FANUC Alpha系列伺服电机1. FANUC 的交流伺服电机与直流伺服电机相比，交流伺服伺服电机具有免维护，低损耗，体积小的特点，在现代控制领域已经逐步取代了直流伺服电机，交流伺服电机被广泛地应用到各个控制领域，FANUC 从80年代开始逐步使用交流伺服电机，从开发应用到目前被广泛使用的Alpha 系列伺服电机，经过了三代的更新，从模拟的交流控制单元驱动的伺服电机，到S系列电机，从而又发展成为现在使用的交流Alpha 系列伺服电机，从伺服电机的性能上得到了提高，而电机的体积更小，特别是现在使用的Alpha 系列的伺服电机，电机的型号更全，并采用了磁更强的材料，伺服电机的反馈使用了高速高精度的串行位置编码器，可以适用于各种不同的丝杠而不需要选定编码器的线数，并且该系列具有标准系列，小惯量系列，中惯量系列，经济型的AC系列和高压（380V）的HV系列电机等。
请参考下表：(1) 交流伺服电机的结构目前，在控制领域中所采用的交流伺服电机一般为同步电机（无刷直流电机），电机主要由三部分组成，即：定子，转子，和检测元件构成，其中定子与普通的交流感应电机基本相同，主要有定子冲片，三相绕组线圈，另外还有支撑转子前后端盖和轴承等组成，伺服电机的转子主要由多对极的磁钢，定子冲片和电机轴构成，检测元件由安装在电机尾端的位置编码器构成，目前Alpha系列的电机的编码器使用的是串行脉冲编码器，由于电机的激磁必须和转子的磁极位置垂直，所以电机的位置反馈要能够把电机的磁极位置反馈给伺服系统，用以产生交流伺服电机的激磁的矢量控制。
电机的结构如图4-1所示。
图4-1 交流伺服电机的结构交流伺服电机的工作原理实际上与电磁式的同步电机类似，只不过磁场不是由转子中的激磁绕组产生，而是由作为转子的永久磁铁产生，当定子三相绕组通上交流电源后，电机中就会产生一个旋转的磁场，该磁场将以同步转速Ns旋转。
根据磁场的特性，定子的旋转磁极总是要和转子的旋转磁极相互吸引，并带着转子一同地转动，使定子磁场的轴心线与转子磁场的轴心线保持一致，形成电机的旋转扭矩。
FANUC伺服电机规格一览表（β、βis、αC、α、αCi、αi系列）电气室2003-8-30FANUC AC SERVO MOTOR a C series DESCRIPTIONSⅠ. TYPES OF MOTORS AND DESIGNATIONModels A06B-01□□-B☆○○a C3/2000 and aC6/2000□□21 : Model a C3/200026 : Model aC6/2000☆0 : Taper shaft (standard)1 : Taper shaft with the brake(8Nm)5 : Straight shaft6 : Straight shaft with the brake(8Nm)○○75 : With the pulse coder aA6477 : With the pulse coder aI64Models A06B-01□□-B☆○○aC12/2000 and aC22/1500□□41 : Model aC12/200045 : Model aC22/1500☆0 : Straight shaft (standard)1 : Straight shaft with the brake(35Nm)5 : Taper shaft6 : Taper shaft with the brake(35Nm)○○75 : With the pulse coder aA6477 : With the pulse coder aI64NOTE: For the aC series,serial pulse coder A cannot be used.Ⅱ. TYPE OF MOTORS AND SPECIFICATIONSⅢ.CHARACTERISTIC CURVE1. Model a C 3/2000050010001500200050101520Torque(Nm)Intermittent operatingContinuous operating Speed(1/min)2. Model a C 6/2000500100015002000Speed(1/min)051015202530Torque(Nm)Continuous operating Intermittent operating3. Model a C 12/2000500100015002000Speed(1/min)0510********Torque(Nm)Continuous operatingIntermittent operating4. Model a C 22/150050010001500Speed(1/min)0102030405060Torque(Nm)Continuous operatingIntermittent operatingFANUC AC SERVO MOTOR a series DESCRIPTIONSⅠ. TYPES OF MOTORS AND DESIGNATIONModels A06B-01□□-B ☆ ○○a 0.5/3000□□13 : Model a 0.5/3000☆0 : Straight shaft(standard)1 : Straight shaft with the brake(0.65Nm) ○○78 : With the pulse coder aA8B 80 : With the pulse coder aI8BModelsA06B-03□□-B ☆ ○○a1/3000, a2/2000□□and a2/3000 71 : Model a1/300072 : Model a2/200073 : Model a2/3000☆0 : Taper shaft (standard)1 : Taper shaft with the brake(2Nm)5 : Straight shaft6 : Straight shaft with the brake(2Nm)○○75 : With the pulse coder aA6477 : With the pulse coder aI6484 : With the serial pulse coder AModels A06B-01□□-B☆○○a3/3000, a6/2000□□and a6/3000 23 : Model a3/300027 : Model a6/200028 : Model a6/3000☆0 : Taper shaft (standard)1 : Taper shaft with the brake(8Nm)5 : Straight shaft6 : Straight shaft with the brake(8Nm)○○75 : With the pulse coder aA6477 : With the pulse coder aI6484 : With the serial pulse coder AModels A06B-01□□-B☆○○a12/2000, a12/3000□□a22/1500, a22/2000 42 : Model a12/2000a22/3000, a30/1200 43 : Model a12/3000a30/2000, a30/3000 46 : Model a22/1500a40/2000, and47 : Model a22/2000a40/2000(with fan) 48 : Model a22/300051 : Model a30/120052 : Model a30/200053 : Model a30/300057 : Model a40/200058 : Model a40/2000(with