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The leading independent repairer of servo motors and drives in North America.

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 Motion Solutions

TABLE OF CONTENTS

Motion Controllers. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
APM Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
DSM Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
S2K Series. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Servo Amplifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
S2K Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
SL Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
α Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50, 52
β Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50, 57

Servo Motors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
S Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
MTR Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
α and β Series . . . . . . . . . . . . . . . . . . . . . . . . . . . 91

Stepping Amplifiers and Motors . . . . . . . . . . . . . . . 102

Power Cube. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
MTR Series . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106

Operator Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . 123

Motion Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125

Motion Development Software . . . . . . . . . . . . . 125
Servo Sizing Software . . . . . . . . . . . . . . . . . . . . 128

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1 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

Stand-Alone Motion Control

With 21 local I/O points per
SINGLE AXIS MULTI-AXIS drive/controller (expandable via
network), your S2K stand-alone
motion system becomes a cost-
effective machine control for many
applications. DeviceNet peer-to-peer
allows a single drive/control to easily
Operator Operator control motion in a multi-axis system.
Interface Interface

S2K Servo / Stepper S2K Servo / Stepper

Distributed Motion Control

As a network node, your GE Fanuc
Network motion system can receive commands
and programs as well as handshake
data with PCs, PLCs etc. This provides
Keyboard
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control and HMI solutions while still

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Shot
Good
ALARM
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Size 0.204 e Readings
Shot In
Ext. T Sec
1.467 Temperatur or Barrel
Nozzle 6 7 8
2.42 4 5
Inj. T Sec
Hold
1 2 3
T 0.72 Readings 1 2
Cycle Sec
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receiving the best-in-class motion control.

Enter

PLC
HMI (APM/DSM) PLC, stand-alone and smart motor
solutions are available.
Motor Cube
PC Control

α/β Servo S2K Servo / Stepper

Third Party Solutions

If you have your own controller and
require only servo/stepping motors
SL Series
and drives, GE Fanuc is your source.
Maintain your existing control
architecture while taking advantage
Control

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2
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Completion
167885
941
Pro Count
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Good
Prdt.
Shot
5
4705
941
CITY

PRDT-0004
Number Cover
Date
7 Month

Prdt Rate

Good
Rate
11 Day

38 %

100
%
Exit
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S2K Series of motors/drives with a wide torque

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range, superior performance and

Sec Nozzle 5 6
2.42 4
Inj. T Sec
Hold
1 2 3
T 0.72 Readings 1 2
Cycle Sec
4.36 Pressure 400
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unparalleled reliability.
Power
Cube

Motor
Host can be GE Fanuc or 3rd party Amplifiers & Motors Cube

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2 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

Motion Controllers
GE Fanuc offers motion controllers for a broad range of
applications and system configurations. The APM300 and
DSM300 series are servo motion controller modules for
GE Fanuc Series 90-30 PLCs. The APM300 Series can control
up to two servos with an analog command interface while
the DSM300 Series can control up to two FANUC digital
servos or four analog servos. The S2K series are stand-alone
controllers available for brushless servo and stepping motor
control and include and integral AC power supply and servo
amplifier. Regardless of your requirements, GE Fanuc has a
motion controller to meet your requirements, from simple to
complex machine control.

GE Fanuc Motion Controller Feature Comparison

Feature APM300 DSM300 S2K

Architecture Series 90-30 Series 90-30 Stand-alone

Number of Axes 1/2 2 (Digital) / 4 (Analog) 1
Servo Command Interface Analog Velocity GEF Digital/Analog Velocity/Analog Torque n/a
Position Feedback Type Quadrature Encoder Serial Encoder/Quadrature Encoder Resolver/Serial Encoder
Programming Via PLC or PC Via PLC or PC Via PC
Local Logic Program No Yes Yes

Motion Program
Program Memory 15K 15K 60K
Number of Programs (Max.) 11 (40 sub) 11 (40 sub) 4 (32 sub)

Motion Types
Incremental Moves Yes Yes Yes
Absolute Moves Yes Yes Yes
Interpolation No No No
Synchronized (Block) Start Yes Yes n/a
Jogging Yes Yes Yes
Home Yes Yes Yes
Acc/Dec Linear/Jerk Linear/Jerk Linear/Jerk
Cam No Yes Yes
Follower Yes Yes Yes
Pulse-based No No Yes

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GE Fanuc Motion Solutions 3
 Motion Solutions
Motion Controllers

APM300 for Series 90-30

The APM300 Series are the most versatile Each module can run in either standard or
axis positioning modules found in entry-level follower mode. Standard positioning mode
PLCs. Both one- and two-axis modules combines high-performance point-to-point
(APM301 and APM302) are intelligent and motion control with logic-solving functions
fully programmable. These modules provide in one integrated system. Follower mode
an analog velocity command signal to the provides high-performance electronic
GE Fanuc SL Series or S2K Series Servos, gearing for continuous master-slave
or to third-party servo systems. applications.

APM300 Series

Features
Encoder
Operator Interface • Fast servo loop updates (1 ms for one axis,
Products
2 ms for two axes) improve system
accuracy and throughput.
Series Analog
90-30 Servo Power • Velocity feed-forward to enhance tracking
PLC (Axis 1)
accuracy
C D Terminal • Open architecture command interface to a
Board wide range of third-party servo, drives
Encoder
A B and hydraulic systems, as well as to
Control

Help

Machine
Keyboard

Order

2
Info
STATUS
Options
MONITORING:

Machine
GE FANUC--CIMPLIC

2 Production

Order
Plan
Shot
Status

Product Name
Product
Completion
167885
941
Pro Count
Good
Good
Prdt.
Shot
5
4705
941
ITY

PRDT-0004
Number Cover
Date
7 Month

Prdt

Good
Rate

Rate
11 Day

38 %

100
%
Exit
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GE Fanuc SL Series Servos. The APM300

ALARM
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Series closes the position loop while the

In
1.467 Temperature or Barrel
Ext. T 7 8
Sec Nozzle 6 5
2.42 4
Inj. T Sec
Hold
1 2 3
T 0.72 1 2
Cycle Sec
Readings
4.36 Pressure 400
Speed
High 0
0 0
200 0
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B Analog servo amplifier controls velocity and

Terminal Servo Power
PLC and Motion (Axis 2) torque.
Programmer Board
D

Part Number Description

APPLICATIONS
A Modules IC693APU301 APM301 Motion Controller (single axis)
IC693APU302 APM302 Motion Controller (dual axis) For Standard Mode
B Cables IC693CBL311 I/O Cable, 24 Pin, 3m (one per axis) • Pick-and-place material handling
C Communication Cables IC693ACC901 SNP to RS-232 Adapter + Cable for personal computer
systems
9-pin serial port • X-Y positioning tables for assembly
D Terminal Block 44A726268-001 Terminal Block (one per axis)
• Rotary index table

For Follower Mode

PLC Requirements • Spooling
All PLC programming packages will support the APM300. Multiple APM boards can be placed in
Series 90-30 PLC main, expansion, and remote racks. The use of APM modules is limited by the power
• Cut to length
supply capacity and the number of words of %AI data supported by the selected CPU. A minimum of • Flying shear
15 and maximum of 28 words of %AI data are required for one-axis and two-axis modules respectively.

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4 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

DSM300 for Series 90-30

DSM302/DSM314
The DSM300 Series is the latest addition to single and multiaxis applications. By
the GE Fanuc family of motion controllers. combining the versatility of the Series 90-30
The DSM302 is a versatile two-axis motion PLC and GE Fanuc operator interface
controller that works with either the digital products with GE Fanuc servos, DSM302/314
α and β Series Servos or with any servo provides customers with a complete
with an analog command interface. In solution, from the motor to the operator
addition, the DSM314 can control up to interface. This single-source system results
4 servos with an analog velocity or torque in such benefits as ease of integration and
command interface. The DSM302 or programming, shorter development cycles,
DSM314 is applicable in a broad range of and higher reliability.

DSM300 Series Features

Operator Interface to I/O Encoder

• Powerful processor with digital signal
Products co-processor (DSP) provides a separate
α or β or SL Servo
D Amplifier Motor control loop processor that operates
F independently of PLC scan rates for fast
A servo loop updates
DSM Terminal Board
B Power • Enhanced tracking accuracy with velocity
E
D Encoder
Servo feed-forward control and high-resolution
Motor
feedback
F
• On-board I/O for travel limits, servo
GE FANUC--CIMPLIC
ITY
Help

Terminal Board enable, home switch and position capture

Series 90-30 PLC
MONITORING:
STATUS Exit
Options
Keyboard Status
Control 2 Production
Machine PRDT-0004
Number Cover 11 Day

Power
Info
Order Product Name 7 Month
Product Date
Help 38 %
Completion
Order Prdt Rate

C α or β or SL
167885 %
Plan 100
941 Rate
Shot 5 Good
2
Machine Pro Count 4705
Prdt.
Good 941
Shot
Good
ALARM
M-CUSH In
Size 0.204 Readings
Shot In
1.467 Temperature or Barrel 7
Ext. T Sec
8
6
Nozzle 5
2.42 4
Inj. T Sec Hold
1 2 3
T 0.72 1 2
Cycle Sec
Readings
4.36 Pressure 400
Speed
High 0
0 0
200

Amplifier
0
303
387 369
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D • Flash firmware available from our website

makes upgrades a snap
AUX I/O
PLC and Motion From Master Encoder • In digital servo mode, all positioning,
Programmer C AUX Terminal Board (Follower Mode)
velocity and torque loops are closed
in the controller. For properly sized drives,
little or no servo tuning is required once
Part Number Description the motor type code has been set

A Modules IC693DSM302 DSM302 Motion Controller (2 axis) • Also works in analog mode with any
IC693DSM314 DSM314 Motion Controller (2 analog/4 digital axes)
quadrature encoder-based servo to
B Terminal Boards IC693ACC335 Digital Servo Axis Terminal Board (one per axis)
provide a low-cost, high-performance
servo system
C IC693ACC336 Analog Servo Axis Terminal Board (one per axis)
Auxiliary Terminal Board (for follower applications) • DSM314 Local Logic Engine handles high
D Command Cables IC693CBL324 Terminal Board Connection Cable - 1m (one per axis) speed logic decisions synchronous with
IC693CBL325 Terminal Board Connection Cable - 3m (one per axis) motion update
E Communication Cables IC693CBL316 Station Manager Serial Cable (one per motion system) • Cam & Electronic Gearing Modes
F Servo Cables IC800CBL001 Servo Command Cable - 1m (one per axis)
IC800CBL002 Servo Command Cable - 3m (one per axis)
APPLICATIONS
PLC Requirements • High-speed conveyor lines
PLC Requirements: Machine Edition Logic Developer PLC will support the DSM. Multiple DSM boards can • Assembly machines
be placed in Series 90-30 PLC main, expansion, and remote racks. The use of DSM modules is limited by
• Pick and place gantries
the power supply capacity and the number of words of %AI data supported by the selected CPU. Each
• Textile machines
axis of control requires a minimum of 40 words of %AI data and a maximum of 64 words (84 for 4 axis
DSM314) of %AI data depending on the mode selected.
• Coil/spool winding
• Adhesive applicators

www.gefanuc.com
GE Fanuc Motion Solutions 5
 Motion Solutions
Motion Controllers

Feature Comparison

APM300 Series DSM302 Series DSM314 Series

General Standard Follower Standard Follower Standard Follower

Number of Axes 1/2 1/2 2 2 1 to 4 1 to 4

Servo Command Type Analog Analog Digital/Analog Digital/Analog Digital/Analog Digital/Analog
Position Error Integrator Analog Only Yes Yes Yes Yes Yes
Position Strobes/Axis 1 None 2 2 2 2
Position Strobe Response 1ms/axis n/a 250µs 250µs +/- 2 count plus 10µs +/- 2 count plus 10µs

FEEDBACK

Position Feedback Options Quadrature Encoder Quadrature Encoder GE Fanuc Serial GE Fanuc Serial GE Fanuc Serial GE Fanuc Serial
Temposonics (CCL) Temposonics (CCL) Encoder/ Encoder/ Encoder/ Encoder/
Quadrature Encoder Quadrature Encoder Quadrature Encoder Quadrature Encoder
Position Resolution (counts) Based on Encoder Based on Encoder 8K /32K 8K/32K 8K/32K 8K/32K
Positioning Range (linear mode) ±8,388,607 ±8,388,607 ±8,388,607 ±8,388,607 ±8,388,607 ±8,388,607
Master Feedback n/a Quadrature Encoder n/a Quadrature Encoder n/a Quadrature Encoder
Master Feedback Max Frequency n/a 650KHz n/a 1MHz n/a 1MHz

Operating Modes

Positioning Absolute Absolute Absolute Absolute Absolute Absolute

Incremental Incremental Incremental Incremental Incremental Incremental
Acceleration Linear Linear Linear Linear Linear Linear
Jerk Limited Jerk Limited Jerk Limited Jerk Limited Jerk Limited
Axis Linear/Continuous Linear Linear/Continuous Continuous Linear/Continuous Continuous
Follower Modes n/a Velocity/Position/Winder n/a Velocity/Position/Winder n/a Velocity/Position
Cam n/a n/a n/a n/a Yes Yes
Local Logic n/a n/a n/a n/a Yes Yes

Hardware Comparison

Processor System APM300 Series DSM300 Series

I/O Processor None Yes

EPROM Memory 128K x 8, Code Storage, Execution None
FLASH Memory 32K x 8, Motion Program Storage 512K x 8, Code, Motion Program Storage
RAM Memory 32K x 8, Data Storage 128K x 16, Data Storage, Code Execution

I/O System Comparison APM300 Series DSM300 Series

User I/O Connectors 2 x 24 pin 4 x 36 pin

User Analog Output None 1 per axis (12 bit resolution and sign)
SNP Comm Port RS485 RS232

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6 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

S2K Series

Stand-Alone, Digital
Amplifier and Controller for
Servo and Stepping Motors
The GE Fanuc S2K Series products offer
amplifier and motion control capability for
brushless servo and stepping motor systems
in a stand-alone integrated package. The
S2K Series incorporate all-digital
amplifier technology and fast servo update
rates for enhanced performance. Advanced
features such as electronic gearing and
camming are supported. The DeviceNet
implementation includes the ODVA defined
position controller master/slave protocol as
well as peer-to-peer control for multi-axis
stand-alone systems. Models are also
available with a Profibus DP-Slave
implementation as well.

Features
APPLICATIONS
• Resolver or serial encoder feedback options
• Two module types available: brushless servo amplifier with integrated motion controller or • Packaging machines
stepping amplifier with integrated motion controller • Labeling machines
• Wide torque range: servo systems from 0.84-477 lb-in (0.09-53.9 Nm) continuous, steppers • Bag making machines
from 144-3074 oz-in (1-21.7 Nm). Standard features include all-digital, self-tuning servo • Assembly
amplifier and 50,000 microstepping amplifier
• Pick and place
• 14 I/O points with DeviceNet or Profibus options or 21 I/O points (4.3 and 7.2 amp
models only) when no network option is specified • Flying cutoff

• Full complement of diagnostic information provided via on-board, two-character LED • Rotary tables
or over network or serial communication options • Feed/cut to length
• Includes point-to-point moves, jogging and advanced functions such as electronic • Electronic line shafting
gearing/camming and pulse based motion. The command set includes full logic,
• Sorting conveyors
subroutines, variables and math functions in addition to I/O and network control.
• and many more
• A multi-tasking operating system supports a broad range of application
complexity...from simple to advanced program requirements
• Small, self-contained package conserves valuable panel space
• All quick-disconnect terminations for fast installation and change-over
• UL, cUL, and CE certifications

www.gefanuc.com
GE Fanuc Motion Solutions 7
 Motion Solutions
Motion Controllers

S2K Series
Single-Axis Controller Features
• Dynamic torque limiting • Index and phase synchronization • Secondary position feedback for
• Complex motion profiles including jerk • High speed registration/position capture compensation of slip and lost motion
limited acceleration for feed/cut to mark applications • User configurable digital and analog I/O
• Electronic gearing and camming • Powerful programming environment

Two-character LED for

easy, real-time diagnostic
updates

Nonvolatile program
storage in Flash EPROM
Optional Network
communication port*
Serial communication port
• DeviceNet
• Profibus-DP (slave)

Rugged 12-24 VDC user I/O Differential auxiliary

can be configured for encoder input
source or sink
Quadrature encoder output
(motor or auxiliary encoder position)
Quick-disconnect High speed position
terminals for easy field capture input
wiring and unit
changeovers

Servo primary
* Some controller models are available with
additional I/O instead of the network position feedback†
communication port.
† Encoder or Resolver feedback is standard with
servo motor controllers. Stepping motor AC power input and motor
controllers can provide primary position feedback
via the differential auxiliary encoder input.
connections on bottom of unit

Dual Processor Architecture

Single-Axis Controllers

Serial Comm.
3.84 Char/µS Max. Position Command 25 MIPS
I/O & Parameter Update 32 Bit µP
488 µS Update DSP
0.5 mS Scan

Powerful multiprocessor design provides Servo Loop Update

122 µS
the speed and flexibility to solve most of
Aux. Encoder
your motion control applications from simple 488 µS
single-axis solutions to your most
demanding multi-axis systems. Position Capture
(Strobe)
30 µS

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8 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

S2K Series
Electrical Specifications

Digital Inputs and Outputs

Operating Range 12-24 VDC, 30 VDC maximum

Interface Format optically isolated, source/sink user-configurable
Inputs Maximum Off Voltage 4 VDC
Minimum On Voltage 10 VDC
Load 2 kΩ
Outputs Maximum On Resistance 35 Ω
Maximum Load Current 100 mA
Maximum Off Leakage Current 200 nA

Analog Inputs and Outputs

Operating Range ±10 VDC

Resolution 12 Bits (input)/8 Bits (output)
Input Impedance 50 kΩ
Output Current 5 mA

Auxiliary Encoder Input

Input Format single-ended or differential;

sine or square wave;
quadrature, pulse/direction or cw/ccw pulse
Input Voltage Range +5 to +15 VDC
Line Count Frequency 3 MHz maximum
Pulse Frequency 12 MHz maximum with 4X multiplier

Motor Encoder Input (S-Series Motors only)

Input Format quadrature encoder with serial
commutation channel
Input Voltage Range +5 to +15 VDC
Line Count Frequency 2 MHz maximum
Pulse Frequency 8 MHz maximum with 4X multiplier

Motor Resolver Feedback Input (Resolver-based models only)

Number Available 1
Resolution 4096 pulses per revolution
Maximum Speed 15,000 RPM
Type Control Transmitter
Phase Shift ± 5.0 degrees @ 5kHz
Null Voltage < 20 mV @ 5 kHz
Transformation Ratio 0.5

Serial Communication

Available Ports 1
Functions Supported multi-purpose programming port
Format RS-232
Maximum Addressable Units 1
Communication Rate 1200, 9600, 19200 or 38400 baud
Maximum Distance from Host to Unit 50 feet

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GE Fanuc Motion Solutions 9
 Motion Solutions
Motion Controllers

S2K Series

Communication Specifications DeviceNet Profibus® DP Slave

Number Available 1 port per unit 1 port per unit

Functions Supported I/O slave messaging, position controller profile, Profibus profile, multicast, broadcast
and explicit peer-to-peer messaging
Number of Nodes 64 maximum 100 maximum
Input Power Requirements 11-25 VDC @ 40 mA maximum none
Communication Rate 125, 250 or 500 KBaud 9.6, 19.2, 45.45, 93.75, 187.5, 500,
1500, 3000, 6000, 12000 Kbaud
Length of Drop Line 20 feet maximum
Length of Trunk Line thin cable 328 feet maximum
thick cable 328 feet maximum @ 500 KBaud
820 feet maximum @ 250 Kbaud
1,640 feet maximum @ 125 Kbaud 3936 feet @ 9.6 Kbaud

AC Input Power Requirements

Input Frequency 50-440 Hz

Stepping Controller 90-130 VAC single-phase @ 10.0 Amps
Servo Controller Rated at 4.3 Amps, 115/230 VAC 90-250 VAC single-phase @ 7 Amps,
three-phase @ 4 Amps
Servo Controller Rated at 7.2 Amps, 115/230 VAC 90-250 VAC single-phase @ 15 Amps,
three-phase @ 8 Amps
Servo Controller Rated at 16 Amps, 230 VAC 180-250 VAC three-phase @ 18 Amps
Servo Controller Rated at 28 Amps, 230 VAC 180-250 VAC three-phase @ 30 Amps
Servo Controller Rated at 7 Amps, 460 VAC 324-528 VAC three-phase @ 8 Amps
Servo Controller Rated at 20 Amps, 460 VAC 324-528 VAC three-phase @ 22 Amps
DC Power Supply Outputs, +5 Volts 0.25 Amps
DC Power Supply Outputs, +12 Volts 0.5 Amps

Environmental Specifications
Operating Temperature, Free Air Ambient* 32 to 122°F (0 to 50°C)
Storage and Shipping Temperature -40 to 176°F (-40 to 80°C)
Relative Humidity 5 to 95% noncondensing
Enclosure Type open
Altitude** 3300 feet (1000 m)
* Assumes heatsink in vertical orientation.
** Operation at higher altitudes require controller derating. Please consult GE Fanuc.

www.gefanuc.com
10 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

S2K Series S2K Series Operating System

PROGRAM 1

Operating System
At the heart of the S2K Series controller is a when a fault occurs. S2K controllers also Communications
PROGRAM 4 & PROGRAM 2
powerful multi-tasking real-time operating support immediate mode operation where OS Overhead

system and comprehensive programming an external host can load registers or issue
language. Up to four programs, one motion commands (over the serial or Network
task and one communication task can be ports) that are executed in real time. This is
PROGRAM 3
simultaneously executed. Time critical tasks a powerful feature for applications where
can be executed in a separate program, and program variables are determined on-the-fly
Program 4 acts as a fault handler that based on process input and external events. • Four user defined programs scheduled
automatically executes on power-up or sequentially (round robin)
• Program 4 executes on power-up or when
a fault occurs
• Any program can start/stop any other
program
• All programs can utilize common motion
blocks

Software Capabilities Application Programming

Resources S2K Controller
The S2K Series integrated controller models management. The comprehensive
Flow control
allow up to 100 predefined motion blocks programming language provides extensive Labels per program 999
and four user defined programs. Programs math and logical operators, program flow Nested GOSUBS per program 32
and motion blocks are defined using control, I/O manipulation, network control Variables
Boolean 256
CIMPLICITY Machine Edition-Motion and system status commands. Configuration Floating point *, † 2,048
Developer, a powerful Microsoft Windows®- and programming wizards simplify Integer * 4,096
String 144
based utility that provides the resources to integration and reduce engineering time.
Programs
give users total application program
General purpose 3
Fault-handling 1
Countdown timers 8
Motion blocks 100
RELATIONAL ARITHMETIC
Concurrent task execution 6 maximum‡
> < = ≥ ≤ ≠ + - x ÷ √
Master axes per program 1
Flash EPROM Memory
User programs & Cam tables 60 Kbytes
Variable 42 Kbytes
* Integer and floating point variable memory space is shared;
TRIG EXTENSIVE numbers are maximum for each but not for both concurrently.
Sin, Cos, Tan, SHIFT Floating point variables require twice the memory of integer vari-
MATH & LOGICAL Shift Left ables. Thus, for example, if 1,000 floating point variables are used,
Arctan, Exp,
OPERATORS Shift Right 2,096 integer variables are possible.
Nat. Log
† Floating point variables use a 32-bit mantissa and are precise to
9 decimal digits.
‡ 4 programs, 1 motion block, 1 communication port.

