FANUC SY NCHRONOUS. BUILT-IN SERVO MOTOR D*S series DESCRIPTIONS B-65332EN/01

Transcription

1 FANUC SY NCHRONOUS BUILT-IN SERVO MOTOR D*S series DESCRIPTIONS B-65332EN/01

2 FOR USERS Before getting started Be sure to read this manual thoroughly before using FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series. It contains many important items. Do not try operation not described in this manual without permission. Otherwise, your motor may get into trouble. If it is unavoidable to operate your motor in a way not described in this manual, get FANUC's permission in advance. If you order the motor, please order spare motors for maintenance too. For easy maintenance, consider the structure for installing or uninstalling the motor on the machine. No part of this manual may be reproduced in any form. All specifications and designs are subject to change without notice.

3 B-65332EN/01 SAFETY PRECAUTIONS SAFETY PRECAUTIONS This "Safety Precautions" section describes the precautions which must be observed to ensure safety when using FANUC synchronous built-in servo motors. Users of any motor model are requested to read this manual carefully before using the synchronous built-in servo motor. The users are also requested to understand each function of the motor for correct use. The users are basically forbidden to do any behavior or action not mentioned in this manual. They are invited to ask FANUC previously about what behavior or action is prohibited. s-1

4 SAFETY PRECAUTIONS B-65332EN/01 DEFINITION OF WARNING, CAUTION, AND NOTE This manual includes safety precautions for protecting the user and preventing damage to the machine. Precautions are classified into Warning and Caution according to their bearing on safety. Also, supplementary information is described as a Note. Read the Warning, Caution, and Note thoroughly before attempting to use the machine. WARNING Applied when there is a danger of the user being injured or when there is a damage of both the user being injured and the equipment being damaged if the approved procedure is not observed. CAUTION Applied when there is a danger of the equipment being damaged, if the approved procedure is not observed. NOTE The Note is used to indicate supplementary information other than Warning and Caution. * A "motor" described in this manual means all parts of the motor: Stator and rotor. - Read this manual carefully, and store it in a safe place. s-2

5 B-65332EN/01 SAFETY PRECAUTIONS WARNING WARNING - Be safely dressed when handling a motor. Wear safety shoes or gloves when handling a motor as you may get hurt on any edge or protrusion on it or electric shocks. - Any person having a medical apparatus must keep at least 30 cm away from any rotor. A rotor contains very strong magnets. If a person has a medical apparatus and does not keep a safe distance, the medical apparatus may malfunction. Any person having a medical apparatus such as a pacemaker or defibrillation equipment must not handle the motor if possible to prevent any accidents. - Do not unpack any rotor from the packing box until starting work. A rotor contains very strong magnets. Do not unpack any rotor from the packing box until starting work to prevent any accidents. - Do not remove the tin plates and corrugated cardboard for protection unless it is necessary. Corrugated cardboard and tin plates are attached to a rotor (using magnetic force) to protect the rotor and reduce magnetic leakage. Do not remove the tin plates and corrugated cardboard for protection also during work unless it is necessary. - When moving a rotor, place it flat with the mounting side facing up and slide it. When moving a rotor on a table after unpacking it, always place it flat with the mounting side facing up and slide it. If the table is made of magnetic materials, rotating the rotor on its magnet surface, it is highly dangerous. This is because your hand may be caught between the rotor and table. - Use tapped holes for moving a motor only. Tapped holes in the mounting side of the motor can be used to lift up the motor. When other mechanical parts are attached to the motor, however, it may be very dangerous to lift it up using holes in the mounting side. Tapped holes should be used only for lifting the motor and installing the motor. - When moving the motor, use a crane or another equipment. A motor is a heavy object. Use a crane or another equipment as required (for the mass of the motor, see the Section 2.2, SPECIFICATION LIST in the Part I, SPECIFICATIONS ). - Be careful of the magnetic attraction when installing the motor. A synchronous built-in servo motor has the magnet attraction about 20N/cm 2. Before work, consider the magnetic attraction, prepare devices, and take safety measures to prevent accidents. s-3

6 SAFETY PRECAUTIONS B-65332EN/01 WARNING - Do not touch a motor with a wet hand. A failure to observe this caution is very dangerous because you may get electric shocks. - Before starting to connect a motor to electric wires, make sure they are isolated from an electric power source. A failure to observe this caution is very dangerous because you may get electric shocks. - Do not bring any dangerous stuff near a motor. Motors are connected to a power line, and may get hot. If a flammable is placed near a motor, it may be ignited, catch fire, or explode. - Be sure to ground a motor frame. To avoid electric shocks, be sure to connect the grounding terminal in the terminal box to the grounding terminal of the machine. - Do not ground a motor power wire terminal or short-circuit it to another power wire terminal. A failure to observe this caution may cause electric shocks or a burned wiring. - Connect power wires securely so that they will not get loose. A failure to observe this caution may cause a wire to be disconnected, resulting in a ground fault, short circuit, or electric shock. - Be sure to make thermostat wiring. Be sure to make thermostat wiring for thermal protection. In addition, create a ladder or other program to enable thermal protection by the thermostat. - Do not supply the power to the motor while any terminal is exposed. A failure to observe this caution is very dangerous because you may get electric shocks if your body or any conductive stuff touches an exposed terminal. - While the motor is running, do not get near or touch the motor driving section. While the motor is running, getting near or touching the motor driving section may entangle cloths or fingers with the motor or cause a collision with a movable part. Before running the motor, check that no object will fly due to the running motor. - Before touching a motor, shut off the power to it. Even if a motor is not rotating, there may be a voltage across the terminals of the motor. Especially before touching a power supply connection, take sufficient precautions. Otherwise you may get electric shocks. s-4

7 B-65332EN/01 SAFETY PRECAUTIONS WARNING - Do not touch any terminal of a motor for a while (at least 5 minutes) after the power to the motor is shut off. High voltage remains across power line terminals of a motor for a while after the power to the motor is shut off. So, do not touch any terminal or connect it to any other equipment. Otherwise, you may get electric shocks or the motor and/or equipment may get damaged. - To drive a motor, use a specified amplifier and parameters. An incorrect combination of a motor, amplifier, and parameters may cause the motor to behave unexpectedly. This is dangerous, and the motor may get damaged. - While the motor is running, do not stand in the way of travel of the motor. While the motor is running, standing in the way of travel of the motor may cause injury in the event of an accident. - When designing and assembling a machine tool, make it compliant with EN To ensure the safety of the machine tool and satisfy European standards, when designing and assembling a machine tool, make it compliant with EN For details of the standards, refer to the standards. s-5

8 SAFETY PRECAUTIONS B-65332EN/01 CAUTION CAUTION - Keep electronic devices and magnetic media away from any rotor. Bring an electronic device such as a personal computer, camera, or cellular phone or magnetic media such as a magnetic card or disk near a rotor may cause a failure or damage. - Do not touch a motor when it is running or immediately after it stops. A motor may get hot when it is running. Do not touch the motor before it gets cool enough. Otherwise, you may get burned. - FANUC motors are designed for use with machines. Do not use them for any other purpose. If a FANUC motor is used for an unintended purpose, it may cause an unexpected symptom or trouble. If you want to use a motor for an unintended purpose, previously consult with FANUC. - Ensure that a base or frame on which a motor is mounted is strong enough. Motors are heavy. If a base or frame on which a motor is mounted is not strong enough, it is impossible to achieve the required precision. - Ensure that motors and related components are mounted securely. If a motor or its component slips out of place or comes off when the motor is running, it is very dangerous. - Be sure to connect motor cables correctly. An incorrect connection of a cable cause abnormal heat generation, equipment malfunction, or failure. Always use a cable with an appropriate current carrying capacity (or thickness). - Ensure that motors are cooled if they are those that require forcible cooling. If a motor that requires forcible cooling is not cooled normally, it may cause a failure or trouble. For liquid cooling, ensure that the amount of the liquid is appropriate and that the liquid piping is not clogged. Perform regular cleaning and inspection. When the cooling unit stops due to a failure or other reason, be sure to interrupt power for the motor. - Use caution against leak current. The amount of leak current flowing through the synchronous built-in servo motor may exceed the value specified in EN Take appropriate measures against leak current by, for example, adopting a structure that prevents the operator from contacting conductive parts near the motor during energization. s-6

9 B-65332EN/01 SAFETY PRECAUTIONS NOTE NOTE - Do not step or sit on a motor. If you step or sit on a motor, it may get deformed or broken. Do not put a motor on another unless they are in packages. - When storing a motor, put it in a dry (non-condensing) place at room temperature (0 to 40 C). If a motor is stored in a humid or hot place, its components may get damaged or deteriorated. In addition, keep a motor horizontally. - Be careful not to lose the nameplate. If you lose the nameplate, you may not sure of the model number of the motor or maintenance may become difficult. Stick the nameplate on a place where it is easy to read it for maintenance and hard to tear it off, such as on a surface near the motor or inside the cabinet of the machine. - Do not apply shocks to a motor or cause scratches to it. If a motor is subjected to shocks or is scratched, its components may be adversely affected, resulting in normal operation being impaired. When handling synchronous built-in servo motors, pay particular attention. Since they are molded of resin and ceramic magnet, they cause chips and cracks easily. - When testing the winding or insulation resistance of a motor, satisfy the conditions stipulated in EN Testing a motor under a condition severer than those specified in EN60034 may damage the motor. - Do not disassemble the motor. Disassembling the motor may cause a failure or malfunction. Stators are molded products and cannot be used once disassembled. - Do not modify a motor. Do not modify a motor unless directed by FANUC. Modifying a motor may cause a failure or trouble in it. - Use a motor under an appropriate environmental condition. Using a motor in an adverse environment may cause a failure or trouble in it. Refer to this manual for details of the operating and environmental conditions for motors. s-7

