power Velocity control unit


transformer
R
31 34
o- R 1TIW
32 35 S T 1 (1)
S <y
33 36 T ' T 1 (2)
T A
* it
Screw M4
G
%
Screw M4

Cable employed: 0.75 mm2 (30/0.18) 200V heat-resistive vinyl cable.

Fig. 2.2.3

Table 2.2.3 (a)

Motor employed Cable employed


2
Model 3-0, 4-0 0.75 mm

Model 2-0, 1-0 2


2.0 mm
Model 0, 5 600V
heat-resistive vinyl cable
2
Model 10, 20M, 20, 30 3.5 mm
2
Model 30R 5.5 mm

- 9
Table 2.2.3 (b)

Input voltage of
Motor employed
velocity control unit

Model 4-0, 2-0, 1-0 AC 120V

Model 3-0
Model 0, 5
AC 185V
Model 10, 20M, 20, 30
Model 30R

2.2.4 Details of connections of cable K4

Cabinet Velocity control unit

1 00B T 1 (3)
AC 100V A
1 00A T 1 (4)
1 t -a
EMG
Contact OFF at
emergency stop
Screw M4

Cable material: 0.75mm2 200V vinyl wire.

Fig. 2.2.4

2.2.5 Details of connections of cable K5

(1) For Model 5-0, 4-0, 3-0

Velocity control unit


T 1 (5) 6- A-U Model
T 1 (6) V 5-0
T 1 (7) IW 4-0
3-0
G G
I

Screw M3. 5 Crimp style terminal

Cable material: 30/0.18 (0.75mm) Color of reed wire


4-conductor vinyl cord U: Red
V: White
W: Black
G: Connect motor body
Fig. 2.2.5 (a)

10 -
(2) For Model 2-0, 1-0

Velocity control unit


T 1 (5)
Tl (6)
-Cr
1 r
-a 2 Model
Tl (7) 3
2-0
1-0
G

Cable material:
I
*
Screw M4

30/0.18 (0.75mm2)
/ RM15WTP-4S - 00
*Hirose Electric, Co.
Guide key
4-conductor vinyl cabtyre cable

Cannon 4o Ol
Fig. 2.2.5 (b) connector
30 02
(3) For Model 0 and 5
Velocity control unit
Tl (5) <y -o- A
Tl (6) B
Tl (7) <>
o
rc
o
Model
0, 5
6
G G
-6- i
Connector MS3106B 18-1 OS (Straight type)
Screw M4 Employed MS3108B 18-1 OS (Elbow type)

Cable material: 2. 0mm2 (37/0.26) Cable clamp MS3057-10A


Guide key
4-conductor vinyl cabtyre cable

Cannon DO OA
connector
CO OB
Fig. 2.2.5 (c)

(4) For Model 10, 20M, 20, 30


Velocity control unit
T 1(5) A
T 1 (6)
T 1(7)
$ B
C Model
o
10, 20, 20M, 30
G G D
*
Connector MS3106B24-10S (Straight type)
Screw M4 Employed MS3 108B22-22S (Elbow type)
Cable clamp MS3057-12A
Cable material: 3.5mm2 (45/0.32)
4-conductor vinyl cable Guide key

Cannon DO OA
connector
CO OB
Fig. 2.2.5 (d)

11
(5) For Model 30R

Velocity control unit


T 1(5)
T 1 (6) y C7D
A,B
/
O
T 1(7) E,F
<>
Model 30R
G G G
T

Connector MS3106B24-10S (Straight type)


Screw M4 Employed MS3108B24-10S (Elbow type)
Cable clamp MS3057-16A
Cable material: 5.5mm2 (70/0.32) Guide key
4-conductor vinyl cabtyre cable

fO OA

Cannon EO OG OB
Fig. 2.2.5 (e) connector

2.2.6 Details of connections of cable K6


D C

(1) Model 5-0

Motor model 5-0


Velocity control unit

CN5(1).(2),(3) 0V / N Gray

CN5(4),(5).(6) + 5V Red

CN5 (7) CW

CN5 (10) C8 Brown/White


CN5 (1 1) C4 Orange/White

CN5 (12) C2 Yellow/White


CN5 ( 16) *PCA Black (thin)

CN5 (18) *PCB Blue

CN5 (15) *PCZ Green

CN5 (20) SG Black (thick)


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Connector: MR-20LWMH

Fig. 2.2.6 (a)

12
(2) Model 4-0, 3-0

Motor
Velocity control unit CN5(1),(2),(3)
-6-
ov- T~ Gray, Gray/White
CN5(4),(5).(6) +5V Red, Red/White
CN5 (8) OHl Yellow
Note
CN5 (9) OH2 Yellow
CN5 (10) C8 Violet/White
CN5 (11) C4 Brawn/White
CN5 (12) C2 Orange/White
CN 5(13) Cl Yellow/White
CN5 (14) PCZ Green
CN5 (15) *PCZ Green/White
CN5 (16) PCA Black
CN5 (17) *PCA Black/White
CN5 (18) PCB Blue
-6-
CN5 (19) *PCB Blue/White
CN5 (20) SG| I Black
-a- -a-

Connector: MR-20LWMH

Fig. 2.2.6 (b)

13 -
(3) Model 2-0 - 30R

Velocity control Motor


unit
CN5 (1) , (2) , (3) ov n n N,T
CN5 (4) ,(5) ,(6) +5 V J ,K
CN5 (7) CW
CN5 (8) OHl R
CN5 (9) 0H2 S
CN5 ao C8 M
CN5 aj) C4 L
CN5 42 C2 P
CN5 49 Cl c
CN5 44 PCZ F
CN5 49 *PCZ G
CN5 49 PCA A
CN5 4fl *PCA D
CN5 49 PCB B
CN5 49 *PCB E
CN5 m SG H

employed: MR-20LWMH Cannon MS3106B20-29SW (Straight type)


(Honda Tsushin Co., Ltd.) connector MS3108B20-29SW (Elbow type)

Fig. 2.2.6 (c)

(MS
I \ vO/ (D
AO
Cotton fiber

oo
sjj V
oy\
i
no Drain wire
Shield

Twisted pair
mm Guide key

A
M o B
o o
Lo No p oC
OT o
Cannon Ko OD
connector S R
J oE
o o
H o F
G

14 -
2.2.7 Details of connections of cable K7

Velocity control NC control unit


unit C N 6(1), (2) , (3) OV ~r

C N 6 (8) 0H1
C N 6 (9) OH2

CN6M PCZ
CN 6 *PCZ
C N 6 (10 PCA
CN6a7) * PCA
CN 6 08 PCB
CN6O0 * PCB
CN 6(20 SG

Connector employed: MR-20LWFH


(Honda Tsushin Co., Ltd.)

Cotton fiber

W,

JBNK VV. w, Paper tape


IK
BKI 0
BK
WYBN
(GN BK
Shield
BK' KGY, W
Y W 0
[GY Sheath (Black)

Fig. 2.2.7 (a)

15
2.2.8 Connections of separate regenerative discharge unit

(1) Details of connection of separate regenerative discharge unit.

Note 1) Velocity control unit


Disconnect the jumper wire from
terminals T2(5)-T2(6) in unit H003
and H004, T2(4)-T2(5) in unit
HI 03, HI 13, and HI 04. When the LCG T 2(4)
separate regenerative discharge Note 1) ! T 2(5)
unit is employed. HC A T 2(6)

Screw terminal M3.5


Cable employed: 2.0mm2 (37/0.26)
600V heat-resistive vinyl cable

T 3(1)
Regenerative
T 3(2) discharge unit

Screw terminal M4

Fig. 2.2.8 (a)

16
(2) Details of cable K2
For connections of cable K2 in 2.2.2, change the connection of T0H1 and
T0H2 as follows.

Power transformer Velocity control unit


(Unit to connect terminals
51, 52 of transformer)

41 1 8A CN 2(1)
42 CT CN 2 (2)
43 1 8B CN 2 (3)

(Thermostat contact)
51 TOH 1 C N 2 (4)
52 T0H 2 T0H 2 CN 2(5)

Connector SMS6PW-5 (Nihon Burndy


Screw terminal M4 employed RC16M-SCT3 Co.)

Cable employed: 0.75mm2 (30/0.18)


200V heat-resistive vinyl cable
T 3(3) (Thermostat contact)
Regenerative
T 3(4) discharge unit

Screw terminal M4

Fig. 2.2.8 (b)

17
2.3 Connection of Power Supply Transformer Tap

More sure the input tap of the power supply transformer is set according
to the input voltage when connecting the power supply cable to the AC servo
unit .
If set incorrectly, the AC servo unit may cause trouble.

2.3.1 Primary side connection

Connections of the transformer terminals and power supply cables U, V,


and W must follow the input supply voltage specifications in Tables 2.3.1(a)
and 2.3.1(b).

(1) For Japanese model power supply transformers AA, MB, and MC.

Table 2.3.1 (a)

Connection of primary-side
Supply voltage
terminals

200V U-2, V-4 , W-6

220V U-l, V-3 , W-5

(2) For export model power supply transformers MBE, and MCE.

Table 2.3.1 (b)

Connection of primary-side terminals


Supply voltage
Connection of power Strapping trans
supply cables U, V, W former terminals

190V U-3-7 , V-ll-15, W-19-23


(Common to 200V)
4-8-12-16-20-24
230V U-2-6 , V-10-14 , W-18-22
(Common to 220V)

380V U-3, V-ll, W-19 4-7, 12-15, 20-23,


8-16-24

420V U-3, V-ll, W-19 4-6, 12-14, 20-22,


(Common to 415V/440V 8-16-24

460V U-2, V-10, W-18 4-6, 12-14, 20-22,


(Common to 480-V) 8-16-24

550V U-l, V-9 , W-17 4-5, 12-13, 20-21,


8-16-24

18
(3) For common model power supply transformers AAE, ABE and ACE.

Table 2.3.1 (c)

Connection of primary-side terminals


Supply voltage
Connection of power Strapping trans
supply cables U, V, W former terminals

200V . U-7, V-15 , W-23 8-15, 16-23, 24-7

220V U-6, V-14 , W-22 8-14, 16-22, 24-6

230V U-5, V-13 , W-21 8-13, 16-21, 24-5

240V U-4 , V-12 , W-20 8-12, 16-20, 24-4

Delta connection

380V U-6, V-14, W-22

420V U-4, V-12, W-20

460V U-3 , V-ll, W-19 8-16, 16-24 or (8-16-24)

480V U-2 , V-10, W-18

550V U-l, V-9 , W-17

Star connection

Remarks
If more than one power supply transformer is used, both must be connected
to the tap in the same way. Also the connection of transformer overheat
must be done in the same manner.

19
2.3.2 Connections in the power supply transformer
Domestic models
Connections for power supply Connections for power supply Terminal array of power supply
transformers AA, MB, and MC transformers AA 31 to 36. transformers AA, MB, and MC
(Connection for 31-36 of AA is
as shown right.)

185V 185V 31
r-3i
185V-o
-031 32
I 185V 3t 185V
32 33

l L L-o
To 32 -o 33
1
220V 120V 34
1 o 200 V o 35 -0 34
2 185V
-ro 33 E 120 V
-0 35
2 35

220 V 18V
36 5 120 V
o36
3
4
36
41
3 o- -0 41
4 o-
200

5 o- 220V
V
II OV
18V
18V
o 42
o 43
5
6
42
43
44
W~u
6 o 200
V
II I
18V
o 45
46
45
46
47
18V
OV47 4r
0; -o
18V -o 48
TOH1 ,,
49
48
49

Go 5
nr f TOH2
o52
51
52

Export models
Connections for power supply Terminal array of power supply
transformers MBE, and MCE. transformers MBE, and MCE.

275V 275 V 185V


31 31
L-o 34 32
390vl7Tlj t 185V
n o 32 1 5 33
4 o -OvJge-gjJl L L-O 2 6 34
9O2?5 V ,3275V
!0
I
{>230V
'
= 185V

18V
T0
o
35
33
36
041
4
9
3
8
7

13
35
36
41
lip 190V 190V
OV
o42 10 14 42
OV OV 18V 43
12 16 43 11 15
.--275V TI_275 V 18V o 44 12 16 44
( OV
18V " 45
46
17
18
21
22
45
46

18V
47 19 23 47
20 0 240 OV o 48 48
20 24
18V 49
49
G LUsi
TOH2 c 52 51
52

20
Connections for power supply Terminal array of power supply
transformer AAE. transformer AAE.
550V 185V
o -O 31
2 O
3 <9-
4 O
180 V
460V
4 1 5/240V
LL 185V

185V
-O 32
5 1
31
32
33
230V -O 33 6 2 34
5 O 7 3 35
6 O
380/220V
8 4 36
200V 13
7 O 9 41
120V
34 14 10 42
ov
8 O-
9 a 550V L 120V
-O 35
15
16
11
12
43
44
1 0 o 180 V

11 O
460V L 120V
<9 36
11
22
23
11
I
19
h
45
46
47
12 O- 415/240V
24 20 48
13 O
230V
18V 49
14 O 380/220V - O 41 Cl
15 O
0V
200V
[ 0V
18V
O
O
42
43
li
52
16 O 18V
<9 44
17
18
O- 550V
O-
480V
460V
[ 18V
-O
45
46
19 O- 18V
-O 47

I
4 1 5/240V
20 CH
230V 48
21 O- 18V -O
380/22QV 49
22 O-
200V
23 O-
0V T0I1 1
24 O O 51
52
G O-
4r
Connection for power supply Terminal array of power supply
transformer ABE and ACE. transformer ABE and ACE.

l o
550V
2 O 4 80V 31
3 O 460V 32
4 O-
5 O
6 a
4 15/24 0V
230V
380 /220V
T: 31
34
5
6
7
8
I
2
3
1
33
34
35
36
7 O

8 O 0V
200V
T: 32
35
13
14
15
9
10
11
41
12
43
O- 550V

a
9 185 V 16 12 44
480V 33 21 17 45
10 O
460 V 36 22 18 46
11 O
23 19 47
12 O 4 1 5/240V
24 20 48
13 o- 230V
18V <9 49
G
14 o 380/220V 41
200V 0V <9 42 51
15 O
18V 52
<9
.6 a ov
43
18V
-O 44
17 O 550V
18 a 480V
19 O 460V
[ OV
18V
-O
-O
45
46
18V <9 47
20 O 415/240V
21 O-
230V
380/220V
[ 0V
18V <9
48
49
22 a
200V
23 O
TOH 1
24 0V -o 51
TOM 2
52
G o
A Ar

21
(1) For power supply transformers (2) For power supply transformers MB,
AA and AAE MC, MBE , MCE, ABE and MCE

185V 185V
31 31
18 5V To T1(A), (1), (2) of 18 5V To T1(A), (1), (2) of
32 velocity control unit 32
185V 185V 1st axis
for model 3-0, 0 and 5
33 33
12 0V 1 85V
34 To T1(A), (1), (2) of 34
Tiov 185V To T1(A), (1), (2) of
35
velocity control unit 35
1 20V for models 4-0 to 0 18 5V 2nd axis 3rd axis
36 36
1 8V 1 8V
41 41
0V To CN2(1), (2), (3) 0V To CN2(1), (2), (3) of
42 I2
Trans 1 8V of 1st axis Trans 18V 1st axis
formers 43 formers 43
AA and , , 1 8V 1 8V
44 MB, MC, 44
AAE 0V To CN2(1), (2), (3) MBE, 0V To CN2(1), (2), (3) of
45 of 2nd axis and 45 2nd axis
1 8V 1 8V
46 MCE 46
1 8V 1 8V
47 47
0V To CN2(1), (2), (3) 0V To CN2(1), (2), (3) of
48 of 3rd axis 48
1 8V 1 8V 3rd axis
49 49

TOH 1 T0H1
51 To CN2(4), (5) of 51
52
TOH 2 ) 1st axis 52
T0H2 ) To CN2(4), (5) of 1st axis

Note : The Model 4-0, 2-0 and 0 motor use a relatively low power supply
transformer voltage. If the higher voltage used for the other
models is applied to the velocity control unit for Model 4-0 to 0,
it will cause a fault.

22
2.3.3 Motors and power transformers employed for each axis

Table 2.3.3

Power
1st axis 2nd axis 3rd axis Remarks
transformer

Model 4-0, 3-0, 2-0 Model 4-0, 3-0, 2-0 Model 4-0, 3-0, 2-0 Transformer Model 4-0, 2-0,
AA(AAE) 1-0, and 0 employ
Model 4-0, 3-0, 2-0 Model 4-0, 3-0, 2-0 Model 5 (1.5 kVA) transformer output
terminals 34, 35,
Model 4-0, 3-0, 2-0, Model 1-0, 0 36, while Model
1-0 3-0, and 0, 5
employ transformer
Model 4-0, 3-0, 2-0, Model 5 output terminals
1-0, 0 31, 32, 33.

Model 5 Model 5 Model 5 Transformer


MB(MBE,ABE)
Model 5, 10 Model 10 (2.5 kVA)

Model 20, 30

Model 5 Model 5 Model 10 Transformer See Note.


MC(MCE,ACE)
Model 5 Model 20, 30 Model 30 (5 kVA)

Model 30R

Note: Two or more transformers MC, MCE or ACE become necessary according
to the load conditions in case of Model 10, 20, 30 x 3 axis. For
details, contact FANUC LTD y referring to AC servo motor selection
data sheet.