LOGICAL ROTATE
Not, And, Or, Xor Left
Right

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GE Fanuc Motion Solutions 11
 Motion Solutions
Motion Controllers

S2K Series
Programming Language
The Generation D programming language consists of registers, A variety of flow control commands, conditional operators
commands and variables. Users familiar with the product will find and subroutines allow simple or complex application program
the mnemonic form easy to use. Programs and motion blocks are development.
developed using the registers and commands in the following list.

Registers

Reg/Cmd Class Description Reg/Cmd Class Description

! Program exits terminal window line editor CAT Motion cam shaft position type
? Diagnostic reports value of register to the terminal window CAZ Motion zeros cam table
p1, p2 Operand floating point operands CCB Motion cam compile begin point
"p1", $p2 Operand string operands CCE Motion cam compile end point
+ Operator concatenate strings p1 and p2 CCM Motion compiles cam motion
+, -, * , / , * * Operator arithmetic operators CCP Motion cam compile start position
>,>=, =, <>, <=, < Operator relational operators CE System conversion error
16#p3 Operand base 16 integer operand CHANGEPW System prompts for password change
2#p2 Operand base 2 integer operand CHR Operator converts ASCII character code to its
ABS Operator absolute value of any floating point or integer associated character
operand CIE System computer interface format enable
ADDN System address of network port CLL Input/Output clears line and positions cursor at beginning of line
ADDR System RTU port address CLM System clears user memory; resets registers to defaults
AI Input/Output analog input CLS Input/Output clears display and positions cursor at home
AIB Input/Output analog input deadband CMD Axis position controller command output
AIN Input/Output network analog input CMO Axis commutation angle offset
AIO Input/Output analog input offset CMR Axis motor poles to resolver poles commutation ratio
AND Operator logical AND of two operands of the same type CNC System close network connection
AO Input/Output analog output COS Operator cosine trigonometric function of a floating point
AON Input/Output network analog output operand
AOP Input/Output power-up state of analog output CR Input/Output positions cursor at beginning of next line down
ASC Operator converts 1st character in string operand to CRH Input/Output positions cursor at home
ASCII code CRM Input/Output remembers cursor position
ATN Operator arctangent trigonometric function CRP Input/Output positions cursor
AUTORET System enables auto retrieving of user memory CRR Input/Output positions cursor at remembered position
AUTOTUNE System automatically sets up control constants CURC Axis continuous current
BAUD System baud rate of serial port CURCN Axis network continuous current
BAUDN System data rate of network port CURP Axis peak current
BIT System data bits of serial port CURS Axis power save current
BS Input/Output backspaces cursor CURSN Axis network power save current
CAE Motion cam enable DEL Operator deletes characters from a string operand
CAF Motion cam filter constant DEL Program deletes current statement in the terminal window
CAI Motion cam position register increment line editor
CAM Motion cam point DGC Diagnostic loads diagnostic condition for printing
CAO Motion cam offset DGE Diagnostic enables diagnostics
CAP Motion cam shaft position DGI Diagnostic load diagnostic item to print
CAR Motion cam position register DGL Diagnostic prints diagnostic line of items
CAS Motion cam scale factor DGO Diagnostic outputs diagnostic register value to serial port

* Indicates registers that cannot be set in a program

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12 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

S2K Series

Reg/Cmd Class Description Reg/Cmd Class Description

DGP Diagnostic prints diagnostic message to serial port GRE Motion gearing enable
DGS Diagnostic sets program to single step mode GRF Motion gearing filter constant
DGT Diagnostic sets program to trace mode GRN Motion gearing numerator
DI Input/Output digital input HSE System enables XON, XOFF handshake protocol for serial port
DIN Input/Output network digital input HT Motion halts motion
DINA Input/Output network digital input register assignment HTN Motion network halt
DIR* Axis direction of motor for forward moves HWE Motion handwheel input enable
DIRN* Axis network direction of motor for forward moves IF...GOSUB Program conditionally branches to specified subroutine label
DIRX Axis direction of auxiliary position IF...GOTO Program conditionally branches to specified label
DIRXN Axis network direction of auxiliary position IF...THEN Program conditionally executes next command in program
DIT Input/Output digital input filter time IN Input/Output inputs register value from key buffer
DO Input/Output digital output INS Operator inserts characters into a string operand
DOE Input/Output fault on digital output fault enable IO Input/Output general I/O
DON Input/Output network digital output IP System axis in position
DONA Input/Output network digital output register assignment IPB Axis in-position band
DSE System display format enable IPN System network in position
EG Input/Output positive-edge-sensitive digital input ITB Operator converts integer operand to a binary string
EKB Input/Output empties key buffer ITF Operator converts integer operand to a floating point number
END Program ends program or motion block and exits editor ITH Operator converts integer operand to a hexadecimal string
EOT Axis encoder output type ITS Operator converts integer operand to a string
EXM Program executes motion block KA Axis acceleration feedforward
EXP(p1) Operator takes exponential of a floating point operand KD Axis derivative control gain
EXP Program executes program KEY System character in key buffer
EXVS Program executes command stored in string variable KI Axis integral control gain
FALSE Operand Boolean operator equivalent to OFF or a logical 0 KL Axis motor inductance
FAULT Program enters editor at faulting statement KLALL Program kills all programs
FC System fault code KLP Program kills program
FCN System network fault code KM Axis motor number (stepper only)
FCNN System network device fault code KP Axis proportional control gain
FE Axis axis following error KSN Axis network stall velocity threshold
FEB Axis following error bound KSSN Axis network stall sensitivity
FI System fault input register KT Axis filter time constant
FIN Operator find string p1 in string operand p2 KVN Axis network bus voltage
FIRMWARE System downloads firmware and saves in nonvolatile memory KY Input/Output puts character into key buffer
FR Axis axis feedback resolution KYA* Input/Output key assignment
FRC Axis axis feedback resolution for commutation L Program makes last statement the current statement in
FTI Operator converts floating point operand to an integer line editor
by rounding LABEL Program makes statement at label the current statement in
FTS Operator converts floating point operand to a string line editor
FUNCTION Input/Output goes to label associated with key pressed LED Input/Output state of display LED
GET Input/Output gets one character from key buffer LEN Operator computes the length of a string operand
GOSUB Program unconditionally branches to specified subroutine LFT Operator selects leftmost characters of a string
label LGN Operator takes natural log of any floating point operand
GOTO Program unconditionally branches to specified label LOCK Program locks interpreter to program
GRB Motion gearing bound LWR Operator converts string operand to lower case
GRD Motion gearing denominator MAC Motion motion acceleration/deceleration
MACN Motion network motion acceleration/deceleration
* Indicates registers that cannot be set in a program

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GE Fanuc Motion Solutions 13
 Motion Solutions
Motion Controllers

S2K Series

Reg/Cmd Class Description Reg/Cmd Class Description

MAP Motion motion acceleration/deceleration percentage PFC Axis position feedback correction numerator
MB System motion block executing PFD Axis position feedback denominator
MDC Motion motion deceleration PFE* Axis position feedback enable
MDCN Motion network motion deceleration PFL Axis position feedback backlash
MDP Motion motion deceleration percentage PFN Axis position feedback numerator
MEMORY System reports memory remaining PFT Axis position feedback correction time
MFA Motion motion feedrate acceleration/deceleration PHB Motion phase error bound
MFD Motion motion feedrate deceleration PHE Motion phase-locked loop enable
MFP Motion motion feedrate percentage PHG Motion phase gain
MID Operator selects middle characters of a string operand PHL Motion phase length
MJK Motion motion jerk percentage PHM Motion phase multiplier
MOTION Program edits motion block PHO Motion phase offset
MOTORSET System automatically sets up motor constants PHP Motion phase position
MPA Motion absolute move position PHR Motion phase error
MPI Motion incremental move position PHT Motion phase lockout time
MPL Motion move pulses PHZ Motion phase zero
MPN Motion network move position PIPN System network profile in progress
MPO Motion offset move position PLA* Axis axis position length
MPS Motion motion pulse start position PLX* Axis auxiliary position length
MT Motion motion type POE Axis power output stage enable
MTM Motion move time POP Program pops "gosub" address from top of "gosub" stack
MVL Motion motion velocity PROG System program executing
MVLN Motion network motion velocity PROGRAM Program edits program
MVM Motion motion velocity for run to marker PSA Axis axis actual position
MVP Motion motion velocity of pulse move PSAN Axis network axis actual position
NCO System network connection open PSC Axis command position
NET System network connection available PSCN Axis network command position
NOT Operator logical NOT operation of any Boolean or PSO Axis offset position
integer operand PSR Axis resolver position
OFA Axis axis position offset PSX Axis auxiliary position
OFF Operand Boolean operator equivalent to FALSE or a logical 0 PUT Input/Output puts one character to serial port
OFX Axis auxiliary position offset PWE* Axis position register wrap enable
ON Operand Boolean operator equivalent to TRUE or a logical 1 PZA Axis axis position synchronized
OR Operator logical OR operation of two operand of the same type PZX Axis auxiliary position synchronized
OTE Axis hardware overtravel enable Q Diagnostic reports value of register
OTF Axis forward software overtravel QTX* Axis auxiliary quadrature type
OTR Axis reverse software overtravel RDN Motion network run direction flag
OUSN Input/Output output command to network port with status REM Program remark
OUT Input/Output outputs string expression to serial port REPEAT Program repeats motion from start of motion block
OUTN Input/Output output command to network port RETRIEVE System retrieves user memory
OUTS Input/Output outputs screen to display RETURN Program returns from subroutine
PAR System parity of serial port REVISION Diagnostic reports firmware revision
PASSWORD System prompts for password REVN Diagnostic network device revision
PCA Axis axis position capture RGT Operator selects rightmost characters of a string operand
PCX Axis auxiliary position capture RHF Motion runs forward to home input
PFB Axis position feedback deadband RHR Motion runs reverse to home input

* Indicates registers that cannot be set in a program

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14 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

S2K Series

Reg/Cmd Class Description Reg/Cmd Class Description

RIN Motion network run incremental flag STM System start time of timer
RMF Motion runs forward to marker STN Motion network stop
RMN Motion network run mode STVB...GOTO Program set Boolean variable and if variable wasn’t set, GOTO
RMR Motion runs reverse to marker label
ROF Motion runs forward to overtravel input SUP Program suspends motion
ROL Operator rotates bits of an integer operand left by n number SVL Input/Output saves screen lines
of places SVV System saves variables from RAM to nonvolatile memory
ROR Motion runs reverse to overtravel input TAN Operator tangent trigonometric function of a floating
ROR Operator rotates bits of an integer operand right by n number point operand
of places (see ROL for operator description) TL System axis at torque limit
RPA Motion runs to absolute position TLC Axis torque limit current
RPI Motion runs to incremental position TLE Axis torque limit enable
RPN Motion run profile of network device TM System timer timed out flag
RPO Motion runs to offset position TMR System timer
RSF System resets faults TRC Operator convert a floating point operand to an integer
RSFN System reset network faults by truncation
RSM Program resumes motion TRUE Operand Boolean operator equivalent to ON or a logical 1
RSTSTK Program resets "gosub" stack to empty UNLOCK Program unlocks interpreter from program
RTU System Remote terminal unit mode enable UPR Operator converts a string operand to upper case
RTUF System Remote terminal unit communication flag UPS Input/Output update screen
RTV System retrieves variables from nonvolatile memory to RAM URA* Axis axis unit ratio numerator
RVF Motion runs to velocity forward URB* Axis axis unit ratio denominator
RVR Motion runs to velocity reverse URX* Axis auxiliary unit ratio
SAVE System saves user memory VB Variable Boolean variable
SCAN System maximum scan time VBN Variable network Boolean variable
SCRD Input/Output screen data VF Variable floating point variable
SCRL Input/Output screen line VFA* System floating point variable allocation
SCRP Input/Output screen position of data VFN Variable network floating point variable
SECURE System secures user memory VI Variable integer variable
SHL Operator arithmetic shift of integer operand of n places VIN Variable network integer variable
to the left VLA Axis axis velocity
SHR Operator arithmetic shift of integer operand of n places VLAN Axis network axis velocity
to the right VLAT Axis axis velocity filter time constant
SIN Operator sine trigonometric function of a floating point operand VLX Axis auxiliary velocity
SNI Input/Output scanned network input VLXT Axis auxiliary velocity filter time constant
SNIA Input/Output scanned network input address VS Variable string variable
SQR Operator takes square root of positive integer or floating VSN Variable network string variable
point operand
WAIT Program waits for expression to be true
SRA System axis status
WAIT...WHEN...GOTO Program waits for expression to be true or when expression
SRP System program status becomes true goes to label
SRS System system status X Program steps through program/motion block
ST Motion stops motion XOR Operator logical XOR function of two operands of the
STEP Motion step input same type
STF(p1) Operator converts a string operand to a floating point number
STF System sets fault
STFN System network sets fault
STI Operator converts a string operand to an integer
* Indicates registers that cannot be set in a program

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GE Fanuc Motion Solutions 15
 Motion Solutions
Motion Controllers

S2K Series
Controller Diagnostics
The S2K Series products include a mnemonic format. Multiple faults are
2-character LED on the front panel for real- displayed on a round robin basis.
time diagnostic updates. The information is The diagnostic information is listed
displayed in an easy-to-remember, in the following table:

LED Status Display Codes

Display Code Status Description

OK okay Drive enabled, CPUs and operating system functional

CC faulted Motor regeneration circuit over current
DT faulted Controller over temperature
EC faulted Motor regeneration circuit excessive duty cycle
EI faulted Excessive command increment
FE faulted Excess following error
FL faulted Feedback Lost (servo only)
LE faulted Lost enable
MT faulted Motor over temperature (servo only)
OC faulted Motor over current (servo only)
OV faulted Motor over voltage
PF faulted Power failure
PO faulted Position register overflow
SF faulted Software fault
UV faulted Motor under voltage
0-63 ok/faulted DeviceNet node address/fault code
• ok/faulted Flashing decimal indicates serial communication traffic
Multiple codes are alternately displayed in sequential order.

Hardware Resources S2K Controller Hardware Capabilities

Master axes 1
The S2K Series servo and stepping controllers provide a complete
Auxiliary encoder input 1
set of standard hardware resources.
Digital inputs 8† or 11‡ Most on-board I/O can be configured by the user for application
Digital inputs/outputs 6† or 10‡
specific usage. An auxiliary encoder input can be used as a master
Analog inputs 2
input for electronic gearing/camming functions or for axis position
Analog outputs 1
feedback from an encoder mounted at the load.
Serial ports 1
Network connection 1 In addition to the standard RS-232 serial port, machine designers
Servo motor torque range 0.84 to 477 lb-in (0.09-53.9 Nm) may choose either the DeviceNet network option, Profibus-DP Slave
Stepping motor torque range 94-780 oz-in (0.67-5.51 Nm) network option or additional digital I/O to suit their application needs.
† 14 total digital I/O lines are available on models with a network; 8 lines are inputs; 6 lines can be
configured as inputs or outputs The S2K Series can control a wide torque range within a single
‡ On units with additional I/O instead of network port, 21 total digital I/O lines are available; 11 lines are model. The reduced package size and the extensive processing
inputs; 10 lines can be configured as inputs or outputs
power provides motion control solutions for your most demanding
applications.

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16 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Model: STI105 (Profibus Communication)
IC800STI105P2 Profibus
Serial Port
HOST

390
COMPUTER 5 9 5
9
Gnd
Address/Code GROUND Data line A
Profibus
cable

220
TRANSMIT
Vp Data line B
RECEIVE

390
1 6 1

RS-232
Note: Termination resistors
Module Status Fwd/Rev only on end controllers.

Network Status
Auxiliary I/O
DIP Switch Positions (2)
5 9
IN_01 1 1 14
Profibus
Address
1 2 4 8 16 32

IN_02 2 R
Serial (NA) 0 64 R R R R R
IN_03 3 Port AI1+ +/-10V 1 65 L R R R R R
IN_04 4 AI1- Com 2 66 R L R R R R
IN_05 5 3 67 L L R R R R
AI2+
IN_06 6
1 6 4 68 R R L R R R
AI2-
IN_07 7 5 69 L R L R R R
AO
IN_08 8 Analog common 6 70 R L L R R R
I/O_09 9 1 7 71 L L L R R R
14 IN_A+
I/O_10 10 8 72 R R R L R R
I/O_11 11 IN_A- 9 73 L R R L R R
I/O_12 12 IN_B+ 10 74 R L R L R R
13
IN_B- 11 75 L L R L R R
I/O_13
I/O_14 14 Tie 12 76 R R L L R R
Enable 15 +5Vdc 13 77 L R L L R R
Auxiliary
OK 16 I/O +12Vdc 14 78 R L L L R R
IN Com 17 Common 15 79 L L L L R R
OutCom 18 Out_A+ 16 80 R R R R L R
A+
+12VDC 19
Out_A- A- 17 81 L R R R L R
Out_B+ 18 82 R L R R L R
12VCom 20 B+
Out_B- 19 83 L L R R L R
B- 20 84 R R L R L R
Index+ Index+
25 21 85 L R L R L R
13 Index- Index-
PROFIBUS 5 common 22 86 R L L R L R
9 common
23 87 L L L R L R
24 88 R R R L L R
25 89 L R R L L R
IN_Index+ 26 90 R L R L L R
IN_Index- 27 91 L L R L L R
28 92 R R L L L R
L
6 1 25 29 93 L R L L R

13 30 94
31 95
R
L
L
L
L
L
L
L
L
L
R
R
32 96 R R R R R L
33 97 L R R R R L
34 98 R L R R R L
35 99 L L R R R L
Discrete Inputs and Outputs 36 -
37 -
R
L
R
R
L
L
R
R
R
R
L
L
FRONT VIEW 38 - R L L R R L
1 1 39 - L L L R R L
2 2 40 - R R R L R L
3 3 41 - L R R L R L
4 4 42 - R L R L R L
SOURCING CONNECTION

LR 5 5 43 - L L R L R L
SINKING CONNECTION

- 6 6 44 - R R L L R L
64 7 7 45 - L R L L R L
32
16
8
LOAD 100 MA MAX 8
LOAD 100 MA MAX 46 - R L L L R L
NA 8 9 9 47 - L L L L R L
(0-99) 4 10 10 48 - R R R R L L
2 11 11 49 - L R R R L L
1
12 12 50 - R L R R L L
13 13 51 - L L R R L L
14 14 52 - R R L R L L
15 15 53 - L R L R L L
16 16 54 - R L L R L L
17 17 55 - L L L R L L
WARNING! 18 18 56 - R R R L L L
HAZARDOUS + 57 - L R R L L L
19 + 19
R
VOLTAGES 20 20
58 - R L L L L
12-24 12-24 59 - L L R L L L
VDC - VDC 60 - R R L L L L
-
61 - L R L L L L
62 - R L L L L L
Stepping Motor 63 - L L L L L L
B+ Emergency Stop Circuit
A/B- MAIN VAC Profibus 64 -
MTR GND address
Power On 0-63 R X
B+ Phase B+
RCAS 64-99 L X
A+ A/B- Phase B-
Emergency
A+ Phase A+ Stop

Phase A- M
M(Aux)

NC

L2
VAC Input (1)
L1 REMARKS:
(1) Input power 90 to 130 VAC, 50-440 Hz
1 phase @ 10 Amps.
NC
L2 L2 (2) Must turn off power before changing settings.
L1 L1 VAC R= right (closed)
M L= left (open)

BOTTOM VIEW

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GE Fanuc Motion Solutions 17
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Model: STI105 (DeviceNet Communication)
IC800STI105D2
DeviceNet
5 Pin open style connector

Address/Code
Serial Port V+ Red
HOST
COMPUTER

GROUND
CAN_H White

TRANSMIT SHIELD Bare

RECEIVE
CAN_L Blue
Module Status Fwd/Rev
V- Black
RS-232
Network Status

5 9
Auxiliary I/O
Serial
Port
1 14
DIP Switch Positions (2)
Device Net 1 2 4 8 16 32
Address
AI1+ +/-10V
0 R R R R R R
AI1- Com (NA) 1 L R R R R R
1 2
14 AI2- 3 L L R R R R
IN_01 1 AO 4 L
Analog
g common 5
IN_02 2
IN_03 3 IN_A+ 6
IN_04 4 IN_A- 7
IN_05 5 IN_B+ 8 R R R L R R
Auxiliary 9
IN_06 6
I/O
IN_07 7 10 R L R L R R
Tie R
IN_08 8 11 L L L R R
12 R R L L R R
I/O_09 9
+12Vdc 13 L R L L R R
I/O_10 10 Common
14
I/O_11 11 Out_A+
A+ 15 L L L L R R
I/O_12 12 Out_A- A- 16 R R R R L R
I/O_13 Out_B+ 17 L R R R L R
14
B+
I/O_14 Out_B- 18 R L R R L R
B-
Enable 15
Index+ 19
OK 16
Index- Index- 20 R R L R L R
IN Com 17 common 21 L R L R L R
common
OutCom 18
22 R L L R L R
+
+12VDC 19 L
23 L L R L R
12VCom 20 24
IN_Index+ R
25 L R L L R
IN_Index- 26 R L R L L R
27 L L R L L R
25 28 R R L L L R
13 29
30 R L L L L R
31
32 R R R L
33 L R R L
FRONT VIEW 34 R L R R L
Discrete Inputs and Outputs 35 L L R R R L
36
1 1 37 L R L R R L
LR 2 2 38 R L L R R L
2 3 3 39 L L L R R L
DR 1 40 R R R L R L
4 4
5 5 41
SINKING CONNECTION

16 R
6 6
42 R L L R L
8
(0-63) 43 L L R L R L
7
2 44 R R L L R L
8 8
1 LOAD 100 MA MAX LOAD 100 MA MAX 45 L R L L R L
9 9
46
10 10
47 L L L L R L
11 11
48 R R R R L L
12
49 L R R R L L
13 13
50 R L R R L L
14
51
15 15
52 R R L R L L
HAZARDOUS 16 16
53 L
VOLTAGES 17 17
54
18 18
55
19 + 19 + 56
20
12-24 20
12-24 57 L R R L L L
VDC VDC 58
B+ - - 59 L L R L L L
60 R R L L L L
A/B- Stepping Motor 61 L R L L L L
Emergency Stop Circuit 62 R L L L L L
A+ 63 L L
MAIN VAC

MTR GND
Phase B+
Power On Device Net 1 2
RCAS Baud
A/B- Phase B- 125K RR
Emergency
Rate
A+ Phase A+ 250K LR
NC Stop

Phase A- M (DR) 500K RL

M(Aux) N/A LL
L2

L1

VAC Input (1)

REMARKS:
(1) Input power 90 to 130 VAC, 50-440 Hz
1 phase @ 10 Amps.
NC
L2 (2) Must turn off power before changing settings.
L1 L1 VAC R= right (closed)
L= left (open)

BOTTOM VIEW

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18 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Model: STI105 (Serial Communication)
IC800STI105S1 Serial Port
HOST
COMPUTER 5 9
GROUND

TRANSMIT
Address/Code RECEIVE

1 6

RS-232

Auxiliary I/O
Module Status Fwd/Rev

1 14
AI1+ +/-10V
5 9 AI1- Com
IN_01 1
AI2+
IN_02 2
Serial AI2-
IN_03 3 AO
Port
IN_04 4 Analog common
IN_05 5
IN_A+
IN_06 6
1 6 IN_A-
IN_07 7
IN_B+
IN_B-
1 14 Tie
+5Vdc
IN_08 1
IN_09 2 +12Vdc
Common
IN_10 3
Out_A+
IN_11 4 A+
Out_A- A-
I/O_12 5
Auxiliary Out_B+
I/O_13 6
I/O B+
Out_B-
I/O_14 7 B-
I/O_15 8 Index+ Index+
I/O_16 9 Index- Index-
common
I/O_17 10 common
I/O_18 11
I/O_19 12
13 25
I/O_20 13 IN_Index+
I/O_21 14
IN_Index-
Enable 15
OK 16
25
IN Com
OutCom
17
18 13
+12VDC 19
12VCom 20

Discrete Inputs and Outputs

1 1
2 2
3 3
4 4
5 5
FRONT VIEW 6 6
7 7

1 1
2 2
3 3
4 4
LOAD 100 MA MAX LOAD 100 MA MAX
SOURCING CONNECTION

5 5
SINKING CONNECTION

6 6
7 7
8 8
9 9
10 10
11 11
12 12
13 13
14 14
WARNING! 15 15
HAZARDOUS 16 16
VOLTAGES 17 17
18 18
19 + 19 +
20 20
12-24 12-24
B+ VDC - VDC
-
A/B- Stepping Motor
Emergency Stop Circuit
A+ MAIN VAC

MTR GND
Power On
B+ Phase B+
RCAS
A/B- Phase B-
Emergency

NC A+ Phase A+ Stop

Phase A- M
M(Aux)
L2

L1

VAC Input (1)

REMARKS:
(1) Input power 90 to 130 VAC, 50-440 Hz
1 phase @ 10 Amps.
NC
L2 L2
L1 L1 VAC
M

BOTTOM VIEW

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GE Fanuc Motion Solutions 19
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Model: STI104 (Profibus Communication)
Profibus
IC800SSI104P2 Serial Port
HOST

390
9 5
COMPUTER 5 9 Gnd
IC800SSI104RP2 GROUND Data line A
Profibus
cable

220
TRANSMIT Data line B
Vp
RECEIVE

390
6 1
1

Address/Code RS-232
Note: Termination resistors
only on end controllers.

