Fan Uc Manuals 1792

AC
Servo
Systems
Maintenance Manual
GE Fanue Automation
GFZ-54765E/02
r '
WARNING
The product described in this publication may employ hazardous voltages or might create other conditions
that could, through misuse, inattention, or lack of understanding, result in personal injury, or damage to the
product or to other equipment. It is imperative, therefore, that personnel involved in the installation,
maintenance, or use of this product understand the operation of the product and the contents of this
publication.
This document is based on information available at the time of its publication. While efforts have been made to be accurate,
the information contained herein does not purport to cover all details or variations in hardware and software, nor to provide
for every possible contingency in connection with installation, operation, and maintenance. Features may be described herein
which are not present in all hardware and software systems. GE Fanuc Automation assumes no obligation of notice to
holders of this document with respect to changes subsequently made.
GE Fanuc Automation makes no representation or warranty, expressed, implied, or statutory with respect to, and assumes no
responsibility for the accuracy, completeness, sufficiency, or usefulness of the information contained herein. No warranties
of merchantability or fitness for purpose shall apply.
Copyright 1989 GE Fanuc Automation North America, Inc.

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 I<2 9
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 , 11113, 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
5.8 Model 30R Velocity Unit (A06B-6050-H0050) 63
5.9 Model 0, 5, 10 Velocity Unit (A06B-6050-M003) . 64
II. AC SERVO UNIT FOR 2 AXES 67
1 . STRUCTURE 69
1.1 Types of Units and Designated Specifications 70
2. CONNECTIONS 72
2.2 Detailed Servo System Connection Diagram .. 73
2.2.1 Details of connections of cable K1 .... 73
2.2.2 Details of connections of cable K2 ... . 74
2.2.3 Details of connections of cable K3 ...
. 74
2.3 Connection of Power Transformer 77
3. SETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT 80

3.1 Setting and Adjustment of Velocity Control Unit PCB 80
3.1.2 Setting terminal . 82
4. TROUBLESHOOTING 86
4.1 Protection and Fault Detect Function 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
2.2 Detailed Servo System Connection Diagram 99
2.2.1 Details of connections of cable K1 . 99
2.2.7 Details of connections of cable K.7 103
2.2.8 Connections of separate discharge unit 104
2.3 Connection of Power Transformer 107
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
3.1.2 Setting terminal 114
4 . TROUBLESHOOTING 119
4.1 Protection and Fault Detecting Function 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.
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 * This figure indicates an example when
power supply
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
For Model 5-0 A06B-6050-H30 1
For Model 4-0, 3-0 -H001
For Model 2-0, 1-0 -H102 (Note 1)
Velocity
control For Model 0, 5, 10 -H103 (Note 2)
unit
For Model 20M -HI 13
For Model 20, 30 -HI 04 (Note 3)
For Model 30R -H005
Transformer AA A06B-6050-H01 1
For Japan
200V, 220V Transformer MB A06B-6047-H012
tl
Transformer MC -HO 13
Power For other tl
Transformer MBE -H022
transformer countries
tl
190V-550V Transformer MCE -H023
Transformer AAE A06B-6050-H02 1
Common
It
1 90V-550V Transformer ABE -H022
It
Transformer ACE -H023
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 .
A06B-6050-H003 .
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 Q'ty 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-0001-0134/15
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)

Connector and cover 1 CN1 MR-20L, MRP-20F0 1* A63L-0001-0134/22
Connector and cover 1 CN5 MR-20LW, MRP-20M01* A63L-0001-0134/35
Connector and cover 1 CN6 MR-20LW, MRP-20F01* A63L-000 1-0 134/25
Contact 40 CN1 ,6 MRP-F112* A63L-0001-0135/F112
Contact 20 CN5 MRP-M112* A63L-0001-0135/M1 12
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 Co., Ltd.
- 5
2. CONNECTIONS
2.1 Connection Diagram
Fig. 2.1(a) is a standard connection diagram.
K6
NC control unit 0] CN5 T1

A
K7
0] CN6 1
2 Machine side
3
K1
a]CN1 4 1 Servo motor
5
Velocity control Detector
6
I unit
]CN2 7
K5
0
I
Electromagnetic
K2
8
4= /
Power contactor F use
Power Emergency stop
source
-U
o o 0-0 transformer EMG
AC 30
-
W 6~o
O O
0-0
COO
K4
-OIbo +AC1 09?100 V
I- -157c
10
Terminal screw M4 K3
(When 3.5 mm- cable is used, use
crimp style tern nal 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
NC control unit 0]CN5 T1

A
K7
a: CN6 1
2 Machine side
3
K1 1
0 ]CNI 4
5
Servo motor
on
Velocity control
unit
CN2
6
7
8
K5
oDetector
K2
T2
i Electromagnetic 4 6
-J Power contactor Fuse Power <2=9 Emergency stop
I source U transformer
o o -oo EMG
AC 3$
V
W
o a <0-0
K8
1 T3
2 Discharge K4
-
/- -15%
OjHO AC 100V
+ 10%
O O 3 unit 10
4 =
Terminal screw M4 K3
(When 3.5 mm2 cable is used, use
crimp style terminal 5.5-S4.)
Fig. 2.1 (b)
I
2.2 Detailed Servo System Connection Diagrams
2.2.1 Details of connections of cable l<1
Velocity control unit

NC control unit
CN 1(7)
>
VCMD
vw
7 fr
GxxxxxxG
Vi i i
EC
% CN 1(20
Wv
0VL1 CN 1131
0VL2 CN ni a
VRDY 1 CN 1(41
VRDY 2 CN 107)
ENBL 1 CN 1(2
ENBL 2 CN 1(1?
PRDY I CN Kll + 24 V
PRDY 2 CN 104) fC
&
+ALM 1 CN 1(8)
*ALM2
*ALM4
CN 1(9)
CN 1 00 , > Note 1)
cNiau
li
*ALM8
COM CN1
Cable employed:
For VCMD/EC,
0.1 ~ 0.18mm* paird Connector employed MR20LFH
Note:
shielded cable.

For others; 0.18 0.3mm1
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 Twisted
Paper tape
pan
tv
PP V
w
It It
w
0
tv
CN
w
w
Shield
pvc Sheath
Shield
.te
ij
A - -
.'I
i'-loj/
7
'
sV
Drain wire
Cotton fiber
(a) (b)
Fig. 2.2.1
8
2.2.2 Details of connections of cable K2
Power transformer
1st 2nd 3rd
axis axis axis
i 1 i
11 <1.1 <17 I HA CM 2 (II
-6-
<15 1H CT CN 2 (2)
<12 Ifi _111 1 SB CN 2 (31
51
52
-6
o
__0
_TOII
T01I1
2
_ C N 2 f<l)
CN2I5)
J\\ 7l
/Connector {f SWS6PW-5 \ (Nippon Burndy
Screw terminal M4l _\X // employed \ RC16M-SCT3 J Co.)
Fig. 2.2.2
Power Velocity control unit

transformer
R ITMA)
R
31
32
3 <1
35 S T 1 (1)
<0.
S
T
33 3fi
t T Tl (2)
it G
%M43,
Screw M4 Screw
Cable employed: 0.75mm2 (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
Cabinet Velocity control unit
1 00B T 1 (3)
AC 10 0V O
1 0 0A Tl (4)
1 0
EMG
Contact OFF at
emergency stop
Screw M4
Cable material: 0.75mm2 200V vinyl wire.
Fig. 2.2.4
(1) For Model 5-0, 4-0, 3-0

Tl (5) Model
Tl (6) V 5-0
Tl (7) 4-0
3-0
C- G
3 1
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

T 1 (5) ]
-6- -6-
Tl (6) 2 Model
-6- -6-
T 1 (7) 3
<y 6 2-o
1-0
G G 4
I -a i
Cable material:
Screw M4
30/0.18 (0.75mm2)
\ Z RMl 5WTP- 4S-aO
*Hirose Electric, Co.
Guide key
4-conductor vinyl cabtyre cable
Cannon 4o 01
Fig. 2.2.5 (b) connector
30 02
(3) For Model 0 and 5
T 1 (5)
A -6- A
Tl (6) B
o <> C Model
T 1 (7) 0 , 5
Q -6-
G G
3- -6- i
Connector MS3106B18-10S (Straight type)
Screw M4 Employed MS3108B18-10S (Elbow type)
Cable clamp MS3057-10A
Cable material: 2.0mm2 (37/0.26)
Guide key
Cannon DO OA
connector
CO OB
Fig. 2.2.5 (c)
(4) For Model 10, 20M, 20, 30

T 1 (5) A
T 1 (G) B
T 1 (7) C Model
10, 20, 20M, 30
G G D
*
Connector MS3106B24-10S (Straight type)
Screw M4 Employed MS3 1 08B22-22S (Elbow type)
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

T 1 15)
T 1 16)
A,B
C,D
/
T 1 (7) E.F
Model 30R
G G G
3- r
Connector MS3 106B24-1 OS (Straight type)

Screw M4 Employed MS3 108B24-1 OS (Elbow type)
Cable material: 5. 5mra- (70/0.32)
Guide key
FO OA
Cannon EO OG OB
Fig. 2.2.5 (e) connector

D C
(1) Model 5-0

Motor model 5-0
CN 5(1), (2),(3) 0V Gray
CN5 (.0,(5). (6) +5V Red
CN 5(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 i i / Black (thick)
Connector: MR-20LWMH
Fig. 2.2.6 (a)
12
(2) Model 4-0, 3-0
Motor
Velocity control unit CN 5 ( 1 ),(2),(3 ) 0V- 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
CN5 ( 1 3) 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
CN5 (19) *PCB Blue/White
CN5 (20) SG | j Black
Connector: MR-20LWMH
Fig. 2.2.6 (b)
13
(3) Model 2-0 - 30R
Velocity control Motor

unit
CN5 (1),(2),(3) uv I~1 n N,T
CM 5 (4),(5),TB) + 5V J ,K
CN5 (7) CW
CN5 (8) OH 1 R
CN5 (9) OH2 S
CN5 QQ C8 M
CN5 Ql) C4 L
CN5 03 C2 P
CN5 03 Cl C
CN5 04 PCZ F
CN5 03 *PCZX G
CN5 O0JL PCA A
CN5 07) I *PCA D
CN5 08 PCB B
CN5 09 T *PCB E
CN5 GO SG H
Connector employed: MR-20LWMH Cannon MS3106B20-29SW (Straight type)

(Honda Tsushin Co., Ltd.) connector MS3 1 08B20-29SW (Elbow type)
Fig. 2.2.6 (c)
I
CeO'
\

iMO
O 2/ Cotton fiber

Ol\
Shield r
no Drain wire
Guide key
Twisted pair
A
M o B
o o
Lo N Po oC
oT
Cannon Ko OD
connector S R
jo o 0 oE
o o
H o F
a
14
Velocity control NC control unit

unit
CN6(1),(2),(3) OV .~r
C N 6 (8) OH 1
fcNe (9) r ;0H2 f
CN 6 04) PCZ
CN 609 *PCZ
CN 609 PCA
C N 6 O'/) * PCA
CN 60S PCB
i
CN 609 * PCB i
i
CN 6C0 SG i
Connector employed: MR-20LWFH

(Honda Tsushin Co., Ltd.)
Cotton fiber
W.
BNX Mj. W, Paper tape
IK
[BKI 0
BK
(GN
WYBN'
BK
Shield
BK GY, W
Y w; 0
Sheath (Black)
(GY
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) I 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 IC2 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 C N 2 (2)
43 1 8B C N 2 (3)
(Thermostat contact)
51 TOH 1 C N 2 (4)
52 TOH 2 T0H 2 CN 2(5)
Connector SMS6PW-5 (Nihon Bumdy

Screw terminal M4 employed RC16M-SCT3 Co.)