- 23 -
2.4 Connection Diagram of Velocity Control Unit

2.4.1 For Model 2-0, 1-0 (A06B-6050-H002)

CN1 (M) CN2 CN3 CN4 CN5 (F) CN6 (M)


1 PRDY I 14 PRDY: 1 1 8A 1 1 HCA 14 PCZ 1 ov 1 ov 14 PCZ
2 CT 2 2 LBA 8 OH1 A 8 OH1B
2 ENBU
8 ALMlns LNBL: T I8B IfPCZ 2 ov 2 ov 1 5 "PCZ
3 IOV L I 9|ALM7 OVL2
IO!ALM4
4 TOM I
3 LEG
4 CDHI
3
4
LEA
LBB l< PC A
9 OH2A
3 OV 3 OV
9 OH 2 b
It PCA
1 7 VRDY2 s 3 OH 2 5_ i LEB 10 C8
5V
10
n*PCA
4 VRDYl
I l|ALM8 6_ ( 1)V 1 6_ HCC IT PCA C4
4 4
11
S CURR I8|CLMT 7 rnv: 7 LBC If PCB S +5V 5 If PCB
6
7 VCMD
JcOM 19
E
n
8 [CPU [

rr
('1)1 '2
TH 1
JL LEC
9 LBD
10 LED
ic'PCB
2( SG
12 C2
13 Cl
6 + SV
7 CW
6
7
13
19 *PCB
2C SG
rr TH2
m JJ.MCI.
IT 12 LBE
PWM Circuit rr 13 LEE
K I 00A 14 LBF
A20B-1 000-0560 n NTHT 15 LEF
(=1 1=1

_cp
3 CN4
To position CNI =7 To power2 L-pTo motor1S I=J TO position CN6

control unit (VCMD> transformer K 1 (Pulse coder) control unit (Pulse coder)
I 5 n TM1
5> r n rn
c o
1
=f :s

---
c<
PO

1 5=
f 5,
f
I T1 NFBI | 21 2 1 U m 1iBJ S'|B3

f
o
A I
4-cf'o-+
1 MCC
-o o<[>
2212:: 3
+ Cl 1 !
I = 1 RM1
1H1 o-
-6-vvvfV--
Tl

To power I AC i R1
I
m
oI
-

10.171
?.5K
transformer O
NFB2
I
?
2 680m
400V
51
I

+ Jifwli-
|oj?l *
l o
2
121
MCC
-O 0-6
A2 All
AC
1
1
I
I
1
T
1
4
Motor
3 I 21 2i 21 Si
0 |B4

KS 21
B6
I
l -4 H><21 n 11
DS RM1
s m I S'
To machine
C2
flttzzn
1
ZNR

-WXNT-, 1
MCC
SSr
0.4f>
MCC

SK MCC
I
23_oi3
z Z
H
i
r
4
O-
1 00A VMCCX K>

Fig. 2.4.1 Connection Diagram for Velocity Control Unit

!
2.4.2 For Model 0, 5 (A06B-6050-H102)

CN1 CN2 CN3 CN4 CN5 CN6


HR-23P BURBOT HiRCSE HIROSE HR-23S HR-2CP
1-2
SPECIFICATION 11 PR3Y2
15 E.HBL2
00 ALMl m PR0Y1
ENBLl
01
02
1BA
_c:_
01 LC3 01 HCA . ov
8 DH1A 11 PCZ 11 PCZ
8 OHIB
0: BV

RM1
3-4
5-6 a.izn
16
17
OVL2
VRDY2
10
ALM2
ALM4
OVLl
VR0Y1
03 IBB
T0H1
02
C3
LEG
LEG
B2
12
LBA
LEA
02
03
BV
BV
29
i
OH2A
C8
15
16
PCZ
PCA
15
16
* PCZ
PCA
09
U3
~OH25~
03 OV
ALM8 04 CJH1 04 LE3 1 5V PCA 17 PCA 0<
11 C4
RH2
1-2
2-3
2SKfl 5W IB CLMT
S CURB 85 TGH2 C5_ QIC m LEa 05 ;v
12 C2 15 PC9 le PCB H. 5
163 270W 19
COM 11 c&_ CGVl 06 HCC 5V 12 PC3 19 -PCB II CS
C1.C2 6aauF 4tiev 23 _E_ 107 VC MU Cl
ej. CCV2 07 LBC 07 CW :o SG SG 07
C3 3JMF oa com 26 LEC
29 C0U2 09 LBO
10 TH1 IB UP
11 TH2 11
PWM circuit 12 INTL2 12 LE
11 INTLl 13 LEE
A20B-1 000-0560 14 iecA 14 LSF
11 HCC 11 LEF

To position
control unit
Ml
V To power
transformer
CN2 CN3 I I CIM 1 I
To motor
(Pulse coder)
CS5
T To position
control unit (Pulse coder)

i
1J
i i
Ul
y rM.
?rM.
sc
I r n S rWL_
T1 MCC

AO-
213 ll kC3 T> i
61
lO- I *C2
Cl 4
: v
=
ei

a,
fil
s M "12
71

II NF=Z. 3 C2 C3
3?], T
90
MCC L
. .3 ; v. F: a ...
20-
p3 nr rrri -06

a
30- r- 5
Sk 3 k. K
Motor
OS
r
ijf
Ly- s It
RM1 5.

MCC

r - -4--1
i__ J I J r:
n
H
3
Cl
!|
-,\j
MCC

f rr
TMil
TH

40
tag A 2

Fig. 2.4.2 Connection Diagram for Velocity Control Unit

)
1

2.4.3 For Model 10, 20M, 20, 30 (A06B-605H10 H113, H104)

CN1 CN2 CN3 CN4 CN5 CN6


MR-23P BURNOY HIROSE HtCSF HR-2BS'
MR-23P
| HHWH| H104 14| PR3Y2 ~W ail PH0Y1 ail 18A 31 1 LC3 31 MCA 01 ev 141 PCZ 41 PCZ
Igjffi
1-2 1 123rull 60 mil
5-6.5-10 sOwfl I 25mfl
151 ENBL2
16 I 0VL2'
391
*ALM1
*ALM2 pi
031
EN6L1
0VL1
321
B3I
CT
IBB
32 1 LBG
3--.
32
03 1
LBA
LEA
C2I
021 _ BV
BV_
061
091
OHIA
0H2A
151
161
PCZ
PCA
51 -PCZ
61 PCA
!MI
rrst
QHiB
|ei57
RM1

RM2
3- 4.7- 3
11-12
1-2
2-3
0.611 3.350
2 CKO 5W
160 27CW
12J VR0Y2
J_SJ
191
_
23]
CLMT

E
131

121
131
*ALM4
ALMB

COM
34 1
C5I
061
_VR3Y1
CURB

VCMP'
04
C5
06T
TCH1
TCH2
04
05
06 1
B7|
com
QIC
C3V1
C0V2
04 1
051
06 1
07 1
LBB
LE3
HCC
L3C
341
C5I
061
07]
_
5V
5V
5V
CW
lai
111
121
131 _
ca
C4
C2
Cl_
171
lai
131
23|
PCA
pea
FC3
SG
M * PCA
;ai

2U
FCB
_sc.
91 pCB
111
12!
131
"41
r::l
US I
071
G60uF 4C3V 081 CCU1 08 1 LEC
C2 C230uF 4C0V 39 1 C0U2 391 L=0
C3 2.3uF 131 TH1 101 LED
111 TH2 11 1 HCE
PWM circuit 121 IHTL2 12| LBE
A20B-1000-0560 131
uT IW
IHTL1 13 1
14 1
LEE
L5F
15 j HCC 15 1 LEF I
(Z=) ( ]
on
To position
CNl
To power
CM3 I I CN4 I I
To motor
CN5 I
_J
I
To position
CSS

_ _ ___
control unit transformer (Pulse coder) control unit (Pulse coder)

i n T2
jj
si
CJ i_a
nI

hO
Ml

----_ _
ON

I r u 0365
J* rIHJ~. 2r-l
T1
AO IUO
MCC

"5i 11
>C3
**?__
=TJ tJ : T1
'
*C2
! i 20K
5W
i ISO
27CW
81
I
< 81
k. 1
RMl
i J
t
lO l\ 05
T
30
C2 C3
H2fei MCC U. fl (9
~ i 3 I
C El 1
I 6 i
20
3 sr
-.1
Jr-. 5
i '
SI
5 is
l
I
i 10
' I- 06

07
Motor
30
3 B2

---
_ _ U
L J K II (S2
I
QIC I
DS I RMl
i
It? I ! 7
I
i
1

j 1
sk
I J I J
iL 8
B2
12

40 1004
r4
MCC

i ---
l
- --- J
A:

5 5
MCC

n
r t 11
TH
I
RMl

I
61


Fig. 2.4.3 Connection Diagram for Velocity Control Unit t

-?S;
.v
* .


> 4

2.4.4 In case Model 30R (A06B-6050-H005)

CN1 CN2 CN3 CN4 CN5 CN6


HS-2P BURNDY HIROSE HIROSE HR-2R5 HR-2BP
14 PR0Y2 PR0Y1 81 1BA II Lee B1 HCA BV PCZ
L-2.3-4 2Bmfl 4tW AtMl Bl
B_8 0H1 A 24 PCZ 08 QHIB j: BV
RM 5-6 48mQ 4BW
1A
16
ENBL2
OVL2 C2, *ALM2
02 ENBL1
OVLl
02
B3
CT C2_ LB6 K
s
LBA BV B9 0H2A
15 PCZ 15 PCZ
B9 __ BV
7- a 2BKQ 2BW ALM4
18B JB LEG LEA BV
21 C8 _16 _PCA 16 PCA BV
a 6BBtfF 4BBV
17
18
VROY2
CLMT
ALMB
m
VRDY1
CURR
_B4
_B5
TOH1
~T0H2
04 CDH1 0* LB3 04 5V
C4 22 PCA 17 PCA
11
C2 12MUF 4BBV re
JB QIC LEB E5 5V
12 C2 21 PCS 18 PCB 05
M
V 13 COM J6 J covi J6 HCC 5V
ll a 19 PCB 19 PCB
22 K
C3 3JMF 6BBV 2B B7 V04D H am JL LBC B7 CW 20, _SG 2B -66
_D8 0X11 LEC

JB
CDU2
TH1
s
J|
LBO
LED
PWM CIRCUIT BOARD J1 TH2 11 HCE
J2 IHTL2 il LBE
A20B-1 000-0560 2
"u
IHTLl JJ LEE

15
_1C0A_ J4 LBF
HCC LEF

CZZ1 c=]
cm I I
TO POSITION
CONTROL UNIT
TO POWER
TRANSFORMER
CN2 CHS I CM I
TO MOTER
(PLUSE CODER)
'T TO POSITION
CONTROL UNIT
5=
T2

i
N)
60
II I
50 UCSG
J
40-
I r n S r1*--, Sr*-,

AO-

10-
T1 HCC

nf*a -A.CZ. *i tg
r n RH
33 33 ei ei
33;
.5
ei RH
T1
,!
.
L:sJ *i tC2 a -05

20- J
9
HCC

55 a
1 AC1

r- 3! .
3! 1
3L--J4
i2
7 -06

D
-t- j

S I
30-
s L. J"
Tlj I )f>lCs B2 B4

-MB.-,
Lin
13
L-J L~] ; I J I J I J
BlTT B3|T

nn
HCC
SK HCC TH
i
IA_
40-
! i

Fig. 2.4.3 Connection Diagram for Velocity Control Unit

\
D

mP

2.4.5 For Model 0-30 (A06B-6050-H003, H004)

CN1 (M) CN2 CN3 CN4 CN5 (F) CN6 (M)


1 PRDY 1 14 PRDY: 1 18A LCG I HCA 14 PCZ 1 OV 1 OV 14 PCZ
8 * ALM I 15 ENBL2 2 CT 2 LBG 2 LUA 8 OH 1 A 8 OH1B
2 ENBLl 15 'PCZ OV 2 OV 1!*PCZ
H003 H004 3 I8B 3 LEG 3 LEA 9 OH2A 9 OH2B
9 * ALM2 16 OVL2 4 IOTTI
3 OVLl 4 CDH1 4 LBB 1 C PCA OV 3 OV PCA
1 -2 0.0500 0.0250 1C * ALM4 5 TOH2 S D1C S LEB 10 C8 10
3-4 0.0500 0.0250 4 VRDY1
11 *ALM8
17VRDY2
6 6 CDVl 6 HCC nr PCA C4
4 SV 4
II
iTPCA
5-6 0.1 20 0.060 S I l.MTI. 18CURR 7 CDV2 7 LBC It PCB s SV S It PCB
12 C2 12
6 19 8 CPU 1 8 I 1C 19 PCB 6 SV 6 19 *PCB
C3 2.2|iF 3.3/iF : COM 9 CPU 2 9 LBD Cl
7 VCMD E 1C THl 10 1.1-1) 2C SG cw 7 2C SG
11 TH2 11 HCE
ry 121 1 BK
PWM IFIIgfiBl 13 LEE
EE inn 14 LBF
A20B-1 000-0560 |1S[MCC I 15 LEE V

C=3 I=J [=1

v
T2
D2 U06G
CNl CN3 CN4 CN5 c:N6

s 2:
To position To power
control unit <vD) transformer
5= *=P
1 1
To motor
(Pulse coder
To position
control unit (Pulse coder)
%

jt.
1/
. >
x X X
TM3 n 2

> TM1
e on
r rn
cr. -< !
-
Ir ,;y

---
1
< c
I fO
I RM2 2 r r r
I 03
I 5 I to |
ho
Tl NFBl | li li 21 r I
71 O >
00 I MCC
i;
rfcs f

r
1 201
o- -UCOD-4
1
-o
21
o-i Af3
11 T
<
I
If 16 ,
1
I
IBI
I m I RM1 Tl
I l > El ri 2 5
To power I Cl + C2 C3 1* rr I
E o
AC ML 1200m hI 'C 2 I

_--- _
1
transformer 2 680m - 400V
r I k3 \AMA | 4 6
O- 400V r-
mm + O

l NFB2 0 IC2
MCC AC o 01 I E1 I I
2
o- 'V'o-J 1
HF"
r I
~K2 I
1
T
1
7
O
Motor
r-
I li li li to w to I
__ rr4 *8? r o 1I | 03
3 PI co B2
r -PC* Bl B3 L
1 l
,
PS
i;s| m 1 B
I RMl Im
-E I
1

ZNR
O
c 1 1 c 5! 3 03
To machine 1 MCC f
C2 I I I J
TH
SK MCC
MCC
A 2_o Q- A 1 n w
4
a 1 00A \MCC
I I

-i
2
H
z Oi o
X
< v

< s

Fig. 2.4.5 Connection Diagram for Velocity Control Unit

!
v
3. SETTING AND ADJUSTMENT FOR VELOCITY CONTROL UNIT

3.1 Setting and Adjustment for Velocity Control PCB

3.1.1 Parts location

(1) For Model 2-0 to 30R


(a) PCB A20B-1000-0560 (After edition number E)

CN4


9
-*

resistor

i
=5?
Si
n
k
'9.
flflB
"a
o
'9.
9
s9 ODf Tils
<</v
"9 fiiL.
9
9
:
9 =|O=KD
9 Bs- 0=0
cn
O
o
r
9
-o
"o
CN5

? 6 CN2

Fig. 3.1.1 (a)

Note: Parts location on PCB may be changed without notice.

- 29 -
(b) PCB A20B-1000-0560 (Edition number E)

CNl

RV4

o
o
m
o
o
i _
n /
1
Fuse
?
m CD
CN * y Fuse resistor
CN3

s ss
o S2U H IS 16
c.1o
C,T6V
c,fo
so 000
6 TON H 12 13 s
o
PRDV
1*9
s1: 6
20 HV
HC

c,Ho6 ovc
LV
c?o T
S2 1 TG
c,o DC

C,JO S28
N
RV 1 RV 2 RV3
c,lO DS
y alo m o
32
CJ
cuoov
cyo
ov
JO
D3oo S8S9 S 10
O o

$ 1
9 9
;o To Motor To NC
S 18
o -o
S30 n CNl
i ts CN2

Fig. 3.1.1 (b)

Note : Parts location on PCB may be changed without notice.

- 30
(c) PCB A20B-1000-0560 (Edition number C or D)

CNI

RV 1

o
0 -


o
o
i _:/ Fuse
y\

? 1=1
S
CM O Fuse resistor
CN.i

osu20 s ss
If 1516
BO
SO
SO
BO
rw
'"o
LR
noo
sss 0s O
I (IN 11 12 13
o :> PRDY HV <*
o
CH IS
HC
10O ovc
CH 1R LV <
*o S21 TO
6 DC
c,)6 S28
N
o RV I RV2 RV3

CH,o m TJ
CHtO DODD ODD p X p
ov
CH,o
ov
c,JO
S I
S7
S8S9 S 10
p X p
cro iSrD0D S 19 To Motor To NC
S 18
-O-
CNI
I 1 CN2

Fig. 3.1.1 (c)

Note : Parts location on PCB may be changed without notice.

- 31
(d) PCB A20B-1000-0560 (Edition number A or B)

I/IC'1
CN1

RV4

o
0
-o
in
a
o PI '
i _ Fuse
! _ (=
CD
ex
i J-y Fuse resistor
H h CN3

ODO
1,0 D
-Q s ss
'it
S2 14 1516
7 0
CII-V
16 o
CII+,5V
.sO DC LV TG HCHV
Cll +5V
14 O
CH En
ODD bb6dd'o
.3 0 sss
CHTWM
,=
CH ,T
o ! 1 1213 PRDY

1*0
CH IS
10
CII 1R
o
?o
CH T.
8O
CII S
70
CH "
RVl RV2 RV3
sO
CH
iO u u
c;o DODD

Q Q
ov
"o
CM OV
S4 S7ODD
"o
:o
S8S9 SlO
DD04> X
s s s To MotorlTo NC
Q

--
17 18 19
-O O

CNl
I ft CN2

Fig. 3.1.1 (d)

Note: Parts location on PCB may be changed without notice.

- 32
a

(2) Model 4-0, 3-0


(a) PCB A20B-1000-0590 (After edition number B)

FANUC MADE IN JAPAN

% + +
(AD
CN3
CH170
-15
CH16Q
+15 o
RV4
CH150
+5
(+5V ADJ)

CH14Q
ER
FI
CH130
TRW
CH120 OOOOO
IT LV TG HC HVPRDY
CHllQ S S
15 16 S10
IS (H) [ ]
CHIOO
1R (L)
(L) (R)

CH9 O
T
CH8 Q >
to
s (R)
3=
CH7 Q I IS8
R g
?
CH6 O S
VO

CH5 O

CH4 O
ov
CH3 O
0V
CH2 O

CHI O R
2X2

(H)
I
@

n
1
C
N
5
0
QCN1 Q3> RV3
&
F
.
MOTOR NC
+ C
N
[ 2
<I> (L)S1(R)

Fig. 3.1.1 (e)

Note: Parts location on PCB may be changed without notice.

- 33
(b) A20B-1000-0590 (Edition number A)

FANUC MADE IN JAPAN

+ + +
(ADCN3
CH170
-15
CH160
+ 15
o
RV4
CH15Q (+5V ADJ)
+5
CH140
ER FI
CH130
TRW
CH120 OOOOO
LV TG HC HVPRDY
IT
S S
CHllO
IS
15 16 S10

CHIOQ
1R
(H)
(L) OB [
(L)(R)
]

CH9 O
T
CH8 O >
S (R) O
[ ] 58 00
CH7 Q o
R o
CH6 O g
o
CH5 Q
CH4

CH3

CH2

CHI
0
ov
Q
OV
Q
O R
V
m
I
1

CN1 ID Q.
c
N
5
c
N

9

r
MOTOR NC
C
N
] 2
<I> (L)S1(R)

Fig. 3.1.1 (f)

Note : Parts location on PCB may be changed without notice.