Auxiliary I/O
DIP Switch Positions (2)
Module Status Fwd/Rev
Profibus
1 14
Address
1 2 4 8 16 32

Network Status (NA) 0 64 R R R R R R

AI1+ 1 65 L R R R R R
+/-10V
AI1- 2 66 R L R R R R
5 9 Com 3 67 L L R R R R
IN_01
AI2+ 4 68 R R L R R R
1
AI2- 5 69 L R L R R R
IN_02 2 Serial AO 6 70 R L L R R R
IN_03 3 Port Analog common
4 7 71 L L L R R R
IN_04
IN_05 5 IN_A+ 8 72 R R R L R R
IN_A- 9 73 L R R L R R
IN_06 6
1 6
IN_B+ 10 74 R L R L R R
IN_07 7
IN_B- 11 75 L L R L R R
IN_08 8
12 76 R R L L R R
I/O_09 9 1 14 Tie
13 77 L R L L R R
I/O_10 10 +5Vdc
14 78 R L L L R R
I/O_11 11 +12Vdc L
15 79 L L L R R
I/O_12 12 Common
16 80 R R R R L R
13 Out_A+
I/O_13 A+ 17 81 L R R R L R
I/O_14 14 Out_A- A- 18 82 R L R R L R
Enable 15 Out_B+ R
Auxiliary B+ 19 83 L L R L R
OK 16 I/O Out_B- L
B- 20 84 R R R L R
IN Com 17 Index+ Index+ 21 85 L R L R L R
OutCom 18 Index- Index- 22 86 R L L R L R
+12VDC 19 common
common 23 87 L L L R L R
12VCom 20 24 88 R R R L L R
25 89 L R R L L R
26 90 R L R L L R
25 IN_Index+
13 27 91 L L R L L R
PROFIBUS
9 5 IN_Index- 28 92 R R L L L R
29 93 L R L L L R
1
9 25 30 94 R L L L L R
13 31 95 L L L L L R
32 96 R R R R R L
33 97 L R R R R L
Position 34 98 R L R R R L
6 1 Feedback
35 99 L L R R R L
36 - R R L R R L
Discrete Inputs and Outputs 37 - L R L
L
R R L
38 - R L R R L
15 39 - L L L R R L
8 1 1
40 - R R R L R L
2 2
41 - L R R L R L
3 3
42 - R L R L R L
4 4
43 - L L R L R L
SOURCING CONNECTION

FRONT VIEW 5 5
SINKING CONNECTION

44 - R R L L R L
6 6 L
45 - L R L R L
7 7 L
46 - R L L R L
8 8 L
LOAD 100 MA MAX LOAD 100 MA MAX 47 - L L L R L
9 9 48 - R R R R L L
LR
10 10 49 - L R R R L L
-
11 11 50 - R L R R L L
64
32 12 12 51 - L L R R L L
16 13 13 52 - R R L R L L
NA 8 14 14 53 - L R L R L L
(0-99) 4
2 15 15 54 - R L L R L L
1 16 16 55 - L L L R L L
17 17 56 - R R R L L L
18 18 57 - L R R L L L
19 + 19 + 58 - R L R L L L
20 20 59 - L L R L L L
12-24 12-24 L
60 - R R L L L
VDC - VDC
WARNING! - 61 - L R L L L L
62 - R L L L L L
HAZARDOUS L
63 - L L L L L
VOLTAGES Position Feedback Position Feedback
Encoder Profibus 64 -
P2
Resolver 1 9 address
0-63 R X
1 9 A
A1
B2
CHA+
CHA-
64-99 L X
T S4 C3
CHB+
B D4
S3 E5
CHB-
CHZ+
C F6
S S2 P 11
CHZ-
RX+
D
S1 R 12
H 13
RX-
E +5V
R R1 G 14 GND
F
R2
G
Therm Shield J 15
SHLD
H
Therm 30 to 750 W Motors
L3 1 kW to 5 kW Motors
8 15 8 15
L2
Brushless Servo Motor Emergency Stop Circuit
L1 Motor
MAIN VAC
D GND
A Power On
T T
RCAS
C
S S
B Emergency

R R Stop

M
M(Aux)

VAC Input (1)

Three Phase Single Phase REMARKS:
(1) Input power 90 to 250 VAC, 50-440 Hz
1 phase @ 10 Amps, 3 phase @ 6 Amps
BOTTOM VIEW L3 L3 L3
L2 L2 VAC L2 L2
VAC (2) Must turn off power before changing settings.
L1 L1 L1 L1
R= right (closed)
M M L= left (open)

Note: Do not connect L3 for single phase

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20 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Model: STI104 (DeviceNet Communication)
IC800SSI104D2
DeviceNet
IC800SSI104RD2 5 Pin open style connector

Serial Port V+ Red

Address/Code COMPUTER 5 9
GROUND
CAN_H White

TRANSMIT SHIELD Bare DIP Switch Positions (2)

RECEIVE
CAN_L Blue
6
Device Net 1 2 4 8 16 32
1
Address
V- Black
RS-232 0 R R R R R R
Fwd/Rev
(NA) 1 L R R R R R
Module Status
2 R L R R R R
3 L L R R R R
Network Status
4 R R L R R R
Auxiliary I/O 5 L R L R R R
5 6 R L L R R R
9
7 L L L R R R
8 R R R L R R
Serial
1 14 9 L R R L R R
Port 10 R L R L R R
AI1+ +/-10V 11 L L R L R R
AI1- 12 R R L L R R
Com
6 13 L R L L R R
1 AI2+ 14 R L L L R R
AI2- 15 L L L L R R
AO 16 R R R R L R
1 14 Analog common
17 L R R R L R
IN_01 1 IN_A+ 18 R L R R L R
IN_02 2 IN_A- 19 L L R R L R
IN_03 3 IN_B+ 20 R R L R L R
IN_04 4 IN_B- 21 L R L R L R
IN_05 5
Tie 22 R L L R L R
Auxiliary
IN_06 6 +5Vdc 23 L L L R L R
I/O
IN_07 7 24 R R R L L R
+12Vdc
IN_08 8 Common 25 L R R L L R
I/O_09 9 Out_A+ 26 R L R L L R
A+ 27 L L R L L R
I/O_10 10 Out_A- A-
I/O_11 11 28 R R L L L R
Out_B+
I/O_12 12 B+ 29 L R L L L R
Out_B-
13 25 B- 30 R L L L L R
I/O_13 13 Index+
14
Index+ 31 L L L L L R
I/O_14
Index- Index- 32 R R R R R L
Enable 15 common
1 common 33 L R R R R L
OK 16 9
IN Com 17 34 R L R R R L
OutCom 18
35 L L R R R L
IN_Index+ 36 R R L R R L
+12VDC 19
37 L R L R R L
12VCom 20 Position IN_Index- L
Feedback 38 R L R R L
39 L L L R R L
25 40 R R R L R L
13 41 L R R L R L
42 R L R L R L
8 15 43 L L R L R L
44 R R L L R L
45 L R L L R L
46 R L L L R L
FRONT VIEW Discrete Inputs and Outputs 47 L L L L R L
48 R R R R L L
49 L R R R L L
1 1
50 R L R R L L
2 2
51 L L R R L L
3 3
LR 52 R R L R L L
4 4
SOURCING CONNECTION

53 L R L R L L
DR 21 5 5
SINKING CONNECTION

54 R L L R L L
32 6 6
55 L L L R L L
16 7 7
NA 8 56 R R R L L L
8 8
(0-63) 4 LOAD 100 MA MAX LOAD 100 MA MAX 57 L R R L L L
2 9 9
58 R L R L L L
1 10 10
59 L L R L L L
11 11 L
60 R R L L L
12 12 L
61 L R L L L
13 13 62 R L L L L L
14 14 63 L L L L L L
15 15
WARNING! 16 16 Device Net 1 2
17 17 Baud
HAZARDOUS 125K RR
18 18 Rate
VOLTAGES 250K LR
19 + 19 + (DR) 500K RL
20 20
12-24 12-24 N/A LL
VDC - VDC
-
T
Position Feedback
S Position Feedback Encoder
1 9
P2 A1
R Resolver B2
CHA+

1 9 A
C3
CHA-
CHB+
S4 D4
CHB-
B E5 CHZ+
S3 F6
CHZ-
C P 11
L3 S2 R 12
RX+
D RX-
S1 H 13 +5V
E G 14 GND
L2 R1
F
R2
G
L1 Therm Shield J 15
SHLD
H
Therm 30 to 750 W Motors
1 kW to 5 kW Motors
8 15 8 15
Brushless Servo Motor
Motor Emergency Stop Circuit
DGND MAIN VAC
A
T T
C Power On
S S RCAS
B
R R
BOTTOM VIEW Emergency
Stop

M
VAC Input (1) M(Aux)

Three Phase Single Phase

REMARKS:
(1) Input power 90 to 250 VAC, 50-440 Hz
L3 L3 L3 1 phase @ 10 Amps, 3 phase @ 6 Amps
L2 L2 VAC L2 L2
VAC
L1 L1 L1 L1 (2) Must turn off power before changing settings.
M M R= right (closed)
L= left (open)

Note: Do not connect L3 for single phase

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GE Fanuc Motion Solutions 21
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Model: STI104 (Serial Communication)
IC800SSI104S1 Serial Port
IC800SSI104RS1 COMPUTER

GROUND
5 9

TRANSMIT
RECEIVE
Code
1 6

RS-232

Auxiliary I/O
Module Status Fwd/Rev

1 14
AI1+ +/-10V
5 9 AI1- Com
IN_01 1 AI2+
IN_02 2 Serial
AI2-
IN_03 3 Port AO
Analog common
IN_04 4
IN_05 5 IN_A+
IN_06 6 1 6 IN_A-
IN_07 7 IN_B+
IN_B-
1 14 Tie
+5Vdc
IN_08 1
2
+12Vdc
IN_09
Common
IN_10 3
Out_A+
IN_11 4 A+
Out_A- A-
I/O_12 5
Auxiliary Out_B+
I/O_13 6
I/O
B+
Out_B-
I/O_14 7 B-
I/O_15 8 Index+ Index+
9
Index- Index-
I/O_16 common
I/O_17 10 common
I/O_18 11
I/O_19 12
13 25 IN_Index+
I/O_20 13
I/O_21 14
IN_Index-
Enable 15
1
OK 16 9
25
IN Com
OutCom
17
18
13
+12VDC 19
12VCom 20 Position
Feedback

Discrete Inputs and Outputs

8 15 1 1
2 2
3 3
4 4
5 5
FRONT VIEW
6 6
7 7

1 1
2 2
3 3
4 4
LOAD 100 MA MAX LOAD 100 MA MAX
SOURCING CONNECTION

5 5
SINKING CONNECTION

6 6
7 7
8 8
9 9
10 10
11 11
12 12
13 13
WARNING! 14 14
15 15
HAZARDOUS
16 16
VOLTAGES 17 17
18 18
19 + 19 +
20 20
12-24 12-24
T VDC VDC
- -
S

Position Feedback Position Feedback

R Encoder
P2 1 9
Resolver A1 CHA+
1 9 A
B2 CHA-
C3
S4 CHB+
L3 B D4
CHB-
S3 E5 CHZ+
C F6
CHZ-
S2 P 11
L2 D R 12
RX+
S1 H 13
RX-
E +5V
L1 R1 G 14 GND
F
R2
G
Therm Shield J 15
H SHLD
Therm
30 to 750 W Motors
1 kW to 5 kW Motors
8 15 8 15
Brushless Servo Motor
Motor Emergency Stop Circuit
D GND
A MAIN VAC
T T
BOTTOM VIEW S C
S Power On

B
R R RCAS

Emergency
Stop

M
VAC Input (1) M(Aux)

Three Phase Single Phase

REMARKS:
L3 L3 L3 (1) Input power 90 to 250 VAC, 50-440 Hz
L2 L2 VAC L2 L2
VAC 1 phase @ 10 Amps, 3 phase @ 6 Amps
L1 L1 L1 L1
M M

Note: Do not connect L3 for single phase

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22 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Model: STI107 (Profibus Communication)
IC800SSI107P2
IC800SSI107RP2

Address/Code
Profibus
Serial Port
HOST
COMPUTER 5 9

390
9 5
GROUND Gnd
Data line A
Profibus
TRANSMIT cable

220
RECEIVE Vp Data line B

1 6 6 1

390
Module Status Fwd/Rev
RS-232
Network Status Note: Termination resistors
only on end controllers.
DIP Switch Positions (2)
5 9 Profibus
Auxiliary I/O Address
1 2 4 8 16 32
IN_01 1
IN_02 2 Serial (NA) 0 64 R R R R R R
3 Port 1 65 L R R R R R
IN_03
IN_04 4 1 14 2 66 R L R R R R
IN_05 5 3 67 L L R R R R
IN_06 6 6 AI1+ +/-10V 4 68 R R L R R R
1
IN_07 7 AI1- 5 69 L R L R R R
Com L
IN_08 8 6 70 R L R R R
AI2+ 7 71 L L L R R R
I/O_09 9 1 14 AI2- 8 72 R R R L R R
I/O_10 10
AO 9 73 L R R L R R
I/O_11 11
Analog common
I/O_12 12 10 74 R L R L R R
I/O_13 13 IN_A+ 11 75 L L R L R R
I/O_14 14 IN_A- 12 76 R R L L R R
Enable 15 IN_B+ 13 77 L R L L R R
Auxiliary
OK 16 IN_B- 14 78 R L L L R R
I/O
15 79 L L L L R R
IN Com 17 Tie
OutCom 18 +5Vdc 16 80 R R R R L R
17 81 L R R R L R
+12VDC 19 +12Vdc
18 82 R L R R L R
12VCom 20 Common
Out_A+ 19 83 L L R R L R
A+ 20 84 R R L R L R
Out_A- A-
25 21 85 L R L R L R
13 Out_B+
B+ 22 86 R L L R L R
PROFIBUS 5 Out_B-
9 B- 23 87 L L L R L R
1 Index+ Index+ 24 88 R R R L L R
9 Index- Index- 25 89 L R R L L R
common
common 26 90 R L R L L R
27 91 L L R L L R
28 92 R R L L L R
Position
Feedback IN_Index+ 29 93 L R L L L R
6 1 30 94 R L L L L R
IN_Index- 31 95 L L L L L R
32 96 R R R R R L
25 33 97 L R R R R L
8 15 13 34 98 R L R R R L
35 99 L L R R R L
36 - R R L R R L
37 - L R L R R L
38 - R L L R R L
FRONT VIEW L
39 - L L R R L
Discrete Inputs and Outputs 40 - R R R L R L
41 - L R R L R L
LR
42 - R L R L R L
- 1 1
43 - L L R L R L
64 2 2
32
44 - R R L L R L
3 3
16 45 - L R L L R L
4 4
NA 8 46 - R L L L R L
(0-99) 4 5 5
47 - L L L L R L
2 6 6
R
SOURCING CONNECTION

1 48 - R R R L L
SINKING CONNECTION

7 7
49 - L R R R L L
8 8
LOAD 100 MA MAX LOAD 100 MA MAX 50 - R L R R L L
9 9 R
51 - L L R L L
10 10 52 - R R L R L L
11 11 53 - L R L R L L
12 12 54 - R L L R L L
WARNING! 13 13 55 - L L L R L L
14 14 56 - R R R L L L
15 15 57 - L R R L L L
16 16 58 - R L R L L L
H T 17 17 59 - L L R L L L
18 18 60 - R R L L L L
A
S
19 + 19 + 61 - L R L L L L
Z 20 20 62 - R L L L L L
12-24 12-24
A 63 - L L L L L L
VDC - VDC
R -
R Profibus 64 -
D address
0-63 R X
O Position Feedback Position Feedback 64-99 L X
U 2L2 Encoder
P2
1 9
S Resolver GRN A1 CHA+ Brushless Servo Motor
2L1 1 9 A
BLK
WHT
B2
C3
CHA-
CHB+ Motor
D4
S4 BLK
BLU E5
CHB-
Green D
V B CHZ+ GND
1L3 S3 BLK F6
P 11
CHZ-
Black A
C
YEL RX+ T T
O S2 BLK
RED
R 12
H 13
RX-
+5V S White C
S
1L2 D B
L S1 BRN
BLK
G 14 GND
R
Red R
E BLK
T R1
1L1 F
R2 Shield J 15
SHLD
A G 30 to 750 W Motors
Therm 1 kW to 5 kW Motors Clamp Connections
G EXT H
8 15
Therm
E
INT 8 15 Internal External
S
EXT EXT
DC+ Emergency Stop Circuit INT INT
Clamp
VAC Input (1) DC+ DC+
Resistor(*)
MAIN VAC

Three Phase Single Phase Power On

RCAS

Emergency
*Clamp resistor only required for extreme duty
2L2 2L2 Stop
cycle applications. Contact Whedco, Inc. for
2L1 2L1 M recommended clamp resistor value and procedure
M(Aux)
1L3 L3 1L3 for connecting external clamp resistor.
1L2 L2 VAC 1L2 L2
VAC
1L1 L1 1L1 L1 REMARKS:
M M (1) Input power 90 to 250 VAC, 50-440 Hz
Note: Do not connect L3 for single phase 1 phase @ 15 Amps, 3 phase @ 8 Amps

(2) Must turn off power before changing settings.