T 3(3) (Thermostat contact)
t T 3(4)
Regenerative
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 480V) 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
I ] 31 31
I 1 85 V
*0 34 5 185V
185V
-o 32
32
33
I T- 32 -o 33
li 5u
220 V 120V i 34
1 o- 200 V
185 V
L-0 35 120V
34 2 35
2o
220 V
io
18V
I o 36
33
s 120 V
-0 35
-0 36
3
4
36
41
3 tv -o 41
4 o-
200 V
5 tv 220
V
II OV
18V
18V
-o 42
o 43
-o 44
5
6
42
43
44
6 o- 200
V
1! E 0V
18V
18V
45
46
4
45
46
47
Go
I 18V -o
TO HI
o 48
49
-051
48
49
-L-
rtr f TOH2
-0 52
51
52
Export models
Connections for power supply Terminal array of power supply
transformers MBE, and MCE. transformers MBE, and MCE.
275 V 275 V 185V

1 o-
2 cv 230
V
190 V
Q r
50 230 \
I! T 31
185V-1 34
o
31
32
3 o- T o 32 1 5 33
4 tv
9 o
1 0 o 230V
V
ov Isa-
275
190 V
\JI L 275 V
I 18V
1-
*
185V o 35
| 33
o 36
-o41
3
4
9
2 6
8
7
13
34
35
36
4)
Htv
1 > t>
,
OV
275V
I n
_ 0V
275 V
OV
18V
18V
-0 42
-o 43
-o 44
10
II
12
14
15
16
42
43
44
! 230V 23J I 0V
18V " 45 17
18
21
22
45
46
18 V - 46
1240dV_l I
20 o OV
18V
TOH 1
-o 47
- 4B
-o 49
19
20
23
24
47
48
49
r. o-
1C -051
TOH2 -0 52 -v 51
52
20
Connections for power supply Terminal array of power supply
transformer AAE. transformer AAE.
5f>o\ 185V
1 f> -O 3 I
2 O-
1 BOV
180V L 185V
O 32
31
32
3 O-
1 O- 4 I 5/240 V
5 O
230V
380/220\
E 185V
-O 3 3
5
6
7
1
2
3
33
34
35
G O 8 <1 36
200\
7 a 13 9 41
120V
-O 3 1 14 10 12
H O
0V
9 o- 55QV L 120 V
-O 35
15
16 12
13
11
10 o 480V
460 V E 120V
36
2_L
22
\1_ 15
46
II O
12 O
13 O
1 1 5/240V
230V
I 23
24
111
20
17
18
IH\
49
(1
14 o- 380/220V -O ,|i
15 O
0V
20 0V
[ 0V
18V
O 42
o 43
51
52
16 a 18V
O 44
17 O
18 O
19 O-
550 V
480V
160 V
I15/240V
I 0V
18V
18V
45
46
-O 4 7
20 O
230V ,8
21 O- 18V
O 49
22 O- 3K0/220V
200V
23 O-
TUI1 1
2 4 O- 0V O 51
52
U O
4r
Connection for power supply Terminal array of power supply
transformer ABE and ACE. transformer ABE and ACE.
35QV
l o-
2 O 480V 31
3 O- 160V 32
1 15/240\ 3I 5 1 33
4 O
230V 6 2
5 O 34
7 3 35
6 Q-
380/220V
a
8 4 36
200V 185V
7 O 32 13 11 41
14 10 12
35
8 O 0Y 15 11 43
9 O 550\
a
1 85\ 16 12 44
10 a 4H0V 33 21 17 15
11 O- 160 V 36 22 18 46
23 19 47
12 O 4 1 5/2 10 V
230V
21 20 4H
13 o 49
18V -O G
14 O 380 /220V I I
15 O
16 o
200\
0V
1 18V
ov -O
I 8V
O
-O
42
43
44
51
52
17 o
18 o_i80V
19 O 100V
550V
1 OV
18V
-O
O
18V O
45
16
47
20 O 415/240V
2! O
22 O
380/220V,
200V
230V
I 18V
0V
O
-O
18
49
23 O
TOIII
24 O
G o
0V
i
c Toll 2
51
52
A-r
- 21
(1) For power supply transformers (2) For power supply transformers MB,
AA and AAE MC, MBE , MCE, ABE and MCE
1 8 5V 1 8 5V
3l
32
1 8 5V To T1(A), (I), (2) of
3ir
320
1 8 5V I To T1(A), ( 1), (2) of
18 5V 185 V 1st axis
for model 3-0, 0 and 5
33 33
1 20V 1 85V
3 I 3 1
TToV- TO TI(A), (1), (2) of
185V To T1(A), (1), (2) of
35 1 2 0V
for models 4-0 to 0
35 & 185V 2nd axis 3rd axis
36 3 fi
1 8V 1 8V
I 1 11
I 2
0V To CN2( 1), (2), (3) ov ToCN2(l),(2),(3)of
Trans 1 8V of 1st axis Trans
I2 18V 1st axis
formers u
AA and
j
i av formers * 18 v
l i MB, MC, ,| ,(
AAE ov To CN2(1), (2), (3) MBE, OV To CN2(1), (2), (3) of
I5 of 2nd axis and I5 2nd axis
1 8V 1 8V
16 MCE 6
1 8V 1 8V
! 7 17
OV To CN2( 1), (2), (3) OV To CN2(1), (2), (3) of
18 of 3rd axis 18
1 8V 1 8V 3rd axis
A9 1 9
TOH 1 T 0 It 1
5I 51
52
TOH 2 ) To CN2(4), (5) of
1st axis TOH 2 | To CN2(4), (5) of 1st axis
52
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 Cl. 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 3OR
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 5 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)
CNI <M> CN2 CN3 CN4 CN5 <n CN6 (M)

1 iHDYl 14 PKDY:
IA l.M 1 IS KNBL:
I l HA 1 1 liCA
LBA' ill vsz s OH l A
I OV I 0V
H OH in
14 PCZ
2 ENFJU
H 2 CT
1
I Hil 3 uu
2
_3_ LEA ,7*
1C l 2 OV 2 ov IS'PCZ
-
9|ai M: 16 OVL2 OH2B
VTonr OH2A
9
KIVU
idAir.u 7fVRDY2 T U3H2
4 ICDHl 4 LUD 7fj PCA 10 ca 3 OV 3 OV
10
id PCA
4 VRDYl _6_
1 LEO TTPCA" C4 4 5V 4 nj'PCA
Ml A l.M H 6 cnvi 6 HCC 11
laiCl.MT me 7? PClf 121 l C2 s pen
5 CUB H
6
7 VCMD
1 j COM
2q E
7|LT)V2
Bicnu i
9 lcnu2
7|
K. LEC
9 LUD
T+PCD 13 Cl
2q~SG~
5
7
5V
6 *5V
CW
6
7
13
iicl
2
PCD
SC.
IflTHl IU. LKU
I I|TH2 11,HCE
121 Nil.: 12 LBE
PWM Circuit I3INTT.1 13 LEE
I00A 14 LBK
A20B-1 000-0560 illMCC 15 rrr
t=zi Cm cm cm cm
c"3
To position CNl To power2
control unit (V D) transformer
S3 5=>
_*=P
1
CN
l
motcT
(Pulse coder)
To position
CN6
control unit (Pulse coder)

5"
R r n
I
o TM I > C O
3 i
---
po
I f 5
T1
I 5
7,1 R>|B3 J H|
I NFDl | ii li li B5
}
*
I 1 MCC
A |-c 21
f
O 4-CPtM-
I a.rh" I I
I
I 5> i
lEl 1
RM1
rn2
T1
T
To power AC 2C
Cl
>45K
R1 m
nI
! V.
K) 1
2
r
6BOp
transformer 1 400V
I all 4, 6
Si IffJZ!
L 2
O
I
UnaM
NKD2
1
MCC
-O 0-6
A2 All
AC
1
m 1K5
$
i
I 4-
Motor
i A i 55 Si 5
_
--
3 zi i
I |B4 21 11
21
L i i
DS
RMI Si s!
1
To machine ZNR 5 MCC
C2 iro-ri
MCC 0.4H
SK MCC 23-5.13
I
_ _\TJ z Z I i
TMCCJL L
H
4 r u
1 QOA
O-
Fig. 2.4.1 Connection Diagram for Velocity Control Unit

2.4.2 For Model 0, 5 (A06B-6050-H 102)
CN1 CM2 C.N3 CN4 CN5 CN6

HR-ZZP 6UP1QT H.n ,g HiRg;g HR-235 HR- 2CP
SPEC, F, CAT, c: u PaZ2 Cl 16A ov
s* lai u
2fl Aim LCS 31 MCA 21 PC 2 PCZ ov
1-2 5'jnO JSj 0111 A
ESB12
2 ALM7
E*cll 02 CT 02 L5G 02 13A DT av 35 QH2A _5
DM IB
cv
|RH: S&wg CVL2 *ALM4
OVll C3 169 C3 LET 03 LEA 02 OV FCA IS PC A
05 0H2B
av
5-6 a.n
iZJ VRQV2 12 ti7 v'PQr l 04 TCH1 cc.n Lea 12 cs 12
J- Taj 1 ALM8
1 04 04 21 5V
c* PCA T PCA 04
1-2 5<V
s
72-Q ClUT CURB Zb TCH2
RH2 11 DC 05 Ltd 2 * 5V .5 pea
11 PCB
2-3 16.1 273W Tg 36 Co CC vi C6 HCC ;v C2 5
C1.C2
C3
seguF
3!.r
4cev 111 x 1 COM
0? VCP 07
11
0?
CSV2
CS-J1
CCJ2
07
OS
05
tec
LEC
LED
cw 12 ci 12
12
SC9
sc 122
9
ss I
ID 7H1 ID LED
11 TH2 HCE
H
PWM circuit 12
13
IMTL2 12 -EE
I'ltll 13 LEE
A20B-1 000-0560 14 100A 14 L=F
15 HCC 11 LEF
1=Z1 CZ]
To position
control unit
cii
T To power
transformer
CM2
ff C.13 I I C!U I I
To motor
(Pulse coder)
CNS
5" To position
CM
T
I
JJ
si
J 3
1 I
ho
Ln
I r * rIMJ- a rT-ML-i
T1 l
U
M"
AO- JlrLU
TT3 T
T >C3 -n
_
I
1 T
-
l
fil ri
flh
ei
io- Ug <tci *5 V 5 eit. I r -BMJ 2
l2 p iC2 C2 T
MCC
4c:
F-
I
J .i I I
2
rP-l-
3 fc.
s-
5 U 3 e2. S IB2
I
1 I
& Motor
-a
30 .
J K3 h QIC
D5 I
i
I RU1 02 04
1
T 1
Li4 .3 M, I
ill 1 HCC
i J i J I J All 03
r
JJ HCC
TH
iM-!|
MCC I
40 1JB4
5
1
A2
~
5
f
3
1 1
n
t
2.4.3 For Model 10, 20M, 20, 30 (A06B-6050-H103, H113, HI 04)
CN1 CN2 CN3 CN4 CN5 C\6