- 34
(c) For Model 4-0, 3-0 (A20B-1000-0600)

CN3
RLY1 +5 ADJ

RV4

o
o
o
22
s<

"t
z
U FETA FETC FETE

FETB FETD

uu u
FETF
MCC

RP4 RP6

RP5 RP7
FS2

i
FS1 T1

Fig. 3.1.1 (g)

*
*

- 35
(3) Model 5-0
(a) PCB A20B-1001-0420

I T -12 4 / 03 | 1 5 10 CN3 15 20 25
B >
Z
A
C
I>
a
on m
i?o z
rH_15v
So +15V >
so +5V
-D
>
Z
CHQ
14 ER

SO
JTRW
1 HC HV OVC K

O O O O O O
9?0
12 IT LVTG PRDY >
so IS
S2S4 2 OAIFI ro
o
00

so 1R o
o
OMQ
9 I
T O
TOs !\)
O

9
TO
TO
C40R
(OV)
S3
I
TO Y 0
(OV)
% TO
(TSA)
0 9 0
TO
(VCMD) * *
**
0) CN5
<s> CN6
)L
CN1 SI
RV1 RV2 RV3 CN2

Fig. 3.1.1 (h)

Note : Parts location on PCB may be changed without notice.

- 36
-

(b) PCB A20B-1001-0410

T 4 1 2/0 3 1 5 10 15 20 25
B
CN3
A

L
>
o
H RV4 PI

-3 (+5V ADJ)i-
>
-o
>
z

n
>
z
c
o
L 1

r T >
L o
00

o
o
o
4*
o
MCC
-3

r
L i
Q
I
T1

FSI

Fig. 3.1.1 (i)

Note : Parts location on PCB may be changed without notice.

- 37
I

3.1.2 Setting terminal

(1) Model 2-0 30R -


(a) PCB A20B-1000-0560 (After edition number F)

Table 3.1.2 (a)

Setting Standard setting


Remarks
terminal
2-0,1-0 0,5 10 ) 20M 20,30 30R
SI L L L L L L TOH setting (Note 1)

S2 L L L L L L DC alarm setting (Note 2)

S6 H H H H H H
Compensation circuit setting
S7 H H H H H H

S10 H H H H H H TG alarm enable (Note 3)

Sll H H L L L H

S12 H H L L L H Current loop gain setting


S13 H H L L L H

S17 H H H H H L

S18 H L L L H H I Current limit setting

S19 H H H H H H

S20 H H H H H H Absolute code output enable (Note 4)

S32 L L L L L L Setting for absolute pulse coder (Note 5)

2-0,1-0,0,5,10, 20M, 20, 30, 30R


Setting
terminal Pulse coder Remarks
y
2000P 2500P 3000P

S8 L L H
Pulse coder F/V gain setting

m L
'r-r .
S9 > H L

S14 L I H H
Pulse coder pole number, and
S15 H L L pulse number setting

S16 H L H

- 38
Setting Standard setting
Remarks
terminal
2-0,1-0 0 5 10 20M 20,30 30R
S21
Compensation circuit setting
S22

S23 o o o VCMD gain setting (Note 6)

S24 o o o o o o o F/V circuit filter setting


S25 o o o o o o o
S26 Compensation circuit setting
S27

S28
S29

S30 External analog current limitter setting


S31 Connect CN1(19) pin and 0V
S33 o
OVC alarm level setting
S34 o
S35 o o o o
Current feedback gain setting (Note 7)
S36 o o o o
S37 Speed feedback gain setting (Note 8)
S38 o o o o Compensation circuit setting

** I

r
i

.-v'

- 39
B

(b) PCB A20B-1000-0560 (Edition number E)

Table 3.1.2(b)

Setting Standard setting


Remarks
terminal
2-0,1-0 0,5 10, 20M 20,30 30R
SI L L L L L TOH setting (Note 1)
S2 L L L L L DC alarm setting (Note 2)
S4 L L L L L
S5 L L L L L
Compensation circuit setting
S6 H H H H H
S7 H H H H H
S10 H H H H H TG alarm enable (Note 3)
Sll H H L L H
S12 H H L L H Current loop gain setting
S13 H H L L H
S17 H H H H L

S18 H H H H H Current limit setting


S19 H H H H H
S20 H H H H H Absolute code output enable (Note 4)
S32 L L L L L Setting for absolute pulse coder (Note 5)

2-0,l-0,0,5,10,20M,20,30,30R
Setting
terminal Pulse coder Remarks

2000P 2500P 3000P

S8 L L H
Pulse coder F/V gain setting
S9 H L L
S14 L H H
Pulse coder pole number, and
S15 H L L pulse number setting
S16 H L H

- 40 -
Setting Standard setting
Remarks
terminal
2-0,1,0 0,5 10, 20M 20,30 30R

S21
Compensation circuit setting
S22

S23 o o VCMD gain setting (Note 6)

S24 o o o o o F/V circuit filter setting


S25 o o o o o
S26
Compensation circuit setting
S27
S28

S30 External analog current limitter setting

(c) PCB A20B-1000-0560 (Edition number C or D)

Table 3.1.2 (c)

Setting Standard setting


Remarks
terminal
2-0,1-0 0,5 10 20,30 30R

SI L L L L L TOH setting (Note 1)


S2 L L L L L DC alarm setting (Note 2)
S4 L L L L L
S5 L L L L L
Compensation circuit setting
S6 H H H H H

S7 H H H H H

S10 H H H H H TG alarm enable (Note 3)


Sll H H L L H

S12 H H L L H Current loop gain setting


S13 H H L L H

S17 H H L L L
S18 H H H H H Current limit setting
S19 H H H H H

S20 H H H H H Absolute code output enable (Note 4)

- 41
2-0,1-0,0, 5,10, 20, 30, 30R
Setting
terminal Pulse coder Remarks

2000P 2500P 3000P

S8 L L H
Pulse coder F/V gain setting
S9 H L L
S14 L H H
Pulse coder pole number, and
S15 H L L pulse number setting

S16 H L H

Setting Standard setting


Remarks
terminal
2-0,1,0 0,5 10 20,30 3OR

S21
Compensation circuit setting
S22

S23 o o VCMD gain setting (Note 6)

S24 o o o o o F/V circuit filter setting

S25 o o o o o
S26
Compensation circuit setting
S27

S28

d) PCB A20B-1000-0560 (Edition number A and B)

Table 3.1.2 (d)

:r Setting Standard setting


Remarks
terminal
2-0,1-0 0,5 10 20,30 3OR
SI L L L L L T0H setting (Note 1)

S2 L L L L L DC alarm setting (Note 2)

S4
S5
All H or All L Compensation circuit setting
S6

S7

S10 H H H H H TG alarm enable (Note 3)


Sll H H H L H
S12 H H H L H Current loop gain setting
S13 H H H L H
S17 H H H H L

S18 H H H H H Current limit setting


S19 H H H H H

- 42 -
2-0,1-0,0,5,10, 20, 30, 30R
Setting
terminal Pulse coder Remarks

2000P 2500P 3000P

S8 L L H
Pulse coder F/V gain setting
S9 H L L

S14 L H H
Pulse coder pole number, and
S15 H L L pulse number setting
S16 H L H

Note 1. If either power transformer or regenerative discharge unit is


connected across terminals CN2 (4) and (5), set SI to open (L side).
If neither power transformer nor regenerative discharge unit is
connected across terminals CN2 (4) and (5), set SI to short (H
side) .
Note 2. Set S2 to open (L side) , if the regenerative discharge unit is not
mounted, and set it to short (H side), if the regenerative discharge
unit is mounted.
Note 3. Set S10 to L side, if it is needed to check with motor power cable
disconnected.
Note 4. If S20 is set at L side, absolute codes from the pulse coder is
output to NC while VRDY is on. If VRDY is turned OFF, the alarm
code is output. If S20 is set at H side, the alarm code is always
output .
Note 5. When the absolute value pulse coder is used, set S32 at H side.
!
Note 6. If S23 is short-circuited, 7V/2000 rpm will be set. If it is open,
7V/1000 rpm will be set. If models 10, 20, and 30R are used over
1500 rpm, change the above settings and NC parameters (loop gain
multipliers) .
Note 7. Models 0, 5, 10, and 20M only may be short-circuited. If S35 and
S36 are short-circuited, conversion of current feedback signals
(CH10, 11, 12) is 0.183 V/A.
Note 8. If S37 is short-circuited, the rate feedback voltage is changed from
3V/1000 rpm to 1.5V/1000 rpm. Normally, set it in the open state.
Note 9. The way of setting is shown as following figures.

* )H
Setting plug
J)L )L
(a) Setting of H side (b) Setting of L side

- 43 -
(2) For Model 4-0, 3-0 (PCB A20B-1000-0590)

Table 3.1.2(e)

Pulse coder
Setting terminal Remarks
2000P 2500P
SI R TOH setting (Note 1)
S8 R OPEN Pulse coder F/V Gain
S10 L TG alarm enable (Note 2)
S15 L L Pulse coder
S16 L H
Pole number, pulse number setting
S20 L L

Note 1. If power transformer is connected across terminals CN2 (4) and (5),
set SI to open (R side) .
If power transformer is not connected across terminals CN2 (4) and
(5), set SI to short (L side).
Note 2. Set S10 to R side, if it is needed to check with motor power cable
disconnected.
Note 3. If the absolute pulse coder is used set S32 at H side.
Note 4. The way of setting is shown as following figures.

il)H
Setting plug
EDL 0|)L
(a) Setting of H side (b) Setting of L side

<
FI Pol
L R L R
(c) Setting of L side (d) Setting of R side
(3) For Model 5-0

Terminal setting Standard setting Remarks


SI L TOH setting (Note 1)
S2 L Pulse coder setting (Note 2)
S3 L Absolute pulse coder setting (Note 3)
S4 L TG, OVC alarm desable setting (Note 4)

Note 1. If the power transformer connected to CN2-(4) and (5), set SI at L.


If there is no connection, set SI at H.
Note 2. If the pulse coder is lOOOP/rev, set S2 at L, and if 2000P/rev, set
it at H.
Note 3. If the absolute pulse coder is used, set S3 at H, and if not used
set it at L.
Note 4. If TG and OVC alarms are made invalid, set S4 at H.
Note 5. If a lOOOP/rev pulse coder is used, .care should be taken in DMR
setting. (DMR setting should be double that in a normal 2000P/rev
pulse coder.)

- 44 -
T
.

3.1.3 Variable resistor t

Table 3.1.3

Volume Standard setting Remarks


RV1 40% Gain setting
RV2 Offset voltage adjustment
RV3 Tachogenerator voltage adjustment
RV4 +5V power supply fine adjustment

Note 1. RV2-RV4 have been adjusted before the shipment from works.
Note 2. RV4 is not employed after edition number F of PCB A20B-1000-0560.

- 45 :*
3.1.4 Check terminals

Check
Symbol Description
terminal

CH 1 0.687 x velocity command voltage (Note 1)

2 0.8 x velocity feedback voltage (Note 2)

3 OV OV

4 OV OV

5
Compensation circuit
6

7 R R-phase current command

8 S S-phase current command

9 T T-phase current command

4V/A for motor 5-0


10 IR R-phase current feedback 2.4V/A for motor 4-0, 3-0
0.85V/A for motor 2-0, 1-0
11 IS S-phase current feedback 0.25V/A for motor 0,5,10,20M
(Note 3)
12 IT T-phase current feedback 0.125V/A for motor 20, 30
0.1V/A for motor 30R
13 TRW Traiangle wave (Note 4)

14 ER Error voltage (Torque command)

15 +5V +5V

16 +15V +15V

17 -15V -15V

18 10RF 10V reference voltage

Note 1. a = 0.344 when VCMD is 7V/1000 rpm


a = 0.687 when VCMD is 7V/2000 rpm
Note 2. Motor Model 4-0 - 30R: 2.4V/1000 rpm
Motor Model 5-0 : 1.2V/ 1000 rpm
Note 3. 0.183V/A after edition number F of PCB A20B-1000-0560 .

- 46
23

Note 4. Triangle wave

1 2 + 1.5V

36030j!Zsec

Note 5. Motor load currents (peak values) can be monitored using the same
conversion as CH10-12. Effective value can be obtained by
multiplying l//2~.

- 47
'4 '

\
3.2 Block Diagram of Velocity Control Unit

'

AC servo moter
Current detector
-c>
AC

$ m
Control
circuit
(Pulse coder)
detector

5,
A.
<: t- -s T <; t "V

V Current command
CH7
Q R
l *1 + *2
CH5CH6
oo
I
Velocity
command
. r+
CHI ? CH8 -
1
IR
OCH1 0

VCMD from
position
+ 2! +
IS
*2 PWM
driver

control CH2 O Torque O CHI 1


V
v unit
F/V
command
CHI 4 O
ER *-
*1
+
*2
l
Rotor position
o
CH9
IT,
CHI 2
i
Triangle wave O

calculation
circuit
T
4 , generator
circuit
.CHl 3

Toposition Drive Receover


control unit circuit circuit \

*1: Multiplication circuit


<? *2: Amplifier circuit
Fig. 3.2

>
i
i
4. TROUBLESHOOTING

4.1 Protection and Fault Detecting Functions

The AC servo unit provides the following functions to protect the motor
from being overloaded and also detecting abnormal conditions inside the servo
loop.

Table 4.1

No. Kinds of functions Indications Description

1 Overload Contacts' signal If the temperature of the radiation fin of the


comes out at unit exceeds the set value to operate the
connector CN1 thermostat or if the thermostat of power
transformer operates, or if the thermostat of
motor operates, this overload alarm is
generated.

2 Velocity feedback Light-emitting If the feedback cable is disconnected, TG lamp


disconnection diode (LED) TG lights. If a motor does not make a speedy start
detection lights because of extremely large motor torque, the
motor is stopped by dynamic braking with this
alarm lamp lit.

3 No -use breaker On button of NFB If an abnormal current exceeding the operating


is protruded current of no-fuse breaker flows, this NFB
operates, causing the motor to be stopped by
dynamic braking.

4 High voltage alarm LED HV lights If the DC voltage of the main power supply is
abnormally high, the motor is stopped by dynamic
braking with HV lamp lit.

5 Low voltage alarm LED LV lights If control voltage is abnormally low, or if the
fuse for +5V on the PCB has blown out, the motor
is stopped by dynamic braking with LV lamp lit.

6 Circuit faul LED HC lights If abnormal current flows to the main circuit,
Detection the motor is stopped by dynamic braking with HC
lamp lit.

LED DC lights If the regenerative discharge circuit becomes


defective, the motor is stopped by dynamic
braking with DC lamp lit. If the acceleration/
deceleration rate is too high, DC lights.

7 Overcurrent alarm LEC OVC lights If current exceeding specified value is


continuously applied longer than a certain time,
the motor is stopped by dynamic braking with OVC
lamp lit.

.i - 49 -
4.2 Troubleshooting

Troubleshooting and fault recovery are discussed in this section. The


manual should be used to determine the causes of problems.

(1) Overload alarm

Item Causes of troubles Check procedures Countermeasures

1 PCB setting failure Check if setting pin SI of Set SI properly.


PCB is set as specified.

2 Thermostat of the servo Remove the wires connected Change the cutting conditions.
transformer is to transformer terminals 51
operating and 52 and measure the
resistance across them.
(See section 2.3.2.)
The normal value is 10 ohms Replace the transformer.
or less, if the circuit is
open (more than lOOkft) , the
thermostat is operating.
If the thermostat is
operating and the surface
temperature of the
transformer is 80 to 90C,
check the motor current
during cutting. If the
surface temperature is 60
or less, the transformer is
defective.

3 Radiation fins of the Check the motor current. Change the cutting
unit are overheated. conditions.
4 Thermostat of the servo Check the motor current. Change the cutting
motor is operating. conditions.

- 50
(2) TG alarm

Item Causes of troubles Check procedures Countermeasures

1 Motor power line is not If TG alarm occurs without Reconnect power cable.
connected to terminals giving any move command
(5), (6), (7) of after turning on the power
terminal board T1 of supply, it may possibly be
velocity control unit, caused by the disconnection
or the motor power line failure.
is disconnected
halfway.

2 PCB setting failure Check the set condition Change the setting properly.
according to 3.1.

3 Pulse coder feedback Check the feedback cable. Reconnect .the feedback cable.
signal is disconnected

4 Motor current exceeds Check the motor current. Change the cutting
Note the ratings conditions.

Note) OVC alarm is detected after PCB A20B-1000-0560 edition number is d.

(3) Circuit breaker operates

Item Causes of troubles Check procedures Countermeasures

1 Circuit breaker is The operating condition of Reset the circuit breaker


operating the circuit breaker is as after turning off the power
illustrated below. supply. (If the circuit

<8 n This button is


/protruded forward
breaker cannot be reset soon,
wait for about 10 minutes
during operation. before resetting it).
Depress this button
after turning off
the power supply
for resetting the
circuit breaker.

2 Diode module DS or The circuit breaker operates Replace diode module DS or


other parts are just when turning on the velocity control unit.
defective in velocity power supply after
control unit countermeasure in Item 1.

3 Mechanical load is Observe PCB CH10, CH11 or Eliminate abnormal load of


abnormal CH12-CH3 on an oscilloscope the machine side.
to check if the load current
of the motor exceeds the
rated current during rapid
traverse mode.

- 51
(4)

Item

HV alarm

Causes of troubles Check procedures Countermeasures

1 Input AC power voltage Check if the servo Repair tap connection


is higher than transformer taps are
specified properly connected.

2 Servo motor is Check if the insulation Replace motor


defective resistance is normal between
the motor armature (power
line) and the body.

3 Load inertia is Increase the acceleration/


excessive deceleration time constant

4 PCB is defective HV alarm occurs without any Replace PCB


defect in Items 1, 2, 3.

(5) LV alarm

Item Causes of troubles Check procedures Countermeasures

1 Input AC power voltage Check if the input AC power Correct the tap connection
is lower than specified voltage and tap connection
of servo transformer are
correct.

2 Connection failure Check if + 24V, 5V, and +5V Correct connections


between servo of PCB are normal. Check if
transformer and PCB CN2 servo transformed terminals
41 - 49 (AC 18V) and PCB CN2
(1, 2, 3) are connected
properly.