10 SAFETY PRECAUTIONS B-65332EN/01 NOTE - Do not apply a commercial power source voltage directly to a motor. Applying a commercial power source voltage directly to a motor may result in its windings being burned. Be sure to use a specified amplifier for supplying voltage to the motor. - Before using a motor, measure its winding and insulation resistances, and make sure they are normal. Especially for a motor that has been stored for a prolonged period of time, conduct these checks. A motor may deteriorate depending on the condition under which it is stored or the time during which it is stored. For the winding resistances of motors, refer to their respective specification manuals. For insulation resistances, see the following table. - To use a motor as long as possible, perform periodic maintenance and inspection for it, and check its winding and insulation resistances. Note that extremely severe inspections (such as dielectric strength tests) of a motor may damage its windings. - Motor insulation resistance measurement Measure an insulation resistance between each winding and motor frame using an insulation resistance meter (500 VDC). Judge the measurements according to the following table. Insulation resistance Judgment 100 MΩ or higher Acceptable The winding has begun deteriorating. There is no 10 to 100 MΩ problem with the performance at present. Be sure to perform periodic inspection. The winding has considerably deteriorated. 1 to 10 MΩ Special care is in need. Be sure to perform periodic inspection. Lower than 1 MΩ Unacceptable. Replace the motor. s-8

11 B-65332EN/01 PREFACE PREFACE This manual covers information on the following models: FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series DiS 3000/150 DiS 2100/150 DiS 1500/200 DiS 1200/250 DiS 370/300 DiS 260/600 DiS 260/300 DiS 110/300 DiS 85/400 CAUTION Handling or installing the motor incorrectly may not only prevent normal operation but also adversely affect the life of the motor. Before designing or installing axes, always read Part III, "HANDLING, DESIGN, AND ASSEMBLY." NOTE For details of amplifiers, refer to the latest version of "FANUC SERVO AMPLIFIER αi series DESCRIPTIONS" (B-65282EN). p-1

12 PREFACE B-65332EN/01 ORGANIZATION OF THIS MANUAL This manual is mainly divided into the following three chapters: I. SPECIFICATIONS Contains information about the specifications of synchronous built-in servo motors such as torque versus speed diagrams, external dimensions, and cooling conditions. II. CONFIGURATIONS AND SELECTION Contains system configurations of synchronous built-in servo motors and information required for selecting a motor, and explains how to select a motor. III. HANDLING, DESIGN, AND ASSEMBLY Explains how to handle a synchronous built-in servo motor, how to design a machine, and how to install a synchronous built-in servo motor. Always read this chapter before designing an axis containing a synchronous built-in servo motor or installing a synchronous built-in servo motor. p-2

13 B-65332EN/01 PREFACE ACCEPTANCE AND STORAGE WARNING Mishandling a rotor may be highly dangerous, resulting in a fatal accident. Read and thoroughly understand the cautions on the next page and Part III, "HANDLING, DESIGN, AND ASSEMBLY," before handling the rotor and strictly observe the cautions when handling it. Do not handle the rotor unless you have been trained in handling synchronous built-in servo motors. A "motor" described in this manual means all parts of the synchronous built-in servo motor: Stator, rotor, and others. After you have received a FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR, check it as follows: Is the motor exactly what you ordered? Check the motor model. Is it free from any damage? Damage may have occurred during shipment. Are all accessories supplied with the motor? All models of stators are supplied with a nameplate and laminate sheet. All FANUC SYNCHRONOUS BUILT-IN SERVO MOTORs are strictly inspected and carefully packed before shipment. They need no special incoming inspection. Just check the specifications (for wiring, current, voltage, and other data) of the motor as required. When measuring resistance and insulation data, reference Part V, "MAINTENANCE." Be extremely careful in measuring the dimensions of the rotor as incoming inspection because it has very strong magnetism. Do not apply unnecessary external force or shock to the motor. Otherwise, the motor may be damaged and become incapable of operating normally. Do not machine the motor without permission. If the motor requires machining, machine only the portion specified or approved by FANUC. Keep the motor from contact with and away from water and oil, chemicals which may damage motors, conductive materials, and other materials harmful to motors. Store the motor in indoor locations where are free from rainwater, condensation, and excessive dust. Avoid warming or cooling the motor externally when unnecessary and placing it in special environments. p-3

14 PREFACE B-65332EN/01 HANDLING A ROTOR (CAUTIONS) WARNING 1 Mishandling a rotor may be highly dangerous, resulting in a fatal accident. Read and thoroughly understand these cautions and Part III, "HANDLING, DESIGN, AND ASSEMBLY," before handling the rotor and strictly observe the cautions when handling it. Do not handle the rotor unless you have been trained in handling synchronus built-in servo motors. 2 A rotor uses many very strong magnets. It may cause a malfunction of a medical apparatus such as a pacemaker or AICD. For this reason, any person having a medical apparatus must keep away from the rotor. Also arrange the environment to keep any person having a medical apparatus away from the rotor. Keep at least 30 cm away from the rotor when it is absolutely necessary. When a rotor is shipped from FANUC, it is packed so that the magnets will not seriously affect outside. Do not remove the tin plates and cushioning corrugated cardboard attached to the rotor until the rotor is installed into a stator. Keep any magnetic material (including a tool) away from the rotor. If magnetic materials such as iron are brought near the rotor, the magnetic materials may be pulled to the rotor with a force of about 20N/cm 2, resulting in serious injury. In any case, always keep any magnetic material away from the rotor and also be extremely careful of magnetic materials around the work area. The following items may be affected by magnetic fields, resulting in damage or malfunction. When handling the rotor, do not carry any item listed below (or another item which is not listed) with you and keep the items away from the magnet fields unless it is necessary. FANUC accepts no liability for any damage such as corruption or failure of an item due to magnetic fields. p-4

15 B-65332EN/01 PREFACE Watches, cellular phones, magnetic cards, and other portable items Magnetic tapes, floppy disks, MO disks, and other magnetic media Cameras, personal computers, and other electronic devices When moving the rotor on a surface of a magnetic material such as the mounting surface of the machine or a table, always place it flat with the mounting side facing up and slide it. If the rotor is moved with rotating it on its magnet surface, the rotor may be attracted to the magnetic material and your hand may be caught between the rotor and magnetic material, resulting in injury. If your hand is caught under the rotor, it is difficult even to pull out the hand. Be extremely careful in moving the rotor. p-5

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17 B-65332EN/01 TABLE OF CONTENTS TABLE OF CONTENTS SAFETY PRECAUTIONS...s-1 DEFINITION OF WARNING, CAUTION, AND NOTE... s-2 WARNING... s-3 CAUTION... s-6 NOTE... s-7 PREFACE...p-1 ORGANIZATION OF THIS MANUAL...p-2 ACCEPTANCE AND STORAGE...p-3 HANDLING A ROTOR (CAUTIONS)...p-4 I. SPECIFICATIONS 1 OVERVIEW SPECIFICATIONS TERMS USED IN THE SPECIFICATION LIST AND SPEED DIAGRAMS SPECIFICATION LIST TORQUE-VERSUS-SPEED DIAGRAMS AND OUTPUT-VERSUS-SPEED DIAGRAMS EXTERNAL DIMENSIONS OTHER INFORMATION II. CONFIGURATIONS AND SELECTION 1 SYSTEM CONFIGURATION ROTARY ENCODER SELECTION INCREMENTAL ROTARY ENCODER SYSTEM Example of Configuration Applicable Incremental Rotary Encoder ABSOLUTE ROTARY ENCODER SYSTEM Example of Configuration Applicable Absolute Rotary Encoder POLE POSITION DETECTION FUNCTION MOTOR ARRANGEMENT AND DRIVING METHODS Serial Arrangement and Symmetrical Arrangement Driving Two Motors with One Large Amplifier...36 c-1

18 TABLE OF CONTENTS B-65332EN/01 2 SELECTION METHODS MOTOR SELECTION Required Data for Motor Selection Overload Duty Characteristic Maximum Load Inertia POWER SUPPLY MODULE (aips) SELECTION Selecting a Power Supply Module EXTERNAL COOLING UNIT SELECTION Overview Example of Selection...45 III. HANDLING, DESIGN, AND ASSEMBLY 1 HANDLING THE MOTOR STATOR ROTOR SENSOR MECHANICAL DESIGN MOUNTING MOTORS AND ENCODERS Mounting Rigidity and Noise Protection DiS series motor and Rotary encoder Directions Reference Point of DiS series Motor and Encoder Mounting Position of DiS series Motor and Encoder THERMOSTAT CONNECTION FEEDBACK CABLE CONNECTION GROUND LEAD CONNECTION MOTOR AND POWER LEAD PROTECTION LIQUID COOLING Coolant Checking the Normal Operation of Cooling Systems CONSIDERATION OF ECCENTRICITY MAGNETIC MATERIAL CLOSING TO COIL BALNCE OF ROTOR ROTOR AND STATOR FIXING Rotor Fixing Stator Fixing O-RING FOR COOLING JACKET AUXILIARY BRAKE MEASURES c-2