R= right (closed)
L= left (open)

BOTTOM VIEW

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GE Fanuc Motion Solutions 23
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Model: SSI107 (DeviceNet Communication)
IC800SSI107D2
IC800SSI107RD2
DeviceNet
5 Pin open style connector

Address/Code
Serial Port V+ Red
HOST
COMPUTER 5 9
GROUND
CAN_H White

TRANSMIT SHIELD Bare

RECEIVE
CAN_L Blue
1 6
Module Status Fwd/Rev
V- Black
RS-232
Network Status

5 9
Auxiliary I/O
Serial
Port
1 14
DIP Switch Positions (2)
Device Net 1 2 4 8 16 32
6 Address
1 AI1+ +/-10V
0 R R R R R R
AI1- Com (NA) 1 L R R R R R
AI2+ 2 R L R R R R
1 14 AI2- 3 L L R R R R
IN_01 1 AO 4 R R L R R R
Analog common 5 L R L R R R
IN_02 2
IN_03 3 IN_A+ 6 R L L R R R
IN_04 4 IN_A- 7 L L L R R R
IN_05 5 IN_B+ 8 R R R L R R
IN_06 6
Auxiliary
IN_B- 9 L R R L R R
I/O
IN_07 7 10 R L R L R R
Tie R
8 11 L L L R R
IN_08 +5Vdc
12 R R L L R R
I/O_09 9
+12Vdc 13 L R L L R R
I/O_10 10 Common
14 R L L L R R
I/O_11 11 Out_A+
A+ 15 L L L L R R
I/O_12 12 Out_A- A-
25 16 R R R R L R
I/O_13 13 13 Out_B+
B+ 17 L R R R L R
I/O_14 14 Out_B-
B- 18 R L R R L R
Enable 15
1 Index+ Index+ 19 L L R R L R
OK 16 9 Index- Index- 20 R R L R L R
IN Com 17 common 21 L R L R L R
common
OutCom 18
22 R L L R L R
+12VDC 19 L
23 L L R L R
12VCom 20 Position 24 R R R L L R
Feedback IN_Index+ R
25 L R L L R
IN_Index- 26 R L R L L R
27 L L R L L R
25 28 R R L L L R
8 15 13 29
30
L
R
R
L
L
L
L
L
L
L
R
R
31 L L L L L R
32 R R R R R L
33 L R R R R L
FRONT VIEW 34 R L R R R L
Discrete Inputs and Outputs 35
36
L
R
L
R
R
L
R
R
R
R
L
L
LR
37 L R L R R L
1 1 L
2 38 R L R R L
DR 1 2 2
39 L L L R R L
32 3 3
16
40 R R R L R L
4 4 R
NA 8 41 L R L R L
SOURCING CONNECTION

5 5 42 R L R L R L
SINKING CONNECTION

(0-63) 4
2 6 6 43 L L R L R L
1
7 7 44 R R L L R L
8
LOAD 100 MA MAX 8
LOAD 100 MA MAX 45 L R L L R L
9 9 46 R L L L R L
10 10 47 L L L L R L
11 11 48 R R R R L L
12 12 49 L R R R L L
WARNING! 13 13 50 R L R R L L
14 14 51 L L R R L L
15 15 52 R R L R L L
16 16 53 L R L R L L
H T 17 17 54 R L L R L L
18 18 55 L L L R L L
A 56 R R R L L L
S
19 + 19 +
Z 20 20 57 L R R L L L
12-24 12-24 58 R L R L L L
A VDC VDC
R - - 59 L L R L L L
R 60 R R L L L L
D 61 L R L L L L
62 R L L L L L
O Position Feedback Position Feedback L
63 L L L L L
U 2L2 Encoder
P2
Resolver 1 9
Device Net
S 1 9 A1 CHA+ 1 2
2L1 A
B2 CHA- Baud
125K RR
S4 C3
D4
CHB+ Rate
B CHB- 250K LR
V S3 E5 CHZ+
500K RL
1L3 C
F6
CHZ- (DR)
S2 P 11 RX+
N/A LL
O D
R 12 RX-

1L2 S1 H 13 +5V
L E
R1
G 14 GND

T F
R2 Brushless Servo Motor
1L1 G
Shield J 15
SHLD
A Therm 30 to 750 W Motors Motor
H 1 kW to 5 kW Motors
G EXT Therm
8 15 D GND
A
E 8 15 T T
C
S INT S S
B
R R
DC+ Emergency Stop Circuit
VAC Input (1) MAIN VAC

Clamp Connections
Three Phase Single Phase Power On

RCAS

Emergency
Stop
Internal External
2L2 2L2 M EXT EXT
2L1 2L1 M(Aux) Clamp
INT INT
Resistor(*)
1L3 L3 1L3 DC+ DC+
1L2 L2 VAC 1L2 L2
REMARKS:
L1 L1
VAC
1L1 1L1
(1) Input power 90 to 250 VAC, 50-440 Hz
M M
1 phase @ 15 Amps, 3 phase @ 8 Amps
Note: Do not connect L3 for single phase *Clamp resistor only required for extreme duty
cycle applications. Contact Whedco, Inc. for
(2) Must turn off power before changing settings. recommended clamp resistor value and procedure
for connecting external clamp resistor.
R= right (closed)
L= left (open)

BOTTOM VIEW

www.gefanuc.com
24 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Model: SSI107 (Serial Communication)
IC800SSI107S1 Serial Port
HOST
COMPUTER 5 9

IC800SSI107RS1 GROUND

TRANSMIT
RECEIVE

1 6

Address/Code RS-232

Auxiliary I/O

1 14
Module Status Fwd/Rev

AI1+ +/-10V
AI1- Com
IN_01 1
IN_02 2
AI2+
5 AI2-
IN_03 3 9
4
AO
IN_04
Analog common
IN_05 5
IN_06 6 Serial IN_A+
Port
IN_07 7 IN_A-
IN_B+
IN_B-
1 6
Tie
+5Vdc
+12Vdc
1 14 Common
Out_A+
IN_08 1 A+
2
Out_A- A-
IN_09
IN_10 3 Out_B+
B+
4 Out_B-
IN_11 B-
I/O_12 5 Index+ Index+
Auxiliary
I/O_13 6 Index- Index-
I/O common
I/O_14 7 common
I/O_15 8
I/O_16 9
I/O_17 10
IN_Index+
I/O_18 11
12
IN_Index-
I/O_19
13 25
I/O_20 13
14 25
I/O_21
Enable 15
1
13
OK 16 9
IN Com 17
OutCom 18
+12VDC 19
12VCom 20 Position
Feedback
Discrete Inputs and Outputs
1 1
2 2
3 3
4 4
8 15
5 5
6 6
7 7

FRONT VIEW 1 1
2 2
3 3
4 4
LOAD 100 MA MAX LOAD 100 MA MAX
SOURCING CONNECTION

5 5
SINKING CONNECTION

6 6
7 7
8 8
9 9
10 10
11 11
12 12
13 13
14 14
15 15
16 16
WARNING! 17 17
18 18
19 + 19 +
20 20
H 12-24 12-24
T VDC
- VDC -
A
Z S
A Position Feedback Position Feedback
R Encoder
R 1 9
P2
D Resolver A1 CHA+

O 1 9 A
B2
C3
CHA-

S4 D4
CHB+

U 2L2 B E5
CHB-
S3 F6
CHZ+
CHZ-
C
S S2 P 11 RX+
2L1 D
R 12 RX-
S1 H 13 +5V
E G 14 GND
V 1L3 R1
F
O R2
G Shield J 15
1L2 Therm SHLD
L H 30 to 750 W Motors
Therm 1 kW to 5 kW Motors
T 8 15
1L1
A 8 15
G EXT
E Brushless Servo Motor Emergency Stop Circuit
INT Motor
S D MAIN VAC
GND
A
DC+ T T Power On

C RCAS
S S
B
R R Emergency
Stop

M
M(Aux)

VAC Input (1)

Three Phase Single Phase Clamp Connections

2L2 2L2 Internal External

2L1 2L1
EXT EXT
1L3 L3 1L3 INT
Clamp
INT
1L2 1L2 Resistor(*)
L2 VAC L2
VAC DC+ DC+
1L1 L1 1L1 L1
M M
Note: Do not connect L3 for single phase
*Clamp resistor only required for extreme duty
cycle applications. Contact Whedco, Inc. for
recommended clamp resistor value and procedure
REMARKS: for connecting external clamp resistor.
BOTTOM VIEW (1) Input power 90 to 250 VAC, 50-440 Hz
1 phase @ 15 Amps, 3 phase @ 8 Amps

www.gefanuc.com
GE Fanuc Motion Solutions 25
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Models: SSI216 and SSI228 (Profibus Communications)
IC800SSI216P2 IC800SSI216RP2
IC800SSI228P2 IC800SSI228RP2
Address/Code

Profibus DIP Switch Positions (2)

Serial Port
HOST DB3 Profibus
1 2 4 8 16 32
COMPUTER 5 9 Address

390
9 5
GROUND Gnd
Data line A (NA) 0 64 R R R R R R
Module Status Fwd/Rev TRANSMIT DB1 Profibus
cable 1 65 L R R R R R

220
RECEIVE
Vp Data line B
2 66 R L R R R R
Network Status
1 6
6
3 67 L L R R R R

390
1
RS-232 4 68 R R L R R R
5 9 9 5 DB3 5 69 L R L R R R
DB1 6 70 R L L R R R
Serial Note: Termination resistors
PROFIBUS only on end controllers. 7 71 L L L R R R
Port
8 72 R R R L R R
6 6 9 73 L R R L R R
1 1
10 74 R L R L R R
Discrete Inputs and Outputs 11 75 L L R L R R
1 IN_01 TB1 TB1 12 76 R R L L R R
2 IN_02
3 IN_03
1 1 13 77 L R L L R R
4 IN_04 2 2 + 14 78 R L L L R R
+

SOURCING CONNECTION
5 IN_05
L
SINKING CONNECTION

3 3 15 79 L L L R R
TB1 6
7
IN_06
IN_07 4 12-24 4
12-24 16 80 R R R R L R
8 VDC - VDC 17 81 L R R R L R
9
IN_08
I/O_09
5 - 5
10 I/O_10 6 6 18 82 R L R R L R
11 I/O_11
7 7 19 83 L L R R L R
12 I/O_12
13 I/O_13 8 8 20 84 R R L R L R
LOAD 100 MA MAX LOAD 100 MA MAX
14 I/O_14 9 9 21 85 L R L R L R
10 10 22 86 R L L R L R
1 Analog Input 1+ 11 11 23 87 L L L R L R
2 Analog Input 1-
12 12
24 88 R R R L L R
3 Analog Input 2+
25 89 L R R L L R
4 Analog Input 2- 13 13
5 Analog Common 26 90 R L R L L R
14 14
6 Analog Output 27 91 L L R L L R
7 Analog Common
8 Out Channel A+ 28 92 R R L L L R
9 Out Channel A- 29 93 L R L L L R
TB2 10
11
Out Channel B+
Out Channel B- TB2
Auxiliary I/O 30 94 R L L L L R
12 Out Index+
AI1+ 31 95 L L L L L R
1 +/-10V Command
13 Out Index- 32 96 R R R R R L
14 Common 2
AI1- Command Com
15 Enable 33 97 L R R R R L
3 AI2+ 34 98 R L R R R L
16 OK Shield
17 Input Common
4 AI2- 35 99 L L R R R L
18 Output Common
Analog common 36 - R R L R R L
19 +12VDC 5
20 Common
6 Analog Output +/-10V Output 37 - L R L R R L
Analog common Common 38 - R L L R R L
7
Shield Out_A+ 39 - L L L R R L
1 9 8 A+ 40 - R R R L R L
9
Out_A- A-
DB2 41 - L R R L R L
Out_B+
10 B+ 42 - R L R L R L
Position Out_B-
11 B- 43 - L L R L R L
Feedback Index+
12 Index+ 44 - R R L L R L
13 Index- Index- 45 - L R L L R L
8 15 14 common common 46 - R L L L R L
Shield 47 - L L L L R L
48 - R R R R L L
Enable 49 - L R R R L L
15 Enable 15
OK OK 50 - R L R R L L
FRONT VIEW 16 16
51 - L L R R L L
17 Input common 17 Input common
Output common 52 - R R L R L L
18 Output common 18
+12VDC +12VDC 53 - L R L R L L
19 + 19 + 54 - R L L R L L
Common Common
20
12-24 20 12-24 55 - L L L R L L
VDC 56 - R R R L L L
Sinking - VDC Sourcing - 57 - L R R L L L
LR
- 58 - R L R L L L
64
32 59 - L L R L L L
NA
16
8 Position Feedback Position Feedback 60 - R R L L L L
(0-99) 4 Encoder 61 - L R L L L L
2
1 DB2 1 9 62 - R L L L L L
Resolver A1 CHA+
1 IN_A+ 1 9 A
B2 CHA- 63 - L L L L L L
C3
2 IN_A- S4 D4
CHB+
B CHB-
3 IN_B+ S3 E5 CHZ+
Profibus
C F6
CHZ- 64 -
4 IN_B- S2 P 11 RX+ address
D R 12 RX-
0-63 R X
5 IN_I+ S1 H 13 +5V 64-99 L X
E
6 IN_I- R1 G 14 GND
F
7 +5V TB4 R2
G
8 COM Therm Shield J 15
SHLD
H
9 TIE Therm 30 to 750 W Motors
10 SHD
1 kW to 5 kW Motors
VAC Input (1)
8 15 8 15 M
R 1L1 L1

(Fan) Brushless Servo Motor 1L2 L2 VAC

S Pulse Input 1L3 L3

H Motor
B
A T R R 2L2
C
Z TB4 S S 2L1
IN_A+ A
A 1 A+ T T
D
R 2 IN_A- A- GND
D DC+ 3
IN_B+ B+
O IN_B-
4 B- Clamp Connections
U INT 5
IN_I+ Index+
S 6
IN_I- Index-
EXT
+5VDC Internal External
7
V 8
Common Common
DC- DC+ DC+
O TIE Clamp
9 INT INT
L Shield Resistor(*)
1L1 10 EXT EXT
T
DC- DC-
A 1L2 M(Aux) M(Aux)
G (Fan)
E 1L3 *Clamp resisitor only required for extreme duty cycle
S applications. Contact GE Fanuc for recommended
Emergency Stop Circuit clamp resistor value and procedure for connecting
external clamp resistor.
MAIN VAC

2L1 Power On

RCAS
REMARKS:
Emergency (1) Input power 180 to 250 VAC
Stop
3 phase 50-440 Hz @ 18 Amps for IC800SSI216RP2A
WARNING! M 3 phase 50-440 Hz @ 30 Amps for IC800SSI228RP2A
M(Aux)
(2) Must turn off power before changing settings.
BOTTOM VIEW R= right (closed)
L= left (open)

www.gefanuc.com
26 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Models: SSI216 and SSI228 (DeviceNet Communications)
IC800SSI216D2 IC800SSI216RD2
IC800SSI228D2 IC800SSI228RD2
Address/Code

Serial Port
HOST DeviceNet
COMPUTER 5 9 5 Pin open style connector DIP Switch Positions (2)
GROUND
TB1 Device Net 1 2 4 8 16 32
Module Status Fwd/Rev TRANSMIT DB1 Address
RECEIVE V+ Red 0 R R R R R R
Network Status (NA) 1 L R R R R R
1 6 CAN_H White
2 R L R R R R
TB1 5
RS-232 SHIELD Bare 3 L L R R R R
9
DB1 CAN_L Blue 4 R R L R R R
Serial 5 L R L R R R
Port V- Black 6 R L L R R R
7 L L L R R R
1 6
8 R R R L R R
Discrete Inputs and Outputs 9 L R R L R R
1 IN_01 TB2 TB2 10 R L R L R R
2 IN_02
1 1
11 L L R L R R
3 IN_03
12 R R L L R R
4 IN_04 2
+ 2 +

SOURCING CONNECTION
5 IN_05 13 L R L L R R
SINKING CONNECTION

3 3
TB2 6
7
IN_06
IN_07 4 12-24 4
12-24 14 R L L L R R
8 VDC - VDC 15 L L L L R R
IN_08
5 - 5
R
9 I/O_09 16 R R R L R
10 I/O_10 6 6
11 I/O_11 17 L R R R L R
7 7
12 I/O_12 18 R L R R L R
13 I/O_13 8 8
LOAD 100 MA MAX LOAD 100 MA MAX 19 L L R R L R
14 I/O_14 9 9
20 R R L R L R
10 10
21 L R L R L R
1 Analog Input 1+ 11 11
2 Analog Input 1- 22 R L L R L R
12 12
3 Analog Input 2+ 23 L L L R L R
4 Analog Input 2- 13 13
5 Analog Common
24 R R R L L R
14 14 R
6 Analog Output 25 L R L L R
7 Analog Common 26 R L R L L R
8 Out Channel A+
9 Out Channel A- 27 L L R L L R
TB3 10
11
Out Channel B+
Out Channel B-
TB3 Auxiliary I/O 28 R R L L L R
12 Out Index+
29 L R L L L R
1 AI1+ +/-10V Command 30 R L L L L R
13 Out Index-
14 Common 2
AI1- Command Com 31 L L L L L R
15 Enable
3 AI2+ 32 R R R R R L
16 OK Shield
17 Input Common
4 AI2- 33 L R R R R L
18 Output Common
Analog common 34 R L R R R L
19 +12VDC 5
20 Common Analog Output 35 L L R R R L
6 +/-10V Output
Analog common 36 R R L R R L
7 Common
37 L R L R R L
Shield Out_A+
1 9 8 A+ 38 R L L R R L
Out_A- A-
9 39 L L L R R L
DB2 Out_B+ 40 R R R L R L
10 B+
Position Out_B- 41 L R R L R L
11 B-
Feedback Index+ 42 R L R L R L
12 Index+
13 Index- Index- 43 L L R L R L
common 44 R R L L R L
8 15 14 common
45 L R L L R L
Shield L
46 R L L R L
47 L L L L R L
Enable Enable
15 15 48 R R R R L L
OK OK
FRONT VIEW 16 16 49 L R R R L L
17 Input common 17 Input common 50 R L R R L L
Output common Output common R
18 18 51 L L R L L
+12VDC +12VDC
19 + 19 + 52 R R L R L L
Common Common 53 L R L R L L
20
12-24 20 12-24
54 R L L R L L
- VDC Sourcing - VDC
LR Sinking 55 L L L R L L
DR 2
1
56 R R R L L L
32 57 L R R L L L
NA
16
8 Position Feedback 58 R L R L L L
(0-63) 4
2 Position Feedback 59 L L R L L L
1 DB2 Encoder L
Resolver 1 9 60 R R L L L
1 IN_A+ 1 9 A A1 CHA+
61 L R L L L L
2 IN_A- S4 B2
C3
CHA- 62 R L L L L L
3 IN_B+ B CHB+ 63 L L L L L L
S3 D4
E5
CHB-
4 IN_B- C CHZ+
5 IN_I+
S2 F6
P 11
CHZ-
D RX+ Device Net 1 2
6 IN_I- S1 R 12 RX-
Baud
E H 13 +5V 125K RR
7 +5V TB4 R1 G 14 GND
Rate
250K LR
F
8 COM R2 (DR) 500K RL
9 TIE G
Therm Shield J 15
SHLD N/A LL
10 SHD H
Therm 30 to 750 W Motors
1 kW to 5 kW Motors

R 8 15 8 15
(Fan)
S Brushless Servo Motor
H Pulse Input VAC Input (1)
A T Motor M
B
Z R R
C 1L1 L1
A S S
TB4 T
A
T
1L2 L2 VAC
R 1
IN_A+ A+ D 1L3 L3
D DC+ IN_A- GND
2 A-
O IN_B+ B+ 2L2
U INT
3
IN_B- 2L1
S 4 B-
IN_I+ Index+ Clamp Connections
EXT 5
6
IN_I- Index-
V +5VDC
DC-
O 7
Common
Internal External
L 8 Common
1L1 9 TIE
T DC+ DC+
10 Shield INT INT
Clamp
A 1L2 Resistor(*)
G (Fan) EXT EXT
DC- DC-
E 1L3 M(Aux) M(Aux)
S
*Clamp resisitor only required for extreme duty cycle
Emergency Stop Circuit applications. Contact Whedco, Inc. for recommended
2L2 clamp resistor value and procedure for connecting
2L1 MAIN VAC external clamp resistor.

Power On

RCAS

WARNING! Emergency REMARKS:

Stop

M (1) Input power 180 to 250 VAC

BOTTOM VIEW M(Aux) 3 phase 50-440 Hz @ 18 Amps for IC800SSI216RD2A
3 phase 50-440 Hz @ 30 Amps for IC800SSI228RD2A
(2) Must turn off power before changing settings.
R= right (closed)
L= left (open)

www.gefanuc.com
GE Fanuc Motion Solutions 27
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Model: SSI407 (Profibus Communications)
Serial Port Profibus
IC800SSI407RP2 COMPUTER
HOST
5 9

390
9 5
GROUND
Gnd
Data line A
TRANSMIT Profibus
Address/Code cable

220
RECEIVE
Vp Data line B

1 6
6

390
1
RS-232

Note: Termination resistors

only on end controllers.
Module Status Fwd/Rev
Auxiliary I/O
Network Status
DIP Switch Positions (2)
5 9
1 14 Profibus
Address
1 2 4 8 16 32

IN_01 1
AI1+ (NA) 0 64 R R R R R R
+/-10V
IN_02 2 Serial AI1- 1 65 L R R R R R
Com 2 66 R L R R R R
IN_03 3 Port
IN_04 4 AI2+ 3 67 L L R R R R
IN_05 5 AI2- 4 68 R R L R R R
IN_06 6 6 AO 5 69 L R L R R R
1 Analog common
IN_07 7 6 70 R L L R R R
IN_08 8 IN_A+ 7 71 L L L R R R
I/O_09 9 1 IN_A- 8 72 R R R L R R
14 9 73 L R R L R R
I/O_10 10 IN_B+
11 IN_B- 10 74 R L R L R R
I/O_11
12 11 75 L L R L R R
I/O_12 Tie
13 +5Vdc 12 76 R R L L R R
I/O_13
14
13 77 L R L L R R
I/O_14 +12Vdc L
14 78 R L L R R
Enable 15
Auxiliary
Common
Out_A+ 15 79 L L L L R R
OK 16 I/O A+ 16 80 R R R R L R
IN Com 17 Out_A- A- 17 81 L R R R L R
OutCom 18 Out_B+
B+ 18 82 R L R R L R
+12VDC 19 Out_B-
B- 19 83 L L R R L R
12VCom 20 Index+ Index+ 20 84 R R L R L R
Index- Index- 21 85 L R L R L R
common
25 common 22 86 R L L R L R
13 L
23 87 L L R L R
PROFIBUS
9 5 24 88 R R R L L R
1 25 89 L R R L L R
9 IN_Index+
26 90 R L R L L R
IN_Index- 27 91 L L R L L R
28 92 R R L L L R
25 29 93 L R L L L R
6
Position
Feedback
13 30 94 R L L L L R
1 31 95 L L L L L R
32 96 R R R R R L
33 97 L R R R R L
34 98 R L R R R L
8 15 35 99 L L R R R L
Discrete Inputs and Outputs 36 - R R L
L
R R L
37 - L R R R L
38 - R L L R R L
1 1
39 - L L L R R L
FRONT VIEW 2 2
40 - R R R L R L
3 3
41 - L R R L R L
4 4
42 - R L R L R L
SOURCING CONNECTION

LR 5 5
SINKING CONNECTION

43 - L L R L R L
- 6 6 L
44 - R R L R L
64 7 7
45 - L R L L R L
32 8 8
16 LOAD 100 MA MAX LOAD 100 MA MAX 46 - R L L L R L
NA 8 9 9 47 - L L L L R L
(0-99) 4 10 10 48 - R R R R L L
2 11 11
1 49 - L R R R L L
12 12 50 - R L R R L L
13 13 51 - L L R R L L
14 14 52 - R R L R L L
15 15 53 - L R L R L L
16 16 54 - R L L R L L
17 17 55 - L L L R L L
WARNING! 18 18 56 - R R R L L L
19 + 19 + 57 - L R R L L L
20 20 58 - R L R L L L
12-24 12-24
59 - L L R L L L
VDC - VDC
H T - 60 - R R L L L L
61 - L R L L L L
A 62 - R L L L L L
Z S Position Feedback 63 - L L L L L L
Brushless Servo Motor
A Motor P2
R Resolver Profibus 64 -
R D GND 1 9 address
A 0-63 R X
D T T A
DC+ C S4 64-99 L X
S S B
O B
R
S3
R C
U INT S2
D
S S1
E
EXT Clamp Connections R1
F
R2
V 1L1 G
Therm
Internal External H
O Therm
L 1L2 DC+ DC+
Clamp

T
INT
EXT
INT
EXT
Resistor(*) 8 15
1L3
A
G Emergency Stop Circuit
E *Clamp resistor only required for extreme duty MAIN VAC

S COM cycle applications. Contact Whedco, Inc. for Power On

recommended clamp resistor value and procedure
RCAS
for connecting external clamp resistor.
+24V Emergency
Stop

M
Input power (1) M(Aux)