3 Fuse for +5V is blown check if the fuse for +5V is Replace the fuse
blown.

4 PCB is defective The LV alarm occurs without Replace PCB


any defect in item 1, 2, and
3.

A*

- 52
(6) HC alarm

Item Causes of troubles Check procedures Countermeasures

1 Wrong connection of HC alarm does not occur when Reconnect the motor power
motor power line turning on the power supply line correctly.
after disconnecting the If the motor power line is
motor power line, checked with disconnecting
(Since the gravity axis may it, set setting terminal S10
drop in this case, support to L side, otherwise TG alarm
it or disconnect the drive occurs.
cable of gravity axis brake)

2 Transistor module is Check if HC alarm occurs Replace transistor module.


defective when turning on the power *Check resistance between
supply after disconnecting Cl-El, C2 also between El,
the power line according to C2-E2.
item 1. **Check resistance between
Turn off the power supply, Cl-El and also between
remove PCB, and observe the C2-E2.
right terminal of the
transistor module by a
circuit tester.
The transistor module is
defective, if the resistance o Cl
Cl Bl
between terminals is several Bl Cl
ft (within 10ft). El ,C2 C2
B2 B2
E2 E2

(H 103.HI 13)(HI 04 , H00S )

3 Internal short-circuit Check motor windings for Replace motor


failure of motor normal insulation.
windings

4 PCB is defective If HC alarm occurs without Replace PCB


any defect in items 1, 2, 3,
PCB is defective.

*
- 53
(7) DC alarm

Item Causes of troubles Check procedures Countermeasures

1 Discharge transistor Ql DC alarm occurs soon after Replace transistor Ql.


is defective or PCB is turning on the power supply. Replace PCB.
defective

2 PCB setting is improper Setting terminal S2 is set Set S2 properly


to L side although the
separate regenerative
discharge unit is used.

3 Frequent acceleration/ Check if the positioning Decrease the acceleration/


deceleration frequency exceeds 1-2 deceleration frequency by
times/sec at high speed. In providing the dwell
this case, DC alarm will not
occur when the positioning
frequency is reduced.

(8) Servo ready signal is not output

Item Causes of troubles Check procedures Countermeasures

1 AC 100V is not supplied Check if AC 100V is supplied Check the emergency stop
to velocity control across terminals No. (3) and button on the operation panel
unit (4) of terminal board T1 of
velocity control unit.

2 The velocity control Check if red alarm LED For countermeasures against
unit is in alarm status indicators light on PCB or these alarms, see (2),
not. (4)-(7)

3 PCB control power Check the voltage at check Change the tap connection of
voltage +5V or +15V is terminals CH15, CH16, servo transformer.
abnormal CH17-CH3 on PCB mounting Correct the connection
diagram. between servo transformer and
Check the connection between PCB CH2, and replace PCB.
servo transformer terminals
and PCB CH2.

4 Hybrid IC M2 or relays Check if relays RLY1 and Replace PCB


RLY1, RLY2 of PCB are RLY2 are operating.
defective

5 Circuit breaker off Check the indicating button See (3).


circuit breaker.

- 54 -
(9) Motor does not rotate when the move command is given.

Item Causes of troubles Check procedure Coun t ermea sure s

1 Power line is not 1G alarm occurs and the Connect the power line
connected motor does not rotate at properly
all.

2 Enable signal (ENBL1, Check enable signals


ENBL2) are not applied (ENBL1, ENBL2)
to PCB

3 PCB is defective or PCB Check if +24V, +15V, and +5V Replace PCB or reconnect the
is not properly on PCB are normal. cable properly
connected

4 Velocity command Observe PCB CHI (VCMD)-CH3 Give the velocity command
voltage (VCMD) is not (GND) on an oscilloscope. voltage (VCMD)
applied

(10) OVC alarm


(This protection is applied from edition number C of velocity control PCB
A20B-1000-0560.)

Item Causes of troubles Check procedure Countermeasures

1 Feedback signal of Check feedback cable Connect the feedback cable


pulse coder is not connection.
connected

2 Motor current exceed Check motor current. Change the cutting condition
nominal value

- 55
5. PARTS SPECIFICATIONS AND LOCATIONS ON VELOCITY UNIT

5.1 Model 5-0 Velocity Control Unit (A06B-6050-H301)

a nr El
m m

Ui
ON s

;
0 fvELOCITY CONTROL UNTrl
[A06B- 6*050 -H30T|
|FANUC LTD MADE IN JAPAN]
e
B 5
160 160 max -

Fig. 5.1
y

5.2 Model 4-0, 3-0 Velocity Control Unit (A06B-6050-H001)

210

L o
M
oEI
m Resistor module
m 0 0@i to
H G
A40L-0001-0160
&
I
Ln
HI @
8 Capacitor
I
o A42L-0001-0121
RT
q
O si
O ttJ
i r Terminal block
kn ny
A65 L-000 1-0135/104
160 max

Fig. 5.2

\
5.3 Model 2-0, 1-0, Velocity Unit (A06B-6050-H002)

230
A n Holder
Transistor module A98L-0001-0358
A50L-0001-01 11
n
tF Resistor
A40L-0001-
Connector
01 18/40W502 3 A63L-0001-0222/A1

Diode module IDT


A50L-2001-
0134
Spacer
P
I
C/i
/ A98L-0004-0069/6N
00
Magnetic contactor Heat sink
l Resistor module
5 A40L-0001-0147
A58L-0001-01 80
3UUUO A50L-6001-0240
O
H Spark killer Surge absorber

[3
A74L-0001-
0008/10D50
3RHHBJ A50L-2001-0139
Capacitor
Circuit breaker 37 A42L-0001-0121
3
3 A60L-0001-0143/15A o o
3 Terminal block
3
3
J A65L-00010134

P.C.B
SA nS
f
5 Fig. 5.3
150
160 max

!
5

5.4 Model 0, 5 Velocity Unit (A06B-6050-H102)


2 2 5

I
l
ijs *\

> \
1 Holder
A98L-000 1 - 0358
I loj
I
I
Thermostat
I
i A57L 0001-00-13 100 $ 4 Transistor module
i
i A50L-0001 0091
Resistor module
A40L-I0001-0144
I
I
i Capacitor
l Diode e
A42L- 000 1-0100
A50L-200 1-0135
I Transistor
I
I Diode module A50L 000 1 -0097
I A50L 2001 -0175
I
i ' D Connector
l
Ln
VO
I
I
I
J A63L000 1 -0222/Al
o
to
Heat sink
\ A50L-600 1 -0262
Spacer
/
Magnetic ar s A98L-0004 -0069/6N

n
i \
contactor
l
i
\
O i
/ i Resistor module
/ A58L-000 1-0197
\
Capacitor I A4 0L-000 1-0178
A40L 0001
n
31
-0132/681
r;
l
i
\
i
fo
/
\ / P.C.B T T
\ / Surge absorber Circuit breaker U Terminal block
A50L-200 1 -0139 A60L-000 1 -01 43//15A A65L-000 1-0134
r 1

i
A 1 2 3 4 5 678
L J

JL r Fig. 5.4 \\
.
Ui

1 50
/SI I
:
i 6o max.
t

/
5.5 Model 10 Velocity Unit (A06B-6050-H103)
2 2 5 Terminal board
A65L-0001 -0244/A
Holder
I
A98L-0001 -0358
I a i
tZ3

Thermostat <9 Transistor module


n
O

A57L-000 1 -004 3/1 00 A50L-000 1 -0091


il! i
Diode
i

i A50L-200 1 -0097/U06G
i
i
* Resistor module
A40L- 0001-0144

e 9 \ Capacitor
A50L-200 1 -0 1 3 5 " A42L-0001-0100

!
Diode module
A50L-2001 -0175
'O Connector
A63L-0001 -0222/Al

l
ON
xn Transistor
A50L-000 1 -0097
o o
m
I i I 0. Heat sink
I T

Ii
/'
Capacitor
A42L-0001 H tttltid A50L-600 1 -0262

-0132/681
/ Magnetic 2 >
Spacer
c oI
\

contactor < 2D
nmnffl
i i
i

A58L-000 1 -0 1 97 A98L-0004-0069/6N
\ sQ
/
Capacitor Yin OZL 7D Resistor module
A65L-000 1-0177
/ A42L-0001 1(0 9 0
-0132/122
/ H
I
I
i
\
y o:y Surge absorber
P.C.B Breaker
I I Terminal board
\ A65L-000 1-0134
A50L-2001 -0139
A60L-0001-0143/15A
l 1
i
A123456 78
i l

En fy
Fig. 5.5 150

i 6 o max.
5.6 Model 20M Velocity Unit (A06B-6050-H113)

225 max. Thermostat A57L-000I -0043/ I 00


Resistor module Transistor module A65I -000 I -0P24/A I
A40L-000 I -0I44 Diode A50L-200 I -0097/U06G

U A60L-000 I -026 I o Transistor module A50I -000 I -009 I


Capacitor A42L-000I -0I00
1 (_ Connector A63L-000I -0222/AI

mm
P.C.B
Diode A50L-200 1-0135
I Diode module A50L -2001-0175

I]
Capacitor is i r Transistor A50L-000I -0092
A42L-000 I -0132/68 I
i
0 Magnetic
contactor A58L-QQ0I -0?36

I
O'
o
in

J
L | Capacitor
A42L-000 I -0132/122
E D 0 &' isnl

Breaker A60L-000I -0I43/I5A


i
l i lol O /
i Surge absorber Resistor module A40L-000I -0177
A50L-200I -0139
Holder A98L-000 I -0358
l rrn rrri
L9i
\ sJ'
Spacer
A98L - 0004 -0069/6N
?IH a
r

i
--- 1

1
i
Terminal board A65L-000I -0134

A I 2345678
im
yji rb
150

160 max.

Fig. 5.6

V
5.7 Model 20f 30 Velocity Unit (A06B-6050-H104) \ylC* 'f
2 2 5

"T
I Terminal board
A A Holder

A65L-000 1 -0244/A
r n A98L-000 1-0358
V-TTT-
Thermostat Transistor module
""1
A57L-000 1-0043/100 A50L-000 1 -0 1 18

Resistor module Diode


. A4 0L-0001-01 1 1
A50L-200 1 -009 7/U06G

I
O'*
hO

I
o
in
_ I I J

Capacitor
/AA4 2L-0001
M
Diode
A50L-2001-0135

Diode module
A50L- 2001-0175
n

u
4J
v _
9

L*
Capacitor
A42L 0001 0100
Transistor
A50L-000 1-0097

Connector
A63L-000 1 -02 2 2/A 1

Heat slunk
A50L-600 1-0261

-0132/681 Spacer
Magnetic >
1 *
contactor A98L-0004 -0069/6N
Q O 3D
HH
1
i
\ / A58L-000 1 -0197
/

Capacitor
6D * Resistor module

.
/ A42L-0001
-0132/122
- Q n
IQ 9Q
A40L-000 1-0176

\
iQ ii
vSI
\
O; /
Surge absorber
\PC.B
Breaker
A60L-0001 -0143/1 5A
r~i i r~r~i Terminal board
.I

s. /
A50L-2001 -0139 X A65L-000 1-0134
!I 1
i I
i i A 1 23 45678
I I

I Fig. 5.7
tn fB
I 150

16 0 max.
5.8 Model 30R Velocity Unit (A06B-6050-H0050)
240
Fan
A90L-0001-0100/A
n n Holder A98L-0001-0358
: Q-
Terminal block
A65L-0001-0234/3P01 Diode A50L-2001-0097/U06G
'CL
Thermostat C'

if A57L-000 1-0043/80 U~\ Connector A63L-0001-0222/A1


Resistor
module
Diode module O O
A40L-0001-
0155
3 A50L-2001-0134
o o
u i i
Transistor
module A50L-0001-0103
Diode
O O
A50L-2001-0135 V7 O O Spacer
I A98L-0004-0069/6N
as ft
U)
o
Capacitor Transistor
l Capacitor A42L-0001-0100
'A42L-000 1-0128 A50L-0001-0097 O O
-0121 \A/
r r"j

r-i
I--4
J.J -i
i
Magnetic contactor
Heat sink A50L-600 1-0242
Spark killer A74L-000 1-0008/1 0D50
A58L-0001-0181
Surge absorber A50L-2001-0139

=e Rnnflfi
Circuit breaker A60L-0001-0143/20A
\ P.C.B. Qlva TgJw

r : ! ! 5 1 II II II II II II II
2n IM
Terminal block A65L-000 1-0280

150
Fig. 5.8
160 max

\
r

5.9 Model 0, 5, 10 Velocity Unit (A06B-6050-M003)


230
Terminal block
A65L-0001-0234/3P01
n n Holder A98L-0001-0358
Q
''-CD-''.
Thermostat Diode A50L-2001-0097/U06G
A5 7L-000 1 -0043/ 1 00 O O
Connector A63L-0001-0222/A01
Capacitor Transistor
Resistor module A42L-0001-0106 module A50L-000 1-0091
A40L-0001-0144
O O
3 Transistor A50L-000 1-0097
Diode module
A50L-2001-0134 Spacer A98L-0004-0069/6N
l Diode
U V7
Resistor module \TL7
O'
A40L-0001-0146
A50L-2001-0135 Heat Sink A50L-6001-0241
I
5:
o
J

r Magnetic contactor
ribHHH
O O
A58L-0001-0181 Capacitor A42L-0001-0122

E Spark killer
InmB Surge absorber A50L-2001-0139

E A74L-0001-0008/10D50 %nf@n LT7=1 Capacitor A42L-0001-0121


E n
E Circular breaker
o o
Terminal
A60L-000 1 -0 1 43/ 1 5 A block A65L-0001-0134
E
E P.C.B.

Ky
f
1 150

Fig. 5.9 1 60 max


5.10 Model 20, 30 Velocity Unit (A06B-6050-H004)

230 Terminal block n n


A65 L-000 1-0234/3P0 1
Thermostat
- [H=r=ll D
Holder A98L-0001-0358

Diode A50L-2001-0097/U06G
A5 7 L-0001-0043/ 100
Connector A63L-000 1-0222/A 1
Diode module O O
O O
A50L-2001-0134 Transistor
module A50L-0001-0103
Diode
/2\
0
A40L-0001-0144 A50L-2001-0135
K7 oO O Capacitor A42L-000 1-0 1 00
ZD o
Transistor
A50L-000 1-0097
Spacer A98L-0004-0069/6N
I
Resistor module Z7L7 O O
Magnetic contactor
Heat sink A50L-600 1-0242
Un

I
5:
o A5 8L-000 1-0181 rftltftJH
H O
Capacitor A42L-0001-0122

E A40L-0001-
0145
Spark killer
A74L-0001-0008/1 0D50 InmE Surge absorber A50L-2001-0139
E T
Circuit breaker Capacitor A42L-0001-0121
E o o
E A60L-0001-0143/15A
a

E Terminal block A65L-0001-0134


E
P.C.B.
En
r 150

Fig. 5.10 160 max

\
II. AC SERVO UNIT FOR 2 AXES

This chapter describes the maintenance of AC servo unit for 2 axes which
drives AC servo motor Model 2-0, 1-0, 0, 5.
Combination of two motors are described in Table 1,1.1. Refer to Table
1.1.1.

I
1. STRUCTURE

The AC servo unit for 2 axes consists of the velocity control unit and
power transformer. Three types of velocity control units are available
according to the combinations of AC servo motor models employed. One velocity
control unit applies to two servo motors. The specifications of the power
transformer are the same as those of a power transformer employed when two
servo units for one axis are used according to the combinations of motor
models.
Fig. 1.1 shows a configuration example in an NC system of 2 controlled
axes.
I
AC servo moter

X axes
Transducer
NC control Velocity control
unit unit
(2 axes type)
Z axes
Transducer

3-phase input
power supply Power transformer

Fig. 1 A Configuration Example of Using AC Servo Unit for 2 Axes

- 69 -
1.1 Types of Units and Designated Specifications

Table 1.1 (a) Types of Units and Designated Specifications

Applicable motor
Name Specifications Remarks
L axis M axis

2-0/ 1-0 2-0/ 1-0 A06B-6050-H201


Velocity
control 2-0/1-0 0/5 A06B-6050-H202
unit
0/5 0/5 A06B-6050-H203

Refer to 2.1 in Chapter 2 in the descriptions


Power transformer
for FANUC AC SERVO MOTOR series (B-54762E).

Input connector (Note) A06B-6050-K200 Soldering type

Note : The input connector is used for the cable connected to the velocity
control unit, and it comprises the following parts. One set of the
input connector is required for 2 axes.
Parts contained in the input connector (soldered type) are indicated
in the Table 1.1(b).
Parts contained in the input connector (crimp style type) are
indicated in the Table 1.1(c).

Table 1.1 (b) Parts Included in Input Connector

Name Q'ty Use Model FANUC specifications


Connector + cover 2 CN1L ,M MR-20LFH * A63L-0001-0134/02
Connector + cover 2 CN5L ,M MR-20LWMH * A63L-0001-0134/ 15
Connector + cover 2 CN6L,M MR-20LWFH * A63L-0001-0134/05
Housing 1 CN2 SMS6PW-5 ** A63L-0001-0202/6W
Pin 5 CN2 RC16M-SCT3 ** A63L-0001-0226

* Manufacturer: HONDA Tsushin Co., Ltd.


** Manufacturer: Burndy Japan Ltd.

- 70 -
Table 1.1 (c) Parts Included in Input Connector (Crimp style type)

Name Q'ty Use Model FANUC specifications


Connector + cover 2 CN1L,M,N MR-20L, MRP-20F01 * A63L-0001-0134/22
Connector + cover 2 CN5L ,M,N MR-20LW, MRP-20M01* A63L-000 1-0134/35
Connector + cover 2 CN6L ,M,N MR-20LW, MRP-20F01* A63L-0001-0134/25
Contact 80 CN1 , 6 MRP-F112 * A63L-0001-0134/F112
Contact 40 CN5 MRP-M112 * A63L-0001-0134/M112
Housing 1 CN2 SMS6PW-5 ** A63L-0001-0202 /6W
Pin 5 CN2 RC16M-S23A ** A63L-0001-0127/S23A

* Manufacturer: HONDA Tsushin Co., Ltd.


** Manufacturer: Burndy Japan Ltd.

71
2. CONNECTIONS

2.1 Connection Diagram

Note 1. For details of cables K1 -


K7, see 9.1.1 9.1.7.
Note 2. Connections of cables K1 and K7 differ according to NC control unit.
For details, see the connecting manual for each NC.

