FANUC Alpha-I Series Motor IDs | Servo & Linear Motor Guide

Alpha-I Series Motor IDs

aiS series servo motor

Motor model	Motor specification	Motor ID No.		90D0 90E0	90B0	90B5 90B6	90B1	9096
Motor model	Motor specification	HRV1	HRV2	90D0 90E0	90B0	90B5 90B6	90B1	9096
aiS2/5000	0212	162	262	A	H	A	A	A
aiS2/6000	0218	–	284	G	–	B	B	–
aiS4/5000	0215	165	265	A	H	A	A	A
aiS8/4000	0235	185	285	A	H	A	A	A
aiS8/6000	0232	–	290	G	–	B	B	–
aiS12/4000	0238	188	288	A	H	A	A	A
aiS22/4000	0265	215	315	A	H	A	A	A
aiS30/4000	0268	218	318	A	H	A	A	A
aiS40/4000	0272	222	322	A	H	A	A	A
aiS50/3000	0275-Bx0x	224	324	B	V	A	A	F
aiS50/3000 FAN	0275-Bx1x	225	325	A	N	A	A	D
aiS100/2500	0285	235	335	A	T	A	A	F
aiS200/2500	0288	238	338	A	T	A	A	F
aiS300/2000	0292	115	342	B	V	A	A	–
aiS500/2000	0295	245	345	A	T	A	A	F

aiF series servo motor

Motor model	Motor specification	Motor ID No.		90D0 90E0	90B0	90B5 90B6	90B1	9096
Motor model	Motor specification	HRV1	HRV2	90D0 90E0	90B0	90B5 90B6	90B1	9096
aiF1/5000	0202	152	252	A	H	A	A	A
aiF2/5000	0205	155	255	A	H	A	A	A
aiF4/4000	0223	173	273	A	H	A	A	A
aiF8/3000	0227	177	277	A	H	A	A	A
aiF12/3000	0243	193	293	A	H	A	A	A
aiF22/3000	0247	197	297	A	H	A	A	A
aiF30/3000	0253	203	303	A	H	A	A	A
aiF40/3000	0257-Bx0x	207	307	A	H	A	A	A
aiF40/3000 FAN	0257-Bx1x	208	308	A	I	A	A	C

aiS series servo motor (for 400-V driving)

Motor model	Motor specification	Motor ID No.		90D0 90E0	90B0	90B5 90B6	90B1	9096
Motor model	Motor specification	HRV1	HRV2	90D0 90E0	90B0	90B5 90B6	90B1	9096
aiS2/5000HV	0213	163	263	A	Q	A	A	D
aiS2/6000HV	0219	–	287	G	–	B	B	–
aiS4/5000HV	0216	166	266	A	Q	A	A	D
aiS8/4000HV	0236	186	286	A	N	A	A	D
aiS8/6000HV	0233	–	292	G	–	B	B	–
aiS12/4000HV	0239	189	289	A	N	A	A	D
aiS22/4000HV	0266	216	316	A	N	A	A	D
aiS30/4000HV	0269	219	319	A	N	A	A	D
aiS40/4000HV	0273	223	323	A	N	A	A	D
aiS50/3000HV FAN	0276-Bx1x	226	326	A	N	A	A	D
aiS50/3000HV	0276-Bx0x	227	327	B	V	A	A	F
aiS100/2500HV	0286	236	336	B	V	A	A	F
aiS200/2500HV	0289	239	339	B	V	A	A	F
aiS300/2000HV	0293	243	343	B	V	A	A	F
aiS500/2000HV	0296	246	346	B	V	A	A	F
aiS1000/2000HV	0298	248	348	B	V	A	A	F
aiS2000/2000HV ^(Note1)	0091	–	340	J	–	B	B	–

NOTE

1 The model needs manual setting. (See Subsection 2.1.7, “Setting Parameters when the PWM Distribution Module isused”.) When using the torque control function, contact FANUC.

aiF series servo motor (for 400-V driving)