M
1L1 L1
REMARKS:
1L2 L2 VAC
1L3 L3 (1) Input motor power 324 to 528 VAC
- 3 phase 50-440 Hz @ 8 Amps
Input logic power 18 to 30 VDC @ 2 Amps
COM 24 (2) Must turn off power before changing settings.
+24V + VDC R= right (closed)
L= left (open)

BOTTOM VIEW

www.gefanuc.com
28 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Model: SSI407 (DeviceNet Communications)
IC800SSI407RD2 DeviceNet
5 Pin open style connector

Address/Code
Serial Port V+ Red
HOST
COMPUTER 5 9
GROUND
CAN_H White

TRANSMIT SHIELD Bare

RECEIVE
CAN_L Blue
1 6
Module Status Fwd/Rev
V- Black
RS-232
Network Status

5 9
Auxiliary I/O
Serial
Port
1 14
DIP Switch Positions (2)
Device Net 1 2 4 8 16 32
6 Address
1 AI1+ +/-10V
0 R R R R R R
AI1- Com (NA) 1 L R R R R R
AI2+ 2 R L R R R R
1 14 AI2- 3 L L R R R R
IN_01 1 AO 4 R R L R R R
Analog common 5 L R L R R R
IN_02 2
IN_03 3 IN_A+ 6 R L L R R R
IN_04 4 IN_A- 7 L L L R R R
IN_05 5 IN_B+ 8 R R R L R R
IN_06 6
Auxiliary
IN_B- 9 L R R L R R
I/O
IN_07 7 10 R L R L R R
Tie R
8 11 L L L R R
IN_08 +5Vdc
12 R R L L R R
I/O_09 9
+12Vdc 13 L R L L R R
I/O_10 10 Common
14 R L L L R R
I/O_11 11 Out_A+
A+ 15 L L L L R R
I/O_12 12 Out_A- A-
25 16 R R R R L R
I/O_13 13 13 Out_B+
B+ 17 L R R R L R
I/O_14 14 Out_B-
B- 18 R L R R L R
Enable 15
1 Index+ Index+ 19 L L R R L R
OK 16 9 Index- Index- 20 R R L R L R
IN Com 17 common 21 L R L R L R
common
OutCom 18
22 R L L R L R
+12VDC 19 L
23 L L R L R
12VCom 20 Position 24 R R R L L R
Feedback IN_Index+ R
25 L R L L R
IN_Index- 26 R L R L L R
27 L L R L L R
25 28 R R L L L R
8 15 13 29
30
L
R
R
L
L
L
L
L
L
L
R
R
31 L L L L L R
32 R R R R R L
33 L R R R R L
FRONT VIEW 34 R L R R R L
Discrete Inputs and Outputs 35
36
L
R
L
R
R
L
R
R
R
R
L
L
LR 37 L R L R R L
1 1 L
38 R L R R L
DR 21 2 2
39 L L L R R L
32 3 3
16
40 R R R L R L
4 4 R
NA 8 41 L R L R L
SOURCING CONNECTION

5 5 42 R L R L R L
SINKING CONNECTION

(0-63) 4
2 6 6 43 L L R L R L
1
7 7 44 R R L L R L
8
LOAD 100 MA MAX 8
LOAD 100 MA MAX 45 L R L L R L
9 9 46 R L L L R L
10 10 47 L L L L R L
11 11 48 R R R R L L
12 12 49 L R R R L L
WARNING! 13 13 50 R L R R L L
14 14 51 L L R R L L
15 15 52 R R L R L L
16 16 53 L R L R L L
H T 17 17 54 R L L R L L
18 18 55 L L L R L L
A 56 R R R L L L
S
19 + 19 +
Z 20 20 57 L R R L L L
12-24 12-24 58 R L R L L L
A VDC VDC
R - - 59 L L R L L L
R 60 R R L L L L
D 61 L R L L L L
DC+ Position Feedback 62 R L L L L L
O Brushless Servo Motor 63 L L L L L L
U INT Motor P2
D GND
Resolver
S A 1 9 A
Device Net 1 2
EXT T T S4 Baud
125K RR
C Rate
S S B 250K LR
B S3
V 1L1 R R C (DR) 500K RL
S2 N/A LL
O D
S1
L 1L2 E
Clamp Connections R1
F
T R2
1L3 G
A Internal External Therm
H
G Therm
DC+ DC+
Clamp
E INT INT
Resistor(*) 8 15
COM EXT EXT
S
+24V Emergency Stop Circuit
*Clamp resistor only required for extreme duty MAIN VAC

cycle applications. Contact Whedco, Inc. for Power On

recommended clamp resistor value and procedure
RCAS
for connecting external clamp resistor.
Emergency
Stop

M
Input power (1) M(Aux)

M
1L1 L1
REMARKS:
1L2 L2 VAC
1L3 L3 (1) Input motor power 324 to 528 VAC
- 3 phase 50-440 Hz @ 8 Amps
Input logic power 18 to 30 VDC @ 2 Amps
COM 24
+24V + VDC (2) Must turn off power before changing settings.
R= right (closed)
L= left (open)

BOTTOM VIEW

www.gefanuc.com
GE Fanuc Motion Solutions 29
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Model: SSI407 (Serial Communication)
IC800SSI407RS1 COMPUTER
Serial Port
HOST
5 9
GROUND

Address/Code TRANSMIT
RECEIVE

1 6

RS-232

Auxiliary I/O
Module Status Fwd/Rev

1 14
AI1+ +/-10V
5 9 AI1- Com
IN_01 1
IN_02 2
AI2+
IN_03 3 Serial AI2-
4
Port AO
IN_04
Analog common
IN_05 5
IN_06 6 IN_A+
1 6 IN_A-
IN_07 7
IN_B+
IN_B-
1 14 Tie
IN_08 1
+5Vdc
IN_09 2 +12Vdc
IN_10 3
Common
Out_A+
IN_11 4 A+
5
Out_A- A-
I/O_12
Auxiliary Out_B+
I/O_13 6 B+
I/O
Out_B-
I/O_14 7 B-
I/O_15 8 Index+ Index+
I/O_16 9 Index- Index-
common
I/O_17 10 common
I/O_18 11
I/O_19 12
13 25
I/O_20 13 IN_Index+
I/O_21 14
IN_Index-
Enable 15
OK 16 1
9
IN Com 17 25
OutCom 18 13
+12VDC 19
12VCom 20 Position
Feedback

Discrete Inputs and Outputs

1 1
8 15
2 2
3 3
4 4
5 5
FRONT VIEW 6 6
7 7

1 1
2 2
3 3
4 4
LOAD 100 MA MAX LOAD 100 MA MAX
SOURCING CONNECTION

5 5
SINKING CONNECTION

6 6
7 7
8 8
9 9
10 10
11 11
12 12
13 13
WARNING! 14 14
15 15
16 16
17 17
H T 18 18

A 19 + 19 +
Z S 20
12-24 20
12-24
VDC - VDC
A -
R
R
Brushless Servo Motor
D DC+ Motor Position Feedback
O D
GND
U INT A
T
P2
T Resolver
S S C
S 1 9 A
B
EXT R R S4
B
S3
V 1L1 C
S2
O Clamp Connections D
S1
1L2 E
L R1
Internal External F
R2
T
1L3 DC+
G
Therm
A DC+
INT INT
Clamp H
Resistor(*) Therm
G EXT EXT

E 8 15
S COM

+24V *Clamp resistor only required for extreme duty Emergency Stop Circuit
cycle applications. Contact Whedco, Inc. for
recommended clamp resistor value and procedure MAIN VAC

for connecting external clamp resistor.

Power On

RCAS

Input power (1) Emergency

Stop

M M
1L1 L1 M(Aux)

1L2 L2 VAC
1L3 L3

-
COM 24 REMARKS:
+24V + VDC (1) Input motor power 324 to 528 VAC
3 phase 50-440 Hz @ 8 Amps
Input logic power 18 to 30 VDC @ 2 Amps

BOTTOM VIEW

www.gefanuc.com
30 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Model: SSI420 (Profibus Communication)
IC800SSI420RP2 Serial Port
HOST
Profibus
Address/Code
COMPUTER 5 9 DB3
GROUND

390
9 5
Gnd
TRANSMIT DB1 Data line A
Profibus
RECEIVE
cable

220
Vp Data line B
1 6

RS-232 6

390
Module Status Fwd/Rev 1

Network Status

Note: Termination resistors

5 5
only on end controllers.
9 9
DB1 DB3
Serial
Port
PROFIBUS
Discrete Inputs and Outputs DIP Switch Positions (2)
TB2 TB2 Profibus
1 6 6 1 1 2 4 8 16 32
1 1 Address
2
+ 2 + (NA) 0 64 R R R R R R

SOURCING CONNECTION
SINKING CONNECTION

1 IN_01 3 3 1 65 L R R R R R
2 IN_02 12-24 12-24
4 4 2 66 R L R R R R
3 IN_03
VDC - VDC
4 IN_04 5 - 5 3 67 L L R R R R
5 IN_05
6 6 4 68 R R L R R R
6 IN_06
TB2 7 IN_07 7 7 5 69 L R L R R R
8 IN_08 8
LOAD 100 MA MAX 8
LOAD 100 MA MAX 6 70 R L L R R R
9 I/O_09
10 I/O_10 9 9 7 71 L L L R R R
11 I/O_11 10 10 8 72 R R R L R R
12 I/O_12
13 I/O_13
11 11 9 73 L R R L R R
14 I/O_14 12 12 10 74 R L R L R R
13 13 11 75 L L R L R R
1 Analog Input 1+ 14 14 12 76 R R L L R R
2 Analog Input 1- 13 77 L R L L R R
3 Analog Input 2+
4 Analog Input 2-
14 78 R L L L R R
15 79 L L L L R R
5
6
Analog Common
Analog Output TB3 Auxiliary I/O 16 80 R R R R L R
7 Analog Common
8 Out Channel A+ AI1+ +/-10V Command 17 81 L R R R L R
1
9 Out Channel A- AI1- 18 82 R L R R L R
TB3 10 Out Channel B+ 2 Command Com
11 Out Channel B- AI2+ 19 83 L L R R L R
3 Shield
12 Out Index+ 20 84 R R L R L R
4 AI2-
13 Out Index-
21 85 L R L R L R
14 Common Analog common
15 Enable
5 22 86 R L L R L R
16 OK 6 Analog Output +/-10V Output 23 87 L L L R L R
17 Input Common Analog common Common R
18 Output Common 7 24 88 R R L L R
19 +12VDC Shield Out_A+ 25 89 L R R L L R
20 Common
8 A+
Out_A- A- 26 90 R L R L L R
9
Out_B+ 27 91 L L R L L R
10 B+ 28 92 R R L L L R
Out_B-
1 9 11 B- L
29 93 L R L L R
12 Index+ Index+
DB2 30 94 R L L L L R
13 Index- Index- 31 95 L L L L L R
Position
14 common common 32 96 R R R R R L
Feedback
Shield 33 97 L R R R R L
34 98 R L R R R L
8 15 Enable Enable 35 99 L L R R R L
15 15
OK OK 36 - R R L R R L
16 16
17 Input common 17 Input common 37 - L R L R R L
Output common Output common 38 - R L L R R L
18 18
+12VDC +12VDC 39 - L L L R R L
FRONT VIEW 19 + 19 + 40 - R R R L R L
Common Common
20
12-24 20 12-24 41 - L R R L R L
- VDC Sourcing - VDC 42 - R L R L R L
Sinking
43 - L L R L R L
44 - R R L L R L
Position Feedback 45 - L R L L R L
LR
Brushless Servo Motor 46 - R L L L R L
-
64 DB2 47 - L L L L R L
32 Resolver Motor 48 - R R R R L L
NA
16
8 1 9 A R
B
R 49 - L R R R L L
(0-99) 4
S4 C
2 S S 50 - R L R R L L
1 B A
S3 T T 51 - L L R R L L
1 IN_A+ C D
S2 GND 52 - R R L R L L
2 IN_A- D
S1 53 - L R L R L L
3 IN_B+
E 54 - R L L R L L
4 IN_B- R1 Clamp Connections
F 55 - L L L R L L
5 IN_I+ R2 56 - R R R L L L
G
6 IN_I-
Therm Internal External 57 - L R R L L L
7 +5V TB4 H R
Therm 58 - R L L L L
8 COM DC+ DC+
Clamp 59 - L L R L L L
9 TIE
8 15 INT
EXT
INT
EXT
Resistor(*) 60 - R R L L L L
10 SHD 61 - L R L L L L
DC- DC-
M(Aux) M(Aux) 62 - R L L L L L
R Pulse Input 63 - L L L L L L
*Clamp resisitor only required for extreme duty
S
(Fan) cycle applications. Contact Whedco, Inc. for Profibus 64 -
H recommended clamp resistor value and procedure address
TB4 for connecting external clamp resistor. 0-63 R X
A T 1
IN_A+ A+ 64-99 L X
Z 2 IN_A- A-
A 3
IN_B+ B+
R IN_B- Input power (1)
4 B-
D DC+ IN_I+ Index+
M
5
O IN_I- 1L1 L1
6 Index-
U INT +5VDC 1L2 L2 VAC
7
S Common 1L3 L3
EXT 8 Common
9 TIE -
V Shield COM 24
DC- 10
O +24V + VDC
L
1L1
T
A 1L2
G (Fan)
E REMARKS:
1L3 Emergency Stop Circuit
S (1) Input motor power 324 to 528 VAC
MAIN VAC
3 phase 50-440 Hz @ 22 Amps
Power On Input logic power 18 to 30 VDC @ 2 Amps
RCAS
(2) Must turn off power before changing settings.
+24V Emergency R= right (closed)
Stop
L= left (open)
M
M(Aux)

WARNING!

BOTTOM VIEW

www.gefanuc.com
GE Fanuc Motion Solutions 31
 Motion Solutions
Motion Controllers

S2K Series
User Control Connections
S2K Model: SSI420 (DeviceNet Communication)
Serial Port
IC800SSI420RD2 COMPUTER
HOST
5 9
DeviceNet
5 Pin open style connector
GROUND
Address/Code TB1
TRANSMIT DB1
RECEIVE V+ Red

1 6 CAN_H White
RS-232 SHIELD Bare
Module Status Fwd/Rev

CAN_L Blue
Network Status

V- Black
TB1 5 9
DB1
Serial Discrete Inputs and Outputs
Port TB2 TB2
1 1
1 6
2
+ 2 +

SOURCING CONNECTION
SINKING CONNECTION

3 3
4 12-24 4
12-24
1 IN_01
VDC VDC DIP Switch Positions (2)
2 IN_02 5 - 5 -
3 IN_03
6 6 Device Net 1 2 4 8 16 32
4 IN_04
Address
5 IN_05 7 7
6 IN_06 0 R R R R R R
TB2 8
LOAD 100 MA MAX 8
LOAD 100 MA MAX (NA)
7 IN_07
1 L R R R R R
8 IN_08 9 9
9 I/O_09 2 R L R R R R
10 10
10 I/O_10 3 L L R R R R
11 I/O_11 11 11
12 I/O_12
4 R R L R R R
12 12
13 I/O_13 5 L R L R R R
14 I/O_14 13 13
6 R L L R R R
14 14
7 L L L R R R
1 Analog Input 1+ 8 R R R L R R
2 Analog Input 1-
3 Analog Input 2+
9 L R R L R R
4 Analog Input 2- TB3 Auxiliary I/O 10 R L R L R R
5 Analog Common
11 L L R L R R
6 Analog Output
1 AI1+ +/-10V Command L
7 Analog Common 12 R R L R R
AI1- Command Com L
8 Out Channel A+ 2 13 L R L R R
TB3
9 Out Channel A-
3 AI2+ 14 R L L L R R
10 Out Channel B+ Shield
11 Out Channel B- 4 AI2- 15 L L L L R R
12 Out Index+ Analog common 16 R R R R L R
13 Out Index- 5
14 Common 6 Analog Output +/-10V Output 17 L R R R L R
15 Enable Analog common 18 R L R R L R
16 OK 7 Common
Shield 19 L L R R L R
17 Input Common Out_A+
18 Output Common 8 A+ 20 R R L R L R
19 +12VDC
Out_A- A-
9 21 L R L R L R
20 Common Out_B+ 22 R L L R L R
10 B+
Out_B- 23 L L L R L R
11 B-
12 Index+ Index+ 24 R R R L L R
1 9
13 Index- Index- 25 L R R L L R
DB2 common 26 R L R L L R
14 common
Position 27 L L R L L R
Shield
Feedback 28 R R L L L R
29 L R L L L R
Enable Enable
15 15 30 R L L L L R
8 15 16 OK 16
OK
31 L L L L L R
17 Input common 17 Input common 32 R R R R R L
Output common Output common
18 18 33 L R R R R L
+12VDC +12VDC
19 + 19 + 34 R L R R R L
Common Common 35 L L R R R L
FRONT VIEW 20
12-24 20 12-24
VDC 36 R R L R R L
Sinking - VDC Sourcing - 37 L R L R R L
38 R L L R R L
39 L L L R R L
Position Feedback 40 R R R L R L
Brushless Servo Motor 41 L R R L R L
LR DB2
2 Resolver Motor 42 R L R L R L
DR
32
1
1 9 A R
B
R 43 L L R L R L
16 S4 C 44 R R L L R L
NA 8 S S
B A 45 L R L L R L
(0-63) 4
2 S3 T T
1 C D 46 R L L L R L
S2 GND
1 IN_A+ D 47 L L L L R L
S1 48 R R R R L L
2 IN_A- E
3 IN_B+
R1 Clamp Connections 49 L R R R L L
F R
4 IN_B- R2 50 R L R L L
G 51 L L R R L L
5 IN_I+ Therm Internal External
6 IN_I- H 52 R R L R L L
Therm 53 L R L R L L
7 +5V TB4 DC+ DC+
Clamp 54 R L L R L L
8 COM 8 15 INT
EXT
INT
EXT
Resistor(*)
55 L L L R L L
9 TIE
DC- DC- 56 R R R L L L
10 SHD M(Aux) M(Aux)
57 L R R L L L
Pulse Input R
58 R L L L L
R *Clamp resisitor only required for extreme duty R
59 L L L L L
cycle applications. Contact Whedco, Inc. for
recommended clamp resistor value and procedure 60 R R L L L L
S
(Fan) TB4
IN_A+ for connecting external clamp resistor. 61 L R L L L L
H 1 A+ 62 R L L L L L
A T 2 IN_A- A- 63 L L L L L L
Z 3
IN_B+ B+
IN_B- Input power (1)
A 4 B- Device Net
M 1 2
R 5
IN_I+ Index+ Baud
1L1 L1 125K RR
D DC+ 6
IN_I- Index- Rate
1L2 L2 VAC 250K LR
O 7
+5VDC
L3 (DR) 500K RL
U INT 8
Common Common
1L3
N/A LL
S 9 TIE -
EXT COM
10 Shield 24
V +24V + VDC
DC-
O
L
1L1
T
A 1L2 REMARKS:
G (Fan) Emergency Stop Circuit
E 1L3 (1) Input motor power 324 to 528 VAC
S
MAIN VAC
3 phase 50-440 Hz @ 22 Amps
Power On Input logic power 18 to 30 VDC @ 2 Amps
RCAS
(2) Must turn off power before changing settings.
Emergency R= right (closed)
Stop
+24V L= left (open)
M
M(Aux)

WARNING!

BOTTOM VIEW

www.gefanuc.com
32 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

S2K Series is Ready to Network

DeviceNet
A dedicated DeviceNet port is an Peer-to-Peer Gantry
optional feature of the S2K controllers.
Control System
The controller includes full DeviceNet
implementation to facilitate the addition The gantry drawing shown to the
of motion control to industrial systems right illustrates a multi-axis pick-and-
designed in a DeviceNet master/ slave place system designed with a single
or peer-to-peer control architecture. DeviceNet trunkline to connect
devices and coordinate motion
Peer-to-peer architecture offers users a control. Utilizing DeviceNet to
quick, economic way to create a multi- manage multiple axes of control in
axis, stand-alone system. In a peer-to- industrial automation equipment
peer or distributed control system, S2K keeps point-to-point wiring and
controllers communicate directly with system components to a minimum.
each other over the trunkline without
having to wait their turn in the scan list, Users can mix and match any S2K
resulting in a rapid response time for Series servo and stepping controllers
inter-axis data exchange. Neither a from the product family on a single
DeviceNet master controller nor DeviceNet network.
knowledge of DeviceNet communication
protocol is required to use peer-to-peer
communications.