0 o: CN6L
CN5L
CD 0
0 D] CN6M
CN5M
CD
Tl
-
0
A
NC control unit
0 ] CN1L Velocity
1

2 Machine tool
D] CN1M control
unit for 3
1
0: 2 axes.
4 \ Servo motor
N5
I
CN2 5L
6L
0 Trans
ducer

Electromagnetic
0 7L
5M
0
contactor Fuse
6M Servo motor
LC F 7M Transducer
Power
source
AC 30 V

U
o
-0-0 Power
4>
W transformer
O O -OO-

Terminal screw M4

(When 3.5mm2 cable is used, , 0 Emergency stop


EMG
AC100V
+1 0<f>
use crimp style terminal
5.5-S4)

0
4- 0 -1 5#
l <t>
unit

Tr
..
_____
2.2 Detailed Servo System Connection Diagram

2.2.1 Details of connections of cable K1

NC control

MXXXm l
y2--
.__s

l
VCMDL.Mj CN1 L,M(7)
ECL,M?~CN1L,MW
Y

0VL1L.M CN1L,M(3)
0VL2L,MT CNIL.MQO
Velocity control unit

AA/V
AA/V
cr
>-
AAA.

VRDY1L,MY CN1L,M(4)
VRDY2L,Ml CN 1 L,M(Tfl
ENBL1L,mY CN1 L,M(2)

-- A
A/W
ENBL2L,MX X
CN1L,M(1$,
l X
-0 -
PRDY2L.MI
PRDY 1 L,Ml CN1L,M(1) +24V
WV
CNlL,M(l4 X
77"
ALMl L,Ml CN1 L,M(8)
*ALM2L,Ml CN1L,M(9) /
* ALM4 L,MY CNIL.MM
ALM8L,MY CNIL.MX
*
COML.MY CN1L,M(13 2
Cable employed: Connector MR20LFH (Honda Tsushin Co., Ltd.)
VCMD/EC; 0.1~0.18mm2 paired (For the connector terminal arrangement, see 8.4)
shielded cable
Other cases; 0.18~0.3mm2 200V
vinyl wire

Vinyle sheath

Shield - OX ; OUN Twisted pair


Paper tape o
oyj \3 ( o /

& i

o
IMM
/AV
l
9)/
\
5]
/,

Drain wire
Cotton fiber

Fig. 2.2.1

- 73 -
2.2.2 Details of connections of cable K2

Power transformer Velocity control unit


1st 2nd 3rd
unit unit unit
\
41 44 47 18A CN2 (1)
42 45 48 CT CN2 (2)
43 46 49 1 8B CN2 (3)

51 TOHl CN 2 (4)
52 T0H2 CN2 (5)

Connector SMS6PW-5
Screw terminal M4 employed RC16M-SCT3
}(Burndy Japan Ltd.)

Fig. 2.2.2

2.2.3 Details of connections of cable K3

Power transformer Velocity control unit


31 34 R T1(A)
R
32 35 S Till)
<n>
S
33 36 T Tl (2)
T
G_
<n>
Jr Jr
Screw M4 \ \
Screw M4

(Cable employed: 2.0mm2, 600V heat-resistive vinyl wire)


Fig. 2.2.3

2.2.4 Details of connections of cable K4

Cabinet Velocity control unit


1 00B Tl (3)
AC 100V
10 olloEMG
1 00A Tl (4)

Contact OFF at
emergency stop
Screw M4
(Cable employed: 0.75mm2, 200 V vinyl wire)

Fig. 2.2.4

- 74 -
2.2.5 Details of connections of cable K5

(1) Model 2-0, 1-0

Velocity control unit


T1 (5L,M) 1
-6- O
T1 (6L,M)
Tl (7L,M )
-6- <U3 Model
<> 2-0

G
1 -0
*
Screw M4
(Cable employed: 30/0.18 (0.75 mm2)
\ / RM15WTP-4S-(10)
* Hirose Electric Co.
Guide key
4-conductor vinyl cabtyre cable

Fig. 2.2.5 (a) 40 Ol


3 0 02
(2) Model 0 and 5

Velocity control unit


Tl ( 5L,M) I
Tl (6L,M)
-6- A
B
/
-6- <> Model

---
Tl ( 7L,M) C
6 <> 0,5
6
G G D
3 -6
T-O
*
Connector employed
i MS3106B18-10S (Straight type)
Screw M4 l MS3108B18-10S (Elbow type)

Cable clamp MS3057-10A


Cable employed: 2.0mm2 (37/0.26)
Guide key
4-conductor vinyl cabtyre cable .
Fig. 2.2.5 (b)
DO OA

CO OB

75
2.2.6 Details of connections of cable K6

Velocity control unit Motor


CN5L,M(1),(2),(3) ov rT- N,T
CN5L,M(4),(5),(6) 1 +5V J,K
CN 5 L , M (7) I CWL,M
CN5L ,M(8) I0H1L,M~ R
CN5L ,M(9)~l0H2L,M S
CN5L.MM1 C8L.M M
CN5L .MM I C4L,M~ L
CN5L,M03 I C2L,M P
CN5L.M03I C1L,M~ C
CN5L ,M(l4l 1PCZL.M F
CN5L , M (19 rPCZL,M~ G
CN5L , M 06 IPCAL.M A
CN5L,MfecAL,M D
CN5L,BmTPCBL,M B
CN5L,M<W HPCBL.M E
CN5L,MC(} ? SGL.Mi \ / v-Z.
H

Cannon connector
Connector employed: MR-20LWMH MS3 1 06B20-29SW (Straight type)
(Honda Tsushin Co., Ltd.) { MS3108B20-29SW (Elbow type)

Guide key

fT(B)VA&\
KsiO.
TMQA
Cotton fiber

PoI
A\
L o
M0
No p
-co
Drain wire OT o
Braided wire Qo .AN HO
Ko
jo o
S
O
R
oD
OE
4 27 O O
Twisted paired H O
G F
wire

MS 3 1 0 2 A 20-29 PW

Fig. 2.2.6

- 76 -
2.2.7 Details of connections of cable K7

Velocity control NC control unit


unit CN6L,M(1),(2),(3) ov n n
CN6L,M(8)l0HlBL,M
CN6L,M(9)l0H2BL,M

CN 6 L , M Q4> 1 PCZL,M
CN 6 L , M Cl9Y*PCZL ,M
CN6L,M(19 PCAL.M
CN6L,MgT)Y*PCAL,M
CN6L,MQ8I PCBL.M
CN6L ,M(H) X*PCBL,M
CN 6 L , M GO) SGL,Ml j V. J

Connector employed: MR-20LWFH


(Honda Tsushin Co., Ltd.)

Cotton fiber

.BN) Y W Paper tape


K iGN]
BK1 0
WXBN
GNJ BK Shield
GY W
,BK,
Y W 0 Sheath
(GY,

Fig. 2.2.7
1

2.3 Connection of Power Transformer

Refer to the same subsections in Chapter I in this manual.

77
2.4 Connection Diagram of Velocity Control Unit

CN8 HIROSE CN9 HIROSE CN I 0 HIROSE

PWM
BOARD
CIRCUITHflB
:: _
H201 H202 H203 15 Si 3 Bfi 3 B i tQ S S
11 III T T 'T TTT i

1L-2L.3L-4L 170mfl 170mfi 50mfl A I 6B- 1200-0520


PCB I
5L-6L 400mO 400mO 120mO
RM1
1M-2M.3M-4M 170m2 50mfl 50mfl
TM3L TM2L TMIL
5M-6M 400mfl 120mn 120mO

TI
DS
1 pf 1 LBEL
'Bl* I
LBCL
I
rB|l
Si
n

I
LBAL
0j i
u
=
3
o
TI

NFBl
i
IA A il I
I
l
I LEAL
RM!_
r--B
a
A
da MCC
-o o-
21 II
I

I
RM2 1
r-jfi
3C L= LEEL
I LECL

T
T
I d
&7L
o
S
LBFL LBDL .81 LBBL iBI
I I I I I S B
00 a
I l ;
T
; Jin
%V01 + CI
LEL
:
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T2 400V
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--
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A

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TMIM
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TM3M TM2M

G H20 I AC2-0/I-0 + AC2-0/I-0

H202
H203
AC2-0/I-0
ACO/5
+

+
ACO/5
ACO/5
CN 1 L (TO NC.VCMO)

IgfglMjS
TO NC aiiiM'HffliBim
IM*:I:IWK

nh cknn
(VCMD) ft.
E
M3 CDML H CN2
BURNDY
I I8A
CN I M (TO NC.VCMO ) 2 CT
it bH>ma *2 ccnaciyn id:ina:i
3 I8B
TO POWER -
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PCB2 6 PCB I

CN5L (TO MOTOR)

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St
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(PULCO) i i P
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m, (TO MOTOR)
(TO PCB I )
YAMAICHI SOP
(TO
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<->:: :;c :* we IKSI

!
3. SETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT

3.1 Setting and Adjustment of Velocity Control Unit PCB

3.1.1 Parts location

(1) A16B-1200-0520 (Mother board)


r 1
CNIO
O
CHI AM
F I / Fuse

O
CHI CM

CN7 O
CHI EM
o
CHI M

o CN9
CHI AL
I
\
o
C\J
ID
o
o
CHI CL
o O
o o CHIL
r- CVJ
o i
l CD O
vO CHI EL
o
o <
I
CD
O
OJ
<
CN8

F3/ Fuse

Fuse resistor
_FR2
M
FRI F2/ Fuse
L
CH4 RV4 CN2
o Sl0
- 80 -
(2) A20B-1001-0470 (Child board)

S3 IM
m S3 IL

(\
N
C
S29L
qm
_
s s
s
1 7L
s
1 9L

nnnri
iS S
1 7M 1 9M
S29M

r- 1 6L I 4L s s
1 6M I 4H
--3
o
I

c
c

c
I
cc S30MI
S30I
-
I I
1
a
CN7
S33L

S33M

CHI 3 OTRW D -I5VO :HI7


O
LV O HV 1 5vQ :HI6
CIII4L OER O OOVCM
HC
DC O
+5V O :HI5
OTGM
S8L S9L
OVCLO OpR0y
S8M S9M
1n S28MER0 :HUM

CHI2L On s5nr TGLO QS2 IL B no :HI2M

CHI IL
CH I OL
O IS
O IR 22L
RV3L
RV2L
S20L
0 D S20M
RV3M
RV2M
E
3 IRQ
22M
iso :H I I M
:HIOM

CH9L OT RVIL RVIM tO :H9M

CH6L O 3
SO :H8M

CH7L O R R0 ;H7M

CH6L o o :H6M

o
S I OL SIOM
o OHSM
CH5L
CH3L Oov 0 D ovO :H3M
TSAO ;H2M
CH2L OTSA
CHIL O VCMD VCMDO :HIM

CN5L CN6L CN5M CN6M o


OJ
To To Ifi
To NC To NC o
Motor Motor
O
o
S32L S32M C\J

CN I L To NC CN I M To NC
ca

<

Note 1. Two PCB is 1 sets.


Note 2. Part location on PCB may be changed without notice.

- 81
3.1.2 Setting terminal

PCB A20B-100 1-0470


A16B-1200-0520

Table 3.1.2

Terminal Standard setting


Remarks
setting
2-0/1-0 0/5
SI L L TOH setting (Note 1)
S2 x x DC alarm setting (Note 2)
S10L,M H H TG alarm enable (Note 3)
S17L, M H H
S18L,M H H Current limit setting
S19L,M H H
S20L.M H H Absolute code output enable (Note 4)
S22L,M o o Compensation circuit setting

S23L.M o o VCMD gain setting (Note 5)

S24L.M o o F/V circuit filter setting


S25L,M x X

S26L,M x x
Compensation circuit setting
S27L.M o o
S28L ,M x x
S29L.M X x F/V input pulse width setting (Note 6)
S30L,M Le R Current loop gain setting
S31L.M H H TG alarm enable
S32L,M o o Setting for absolute pulse coder (Note 7)
S33L,M X x OVC alarm level setting

Terminal Pulse coder


Remarks
setting
2000P 2500P 3000P
S8L,M L L H
Pulse coder F/V gain setting
S9L,M H L L
S14L.M L H H
S15LM, H L L Pulse coder pole number and
pulse number setting
S16L,M H L H

Note 1. If the power transformer is connected to terminals CN2(4) and (5),


set SI at L side.
Note 2. If the regenerative discharge unit is mounted, set S2 in the
short-circuit state. If it is not mounted, set S2 in the open
state.

- 82
Note 3. If check is required without connection of the motor power cable,
set S10 at L side.
Note 4. If S20 is set at L side, absolute codes from the pulse coder is
output to NC while VRDY is on. If VRDY is turned OFF, the alarm
code is output. If S20 is set at H, the alarm code is always
output .
Note 5. If S23 is short-circuited, 7V/2000 rpm is set, and if it is open,
7V/1000 rpm is set.

--
Note 6. If S29 is short-circuited, the velocity feedback voltage is changed
from 3V/1000 rpm to 1.5V/1000 rpm. Normally, set it in the open
state .
Note 7. If ABS pulse coder is used, set S32 in the open state.
Note 8. Setting operations are shown in the Fig. below.

Setting plug fj H OH
DL

(a) Set at H side (b) Set at L side

EZ3 E3
LJU \_/ \i
Le R Le R

(c) Set at Le side (d) Set at R side

3.1.3 Variable resistor

Table 3.1.3

Volume Standard setting Remarks


RV1L, RV1M, RV1N 50% Gain setting
RV2L, RV2M, RV2N Adjustment of offset voltage
RV3L, RV3M, RV3N Adjustment of velocity feedback voltage

Note 1. RV2L, M, N and RV3L, M, N are adjusted before shipping from the
factory.
Note 2. Settings of RV1L, M, and L are the same regardless of the number of
versions .

- 83 -
3.1.4 Check terminals

Table 3.1.4

Check terminal Symbol Contents


CH1L,M VCMD a x velocity command voltage (Note 1)
CH2L,M TSA 0.8 x velocity feedback voltage
CH3L,M 0V 0V
CH4 0V 0V (Note 2)

CH5L.M Compensation circuit


CH6L,M
CH7L,M R R-phase current command
CH8L,M S S-phase current command
CH9L,M T T-phase current command
CH10L,M IR R-phase current feedback 1.18 A/V
(Motor 1-0, 2-0)
CH11L.M IS S-phase current feedback
CH12L,M IT T-phase current feedback 4.00 A/V (Motor 0, 5)
CHI 3 TRW Triangle wave (Note 3)
CH14L,M ER Error voltage (Torque command voltage) (Note 4)
CHI 5 +5V +5V
CH16 +15V +15V
CHI 7 -15V -15V

Note 1. a = 0.344 when VCMD is 7V/1000 rpm


a = 0.687 when VCMD is 7V/2000 rpm
Note 2. Setting terminal S4 is on the PCB A16B-1200-0520 .
Note 3. Waveform of triangle wave is as follows.

1 2 1.5 V

360i30isec

Note 4. Motor load currents (peak values) can be monitored using the same
conversion as CH10-12 .
Effective values can be obtain by
multiplying 1//2I

- 84
CO
Current AC servo motor Detector Ko
2; ;; 2:
Regenera detector N (Pulse corder) TO
AC ze> $ tive O
i 85V control n
O
circuit
i. innf Dynamic
brake
D
5'
(B

circuit
03
3
Current Q
*<* detector AC servo motor Detector
(Pulse coder) <
SL
o
2.
innt v
Dynamic
<
O
brake o
CH7L
Current circuit
3
r+
Torque command command 2.

Velocity
CHIL
CH5L CH6L I I --o
- IS
CH8L --
iCHIOL
2 c
5.
r-t
I command from 'CMD+ 2 PWM Driver
00 position control -I -IS
Cn unit (VCMD) CH2L Amplifier CHI IL
I circuit I 2
F/V n T
CH9L
Rotor posi
tion detect
circuit
a CHI2L

To position Driver Receiver


control unit circuit circiut Current

Velocity com
Torque command
CH5M CH6M I
TR :
CH7M command

2
mand from
CHIM
_ i jC8M" -CHIOM
position
control unit
(VCMD) CH2M |
r- Amplifier
-IS
CHI IM
2

-
PWM Driver

T<ri
F/V
1
circuit

r i

Rotor
CH9M

position
IT
Q-

t
CHISM
*1 Multiplication circuit
*2 Amplifier circuit

detect
circuit
To position Driver Receiver
control unit circuit circuit

w
4. TROUBLESHOOTING

4.1 Protection and Fault Detect Function

4.2 Troubleshooting

For subsection 4-4.2 refer to the same subsection in Chapter I in this


manual.

- 86
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!
III. AC SERVO UNIT FOR 3 AXES

This chapter describes the maintenance of AC servo unit for 3 axes which
drives AC servo motor Model 0, 5, and 10.
Combination of three motors are described in Table 1.1.1. Refer to Table
1.1.1.

i
1. STRUCTURE

The AC servo unit for 3 axes consists of the velocity control unit, the
power transformer and the discharge unit.
Four types of velocity control unit are available according to the
combinations of AC servo motor models employed. One velocity control unit
applies to three servo motors.
One power transformer is employed according to the combinations of motor
model.
A regenerative discharge unit is a resistor unit which consumes the
regenerated energy by the motor.
If the AC servo motor models employed are rather small type having a
little regenerative energy, a regenerative discharge unit may be unnecessary.
Fig. 1.1 shows a configuration example of an NC system with 3 controlled axes.

NC control
unit
Velocity control
unit for 3 axes
- --
,
AC SERVO motor
X axis

Y axis

Z axis

T
I

Regenerative
3 phase input Power discharge
power supply transformer unit

Fig. 1.1 A Typical Configuration Using an AC Servo Unit for 3 Axes

- 93 -
r

1 .1 Types of Unit and Specification Number

Table 1.1 (a) Types of Units and Specification Number

Applicable motor
Name Specification Remarks
L M N

0/5 0/5 0/5 A06B-6050-H401

Velocity 0/5 0/5 10 A06B-6050-H402


control unit
0/5 10 10 A06B-6050-H403

Note 1 10 10 10 A06B-6050-H404

For Japan Transformer MB A06B-6047-H012


200V
220V Transformer MC A06B-6047-H013

Power For other Transformer MBE A06B-6047-H022


transformer countries
190V - 550V Transformer MCE A06B-6047-H023

Common to Transformer ABE A06B-6050-H022


All countries
Note 2 190V - 550V Transformer ACE A06B-6050-H023

Regenerative discharge unit DCUA A06B-6050-H050 Note 3

Regenerative discharge unit DCUB A06B-6050-H052 Note 4

Regenerative discharge unit DCUC A06B-6050-H051 Note 5

Input connector (Soldering type) A06B-6050-K202 Note 6

Input connector (Crimp style type) A06B-6050-K203 Note 7

Note 1. Specification number differs according to a motor combination.