19 B-65332EN/01 TABLE OF CONTENTS 2.13 PROTECTION AGAINST DUST AND WATER CONFORMANCE TO STANDARDS NAMEPLATE ATTACHMENT AND SERIAL NUMBER MANAGEMENT INDICATION OF WARNING ASSEMBLY ROTOR INSTALLATION Installation Direction of Rotor Surface for Centering Magnetic Attraction Force Installation Procedure...75 c-3

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21 I. SPECIFICATIONS

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23 B-65332EN/01 SPECIFICATIONS 1.OVERVIEW 1 OVERVIEW Parts supplied by FANUC The following shows a typical system configuration of the FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series. FANUC's products FSSB (FANUC Serial Servo Bus) SERVO AMPLIFIER αisv series SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series Power Leads i series CNC High Resolution Serial Output Circuit αicz Sensor Third party's products Rotary Encoder In case of an incremental encoder In case of an absolute encoder In case of αicz Sensor FANUC supplies the following parts according to the system configuration of your machine: CNC system (CNC, PMC, amplifier, and others) Synchronous Built-in Servo Motor (stator and rotor) High Resolution Serial Output Circuit H or C αicz Sensor (with serial interface) Signal cables (between High Resolution Serial Output Circuit and amplifier, between αicz Sensor and amplifier, etc.) - 3 -

24 1.OVERVIEW SPECIFICATIONS B-65332EN/01 FANUC does not supply parts listed below. Use parts manufactured by 3rd parties as required. Rotary encoder except αicz Sensor Movable cable and others Bearing Cooling devices (cooler, fan, and others) External brake Others that are not in the above list of parts NOTE 1 Select a rotary encoder which meets the FANUC specifications. For details, see Part II, "CONFIGURATIONS AND SELECTION." 2 FANUC does not currently supply any system consisting of a synchronous built-in servo motor, bearing, rotary encoder, and other parts you can use as a machine immediately after you purchase it. As described above, you must purchase required parts and configure a system. When you use a motor consisting of parts supplied by FANUC under the specified conditions, FANUC guarantees the performance of the motor. For a part which is not supplied by FANUC, its performance is guaranteed by the relevant manufacturer. For details of a part which is not supplied by FANUC, contact the relevant parts manufacturer or dealer

25 B-65332EN/01 SPECIFICATIONS 2.SPECIFICATIONS 2 SPECIFICATIONS - 5 -

26 2.SPECIFICATIONS SPECIFICATIONS B-65332EN/ TERMS USED IN THE SPECIFICATION LIST AND SPEED DIAGRAMS - Cooling method - Maximum speed There are the following methods for cooling a stator: Liquid cooling (recommend oil cooling) and no cooling. Air cooling is also applicable. Maximum speed of the motor. You can run the motor at up to this speed. - Upper speed for the maximum torque Upper limit of the speed at which the maximum torque can be maintained. If the speed exceeds this limit, the maximum torque is reduced. - Continuous torque - Maximum torque - Continuous current - Maximum current Torque the motor can continuously output. The torque shown here is applicable when the motor is used alone. The actual continuous torque greatly depends on the property of the material of the machine on which the motor is mounted. Maximum torque the motor can generate when driven using the standard amplifier. The maximum torque can be used only in a short time such as during acceleration or deceleration. Effective current per phase when the motor outputs the continuous torque. The peak value can be obtained by multiplying this value by 2. Effective current per phase when the motor outputs the maximum torque. The peak value can be obtained by multiplying this value by 2. - Continuous output/maximum output Value is obtained by converting the torque (Nm) during motor operation to the output (kw). For selection of a power supply module (αisv), see Part II, "CONFIGURATIONS AND SELECTION." - Maximum amplifier current Maximum peak current of the standard amplifier. The effective value can be obtained by dividing this value by

27 B-65332EN/01 SPECIFICATIONS 2.SPECIFICATIONS - Torque constant - Number of poles - Resistance - Thermal time constant - Cooling conditions - Mass - Rotor inertia Torque obtained when 1 Arms flows for one phase. The following expression can be satisfied: [Torque constant] [Continuous rated current] = [Continuous rated torque]. This expression may not be satisfied due to saturated magnetic field, however. Number of poles. Poles equals to the number of magnet pieces. Armature resistance between terminals of the stator at an ambient temperature of 25 C. Thermal time constant for the stator. Conditions for obtaining the rated output when forced cooling is used IC code: Code indicating the cooling method that conforms to EN Coolant: Primary coolant for directly cooling the stator Flow rate: Required flow rate of the primary coolant Recommended pressure: Recommended pressure for the primary coolant Maximum pressure: Maximum pressure for the primary coolant Required cooling capacity: Amount of heat absorbed that is required for obtaining the rated output Actually, the cooling conditions vary with the heat dispersion characteristic, heat conductivity, and heat capacity of a machine. Mass of the stator and rotor. Inertia for the rotor only

28 2.SPECIFICATIONS SPECIFICATIONS B-65332EN/ SPECIFICATION LIST Items Unit Model DiS 3000/150 DiS 2100/150 DiS 2100/150 DiS 1200/250 A06B-0487-B400 A06B-0487-B300 A06B-0486-B300 A06B-0485-B500 Specification No. - A06B-0487-B402 A06B-0487-B302 A06B-0486-B302 A06B-0485-B502 Cooling condition * 2 - LC NC LC NC LC NC LC NC Max. speed min (75) (75) (100) (125) Upper speed for the min max. torque (50) (50) (90) (100) Rated Max. (2700) (1900) (1500) (1200) torque * 3 Cont. Nm * 4 (1000) (500) (750) (375) (600) (300) (480) (240) Rated Max. (14.1) (10.0) (14.2) (12.6) output * 3 Cont. kw * 4 (7.9) (4.0) (5.9) (3.0) (6.3) (3.2) (6.3) (3.2) Rated Max. current * 3 Cont. * 4 Arms 51 (45) 127 (113) 25 (22) 51 (45) 127 (113) 25 (22) 46 (46) 114 (114) 23 (23) 35.4 (35.4) 88.4 (88.4) * (17.7) Max. current of Ap amplifier (160) (160) (160) (160) Torque constant Nm/Arms Number of poles Pole Resistance U-V Ω 0.98±5% 0.75±5% 0.76±5% 1.81±5% Thermal time constant min Cooling ICcode * 5-9W7A7 0A8 9W7A7 0A8 9W7A7 0A8 9W7A7 0A8 Cooling capacity * 4 W Stator Mass kg Rotor Rotor inertia kgm Amplifier (αisv) - For αips selection Max./Cont. * 6 kw αisv 180HV (αisv 160) 39.4/20.1 (20.4/8.9) αisv 180HV (αisv 160) 28.1/14.2 (14.8/6.7) αisv 180HV (αisv 160) 36.4/13.5 (19.1/7.1) αisv 180HV (αisv 160) 50.3/12.6 (25.2/6.3) *1 Standard values at an ambient temperature of 25 C and a power supply voltage of 400 V. Values in ( ) are for 200V. The values may vary depending on the ambient temperature, digital servo software, parameters, power supply voltage, amplifier specifications, and others. *2 LC means Liquid Cooling. NC means No Cooling. If liquid is not oil but water, continuous torque will change depending on the characteristics of coolant. *3 Varies depending on the actual cooling conditions and the thermal characteristics of machine. *4 Continuous data are guaranteed when the cooling condition is satisfied. *5 Based on EN *6 Reference data for αips selection. Not guaranteed data. Add this raw value when αips selection

29 B-65332EN/01 SPECIFICATIONS 2.SPECIFICATIONS Items Unit *1 Model DiS 370/300 DiS 260/600 DiS 260/300 DiS 110/300 A06B-0484-B400 A06B-0484-B310 A06B-0484-B300 A06B-0484-B100 Specification No. - A06B-0484-B402 A06B-0484-B312 A06B-0484-B302 A06B-0484-B102 Cooling condition * 2 - LC NC LC NC LC NC LC NC Max. speed min (150) (300) (150) (150) Upper speed for the min max. torque (100) (200) (100) (100) Max. (370) (260) (260) (110) Rated torque * 3 Cont. * 4 Rated Max. output * 3 Cont. * 4 Rated Max. current * 3 Cont. * 4 Nm kw Arms 150 (150) 4.8 (2.4) 22.6 (22.6) 7.8 (3.9) 56.6 (56.6) 75 (75) 2.4 (1.2) 11.3 (11.3) 105 (105) 6.6 (3.3) 33.3 (33.3) 11.0 (5.5) 83.2 (83.2) 55 (55) 3.3 (1.6) 16.7 (16.7) 105 (105) 3.3 (1.6) 22.6 (22.6) 5.5 (2.8) 56.6 (56.6) 55 (55) 1.7 (0.8) 11.3 (11.3) 45 (45) 1.4 (0.7) 22.6 (22.6) 2.3 (1.2) 56.6 (56.6) 25 (25) 0.7 (0.4) 11.3 (11.3) Max. current of Ap amplifier (80) (160) (80) (80) Torque constant Nm/Arms Number of poles Pole Resistance U-V Ω 2.1±5% 0.95±5% 1.6±5% 0.93±5% Thermal time constant min Cooling ICcode * 5-9W7A7 0A8 9W7A7 0A8 9W7A7 0A8 9W7A7 0A8 Cooling capacity * 4 W Stator Mass kg Rotor Rotor inertia kgm Amplifier (αisv) - For αips selection Max./Cont. * 6 kw αisv 80HV (αisv 80) 11.2/5.4 (7.3/3.0) αisv 180HV (αisv 160) 18.8/8.4 (12.8/4.8) αisv 80HV (αisv 80) 8.1/3.9 (5.4/2.2) αisv 80HV (αisv 80) 3.8/1.7 (2.7/1.0) *1 Standard values at an ambient temperature of 25 C and a power supply voltage of 400 V. Values in ( ) are for 200V. The values may vary depending on the ambient temperature, digital servo software, parameters, power supply voltage, amplifier specifications, and others. *2 LC means Liquid Cooling. NC means No Cooling. If liquid is not oil but water, continuous torque will change depending on the characteristics of coolant. *3 Varies depending on the actual cooling conditions and the thermal characteristics of machine. *4 Continuous data are guaranteed when the cooling condition is satisfied. *5 Based on EN *6 Reference data for αips selection. Not guaranteed data. Add this raw value when αips selection