Motor model	Motor specification	Motor ID No.		90D0 90E0	90B0	90B5 90B6	90B1	9096
Motor model	Motor specification	HRV1	HRV2	90D0 90E0	90B0	90B5 90B6	90B1	9096
aiF4/4000HV	0225	175	275	A	Q	A	A	E
aiF8/3000HV	0229	179	279	A	Q	A	A	E
aiF12/3000HV	0245	195	295	A	Q	A	A	E
aiF22/3000HV	0249	199	299	A	Q	A	A	E

aCi series servo motor

Motor model	Motor specification	Motor ID No.		90D0 90E0	90B0	90B5 90B6	90B1	9096
Motor model	Motor specification	HRV1	HRV2	90D0 90E0	90B0	90B5 90B6	90B1	9096
aC4/3000i	0221	171	271	A	H	A	A	A
aC8/2000i	0226	176	276	A	H	A	A	A
aC12/2000i	0241	191	291	A	H	A	A	A
aC22/2000i	0246	196	296	A	H	A	A	A
aC30/1500i	0251	201	301	A	H	A	A	A

JiS series servo motor

Motor model	Motor specification	Amplifier driving	Motor ID No.		90D0 90E0	90B0	90B5 90B6	90B1	9096
Motor model	Motor specification	Amplifier driving	HRV1	HRV2	90D0 90E0	90B0	90B5 90B6	90B1	9096
JiS0.2/5000	0111 (Note 1)	4A	–	260	A	N	A	A	‡
JiS0.3/5000	0112 (Note 1)	4A	–	261	A	N	A	A	‡
JiS0.4/5000	0114 (Note 1)	20A	–	280	A	N	A	A	‡
JiS0.5/6000	0115	20A	181	281	G	–	B	B	–
JiS1/6000	0116	20A	182	282	G	–	B	B	–
JiS2/4000	0061 (Note 2)	20A	153	253	B	V	A	A	F
JiS2/4000	0061 (Note 2)	40A	154	254	B	V	A	A	F
JiS4/4000	0063 (Note 2)	20A	156	256	B	V	A	A	F
JiS4/4000	0063 (Note 2)	40A	157	257	B	V	A	A	F
JiS8/3000	0075 (Note 2)	20A	158	258	B	V	A	A	F
JiS8/3000	0075 (Note 2)	40A	159	259	B	V	A	A	F
JiS12/2000	0077 (Note 2)	20A	169	269	–	–	D	–	–
JiS12/3000	0078	40A	172	272	B	V	A	A	F
JiS22/2000	0085	40A	174	274	B	V	A	A	F

NOTE

HRV1 control cannot be used with these motors. So, these motors cannot be used with Series9096.
For a motor specification suffixed with “-Bxx6”, be sure to use parameters dedicated toFS0i.

JiS series servo motor (for 400-V driving)

Motor model	Motor specification	Amplifier driving	Motor ID No.		90D0 90E0	90B0	90B5 90B6	90B1	9096
Motor model	Motor specification	Amplifier driving	HRV1	HRV2	90D0 90E0	90B0	90B5 90B6	90B1	9096
JiS2/4000HV	0062	10A	151	251	J	–	B	C	–
JiS4/4000HV	0064	10A	164	264	J	–	B	C	–
JiS8/3000HV	0076	10A	167	267	J	–	B	C	–
JiS12/3000HV	0079	20A	170	270	J	–	B	C	–
JiS22/2000HV	0086	20A	178	278	J	–	B	C	–

The mark “-” indicates that automatic loading of standard parameters is not supported as of December,2005.

JiS series servo motor (dedicated to FS0i)

Motor model	Motor specification	Amplifier driving	Motor ID No.		90B5
Motor model	Motor specification	Amplifier driving	HRV1	HRV2	90B5
JiS2/4000	0061-Bxx6	20A	206	306	D
JiS2/4000	0061-Bxx6	40A	210	310	D
JiS4/4000	0063-Bxx6	20A	211	311	D
JiS4/4000	0063-Bxx6	40A	212	312	D
JiS8/3000	0075-Bxx6	20A	183	283	D
JiS8/3000	0075-Bxx6	40A	194	294	D
JiS12/2000	0077-Bxx6	20A	198	298	D
JiS22/1500	0084-Bxx6	20A	202	302	D
JiS22/1500	0084-Bxx6	40A	205	305	D

The motor models above can be driven only with Series 90B5.

Linear motor

Linear motor parameters for servo HRV2 control Note: The following linear motors are driven by200V.