Note 2. If the specifications of the velocity control unit are
A06B-6050-H401 or -H402, one of transformers MB, MBE and ABE should
be used.
If the specifications of velocity control units are A06B-6050-H403
or -H404, one of transformers MC, MCE and ACE should be used.
Note 3. To be used when the regenerative energy from the motors of three
axes is rather large employing the velocity control unit
A06B-6050-H401.
Note 4. To be used when the regenerative energy from the motors of three
axes is rather large employing the velocity control unit
A06B-6050-H402 or A06B-6050-H403 .
Note 5. One set should be used for one velocity control unit A06B-6050-H404 .

- 94
Note 6. Input connector includes connectors to be employed on the connecting
cables to the velocity control unit. One set should be used for 3
axes.
Parts contained in the input connector (soldered type) are indicated
in the Table 1.1(b).
Parts contained in the input connector (crimp style type) are
indicated in the Table 1.1(c).

Table 1.1 (b) Parts Included in Input Connector (Soldering type)

Name Q'ty Use Model FANUC specifications


Connector 4- cover 3 CN1L,M,N MR-20LFH * A63L-000 1-0134/02
Connector + cover 3 CN5L ,M ,N MR-20LWMH * A63L-0001-0134/15
Connector + cover 3 CN6L,M,N MR-20LWFH * A63L-000 1-0134/05
Housing 1 CN2 SMS6PW-5 ** A63L-0001-0202/6W
Pin 5 CN2 RC16M-SCT3 ** A63L-0001-0226
to

Table 1.1 (c) Parts Included in Input Connector (Crimp style type)

Name Qty Use Model FANUC specifications


Connector + cover 3 CN1L,M,N * A63L-0001-0134/22
MR-20L, MRP-20F01
Connector 4- cover 3 CN5L,M,N MR-20LW, MRP-20M01* A63L-000 1-0134/35
Connector + cover 3 CN6L,M,N MR-20LW, MRP-20F01* A63L-0001-0134/25
Contact 120 CN1 , 6 MRP-F112 * A63L-0001-0134/F112
Contact 60 CN5 MRP-M1 12 * A63L-0001-0134/M112
Housing 1 CN2 SMS6PW-5 ** A63L-0001-0202 /6W
Pin 5 CN2 RC16M-S23A ** A63L-0001-0127/S23A

* Manufacturer: HONDA Tsushin Co., Ltd.


** Manufacturer: Burndy Japan Ltd.

- 95
2. CONNECTIONS

2.1 Connection Diagram

Fig. 2.1(a) shows standard connection diagram of A06B-6050-H401 - H403.

NC control unit
0 {] ]CN6L CN5L [
0
0 {] ]CN6M CN5M C 0 Machine tool

{K7> {] ]CN6N CN5N [

TI
0 Servo motor L axis
Transducer

o
0 0 ]CNIL
A

2
I 0 Servo motor M axis
i
VO
0 {] ]CNIM 3
4
Transducer

0
Ov

i 0 {] ]CNIN 5L'
6U 0 Servo motor N axis
7L<
Transducer
5M'
D ]CN2 6M1

K2 Velocity
7 M'
5N< 0 Emergency stop

j cH ho
-
control unit 6N' AC100V
Electromagnetic
for 3 axes + 10%
U
V
contactor
o
o
o
o
Fuse Power
transformer 4 JH
7N1
L-0 -15%
10
w
Power source
o c>
<rv_o-

AC 30
Terminal screw M4
(When 3.5mm2 cable is used,
use crimp style terminal ,
0
5.5-S4) / Fig. 2.1 (a)

JJ
Fig. 2.1(b) shows connection diagram of A06B-6050-H401 - H403 with regenerative discharge unit.

NC control unit <> {] ]CN6L CN5L [


0
{K7> {] ]CN6M CN5M CD-0 Machine tool

<S> {] ]CN6N CN5N [

TI
A
0 Servo motor L axis
0- Transducer
0
) U ]CNIL Wg>
2 Servo motor M axis

> {] ]CNIM 3
4
Transducer
0
0 {] ]CNIN 5U
6L1 0
i 7L' Servo motor N axis
5M< Transducer
i
U ]CN2 6M(
0
7M
K2
Velocity
control unit 5N< 0 Emergency stop

U
Electromagnetic
contactor
-o o
Fuse Power
transformer
for 3 axes

T2
6N<
7N<
L-0 - 1j
- -15%
V
o c>
-o~\jy

<TVJ>
4 6 4-
* 10
w
Power source
o o -cr\_o Tj 1 11 T3
AC 30
Terminal screw M4
08) '2 Regenerative
i3 discharge
(When 3.5mm2 cable is used,
,4 unit A06B-6050-H40 I -H403
use crimp style terminal /
_/
5.5-S4)
0
JJ Fig. 2.1 (b)

\
Fig. 2.1(c) shows standard connection diagram of A06B-6050-H404 .
NC control unit {K7> {] ]CN6L CN5L [
(>
0 {] ]CN6M CN5M [ 00 Machine tool

[0
Servo motor L axis
0 {] ]CN6N CN5N

TI
Transducer
0
0 Q ]CNIL
A

2
0 Servo motor M axis

0 {] ]CNIM 3
4
Transducer

0
0 {] ]CNIN 5L'
6L 0
i 7U Servo motor N axis
5M< Transducer
00
i
0 ]CN2 6M< GH
K2
Velocity
control unit
7M'
5N' 0 Emergency stop

U
Electromagnetic
contactor Fuse
Power
for 3 axes

T2
6N1
7N<
L-0 J hO AC100V
+ 10%
-15%
o o- CPVJCH transformer 4 6
V
a <rx_o
W
Power source
o o- in 1 T3
AC 30
Terminal screw M4
(When 3.5mm2 cable is used,
L-0 2 Regenerative
discharge
unit
4 A06B-6050-H404
use crimp style terminal
5.5-S4) I 11 T3
'2 Regenerative
0 13 discharge

,4Unit
Fig. 2.1 (c)

0
2.2 Detailed Servo System Connection Diagram

2.2.1 Details of connections of cable K1

NC control unit

J~h~
------- yCMDL,M,NlCNlL,M,N(7)
mOOOOfr { j ECL,M,F|LCNIL,M,NW

0VLlL,M,NlCNlL,M,N(3)
OVL2L,M,nYcN1L,M,N0$'
VRDY1 L,M,NlCNlL,M,N(4)
A/W
A/W
--
Velocity control unit

|
-(+
WV

VRDY2L,M,nYcN1L,M,N(1T)
ENBLIL,MNYCNIL,M,N(2) AA/V-
ENBL2L,MjNlCNlL,lVl,Na9 X
PRDYlL,MNYcNlL,M,Na: +g4Y
PRDY2L,MNYCT4IL,M,NQI X
*ALMIL,MNICNIL,M,N(8) 777-
1
*ALM2L,MNTCN1L,M,N(9)
*ALM4L,MNYO11L,M,N0()
*ALM8L,MNYCN1L,M,NQ]) 7
C0ML,MNjjCNlL,M,Nq3 ) [

Cable employed: 0.1~0.18mm2


paired shielded Connector MR20LFH
(Honda Tsushin Co., Ltd.)

Vinyle sheath
__
---
-
Shield
-
o ok 1 Twisted pair
Paper tape
o
m-M
vA \VX
0)y
)
I

Shield O

I
\
Drain wire Cotton fiber

Fig. 2.2.1

- 99
2.2.2 Details of connections of cable K2

Power transformer Velocity control unit


1st 2nd 3rd
axis axis axis
41 44 47 1 8A CN2 (1)
42 45 48 CT CN2 (2)
43 46 49 1 8B CN2 (3)

51 T0H1 CN2 (4)


52 T0H2 CN 2 (5)

Screw terminal M4 employed 1 Ltd>

Fig. 2.2.2

2.2.3 Details of connections of cable K3

Power transformer Velocity control unit


31 34 R Tito
R
Till)
<Tt>
32 35 S
S
33 36 T Tl(2)
T <Tb-
Screw M\ /screw M4

(Cable employed: 3.5mm2 , 600V heat-resistive vinyl wire)

Fig. 2.2.3

2.2.4 Details of connections of cable K4

Cabinet Velocity control unit

100B Tl(3)
AC 100V
\<t> -
O1 1 '0
1 00A : T 1 (4)
EMG
Contact OFF at
emergency stop Screw M4

(Cable employed: 0.75mm2 , 200V vinyl wire)

Fig. 2.2.4

100 -
2.2.5 Details of connections of cable K5

(1) Model 5, 0

Velocity control unit


T 1 (5L,M,N)
Tl (6L,M,nTT
I -6- A
B
/
<> Model
T 1 (7L,M,N) C 0
5
G G D
*- * Connector employed: MS3106B18-1 OS (Straight type)
Screw M3.5 _ MS3108B18-10S (Elbow type)
MS 3057- 10A
Cable employed: 2.0mm2 (37/0.26)
4-conductor vinyl cabtyre cable
Guide key

Cannon DO OA
connector
CO OB

Fig. 2.2.5 (a)

(2) Model 10

Velocity control unit


Tl ( 5 L ,M,N)
Tl (6L,M,N)T
-A-AB /
-6-
Tl (7L,M,N) C
-6- Model
10
G G D
4 T *
Connector employed MS3106B22-22S (Straight type)
Screw M4 MS3108B22-22S (Elbow type)
Cable clamp MS3057-12A
Cable employed: 3.5mm2 (45/0.32)
4-conductor vinyl cabtype Guide key

Cannon DO OA
connector
CO OB

Fig. 2.2.5 (b)

101
2.2.6 Details of connections of cable K6

Velocity control Motor


unit CN5L ,M , N (1),(2),(3) ov n N,T
CN5L,M,N(4),(5),(6) +5V J ,K
CN5L,M,N(7) CWL ! > |M,N
CN5L,M,N(8) OH1AL |.|M,N R
CN5L,M,N(9) OH2BL j, |M,N S
CN5L,M,N(lO C3L j, |M,N M
CN5L,M,N(1]) C4L j. |M,N L
CN5L,M,N(l3 C2L |. jM,N P
CN5L,M,N(l3 C1L |, jM,N C
CN5L,M,NM PCZL j, jM,N F
CN5T,.M.N(l3 *PCZL j, jM,N G
CN5L,M,NQ6 PCAL 1, |M,N A
CN5L,M,N(17) *PCAL I, !M,N D
CN5L,M,N(1$ PCBL |, |M,N B
CN5L,M,N(19 *PCBL |M,N E
CN5L,M,N0) SGL |, |M,N H

Canon connector
Connector employed: MR-20LWMH MS3 1 06B20-29SW (Straight type)
(Honda Tsushin Co., Ltd.) MS3 1 08B20-29SW (Elbow type)

Guide key

m
1!

w
B
O
M0 0
(D Cotton fiber
L
O
NO C
O
O O P O
Ko OD
0 Cannon
connector Jo OS
It
OE

uoi m
O
Braided wire (Dk: Drain wire O O o
H G F
r
Twisted paired
wire MS 3 1 0 2 A 20-29 PW

Fig. 2.2.6

102
2.2.7 Details of connections of cable K7

Velocity control NC control unit


unit CN6L,M,N(1),(2),(3) OV /-] JA
I i
CN6L,M,N(8) OH1BL.M.N
| CN6L,M,N(9)~~X OH2BL,M,N
i i

CN6L,M,N(14) PCZL,M,N
CN6L,M,N(15) T *PCZL,M,N
CN6L,M,N(16)~T PCAL,M,N
CN6L,M,N( nT)CPCAL-M]N
CN6L,M,N( 18)~Y PCBL,M,N
CN6L,M,N( 1 9)~I *PCBL,M,N
CN6L,M,N(20) SGL,M,N

Connector employed: MR-20LWFH


(Honda Tsushin Co., Ltd.)

Cotton fiber

W
SNA \kyj/ AW Paper tape
!GNJ
BKY 0
AVAB]
P4j BK
Braided wire
GY
BK W,
Y W 0
(GY] Sheath (black)

Fig. 2.2.7

103 -
2.2.8 Connections of separate discharge unit

(1) In case of A06B-6050-H40I - H403 (option)


(i) Details of connection of regenerative discharge unit

Disconnect the jumper


wire from terminals
T2 (4) -
T2 (5) when the
Velocity control unit
separate regenerative
discharge unit is employed.

LCC T2 (4)
T2 (5)
HCA T2 (6)

Screw terminal M3.5

Regenerative
T3 (1) discharge unit
T3 (2)
Cable employed: 2.0mm2 (37/0.26)
600V heat-resistive vinyl cable

Screw terminal M4

Fig. 2.2.8 (a)

104
(ii) Details of connection of cable K2
For connections of cable K2 in 9.1.2, change the connection of T0H1
and T0H2 as follows.

Power transformer Velocity control unit


(Unit to connect terminals
51, 52 of transformer)

41 18A CN2 (1)


42 CT CN2 (2)
43 1 8B CN2 (3)
(Thermostat contact)
51 T0H1 CN2 (4)
52 TOH2 T0H2 CN2 (5)

Connector SMS6pW-5 (Nihon Burndy Co.)


Screw terminal M4 employed RC16M-SCT3

Cable employed: 0.75mm2 (30/0.18)


200V heat-resistive vinyl cable (Thermostat contact)
T3 (3)
Regenerative
T3 (4) discharge unit

Screw terminal M4

Fig. 2.2.8 (b)

105
(2) In case of A06B-6050-H404 (standard)
(i) Details of connection of regenerative discharge unit

Disconnect the jumper


wire from terminals
T2 (4) -T2 (5) when the
separate regenerative Velocity control unit
discharge unit is employed.

LCG T2 (4)
i T2 (5)
HCA T2 (6)

Screw terminal M3. 5

Regenerative
T3 (1) discharge unit
T3 (2)

Cable employed: 2.0mm2 (37/0.26)


600V heat-resistive vinyl cable

Regenerative

n
discharge unit
T3 (1)
T3 (2)

Fig. 2.2.8 (c)

106
(ii) Details of connection of cable K2
For connections of cable K2 in 2.2.2, change the connection of T0H1
and T0H2 as follows.

Power transformer Velocity control unit


(Unit to connect terminals
51, 52 of transformer)

41 18A CNZll)
42 CT CN2 (2)
43 1 8B CN2 (3)
(Thermostat contact)
51 TOHl CN2 (4)
52 T0H2 T0H2 CN2 (5)

Connector SMS6PW-5 (Nihon Burndy Co.)


Screw terminal M4 employed RC16M-SCT3

Cable employed: 0.75mm2 (30/0.18)


200V heat-resistive vinyl cable (Thermostat contact)
6
I
T3 (3)
:
-
T3 (4)
Regenerative
discharge unit

(Thermostat contact)
T3 (3)
-
-O:--
I T 3 (4) I-"- ] Regenerative
discharge unit

Fig. 2.2.8 (d)

2.3 Connection of Power Transformer

Refer to the same subsections in Chapter I in this manual.

107
2.4 Connection Diagram of Velocity Control Unit

2.4.1 Model 0/5, Model 0/5 and Model 0/5 ( A06B-6050-H401 )

Soto 0-6
4
u

T
4 4 a
S CV

8
I
M.

nkt *c: fl i l-SwT

5
PH s
I pPcp 5
o i i i I ! l i
5
= 4cp P? i PH
i\ 4 5 5 a 5 s
5

z
?38rl
s
M-
u ? 5 5 3 5 I 5 I I 5

d ii
5

z
$1 $1 $1
=:,f
rv 'A,

s-
i
si aLZJS
u
Sit;; T
5
jSE*3- *
n
o

o
r o
i- o
3 8 (I,
c

o
4
i

o
is
a
3
< X

ii i y S C nT
!
C
I

Q it
-
2 -- ; 5
7
u
B
5l
B
I
i
! <6 o OJQ 6 o-6

Fig. 2.4.1 Connection Diagram of Velocity Control Unit

108 -
2.4.2 Model 0/5, Model 0/5 and Model 10 (A06B-6050-H402)

- *>P!0

* u *
5o o

ftrt-
8
\Z __
0*jgp| 0-6

s-m
; i
~r
"i5S55- =w53~
BS
=;
I

2 I I! i i 4
i
t
PS i
! 3 I
I
u1

4 4 5 '
E! S3 ;| *
a-f
4
15
-to | |
5 4 3, 3 I S 5 i I
KA
2 ! 2
1
X

z
iEWa ii
-i
*
3 o
: S +
r- Bg T 8 !
u 8 9
i?? SirSii
>o
o
S I o
is i i
ri
iM rritiJ o
i

5 l y; % E c
'
v
:

ffii
I u
V
y
i
c
5
i c[ <6 -6 -o | o-6

Fig. 2.4.2 Connection Diagram of Velocity Control Unit

109 -
2.4.3 Model 0/5, Model 10 and Model 10 (A06B-6050-H403)

-| go goto gOSOgO| O 0-6


"2* *r I! i
*r
i!
, 8SF
SI fl
: P>
I! i
#U
NincnWoT1
r,|1Bd ' f I , . ;l NIA03
I
j "TAC3 <xrt J- HE'

s g-
fi
1 r* j- ~fr~ 1
5
|
o
s i s 3 I 1 I I l
sr
Ui
g
i

2
3
s
%
3
r~ar
3
ZZKril
r 5
t
i

5 f f
-~arr=i.1 I
I 3
ZZriZ
I

L) 3 I 3 i 3 I I l I I i 5

2 * I
8
CE

z
u
15
iiifpp
B
s r
I
iZjs o
11 o --4--: s I
r r-- o
a
o o
r- o
2 v m
u o
UH
Sg 2 c- -

u< i
iS S3< -4S--J O
0.
B

I1I I I :!i S
o
C Crm
P r+:
Is

2
; =n:-"
2
2:
% u
gw
CM c
n v
n
*
n
fl *[ Si sT
1
i
5 -6 <M( "6 1 * o-*

Fig. 2.4.3 Connection Diagram of Velocity Control Unit

110
2.4.4 Model 10, Model 10 and Model 10 (A06B-6050-H4Q4)