I I H134
MR-:3P
p?~'.2 .aai *AIM 1
pqpri
gjcnOT
an i6A 31 i LC: 31
m.<:A Mq-5BS
ci i
_ ev Jcai QUIA -i:*i PCZ
MR-23?
PC:
'SSL OHIB
on _
_cv
ov
1-21 123-vDI 6S-ru) 151 E*IBL2 [391
ALM? ,321 E*ggj 02 1 CT CZ I L3S 221 LS* C2J C*1
OHM
151 ?CZ PC:
OH7B
D2I CV
5-6.9- .a :Briil I 2truj
RH1 3- 4.7- 3
0.60 a.25n
161
171
OVL2
ysor; -fiai
cim ill
I
Aim
*ALMB
Si
H
m
OVL1
yqpn
031
04 I
159
T CHI
C3 I
04 1
L6
CCH1
C3I
B* I
IE*
L53
C2I
041
BV
5V
131
111
ca
C4
:&
171
-
PC A
PCA
I
-
PCA
PCA
jl
C2I
941
RM2
11-12
Cl
1-2
2-3
2CKQ 5W
I 16.7 273W
I 6B3uF 4C3V
:ai
191
231 E
121
121 COM
ion
CURB
vcn
C5I
On!
rC*2 P5I
06 1
071
OBI
QIC
C3V1
CDV2
CCJ1
ctl
06 1
071
OBI
L3
ICC
iBC
LEC
g* i
061
071

5V
fV
CW
121
131
C2
Cl
1BI
191
231
PC3
.?i3
S3
I
-
pea
PCS
SO
21
21
C5I
CSI
37|
C2 C230uF 4C3V 39 1 CDU2 391 150

C3 i 3.2t:F 101 TH1 ICI Is?
11 I TH2 111 MCE
PWM circuit 12 1 IMTL2 13 1 LSE
A20B-1 000-0560 13 1
Hi
IM7.I
1034
131
141
LEE
L5r
15 1 HCC 151 LEF
(=
To position
control unit
CN1
_|_J To power
transformer
css
T C-O I I CSS I I
To motor
(Pulse coder)
CIS I I
To position
CN6
5=
U JJ:
_-_-
I n T2 ll
ro
i
C2
i r~ 2362 Ly ,! ?r-L 1
AO
n HF?1
lLAjz
MCC
Ti n .
*12
ibn 1 =J l r Tl
I
L El
r
El
r 1
1O
JLiskfr
H2C
Uci
Vi L.__
31p '=C2 C3 I
I
I
a
r FI
i
6
t
:5
I
i
-36
5T
5
20-
-07
Motor
20
r-h [5 es
7 1>-
0 ED
KU
DS
L
me
--- s
i
__
RM!
3 I B a
L hi 2 l__J 1 I J I J E2 04
s ii"Si
rldSi-i
MCC
TH 1 c";i J MCC
3
.
r
A:
j =n I I
40 icr* Mil

2.4.4 In case Model 30R (A06B-6050-H005)
CN1 CN2 CN3 CN4 CN5 CN6
1-2.3-4 2flrxQ <CY/

m- 2P
u
IS
PRDY2
EHBL2
AIMI D1
ra
pnon
EHBL1
fU'RKRT
ni IDA
ra CT
ra
ra
LCC
LBC
ara it
HU
LEA
MR-205
rn
13
BV
IV
DO PHI A
OHZA }5
PCI 11
23
PCI
PCZ
OH IB
QH7i)
01
C7
BV
BV
RH 5-6 AOttfl 4BW JG OVL2
*9 ALM7
OVL1 ra IBB ra LEG ra LEA ra BV
G1
ca. 16 PCA IB PCA
09
BV
7-B 2BKQ 2ffW iz VRDT2
*ALM<
ALM3 ra VRDT1 ci TDH1 ra COM ra LGO ra sv 11 C4
PCA 12 PCA W
6MuF 4MV 11 CIMI
11
CURR ra TOK2 ci DIC iJ LEB 5V
12 C2
PCD IB pen B
C2 EZMuF 416V 19 ra ra CTV1 ra HCC ra av 11 PCD H PCS K
a SJlif EtCV Z1 _E
COM
ra vou B7 CX3V2 ni LBC ra cw _ci_
21 sc 2D ss
DC) com in !_EC_
C9 COU2 a LBO
10 TH1 BJ LED
11 TJC F* HCE
PWM CIRCUIT BOARD n_ IHTL2 Q LBS
13 IHTL1 ra LEE
A20B-1 000-0560 21 IMA ra LBF
2L HCC 13 LEF

(= I I
TO POSITION
CONTROL UNIT
_J
cm1
TO POWER T CIO ( I 014
TO MOTER
(PLUSE CODER)
CMS
_J
I ]
TO POSITION
CONTROL UNIT
CM
T
TRANSFORMER
T2
r
e> E
>
_----_
I GO- <- E
ro 30
40-
SI
I r i# Sr-n 8 Ir-
AO-
T1
l o-
J A>:
r~n nf+Q
US
r
'L.
2. RH 23 *3 23
ad
01 m
i I
RH
j I
Tl
fitC2 a
3! TT
P
KFKL 1 i
HCC 'a
i SL1 f1
20- J
S I5
i A Cl
F 3 3 I *
i rW- 3 I 5
* 07
TlpUllL,
EE 2
30- rr? [U
L. j"
i
L L
l
IS
C3
FAll 3 oi T mT
3
>T7
L-J ta- I I J
rtgi
5X
jd
HCC
c
itSi HCC
0-iA*
TH
S
i
I 1 i
UA
40-

2.4.5 For Model 0-30 (A06B-6050-H003, H004)
cm (M> CN2 CN3 CN4 CN5 (F) CN6 (M)

1 PRDYl 14 FRDY: I ISA I |LCG 1 MCA TTPCZ l| (W 1 OV N PCZ
2 LBCS LUA B OH IB ig-pcz
2 ENHLl
B HNBL: 2 CT
3 IBU 3 I LEG
2
7s*icz" B OH1 A
7\ OV 2 1 OV
11003 H004 9 ALM:
16 OVI 2 4 TuHT 4ICDHI
24 LEA OH2A
i
9 OH2B
LBB PC A 3 OV 3 | OV PCA
1 ~ 2 o.oson
3-4 o.oson
5-6 o.i 2n
0.025n
0.0250
o.06n
3 OV L 1
4
5
VRDYI
< LMTI
id A1.M4
1 S'AI.MH
i:
17JVRDY2
BjCURR
5 TOH2
6
5 |D1C
ft I CD VI
7 j CDV2
5
6
7
LED
HCC
L DC
PCA
PCD
iol CB
lc--s
C3
4 *SV
* 5V
4
II
10
12
PCA
I PCD
6 BlCDUl fi LKC PCD 6 *SV 6 I PCD
C3 2.2/iF 3.3*iF i: COM 9 ICDU 2 9 LDP Cl ii
7 VCMD 2 E 111 TH 1 10! LED 2C1 SG 7 cw 7 SG
1 l| TH2 II HCE
13 8332 12 LDE
PWM0SS 13 LEE
14||OQ A 14 LDF
-
A 2 0 R 1 0 0 0 - 0500 IS MCC IS L
T2 I=3 C=l C=J CZZJ
r
D2 U06G
CN4
& To position CNl To power
CN3
<=P To motor
CN5
To position CN6
control unit <vCD) transformer 1 , (Pulse coder control unit (Pulse coder)
_
5
V; X x in
& n
rr TM3 n 2
n
> TMI r n r
c
n
---&
I
I
I
fni 5r*ir K;
c
KI
<

RM2 2 r
I r to
nI
p I
N5 NFDI I n zs zs rr >
03 I MCC i
-iC1 n
r A 1 201
o un>4 I 16> Dl r- *DI TI
I i 2i 3
n- m I RMI
Cl ii
I C2 C3 1 rAAVn 2 5
To power I AC i680 u L+
~TT , h Hoop I
rr
I !C2 V O
__
I O
2 1 I
transformer
r 400V
-
O 400V
i
+ 1LU 4
m I I I
l NFB2 IC2
MCC AC o 01 I
I
2
a '"cPo-i ts I'si 1
IC2 T T
7
O
Motor
r- r- r-l
3 n n a
i
I
Dl
a
o 11 5 I C3 I =I D2 04
I 4 1 D I
Dl If B3
DS
'?l
m
M
I RMI
r
r? 'I rr j C I
To machine
C2
rffEfn1
ZNR I
I
hj l\Eu-J MCC
_ TH
MCC
SK MCC A2rg5 A1 n
z 5 oX
4
a 100A I
MCC
L _CTJ H
r- H
c

