View source for Fanuc Alpha Series AC Servo Motors

== Overview ==

Fanuc "red cap" servos that typically use proprietary serially interfaced (RS-422) high resolution encoders. Some of them are absolute with battery backup, and some are "incremental". I believe both of them have some level of absolute resolution (10-bit?) per turn for commutation purposes (these motors have no hall sensors).

== Specifications ==

In the "65142E/04" manual:

[https://s3.amazonaws.com/Icarus/DOCUMENTS/Fanuc_Manuals_1113.pdf#page=122 Pages 122-140] (109-127 in the PDF) show the specifications for different models.

== Model Numbers ==

In the "65142E/04" manual:

[https://s3.amazonaws.com/Icarus/DOCUMENTS/Fanuc_Manuals_1113.pdf#page=119 Pages 119-121] (106-108 in the PDF) detail the model number scheme.

== Wiring Diagram ==

In the "65142E/04" manual:

[https://s3.amazonaws.com/Icarus/DOCUMENTS/Fanuc_Manuals_1113.pdf#page=157 Pages 157-159] (144-146 in the PDF) show the power connector wiring.

[https://s3.amazonaws.com/Icarus/DOCUMENTS/Fanuc_Manuals_1113.pdf#page=116 Page 116] (101 in the PDF) shows the cooling fan wiring (applicable models).

[https://s3.amazonaws.com/Icarus/DOCUMENTS/Fanuc_Manuals_1113.pdf#page=85 Page 85] (70 in the PDF) shows the encoder's 17-pin circular connector wiring.

In the "65162E/03" manual:

[https://s3.amazonaws.com/Icarus/DOCUMENTS/Fanuc_Manuals_467.pdf#page=265 Page 265] (245 in the PDF) shows the serial encoder's 20-pin Mini-D connector pinout for "Type A" and "Type B" interface servo amplifiers. NOTE: different amplifiers have different pinouts, but may still use the 20-pin connector. Double check the pinout applies to that model!

TODO: find out where the details of the wiring from the 17-pin connector to the encoder's internal 14-pin connector are documented.

{| class="wikitable"
! Name
! 14-pin
! 17-pin
! 20-pin
|-
| SD
| 8
| A
| 1
|-
| *SD
| 10
| D
| 2
|-
| REQ
| 7
| F
| 5
|-
| *REQ
| 9
| G
| 6
|-
| +5V
| 14,13
| J,K
| 18,20
|-
| 0V
| 3,4
| N,T
| 12,14
|-
| shield
| 
| H
| 
|-
| +6VA
| 12
| R
| 7
|-
| 0VA
| 5
| S
| 16
|}

[https://s3.amazonaws.com/Icarus/DOCUMENTS/Fanuc_Manuals_1113.pdf#page=102 Page 102] (87 in the PDF) is a section detailing the connector and cable part numbers.

== Replacement Parts ==

=== 4-pin circular connector ===

Motor side receptacle:

[[File:DigiKey_Part_H123645-ND.jpg|64x64px]] [https://www.digikey.com/product-detail/en/hirose-electric-co-ltd/H-MS3102A18-10P-D-T1-73/H123645-ND/4305765 Hirose H/MS3102A18-10P-D-T1(73)]

Cable side plug:

[[File:DigiKey_Part_97-3108B-18-10S-ND.jpg|64x64px]] [https://www.digikey.com/product-detail/en/amphenol-industrial-operations/97-3108B-18-10S/97-3108B-18-10S-ND/340936 Amphenol 97-3108B-18-10S]

=== 17-pin circular connector ===

Motor side receptacle:

[[File:DigiKey_Part_H123646-ND.jpg|64x64px]] [https://www.digikey.com/product-detail/en/hirose-electric-co-ltd/H-MS3102A20-29P-73/H123646-ND/4305767 Hirose H/MS3102A20-29P(73)]

[[File:DigiKey_Part_97-3102A-20-29P-ND.jpg|64x64px]] [https://www.digikey.com/product-detail/en/amphenol-industrial-operations/97-3102A-20-29P/97-3102A-20-29P-ND/340955 Amphenol 97-3102A-20-29P]

Cable side plug:

[[File:DigiKey_Part_97-3108B-20-29S-ND.jpg|64x64px]] [https://www.digikey.com/product-detail/en/amphenol-industrial-operations/97-3108B-20-29S/97-3108B-20-29S-ND/2510073 Amphenol 97-3108B-20-29S]

=== Encoder ===

[https://s3.amazonaws.com/Icarus/DOCUMENTS/Fanuc_Manuals_1113.pdf#page=81 Page 81-85] (66-70 in the PDF) have information about the two types of built-in encoders, the absolute "A64" and the incremental "I64".

The "I64" encoder's Fanuc part number seems to be "A860-0365-V501", or "A860-0365-T101" when bundled with the external circular connector to internal rectangular connector cable.

The external round jack to internal rectangular plug cable assembly's part number when bought individually is "A860-0360-V906". It's half made up of the above mentioned Hirose H/MS3102A20-29P(73) receptacle, the rectangular connector plug is yet to be identified.

Possible encoder cover part numbers: "A290-0511-X053" or "A290-0511-X054".

== Online Resources ==

[https://s3.amazonaws.com/Icarus/DOCUMENTS/Fanuc_Manuals_1113.pdf Alpha Series AC Servo Motor Descriptions Manual GFZ-65142E/04 (February 2001)]

[https://jamet.com/Technical/Fanuc/DRIVES/a_series_servo_descman.PDF Alpha Series AC Servo Motor Descriptions Manual GFZ-65142E/02 (March 1995)]