Serial Communications PROFIBUS-DP

The S2K Motion Controller includes a multi-purpose RS232 serial port. The serial port has PROFIBUS is an open, vendor-independent fieldbus
configurable settings for baud rate, data bits and parity and supports software flow control. A standard for a wide range of applications in industrial
variety of commands associated with the serial port and string manipulation are provided and the automation, including motion control. The PROFIBUS
port supports ASCII serial or RTU Slave protocol modes. Using the port in one mode prohibits usage specification defines the technical characteristics of a
in the other however, program control is provided to switch between serial port modes. serial field bus system that links distributed digital
controllers on the network, from field level to cell level.
ASCII Protocol It is a multi-master system that allows the joint
Primarily the ASCII serial port is designed to be a programming and de-bugging interface and can operation of several automation, engineering or
be used in terminal or data modes. ASCII is the default mode of the serial port and may be used for visualization systems with their distributed peripherals
many functions; on one bus. The S2K is available as a Profibus DP slave
device and uses the Profibus profile's Type 2 Octet-
• Configuration and programming • Monitoring variable and register data via
String 20 — the 20-byte data string.
• Downloading new S2K firmware ASCII terminal or Motion Developer
• Loading and storing programs and motion • Interfacing to serial devices such as RF tag Slave devices do not have bus access rights and can
blocks readers, digital scales, bar code readers or acknowledge receipt of messages or send messages
serial printers. to the master upon request. A PROFIBUS-DP network
may have up to 127 stations with up to 32 stations per
RTU Protocol bus segment. The S2K controllers accommodate
In RTU mode S2K motion controller can communicate to a Remote Terminal Unit (RTU) master, such station addresses 0 - 99 and communicate via cyclic
as an HMI. The S2K RTU Slave protocol allows the RTU Master to: data transfer, the process by which data and
parameters are transferred between master and slave.
• Read/Write single bits (Boolean) VB1-VB256 • Read/Write floating-point variables
The master can also initiate global commands
• Read/Write signed words (Integer) VF1-VF2047
(multicast and broadcast) when event-controlled
VI1-VI4096 • Read Text (String variables 128 characters synchronization of the slaves is required. The S2K
• Read/Write signed double words (DINT) each) VS1-VS144 Motion Controller supports global messages such as
VI1-VI4096 clear data, auto baud, freeze/unfreeze and
sync/unsync.

www.gefanuc.com
GE Fanuc Motion Solutions 33
 Motion Solutions
Motion Controllers

S2K Series
Mechanical Dimensions

STI105 SSI216
Dimension Feature SSI104 SSI107 SSI228 SSI407 SSI420
n/a Weight lb (kg) 4.0 (1.8) 7.0 (3.18) 13 (5.9) 6.0 (2.7) 14 (6.4)
A Depth in (mm) 6.05 (153.7) 8.15 (207.0) 10.15 (257.8) 8.15 (207) 10.15 (258)
B Width in (mm) 3.20 (81.3) 3.45 (87.6) 5.25 (133.4) 4.34 (110.2) 5.25 (133.4)
C Height in (mm) 8.50 (215.9) 8.50 (215.9) 12.20 (309.9) 8.50 (215.9) 12.20 (309.9)
D Position Feedback Connector Depth in (mm) 2.7 (68.6) 2.7 (68.6) 2.7 (68.6) 1.26 (32) 1.26 (32)
E User I/O Connector Depth in (mm) 0.75 (19.1) 0.75 (19.1) 0.75 (19.1) 0.75 (19.1) 0.75 (19.1)
F Center to center spacing between n/a n/a 3.66 (92.96) n/a 3.66 (92.96)
adjacent mounting holes

S2K Series Servo and Stepping Motor Controllers

B F
B
A A

C
C

E
E D
D
STI105, SSI104, SSI107, SSI407 SSI216, SSI228, SSI420

Mounting hole dimensions in (mm)

www.gefanuc.com
34 GE Fanuc Motion Solutions
 Motion Solutions
Motion Controllers

S2K Series
Ratings and Ordering Information

Stepper Models

IC800STI105D2 5 Amp, 115/230 VAC S2K Stepper Controller, Encoder Feedback, DeviceNet
IC800STI105P2 5 Amp, 115/230 VAC S2K Stepper Controller, Encoder Feedback, Profibus
IC800STI105S1 5 Amp, 115/230 VAC S2K Stepper Controller, Encoder Feedback, Extended I/O

Servo Models for MTR-Series Motors (Resolver Feedback) Servo Models for S-Series Motors (Serial Encoder Feedback)

IC800SSI104RD2 4.3 Amp, 115/230 VAC S2K Controller, Resolver Feedback, DeviceNet IC800SSI104D2 4.3 Amp, 115/230 VAC S2K Controller, Encoder Feedback, DeviceNet
IC800SSI104RP2 4.3 Amp, 115/230 VAC S2K Controller, Resolver Feedback, Profibus IC800SSI104P2 4.3 Amp, 115/230 VAC S2K Controller, Encoder Feedback, Profibus
IC800SSI104RS1 4.3 Amp, 115/230 VAC S2K Controller, Resolver Feedback, Extended I/O IC800SSI104S1 4.3 Amp, 115/230 VAC S2K Controller, Encoder Feedback, Extended I/O

IC800SSI107RD2 7.2 Amp 115/230 VAC S2K Controller, Resolver Feedback, DeviceNet IC800SSI107D2 7.2 Amp 115/230 VAC S2K Controller, Encoder Feedback, DeviceNet
IC800SSI107RP2 7.2 Amp 115/230 VAC S2K Controller, Resolver Feedback, Profibus IC800SSI107P2 7.2 Amp 115/230 VAC S2K Controller, Encoder Feedback, Profibus
IC800SSI107RS1 7.2 Amp 115/230 VAC S2K Controller, Resolver Feedback, Extended I/O IC800SSI107S1 7.2 Amp 115/230 VAC S2K Controller, Encoder Feedback, Extended I/O

IC800SSI216RD2 16 Amp, 230 VAC S2K Controller, Resolver Feedback, DeviceNet IC800SSI216D2 16 Amp, 230 VAC S2K Controller, Encoder Feedback, DeviceNet
IC800SSI216RP2 16 Amp, 230 VAC S2K Controller, Resolver Feedback, Profibus IC800SSI216P2 16 Amp, 230 VAC S2K Controller, Encoder Feedback, Profibus

IC800SSI228RD2 28 Amp, 230 VAC S2K Controller, Resolver Feedback, DeviceNet IC800SSI228D2 28 Amp, 230 VAC S2K Controller, Encoder Feedback, DeviceNet
IC800SSI228RP2 28 Amp, 230 VAC S2K Controller, Resolver Feedback, Profibus IC800SSI228P2 28 Amp, 230 VAC S2K Controller, Encoder Feedback, Profibus

IC800SSI407RD2 7.2 Amp, 460 VAC S2K Controller, Resolver Feedback, DeviceNet Accessories
IC800SSI407RP2 7.2 Amp, 460 VAC S2K Controller, Resolver Feedback, Profibus
IC800SSI407RS1 7.2 Amp 460 VAC S2K Controller, Resolver Feedback, Extended I/O 73006589 Hand Held I/O Simulator for 4.3 and 7.2A Models
IC800SLR001 50Ω, 100W External Regeneration Resistor Kit
IC800SSI420RD2 20 Amp, 460 VAC S2K Controller, Resolver Feedback, DeviceNet IC800SLR002 100Ω, 225W External Regeneration Resistor Kit
IC800SSI420RP2 20 Amp, 460 VAC S2K Controller, Resolver Feedback, Profibus IC800SLR003 20Ω, 300W External Regeneration Resistor Kit
IC800SLR004 15Ω, 1000W External Regeneration Resistor Kit
44A726268-001 Auxiliary I/O Breakout Terminal block (DIN rail or panel mounted)
IC800MBUSADP RS232 to 422/485 Serial Converter for Modbus RTU Communications

Cables and Connector Mates

Cables in several lengths are available from GE Fanuc for motor to amplifier connections and various other amplifier functions. It is strongly recommended that you use the
cables available from GE Fanuc as shown below. GE Fanuc does not ship mating power or feedback connectors for the MTR-Series Motors or S-Series Motors with the motor.

S2K Series Cable GE Fanuc Catalog Number Description

Aux. I/O Interface IC800SKCIxxx Interface Cable, S2K Auxiliary I/O to 44A726268-001 Terminal Board Assembly, 1 m or 3 m
IC800SKCFLYxxx Interface Cable, S2K Auxiliary I/O connector to Flying Leads, 1 m or 3 m
Serial IC800SKCS030 S2K Serial Communication Cable for PC (Motion Developer) Interface, 3 m
S-Series Servo IC800SKCEZxxx Encoder Cable, S2K to 30-750 W S-Series Motor, xxx=050 (5 m) or 100 (10 m)
Motor Encoder IC800SKCEVxxx Encoder Cable, S2K to 1 kW-5 kW S-Series Motor, xxx=050 (5 m) or 100 (10 m)
S-Series Servo IC800SKCPZxxx Power Cable, S2K to 30-750 W S-Series Motor, xxx=050 (5 m) or 100 (10 m)
Motor Power IC800SKCPVxxx Power Cable, S2K to 1kW-2.5 kW S-Series Motor, xxx=050 (5 m) or 100 (10 m)
IC800SKCPVLxxx Power Cable, S2K to 3.5 kW-5 kW S-Series Motor, xxx=050 (5 m) or 100 (10 m)
IC800SKCBVxxx* Power/Brake Cable, 1 kW-2.5 kW S-Series Motor with Brake, xxx=050 (5 m) or 100 (10 m)
IC800SKCBVLxxx* Power/Brake Cable, 3.5 kW-5 kW S-Series Motor with Brake, xxx=050 (5 m) or 100 (10 m)
S-Series Servo Motor Brake IC800SLCBZ0xxx Brake Cable, 30-750 W S-Series Motor with Brake, xxx=050 (5 m) or 100 (10 m)
(30-750 W Motors only)
MTR-Series CBL-3C-RD-xx Resolver Cable, S2K to MTR-3S Series Servo Motor, xx=10, 20 or 30 feet
Motor Resolver CBL-3T-RD-xx Resolver Cable, S2K to MTR-3T Series Servo Motor, xx=10, 20 or 30 feet
MTR-Series CBL-34-MP-xx Power Cable, S2K to MTR-3S2x, and MTR-3S3x Series Servo Motor, xx=10, 20 or 30 feet
Motor Power CBL-3C-MP-xx Power Cable, S2K to MTR-3S45, and 3S6x-G Servo Motor, xx=10, 20 or 30 feet
CBL-3P-MP-xx Power Cable, S2K to MTR-3S6x-H Servo Motor, xx=10, 20 or 30 feet
CBL-3T-MP-xx Power Cable, S2K to MTR-3T5x and 3T6x Servo Motors, xx=10, 20 or 30 feet
CBL-T7-MP-xx Power Cable, S2K to MTR-3T1x, 3T2x and 3T4x Servo Motors, xx=10, 20 or 30 feet
MTR-Series CBL-3T-MB-xx Power/Brake Cable, S2K to MTR-3T5x and 3T6x Servo Motors with Brake, xx=10, 20 or 30 feet
Motor Brake CBL-T7-MB-xx Power/Brake Cable, S2K to MTR-3T1x, 3T2x and 3T4x Servo Motors with Brake, xx=10, 20 or 30 feet
CBL-30-BT-xx Brake Cable, S2K to MTR-3S Series Servo Motors with Brake, xx=10, 20 or 30 feet
Commutating Encoder CBL-3C-L1D-FLY-XX Encoder cable, S2K to flying leads for connection of quadrature encoder with hall tracks, xx=10, 20 or 30 feet.
*The 1 kW-5 kW S-Series servo motors incorporate the brake power and motor power into a single cable. When a brake is required this cable should be used in place of the motor power cable IC800SKCPVxxx or
IC800SKCPVLxxx. The 30-750 W S-Series servo motors require a separate cable (IC800SLCBZxxx) for motor brake power when the brake option is required.

www.gefanuc.com
GE Fanuc Motion Solutions 35
 Motion Solutions

Servo Amplifiers
For systems using an APM300, DSM300 These servos cover a wide torque All S2K and SL Series Amplifiers accept
or third-party motion controller or range and offer high servo response to analog speed or torque commands in
where only speed or torque control are meet your most demanding application addition to pulse command input for
required, GE Fanuc offers the S2K and requirements. stepper replacement systems.
SL Series Servo Amplifiers.

S2K Series Servos

The S2K Series brushless servos offer the following features:

• 0.84-477 in-lb (0.095-53.9 Nm) continuous stall torque range

• Auto tuning
• ±10 VDC analog torque/velocity command, pulse/direction
or cw/ccw pulse command input
• 122 µs servo loop update rate for fast servo response
and improved accuracy
• UL, cUL and CE registration pending
• Serial encoder interface to GE Fanuc S-Series motors
or resolver interface to MTR-Series motors
• Models available for 115, 230 and 460 VAC supply
• Electronic gearing mode with user defined ratio
SL Series Servos

The SL Series brushless servos offer

the following features:

• 0.84-322 in-lb (0.095-36.3 Nm) continuous

stall torque range
• NEMA motor mounting on 30-1000 W
motors; metric mounting on 1-5kW motors
• Auto tuning
• ±10 VDC analog torque/velocity
command, pulse/direction or cw/ccw
pulse command input
• 41 to 87 µs loop update depending
on rating
• Six character display and integral keypad
for quick configuration changes without
a PC
• On-the-fly servo gain switching to APPLICATIONS
optimize performance with large load
• Packaging machines • Pick and place • Electronic line shafting
variations
• Labeling machines • Flying cutoff • Random infeed
• UL, cUL and CE on most models
• Bag making machines • Rotary tables • and many more
• Serial encoder interface to GE Fanuc
S-Series Motors • Assembly • Feed/cut to length

www.gefanuc.com
36 GE Fanuc Motion Solutions
 Motion Solutions
Servo Amplifiers

S2K Series Servo Amplifiers

The S2K amplifiers are designed with
features to satisfy the most demanding
industrial user.
Robust power blocks for
Two-character diagnostic LED exceptional reliability

Sinusoidal commutation
for smooth velocity and Command signal and
minimum torque ripple torque limit analog inputs

Pulse/direction, quadrature
encoder or cw/ccw pulse input
format for position control mode
User configurable quadrature
encoder output

AC power input and motor

connections on bottom of unit Serial encoder feedback from
to isolate electrical noise S-Series servo motors

Mechanical Dimensions
SSD216
Dimension Feature SSD104 SSD107 SSD228 SSD407 SSD420

n/a Weight lb (kg) 3.6 (1.64) 6.5 (2.95) 13 (5.9) 6.0 (2.7) 14 (6.4)
A Depth in (mm) 6.05 (153.7) 8.15 (207) 10.15 (258) 8.15 (207) 10.15 (258)
B Width in (mm) 3.20 (81.3) 3.45 (87.6) 5.25 (133.4) 4.34 (110.2) 5.25 (133.4)
C Height in (mm) 8.50 (215.9) 8.50 (215.9) 12.20 (309.9) 8.50 (215.9) 12.20 (309.9)
D Position Feedback Connector Depth in (mm) 1.26 (32) 1.26 (32) 1.26 (32) 1.26 (32) 1.26 (32)
E User I/O Connector Depth in (mm) n/a n/a 0.75 (19) n/a 0.75 (19)
F Center to center spacing between n/a n/a 3.66 (92.96) n/a 3.66 (92.96)
adjacent mounting holes

Mounting hole dimensions in (mm)

F
B B

A A

C
C

E
D
D
SSD104, SSD107, SSD407 SSD216, SSD228, SSD420

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GE Fanuc Motion Solutions 37
 Motion Solutions
Servo Amplifiers
S2K Series Servo Amplifiers
Electrical Specifications
Analog Command Inputs
Operating Range ±10 VDC
Resolution 12 Bits
Input Impedance 50 kΩ
Output Current 5 mA

Pulse Command/Auxiliary Encoder Input

Input Format single-ended or differential; quadrature, pulse/direction
or cw/ccw; square or sine wave
Input Voltage Range +5 to +15 VDC
Line Count Frequency 3 MHz maximum
Pulse Frequency 12 MHz maximum with 4X multiplier

Differential Encoder Output*

Output Format differential; squarewave; quadrature, pulse/direction, or CW/CCW; square wave
cw/ccw pulse
Output Voltage +5 VDC
Line Count Frequency 3 MHz maximum
Pulse Frequency 12 MHz maximum with 4X multiplier

Motor Encoder Input (S-Series Motors only)

Input Format quadrature encoder with serial commutation channel
Input Voltage Range +5 to +15 VDC
Line Count Frequency 2 MHz maximum
Pulse Frequency 8 MHz maximum with 4X multiplier

Motor Resolver Feedback Input (Resolver-based models only)

Number Available 1
Resolution 4096 pulses per revolution
Maximum Speed 15,000 RPM
Type Control Transmitter
Phase Shift ±5.0 degrees @ 5kHz
Null Voltage < 20 mV @ 5kHz
Transformation Ratio 0.5

Analog Output Environmental Specifications

Operating Range ±10 VDC
Resolution 8 Bits Operating Temperature,
Input Impedance 50 kΩ Free Air Ambient** 0 to 50°C
Output Current 5 mA Storage and Shipping Temperature -40 to 80°C
Enclosure Type open
RS-232 Serial Communication ** Assumes heatsink in vertical orientation.
Available 1
Functions Supported multipurpose programming port
Maximum Addressable Units 1
Communication Rate 9,600 baud
Maximum Distance of RS-232 50 feet

AC Input Power Requirements

Input Frequency 50-440 Hz
SSD104, Servo Amplifier Rated at 4.3 Amps Continuous 90-250 VAC; Single-phase @ 7 Amps; Three-phase @ 4 Amps
SSD107, Servo Amplifier Rated at 7.2 Amps Continuous 90-250 VAC; Single-phase @ 15 Amps; Three-phase @ 8 Amps
SSD216, Servo Amplifier Rated at 16 Amps Continuous 180-250 VAC; Three-phase @ 18 Amps
SSD228, Servo Amplifier Rated at 28 Amps Continuous 180-250 VAC; Three-phase @ 30 Amps
SSD407, Servo Amplifier Rated at 7.2 Amps Continuous 324-528 VAC, Three-phase @ 8 Amps
SSD420, Servo Amplifier Rated at 20 Amps Continuous 324-528 VAC, Three-phase @ 22 Amps

DC Power Supply Outputs

+5 Volts, +12 Volts 0.5 Amps
* Encoder output provides a 1:1 buffer of the auxiliary encoder input. In servo systems, this output can be alternately configured as the motor
position output with selectable resolution.

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38 GE Fanuc Motion Solutions
 Motion Solutions
Servo Amplifiers

S2K Series Servo Amplifiers

Connection Diagrams
S2K Model: SSD104

Code Serial Port

COMPUTER 5 9
GROUND
TRANSMIT
RECEIVE

RS-232 1 6
Fwd/Rev

5 9 Auxiliary I/O
Serial
Port 1 14
6 AI1+ +/-10V Command
1 AI1- Command Com
AI2+
1 14 AI2-
A0
Analog common
IN_A+
IN_A-
Auxiliary IN_B+
IN_B-
I/O
Tie
+5Vdc
+12Vdc
Common
Out_A+ A+
Out_A- A-
13 25 Out_B+ B+
Out_B- B-
1 Index+ Index+
9 Index- Index-
common
common
Enable+
Enable- SW1
Position
OK+
Feedback OK-

13 25
15 SW1 must be closed to run
8

FRONT VIEW
Position Feedback Position Feedback
P2 Encoder
Resolver 1 9
1 9 A A1 CHA+
DR 21 S4 B2 CHA-
B C3
32 S3 CHB+
16 C D4
S2 CHB-
NA 8 D E5 CHZ+
(D-63) 4 S1 F6
2 E CHZ-
1 R1 P 11 RX+
F R 12 RX-
R2
G H 13 +5V
Therm G 14 GND
H
Therm

8 15 J 15 SHLD
WARNING!
HAZARDOUS 30 to 750 W Motors
VOLTAGES 1 kW to 5 kW Motors
8 15
Brushless Servo Motor
T Motor
D GND
S T A T
C
S S
B
R R R

L3
VAC Input (1) Emergency Stop Circuit
L2 Main VAC
Three Phase Single Phase
Power On
L1 RCAS
Emergency
L3 L3 L3 Stop
L2 L2 VAC L2 L2 M
VAC
L1 L1 L1 L1 M(Aux)
M M
REMARKS:
Note: Do not connect L3 for single phase
(1) Input power 90 to 250 VAC,50-440 Hz
1 phase @ 10 Amps, 3 phase @6 Amps

BOTTOM VIEW

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GE Fanuc Motion Solutions 39
 Motion Solutions
Servo Amplifiers

S2K Series Servo Amplifiers

Connection Diagrams
S2K Model: SSD107
Code

Serial Port
COMPUTER 5 9
Fwd/Rev GROUND
TRANSMIT
RECEIVE

5 9 RS-232 1 6

Serial
Port
Auxiliary I/O
1 6
1 14 1 14
AI1+
AI1- +/-10V Command
AI2+ Command Com
AI2-
Auxiliary A0
Analog common
I/O IN_A+
IN_A-
IN_B+
IN_B-
Tie
+5Vdc
13 25 +12Vdc
Common
1 9 Out_A+ A+
Out_A- A-
Out_B+ B+
Out_B- B-
Index+ Index+
Position Index- Index-
Feedback common common
Enable+
Enable- SW1
15 OK+
8 OK-

FRONT VIEW 13 25
SW1 must be closed to run

DR 2 1
32
16
NA 8
(D-63) 4
2
1
Position Feedback Position Feedback
P2 Encoder
Resolver 1 9
1 9 A A1 CHA+
S4 B2
B CHA-
S3 C3
C CHB+
D4
WARNING! S2 E5
CHB-
D CHZ+
S1 F6 CHZ-
E P 11
R1 RX+
H T F
R2
R 12 RX-
A G H 13 +5V
Therm G 14
Z S H GND
A Therm
R R 8 15
D J 15 SHLD
O 30 to 750 W Motors
U 1 kW to 5 kW Motors
S 2L2 8 15
V 2L1
O
L 1L3 Brushless Servo Motor Clamp Connections
T Motor
A 1L2 D GND Internal External
G T A T
E 1L1 S
C S EXT EXT
B R INT INT Clamp
Resistor(*)
S EXT
R DC+ DC+

INT
*Clamp resistor only required for extreme duty cycle
DC+ applications. Contact GE Fanuc for recommended
VAC Input (1) clamp resistor value and procedure for connecting
external clamp resistor.
Three Phase Single Phase

2L2 2L2
2L1 2L1 Emergency Stop Circuit
1L3 L3 1L3 Main VAC
1L2 L2 VAC 1L2 L2
1L1 1L1 L1
VAC Power On
RCAS
L1 Emergency
M M Stop
Note: Do not connect L3 for single phase
M
M(Aux)

REMARKS:
(1) Input power 90 to 250 VAC, 50-440 Hz
BOTTOM VIEW 1 phase @ 15 Amps, 3 phase @ 8 Amps

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40 GE Fanuc Motion Solutions
 Motion Solutions
Servo Amplifiers

S2K Series Servo Amplifiers

Connection Diagrams
S2K Model: SSD216 and SSD228
Code Serial Port HOST
COMPUTER 5 9
GROUND
TRANSMIT
RECEIVE
Fwd/Rev 1 6
RS-232
5 9
Serial
Port Auxiliary I/O
1 6
1 AI1+ +/-10V Command
AI1-
2 Command Com
3 AI2+ Shield
4 AI2-
Analog common
5
Analog Output +/-10V Output
6 Analog common Common
7
8 Shield Out_A+ A+
1 Analog Input 1+ Out_A- A+
9
2 Analog Input 1- Out_B+ B+
3 Analog Input 2+ 10 Out_B-
4 Analog Input 2- 11 B-
5 Analog Common Index+ Index+
6 Analog Output 12 Index-
7 Analog Common Index-
8 Out Channel A+ 13 common
9 Out Channel A- 14 common
10 Out Channel B+ Shield Enable
11 Out Channel B- 15
12Out Index + 16 OK SW1
13Out Index + Input Common
14Common 17
15Enable 18 Output Common
16OK +12VDC
17Input Common 19
18Output Common Common
19 +12VDC 20
20Common
SW1 must be closed to run
1 9

Position Position Feedback Position Feedback

Feedback
P2 Encoder
15 Resolver 1 9
8 1 9 A A1 CHA+
S4 B2
B CHA-
S3 C3
C CHB+
D4 CHB-
S2
FRONT VIEW D E5 CHZ+
S1 F6 CHZ-
E P 11
R1 RX+
F R 12 RX-
R2
G H 13 +5V
Therm G 14 GND
H
Therm

DR 1
2 8 15 J 15 SHLD
(Empty)

32
NA 168 30 to 750 W Motors
(D-63)
4 1 kW to 5 kW Motors
2
1
1 IN_A+ 8 15
2 IN_A-
3 IN_B+
4 IN_B-
5 IN_I+
Pulse Input Brushless Servo Motor
6 IN_B-
7 +5V A+ Motor
R B R
8 COM A- C S
9 TIE IN_A+ B+ S
1 T A
10 SHO IN_A- B- T
2 D
IN_B+ Index+ GND
3
IN_B- Index-
H R 4
IN_I+
A S
(Fan) 5
IN_I- Common
Z 6
7 +5VDC
A T
Common
R 8
9 TIE
D DC+ Shield
10
O
U INT
S EXT
DC-
V
O 1L1
L 1L2 VAC Input (1) Clamp Connections
T 1L3 M
A 1L1 L1 Internal External
G 1L2 L2 VAC
E 2L2 (Fan) 1L3 L3 DC+ DC+
S INT INT Clamp
2L1
2L2 EXT EXT Resistor(*)
DC- DC-
WARNING! 2L1
M(Aux) M(Aux)
*Clamp resistor only required for extreme duty cycle
applications. Contact GE Fanuc for recommended
clamp resistor value and procedure for connecting
Emergency Stop Circuit external clamp resistor.