30 2.SPECIFICATIONS SPECIFICATIONS B-65332EN/01 *1 Items Unit Model DiS 85/400 Specification No. - A06B-0483-B200 A06B-0483-B202 Cooling condition * 2 - LC NC Max. speed min (200) Upper speed for the min max. torque (130) Max. 85 (85) Rated torque * 3 Cont. * 4 Rated Max. output * 3 Cont. * 4 Rated Max. current * 3 Cont. * 4 Nm kw Arms 35 (35) 1.5 (0.8) 11.3 (11.3) 2.4 (1.2) 28.3 (28.3) 17 (17) 0.7 (0.4) 5.7 (5.7) Max. current of 40 Ap amplifier (40) Torque constant Nm/Arms 3.0 Number of poles Pole 32 Resistance U-V Ω 3.6±5% Thermal time constant min Cooling ICcode * 5-9W7A7 0A8 Cooling capacity * 4 W Stator 6 Mass kg Rotor 2 Rotor inertia kgm Amplifier (αisv) - For αips selection Max./Cont. * 6 kw αisv 40HV (αisv 40) 3.8/1.7 (2.7/1.0) *1 Standard values at an ambient temperature of 25 C and a power supply voltage of 400 V. Values in ( ) are for 200V. The values may vary depending on the ambient temperature, digital servo software, parameters, power supply voltage, amplifier specifications, and others. *2 LC means Liquid Cooling. NC means No Cooling. If liquid is not oil but water, continuous torque will change depending on the characteristics of coolant. *3 Varies depending on the actual cooling conditions and the thermal characteristics of machine. *4 Continuous data are guaranteed when the cooling condition is satisfied. *5 Based on EN *6 Reference data for αips selection. Not guaranteed data. Add this raw value when αips selection

31 B-65332EN/01 SPECIFICATIONS 2.SPECIFICATIONS 2.3 TORQUE-VERSUS-SPEED DIAGRAMS AND OUTPUT-VERSUS-SPEED DIAGRAMS DiS 3000/150 (A06B-0487-B400/-B402, 400V) DiS 3000/150 (A06B-0487-B400/-B402, 200V) NOTE The maximum output indicates the rated maximum output and is not data for αips selection. For αips selection, see Part II, "CONFIGURATIONS AND SELECTION."

32 2.SPECIFICATIONS SPECIFICATIONS B-65332EN/01 DiS 2100/150 (A06B-0487-B300/-B302, 400V) DiS 2100/150 (A06B-0487-B300/-B302, 200V) NOTE The maximum output indicates the rated maximum output and is not data for αips selection. For αips selection, see Part II, "CONFIGURATIONS AND SELECTION."

33 B-65332EN/01 SPECIFICATIONS 2.SPECIFICATIONS DiS 1500/200 (A06B-0486-B300/-B302, 400V) DiS 1500/200 (A06B-0486-B300/-B302, 200V) NOTE The maximum output indicates the rated maximum output and is not data for αips selection. For αips selection, see Part II, "CONFIGURATIONS AND SELECTION."

34 2.SPECIFICATIONS SPECIFICATIONS B-65332EN/01 DiS 1200/250 (A06B-0485-B500/-B502, 400V) DiS 1200/250 (A06B-0485-B500/-B502, 200V) NOTE The maximum output indicates the rated maximum output and is not data for αips selection. For αips selection, see Part II, "CONFIGURATIONS AND SELECTION."

35 B-65332EN/01 SPECIFICATIONS 2.SPECIFICATIONS DiS 370/300 (A06B-0484-B400/-B402, 400V) DiS 370/300 (A06B-0484-B400/-B402, 200V) NOTE The maximum output indicates the rated maximum output and is not data for αips selection. For αips selection, see Part II, "CONFIGURATIONS AND SELECTION."

36 2.SPECIFICATIONS SPECIFICATIONS B-65332EN/01 DiS 260/600 (A06B-0484-B310/-B312, 400V) DiS 260/600 (A06B-0484-B310/-B312, 200V) NOTE The maximum output indicates the rated maximum output and is not data for αips selection. For αips selection, see Part II, "CONFIGURATIONS AND SELECTION."

37 B-65332EN/01 SPECIFICATIONS 2.SPECIFICATIONS DiS 260/300 (A06B-0484-B300/-B302, 400V) DiS 260/300 (A06B-0484-B300/-B302, 200V) NOTE The maximum output indicates the rated maximum output and is not data for αips selection. For αips selection, see Part II, "CONFIGURATIONS AND SELECTION."

38 2.SPECIFICATIONS SPECIFICATIONS B-65332EN/01 DiS 110/300 (A06B-0484-B100/-B102, 400V) DiS 110/300 (A06B-0484-B100/-B102, 200V) NOTE The maximum output indicates the rated maximum output and is not data for αips selection. For αips selection, see Part II, "CONFIGURATIONS AND SELECTION."

39 B-65332EN/01 SPECIFICATIONS 2.SPECIFICATIONS DiS 85/400 (A06B-0483-B200/-B202, 400V) DiS 85/400 (A06B-0483-B200/-B202, 200V) NOTE The maximum output indicates the rated maximum output and is not data for αips selection. For αips selection, see Part II, "CONFIGURATIONS AND SELECTION."

40 2.SPECIFICATIONS SPECIFICATIONS B-65332EN/ EXTERNAL DIMENSIONS DiS 3000/150 (A06B-0487-B400/-B402) DiS 2100/150 (A06B-0487-B300/-B302)

41 B-65332EN/01 SPECIFICATIONS 2.SPECIFICATIONS DiS 1500/200 (A06B-0486-B300/-B302)

42 2.SPECIFICATIONS SPECIFICATIONS B-65332EN/01 DiS 1200/250 (A06B-0485-B500/-B502)

43 B-65332EN/01 SPECIFICATIONS 2.SPECIFICATIONS DiS 370/300 (A06B-0484-B400/-B402) DiS 260/600 (A06B-0484-B310/-B312), DiS 260/300 (A06B-0484-B300/-B302) DiS 110/300 (A06B-0484-B100/-B102) Cable for DiS260/600 Power leads : Cross section of 5.5 mm 2, Ф4.7, Ф3.7 for ground line. Thermostat lead and colors : equal to DiS 260/

44 2.SPECIFICATIONS SPECIFICATIONS B-65332EN/01 DiS 85/400 (A06B-0483-B200/-B202)

45 B-65332EN/01 SPECIFICATIONS 2.SPECIFICATIONS 2.5 OTHER INFORMATION Refer to other manuals or/and technical report to get following information. αicz Sensor (Absolute type, with Serial interface) : Refer to the FANUC SERVO AMPLIFIER αi series DESCRIPTIONS, B-65282EN (edition 06 or later). High Resolution Serial Output Circuit H / C : Described in the Technical report. Contact FANUC to get detail information

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47 II. CONFIGURATIONS AND SELECTION

48

49 B-65332EN/01 CONFIGURATIONS AND SELECTION1.SYSTEM CONFIGURATION 1 SYSTEM CONFIGURATION

50 1.SYSTEM CONFIGURATIONCONFIGURATIONS AND SELECTION B-65332EN/ ROTARY ENCODER SELECTION For the FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series, motors are controlled using feedback signals from a rotary encoder. There are two types of rotary encoders: an incremental encoder and absolute encoder, each of which has the following characteristics. Incremental rotary encoder - It is necessary for the operator to return to the reference point every power on of CNC. - The Pole Position Detection Function is CNC software option. - The distance coded encoder can be selected. Absolute rotary encoder - αicz Sensor available. - After reference point setting, it is not necessary for the operator to return to the reference position every power of CNC. - The model supporting the FANUC serial interface is selected. - Wiring can be saved because it is directly connected to the servo amplifier. The resolution of a rotary encoder must be approximately ten to twenty times better than the target precision

51 B-65332EN/01 CONFIGURATIONS AND SELECTION1.SYSTEM CONFIGURATION 1.2 INCREMENTAL ROTARY ENCODER SYSTEM Example of Configuration This section explains a system in which an incremental rotary encoder is used. For a system in which an incremental rotary encoder is used, the following devices are required to operate a motor, in addition to a motor. High Resolution Serial Output Circuit H or C The High Resolution Serial Output Circuit H/C converts from output signals of the rotary encoder to FANUC serial interface signals and outputs the converted signals to the servo amplifier. This circuit internally multiplies a signal output from the rotary encoder by 2048 and outputs the multiplied signal. Pole Position Detection Function (CNC software option) Every when turning on a machine, Pole Position Detection Function (CNC software option) is required to detect an accurate pole position of motor. An example of a typical system configuration is shown below: DiS This system requires detection of the zero point whenever the power to the NC is turned on or off. NOTE For how to install the rotary encoder, see Part III, "HANDLING, DESIGN, AND ASSEMBLY."