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)
n NJ
(
i
o
I
0'
y /Fuse resistor
CN3
I31
51
u PPU
"a
9
s9 Our
<rQ
9
V "OBs 9
"9 ALL
-9
'9 if =
0=0
0=0 it;
o CD
O
9
9 OMOfl
r;o
"o
CN5
CHI I CM2
Fig. 3.1.1 (a)
Note: Parts location on PCB may be changed without notice.
- 29 -
(b) PCB A20B-1000-0560 (Edition number E)
TNI
fiv I
o
D
o
in
o
my Fuse
!
s al
CN Fuse resistor
<
CNl
ODD
I'M
ih o0 I
S2
s ss
11 i r> Mi
V!o
TO
v; o
so 000 0
vi 6 s s s
TttN 11 12 13 S
o
PRDY
?!0
'' IT
CH "
20 HV
O HC
uvc
c.d6 LV
o T
S2 i TU
c,JO DC
r"
6N
I
SUM
RVl ftV _ RV.I
cSO S:i2
TO w
nJO DODD 000 O x p
TO
ov
ov
c,;o
SI
S7
SHSM S III
9 DO 9
;o .'vDDD
s
i
>
.**
1 !l To Motor To NC
-o-
sail cn CNl
% CN.'
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)
CNl
RV 1
D
a
S
__
a
!
m
5
a
<
'
Fuse
y Fuse resistor
u
CNl
"oD s ss
u i i li
o
71 -15V
O
13V
7i O
o D00
sss 0
L
716 TWN 11 12 13 S
o
710 20 t'KDV
lf\'
7, '6
CII is
0 MC
uve
m O
CII III LV
O S2 I T(J
B 6 DC
_ N S28
c"o RV I RV2 KVJ
a!o u
c,jO
ov DODO DO p X p
c,jO SI S 7
v SHS| S Ml
TO p x p
TO sly To Motor To NC
si
-r is
-o- -o
CNl!
Fig. 3.1.1 (c)
- 31
(d) PCB A20B-1000-0560 (Edition number A or B)
CN t
RV |
o
D
'a
in
a
o
i _
ri /
i
Fuse
?
g
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-
17 18 19
O -o-
CNI CN2
Fig. 3.1.1 (d)
- 32
(2) Model 4-0, 3-0
(a) PCB A20B-1000-0590 (After edition number B)
FANUC MADE IN JAPAN
*37 + + + +
(2LD
CN3
cunO
-IS
CH16Q
+15
O
RV4
cmsQ (+5V ADJ)
+5
CH 14 O
ER
FI
CH13Q
TRW
CH120 OOOOO
LV TG HC HVPRDY
IT
CHllQ S S
m
15 16 S10
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CH9 Q
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CH8
S
(R)
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CH7 O O
R o
o
CH6 O S
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23
1 CH)
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n
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.
c
N D& 0
r -
I 1
CL) S 1 (R)
MOTOR NC
C
:
Fig. 3.1.1 (e)
- 33
(b) A20B-1000-0590 (Edition number A)
FANUC MADE IN JAPAN
+ + +
CN3
CH170
-15
CH160
+ 15
O
RV4
CM 15(0 (+5V ADJ)
+5
CHMO
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CH130
TRW
OOOOO
CH120
IT
LV TG HC HVPRDY
CHll(0 S S
1516 S10
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mi
(H)
CH1O(0 (L)
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CH9 Q
T
CH8 Q >
10
(R)
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CH7 O
R
O
o
CH6 Q 6
tfl
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CH5 Q
CH4 O
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CH3 O
OV
CH2 O
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m
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s
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c
N
5
c
N
6
r [
(L)S1(R)
MOTOR NC
C
N
:
Fig. 3.1.1 (f)
- 34
(c) For Model 4-0, 3-0 (A20B-1000-0600)
CN3
RLY 1 +5 ADJ
RV4
9
o
o
ca
<
-r
z
CJ FETA FETC FETE
FETB FETD FETF

MCC II
RP4 RP6
RPS RP7
FS2
FS1 T1
Fig. 3.1.1 (g)
- 35
(3) Model 5-0
(a) PCB A20B-1001-0420
I T 12-1/ 03 | 1 5 10 CN3 15 20 25
-n
B
A 2
C
o

o
CH
m
i?o 2
CH-'5V
leCJ
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TO
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CHO
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TRW H HC HV OVC
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c2
CHQ
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L ffl
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i
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o
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I
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TOs o
oR
TO
CH/-\
atoR
sU
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S3H
0
TO Y0
OV)
i
TO
( TSA)
0
TO
( VCMD)
0
3)
L(|>
/
? CN6
1L
CN 1 SI
RV1 RV2 RV3 CN2
Fig. 3.1.1 (h)
- 36
I
MADE IN JAPAN FANUC A20B-1001-0410/

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z
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 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
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
- 38
Remarks
terminal
2-0, 1-0 0 5 10 20M 20,30 3OR
S21
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
- 39
(b) PCB A20B-1 000-0560 (Edition number E)
Table 3.1.2 (b)

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
S6 H H H H H
S7 H H H H H
S10 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 II H H H H
S20 H H H H H Absolute code output enable (Note h)
S32 L L L L L Setting for absolute pulse coder (Note 5)
2-0,1-0,0,5,10, 20M, 20, 30, 30R

Setting
2000P 2500P 3000P
S8 L L H
S9 H L L
S14 L H H
S15 II L L pulse number setting
S16 H L H
- 40 -
Remarks
terminal
2-0,1,0 0,5 10, 20M 20,30 3OR
S21
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
S27
S28
S30 External analog current limitter setting
(c) PCB A20B-1000-0560 (Edition number C or D)
Table 3.1.2 (c)

Remarks
terminal
2-0, 1-0 0,5 10 20,30 30R
SI L L L L L T0H setting (Note 1)
S4 L L L L L
S5 L L L L L
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

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
2000P 2500P 3000P
S8 L L H
S9 II L L
S14 L H H
S16 H L II

Remarks
terminal
2-0, 1,0 0,5 10 20,30 30R
S21
S22
S23 o o VCMD gain setting (Note 6)

S25 o o o o o
S26
S27
S28
d) PCB A20B-1000-0560 (Edition number A and B)
Table 3.1.2 (d)

Remarks
terminal
2-0,1-0 0,5 10 20,30 30R
SI L L L L L T0H setting (Note 1)
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
SI 7 H H H H L
S19 H H H H H
- 42 -
2-0, 1-0, 0,5 ,10, 20, 30, 30R
Setting
2000P 2500P 3000P
S8 L L H
S9 H L L
S14 L H H
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.
Setting plug n)H

)L fl) I,
(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 TOi-1 setting (Note 1)
S8 R OPEN Pulse coder F/V Gain
S10 L TG alarm enable (Note 2)
S15 L L Pulse coder
S 16 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.
Zi)H
Selling plug OP"
in' Q) I,
(a) Setting of H side (b) Setting of L side
lo7! Fa
I. 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
3.1.3 Variable resistor
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
Note 4. Triangle wave
l 2 1.5V
/
360+ 30zscc
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
3.2 Block Diagram of Velocity Control Unit
AC servo moter
Current detector
AC
30
-6~b-
$ ////
Control
circuit (Pulse coder)
detector
A A
1
CH7 Current command
--
O R
I *1 + *2
CH5CH6
4N
00
I
Velocity
command
CHl ?? CH8
IR
O CHI 0
VCMD from
position
T* IS
*2 PWM
Driver
control CH2 O Torque -O CH I 1

unit command
F/V
CHl 4 O
ER
*1
O
CH9
+
IT
*2
l
Rotor position CHl 2 Triangle waveO
calculation
circuit
T
A .generator.
circuit
CHl 3
Toposition Drive Receover

control unit circuit circuit
*1: Multiplication circuit

*2: Amplifier circuit
Fig. 3.2
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.
- 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 lOOkll) , 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
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
hal fway.
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
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
This button is breaker cannot be reset soon,
<8
/ protruded forward wait for about 10 minutes
during operation. before resetting it).
Depress this button
after turning off
the power supply
(8 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) HV alarm
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
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 transformer 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.
- 52
(6) HC alarm
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 Cl
Cl BI
between terminals is several B1 El
ft (within 10ft). El ,C2 C2
B'J B2
E2 E2

(H 103. H 1 13) ( HI 04 .110 0 5 )
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
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
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 Countermeasures
1 Power line is not TG 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)
U O
1 o
o
la
I
Ui
ON I
[VELOCITY CONTROL UNIT]

F o
[A06B-6Q50-H3QT]
3 |FANUC LTD MADE IN JAPAN| o
n
160 - 160 max
Fig. 5.1
5.2 Model 4-0, 3-0 Velocity Control Unit (A06B-6050-H001)
210
j
L o
El
onr
BE Resistor module
m m
A40L-0001-0160
CD
I
Ln
N
8
CN Capacitor
l
o , A42L-0001-0121
$
O A
o tfcj
sd
J
_r
Terminal block
&n
A65L-0001-0135/104
1 60 max
Fig. 5.2
5.3 Model 2-0, 1-0, Velocity Unit (A06B-6050-H002)
230
n n Holder
Transistor module A98L-0001-0358
L AS0L-0001-01 1 1
M
ar Resistor
A40L-0001-
3
Connector
A63L-000 1-0222/ A 1
01 18/40W502
Diode module M
A50L-2001-
0134
Spacer
O
I
Ln
C=l
/ A98L-0004-0069/6N
CO
Magnetic contactor Heat sink
l Resistor module A58L-0001-0180 my=H A50L-6001-0240
5: A40L-0001-0147
o H Spark killer Surge absorber
A74L-0001-
0008/10D50
AHHREfl [ A50L-2001-0 139
Capacitor
d
Circuit breaker T V7 A42L-0001-0121
d
d A60L-0001-0143/15A o o
d Terminal block
d A65L-00010134
n
P.C.B
3A nE
5 Fig. 5.3
150
160 max
5.4 Model 0, 5 Velocity Unit (A06B-6050-H102)
2 2 5
A > \ Holder
A98I.-0001 0358
,o
Thermostat
$
A57L 0001-00-13 100 Transistor module
A50I.-0001 0091
Resistor module
A40L|000l -0144
Capacitor
Diode
* n
A42L-OOQ1 -0100
A50L-200 1-0135
Transistor
Diode module A50L 0001 0097
A50L-2001 -0175
i 'l Connector
Ln
vO
J I I
ID \j\S A63L 0001 -0222, 'A1
I o
Heat sink
in
R %m & A50L-6001-0262
Spacer
Magnetic A9B1.-0004 -0069/6N
s.
i
i
o i contactor Resistor module
TO
i
l
\ / A58L-0001-0197
Capacitor 31 A40L-0001 -0178
A40L-0001
i
-0132/681 n n
n 6
i \ \._J
i
1 v..' /
s / P.C-B T
\ / Surge absorber Circuit breaker LJ LJ Terminal block
N.
A50L-2001 -0139 A60L- 0001-01 4 3/15 A A65L-000 1-0134
T
/
A12345 678
i i
_i_ r Fig. 5.4

Ui
150
o i

i c o max.
5.5 Model 10 Velocity Unit (A06B-6050-H103)
2 2 5 Terminal board
I A65L 0001 -0244/A
T A Holder
A98L-0001 0358
&
i
Thermostat e Transistor module
A57L-000 1 -0043/100 A50L-0001 -0091
: i
Diode
A50L-2001 -0097/H06G
I Resistor module
I
I A40L -joooi -014 I
I
D Capacitor
e o o
A50L 2001-0135 A42L-0001 -0100
I
Connector
i
Diode module A63L-0001 -0222/A1
A50L-2001 -0175
I XA Transistor
I
ON A50L-000 1 -0097
O
I
c
in
T
I
Capacitor
0 & fieat sink
\ A50L 6001-0262
A42L-0001 H
-0132/681
Magnetic >
.Spacer
/
i
i
/
i
c o \
i
contactor
A58L-000 1-0197 mmni 3D A98L-0004 -0069/6N
\ i
='
/
Capacitor Hn 7D Resistor module
A65L-0001 0177
A42L-0001 i(Q sQ
-0132/122
$
>CH "
>2 o;
\
-
P C.B Breaker Terminal board
$
Surge absorber
*
A60L-00 0 1-01 4 3/1 5A A65L-0001-0I34
A50L-2001 -01 39
I 1
i A 1 2 3 4 5 6 7 8
i 1
En
Fig. 5.5 150
16 o max.
5.6 Model 20M Velocity Unit (A06B-6050-H113)
225 max. Thermostat A57L-000I -0043/ I 00