Motor model	Motor specification	Motor ID No.	90D0 90E0	90B0	90B5 90B6	90B1	9096
LiS300A1/4	0441-B200	351	G	–	B	B	–
LiS600A1/4	0442-B200	353	G	–	B	B	–
LiS900A1/4	0443-B200	355	G	–	B	B	–
LiS1500B1/4	0444-B210	357	G	–	B	B	–
LiS3000B2/2	0445-B110	360	G	–	B	B	–
LiS3000B2/4	0445-B210	362	G	–	B	B	–
LiS4500B2/2	0446-B110	364	G	–	B	B	–
LiS6000B2/2	0447-B110	368	G	–	B	B	–
LiS6000B2/4	0447-B210	370	G	–	B	B	–
LiS7500B2/2	0448-B110	372	G	–	B	B	–
LiS7500B2/4	0448-B210	374	G		B	B	–
LiS9000B2/2	0449-B110	376	G	–	B	B	–
LiS9000B2/4	0449-B210	378	G	–	B	B
LiS3300C1/2	0451-B110	380	G	–	B	B	–
LiS9000C2/2	0454-B110	384	G	–	B	B	–
LiS11000C2/2	0455-B110	388	G	–	B	B	–
LiS15000C2/2	0456-B110	392	G	–	B	B	–
LiS15000C2/3	0456-B210	394	G	–	B	B	–
LiS10000C3/2	0457-B110	396	G	–	B	B	–
LiS17000C3/2	0459-B110	400	G	–	B	B	–

Note: The following linear motors are driven by 400V.

Motor model	Motor specification	Motor ID No.	90D0 90E0	90B0	90B5 90B6	90B1	9096
LiS1500B1/4	0444-B210	358	G	–	B	B	–
LiS3000B2/2	0445-B110	361	G	–	B	B	–
LiS4500B2/2HV	0446-B010	363	G	–	B	B	–
LiS4500B2/2	0446-B110	365	G	–	B	B	–
LiS6000B2/2HV	0447-B010	367	G	–	B	B	–
LiS6000B2/2	0447-B110	369	G	–	B	B	–
LiS7500B2/2HV	0448-B010	371	G	–	B	B	–
LiS7500B2/2	0448-B110	373	G	–	B	B	–
LiS9000B2/2	0449-B110	377	G	–	B	B	–
LiS3300C1/2	0451-B110	381	G	–	B	B	–
LiS9000C2/2	0454-B110	385	G		B	B
LiS11000C2/2HV	0455-B010	387	G	–	B	B	–
LiS11000C2/2	0455-B110	389	G	–	B	B	–
LiS15000C2/3HV	0456-B010	391	G	–	B	B	–
LiS10000C3/2	0457-B110	397	G	–	B	B	–
LiS17000C3/2	0459-B110	401	G	–	B	B	–

Linear motor parameters for servo HRV1 control

Motor model	Motor specification	Motor ID No.	90D0 90E0	90B0	90B5 90B6	90B1	9096
LiS1500B1/4	0444-B210	90	A	A	A	A	A
LiS3000B2/2	0445-B110	91	A	A	A	A	A
LiS6000B2/2	0447-B110	92	A	A	A	A	A
LiS9000B2/2	0449-B110	93	A	A	A	A	A
LiS1500C2/2	0456-B110	94	A	A	A	A	A
LiS3000B2/4	0445-B210	120	A	A	A	A	A
LiS6000B2/4	0447-B210	121	A	A	A	A	A
LiS9000B2/4	0449-B210	122	A	A	A	A	A
LiS15000C2/3	0456-B210	123	A	A	A	A	A
LiS300A1/4	0441-B200	124	A	A	A	A	A
LiS600A1/4	0442-B200	125	A	A	A	A	A
LiS900A1/4	0443-B200	126	A	A	A	A	A
LiS6000B2/4	0412-B811	127 (160-A driving)	A	R	A	A	D
LiS9000B2/2	0413	128 (160-A driving)	A	N	A	A	D
LiS9000B2/4	0413-B811	129 (360-A driving)	A	Q	A	A	D
LiS15000C2/2	0414	130 (360-A driving)	A	Q	A	A	D

(Reference)

The parameter table presented in Chapter 6 has two motor ID Nos. for the same linear motor. One of the two is for driving the a series servo amplifiers (130A and 240A). Be careful not to use the wrong ID No.