52 1.SYSTEM CONFIGURATIONCONFIGURATIONS AND SELECTION B-65332EN/ Applicable Incremental Rotary Encoder An incremental rotary encoder to be used for the FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series must satisfy the following specifications: - The output from the rotary encoder is an analog signal at 1 Vp-p. - A reference position signal (Z-phase signal or another signal) is output from one device or the rotary encoder is distance coded. If reference position signals are output from two or more devices, an alarm may occur when the same signal is detected for the second time. To rotate the motor infinitely, the encoder should output the waveforms of binary count. If not, the motor cannot rotate infinitely. Example: Encoder output 2 n λ/rev. Rotate without limitation Encoder not output 2 n λ/rev. Rotate with limitation Contact an encoder manufacturers to get more detail information about the encoders. NOTE Rotary encoder manufacturers are responsible for the specifications, performance, guarantee, and other items of their rotary encoders. For details, contact the relevant manufacturer

53 B-65332EN/01 CONFIGURATIONS AND SELECTION1.SYSTEM CONFIGURATION 1.3 ABSOLUTE ROTARY ENCODER SYSTEM Example of Configuration This section explains a system in which an absolute rotary encoder is used. When an absolute rotary encoder is used, the absolute position is always determined the reference position setting. For this reason, Circuit is not required, which are required for an incremental rotary encoder system. Consequently, the system configuration can be made simple. An example of a typical system configuration is shown below: DiS Applicable Absolute Rotary Encoder An absolute rotary encoder to be used for the FANUC SYNCHRONOUS BUILT-IN SERVO MOTOR DiS series must conform to the FANUC serial interface. If not, the absolute rotary encoder cannot be used. At present, the absolute encoders that can be combined with the DiS series motors are the αicz Sensor and those from HEIDENHAIN and Mitsubishi Heavy Industries (MHI). Contact them for detail information, if required. NOTE 1 Rotary encoder manufacturers are responsible for the specifications, performance, guarantee, and other items of their rotary encoders. For details, contact the relevant manufacturer. 2 When HRV4 is applied, the rotary encoder must support 2 Mbps communication. For support conditions, contact the relevant manufacturer

54 1.SYSTEM CONFIGURATIONCONFIGURATIONS AND SELECTION B-65332EN/ POLE POSITION DETECTION FUNCTION It is so difficult to match the pole position to the encoder accurately, even a motor and an encoder were mounted in an ideal position, as they have some tolerance inside. Or sometimes, there is a case that the pole position cannot match to the encoder for some mechanical designing reason. For these cases, Pole Position Detection Function is available. NOTE 1 Pole Position Detection Function is an optional function of CNC. 2 This function is necessary to an incremental type encoder system. 3 Any position relationship between a motor and an encoder is acceptable, when using this function. However, positive direction of the motor and the encoder still should be met. 4 This function is used on i series CNC excluding 0i series CNC (including Power Mate i series)

55 B-65332EN/01 CONFIGURATIONS AND SELECTION1.SYSTEM CONFIGURATION 1.5 MOTOR ARRANGEMENT AND DRIVING METHODS Serial Arrangement and Symmetrical Arrangement One feature of DiS series motors is that multiple motors can be installed in one axis. For example, when the torque obtained by one motor is insufficient, two motors can be arranged along the same axis to ensure the double torque. NOTE There are rules for the orientation and position of a motor always when using DiS series motors. For details of installation, see Part III, "HANDLING, DESIGN, AND ASSEMBLY." Serial arrangement Two or more DiS series motors are arranged in serial. It is very difficult to arrange by using a ball screw and a general rotation motor. The following figure shows an example of arranging two DiS series motors in serial: Symmetrical arrangement For an axis with long shaft, two DiS series motors can be placed as follows

56 1.SYSTEM CONFIGURATIONCONFIGURATIONS AND SELECTION B-65332EN/ Driving Two Motors with One Large Amplifier With the methods introduced above, one motor is combined with one amplifier. Combining one motor with one amplifier is the best method from control and motor protection viewpoints because current is controlled individually. For a machine having many axes, however, the number of axes available for the CNC may be insufficient because as many hardware axes as the number of amplifiers are required. To resolve this problem, a method for connecting multiple motors in parallel and driving them with a large-capacity amplifier is available. The following figure is a typical example of this method. Two motors can be seen as one motor from the amplifier. Therefore, the number of rotary encoders is one and the number of required axes is also one. NOTE To drive multiple motors with one amplifier, special parameter settings different from those used in ordinary cases are required. For details, contact FANUC

57 B-65332EN/01 CONFIGURATIONS AND SELECTION 2.SELECTION METHODS 2 SELECTION METHODS

58 2.SELECTION METHODS CONFIGURATIONS AND SELECTION B-65332EN/ MOTOR SELECTION A motor should be selected according to the following items. NOTE For information related to the motor specifications, also see Part I, "SPECIFICATIONS." Required Data for Motor Selection Load Inertia The load inertia means the moment of inertia fastened to the rotor. For calculating the load inertia, please refer to FANUC SERVO MOTOR αis/αi series DESCRIPTIONS (B-65262EN). Required Maximum Torque The required maximum Torque means the torque required for implementing desired acceleration and maximum speed when the load inertia described above is present. Make sure that the maximum torque in the motor specifications is not less than the required maximum torque. When checking the requirement, it is desirable to allow a margin of about 10% by taking a load variation into account. And also, if an axis has some heavy friction to rotate, deduct the friction torque from the motor maximum torque. Root Mean Square Torque The root mean square torque means the root mean value of the torque required in one duty cycle. The root mean square torque must not be greater than the continuous rated torque of the motor. If the root mean square torque exceeds the continuous rated torque, the motor may overheat. It is desirable to allow a margin of about 20% by taking a load variation into account. The continuous rated torque of the motor varies depending on the type of cooling condition used for the motor (no cooling or liquid cooling). It also varies depending on the heat dissipation and other characteristics of the machine. Be extremely careful of torque for supporting frictional load and weight along a vertical axis because it sometimes fluctuates largely. Even when the motor is at rest, it keeps producing torque to prevent drifting. An example of calculation is shown below. For explanation, a simple duty cycle as shown below is assumed. According to the driving conditions, create a torque distribution chart for one cycle. The torque distribution chart is made as follows:

59 B-65332EN/01 CONFIGURATIONS AND SELECTION 2.SELECTION METHODS Torque [Nm] 550 Nm during acceleration 430 Nm during deceleration 5,515Nm 550 during acceleration 0.05s 160 Nm during cutting at a constant feedrate 60 Nm during stop 0.1s 0.1s 5.0s 0.5s 430Nm during deceleration 0.05s Time [seconds] 1 cycle (5.8 seconds) The root mean square torque calculated from this chart is: [Nm] This value should not exceed the continuous rated torque of motor. NOTE The continuous rated torque varies depending on the cooling method. For details of the values, see Part I, "SPECIFICATIONS." These values also vary depending on the actual cooling condition

60 2.SELECTION METHODS CONFIGURATIONS AND SELECTION B-65332EN/ Overload Duty Characteristic A DiS series motor can be used intermittently, even out of its continuous rated operating area, when the maximum torque is not exceeded. The overload duty characteristic represents the duty ratio (%) and "on time" for which the motor runs under a given overload condition. The conditions for the "on time" and "off time" of the motor can be calculated as follows: <1> Obtain the overload ratio using the following expression: Overload ratio = load torque continuous rated torque Then, the duty ratio (%) and on time of the motor can be determined from the overload ratio and overload duty cycle characteristic curves (shown on the next and subsequent pages). Example: To run the DiS 3000/150 (liquid cooling) with a load torque of 1440 Nm at very low speed for one minute: Overload ratio = = 1.2 (120%) because the rated continuous force of the DiS 3000/150 is 1200 Nm. From the overload duty characteristic curve for liquid cooling, the duty ratio (%) is determined to be 68% when the motor runs with an overload ratio of 120% for one minute. <2> Obtain the off time of the motor using the following expression. Off time = on time (100 duty ratio (%) - 1) Example: From the value obtained in the example in <1>: Off time=1 ( ) 0.47 minutes (about 28 seconds) Therefore, it is necessary to keep the motor stopped for at least 28 seconds after it runs for one minute under the conditions described above. The curves of overload duty characteristics are as follows