fan)☆0 : Straight shaft (standard)1 : Straight shaft with the brake(35Nm)5 : Taper shaft6 : Straight shaft Taper shaft with the brake(35Nm)○○75 : With the pulse coder aA6477 : With the pulse coder aI6484 : With the serial pulse coder AModels A06B-03□□-B☆○○a65/2000, a100/2000□□and a150/2000 31 : Model a65/200032 : Model a100/200033 : Model a150/2000☆0 : Taper shaft (standard)2 : Taper shaft with the brake(100Nm)○○75 : With the pulse coder aA6477 : With the pulse coder aI6484 : With the serial pulse coder AⅡ. TYPE OF MOTORS AND SPECIFICATIONSa2/3000 a6/3000输出功率Kw 0.2 0.3 0.40.5 0.9 1.01.4HP 0.3 0.4 0.50.6 1.3 1.41.9停转扭矩Nm 0.6 1.0 2.0 3.0 6.0 Kgf.cm 6.5 10 20 31 61额定转速1/min 3000 3000 20003000 3000 20003000最大理论扭矩Nm 3.4 8 16 27 56Kgf.cm 35 80 160 280 571转子惯量Kg.m2 0.000017 0.00036 0.00060 0.0014 0.0026 Kgf.cm.s2 0.00018 0.037 0.0061 0.014 0.027最大理论加速度Rad/s2 190000 22000 26000 20000 21000 重量kg 1 3 4 8 13Ⅲ.CHARACTERISTIC CURVE1.Model a 0.5/30002.Model a 1/30003.Model a2/2000Model a 2/30004.Model a3/30005.Model a6/2000Model a 6/30006.Model a12/2000Model a 12/30007.Model a22/1500Model a22/2000Model a22/3000 8.Model a30/1200Model a30/2000Model a30/30009.Model a40/2000Model a40/2000(WITH FAN)10.Model a65/200011.Model a 100/2000 12.Model a 150/2000FANUC AC SERVO MOTOR βseries DESCRIPTIONS Ⅰ. TYPES OF MOTORS AND DESIGNATIONⅡ. TYPE OF MOTORS AND SPECIFICATIONSⅢ.CHARACTERISTIC CURVE1．Model β0.5/300 2．Model β1/30003. Model β2/30004. Model β3/30005. Model β6/2000FANUC AC SERVO MOTOR βis series DESCRIPTIONSⅠ. TYPES OF MOTORS AND DESIGNATIONModels A06B-00□□-B☆0○β2/4000is , β4/4000is□□β8/3000is , β12/3000is61 : Model β2/4000isand β22/2000is63 : Model β4/4000is75 : Model β8/3000is78 : Model β12/3000is85 : Model β22/2000is☆0 : Taper shaft (standard)1 : Straight shaft3 : Taper shaft with the 24VDC brake4 : Straight shaft with the 24VDC brake○3 : With the pulse coder β128iAⅡ. TYPE OF MOTORS AND SPECIFICATIONSⅢ.CHARACTERISTIC CURVE1.Model β2/4000is1000200030004000Speed(1/min)0123456Torque(Nm)Continuous operating Intermittent operating782. Model β4/4000is1000200030004000Speed(1/min)024681012Torque(Nm)Continuous operating Intermittent operating3. Model β8/3000is100020003000Speed(1/min)024681012Torque(Nm)Continuous Intermittent operating1416operating4. Model β12/3000is100020003000Speed(1/min)0510152025Torque(Nm)Continuous Intermittent operating operating5. Model β22/2000is100015002000Speed(1/min)010********Torque(Nm)Continuous Intermittent operating operating500FANUC AC SERVO MOTOR a C i series DESCRIPTIONSⅠ. TYPES OF MOTORS AND DESIGNATIONModels A06B-02□□-B ☆ 0○a c 4/3000i , aC8/2000i□□a c 12/2000i , aC22/2000i 21 : Model a C 4/3000i and aC30/1500i26 : Model aC8/2000i41 : Model aC12/2000i 46 : Model aC22/2000i51 : Model aC30/1500i☆0 : Taper shaft (standard) 1 : Straight shaft3 : Taper shaft with the 24VDC brake4 : Straight shaft with the 24VDC brake ○0 : With the pulse coder aA1000i1 : With the pulse coder aI1000iⅡ. TYPE OF MOTORS AND SPECIFICATIONSⅢ.CHARACTERISTIC CURVE1． M odel aC4/3000iSpeed(1/min)20008Intermittent operating Continuous operating050042615001000141210Torque(Nm)250030002. Model aC8/2000i500100015002000Speed(1/min)0510152025Torque(Nm)Continuous operatingIntermittent operating3. Model aC12/2000i500100015002000Speed(1/min)051015202530Torque(Nm)Continuous operatingIntermittent