-f
Transistor module A65L-000 I -0224 /A I
Resistor module
A40L-000I -0144 Diode A5QL-200 I -Q097/U06G
L, A60L-000! -0261
A Transistor module A50L -000 I -009 I
y/'' Capacitor A42L-0001 -0100
-) Connector A63L-000I -Q222/A I
i P.C.B
Diode A50L-200I -0135
=
Diode module A50L-200I -0175
= Capacitor
A42L-000I -0132/68 I
sri ri=T w Transistor A50L-000I -0092

Magnetic
contactor A56L-000I -0236
I
ON
o
in
-
_i
i i Capacitor
A42L-000I -0132/122 JO
i 0 Q
11
B'

Breaker A60L-000I -0143/1 5A
I
i
i fol o-<6 / Surge absorber Resistor module A4QL-00QI -0177
A50L-200I -0139
Spacer v, rrr\rh\
a
tfr
Holder A98L-00QI -0358
---_
r
\
s
1
J
JO
A98L-0004 -0069/6N
raff a Terminal board A65L-QQ0 1-0 134
_ I
i
A I ? 3 4 5 f. 7 B
ny
150
I 60 max.
Fig. 5.6
I
2 2 5
T
I
!
Terminal board a u t
A Holder
A98I. 0001-0358
A6 5Ii- 000 1 -024 4/A
Thermostat
-S o - O - Transistor module
& *
A57L- 000 1-0043 '100 A50L-0001 -01 1H
Resistor module Diode

A4 01,000 1-0 14 I
A50I.-200 1-0097/11060
i I
;
i
Capacitor
i

Diode & A42L 0001 0100
i A50L-2001 -0135
<b * I
I
I
v Transistor
Diode module A50L-0001 00U7
i
A50L-200 1-0175
---
I Connector
M
] I , /!
A63L 0001 0222 A1
1 L J
I J Heat shink
Capacitor M .0. V
A50L 600 1 0261
A4 21, -0001
l -0132/661 * >
Magnetic
A 9 8 L 0004 -0069 6.N
i
O o \
contactor
I
\
/
1
I
Capacitor
A5BL-0Q0 1-0197
nffl Resistor module
lOa ri * A40L-000 1-0176
A42L-0001
\
-0132/122
a id f a
\ iQ
\ , iQI O! Breaker
\ criJ "
j
/
rn i
\ Surge absorber AfiOL-OOQ 1 -0 143/1 5 A Terminal board
s s a
A50L-2001 -0139 A65L-000 1 -0134
I 1
I I
i
I 8
A 1 2 3 4 5 6 7
'
I
i
I
l I'
I II
Fig. 5.7
itn
;
ra!
: i 150
16 o max.
r
5.8 Model 30R Velocity Unit (A06B-6050-H0050)
240
Fan
A90L-000 1-0 100/A
I
Cni A
Holder A98L-0001-0358
Q
Terminal block
A65L-0001-0234/3P01 i r TT
Diode A50L-200 1-009 7/U06G
Thermostat
r_ ir\
lr Resistor
A57L-000 1-0043/80 Connector A63L-0001-0222/A1
module
Diode module O O
A40L-0001-
0155 Xu A50L-2001-0134
o o
Li

L. j
Diode
/X
1 O O
Transistor
module A50L-0001-0103
i A50L-2001-0135 \7 O O Spacer A98L-0004-0069/6N

ON
Lo ft
o
I Capacitor Transistor
----
Capacitor A42L-0001-0100
'A42L-0001 -0128 A50L-0001-0097 O O
-0121
r
C3
i-'~i i
Magnetic contactor
Heat sink A50L-6001-0242
Spark killer A74L-0001-0008/10D50
A58L-0001-0181
@1 Surge absorber A50L-2001-0139
=E Ua Circuit breaker A60L-0001-0143/20A

\ P.C.B. taflfi a
3 Sri
II II
IMI
Terminal block A65L-0001-0280
150
Fig. 5.8
160 max
5.9 Model 0, 5, 10 Velocity Unit (A06B-6050-M003)
230
Terminal block
A65L-0001-0234/3P01
n n Holder A98L-0001-0358
I Q
k-CD-.
Thermostat Diode AS0L-2001-0097/U06G
A57L-000 1-0043/ 100 O O
Connector A63L-0001-0222/A01
Capacitor Transistor
Resistor module module A50L-0001-009 1
A42L-0001-0106
A40L-0001-0144
O o
3 Transistor AS0L-0001-0097
Diode module
A50L-2001-0134 Spacer A98L-0004-0069/6N
l Diode
~ UV
\JT7
Resistor module
O' A50L-2001-0135
A40L-0001-0146 Heat Sink A50L-6001-024 1
S;
o
J
k Magnetic contactor
rftiuuH
O O
A58L-0001-0181 Capacitor A42L-0001-0122
E Spark killer
InmEJ Surge absorber A50L-2001-0139
E
E
A74L-0001-0008/10D50 [QT H 3 Capacitor A42L-0001-0 1 2 1
E Circular breaker 3 o o
Terminal
E
E
J A60L-0001-0143/15A block A65L-0001-0134
P.C.B.
rS
f 150
1 60 max
Fig. 5.9
230 Terminal block L n

A65L-0001-0234/3P01 Holder A98L-000 1-0358
13-
Thermostat Diode A50L-2001-0097/U06G
tJT A57L-000 1-0043/ 100
0 D
o o
Connector A63L-0001-0222/A1
Diode module D
A50L-2001-0134 0 O o
Transistor
module A50L-0001-0103
Diode
0
A40L-0001-0144 A50L-2001-0135 O o Capacitor A4 2L-0001-0100
II D o o
Transistor
A50L-000 1-0097
Spacer A98L-0004-0069/6N
1
Resistor module \K7 o o
O' Magnetic contactor
Ul
5:
O A58L-0001-01 8 1 fftrtfUH Heat sink A50L-600 1-0242
Y o
Capacitor A42L-000 1-0 1 22
E A40L-0001-
0145
Spark killer
A74L-0001-0008/10D50 tnnfl Surge absorber A50L-200 1-0 139
E _
Circuit breaker Capacitor A42L-000 1-0121
E o o
E A60L-0001-0143/15A
E
E
FiL Terminal block A65L-0001-0134
P.C.B. i ii ii ii ii M innrr
nS
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.
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 .
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-H20 1

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 Qty 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 k k A63L-0001-0202/6W
Pin 5 CN2 RC16M-SCT3 ** A63L-0001-0226

** Manufacturer: Burndy Japan Ltd.
- 70 -
Table 1.1 (c) Parts Included in Input Connector (Crimp style type)
Name Qty Use Model FANUC specifications

Connector 4- cover 2 CN1L,M,N MR-20L, MRP-20F01 * A63L-0001-0134/22
Connector 4- cover 2 CN5L ,M, N MR-20LW, MRP-20M01* A63L-0001-0134/35
Connector + cover 2 CN6L,M,N MR-20LW, MRP-20F01* A63L-0001-0134/25
Contact 80 CN 1 , 6 MRP-F112 * A63L-0001-0134/F112
Contact 40 CN5 MRP-M11 2 * A63L-0001-0134/M112
Housing 1 CN2 SMS6PW-5 ** A63L-0001-0202/6W
Pin 5 CN2 RC16M-S23A ** A63L-0001-0127/S23A

71
2. CONNECTIONS
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 0]CN6L CN5L
CN5M
CD
[-
0
0 Q ]CN6M T1
A
NC control unit
Q] CN1L
Velocity
1
Q1CN1M control
2 Machine tool
unit for 3
1
Q] CN2 2 axes.
X Servo motor
0
j
M 5L Trans
I
ducer
6L
0 7L 0
Electromagnetic
contactor Fuse
5M
6M
0 Servo motor
LC F 7M Transducer
Power u
source
AC 30 V
O O
<5~o
CT'-O
<W> Power ++ 0
W transformer
o-o -O-O-
Terminal screw M4
0 Emergency stop
--
oII
EMG
(When 3.5 mm2 cable is used,
use crimp style terminal
L oov
O
+1056
AC 1
5.5-S4)
0 0 15%
2.2 Detailed Servo System Connection Diagram
-----

NC control
unit
- VCMDL,Mj[ CN1L,M(7)
ftxionoa 1 1 ECL,M
A/W-
CN1L.M0)
y- -vw
rfr
T
C
0VL1L.M CNl L,M(3)
0VL2L.MI CNIL.MQO
VRDY1L.M? CN1L,M(4)
VRDY2L,Ml CNl
ENBLIL.MI
--
CN1L,M(2)
AA/V
ENBL2L,Ml CN1L.MQ5 |1
T
PRDYIL.MI
- Q
PRDY2L,MT
ALM1L,mY
CNl L, Mil)
1
CNl L, MM
CN1L,M(8)
+24V
Wv
X
77-
Ws
*ALM2L,MI CNl L,M(9)

ALM4L,mY CNl L, Mqa
*ALM8L,mY CNl L,M(lC
COML,MI CNl L,M03 / I
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 oV* O]A\ Twisted pair

Paper tape oy \3 ( o
o)\ X7(O?TX V'AXO\
o
kMM o
v/A OJy
\
51
/
Drain wire
Cotton fiber
Fig. 2.2.1
- 73

1st 2nd 3rd
unit unit unit
I
41 44 47 18A CN2W
42 45 48 CT CN2_(2)
43 46 49 I 8B CN2 (3)
51 T0H1 CN2 (4)

52 T0H2 CN2 (5)
Connector SMS6PW-5
Screw terminal M4 employed RC16M-SCT3
}(Burndy Japan Ltd.)
Fig. 2.2.2

31 34 It Tl (A) <3
R
32 35 S Tl (1)
s
33 36 T Tl (2)
T <Tt>
G
T\r
Screw M4 Screw M4
A
(Cable employed: 2.0mm2, 600V heat-resistive vinyl wire)

Fig. 2.2.3
1 00B Tl (3)
AC 100V
1 <t>
Contact OFF at
OItO
EMG
1 0 0A Tl (4)
emergency stop
Screw M4
(Cable employed: 0.75 mm2, 200 V vinyl wire)
Fig. 2.2.4
- 74
(1) Model 2-0, 1-0

T1 ( 5L,M ) 1
Tl (6L,M) 2
Model
Tl (7L,M) 3
2-0
G
1 -0
G
P
Screw M4
(Cable employed: 30/0.18 (0.75mm2)
\ L RM 1 5 WTP-4S-( 1 0)
* Hirose Electric Co.
Guide key
Fig. 2.2.5 (a) 40 Ol