-I Solo So fogQgpl O O-fc


T- i**5r
I! i! 1
s! i
fcTS?
XI
n
s,r-tii :
a ?i ii
i
'
il 'I
LZ L-2 LZ
9* 'no3j
I i
issooia;
H.A03

!i i
r
, H-

1 rur*n a~ I
0|
5 3 4 I ! I I 1 I
6
_i r ~ W~,

f ---
T

I IIsL I
il i

t\ \i\ s i
i

i5 ~~
r j-
_ s
ifrnJ.
J
r
"iTrnJ.
I
*"
THL
~V~
f
z
u ! i * 5 I f i 5 i i 5

2 2 2
S

Z
u
is
233! ail
v:,l 031

Ld

&
u
g
I s-
! 6 fe' i :
O

s
? o
\
L ii

04
1
a
s< s1- o
w

I!s 1! I I l i
c r *92
c
"5
* 2 7
i
m c
T
"A "A % P
i
?
KEZZ -6 -6 | o oIs

Fig. 2.4.4 Connection Diagram of Velocity Control Unit

111
CN2
BURNDY CN I L ( TO
NC , VCMD ) CN5L (TO PULCO) CN6L(T0 NC.PULCO FEEDBACK)
I I 8A
(EmoaiGiiHinioin m
Sfi.
OV
Ov
P81 PHIAL 1141 PCZL]
sfeMraamiK mjemm IK
m
OH IBL mi ov
XMWA-.)
iKiasi KZA vienuftiH
2 CT ~fc 0VL2L II* mOVL IL St: ov i C8L 16 PCAL m IE
PCAL
in m
w
VRDY2L in ALM8L SE VRDY I L SE CAL 17 PCAL I*.
3 I8B 18 Q MIL IF m 5V PC3L IE PCB l IF CLMT IL m
4 TOHI 2C EL
IK I CO ML SE
MR
CURRL
tti VCMDL
SE
a
5V
I
I -Sfr-ti PCBL
CWL MR- /"VOSfec SGL
IE PCBL m E:LMTQL SR
gg SGL MR- / ICLHT2LI
5 TOH2
6

CN7 CN9
HIROSE HIROSE N5M(T0 PULCO) CN6M (TO NC.PULCO FEEDBACK
CN 1 M (TO NC , VCMD)
T\ CDV2N m IE IflrlilFKl >1- DIUMIIII >11 lit'Iffil I OV SE KiUEJ IE 2&GM gfSISiSi V
CPU IN Sgl L ov SE IUaM2l V

PCAM n
IK SEKZnl SKi?gSMCl
CDU2N ft L M IE 0VL2M IKS X OVL IM ov 1C 8M m PCAM
E PCAM ft ov
CDV IM SE L M IK VRPY2M m SE Y IM 4 11 4M IK PCAM SE
: RM
l I
IV2M
IUIM
SK L M
SE L M
ft LM
H* :LMTM IF
IK
EI
IK SE
ft VCMDM
|K

I
5V
*5V
CWM
IS
13
C2M
ClM
I Hr PCBM
IF. PCBM
(R-/20g;EI SGM
DE
ggaram
IF MIMEI*
Hr EUij:]J IK: SE
a
st: LE'AN
KJ
1 MCC
I OOA
1C CDV I L
SE
IE L iN
LM.
I i IV2L 111 !_ :N
I IF L :N
I IK L IN
7 HI IE L N
Tc IH2 IK LEEN

CN I N (TO NC , VCMD) CN5N (TO PULCO) CN6N(T0 NC.PULCO FEEDBACK)


IE EflM >2- UJIIJKI SH I stf >iin m ov PCZN SE OH I BN m
SE OV PCN SE OH2 5N m w
CN8 CNIO
IE iwrani oiiim
as
IK VR0Y2N m
st
SE VRDY i N
St
SE
OV US C8N
in 4N 0 PCAN
PCAN
PCAN IIS
PCAN in
SKI w
m
IE CLMTN IF SIS CURRN ISE 5V IF C2N PCBN St*
HIROSE HIROSE IE IK COMN _ SE SE IK CIN I SGN
PCBN 9 *p SE
MR-ZVCE Sfc CLMT2N
m\ IN MR-zyo VCMDN ft CWN MR- /\26SB G 3GN
>n LBFN sn VH
ft LEN ft LBAL
ft NTL 1 St: LEAL
SE1 NT i 2 SE LBfeL
SIS iOHL SK LBCL
SE iDHM SE L
ft DHN SE
SE L SE
SKI SE
IEI
in
L1
VHV
US
m
hib
LEL
IF VDR IF L3AM
IK
IE m IK: LEAM
IE LGBL
IK
3. SETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT

3.1 Setting and Adjustment of Velocity Control Unit PCB

3.1.1 Parts location

PCB A20B-1001-0770

A20B- 1 00 1 -0770/ [ ][ ]

rr
Fuse resistor
F I / Fuse

3.2A
n
CNIO
Q PRDY
tt LV
Cl HC
O HV S3IL
S3 1 M S3 IN
LT
O DC
Q TGL
O OVCL
Cl TGM
0 n
Cl OVCM
Cl TGN
Cl OVCN SIOL SIOM SION CN9
S30N S33N

S30L S33L S2 S30M S33M


LT
UD SI6N
SI.5N / n
17
CHI 6
cm 5
CH?4L ...
SI.6L
S 1 5L /
SI6M
SI.5M/
i CN8
O / S8L S8N
cm 3/

--
cH?2p Q S9L S9N
Fuse
CHYIL CHTIM
CH 10 DDEKL 2.0A \OF2
LT
a?,[
RV3L S29L RV3M <& RV3N S29N


CH9
8l[ |RV2L |
S22L sp
CYBIQRVRM
RVIM
T "sHcYQRvaN
rjmpap RVIN
=tS22N n
CH6C
CH5L
CH3L
SI7L
SI 8L
CHpM
CHCH
Sl 7M/ //
SI8M
cp?N
CH3N
SI9L SI9M
CH2L CH2K CH2N
cm L CHIM CHIN
CN7
C:NL CNbL CNv>M CN3M CN)N CNbN

CNIL OM CNIM Q CNIN CN2


S32L s2oi_ si4 S3M SOM I S32N S20N

Fig. 3.1.1

113
3.1.2 Setting terminal

PCB A20B-1001-0770

Table 3.1.2

Standard setting
Terminal Remarks
setting 0/5 10
SI L L TOH setting (Note 1)
S2 X x DC alarm setting (Note 2)
S10L,M,N H H TG alarm enable (Note 3)
S17L,M,N H H
S18L,M,N L L Current limit setting
S19L,M,N H H
S20L,M,N H H Absolute code output enable (Note 4)
S22L,M,N o x Compensation circuit setting
S23L,M,N o x VCMD gain setting (Note 5)
S24L,M,N o o F/V circuit filter setting
S25L,M,N X x
S26L,M,N x x
Compensation circuit
S27L,M,N X x
S28L,M,N x x
S29L,M,N x X F/V input pulse width setting (Note 6)
S30L,M,N L L Current loop gain setting
S31L,M,N H H TG alarm enable
S32L,M,N o o Setting for absolute pulse coder (Note 7)
S33L,M,N x X OVC alarm level setting

Pulse coder
Terminal Remarks
setting 2000P 2500P 3000P
S8L.M.N L L H
Pulse coder F/V gain setting
S9L,M,N H L L
S14L,M,N L H H
S15L,M,N H L L Pulse coder pole number and
pulse number setting
S16L,M,N H L H

114
NC system
Terminal
setting FS0,FS1,FS2, FS10 ,FS11 ,FS12 Remarks
FS3 ,FS6 ,FS9

S34 x o VRDY signal setting

Note 1. If the power transformer is connected to terminals CN2(4) and (5),


set SI at L side.
Note 2. If the regenerative discharge unit is mounted, set S2 in the
short-circuit state. If it is not mounted, set S2 in the open
state.
Note 3. If check is required without connection of the motor power cable,
set S10 at L side.
Note 4. If S20 is set at L side, absolute codes from the pulse coder is
output to NC while VRDY is on. If VRDY is turned OFF, the alarm
code is output. If S20 is set at H, the alarm code is always
output .
Note 5. If S23 is short-circuited, 7V/2000 rpm is set, and if it is open,
7V/1000 rpm is set.
Note 6. If S29 is short-circuited, the velocity feedback voltage is changed
from 3V/1000 rpm to 1.5V/1000 rpm. Normally, set it in the open
state.
Note 7. If ABS pulse coder is used, set S32 in the open state.
Note 8. Setting operations are shown in the Fig. below.

Setting plug il)


J) L Q|) L

(a) Set at H side (b) Set at L side

3.1.3 Variable resistor

Table 3.1.3

Volume Standard setting Remakrs


RV1L,RV1M,RV1N 50% Gain setting
RV2L , RV2M , RV2N Adjustment of offset voltage
RV3L,RV3M,RV3N Adjustment of velocity feedback voltage

Note 1. RV2L,M,N and RV3L,M,N are adjusted before shipping from the factory.

115
3.1.4 Check terminals

Table 3.1.4

Check terminal Symbol Contents


CH1L ,M,N VCMD a x velocity command voltage (Note 1)
CH2L,M,N TSA 0.8 x velocity feedback voltage
CH3L,M,N 0V 0V
CH5L ,M,N
Compensation circuit
CH6L,M,N
CH7L,M,N R R-phase current command
CH8L,M,N S S-phase current command
CH9L,M,N T T-phase current command
CH10L,M,N IR R-phase current feedback 5.45A/V
(Motor 0,5,10)
CH11L,M,N IS S-phase current feedback
CH12L,M,N IT T-phase current feedback
CHI 3 TRW Triangle wave (Note 2)
CH14L,M,N ER Error voltage (Torquecommand)
CHI 5 +5V +5V
CH16 +15V +15V
CHI 7 -15V -15V

Note 1. a when VCMD is 7V/1000 rpm


= 0.344
a when VCMD is 7V/2000 rpm
= 0.687
Note 2. Wave form of triangle wave is as follows.

12 1.5 V

36030/sec

Note 3. Motor load currents (peak values) can be monitored using the same
conversion as CH10-12. The effective values can be obtained by
multiplying 1//2T

116
CO
to
AC 30
o
+
.1
Regenerative
7T7T-? .. Current
detector
AC servo motor Detector
(Pulse coder)
DO
o
o
ZS 7ZZZ control
185V
o- circuit D
5*
to
Dynamic
V brake 3
1 circiut 3
o
-l n 2;
Current
detector
AC servo motor Detector
(Pulse coder)
<
o
2.
<
O
o
Dynamic r-f

brake
circuit C
3.

I
-t -J
I c*
-n AC servo motor
c5 2i 2i 2i
Current Detector
detector (Pulse coder)
*1 co
I ro

~s f 1 f Dynamic
brake
circuit

!
r

CH7L Current
command
R
Velocity CH5L CH6L I *2
command
from posi
CHIL C@8L ->CHIOL
tion control Amplifier Ts 2 PWM Driver
unit circuit f - IS
( VCMD ) CH2L 3
CHI IL
TSC-. CHI4L *I
- IT
F/V ER
CH9l_
T
<>
CHI2L
Rotor posi
tion detect
3-
circuit
To position Driver Receiver
control unit circuit circuit Current
CH7M
Torque command _ R
command
Velocity CH5M CH6M l Q- 2

I
command
from posi
tion control
CH I M

Tv CMD Amplifier
CH8M
Ts _
iCH|QM
2 PWM Driver
unit circuit \ -is
OO
( VCMD ) CH2M CHI IM
CHUM I 2
I
ER T -i IT
F/V
CH9M CHI 2M
Rotor posi
tion detect
circuit
d CHI 3

To position Driver Receiver


control unit circuit circuit Current
CH7N command
Torque command
~ R
Velocity CH5N CH6N l 2
command
from posi
CHIN
Amplifier -
C?N
S
I ON

tion control 2 PWM Driver


unit circuit IS
( VCMD ) CH2N CHI IN
CHUN I 2
ER T IT
F/V
CH9N CHI 2N
Rotor posi *1: Multiplication circuit
tion detect *2: Amplifier circuit
circuit
To position Driver Receiver
control unit circuit circuit
4. TROUBLESHOOTING

4.1 Protection and Fault Detecting Function

4.2 Troubleshooting

For subsectin 4-4.2 refer to the same subsection in Chapter I in this


manual .

- 119 -
5. PARTS SPECIFICATION AND LOCATIONS ON VELOCITY UNIT
5.1 Model 0/5, Model 0/5 and Model 0/5 (A06B-6050-H401)
CAPACITOR<C2.C3.C41 TM2L TM2M TM2N
A42L-000I -0100 /3

03
C3 C4

01ODE MOOULE IDS I TRANSlSTOR M00ULE (TMIL-3L. IM-3M. IN-3N]


BREAKER (NFBl.21
A50L-000I -0091 /9
A60L-000I -Q143/20A /2 A50L-200I -0175/1

TERMINAL BLOCK (TlJ O O


Z
CD

z
A65L-000I-34I /t II,
Ball o o o
SIJHHI
* O O | anas 3 HEAT SINK
E: T1 fl 1 I A50L-600 1 -03 1 I

ana SSi !D
/I
03
ZD
O ro
a
u

,: o o O
I

I
E
n
n
3
z
n
n 0 SR
o o o o o
mt-
LM |g 'I

I
/ TRANSISTOR
A5QL-000I

RESISTOR (RM3 )
(01)
-0097 /I

IL-.0SHBR
MAGNETIC C0NTACTCR(MCCI ) I I A40L-000 I -0066/20T203J /I
A58L-000I -0221 /I (3A2B)
l

ro
o
o
o+
0)n

o
o+
0)0

o
O

o
sT
_jl_ r~ i
I
THERMOSTAT ( TH)
A57L-QOOI-OQ43/IOO /I

B i

1
i

i
I Ol I I
Ol r o
,ir
O O
II
B RESISTOR M00ULE (RM2)
A40L-OQOI -0219/16 /I

z
CAPACITOR (CD
A42L-000I -0156 /I
L3
isru
i'I o E h
I
I 3
ZD
inro MAGNETIC C0NTACTCPIMCC2)
110 B O1
A50L-OOOI -0222 /III A4B)
B M
_
Q
I1*-1 O O O RESISTOR MODULE (RMIL.IM.IN)
/I I I
-
A4 OL 0001-0176 /3
TERMINAL BLOCK! 72)
A65L-OOOI-0244/B /I

1
CI00E (0D
A50L-200I-0097/UC6G /I
1 t~ O
- J L __ _ J

I HOLDER
0* A96L-000 I -0358 /4

SURGE ABSORBER (ZNR!


-
A50L 2001-0 1 39 /I .OOJ
CONNECTOR
r 1 - -
A63L 000 1 0222/ A I /4

I o o O |

RU6BER
i| I I A230-0 I 68-X008 /2
-Il I
r i I
o O II
I I
-=.*=.-13
s- I
5.2 Model 0/5, Model 0/5 and Model 10 (A06B-6050-H402)
CAPACIT0RtC2.C3.C4J TM2L TM2M
A42L-OOOI-OIOO /3 TM2N

W CD
C3 C4

BREAKER (NFBi.2) DIOOE MODULE IDS)


A50L-200 i -Ql 75 /I
TRANSISTOR MODULE (TMIL-3L IM-3M.
A5OL-O00I-009I /9
. IN-3N)
A60L-000I -0I43/2OA /?.

rag TERMINAL BLOCK


A65L-OOOI-34I
(TI )
/I
> I
r o o

s3
"n
CP

ZD
rag z
~n
CO
IV)
(j is

Tr

i

M
HEAT SINK
A50L-600 1 -03 I I /I

3OS
3

a TRANSISTOR (Ol )

c
05
C_
3

3
= n
n
MAGNETIC C0NT ACTOR (MCC I )
pEp
a
HD o=,2
O

m
=>
Ol => o
2
7

i i c o
.ft
A50L-000 I -0 1 2fe /I

RESISTOR <RM3)
a
a [ A56L -0001 -022 1 /K3A2B)
PIP I i
I
o
Ca
Fu A4OL-OOOI-O066/2QT2O3J /I

0)0 o)n O O THERMOSTAT (TH)


o+ o+
t-
c A57L-000I -0043/ 1 00 /I


I
i o o
ir
o o -JsL i i

N5
Ol Ol I*
I |0 lap? 3 33
2
B I I
p
CAPACITOR (CD
A42L-000I -0155 /I II
p I :n(n: 2 r
B O
I
RESISTOR MODULE
A40L -000 1 -0219/10
(RM2)
/I
I O I
I
ZD c. 2
n
o
to
MAGNETIC CONTACTOR (MCC2)
m ft.
In 11o
|:nlu:' On
I
!i
A58L -000 1 -0222 /l(l A48 )

O!
~
ni ?nins 0
==> iLJ o o
J
RESISTOR MODULE (RMIL.IM)
/ 1 I A40L-000I -0178 /2
TERMINAL BLOCK I T2) I
A65L-OOOI -0244/B /I
RESISTOR MOOULE (RMIN)
A40L-000 1-0177 /I

DIOOE (DD
A50L -200 1 -0097/U06G /I
T - O O _ J o
L _7_
o _
o J

HOLDER
rH
A9QL-000 I -0358 /4
SURGE ABSORBER ( ZNR )
A50L -2001 -0139 /I LOi
CONNECTOR
r
o
-i - -
A63L 000 1 0222/A I /4
I O I

l| RUBBER
A230-0 I 68-X008 /2
r Jl I
o O || I
I
i. -i

V
!
5.3 Model 0/5, Model 10 and Model 10 (A06B-6050-H403)
CAPAC1T0R(C2.C3.C4)
A42L-OOOI -OlOO /3 TM2L TM2M TM2N