operating4. Model aC22/2000i500100015002000Speed(1/min)0102030405060Torque(Nm)Continuous operatingIntermittent operating5. Model aC30/1500i50010001500Speed(1/min)0204060Torque(Nm)Continuous operatingIntermittent operating12010080FANUC AC SERVO MOTOR a i series DESCRIPTIONSⅠ. TYPES OF MOTORS AND DESIGNATIONModels A06B-02□□-B ☆ 0○a1/5000i , a2/5000i □□ a 4/4000i , a8/3000i02 : Model a C 4/3000i a 12/3000i , a22/3000i05 : Model aC8/2000i aC30/3000i and aC40/3000i 23 : Model aC12/2000i27 : Model aC22/2000i43 : Model aC30/1500i47 : Model aC30/1500i53 : Model aC30/1500i57 : Model aC30/1500i☆0 : Taper shaft (standard)1 : Straight shaft3 : Taper shaft with the 24VDC brake4 : Straight shaft with the 24VDC brake○0 : With the pulse coder aA1000i1 : With the pulse coder aI1000i2 : With the pulse coder aA16000iModels A06B-0257-B☆1○a40/3000i(with fan) ☆0 : Taper shaft (standard)1 : Straight shaft3 : Taper shaft with the 24VDC brake4 : Straight shaft with the 24VDC brake○0 : With the pulse coder aA1000i1 : With the pulse coder aI1000i2 : With the pulse coder aA16000i Ⅱ. TYPE OF MOTORS AND SPECIFICATIONSⅢ.CHARACTERISTIC CURVE1. Model a1/5000i100020003000Speed(1/min)0123Torque(Nm)Continuous operatingIntermittent operating654500040002. Model a2/5000i100020003000Speed(1/min)123Torque(Nm)Continuous operating Intermittent operating975500040003. Model a4/4000i500100015002000Speed(1/min)024681012Torque(Nm)Continuous operatingIntermittent operating14161835003000250040004. Model a8/3000i500100015002000Speed(1/min)051015202530Torque(Nm)Continuous operatingIntermittent operating 300025005. Model a12/3000i500100015002000Speed(1/min)0510********Torque(Nm)Continuous operatingIntermittent operating 3000250040356. Model a22/3000i500100015002000Speed(1/min)0102030405060Torque(Nm)Continuous operating Intermittent operating30002500707. Model a30/3000i100020003000Speed(1/min)0204060Torque(Nm)Continuous operatingIntermittent operating9080708. Model a40/3000i100020003000Speed(1/min)0204060Torque(Nm)Continuous operatingIntermittent operating120100801409. Model a40/3000i(with fan)100020003000Speed(1/min)0204060Torque(Nm)Continuous operatingIntermittent operating 12010080140宝鸡机床厂电气室2003-8-30FANUC 常用伺服电机性能比较1. β3/3000,β4/4000is,αC3/2000,α3/3000,αC4i/3000, α4i/3000500100015002000Speed(1/min)024681012Torque(Nm)Continuous operatingIntermittent operatingβ3/3000，β4is/4000，aC3/2000，a3/3000，aC4i/3000，a4i/4000性能比较1416183500300025004000β3β4is a3ac4i a4iac3a3a4i ac4i ac3β3β4is2. β6/3000,β8/4000is,αC6/2000, α6/2000,α6/3000,αC8i/3000, α8i/3000500100015002000Speed(1/min)051015202530Torque(Nm)Continuous operatingIntermittent operatingβ6/2000，β8is/3000，aC6/2000，a6/2000，a6/3000，aC8i/2000，a8i/3000性能比较30002500a6a8iac8i ac6β8is β6ac8ia6β8isβ6a8iac6a63. β12/3000is,αC12/2000, α12/2000,α12/3000,αC12i/2000, α12i/3000500100015002000Speed(1/min)051015202530Torque(Nm)Continuous operatingIntermittent operatingβ12is/3000，aC12/2000，a12/2000，a12/3000，aC12i/2000，a12i/3000性能比较300025004035β12isac12a12iac12iac12β12isac12ia12a12ia12a124.β22/2000is,αC22/1500, α22/1500,α22/2000,α22/3000,αC22i/2000, α22i/3000500100015002000Speed(1/min)0102030405060Torque(Nm)Continuous operatingIntermittent operatingβ22is/2000，aC22/1500，a22/1500，a22/2000，a22/3000，aC22i/2000，a22i/3000性能比较300025008070ac22β22isac22ia22a22iβ22isac22iac22a22a22a22ia22。