61 B-65332EN/01 CONFIGURATIONS AND SELECTION 2.SELECTION METHODS No cooling Duty (%) On time (minutes) Liquid cooling Duty (%) On time (minutes) NOTE A drive amplifier used for the DiS series motor incorporates a thermal protection unit such as a circuit breaker or thermal circuit. In addition to the conditions described above, the thermal protection unit may restrict the use of the motor. Moreover, the software used to control machining operation has a function of protecting the motor and amplifier from short-time overload. This function may also restrict the use of the motor

62 2.SELECTION METHODS CONFIGURATIONS AND SELECTION B-65332EN/ Maximum Load Inertia Maximum load inertia is limited from momentum energy of axis and the capacity of servo amplifier. Moving condition should not exceed the limitation shown below. Model name Power source voltage [V] Maximum speed [min -1 ] Maximum load inertia [kgm 2 ] * DiS 3000/ DiS 2100/ DiS 1500/ DiS 1200/ DiS 370/ DiS 260/ DiS 260/ DiS 110/ DiS 85/ DiS 3000/ DiS 2100/ DiS 1500/ DiS 1200/ DiS 370/ DiS 260/ DiS 260/ DiS 110/ DiS 85/ * without rotor inertia NOTE This table based on the driving condition using a specified amplifier. To get other information, such as lower speed, larger inertia, larger amplifier and so on, contact FANUC in advance

63 B-65332EN/01 CONFIGURATIONS AND SELECTION 2.SELECTION METHODS 2.2 POWER SUPPLY MODULE (αips) SELECTION Selecting a Power Supply Module Select a power supply module (called a αips below) required for driving the DiS series motor as follows. Simply add the value specified in the Section 2.2 SPECIFICATION LIST in part I "SPECIFICATIONS. Choose a proper value according to the input voltage. Example: - DiS 3000/150, 400V input, No cooling - Description in the SPECIFICATION LIST is 39.4/20.1 (20.4/8.9) Choose 39.4kw for the maximum output, and 20.1kW for the continuous output. NOTE αips selection described in this subsection assumes the use of DiS series motors only along one axis. When there is another feed axis or a spindle, consider and add the αips capacity required for it

64 2.SELECTION METHODS CONFIGURATIONS AND SELECTION B-65332EN/ EXTERNAL COOLING UNIT SELECTION Overview To forcibly cool a DiS series motor, an external cooling unit is required. The cooling unit to be used must satisfy the "cooling conditions" listed in Section 2.2 "SPECIFICATION LIST" in Part I "SPECIFICATIONS. For liquid cooling, it is desirable to use a external cooling unit which keeps the room temperature when the ambient temperature of the motor is not high. If a coolant temperature lower than the motor ambient temperature is set, condensation may occur on the motor depending on the ambient condition, resulting in degraded insulation of the motor. For this reason, when selecting a chiller of which coolant temperature is fixed, carefully manage the coolant temperature so that no condensation occurs. NOTE If any cooling condition listed in Part I, " "SPECIFICATIONS, is not satisfied, the motor output specifications are not guaranteed. CAUTION If condensation occurs on the motor due to excessive cooling or high humidity, immediately change the coolant temperature and take other measures against condensation. In an environment which keeps condensation for a long time, insulation of the motor may tend to be degraded, resulting in considerable reduction of the life of the motor

65 B-65332EN/01 CONFIGURATIONS AND SELECTION 2.SELECTION METHODS Example of Selection The cooling unit to be used must has the capacity listed under "Cooling capacity" in the Section 2.2 "SPECIFICATION LIST" in Part I "SPECIFICATIONS. This value is determined under the condition that root mean square torque/continuous rated torque = 1. Under ordinary use conditions, the capacity is usually lower than the listed value. For example, when root mean square torque/continuous rated torque = 0.7, the heat output is reduced to = 0.49 (49%) as compared with that during continuous operation with the continuous rated torque. For this reason, as the required capacity of the cooling unit, the value in the specification list can be reduced to 49%. An example of calculation is shown below: Assume the following machine: - A-axis: One DiS 370/300, liquid cooling, root mean square torque/continuous rated torque = B-axis: One DiS 85/400, liquid cooling, root mean square torque/continuous rated torque = 0.8 Because the cooling capacity required for the A-axis is 1,610 W as listed in Section 2.2 "SPECIFICATION LIST" in Part I "SPECIFICATIONS, the required cooling capacity under the above condition is: 1,610[W] =789[W] Similarly, the cooling capacity required for the A-axis is: 690[W] =442[W] Consequently, if the motors on both the A- and B-axes run simultaneously, the maximum required cooling capacity is: 789[W]+442[W] =1,231[W] If the motors on both the A- and B-axes do not run simultaneously, the required cooling capacity is 789 [W]. To determine the required cooling capacity more precisely, it is advisable to add the duty curves (root mean square torque/continuous rated torque) for both axes based on the time axis and calculate the cooling capacity at the point where the sum is the maximum. NOTE 1 For how to calculate the root mean square torque, see Subsection Required Data for Motor Selection in Part II, "CONFIGURATIONS AND SELECTION." 2 The cooling capacity calculated as above is required when the internal temperature of the stator rises to a temperature near the maximum operating temperature. For this reason, if the machine is apt to be easily deformed by temperature rising, it may be desirable to select a cooling unit with an adequate margin of the required cooling capacity. 3 Be careful to prevent condensation from forming in the motor due to super cooling

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67 III. HANDLING, DESIGN, AND ASSEMBLY

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69 B-65332EN/01 HANDLING, DESIGN, AND ASSEMBLY 1.HANDLING THE MOTOR 1 HANDLING THE MOTOR WARNING For the DiS series motor, very powerful magnets are used. If the DiS series motor is handled incorrectly, serious accidents including fatal accidents can occur. Read this chapter carefully for thorough understanding, and do not fail to observe the cautions and warnings described in this chapter. Ensure that only persons educated for the handling of the DiS series motor handle the DiS series motor

70 1.HANDLING THE MOTOR HANDLING, DESIGN, AND ASSEMBLY B-65332EN/ STATOR Storing the stator Transporting stators The stator is an electric component. When storing stators, observe the following: Store stators in a temperature range of 0 C to 40 C. Store stators in an indoor environment where the stators are not exposed to rain and dust. Ensure that stators are not exposed to water (including condensation), oil, chemicals, and so forth. Do not machine stators. Do not apply a shock to stators. Do not flaw the resin surface of stators. A large stator may not be carried by hand. In such a case, use an auxiliary tool such as a crane for safe transportation. A motor has many tapped holes for assembly to a machine. Those tapped holes may be used to lift the stator. NOTE 1 For the positions and sizes of tapped holes, see Part I, "SPECIFICATIONS". 2 When using the tapped holes of a stator for transportation, transport the stator singly. When using the stator tap to lift up the stator that is attached to another structural member, the stator may be broken

71 B-65332EN/01 HANDLING, DESIGN, AND ASSEMBLY 1.HANDLING THE MOTOR 1.2 ROTOR WARNING For a rotor, many very powerful magnets are used. So, a rotor can cause medical appliances such as a pacemaker and AICD to malfunction. Ensure that persons wearing these medical appliances do not get closer to a rotor. If a person wearing any of those medical appliances must get closer to a rotor, the person must be at least 30 cm away from the rotor. Storing a rotor When a rotor is shipped from FANUC, it is packed so that it does not affect the outside. Until a rotor is assembled to a machine, keep the tin plates and cushioning corrugated cardboard attached to it. For other storage requirements, see the description of stators

72 1.HANDLING THE MOTOR HANDLING, DESIGN, AND ASSEMBLY B-65332EN/01 Transporting a rotor WARNING 1 Do not remove the corrugated cardboard and tin plates attached during packing unless the need arises. 2 Ensure that no magnetic materials (including a tool) are brought closer to the rotor and that the rotor is away from magnetic materials. If a magnetic material such as iron is brought closer to the rotor, the magnetic material and the rotor can pull each other with a force of up to 20N/cm 2, resulting in a serious injury. 3 When moving a rotor on the surface of a magnetic material such as a machine installation face or work table, be sure not to face the magnet side of the rotor to the magnetic material. Otherwise, the rotor can be pulled to the magnetic material to catch your hand, resulting in a serious injury. Because of an enormous pulling force

73 B-65332EN/01 HANDLING, DESIGN, AND ASSEMBLY 1.HANDLING THE MOTOR 1.3 SENSOR NOTE For the handling of a rotary encoder, contact the manufacturer of the rotary encoder. The αicz sensor and High Resolution Serial Output Circuit are precision electronic components. Handle these components carefully as with ordinary electronic devices. CAUTION Do not conduct tests such as a breakdown voltage test on the αicz Sensor and High Resolution Serial Output Circuit. Moreover, do not disassemble these components by removing the screws when unnecessary. Otherwise, the internal circuitry can be damaged and the components can fail

74 2.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65332EN/01 2 MECHANICAL DESIGN CAUTION This chapter provides information about the mechanical design of the DiS series motor inside. The DiS series motor can become uncontrollable in the worst case when its dimensions for installation are incorrect. Be sure to read this chapter before designing a machine with a DiS series motor mounted. NOTE The mountable positions of the FANUC DiS series motor and rotary encoder are predetermined. This requirement is related to the operation theory of the DiS series motor