3 0 02
(2) Model 0 and 5

Tl (5L,M)
Tl (6L,M)
A
B
/
Model
Tl (7L,M) C
0,5
G G D
-5:
5]
Connector employed
Screw M4 jMS3106B 18-1 OS (Straight type)
1 MS3108B18-10S (Elbow type)
Cable employed: 2.0mm2 (37/0.26) Guide key
Fig. 2.2.5 (b)
DO OA
C O OB
75
Velocity control unit Motor

CN5L,M(1),(2),(3) ov f~\~~ N,T
CN5L,M(4),(5),(6) I+5V J,K
CN5L.Mffl~l CWL,M~
CN5L , M(8) YOH1L,M R
CN5L , M (9) T0H2L,M S
CN5L.Mfl0l C8L.M M
CN5L .Mflfl I C4L.M L
CN5L,MQ3 I C2L,M P
CN5L , M(13 I CILM C
CN5L , M(H) IPCZL.M F
CN5L.M09 IPCZL,M~ G
CN5L.MQ9 lPCAL.M A
CN5L .MOD fPCAL,M~ D
CN5L.MQ8 TPCBL.MT B
CN5L.MQ9 JTCBL.M E
CN5L.MC0 I SGL.Mi H
Cannon connector
Connector employed: MR-20LWMH MS3 1 06B20-29SW (Straight type)
(Honda Tsushin Co., Ltd.) MS3108B20-29SW (Elbow type)
Guide key
/
(D hvO !
Q]A
Veto
'
SO
{0)2/ Cotton fiber
A\ M0 4
op L o No p c
o
0 Drain wire OT o
B /Op Ko oD
Braided wire AN 3lO, s R
SO
4 2?
JO
O
o
O
o
O
oE
Twisted paired H F
wire G
MS 3 1 0 2 A 2 0- 29 PW
Fig. 2.2.6
- 76

unit CN6L,M(1),(2),(3) _ rT n
CN 6 L , M (8) lOHlBL.M
CNGL, M(9UOH2BL,M
CN6L.MQ4) 1 PCZL,M
CNSL.MflS Y*PCZL,M
CN6L.M09 PCAL.Mj
CN6L,M(17)Y*PCAL,M|
CN6L.MQ8Y PCBL,M|
CN6L,M(19 Y*PCBL,M|
CN6L,MCOY SGL.Mj j I I

Cotton fiber
IN) Y W Paper tape

,B: (GNJ
BKI o
w YBN,
IGN BIC Shield
GY W
,BK
Y W 0 Sheath
(GY
Fig. 2.2.7
2.3 Connection of Power Transformer
Refer to the same subsections in Chapter I in this manual.
- 77
CN8 HIROSE CN9 HIROSE CN I 0 HIROSE
PWM CIRCUIT ifflfsisssa |SI IjJi siii-SSSa

H2U1 H202 H203 BOARD 5 r r 1 (l
S5SB33BB aaSSBii*S.2S!SB
- ~
l l l l l
~
fl TIT yyjj 1111 TTTTTTTT
1L-2L.3L-4L 170mfi 170mn SOmC AI6B- 1200-0520
PCBI
5L-6L 400mfi! 40()mf2 120mn
RM1
1M-2M.3M-4M 170mO 50mfi 50mn
5M-6M 400mf2 120mfl 120mn TM3L TM2L TMIL
DS
LDEL
rici
i
L0CL
r7E~!
L3AL
r it n
i TI
TI
rBl
I
'Q i
u U
5L
I
I li 11 11
HE 3 ?M I
3
I LEAL
bL
4
A v 2
MCC
o
I
3CL= LEEL
LECL
T
RM2 7L
21 I I
I --
i T ig i3 o
Sj
L0PL L3DL .B; LBOL ,B;
I I I I
I I . I B4 B2
00 o V <3 + ci
LEL L Ji _J
I i I zfez 400V M:C
I Nr B2 i!_A_ 3-A-*
2 I V
4
2
MCC
-O O-
I
VHV I200UF
i-J
23 13
--- _ _
I
r
I
I
1I I
I
M
3
i
i
21 21
ir J
Jr-icG
r it
QI
T
LBEM
r
i
'3 1*
hiI
I
L3CH
iS . LBH
r"TEn
i
'3il I i
2_H?_
*
a 5M
__
J L3C
I LEH
6M
ZNR
3 4Q0V , I
I
5A
J
LEEH
l LECH CE
T <Vyr3y o
m
7M
oJ i i
L3PH LOOM .a;
T
L33M ,B;
I l i
> O
TH MCC
RMI
i I u 8
b
-o BE BE
"BJ *
I 2 A2 AI
CM LEH LJEJ L Ji j
4
O
IOOA
5 ? = SI

i
RK2
l
5_
TM3M TM2M TM I M
G H20 I AC2-0/ I -0 + AC2-0/ I -0
i H202
H203
AC2-0/I-0
ACO/5
+
+
ACO/5
ACO/5

CN I L t TO NC.VCMD)
fi RDY
it
TO NC
(VCMD) I CL MIL
n A i-s
A
life
IK
5 ffi CN2
TT VCHDL BU3NDY
I BA
CN I M I TO NC.VCHD1
K!l&7*EF]>i: mwirni ;*i](23*ic] 2 CT
B-1*71-WCI DJCMJ .J-13ra:MKI
*
n* riiwniFumiix IITMCI A20B- 1001 -0470 TO POWER - 3 IBB
AI6B- 1200-0520
Vi:iBW:I m mewa >E H:i ni:i 4 TQHt
H-K4IZICIIH TRANSFORMER 5 TOH2
|i 3 COMM hy
I IlrPMeiili ViKWIWl PCB2 6 PCB I
(TO MOTOP)
TO J
MOTOR - IA
(PULCO)
I
CN5M (TO MOTOP)
CN7 (TO PCB i J CN7 (TO PCB2 )
VO Pll QV > I AM
'V 8n _ 3 ZEES
I A
MM3
PCZM
Y AHA I CHI 50P YAMAICHI 50P
niBMii
I X
E
S*! aL.
CHM
U
QV
v
5v 4 _ L7 PC AM
JL-. ISl _:gCBM
i
'W.i'iWHv;
if:
fisc
HI
w rv
i-fj tc M 1 5V
>/: M: jri
-
CN6L (0
It BW19 Ir.'ll
ii- arama iv
NC .PULCO)
aI
II m
ncnyjwn
IPi'DWWIK
KLKECflHIEI
IK
I
-w
1
TO NC ifcEifjwn iKiiUiMin
It/JHdTl'.miM
(PULCO) (T-
ifcEsMMau* hiai'i* iuwmlid n&mxamm
it;: r, ru + 5V
CN6M (TO NC. PULCO) uBSSS?/ E

B-3dW21Kl.EW:ia>K V
'M.BUa-rB'M- iV
IV Isi 'V
(V
IV
BgRr- V5v
V
3. SETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT
3.1 Setting and Adjustment of Velocity Control Unit PCB
(1) A16B-1200-0520 (Mother board)

r n
! O
CHI AM
CNIO
F I / Fuse
o
CHI CM
CN7 O
CHI EM
O
CH I M
o
CHI AL CN9
I
\
o
CXI
ID o
o CHI CL
i
o O
o o CHIL
r- OJ
o I
I CQ O
M3
o CHI EL
o <
I
CQ
O
CM
<
X CN8
F3/ Fuse
FR2
Fuse resistor
-i b
FRI F2/ Fuse
L _i
CH4 RV4 CN2

o Sl0
- 80 -
(2) A20B-1001-0470 (Child board)
S3 I M
ffl S3 I L
I
S S

1 7L 1 9L
S29M
S29L
qm
_ ffl
\
C
T"-
S
I 6L
S
I 4L

S S
I 7H 1 9H
S S
I 6M 1 4M
O
I
c
c
c
I
[ S30HI
S3Q1
-
I I
1
a
CN7
933L
S33M
( :H I 3 OTRW -I5VO :HI7
CHI4L QER LVO OHV I5VO :HI6

HC O OOVCM +5V O :HI5
DC O OTGM
an
SSL S9L S8M S9M
0VCLO QPRDY S20MERO :HI4M
CHI2L O IT sinn TGLO 3 ITO :HI2M
cm
CHIOL
IL O IS
O IR 22L
RV3L
RV2L
S20L
D D S20M
RV3M
RV2M 3
22M
ISO
IRQ
I :H I IM
:HIOM
CH9L OT RV1L RVIM TO 1 'H9M
CH6L O 3 SO 'H8M
CH7L O R RO 'H7M
CH6L o O 'H6M
SIOL SIOM
o O :H5M
CH5L
CH3L Oov 0 0 ovO :H3M
TSA O :H2M
CH2L OTSA
CHIL Q VCHD VCMDO :H I M
CN5L CN6L CN5M CN6M O

CVJ
in
To To NC To To NC O
Motor Motor
O
O
S32L S32M OJ
I
CD
CN I L To NC CN I M To NC v)
<
Note 1. Two PCB is 1 sets.

Note 2. Part location on PCB may be changed without notice.
81
PCB A20B- 100 1-04 70

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
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
S3 1L ,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
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 SIO at L side.
Note A. If S20 is set at L side, absolute codes from the pulse coder is
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.
(a)

Setting plug -
Set at H side
L| 3 H
3 L
(b)
OH
Set at L side
("1
\l \_/
Le R
E3
\
_i
Le R
(C) Set at Le side (d) Set at R side
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 -
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)

CH15 +5V +5V
CH16 +15V +15V
CHI 7 -15V -15V
Note 1. a when VCMD is 7V/1000 rpm

= 0.344
Note 2. Setting terminal S4 is on the PCB A16B-1200-0520 .
Note 3. Waveform of triangle wave is as follows.
12 + 1.5V
71
3604:30 sec
conversion as CHI 0-12 .
Effective values can be obtain by
multiplying 1//2T
- 84 -
Current AC servo motor Detector
Regenera -C ;;
v: detector (Pulse corder) E
AC ZB
35V 7ZZ2. tive
control
circuit
MM V Dynamic

O
n
O
5-
brake
J circuit
53
3
-C n 1 t;
i
-t, i
Current AC
detector servo motor
Detector
O
<
GK> (Pulse coder)
2.
iiiLi1 Dynamic
<
O
o
CH7L
Current t brake
circuit
3
Torque command command
I
Velocity
command from
CHIL
fVcMD
CH5L CH6L i --5-io-
-
C@8L
IS .
.
-CHIOL
2.
C
3
7*
03
Ln
position control
unit (VCMD)
.? - IS
PWM Driver
CH2L Amplifier CHI IL
I circuit
r
TSA l T '
IT
F/V
CH9L CHI2L
Rotor posi
tion detect a-
circuit
To position Dnver Receiver
control unit circuit circiut Current
CH7M command
Velocity com
mand from
_ CHIM
'CMD
Torque command
CH5M CH6M I fZ iCHaiSCH I OM 2
position
control unit
( VCMD ) CH2M I
r- IS
-
2 PWM Driver
ran Amplifier CHI IM
F/V
T
circuit
r Rotor
CH9M
position
T 1
i t
CH I PM
* 1 Multiplication circuit
*2 Amplifier circuit
detect
To position Dnver circuit
Receiver
I
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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A4OL-;;OOI -o?04
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.
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
N.
Y axis
Z axis
I J
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
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-H05 1 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)