Motor model	aservo amplifier driving		aiservo amplifier driving
Motor model	Amplifier maximum current[A]	Motor ID No.	Amplifier maximum current[A]	Motor ID No.
LiS6000B2/4	240	121	160	127
LiS9000B2/2	130	93	160	128
LiS9000B2/4	240	122	360	129
LiS15000C2/2	240	94	360	130

Synchronous built-in servo motor

Synchronous built-in servo motor for servo HRV2 control NOTE: The following synchronous built-in servo motors are driven by 200V.

Motor model	Motor specification	Motor ID No.	90D0 90E0	90B0	90B5 90B6	90B1	9096
DiS85/400	0483-B20x	423	K	–	–	–	–
DiS110/300	0484-B10x	425	K	–	–	–	–
DiS260/600	0484-B31x	429	K	–	–	–	–
DiS370/300	0484-B40x	431	K	–	–	–	–

NOTE: The following synchronous built-in servo motors are driven by400V.

Motor model	Motor specification	Motor ID No.	90D0 90E0	90B0	90B5 90B6	90B1	9096
DiS85/400	0483-B20x	424	K	–	–	–	–
DiS110/300	0484-B10x	426	K	–	–	–	–
DiS260/600	0484-B31x	430	K	–	–	–	–
DiS370/300	0484-B40x	432	K	–	–	–	–

(4) AMR setting

For AMR, set 00000000. When using a linear motor, set AMR according to the description in Section 4.14, “LINEAR MOTOR PARAMETER SETTING”. When using a synchronous built-in servo motor, set AMR according to the description in Section 4.15, “SYNCHRONOUS BUILT-IN SERVO MOTOR PARAMETER SETTING”.

00000000 |
@iS/@iF/@iS motor

(5) CMR setting

Set, as CMR, a specified magnification for the amount of movement from the NC to the servo system.
CMR = Command unit / Detection unit

CMR 1/2 to 48 |
Setting value = CMR x2

Usually, set CMR with 2, because command unit = detection unit (CMR = 1).

(6) Flexible feed gear setting

Specify the flexible feed gear (F•FG). This function makes it easy to specify a detection unit for the leads and gear reduction ratios of various ball screws by changing the number of position feedback pulses from the Pulsecoder or separate detector. It converts the incoming number of pulses from the position detector so that it matches the commanded number of pulses. When using a linear motor, set F•FG according to the description in Section 4.14, “LINEAR MOTOR PARAMETER SETTING”. When using a synchronous built-in servo motor, set F•FG according to the description in Section 4.15, “SYNCHRONOUS BUILT-IN SERVO MOTOR PARAMETERSETTING”.

(a) Semi-closed feedback loop

NOTE

ForbothFFGnumeratoranddenominator,themaximumsetting value (after reduced) is32767.
aiPulsecoders assume one million pulses per motor revolution, irrespective of resolution, for the flexible feed gearsetting.
If the calculation of the number of pulses required per motor revolution involves n, such as when a rack and pinion are used, assume nto be approximately355/113.

Example of setting

If the ball screw used in direct coupling has a lead of 5 mm/rev and the detection unit is 1mm

The number of pulses generated per motor turn (5 mm) is: 5/0.001 = 5000 (pulses)

Because the aiPulsecoder feeds back 1000000 pulses per motor turn: FFG = 5000 / 1000000 = 1 / 200

Other FFG (numerator/denominator) setting examples, where the gear reduction ratio is assumed to be 1:1

Detection unit	Ball screw lead
Detection unit	6mm	8mm	10mm	12mm	16mm	20mm
1mm	6 / 1000	8 / 1000	10 / 1000	12 / 1000	16 / 1000	20 / 1000
0.5mm	12 / 1000	16 / 1000	20 / 1000	24 / 1000	32 / 1000	40 / 1000
0.1.mm	60 / 1000	80 / 1000	100 / 1000	120 / 1000	160 / 1000	200 / 1000

Content Credit: FANUC Product Manual

Posted in : Troubleshooting/FAQ

Alpha-I Series Motor IDs

Alpha-I Series Motor IDs

NOTE

NOTE