75 B-65332EN/01 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.1 MOUNTING MOTORS AND ENCODERS Mounting Rigidity and Noise Protection The DiS series motor is controlled using only a feedback signal from the rotary encoder. This means that if the mounting rigidity of the rotary encoder is insufficient, a feedback signal can pick up noise such as mechanical vibration, resulting in a problem such as degraded precision and uncontrollability. Be sure to mount a rotary encoder with a high rigidity so that it does not pick up peripheral vibration. Set the rigidity (natural frequency) of the head mounting portion to 2 khz or more as a guideline. Moreover, ensure that a rotary encoder is mounted with the specified precision. If a feedback signal from the rotary encoder picks up noise from another electric system, a problem similar to the problems mentioned above can occur. Ensure that the feedback signal cable is sufficiently shielded and grounded, and that the feedback signal cable does not run across or along with the motor power lead DiS series motor and Rotary encoder Directions Positive direction of DiS series motor To drive a DiS series motor normally, the positive direction of the DiS series motor and the positive direction of the rotary encoder must match each other. CAUTION If the direction of the DiS series motor does not match the direction of the rotary encoder, the motor can become uncontrollable in the worst case. In mechanical design and assembly, ensure the matching of the directions. Positive direction of DiS series motor is, counterclockwise of rotor viewing from power leads side

76 2.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65332EN/01 Positive direction of a rotary encoder The positive direction of a rotary encoder is the direction in which the encoder counts up. The positive direction of a rotary encoder depends on the manufacturer and model. For details, refer to the specifications of a rotary encoder used. Examples of positive direction are described below using the HEIDENHAIN's absolute rotary encoder RCN223. NOTE The information below is subject to change if the specifications of the rotary encoders are updated. For the latest information, contact relevant encoder manufacturer. - HEIDENHAIN's absolute rotary encoder RCN223 Positive direction of RCN223 is, counterclockwise of shaft rotation viewing from the feedback cable side. (The opposite side is a flange surface for mounting the encoder.) When the positive direction of the motor does not match that of the rotary encoder When the positive direction of the motor cannot match that of the rotary encoder due to restrictions on machine design or other reasons, reverse the positive direction of the motor by changing the phase order of motor power leads. This enables the positive position of the motor to match that of the rotary encoder. Normal connection Motor U V W G U V W G Amplifier Reverse the positive direction of the motor Motor U V W G U V W G Amplifier NOTE When connection was made with the phase order of the power leads changed, normal connection may be erroneously conducted during maintenance. Therefore, take appropriate measures by, for example, preparing dedicated power leads or describing it explicitly in the maintenance manual of the machine to prevent a failure. rotary encoder is used

77 B-65332EN/01 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN Reference Point of DiS series Motor and Encoder Reference point of DiS series motor Reference point of DiS series motor is as follows. Reference points of motor are on every magnetic pole unit. For example, in case of 40 poles motor, the reference points are on every 18 degrees (360/(40/2)) based on the figure above. Reference point of rotary encoder (HEIDENHAIN RCN223) Reference point of HEIDENHAIN RCN223 is as follows. Reference point is where the small white reference marks meet viewing from the feedback cable side. NOTE Be sure to confirm the correct reference point of encoders. For an incremental encoder, it has also a reference point in itself. For details, contact a manufacturer of encoder

78 2.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65332EN/ Mounting Position of DiS series Motor and Encoder To match the magnetic pole position of motor to the encoder, the positional relationship between the motor and the encoder is predetermined, where the motor and the encoder are on their reference points at the same time, as shown below. It is not necessary to consider the mounting angle of encoder, as long as the motor and the encoder are on their reference points at the same time. CAUTION 1 Before mounting a rotary encoder, check that the positive direction of the DiS series motor matches the positive direction of the rotary encoder. If a positive direction mismatch exists, the motor can become uncontrollable in the worst case. 2 If a rotary encoder is mounted at an incorrect position, the power factor can drop, and a soft thermal (OVC) alarm can be issued. In addition, the motor can become uncontrollable in the worst case. Before turning on the power to the machine after machine assembly, recheck the positional If a rotary encoder is mounted at an incorrect relationships. 3 For an incremental encoder system, Pole Position Detection Function is necessary. Using this function can absorb the mechanical tolerance of mounting position electrically and automatically

79 B-65332EN/01 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.2 THERMOSTAT CONNECTION A stator has a built-in thermostat used to prevent the motor from overheating. The specification of the thermostat is as follows: - Actuation temperature: 90 C±5 C (temperature inside the motor) - Normal close (Usually, the contact is closed. The contact is opened at 90 C±5 C.) - Use 24 VDC (1A or less). From the stator, two leads are extended. These leads are to be connected to the I/O (PMC) of the CNC. The leads have no polarity. Configure a system (such as a PMC ladder) so that when the thermostat is actuated (the contact is opened), alarm information is passed from the PMC to the CNC and the machine stops safely for an emergency stop. The normal method of connection is shown below. In normal operation (when the motor is not overheated) CNC Drives the system. Stator Contact closed TH1 TH2 PMC When the motor is overheated CNC Emergency stop Stator Contact opened TH1 TH2 PMC Alarm information CAUTION 1 Without connecting a thermostat, the motor can be driven. In such a case, however, the motor cannot be protected from overheating. So, be sure to connect a thermostat according to the method described above before driving the motor. 2 If an emergency stop is performed immediately after an overheat is detected, the motor can coast, for example, during acceleration, or an axis drop can occur. It is recommended that when an overheat is detected, the machine be stopped safely and quickly by using a brake as required before performing an emergency stop

80 2.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65332EN/01 When multiple DiS series motors are used, two methods of thermostat connection are available. The customer can freely choose between the two methods. Each method has an advantage and disadvantage. Serial connection of multiple thermostats CNC Stator #1 PMC Stator #2 In this case, only one signal lead system is connected to the PMC. However, which motor overheated cannot be identified easily. Parallel connection of multiple thermostats CNC Stator #1 PMC Stator #2 In this case, signal lead systems as many as the number of stators are connected to the PMC. However, which motor overheated can be easily identified

81 B-65332EN/01 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.3 FEEDBACK CABLE CONNECTION Diagram PMC Servo CNC K1 K2 High Resolution K5 Amplifier Serial Output Circuit Synchronous Built-in Servo Motor Encoder For details, refer to related CNC connection manual. Contact the relavant encoder manufacturer or dealer. High Resolution Serial Output Circuit is required only for incremental encoder, not for absolute encoder. Cable K2 Servo amplifier Shield Serial output circuit or 3rd party s encoder Drain wire Connector : FI S Connector cover : FI-20-CV Manufacturer : Hirose Electric Co., Ltd. Connector : RM21WTP-15S-(8) Manufacturer : Hirose Electric Co., Ltd. 0V, 5V Normal cross section : 0.5mm 2, at least three wires each SD1, *SD1, REQ, *REQ Nominal cross section : 0.18mm 2, Twisted pair

82 2.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65332EN/ GROUND LEAD CONNECTION Ground lead connection is very important to safety, conformance to the European standards, and improved noise protection. A typical example of connection is shown below. αips αisv NOTE 1 Connect all ground leads securely. 2 When an absolute rotary encoder is used, High Resolution Serial Output Circuit is unnecessary. The feedback lead from the rotary encoder is directly connected to αisv. 3 For some types of rotary encoders, it is recommended that the main rotary encoder unit be grounded. For details, refer to the specifications of each rotary encoder or contact the manufacturer of each rotary encoder. 4 Use ground leads that conform to the European standard (EN) and UL in thickness, color, type, and so forth. 5 The amount of leak current flowing through the DiS series motor sometimes may little bit large. Take appropriate measures by, for example, adopting a structure that prevents the operator from contacting conductive parts near the motor during energization

83 B-65332EN/01 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.5 MOTOR AND POWER LEAD PROTECTION In order to obtain a desired torque, one amplifier may be used to drive multiple DiS series motors. If a motor fails or a power lead is broken in such a case, a current larger than the specified level flows into other motor. In this case, an alarm may be issued because of an insufficient torque, or an overheat alarm may be issued because of an excessive current flowing into a drivable motor. In the worst case, an abrupt increase in current can burn a power lead or motor. Take protection measures as shown below. PMC Thermostat Stator #1 Stator #2 Stator #3 Stator #4 Power lead Fuse Fuse Fuse Fuse Terminal block U V W Servo amplifier module Power supply module Ground fault interrupter Three-phase power As shown above, insert a fuse between the servo amplifier module and each stator. If an excessive current flows through a power lead, an inserted fuse can shut down power. When a fuse with a built-in microswitch is used, whether the fuse has blown can be known by applying the signal to the PMC. With this function, the machine can be stopped more safely with damage minimized when a fuse blows; for example, the machine can be stopped after retracting the machine

84 2.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65332EN/ LIQUID COOLING Coolant Steel is employed for a cooling jacket used with the DiS series motor. So, cooling liquid use oil. Moreover, do not use a strong alkaline anti-corrosive agent. NOTE On cooling liquid, a restriction may be imposed not only from the motor but also from the chiller. So, consult with a chiller supplier as well to select a cooling medium that does not adversely affect the motor and chiller