Connector + cover 3 CN1L,M,N MR-20LFH * A63L-0001-0 134/02
Connector + cover 3 CN5L,M,N MR-20LWMH * A63L-0001-0134/ 15
Connector + cover 3 CN6L ,M,N 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) Parts Included in Input Connector (Crimp style type)

Connector + cover 3 CN1L ,M,N MR-20L, MRP-20F01 * A63L-0001-0134/22
Connector + cover 3 CN5L,M,N MR-20LW, MRP-20M01* A63L-0001-0134/35
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-M112 * A63L-0001-0134/M112
Housing 1 CN2 SMS6PW-5 ** A63L-0001-0202/ 6W
Pin 5 CN2 RC16M-S23A ** A63L-0001-0127/S23A

- 95
2. CONNECTIONS
Fig. 2.1(a) shows standard connection diagram of A06B-6050-H401 - H403.
NC control unit
0 {] ]CN6L CN5L [
0
0 {] ]CN6M CN5M [ -(K6> Machine tool
0 {] ]CN6N CN5N [ -0 Servo motor L axis

Transducer
TI 0
0 {] ]CNIL
A
2
I 0 Servo motor M axis
i
VD
0 {] ]CNIM 3
4
Transducer
0
i 0 {] JCNIN 5U
6L1 0
7L' Servo motor N axis
5M' Transducer
Q ]CN2 6M' 0
Electromagnetic
0 Velocity
control unit
5N'
6N<
7Mi
0 Emergency stop
AC100V
for 3 axes b-O + 10
U
V
contactor
O
o o
O
Fuse
<rx_o-
Power
transformer
7N1
4 -Li L-0 -15%
10
w
Power source
o o
<rvj>
-CTVJO t
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
0 {] ]CN6L CD
CN5L
(g)
0 {] ]CN6M CN5M CD
0 Machine tool
0 {] ]CN6N CN5N CD
TI
0 Servo motor L axis
0- Transducer
0
A
0 ]CNIL
2
0 Servo motor M axis
0 {] ]CNIM 3
4
Transducer
0
0 {] ]CNIN 5L<
6U 0
i 7L' Servo motor N axis
VO
5Mi Transducer
i
0 ]CN2 614
0
714
Electromagnetic
0 Velocity
control unit
for 3 axes
514
6N<
0 Emergency stop
AC100V
ho + 10%
U
V
contactor
o
o
o
Fuse
0~\_>
Power
transformer T2
4 6 4-
714
C-0 -15%
10
TT0
<TXJ>
w o o- <rvj>
Power source 11 T3
AC 30
Terminal screw M4 L~@ '2 Regenerative
>3 discharge
,4 unit A06B-6050-H40 I -H403
use crimp style terminal /
/
5.5-S4)_
0
It Fig. 2.1 (b)
Fig. 2.1(c) shows standard connection diagram of A06B-6050-H404 .
NC control unit
<2> {] ]CN6L CN5L CD 0
CN5M CD(g>

0 {] ]CN6M Machine tool
0 {] ]CN6N CN5N CD
TI
0 Servo motor L axis
Transducer
o
A
0 0 JCNIL 2
0 Servo motor M axis
0 {] ]CNIM 3
4
Transducer
0
0 {] ]CNIN 5L
6L 0
I 7U Servo motor N axis
vo 5M< Transducer
oo
0 ]CN2 6Mi o->
7Mi
K2
Velocity
control unit 5Ni 0
Emergency stop
6Ni
ho
Electromagnetic for 3 axes AC100V
+ 10%
U
V
contactor
O
a
O
Fuse
0X0
<rvj>
Power
transformer
T2
4 6 4
7Ni
4r' L-0 -15%
10
w o o -crvjD-
Power source I T3
AC 30
Terminal screw M4
L0 2 Regenerative
discharge
unit
use crimp style terminal 4 A06B-6050-.-I404
5.5-S4) /
I T3
'2 Regenerative
JJ ,3 discharge
unit
Fig. 2.1 (c)
0
2.2.1
NC control unit
rfr
,
____
2.2 Detailed Servo System Connection Diagram
Details of connections of cable K1
yCM3L,M,NlCNlL,M,N(7)
itrrrrrri j ECL,M,MCNIL.M,NW
0VL1L,M,N1CN1L,M,N(3)
A/W
wv

j vw
OVL2L,M,NICN1L,M,N00
VRDYlL,M,NlCNlL,M,N(4)
VRDY2L,M,NlCNlL,M,NM
ENBL1 L,M,NlCNlL,M,N(2)
AA/V
ENBL2L,M,NlCNlL,M,NQ9 X
fI
PRDY1L,MJCN1L,M,NU:
PRDY2L,MnYoJ1L,M,NQ4
+gjY
X
*ALMlL,M,NlCNlL,M,N(8) T>T
*ALM2L,M,nYcN1L,M,N(9) ,
*ALM4L,M,NYCN1L,M,NOO /
*ALM8L,M,NlCNlL,M,N(ll) )
COML,M,~NXCNIL,M,N(I3 / [
Cable employed: 0.1~0.18mm* Connector MR20LFH

paired shielded
Vinyle sheath
Shield
--
-- o i
Ok V Twisted pair
-
woyj \3 (o
Paper tape
o CAfo)J
I
Shield
Drain wire
v sm
fKSS.
Cotton fiber
Fig. 2.2.1
- 99 -

1st 2nd 3rd
axis axis axis
41 44 47 1 8A CN2 (1)
42 45 4S CT CN2 (2)
43 46 49 1 8B CN 2 (3)
51 TOH 1 CN2 (4)

52 TOH 2 CN2 (5)
Screw terminal M4 employed (

Fig. 2.2.2

31 34 R T1(A)
R
32 35 S Till)
S
T Tl(2)
T
33 36
<rv-
Screw M4 Screw M4
(Cable employed: 3.5mm2 , 600V heat-resistive vinyl wire)
Fig. 2.2.3
1 00B Tl (3)
AC 100V
10 1 1 -
O
EMG
O
1 0 0A Tl (4)
Contact OFF at
emergency stop Screw M4
(Cable employed: 0.75mm2 , 200V vinyl wire)
Fig. 2.2.4
100 -
(1) Model 5, 0

Tl (5L,M,N)
Tl ( 6 L,M,N )
A
B
/
T 1 ( 7L,M,N) Model
C 0
5
G G D
* *
-
Connector employed: MS3106B 18-1 OS (Straight type)
Screw M3.5 MS3108B18-10S (Elbow type)
MS 3057- 1 0A
4-conductor vinyl cabtyre cable Guide key
Cannon Do OA
connector
CO OB
Fig. 2.2.5 (a)
(2) Model 10

Tl ( 5 L ,M,N) 1
Tl (6L,M,N)Y B
/
o-
Tl (7L,M,N) C
-6- Model
10
G G D
*-?
Connector employed MS3106B22-22S (Straight type)
Screw M4 MS3108B22-22S (Elbow type)
Cable clamp MS30S7-12A
4-conductor vinyl cabtype Guide key
Cannon DO OA
connector
CO OB
Fig. 2.2.5 (b)
101
Velocity control Motor

unit CN5L,M,N(1),(2),(3) ov n n N,T
CN5L , M , N (4),(5),(6)
C N 5 L , M , N (7)
+ 5V
CWL i.iM.N
3 J,K
CN5L,M,N(8) 0H1AL [, |M,N R

CN5 L ,M,N(9) OH2BL , JM.N S
CN5L,M,NW C3L i |M , N M
CN5 L.M.NQD C4L |.|M,N L
CN5L,M,N(13 C 2 L i'|M,N P
CN5 L ,M,N(13 ClL |, jM,N C
CN5L.M.NM PCZL|,iM,N F
5. * PCZL i, IM,N G
CN5L,M,NO0 PCAL |. |M,N A
CN5L.M.NQ7) TPCAL i, |M,N D
CN5L,M,N(l8 Y PCBL|,|M,N B
CN5L,M,N(19 T *PCBL j, |M,N E
CN5L,M,N SGL j ,[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 i
\(0
A B
m O
V
Mo o C
i
Cotton fiber
A
L
o NO
p o
O
Ko oT OD
Cannon
R
connector Ji
o O s O OE
CM\ Drain wire o o o
Braided wire
<D L-, i
sX&0
I
H F
U G
2n4
Twisted paired
wire MS 3 1 0 2 A 20-29 PVV
Fig. 2.2.6
102

unit CN6L,M,N(1),(2),(3) OV ,-X ]A
i
CN6L,M,N(8) QH1BL,M,N
CN6L,M,N(9)
% 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
7)~Y
CN6L,M,N( 1 *PCAL,M;N
CN6L,M,N(18)~Y PCBL,M,N
CN6L,M,N( 1 97T *PCBL,M,N
CN6L,M,N(20) SGL.M.N

Cotton fiber
W
YJJ AW Paper tape
(GNJ
BKY o
!I<
(GN,
AVXB:
BK
Braided wire
GY,
BKJ 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-H401 - 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)
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.

41 1 8A CN2 (1)
42 CT CN2 (2)
43 1 8B CN2 (3)
51 TOHl CN2 (4)
'*"'4752 T0H2 TOH2 CN2 (5)
Connector SMS6pW-5 (Nihon Bumdy Co.)


200V heat-resistive vinyl cable (Thermostat contact)
T3 (3)
7>* Regenerative
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 T 2 (4)
i T 2 (5)
HCA T2 (6)
Screw terminal M3. 5
Regenerative
T3 (2)

Regenerative
discharge unit
T 3 (1)
tt T 3 (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.

41 1 8A CN2U)
42 CT CN2 (21
43 1 8D CN2 13)
si TOHl CN2 (4)
52 T0H2 TQH2 I CN2 (5)
Connector SMS6PW-5 (Nihon Bumdy Co.)