CD O) CD >
C2 C3 . C4

BREAKER (NFBI.2) OIOOE MODULE CDS I


A50L-000I -0091 /9
.
TRANSISTOR MODULE ( TM I L-3L I M-3M I N-3N) .
A60L-0Q0I -01 43/20A /2 A50L-200 1-0175 /I

/ 4 /
f HIg
TERMINAL BLOCK (TIJ O O
I II, I
ffroBi A65L-000I-34I /I

STOBI If IEJ Bi
> l

-Jro
Sislslss!
E.
U II 0:0
3 HEAT SINK
A50L-600I-03I I /I
I w
#. w

O
PGP o o
T si
P>
a
c
2
3

L3

z.
n * on

If* o
o

SAD

pap o gp t / o
I
I
TRANSISTOR (01)
A50L-00QI -0126 /I

n Z1
c RESISTOR (RM3)
c *
m
o) n
MAGNETIC CONTACTOR l MCC I )
A56L -000 I -022 I / I ( 3A2B )
0

o 0)n
I
ElmBs
o O
i
1 3 0 O
a /?_
A40L-000 I -0066/20T203J

THERMOSTAT < TH )
/I

I
o;
o+ if O
o+
o o o
I

ZM.
A57L -000 1-0043/100 /I

O r -i
lr
OI oi I I* g]|g ? 0 I I

_
N> II r o
hO O O l'
I
[H XB3B [?B I
RESISTOR MOOULE (RM2 )
-
A4 OL 0001-0219/10 /I
CAPACITOR (CD

I 10;
A42L-000I-QI55 /I
3
I
I 3 0]j E
2n
I
:;o| CJ m z
3

5 IP
I
cG n
2 3

IDE SRro MAGNETIC C0NTACT0RIMCC2) ro oh


m A58L- 000 1-0222 /l(IA40) *n
an E '1i 1EB5B E i i
ins o o o RESISTOR MOOULE (RMIL)
/
TERMINAL BLOCK ( T2 J
A6bL -0001 -0244/B /l
i
I
J! A40L -0001-0176

RESISTOR MOOULE
/I

(RMIM.IN)

_
A40L-000I -0177 /2
1


DIODE ton
A50L - 200 1 -0097/U06G /1
L-? o _ J L __ _ O
J

I HOLDER
H
- -
A98L 000 1 0356 /4

SURGE ABSORBER (ZNR) o_ i


A50L-200I -0139 /'
CONNECTOR
r A63L-000I -0222/A I /4

I o o O i

f-r-
RUBBER
I I l A230-0 I 68-X008 /2
I
r
O O ||
-u
Jl

I
I I
I
I
L.
5.4 Model 10, Model 10 and Model 10 (A06B-6050-H404)
CAPACIT0RIC2.C3.C4) TM2l_
A42L-OOOI-OIOO /3 TM2M TM2N
a> Cl CD
C2 C3 C4

DIODE MOOU.E (DS) TRANSISTOR MODULE (TMIL-3L. IM-3M, IN-3N)


BREAKER (NFBI.2J
A60L-000 I -0 i 43/20A /2 A50L -2001-0 175 /I - -
A50L 000 1 009 f /9

TERMINAL BLOCK (T I )
A65L-000I-34I /I
-HI ! o i>i
p O

O
tfffli
o

3
I
ySu f 'IB IT 2
CD
MEAT SINK

J* 4 3
ru ro A50L-600I-03I I /I
!y5n
=> n!y @|o ;|e;o>! o
IS
HI TRANSISTOR (Ql )
A uSy c
H
a o p i
V A5QL-OOOI -0144 /I

c
= 2
n 2 o o
sn =>n
* * n
c [nSn mn\ n -
7 7

c
Oil [
MAGNETIC CONTACTOR (MCC I
A58L-OOOI -0221 /I (3A2B)
)
o m /
I \
S0So
I -II- - - I Ao I
8 0
o
RESISTOR (RM3)
A40L-000 I -0066/20T203 j /I

o)n yfen o)n _q o THERMOSTAT (TH)


I o+ o+ IT A57L-000I-0043/I00 /I

ro
o
oi
o
OI
I
i
IS]
o
IB]
o
x>
X 0]
o a
LO O
CAPACITOR (Ci)
O H] IE@ H] O

I I
3 A42L-OOOI-OI55 /I
ta! t El] 0]

2 = 3
H] \ iL 0]
=> 3
n mi - 3
2
n i D
: MAGNETIC CONTACTOR (MCC2) &JZQ =n 0E1 s o
=n
L IV)
- ro
A58L 0001-0222
K
1
/I ( I A4B)

I
iQ g
[ E]
o
0
o
E
o
/ 1
TERMINAL BLOCK (T2)
A65L-000 I -0244/B /I '
RESISTOR MODULE (RMIL.IM.lN)
A40L-000 1-0177 /3

OIOOE (Dl)
A50L-200I -C097/U06G /I O O O o
1 L J L
O
8. J
I HOLDER
A96L-0O0I-0358 /4
SURGE ABSORBER { ZNR ) H
A5QL-200I-0I39 /I o

r
-- CONNECTOR
AG3L -0001 -0222/A I /4

---
1 \
I o o O I

RUBBER
A23O-0I 66-XC08 *2
;
I O ||
-4
I

\
l.
APPENDIX

1
APPENDIX 1

1. REVERSE CONNECTION

1.1 Connection and Rotational Direction

For AC servo unit there are connection cables of power supply, feedback
signals and motor power.
There are standard connection and reverse connection for the feedback
signal cable and motor power cable according to the rotational direction which
follows the feed command from the control unit.
The rotational direction corresponding to the (+) feed command

Standard connection Reverse connection


(+) Command (+) Command

To make reverse connection, next procedure should be taken.

1.2 Method

(1) For Model 2-0 - 30R

Change the connection of connector mounted on velocity control unit side


of feedback signal cable K6 (between motor and CN5).
Signals PCA and PCB should be replaced each other in cable K6.
Signals *PCA and *PCB should be replaced each other in cable K6.
G> Signals CW and OV (terminal 1 or 2 or 3) should be connected.

Note 1. Connection of motor power line is not changed.


Note 2. This method can apply to velocity edition C or after of
velocity control unit PCB (A20B-1000-0560) .
The method in item (2) apply to the edition A and B of PCB.
Note 3. This method can apply to AC SERVO UNIT for 2 axes control and
AC SERVO UNIT for 3 axes control. Reconstruct cable K6 for
axis to be reverse connection according to above changing.

127
Detail of connection of cable K6 in reverse connection.

Velocity control Motor


unit CN5(1),(2),(3) 0V II rn N, T
CN5 (4),(5),(6) + 5V J ,K
CN5 (7) CW
CN5(8)| 0H1 R
CN5 (9) T OH 2 S
CN5 QQ C8 M
CN5 gj) C4 L
CN5 (13 C2 P
CN5 Q3 Cl C
CN5fl4l PCZ F
CN 5 X *PCZ G.
CN5 go I PCB B
CN5 ftp Y *PCB E
CN5ft3 Y PCA A
CN 5 (13 I *PCA D
CN5 CO SG H

Cannon MS3 1 06B20-29SW (Straight type)


Connector employed: MR-20LWMH connector MS3 1 08B20-29SW (Elbow type)

(2) For Model 4-0, 3-0

Change the connection mof connector mounted on velocity control unit side
of cable K1 and K7 between NC and velocity control unit.

Signal PCA and PCB should be replaced each other in cable K7 .


Signal *PCA and *PCB should be replaced each other in cable K7.
Signal VCMD and EC should be replaced each other in cable Kl.

Note 1. Connection of motor power line is not changed.

128
Detail of connection of cable K7 in reverse connection.

Velocity control NC
unit CN 6 tl),(2),(3) OV f

CN6 (8) OH1


CN6 (9)
$ OH 2

CN6 PCZ
CN6 09 *PCZ
CN6 oo PCB
CN6 (ID *PCB
CN6 Q0 PCA
CN6Q0 *PCA
CN 6 CQ SG

Detail of connection of cable K7 in reverse connection.

NC Velocity control unit

EC CN 1 (7)

t
T\
I
i
I
i A XU
I
i VCMD CNI eo A/VV
77-
OVL1 CNI (3)
OVL2 CNI 00
VRDY1 CNI (4)
VRDY2 CNl 07)
ENBLl CNI (2)
-VW
ENBL2 CNI 09
L PRDY1
PRDY2
CNI (1)
CNI 01
+AA/V-
24V

(3) For Model 5-0

Change the connection of connector mounted on velocity control unit side


of feedback signal cable K6 (between motor and CN5).

Signal PCA and PCB should be replaced each other in cable K6.
(D Signal CW and OV (terminal 1 or 2 or 3) should be connected.

Note 1: Connection of motor power line is not changed.

129
Detail of connection of cable K6 in reverse connection.

Velocity control unit Motor Model 5-0


CN5 g),(2),(3) 0V n i Gray
CN5 (4),(5),(6) +5V Red

C N 5 (7) CW
CN5(10 C8 Brown/White
CN5ai) C4 Orange/White
CN502 C2 Y ellow/White
CN5fl9 *PCZ Green
CN5flQ PCB Blue
CN5fl8 PCA Black
CN5CQ SG Black (thick)

130
APPENDIX 2

1. AC SERVO MOTOR MAINTENANCE

1.1 Outline

As a rule, AC servo motor is free from periodic maintenance because


wearing parts are not included. But AC servo motor contains precise detector,
so false operation or damage in transit might cause failure or trouble. It is
recommended to check the motor referring to this manual at every chance.

1.2 Acceptance and Storage

Immediately upon receipt of servo motor, check the following items.

o Whether servo motor is exactly the specified one (check the type,
detector type) .
o Whether there is any mechanical damage sustained in transit or not.
o Whether the rotating part can be normally turned by hand.
o In the case of the motor with brake, whether the brake is normal.
o Whether there is any loosened screw or play.

Every servo motor undergoes strict inspection before shipment, therefore


any special receipt inspection may not be required as a rule. If the receipt
inspection is particularly needed, however, it is advisable to refer to the
specifications regarding the wiring of servo motor and detector, current, and
voltage so as to make the inspection without any mistake. Don't leave the
received servo motor outdoors, but preserve it indoors. Avoid storing it in
the place with an extremely high or low humidity, a radical change of
temperature, and dust.

1.3 Mounting

Note the following points when mounting the servo motor.

(1) The water-proof structure of servo motor is not so strict. If cutting


oil, lubricating oil, etc. penetrate into the inside of the motor, these
may cause poor insulation, short-circuit of the coil. Therefore, due
care should be taken so that the motor body will be kept away from such
liquids as cutting oil and so on.
(2) When mounting the servo motor on the gear box where liquid lubrication is
performed, if the lip of the oil seal is always exposed to oil, there is
a possibility that the oil may penetrate little by little into the inside i
of the motor in the course of a long time. Therefore the height of the
oil level must be lower than the oil seal lip. When the servo motor is
mounted with the output shaft upward, mount another oil seal at machine
side so as to make the structure where the oil which passed through the
first oil seal can directly flow outside.
The oil seal used for the respective servo motors are listed in the
following.

131
Motor model Oil seal specification
1-0, 2-0 AB0598E0 (SB type)
0, 5 AB1314F0 ( )
10, 20M, 20, 30, 30R AB2057G0 ( )

The oil seals used for the servo motors are the products of JAPAN OIL
SEAL INDUSTRY Co., Ltd.

(3) The servo motor is coupled with the load through the direct coupling,
gears, timing belt or such. In any case the force exerted on the motor
shaft must not exceed the values shown in the following table, therefore
due care should be taken for the operating condition, mounting method,
and mounting accuracy.

Motor model Permissible radial load


1-0, 2-0 25 kg
0, 5 75 kg
10, 20M, 20, 30, 30R 450 kg

o The values of permissible radial loads are the ones when the load is
imposed on the end of the shaft.
The values in this table indicate the maximum permissible loads which are
the sum of the constant force always exerted on the shaft owing to the
mounting method (e.g., the force given by the tension of the belt when
the belt coupling is used) and the force generated by the load torque
(e.g., the force transmitted from the gear face).
o As a rule, axial load to the shaft should be avoided. Servo motor
contains precise detectors, so excess axial shock may give damage to
detectors .
(4) Make the wiring between the servo motor and the control circuit without
any mistake, just as specified in the specifications. (See the
connection diagram of the machine.) A mistake made in the wiring may
cause runaway or abnormal oscillation and may give damage to the motor or
the machine. When the wiring is completed, measure the insulation
between the power line and the motor frame before turning on the power.
The measurement should be make with a 500V megger. Further, check the
insulation between the signal lines and the motor frame with a
multi-tester. Be sure not to use a megger especially for measuring the
insulation of the signal lines for the pulse coder.

132 -
1.4 Replacement of Pulse Coder

(1) Abstract

This section is described about the way of replacing pulse coders


assuming the case of urgent field troubles due to pulse coders defect, and the
way of checking the phase-relationship between AC servo motor and pulse coder.
So, if possible, please re-check the phase-relationship.

(2) The way of replacing pulse coder

The method written here is applicable to AC servo motor model 0, 5, 10,


20M, 20, 30 and 30R. It is impossible to remove pulse coder from other motor
models (2-0, 1-0, 3-0, 4-0), because pulse coder itself is directly assembled
on to the motor shaft for those type.

a. Remove defective pulse coder. (see Fig. 1)


remove rubber cap.
unfasten bolt 1.
unfasten bolt 2.
remove pulse coder (+attachments) from the motor shaft.
b. Mount new (good) pulse coder.
mount pulse coder (+attachments) on the motor shaft. Notice that
both a tooth (of coupling) and a groove (of pulsecoder) are just
fitted together. Care should be taken, for fitting length is short.
connect both shaft by bolt 1.
adjust marking-off line between attachments of pulse coder and motor
housing.
@ fasten bolt 2.

(3) The way of checking the phase-relationship

The method written here is applicable to all models of FANUC AC servo


motors .
connect V & W of motor power line. (see Fig. 2)
excite motor at rated DC current from U to V & W. (U: +, V & W: -)
supply DC 5V to the pulse coder, and check signals of Cl C8 .
Correct pattern'- is as follows.

Cl C2 C4 C8
1 1 1 1
or 1 1 1 0 (1: HI, 0: LOW)

* change position of C8 is accurate.

133 -
1

Attachments Mark (Pulse coder) near the direction of cable


Motor
shaft
3 Bolt 1
Rubber
cap
(M5)
TTTTTTTT7

Coupling
B5

r
Motor housing
Bolt 2 (M4, 3pcs)
Mark -off line

Fig. 1

i
* RATED DC CURRENT AT THE CHECK OF PHASE-RELATIONSHIP IS AS FOLLOWS.

MOTOR MODEL 3-tf, 4-0 1.2A


*
+ U 1-0, 2-0 4A
i, . 0, 5 9A
<y
10 15A
V
> 20, 30 30A
O 30R 40A
X i
W
+
-
!

Fig. 2
#*> K
*

V
fV-.:
; A-

v
;V;. *
.. *

i

->

!
134 -
T

2. COMPENSATING CIRCUIT SETTING FOR AC SERVO UNIT


1) AC servo unit (for one axies) 2 - 0 to 30R

Standard setting
Setting
Description
pin 0 10 20 30
5 30 R

S21 x x X X X High-frequency gain

S22 x x x X x High-frequency gain

S23 o o x x x VCMD gain setting (7V/1000 rpm, 7V/2000 rpm)


S24 o o o o o F/V circuit filter setting

S25 o o o o o High-frequency gain

S26 x X X x X Low-band gain

S27 X X X X X High-frequency gain

S28 x x x x x Low-band gain

Short-circuit is marked with a circle.

Expanation S21: Should it be short-circuited, the high-band gain


decreases. Effective when oscillation is generated
in the high band (200 to 400 Hz)
S22 : Be sure it is in the open state.
S23: 7V/1000 rpm is set in the open state.
7V/2000 rpm is set in the short-circuit.
S24 Be sure it is short-circuited.
S25 Should it be open, high-band gain increases.
S26 Should it be short-circuited, the low-band gain
decreases. Effective in a full-close circuit, or
when inertia is large.
S27 Should it be open, the high-band gain increases.
S28 : Should it be short-circuited, the low-band gain
decreases. Effective when inertia is large.

* Whenever the setting of a compensating circuit is changed according to i


this table, please make contact with our service office.
*
*. n

- >


ts
.
.

V.

r
s
* % 135
2) AC servo unit (for two axes)

Standard setting
Setting
Description
pin 1-0 0
2-0 5

S22L,M o o Gain switching

S23L,M o o VCMD gain setting (7V/1000 rpm, 7V/2000 rpm)


S24L,M o o F/V circuit filter setting

S25L ,M x x High-frequency gain

S2.6L.M x x Low-band gain

S27L,M o o High-frequency gain (Note 1)

S28L.M x x Low-band gain

Short-circuit is marked with a circle.

Note) The open state for S27L,M is standard setting since A20B-1001-0470/05B
edition.

Explanation S22L,M: The open state double the total gain.


S23L.M: 7V/1000 rpm is set in the open state.
7V/2000 rpm is set in the short-circuit.
S24L,M: Be sure it is short-circuited.
S25L.M: Should it be short-circuited, the gain
decreases . Effective when oscillation is
generated in the high-band (200 to 400 Hz)
S26L,M: Should it be short-circuited, the low-band gain
decreases. Effective in a full-closed circuit,
or when inertia is large.
S27L,M: Should it be open, the high-band gain increases.
S28L,M: Should it be short-circuited, the low-band gain
decreases. Effective when inertia is large.

* Whenever the setting of a compensating circuit is changed according to


this table, please make contact with our service offices.

136 -
1

3) AC servo unit (for three axes)

Standard setting
Setting
Description
pin
0/5 10

S22L,M,N o x Gain switching

S23L,M,N o X VCMD gain setting (7V/1000 rpm, 7V/2000 rpm)


S24L,M,N o o F/V circuit filter setting

S25L,M,N x x High-frequency gain

S26L,M,N X x Low-band gain

S27L,M,N x x High-frequency gain

S28L,M,N x x Low-band gain

Short-circuit is marked with a circle

Explanation S22L,M,N: The open state double the total gain.


S23L,M,N: 7V/1000 rpm is set in the open state.
7V/2000 rpm is set in teh short-circuit.
S24L,M,N: Be sure it is short-circuited.
S25L,M,N: Should it be short-circuited, the high-band gain
decreases . Effective when oscillation is
generated in the high band (200 to 400 Hz)
S26L,M,N: Should it be short-circuited, the low-band gain
decreases. Effective in a full-closed circuit,
or when inertia is large.
S27L,M,N: Should it be open, the high-band gain increases.
S28L,M,N: Should it be short-circuited, the low-band gain
decreases. Effective when inertia is large.

* Whenever the setting of a compensating circuit is changed according to


this table, please make contact with our service offices.

137
Revision Record
FAN UC AC SERVO UNIT MAINTENANCE MANUAL (B-54765E)

Adding of description for 2 axes control servo unit.


02 Jun., 86
Adding of description for 3 axes control servo unit.

01 Dec., 83

Edition Date Contents Edition Date Contents