Main VAC
Power On
RCAS
REMARKS:
BOTTOM VIEW Emergency (1) Input power 180 to 250 VAC
Stop 3 phase 50-440 Hz @ 18 Amps for IC800SSD216S1A
M
M(Aux) 3 phase 50-440 Hz @ 30 Amps for IC800SSD228S1A

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GE Fanuc Motion Solutions 41
 Motion Solutions
Servo Amplifiers

S2K Series Servo Amplifiers

Connection Diagrams
S2K Model: SSD407

Code Serial Port HOST

COMPUTER 5 9
GROUND
TRANSMIT
RECEIVE

Fwd/Rev RS-232 1 6

5 9
Auxiliary I/O
Serial
Port 1 14
AI1+ +/-10V Command
1 6 AI1-
Command Com
1 14 AI2+
AI2-
A0
Analog common
IN_A+
IN_A-
Auxiliary IN_B+
I/O IN_B-
Tie
+5Vdc
+12Vdc
Common
Out_A+ A+
Out_A- A-
25 Out_B+
13 Out_B-
B+
B-
1 9 Index+ Index+
Index- Index-
common
common
Enable+
Position Enable- SW1
Feedback OK+
OK-

13 25
8 15 SW1 must be closed to run

FRONT VIEW

Position Feedback
P2 Resolver
1 9 A
S4
B
S3
C
S2
D
S1
E
R1
F
R2
G
Therm
H
WARNING! Therm
8 15
H T
A
Z S Brushless Servo Motor Clamp Connections
A R Motor
D GND
R T AT Internal External
D DC+ S C
S DC+ DC+
O R
B
R
INT INT Clamp
Resistor(*)
EXT
EXT
U INT
S EXT
*Clamp resistor only required for extreme duty cycle
V 1L1 applications. Contact GE Fanuc for recommended
clamp resistor value and procedure for connecting
O 1L2 external clamp resistor.
L
T 1L3
A Input power (1) Emergency Stop Circuit
G M Main VAC
1L1 L1
E COM 1L2 L2 VAC
Power On
RCAS
S 1L3 L3 Emergency
+24V Stop
COM - 24 M
+24V VDC M(Aux)
+
REMARKS:
(1) Input motor power 324 to 528 VAC
3 phase 50-440 Hz @ 8 Amps
Input logic power 18 to 30 VDC @ 2 Amps

BOTTOM VIEW

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42 GE Fanuc Motion Solutions
 Motion Solutions
Servo Amplifiers

S2K Series Servo Amplifiers

Connection Diagrams
S2K Model: SSD420
Code
Serial Port HOST
COMPUTER 5 9
GROUND

Fwd/Rev TRANSMIT DB1

RECEIVE

1 6
5 9 RS-232
DB1
Serial
Port
TB1 Auxiliary I/O
1 6 1
AI1+ +/-10V Command
AI1-
2 Command Com
3 AI2+
Shield
AI2-
4
Analog common
5
Analog Output
6 +/-10V Output
Analog common
7 Common
8 Shield Out_A+
A+
Out_A-
9 A+
10 Out_B+
B+
11 Out_B-
B-
12 Index+
Index+
1 Analog Input 1+ 13 Index-
2 Analog Input 1- Index-
3 Analog Input 2+ 14 common
common
4 Analog Input 2-
5 Analog Common Shield
6 Analog Output
7 Analog Common 15 Enable 15 Enable
8 Out Channel A+
9 Out Channel A- 16 OK 16 OK
TB1 10 Out Channel B+ 17 Input Common
17
Input Common
11 Out Channel B- Output Common Output Common
12 Out Index + 18 18
13 Out Index + +12VDC +12VDC +
19 + 19
14 Common Common Common
15 Enable 20 12-24 20 12-24
16 OK
17 Input Common Sinking - VDC Sourcing - VDC
18 Output Common
19 +12VDC
20 Common

1 Position Feedback
9
P2 Resolver
DB2 1 9
Position A
S4
Feedback B
S3
C
S2
8 15 D
S1
E
R1
F
R2
G
FRONT VIEW H
Therm
Therm

8 15

Brushless Servo Motor Clamp Connections

1 IN_A+ Motor
2 IN_A- R B R Internal External
3 IN_B+ S C
S
4 IN_B- A DC+ DC+
T T
5 IN_I+
D INT INT Clamp
GND
EXT EXT Resistor(*)
6 IN_B- DC- DC-
7 +5V TB4 M(Aux) M(Aux)
8 COM
9 TIE
10 SHO *Clamp resistor only required for extreme duty cycle
applications. Contact GE Fanuc for recommended
clamp resistor value and procedure for connecting
R external clamp resistor.

S (Fan)
H Pulse Input Input power (1)
A T M
Z 1L1 L1
A TB4 1L2 L2 VAC
R DC+ 1
IN_A+
A+
1L3 L3
D 2
IN_A-
A- -
O INT IN_B+ COM 24
3 B+
U EXT 4 IN_B-
B- +24V VDC
IN_I+ +
S 5 Index+
6 IN_I- Index-
DC- +5VDC
V 7
Common
O 1L1 8
TIE
Common REMARKS:
L 9
Shield (1) Input motor power 324 to 528 VAC
T 1L2 10
3 phase 50-440 Hz @ 8 Amps
A (Fan)
G 1L3 Input logic power 18 to 30 VDC @ 2 Amps
E
S
COM

+24V Emergency Stop Circuit

Main VAC
WARNING! Power On RCAS
Emergency
BOTTOM VIEW Stop
M
M(Aux)

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GE Fanuc Motion Solutions 43
 Motion Solutions
Servo Amplifiers

S2K Series Servo Amplifiers

Ratings and Ordering Information

Servo Models for MTR-Series Motors (Resolver Feedback) Servo Models for S-Series Motors (Serial Encoder Feedback)

IC800SSD104RD2 4.3 Amp, 115/230 VAC S2K Amplifier, Resolver Feedback, DeviceNet IC800SSD104D2 4.3 Amp, 115/230 VAC S2K Amplifier, Serial Encoder Feedback, DeviceNet
IC800SSD104RP2 4.3 Amp, 115/230 VAC S2K Amplifier, Resolver Feedback, Profibus IC800SSD104P2 4.3 Amp, 115/230 VAC S2K Amplifier, Serial Encoder Feedback, Profibus
IC800SSD104RS1 4.3 Amp, 115/230 VAC S2K Amplifier, Resolver Feedback, Extended I/O IC800SSD104S1 4.3 Amp, 115/230 VAC S2K Amplifier, Serial Encoder Feedback, Extended I/O

IC800SSD107RD2 7.2 Amp 115/230 VAC S2K Amplifier, Resolver Feedback, DeviceNet IC800SSD107D2 7.2 Amp 115/230 VAC S2K Amplifier, Serial Encoder Feedback, DeviceNet
IC800SSD107RP2 7.2 Amp 115/230 VAC S2K Amplifier, Resolver Feedback, Profibus IC800SSD107P2 7.2 Amp 115/230 VAC S2K Amplifier, Serial Encoder Feedback, Profibus
IC800SSD107RS1 7.2 Amp 115/230 VAC S2K Amplifier, Resolver Feedback, Extended I/O IC800SSD107S1 7.2 Amp 115/230 VAC S2K Amplifier, Serial Encoder Feedback, Extended I/O

IC800SSD216RD2 16 Amp, 230 VAC S2K Amplifier, Resolver Feedback, DeviceNet IC800SSD216D2 16 Amp, 230 VAC S2K Amplifier, Serial Encoder Feedback, DeviceNet
IC800SSD216RP2 16 Amp, 230 VAC S2K Amplifier, Resolver Feedback, Profibus IC800SSD216P2 16 Amp, 230 VAC S2K Amplifier, Serial Encoder Feedback, Profibus

IC800SSD228RD2 28 Amp, 230 VAC S2K Amplifier, Resolver Feedback, DeviceNet IC800SSD228D2 28 Amp, 230 VAC S2K Amplifier, Serial Encoder Feedback, DeviceNet
IC800SSD228RP2 28 Amp, 230 VAC S2K Amplifier, Resolver Feedback, Profibus IC800SSD228P2 28 Amp, 230 VAC S2K Amplifier, Serial Encoder Feedback, Profibus

IC800SSD407RD2 7.2 Amp, 460 VAC S2K Amplifier, Resolver Feedback, DeviceNet Accessories
IC800SSD407RP2 7.2 Amp, 460 VAC S2K Amplifier, Resolver Feedback, Profibus
IC800SSD407RS1 7.2 Amp 460 VAC S2K Amplifier, Resolver Feedback, Extended I/O 73006589 Hand Held I/O Simulator for 4.3 and 7.2A Models
IC800SLR001 50Ω, 100W External Regeneration Resistor Kit
IC800SSD420RD2 20 Amp, 460 VAC S2K Amplifier, Resolver Feedback, DeviceNet IC800SLR002 100Ω, 225W External Regeneration Resistor Kit
IC800SSD420RP2 20 Amp, 460 VAC S2K Amplifier, Resolver Feedback, Profibus IC800SLR003 20Ω, 300W External Regeneration Resistor Kit
IC800SLR004 15Ω, 1000W External Regeneration Resistor Kit
44A726268-001 Auxiliary I/O Breakout Terminal Block (DIN rail or panel mounted)

Cables and Connector Mates

Cables in several lengths are available from GE Fanuc for motor to amplifier connections and various other amplifier functions. It is strongly recommended that you use the
cables available from GE Fanuc as shown below. GE Fanuc does not ship mating power or feedback connectors for the MTR-Series Motors or S-Series Motors with the motor.

S2K Series Cable GE Fanuc Catalog Number Description

Auxiliary I/O Interface IC800SKCIxxx Interface Cable, S2K Auxiliary I/O to 44A726268-001 Terminal Board Assembly, 1 m or 3 m
IC800SKCFLYxxx Interface Cable, S2K Auxiliary I/O connector to Flying Leads, 1 m or 3 m
Serial IC800SKCS030 S2K Serial Communication Cable for PC (Motion Developer) Interface, 3 m
S-Series Servo IC800SKCEZxxx Encoder Cable, S2K to 30-750 W S-Series Motor, xxx=050 (5 m) or 100 (10 m)
Motor Encoder IC800SKCVxxx Encoder Cable, S2K to 1 kW-5 kW S-Series Motor, xxx=050 (5 m) or 100 (10 m)
S-Series Servo IC800SKCPZxxx Power Cable, S2K to 30-750 W S-Series Motor, xxx=050 (5 m) or 100 (10 m)
Motor Power IC800SKCPVxxx Power Cable, S2K to 1 kW-2.5 kW S-Series Motor, xxx=050 (5 m) or 100 (10 m)
IC800SKCPVLxxx Power Cable, S2K to 3.5 kW-5 kW S-Series Motor, xxx=050 (5 m) or 100 (10 m)
IC800SKCBVxxx* Power/Brake Cable, 1 kW-2.5 kW S-Series Motor with Brake, xxx=050 (5 m) or 100 (10 m)
IC800SKCBVLxxx* Power/Brake Cable, 3.5 kW-5 kW S-Series Motor with Brake, xxx=050 (5 m) or 100 (10 m)
S-Series Servo Motor Brake IC800SLCBZ0xxx Brake Cable, 30-750 W S-Series Motor with Brake, xxx=050 (5 m) or 100 (10 m)
(30-750 W Motors only)
MTR-Series CBL-3C-RD-xx Resolver Cable, S2K to MTR-3S Series Servo Motor, xx=10, 20 or 30 feet
Motor Resolver CBL-3T-RD-xx Resolver Cable, S2K to MTR-3T Series Servo Motor, xx=10, 20 or 30 feet
MTR-Series CBL-34-MP-xx Power Cable, S2K to MTR-3S2x, and MTR-3S3x Series Servo Motor, xx=10, 20 or 30 feet
Motor Power CBL-3C-MP-xx Power Cable, S2K to MTR-3S45, and 3S6x-G Servo Motor, xx=10, 20 or 30 feet
CBL-3P-MP-xx Power Cable, S2K to MTR-3S6x-H Servo Motor, xx=10, 20 or 30 feet
CBL-3T-MP-xx Power Cable, S2K to MTR-3T5x and 3T6x Servo Motor, xx=10, 20 or 30 feet
CBL-T7-MP-xx Power Cable, S2K to MTR-3T1x, 3T2x and 3T4x Servo Motor, xx=10, 20 or 30 feet
MTR-Series CBL-3T-MB-xx Power/Brake Cable, S2K to MTR-3T5x and 3T6x Servo Motor with Brake, xx=10, 20 or 30 feet
Motor Brake CBL-T7-MB-xx Power/Brake Cable, S2K to MTR-3T1x, 3T2x and 3T4x Servo Motor with Brake, xx=10, 20 or 30 feet
CBL-30-BT-xx Brake Cable, S2K to MTR-3S Series Servo Motor with Brake, xx=10, 20 or 30 feet
*The 1 kW-5 kW S-Series servo motors incorporate the brake power and motor power into a single cable. When a brake is required this cable should be used in place of the motor power cable IC800SKCPVxxx or
IC800SKCPVBLxxx. The 30-750 W S-Series servo motors require a separate cable (IC800SLCBZxxx) for motor brake power when the brake option is required.

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44 GE Fanuc Motion Solutions
 Motion Solutions
Servo Amplifiers

SL Series Amplifier Features

The SL Series servo family is comprised of the functions and configuration parameters connector and contains several signals not
the Z-Series and the V-Series components. are the same for both series, there are a included on the Z-Series amplifiers. The
The Z-Series amplifiers cover servos from number of differences. One of the primary Z-Series amplifiers use a 36-pin interface
30 Watt to 750 Watt continuous rating. The differences is the I/0 configuration on the connector and use parameter
V-Series covers servos from 1,000 Watt to CN I/F interface connector of the amplifier. configurations to assign different I/O
5,000 Watt continuous rating. While many of The V-Series uses a 50-pin interface functions to some of the connector pins.

Keypad / Display

Test Points:
IM=Commanded Torque
SP=Motor Speed or Position Error
G=Ground

Serial Connector - CN SER

Power Connections Interface Connector - CN I/F

Encoder Connector - CN SIG

Ground Connections

Hinged cover removed to

show terminals

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GE Fanuc Motion Solutions 45
 Motion Solutions
Servo Amplifiers

SL Series Amplifier Specifications

Z-Series Amplifier Specifications

Amplifier Rating @ 20°C

Specification Units 30 W 50 W 100 W 200 W 400 W 750 W

Model Number x = Bus Power Supply, see below SLA003x SLA005x SLA010x SLA020x SLA040x SLA075x

Continuous Current Arms (115 VAC Model) 1.0 1.0 1.6 2.5 4.4 n/a

Arms (230 VAC Model) 1.0 1.0 1.0 1.6 2.5 4.3

Peak Current A0-p (115 VAC Model) 4.3 4.3 6.9 10.5 18.3 n/a

A0-p (230 VAC Model) 4.3 4.3 4.3 6.9 10.5 18.3

Bus Power Supply x=1 (115 VAC Model) Single Phase 85 – 126 VAC, 50/60 Hz

x=2 (230 VAC Model) 170 – 253 VAC, 50/60 Hz, Single* or Three Phase

I/O Power Supply† Voltage 12 to 24 VDC ± 10%

Current 200 mA

Loop Update Time Position Loop 0.25 ms

Velocity Loop 0.25 ms

Current Loop 0.0417 ms 0.0833 ms

Command Input Filter Pulse Command 1 µs

Time Constant
Velocity Command 50 µs

Torque Command 50 µs

Weight lb [kg] (115 VAC Model) 1.98 [0.9] 1.98 [0.9] 1.98 [0.9] 2.2 [1.0] 2.64 [1.2] n/a

lb [kg] (230 VAC Model) 1.98 [0.9] 1.98 [0.9] 1.98 [0.9] 1.98 [0.9] 2.2 [1.0] 2.64 [1.2]

External Regenerative Turn On Voltage 115 VAC Models: 195 VDC 230 VAC Models: 380 VDC
Resistor Specifications Peak Power @ Min. Resistance 1280 W 1280 W 1280 W 1280 W 2800 W 9216 W

Min. Resistance (115 VAC Model) 20 Ω 20 Ω 20 Ω 20 Ω 16 Ω n/a

Min. Resistance (230 VAC Model) 47 Ω 47 Ω 47 Ω 47 Ω 32 Ω 16 Ω

Maximum Current (A0-p) 8A 8A 8A 8A 12 A 24 A

* Single-phase operation of 230 VAC models rated 200 W and larger require derating of the motor torque by 2.5% per °C above 40°C up to 50°C maximum.
† The SL Series amplifiers require a DC power supply for I/O power. One of the GE Fanuc 24 VDC power supplies, part numbers IC690PWR024 (5 Amp) or IC690PWR124 (10 Amp), is recommended. The same external
DC power supply can be used to provide power to multiple amplifiers as long as the supply is rated for the total power drawn by all of the amplifiers.

Z-Series Amplifier Environmental Specifications

Relative Humidity 90% noncondensing
Altitude 3300 feet (1000 m)
Ambient Temperature 0 to 50°C operating
Storage Temperature -20 to 80°C
Shock 15 G nonoperating
Vibration 15 G @ 10-150 Hz

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46 GE Fanuc Motion Solutions
 Motion Solutions
Servo Amplifiers

SL Series Amplifier Specifications

V-Series Amplifier Specifications

Amplifier Rating @ 20°C

Specification Units 1000 W 2500 W 3500 W 5000 W

Model Number SLA1002 SLA2502 SLA3502 SLA5002

Continuous Current Arms 7.2 15.9 21.6 28.5

Peak Current A0-p 30 68 92 120

Bus Power Supply VAC 170 – 253 VAC, 50/60 Hz, Single* or Three Phase

Control Power Supply VAC 170 – 253 VAC, Single Phase, 50/60 Hz

I/O Power Supply† Voltage 12 to 24 VDC ± 10%

Current 500 mA

Loop Update Time Position Loop 0.26 ms

Velocity Loop 0.26 ms

Current Loop 0.0868 ms

Command Input Filter Pulse Command 1 µs

Time Constant Velocity Command 50 µs

Torque Command 50 µs

Weight lb. [kg] 8.58 [3.9] 9.46 [4.3] 21.8 [9.9] 21.8 [9.9]

External Regenerative Turn On Voltage 380 VDC

Resistor Specifications Peak Power @ Min. Resistance 16,000 W

Min. Resistance 10 Ω

Maximum Current (A0-p) 40 A

* Single-phase operation of 230 VAC models rated 200 W and larger require derating of the motor torque by 2.5% per °C above 40°C up to 50°C maximum.
† The SL Series amplifiers require a DC power supply for I/O power. One of the GE Fanuc 24 VDC power supplies, part numbers IC690PWR024 (5 Amp) or IC690PWR124 (10 Amp), is
recommended. The same external DC power supply can be used to provide power to multiple amplifiers as long as the supply is rated for the total power drawn by all of the
amplifiers.

V-Series Amplifier Environmental Specifications

Relative Humidity 90% noncondensing
Altitude 3300 feet (1000 m)
Ambient Temperature 0 to 50°C operating
Storage Temperature -20 to 80°C
Shock 15 G non-operating
Vibration 15 G @ 10-150 Hz

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GE Fanuc Motion Solutions 47
 Motion Solutions
Servo Amplifiers

SL Series Amplifiers

SL Amplifier Dimensions–Z-Series Z-Series Amplifier Dimensions

0.205 (5.2)
in (mm)
120 V Models
GE Fanuc SL Series
Model A in (mm) B in (mm)

MODE SET
30-100 W 0 5.12 (130)
IM SP G
GE Fanuc
SL Series Amplifier 200 W 0.59 (15) 5.12 (130)
IC800SLA0402
R 400 W 0.59 (15) 6.69 (170)
6.61
S
(168) 750 W n/a n/a
T UL
6.3 C US
P (160)
B 5.91
(150) 230 V Models
U
V Model A in (mm) B in (mm)
W
30-100 W 0 5.12 (130))
200 W 0 5.12 (130)

0.205 (5.2) 400 W 0.59 (15) 5.12 (130)

0.16 (4)
0.99 (25)
B 750 W 0.59 (15) 6.69 (170)
A 1.98 (50)

SL Amplifier Dimensions–V-Series
1,000 and 2,500 Watt 0.205 (5.2) Alternate Mounting
Tab Locations

GE Fanuc SL Series

MODE SET
IM SP G
GE Fanuc
SL Series Amplifier
IC800SLA0402
R
S
T UL
9.84 C US
r
(250)
t 9.25
For 2,500
Watt Amplifier DL1 (235)
DL2 8.66 8.90
(220) (226)
For 1,000 P
Watt Amplifier B
N
U
V
W

0.205 (5.2)
1.38 (35) 0.79 0.04 (1)
(20)
1.97 (50) 8.08
2.76 (70) (205)
3.74 (95)
4.72 (120)

0.205 (5.2) Alternate Mounting

Tab Locations
3,500 and GE Fanuc SL Series

5,000 Watt
MODE SET
IM SP G

GE Fanuc
SL Series Amplifier
R
IC800SLA0402
S
T 9.84
r (250)
9.25
t 8.90
(235)
DL1 (226)
8.66
P (220)
B
U
V
W

0.205 (5.2) 1.38 0.394 (10)

0.79 (35)
0.98 (25) (20)
2.95 (75) 12.8
(325)
4.92 (125)
5.906 (150)

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48 GE Fanuc Motion Solutions
 Motion Solutions
Servo Amplifiers

SL Series Amplifier
Ordering Information

To place an order for a complete servo then select the amplifier, cables and motor section of this catalog. The SDM and
system, select the S-Series Servo Motor accessories. Detailed information on SGM model motors cannot be used with the
that meets your application requirements, S-Series motors is available in the servo SL-Series amplifiers.