Cable employed: 0.75mm'2 (30/0.18)

200V heat-resistive vinyl cable (Thermostat contact)
T3 (3)
Regenerative
-6-
T3 (3)
Regenerative
Fig. 2.2.8 (d)
2.3 Connection of Power Transformer
Refer to the same subsections in Chapter I in this manual.
107
2.4.1 Model 0/5, Model 0/5 and Model 0/5 (A06B-6050-H401)
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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)
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109 -
2.4.3 Model 0/5, Model 10 and Model 10 (A06B-6050-H403)
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2.4.4 Model 10, Model 10 and Model 10 (A06B-6050-H404)
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BURNDY CN I L (TO .
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IK rnaiTL Hfcpgr as ENflL L
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5 TOH2
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CN7 CN9
HIROSE HIROSE
CN I M I TO NC. VCMD! CN5M (TO PULCO) CNbMtTO NC, PULCO PEECBACK
U
1? DV2f-' m
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3. SETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT
3.1 Setting and Adjustment of Velocity Control Unit PCB
PCB A20B-1001-0770
A20B-I00I -0770/C 1
1
Fuse resistor
F I / Fuse
n
n 3.2A
CNIO
Q PRDY
Cl UV
Q HC
Cl HV S3 I L
S3 1 M S3 IN
LI
O
Q TGL
O OVCL
Cl TGM
DC
0 DO
n
Cl OVCM
Q TGN
Cl OVCN SIOL SIOM SION CN9
S30N S33N
Do
S30L S33L S2 [OM S33H
LT
17
cm 6
SI4N
SI.5N
SI6N
n
15 SI.6L SI.6M
S 1 5M /
CH54L 4LSL / S0M SflN CN8
cm 3//SaL
CHQ0S9L
CHYIL
OOlRIl CHTIH
S9M S9N
Fuse
<smF2
idI RV3L S29L
CH 0
r~1 RV3N S29N
2.0A

CH9
I SLCSQRV2N =j
B.
IP
|Bt{
>L
RV2L
RVIL
SI7L
S22L
C&Blf
w
CH5M
|RV2M
RVIH S22M
SI7H
SP CH5N
RVIN t=JS22N n
IL SI8L CH3M SI8H CH3N
SI9L SI9H
CH2L !M CH2N
CHIL CHIH CHIN
CN7
C:NE>L CN SL CNEiM CN 5M CNCN CNbN
Lf
S32L
CNIL
SOL Si4 S3M
CNIM
StlOM ffi
Fig. 3.1.1
CNIN
ON
CN2
113
PCB A20B-1001-0770
Table 3.1.2
Standard setting
Terminal : J Remarks
setting 0/5 10 i
SI L L r TOH setting (Note 1)

S2 x x DC alarm setting (Note 2)
S10L,M,N H H TG alarm enable (Note 3)
S 1 7L ,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
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
S3 1L ,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
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, FS 10 , FS1 1 , FS 1 2 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
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 71
J) L EJ) L
(a) Set at H side (b) Set at L side
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 -
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
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 = 0.344 when VCMD is 7V/1000 rpm

Note 2. Wave form of triangle wave is as follows.
12 1.5 V
360 30 /i see
conversion as CH10-12. The effective values can be obtained by
multiplying 1//27
116
.w
N>
7T7T7
AC 30
I 85V
2s 222
Regenerative
control
circuit
Current
detector

AC servo motor Detector
s
0>
V. (Pulse coder) E

O
2
inn Dynamic
brake
Q)
to
S
3
circiut
Current AC servo motor Detector

detector (Pulse coder) o
G.
<
o
llilv Dynamic
brake
3
3
f circuit
c
n s-
I
CO
N>
< - i Current
detector

AC servo moto
09
S
rDetector
X (Pulse coder)
Sf-SM Dynamic
brake
circuit
CH7L Current
command
R
Velocity CH5L CH6L i 2
command
from posi
CH I L
CMD,

Amplifier

CH8L
ii "Ts
IR()CHIOL
tion control
unit
( VCMD ) CM? L
circuit i 2 PWM Driver
CH 1 l !
TSA CH t 4L 2
T
rP
F/V
CH9L CH!2L
Rotor posi
tion detect
circuit
i
To position Driver Receiver
control unit circuit circuit Current
CM7M
Torque command command
R
Velocity CH5M CH6M i i 2
command |CH8M~ -CHIOM
s
CH I M
from posi s
tion control CMD4 Amplifier 2 PWM Driver
unit circuit IS
03
(VCMD CH2M CHI IM
ISA CH I 4M 2
I ER

IT
F/V i >
CH9M CH I 2M
T Rotor posi
tion detect
circuit
d IB)
CHI 3
To position Driver Receiver

control unit circuit circuit Current
CH7N command
Torque command
Velocity CH5N CH6N

i
R
v 2
command CHIN jCHbN icmON
from posi
tion control
unit
I VCMD) CH2N
CMD
I
Amplifier
circuit :firr IS

CH, IN
PWM Driver
Tin CH I 4N i
T
2
ER
F/V
CH9N
r*.
CH I 2N
T
Driver
Rotor posi-
tion detect
circuit *1: Multiplication circuit
*2: Amplifier circuit
To position Receiver
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)
CAPAt JTOrLr
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\ BREAKER .?l
*501.-200 r- 75 / i ASC- -0001 -000 I /O
A6CL GOD -Oi 43/20* /2
4 / /
mas TRMJNA:. OLGCK I o o
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/o
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o
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M MB CD /
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3
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I / TRANSISTOR (0 >
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t-IOl z
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n I cO o o o
2 ao o o o o o o o I / A3QL-00Q1 0097
fin
a MAGNETIC CONTACTOR I MCC I I

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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.
0) 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
unit CN 5 (11,(2),(3)
CN5 (4),(5),(6)
V n
4-5V
--
I 1 N,T
J ,K
Motor
CN5 (7) CW
CN5(8)l0Hl I R
CN 5 (9) I OH 2 S
CN 5 ao C8 M
CN 5 (11) C4 L
CN 5 Q3 C2 P
CN 5 (13 Cl C
CN5(Hl PCZ F
CN5 09 *PCZ I G
CN5fl91 PCB B
CN5g7)T*PCB E
CNSQS Y PCA A
CN 5 19 X *PCA D
CN5 CO SG H
Cannon MS3106B20-29SW (Straight type)

Connector employed: MR-20LWMH connector MS3108B20-29SW (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 he 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
Velocity control NC
unit CN 6 (11,(2),(3) OV ('
CN6 (8) OHl

CN6 (9)
$ 0H2
CN6 Q4 PCZ
CN6 09 *PCZ
CN6 09 PCB
CN 6 07) *PCB
CN6 08 PCA
CN 6 09 *PCA
CN6 GO SG
Detail of connection of cable K.7 in reverse connection.
NC Velocity control unit
EC CN 1 (7)
I
I
I
l ft t
HIT7
I
i VCMD
t CN 1 GO
AA/V-
AW
OVL 1 CN 1 (3)
OVL2 CN 1 09
VRDY1 CN 1 (4)
VRDY2 CN107)
ENBL1 CN 1 (2)
ENBL2 CN1 09
PRDY1 CN 1 (1) + 24V
PRDY2 CN 1 04
(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 1C6.
Signal CW and OV (terminal 1 or 2 or 3) should be connected.
Note 1: Connection of motor power line is not changed.
129
Velocity control unit Motor Model 5-0

~~ Gray
CN5 _(1),(2),(3) ..
<>V t'\
CN5 (41,(51,16) -t sv ! ! Red
C N 5 (7) CW
CN5 QO C8 Brown/White
CN5 flit C4 Orange/White
cNr-aa C2 Yellow/White
CN5 05 I PCZ Green
CN5 0Q PCB Blue
CN5 Q8 PCA Black
CN5 0) 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
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)
ii
0, 5 AB1314F0 ( )
I!
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
Attachments Mark (Pulse coder) near the direction of cable
u

Motor
shaft 1
Rubber
Bolt 1 cap
(M5)
\ \ \ \ V \ \ \
Coupling
H
r
1 Motor housing
Bolt 2 (M4, 3pcs)
Mark-off line
Fig. 1
* RATED DC CURRENT AT THE CHECK OF PHASE-RELATIONSHIP IS AS FOLLOWS.

MOTOR MODEL 3-0, 4-0 1 .2A
+ II 1-0, 2-0 4A
0, 5 9A
- 10 15A
20, 30 30A
V 40A
O 30R
X
Fig. 2
134
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)

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

this table, please make contact with our service office.
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
S26L,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

this table, please make contact with our service offices.
136 -
3) AC servo unit (for three axes)
Standard setting
Setting
Description
pin
0/5 10
S22L ,M,N o Gain switching
S23L,M,N o 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 Low-band gain
S27L,M,N X High-frequency gain
S28L ,M,N 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

this table, please make contact with our service offices.
137
Revision Record
FANUC 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

No part of this manual may be
reproduced in any form.
All specifications and designs

are subject to change without
notice.

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AC

Copyright 1989 GE Fanuc Automation North America, Inc.

I. AC SERVO UNIT FOR 1 AXIS 1

3. SETTING AND ADJUSTMENT FOR VELOCITY CONTROL UNIT . 29

5. PARTS SPECIFICATIONS AND LOCATIONS ON VELOCITY UNIT 56

II. AC SERVO UNIT FOR 2 AXES 67

3. SETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT 80

5. PARTS SPECIFICATION AND LOCATIONS ON VELOCITY UNIT 87

III. AC SERVO UNIT FOR 3 AXES 91

3. SETTING AND ADJUSTMENT OF VELOCITY CONTROL UNIT 113

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

1. REVERSE CONNECTION 127

1. AC SERVO MOTOR MAINTENANCE .. 131

2. COMPENSATING CIRCUIT SETTING FOR AC SEVO UNIT 135

Fig. 1.1 Example of AC Servo Unit Structure

Table 1.1 (a)

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

Name Q'ty Use Model FANUC specifications

Name Q'ty Use Model FANUC specifications

* Manufacturer: HONDA Tsushin Co., Ltd.

2.1 Connection Diagram

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

NC control unit 0] CN5 T1

Note: Cable K3 is not needed for

Fig. 2.1 (a)

NC control unit 0]CN5 T1

Fig. 2.1 (b)

2.2.1 Details of connections of cable l<1

Velocity control unit

These signals are employed from edition c of velocity control PCB

2.2.3 Details of connections of cable K3

Power Velocity control unit

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

Table 2.2.3 (a)

Motor employed Cable employed

Model 2-0, 1-0 2

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

2.2.4 Details of connections of cable K4

Cabinet Velocity control unit

Cable material: 0.75mm2 200V vinyl wire.

2.2.5 Details of connections of cable K5

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

Velocity control unit

Screw M3. 5 / Crimp style terminal

Velocity control unit

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

Velocity control unit

Connector MS3 106B24-1 OS (Straight type)

2.2.6 Details of connections of cable K6

(1) Model 5-0

Velocity control unit

CN 5(1), (2),(3) 0V Gray

CN5 (.0,(5). (6) +5V Red

CN5 (10) C8 Brown/White

CN5 (12) C2 Yellow/White

CN5 (18) *PCB Blue

CN5 (15) + PCZ Green

CN5 (20) SG i i / Black (thick)

Fig. 2.2.6 (a)

Fig. 2.2.6 (b)

Velocity control Motor

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

Fig. 2.2.6 (c)

Velocity control NC control unit