85 B-65332EN/01 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN Checking the Normal Operation of Cooling Systems When the DiS series motor is operated using forced cooling, abnormal flow of a coolant may cause overheat or a burnout of the DiS series motor. Therefore, it is necessary to prepare a system that always monitors the cooling systems and stops the DiS series motor safely in case of an abnormality. When cooling piping is disconnected at some midpoint, it may take some time until the cooling unit detects it. In the worst case, the motor may burn out before the cooling unit detects a failure. In addition, when, for example, cooling piping is disconnected near the motor, a lot of coolant is applied to the motor, probably causing defective insulation or other failures. So, the system is recommended to stop the motor by always monitoring the cooling systems instead of waiting for the cooling unit itself to detect a failure. For example, as shown in the figure below, create a system that has a sensor for monitoring the status returned to the cooling unit and stops the DiS series motor using a PMC ladder or other program upon detection of an abnormality. This method can stop the motor safely even when the cooling unit itself fails or cooling piping is disconnected, unless an abnormality occurs in the sensor. Cooling unit alarm Coolant flowrate monitoring sensor for detecting a decrease in coolant flowrate Cooling unit Amplifier Motor Coolant inlet Coolant exit Coolant Cooling piping NOTE 1 Please prepare components such as the sensor and PMC ladder required for this system by yourself. 2 Overheat and a burnout of the motor cannot be prevented only by this system. Be sure to make thermostat wiring described earlier

86 2.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65332EN/ CONSIDERATION OF ECCENTRICITY Theoretically, if the stator and the rotor had no eccentricity, no magnetic attraction force works. But if they had eccentricity, magnetic attraction force works along the direction of eccentricity as shown below. Therefore, it is necessary to consider the capacity of bearing load etc. And also, the eccentricity sometimes makes the feed smoothness worse. DiS 3000 DiS 2100 DiS 1500 DiS 370 DiS 260 DiS 85 DiS MAGNETIC MATERIAL CLOSING TO COIL If some magnetic material was used closing to the coil, the material may be heated because of induction. Therefore, use some non-magnetic material if it is used near the coil. Or when using magnetic material, keep distance at least 3mm between the material and the coil

87 B-65332EN/01 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.9 BALNCE OF ROTOR It is unnecessary to adjust a balance of rotor as it rotates relatively lower speed. But for lower vibration and smoother rotation, sometimes it is better to adjust a balance of rotor. But even in this case, do not modify a motor, or do not attach a balance weight to a rotor directly. Prepare a balancing part, such as balance ring separately. Use non-magnetic material for the balancing part, when it comes inside the stator. Magnetic material occurs abnormal heat generation and it affects the motor life ROTOR AND STATOR FIXING Rotor Fixing The rotor needs to be fixed using screws and tapped holes in both end faces. If possible, use all tapped holes in both end faces. The fixing screws must have a strength category of 10.9 or more and be tightened with an appropriate torque Stator Fixing If possible, use all tapped holes in both end faces of the jacket to fix the stator. The fixing screws must have a strength category of 10.9 or more and be tightened with an appropriate torque. Since the stator is a resin molded product, do not use heat shrink fitting to fix it

88 2.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65332EN/ O-RING FOR COOLING JACKET O-rings are required when applying force cooling. Prepare proper O-rings according to the machine design, as O-rings are not attached to the motor. DiS 3000/150, DiS 2100/150, and DiS 1500/200 have grooves to fit O-rings. Use recommended size of O-rings for large motors. Others have no groove to fit O-rings. Prepare the grooves on the machine side. In this case, O-rings should be fitted to the area that FANUC recommends. NOTE Choose proper material of O-ring according to the coolant characteristics AUXILIARY BRAKE MEASURES The DiS series motor allows the dynamic brake to be applied by connecting the power lead. If an object being moved weighs much or moves at high speed, a longer coasting distance is required. The motor itself does not have a mechanical brake, so that a mechanical brake is needed to preserve the position at power-off time. This is because strong magnetic attraction can cause the motor to move freely to the magnetically stateblest position even with the horizontal axis

89 B-65332EN/01 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.13 PROTECTION AGAINST DUST AND WATER If magnetic dust such as metallic dust is located near a rotor, the dust may be attracted to the rotor. In particular, dust larger than the air gap between the stator and rotor is caught between the gap, resulting in a failure. In order to remove dust that builds up on the rotor, it is strongly recommended that some sealing mechanism be installed. Moreover, if the motor is exposed to coolant ceaselessly, the insulation of the motor can degrade. Consider a structure that can minimize the penetration of coolant. Usually, increasing the internal pressure by air purge operation is very effective. Besides coolant penetrating into the motor from the outside, condensation may occur on the motor because of excessive cooling or excessively high humidity. If condensation lasts for a long time, the insulation of the motor can degrade. In such a case, take anti-condensation measures such as reviewing the cooling condition and blowing dry air to the motor. For reference information, a typical axis structure is shown below. (Recommended) (Recommended) NOTE If sufficient dust and water protection is provided, foreign matter may penetrate unexpectedly near the motor, causing a failure or reducing the life of the motor remarkably

90 2.MECHANICAL DESIGN HANDLING, DESIGN, AND ASSEMBLY B-65332EN/ CONFORMANCE TO STANDARDS Machine design and component selection considering the following are needed to conform to the CE marking of Europe: Machine design, cabling, and so forth conforming to Article 19 of EN Machine design and component selection conforming to the machine commands of Europe Use of components conforming to the European standards Conformance to the standards related to electric wiring and cabling, insulation, and dust and water protection Ensuring a use condition that guarantees the rating of the motor Conformance to the EMC commands Conformance to the standards related to safety Conformance to other standards such as the UL standard of the U.S.A. may need to be considered separately. Referring to each relevant standard for details, perform machine design and component selection without failing to satisfy each standard. Take necessary action according to the guideline titled "To Conform to the EMC Commands (A-72937)" released by FANUC separately. NOTE 1 To obtain "To Conform to the EMC Commands (A-72937)", contact your FANUC sales representative. 2 For details of the standards such as the EN and UL standards, refer to each standard

91 B-65332EN/01 HANDLING, DESIGN, AND ASSEMBLY 2.MECHANICAL DESIGN 2.15 NAMEPLATE ATTACHMENT AND SERIAL NUMBER MANAGEMENT One of the nameplates and a sheet for lamination are packed together with the stators of all models. For maintenance, attach the nameplate to the following location where: The nameplate is always visible at the time of maintenance. The nameplate is easily visible without removing components. The nameplate is not easily detached. Next, to protect the nameplate, attach the laminated sheet over the nameplate. The recommended nameplate attachment locations include: Inside of the door of the cabinet Near the main power supply of the machine Near the operator's panel or the back of the operator's panel In addition, record and keep the combinations of machine numbers and motor serial numbers so that which machine incorporates a motor of which serial number can be identified easily after machine shipment INDICATION OF WARNING Be sure to indicate a warning to notify the maintenance operators of the presence of magnets on the rotor and prevent an accident from occurring. For example, attach a label or sticker that clearly indicates the mounting location of a rotor by providing an illustration at a position that is accessed for maintenance at all times or at an easily noticeable position. Ensure that such a label or sticker is not easily removed or is hidden behind a component. NOTE The customer is to prepare a warning label or sticker

92 3.ASSEMBLY HANDLING, DESIGN, AND ASSEMBLY B-65332EN/01 3 ASSEMBLY WARNING For the DiS series motor, very powerful magnets are used. If the DiS series motor is handled incorrectly, serious accidents including fatal accidents can occur. Read this chapter carefully for thorough understanding, and do not fail to observe the cautions and warnings described in this chapter. Ensure that only persons educated for the handling of the DiS series motor handle the DiS series motor

93 B-65332EN/01 HANDLING, DESIGN, AND ASSEMBLY 3.ASSEMBLY 3.1 ROTOR INSTALLATION Installation Direction of Rotor This section introduces how to install the rotor into the stator. Depending on the structure of the machine, consider the safest procedure. There is no installation direction of the rotor. Both side of the rotor have the same dimension. Order of magnetic poles does not change, even if the rotor was installed in reverse Surface for Centering Following surfaces are for centering the stator and the rotor

94 3.ASSEMBLY HANDLING, DESIGN, AND ASSEMBLY B-65332EN/ Magnetic Attraction Force The rotor is strongly attracted while installing to the stator. For your safety, it is necessary to consider some safety measure and jigs. Maximum attraction force = 20N/cm 2 (area of magnets on the rotor surface) CAUTION Powerful magnetic attraction is exerted at all times until the rotor comes inside the stator completely

95 HANDLING, DESIGN, AND ASSEMBLY B-65332EN/ ASSEMBLY Installation Procedure Rotor setting Fix the jig to the rotor. This jig has a special figure that it can adjust the position of the rotor and the stator. NOTE From this page, a typical example of installation way is introduced. According to your machine, please consider some proper and safety installation way. Stator setting Fix the stator to the base jig not to be lifted by magnetic attraction force. And prepare the another jig to guide the inner surface of rotor

96 3.ASSEMBLY HANDLING, DESIGN, AND ASSEMBLY B-65332EN/01 Installing Slowly drop the rotor into the stator supporting with jigs not to suddenly fall down by the magnetic attraction force. Completed To fix the installation jig to the stator, the rotor and stator are assembled in one body. The magnetic attraction force no longer works, as it is canceled