Amplifiers and Motors Ordering Information

Part Numbers
115 VAC Models 30 Watt 50 Watt 100 Watt 200 Watt 400 Watt

Motor IC800SLM003N3NE25 IC800SLM005N3NE25 IC800SLM010N1NE25 IC800SLM020N1KE25 IC800SLM040N1KE25

Motor/Brake IC800SLM003N3BE25 IC800SLM005N3BE25 IC800SLM010N1BE25 IC800SLM020N1XE25 IC800SLM040N1XE25
Amplifier IC800SLA0031 IC800SLA0051 IC800SLA0101 IC800SLA0201 IC800SLA0401

230 VAC Models 30 Watt 50 Watt 100 Watt 200 Watt 400 Watt

Motor IC800SLM003N3NE25 IC800SLM005N3NE25 IC800SLM010N2NE25 IC800SLM020N2KE25 IC800SLM040N2KE25

Motor/Brake IC800SLM003N3BE25 IC800SLM005N3BE25 IC800SLM010N2BE25 IC800SLM020N2XE25 IC800SLM040N2XE25
Amplifier IC800SLA0032 IC800SLA0052 IC800SLA0102 IC800SLA0202 IC800SLA0402

750 Watt 1000 Watt 2500 Watt 3500 Watt 5000 Watt

Motor IC800SLM075N2KE25 IC800SLM100N2KE25 IC800SLM250M2KE25 IC800SLM350M2KE25 IC800SLM500M2KE25

Motor/Brake IC800SLM075N2XE25 IC800SLM100N2XE25 IC800SLM250M2XE25 IC800SLM350M2XE25 IC800SLM500M2XE25
Amplifier IC800SLA0752 IC800SLA1002 IC800SLA2502 IC800SLA3502 IC800SLA5002

Cable and Accessories Ordering Information

Item Description Part Number Description Part Number

Motor Encoder Cable 5 m for 30-750 W models IC800SLCEZ050 10 m for 30-750 W models IC800SLCEZ100
5 m for 1-5 kW models IC800SLCEV050 10 m for 1-5 kW models IC800SLCEV100
Motor Power Cable 5 m for 30-750 W models IC800SLCPZ050 10 m for 30-750 W models IC800SLCPZ100
5 m for 1-2.5 kW models IC800SLCPV050 10 m for 1-2.5 kW models IC800SLCPV100
5 m for 1-2.5 kW models with brake IC800SLCBV050 10 m for 1-2.5 kW models with brake IC800SLCBV100
5 m for 3.5 & 5 kW models IC800SLCPVL050 10 m for 3.5-5 kW models IC800SLCPVL100
5 m for 3.5 & 5 kW models with brake IC800SLCBVL050 10 m for 3.5-5 kW models with brake IC800SLCBVL100
Motor Brake Cable* 5 m for 30-750 W models with brake IC800SLCBZ050 10 m for 30-750 W models with brake IC800SLCBZ100
Interface Cable 1 m for 30-750 W models to IC800SLT001 IC800SLCIZ010 3 m for 30-750 W models to IC800SLT001 IC800SLCIZ030
1 m for 1-5 kW models to IC800SLT001 IC800SLCIV010 3 m for 1-5 kW models to IC800SLT001 IC800SLCIV030
1 m for 30-750 W models with flying leads IC800SLCFLYZ010 3 m for 30-750 W models with flying leads IC800SLCFLYZ030
1 m for 1-5 kW models with flying leads IC800SLCFLYV010 3 m for 1-5 kW models with flying leads IC800SLCFLYV030
Control Cable† 1 m for APM300 interface IC800SLCAPM010 3 m for APM300 interface IC800SLCAPM030
Serial Cable‡ 2 m for PC interface IC800SLCS020
Terminal Blocks APM/DSM Interface Block IC800SLT001 Breakout Terminal Block (54 screw terminals) IC800SLT004
External Regeneration 50 Ω, 100 W Resistor Kit IC800SLR001 20 Ω, 300 W Resistor Kit IC800SLR003
Resistor Kits 100 Ω, 225 W Resistor Kit IC800SLR002 15 Ω, 1000 W Resistor Kit IC800SLR004
SLconfig S/W§ SL Configuration software IC641SWP800
* 30-750 W models only - Brake cable for 1-5 kW model S-Series motors are integral to the power/brake cable when required.
† This cable connects the GE Fanuc APM300 motion controller to the SL Series terminal block assembly IC800SLT001.
‡ Connects amplifier to PC when using SLconfig software.
§ This software is recommended for all new customers. Only one copy per customer is required for amplifier configuration using a PC.

www.gefanuc.com
GE Fanuc Motion Solutions 49
 Motion Solutions
Servo Amplifiers

α and β Series Servo Amplifiers

All Digital Servo Systems Offer High Performance and Reliability.
GE Fanuc α and β Series Servo Drives, based on over four million axes installed
worldwide, offer superior reliability and performance for unprecedented mean time
between failure. The α and β Series Servos are available in a wide range of ratings
for use with GE Fanuc DSM300 Series motion controllers.

High-Performance Serial Encoders

Standard serial encoders built into the motors
provide exceptional feedback resolution of 32K or
64K counts per revolution. Serial encoders support
higher resolutions at high motor velocities than
standard quadrature encoders and are more
immune to noise. An optional battery connection
provides absolute position feedback, eliminating
the need to home the system after a power
shutdown.

Reduced Tuning and Setup

There is no need for potentiometer tuning or
personality modules; little tuning is required for
α Series Servo Features β Series Servo Features
properly sized drives. All drive parameters are
stored in the controller in a standard motor • World leading reliability • Very economical, high-performance servo
• Low maintenance, no component “drift”, no system for a broad range of applications
database. Configuration settings are not stored
in the drive, making it possible to replace drives commutator brushes • Torque ratings of 5.3 to 105 in-lb (0.6 to 12 Nm)
with little set-up time. Stored drive and machine • Digitally set parameters, no tuning required • Standard 32K serial encoder with optional
parameters are quickly transferred to repeat when replacing an amplifier module absolute battery backup
production machines. • Exceptional smoothness, stiffness, and • Compact amplifier 60% smaller than
precision for the most demanding applications conventional models due to integrated power
• Torque ratings of 53 to 354 in-lb (6 to 40 Nm) supply with power switching circuitry
All-Digital System
• Optional 90 VDC holding brake • Smaller rotor for better acceleration and higher
All control loops—current, velocity, and position— machine cycle rates contributes to motor
are closed in the GE Fanuc motion controller. • IP67 environmental rating on most motors designs 15% shorter and lighter than
High-speed microprocessors and/or digital signal • Standard 64K serial encoder with optional comparable servos with no sacrifice to
processors (DSPs) in the controller provide loop battery backup to maintain absolute position environmental protection
when power is removed • Low maintenance, no component “drift”, no
update times of 250 µs. The high response servo
commutator brushes
system can compensate for machine design
limitations, yielding faster acceleration/deceleration • All parameters digitally set in motion controller.
No tuning required when replacing an amplifier
rates and better responses to load changes.
module.

All-Digital Servo Command Signals

A PWM command interface between the controller
and amplifier improves efficiency by varying the on-
time of the transistor switches that control motor Agency Approvals
voltage and current. With its superior noise
INFO
immunity, the GE Fanuc digital command interface UL*, IEC rating and CE mark compliant For application, installation, and tuning
allows for an increased signal to noise ratio for information, consult the Services
*available on models 1 kW or smaller
improved accuracy and performance. website at www.gefanuc.com.

www.gefanuc.com
50 GE Fanuc Motion Solutions
 Motion Solutions
Servo Amplifiers

α and β Series Servo

System Power Requirements

AC Power Specification Description

Voltage: 3-phase 200-240VAC

1-phase (see below) 220-240VAC
Frequency 50Hz, 60Hz
Allowable frequency fluctuation ±2 Hz
Voltage fluctuation during 7% or less
acceleration/deceleration

The β Series Servo amplifiers can be run on high-frequency input line noise on the drive Motor Model Max. kW Rating
single phase power; however, the lifetime of power supply. If a power source within the
the amplifier is reduced because of higher specified voltage range is not available, a βM0.5/4000 0.2

input and ripple current. For operation of transformer is required. The kVA rating of βM1/4000 0.4

β6/2000 or αC12/2000 motors at the transformer should be equal to or β0.5/3000 0.2

β2/3000 0.5
acceleration/ deceleration duty cycles greater than the sum of all motor kW
β3/3000 0.5
greater than 1 cycle/20 seconds, 3-phase ratings. If an isolation-type power
β6/2000 0.9
input is required. An AC line filter is strongly transformer is used, an AC line filter is not
α1/3000 0.3
recommended to suppress the influences of required.
α6/3000 1.4
αC12/2000 1.0
α12/3000 2.8
GE Fanuc offers the following line filters; transformers must be supplied by the user as required.
α22/2000 3.7
Part Number Description α30/3000 5.2
α40/2000 7.2
A81L-0001-0083#3C 5.4 kW, 3-phase AC line filter
A81L-0001-0101#C 10.5 kW, 3-phase AC line filter

DC Power Specification Incoming DC Power for β Series Description

The β Series amplifier requires a 24VDC IC690PWR024. The same external DC power Input Voltage 24VDC (±10%)

power supply for amplifier control power. supply can be used to provide power to Current Requirement (per amplifier) 0.4 amps

This DC power supply must be supplied by multiple amplifiers as long as the supply is
the user. We recommend the GE Fanuc rated for the total current requirements of
24VDC power supply, catalog number all of the amplifiers.

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GE Fanuc Motion Solutions 51
 Motion Solutions
Servo Amplifiers

α Series Servo Amplifier

Dimensions

The α SVU Series amplifiers are designed with a rear-mounted heat sink that
extends through a hole in the mounting plate. This design eliminates most of
the heat dissipation inside the control cabinet, reducing the temperature rise
in the cabinet and the load on cabinet cooling equipment.

α SVU1-80 and α SVU1-130 Dimension Drawings

A min B min
90 max 150 max
(3.54) (5.91) C max
HOT AIR OUT 50
MAINTENANCE AREA (1.97)

380 380
(14.96) (14.96)
FANUC FANUC

AC SERVO 360 AC SERVO 360

αSVU1-80 (14.17) αSVU1-130 (14.17)

FAN
(αSVU1-130 ONLY)

AIR IN
MAINTENANCE AREA
45 75 8 (0.315) 80
(1.77) 6 mm (0.236) dia. hole (2.95) 9 mm (0.354) dia. hole (3.15)
Typ. (2) places Typ. (2) places
Front view of αSVU1-80 Front view of αSVU1-130 Side view

2-M5 (0.195) 11 (0.433) 2-M8 (0.315) 11 (0.433)

R4 max. R4 max.
(0.157) (0.157)

360 360
(14.17) (14.17)
338 338
(13.31) (13.31)

Dim α SVU1-80 α SVU1-130

A 5.31 in (135 mm) 5.31 in (135 mm)

B 6.50 in (165 mm) 6.89 in (175 mm)
38.0 68.0
(1.50) (2.68) C 4.72 in (120 mm) 5.12 in (130 mm)
76.0 136
(2.99) (5.35)

SVU1-80 panel cutout SVU1-130 panel cutout

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52 GE Fanuc Motion Solutions
 Motion Solutions
Servo Amplifiers

α Series Servo Amplifier

A06B-6089-H500 (200W) for the α SVU1-80 A06B-6089-H500 (200 W)
α Series Regenerative
for the α SVU1-80
Discharge Unit Dimensions
11
90 max AIR FLOW 2-M5 (0.196) (0.433)
(3.54)
The α Series Servos use separate
regenerative discharge units are designed
with a rear-mounted heat sink that extends
through a hole in the mounting plate. This
design eliminates most of the heat inside
the control cabinet.
360
380 (14.17)
(14.96)

338
360 (13.31)
(14.17)

1.6 4-R4.0 38
(0.063) max. (1.50)
Terminal board
45 90 max 76
screws: M4x4 6 mm (0.236) dia. hole (3.54)
(1.77) 25 (2.99)
Typ. (2) places (0.984)
Panel cutout

A06B-6089-H711 (800 W) for the α SVU1-130 A06B-6089-H711 (800 W) for the α SVU1-130
A06B-6089-H713 (800 W) for the α SVU1-80 A06B-6089-H713 (800 W) for the SVU1-80
23 10
7 (0.276) dia. Hole (0.906) (0.254) 11
Typ. (2) places (0.433)
HOT AIR OUT 2-M6 (0.236)

23 (0.906)

360 360
(14.17) (14.17)

335
(13.19) 334 380 338
(13.15) (14.96) (13.31)

T3

Fan Motor 110

(4.33)

22 (0.866)
AIR IN 75 68
130 8 (2.95) (2.68) Packing location
(5.12) shown by gray ton
(0.315) 150 136 (see caution)
5 (0.197) min. (5.91) (5.35)
CAUTION: Attach packing (acrylonitrile-butadien
rubber or soft NBR) around the cutout to keep
out oil and dust.
Panel cutout

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GE Fanuc Motion Solutions 53
 Motion Solutions
Servo Amplifiers

α Series Servo Amplifiers

Encoder Battery Kit Dimensions

Ø4.3 (0.169) Mounting hole (x4)

+ 78
(3.07)
93
(3.66)
A D
B C 103
(4.06)

– +

92.2
40 (3.630)
(1.57) 106.3
78 (4.185)
(3.07)
103
(4.06)

Absolute encoder battery pack

Key:

A 3-M3 negative terminals

B Negative terminal indication
C Positive terminal indication
D 3-M3 positive terminals
E 4-Ø4.3 (0.169) mounting holes

α Series Servo Amplifiers Electrical Specifications

Amp Model Number αSVU1-80 αSVU1-130

AC Input Voltage - VAC 200-240 200-240
Cont. AC Power requirements 2.2kVA 8.2kVA
Rated current output A (rms) 18.7 52.2
Peak output (for 3 sec) A 80 130
Amp Heat Loss (max) 26.1 59.3
Input Current 3 φ A(rms) 4.5 24.7
Input Current 1φ A(rms) n/a n/a
Regen Capacity 100 W 400 W
Internal Internal
Control Power Requirements 230VAC, 130mA 230VAC, 260mA

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54 GE Fanuc Motion Solutions
 Motion Solutions
Servo Amplifiers

α Series Servo Amplifiers

Connection Diagram

K9 K2
Battery
(Option)
JA4 JF1
GE Fanuc DSM300 Series K1 K5 SB
JS1B CX4
Motion Controller α SVU1
Amplifier Emergency Stop
Power for customer-supplied
CX3 U (UM) 9
contactor coil (MCC) K10
13 L1C V (VM) 10

200-240 VAC K6 14 L2C W (WM) 11

K4
Breaker 12 M E
R AC 2 L1
Line
S 3 L2
Filter α Series Motor
T 4 L3
K3 K12
MCC 90 VDC Brake Power
PE 1 Supply (only for
motors with
optional brake)
RC RI RE TH1 TH2 FAN FAN
17 18 19 15 16 24 25 A Motor Fan
5A
K7 K8 K11 B (α40/2000
Circuit
(αSVU1-130) C motor only)
Breaker
K11 (αSVU1-80) Thermostat Fan

Separate Regenerative
Discharge Resistor

Notes:

• An AC line filter is recommended (unless an isolation transformer is provided) to reduce the effect of harmonic noises to the power supply.
Two or more αSVU amplifiers can be connected to one AC line filter if its power capacity is not exceeded.
• RC and RI are connected to each other through a jumper bar at the factory. If a separate regenerative discharge unit will be used, the jumper
bar must be removed.
• TH1 and TH2 are connected to each other through a jumper bar at the factory. Remove the jumper bar and connect these terminals to the
separate regenerative discharge unit resistor thermal switch.
• Only the αSVU1-130 (A06B-6089-H106) has FAN1 and FAN2 terminals. Connect these terminals to the fan motor (K11 cable) of the separate
regenerative discharge unit if required. If a fan is to be used with the αSVU1-80, the fan power should be connected to L1C and L2C through
a 5-amp circuit breaker as shown.
• For CE Mark applications, an MCC that complies with European standards should be selected. The user should determine details of the use
of the MCC.

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GE Fanuc Motion Solutions 55
 Motion Solutions
Servo Amplifiers

α Series Servo Amplifiers

Ordering Information
The α Series amplifiers can be ordered as individual components or as a kit To place an order for a complete servo system, select the Servo Motor that
which includes connectors and spare fuses. The kit is recommended for new meets your application requirements, then select the amplifier package and
installations. For spare parts or replacement units the individual amplifier may cables or connectors (customer built cables). The amplifier package includes
be ordered. amplifier mating connectors, regen resistor and spare DC supply fuse.
α Series Servo Amplifier Kits*

Part Number Description Kit Contents

IC800APK080 80 Amp α Series Amplifier Package SVU1-80 Amp (A06B-6089-H105)

Fuse (qty 1) (A06B-6089-K250)
External MCC Connector (A06B-6089-K201)
E-Stop Connector (A02B-0120-K321)
IC800APK130 130 Amp α Series Amplifier Package SVU1-130 Amp (A06B-6089-H106)
Fuse (qty 2) (A06B-6089-K250)
External MCC Connector (A06B-6089-K201)
E-Stop Connector (A02B-0120-K321)
*Amplifier kits provide all of the required components for complete installation; we strongly encourage kits be ordered for new systems. Separate amplifiers are available for spare or replacement units.

Amplifier and Motor Ordering Information

Motor Model α6/3000 α12/3000 α22/2000 α30/3000 α40/2000

Amplifier Package IC800APK080 IC800APK080 IC800APK080 IC800APK130 IC800APK130

Amplifier (replacement only) A06B-6089-H105 A06B-6089-H105 A06B-6089-H105 A06B-6089-H106 A06B-6089-H106
Motor Encoder Feedback Cable (14 meters) IC800CBL021 IC800CBL021 IC800CBL021 IC800CBL021 IC800CBL021
Motor Power Cable (14 meters) IC800CBL061 IC800CBL062 IC800CBL062 IC800CBL063 IC800CBL063
Motor Encoder Connector** A06B-6050-K115 44A730464-G38 44A730464-G38 44A730464-G38 44A730464-G38
Motor Power Connector** 44A730464-G18 44A730464-G20 44A730464-G20 44A730464-G21 44A730464-G21
Command Signal Cable For use with DSM302 and DSM314: IC800CBL001 (1m) or IC800CBL002 (3m)
Motor Part Number A06B-0128-B575#7008 A06B-0143-B075#7008 A06B-0147-B075#7008 A06B-0153-B075#7008 A06B-0158-B075#7008
Servo Motor with Holding Brake A06B-0128-B675#7008 A06B-0143-B175#7008 A06B-0147-B175#7008 A06B-0153-B175#7008 A06B-0158-B175#7008
Servo Motor with IP67 Sealing A06B-0128-B575#7076 A06B-0143-B075#7076 A06B-0147-B075#7076 A06B-0153-B075#7076 Not Available
Servo Motor with IP67 Sealing A06B-0128-B675#7076 A06B-0143-B175#7076 A06B-0147-B175#7076 A06B-0153-B175#7076 Not Available
and Holding Brake
Encoder Battery Kit Same Kit for all α Series servo systems: IC800ABK001
Kit includes battery holder and four D-cell alkaline batteries
In addition, one connection cable 44C741863-001 is required per amplifier
Motor Brake Cable/Connector 44C742238-004 (14 meter cable)/44A730464-G26 (connector) for use with all α series motors.
** Motor connectors are not required if encoder and power cables are purchased from GE Fanuc.

α Series Servo Regenerative Discharge Units

Part Number Description Regenerative Resistor: For applications
where the built-in Regenerative capacity is
A06B-6089-H500 Regenerative Resistor: 16 Ohm, 200 Watt for α80 Amplifier
A06B-6089-H711 Regenerative Resistor: 16 Ohm, 800 Watt with Fan for α130 Amplifier insufficient, a separate (external)
A06B-6089-H713 Regenerative Resistor: 16 Ohm, 800 Watt with Fan for α80 Amplifier regenerative resistor is recommended.
Contact GE Fanuc for assistance in selecting
α Series Accessories a regenerative resistor.

Part Number Description

A02B-0120-K321 E-Stop Connector (one per amplifier; included in amplifier kit)

44A730464-G26 α40/2000 motor fan power connector
A06B-6089-K201 External MCC Connector (CX3) for α Series amplifiers (one per amplifier when using
external MCC; included in amplifier kit)
44B295864-001 Grounding Bar for up to 10 cables (A99L-0035-0001 Grounding Clamps Required)
A99L-0035-0001 Cable Shield Grounding Clamps for 44B295864-001 Grounding Bar
A06B-6089-K250 Spare Control Power Input Fuse

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56 GE Fanuc Motion Solutions
 Motion Solutions
Servo Amplifiers

β Series Servo Amplifiers

Dimensions

The β Series amplifiers are panel mounted devices with dimensions as shown. When installing the
amplifiers make sure to maintain clearances of 1.57 inches (40 mm) above and below the amplifier and
0.39 inches (10 mm) between adjacent amplifiers to allow for proper convection cooling.

β Series Servo Amplifier Unit

SERVO AMPLIFIER UNIT

FANUC
RATED INPUT: 50Hz /60Hz
A06B - 6093 - H102
EA6600061
220-240-(1-Ph)/200-240V-(3Ph Yamanashi401-05 JAPAN
5 1A / (1-ph) / 2 3A (3Ph)
MAX OUTPUT VOLTAGE : 240V~
RATED OUTPUT CURRENT 3.2A

CAUTION POWER
CHARGED
DISCHARGE
CAUTION: 2min. READY
TIME

ALM

SERVO AMPLIFIER UNIT 140

CX11
β series (5.51)
L2/L1 1
150
L3 (5.91)
DCC/ 2 JX5
DCP CHK
VU
3
JS1B
PWM
OV/ 4
+24V... JF1
+24V ... 5 ENC
TH2/ 6 CX5X
TH1
BAT
CX5Y
BAT

Optional
Battery Case
10
(.39)
41
10 (1.61)
(.39)
62 5(.196) x4 56
(2.44) (2.20)
80 172
20* 75
(3.15) (6.77)
(.79) (2.95)

*Measurement applies to the β20 amplifier only. The β12 amplifier does not include the heat sink extension. Dimensions shown in mm (in).

β Series Servo Amplifiers Electrical Specifications

Model β SVU-12 β SVU-20

Rated output current (rms amps) 3.2 5.9
Current limit (Peak amps) 12 20
AC Power 200-240 VAC (3-phase), 220-240 VAC (1-phase) 50/60 Hz ± 2 Hz
DC Power 24 VDC ± 10% @ 0.4 Amp per amplifier
Heat loss (watts) 17.5 33.3
* These values are standard values at 20°C with a tolerance of ±10%. The speed-torque characteristics vary depending on the parameter setting and input voltage of the digital servo amplifiers. (The above figures
show average values.) These values may be changed without prior notice.

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GE Fanuc Motion Solutions 57
 Motion Solutions
Servo Amplifiers

β Series Servo Amplifiers

Connection Diagram

GE Fanuc DSM300
Motion Controller

1 Line filter and lightning surge absorber can be used in place of a transformer when 200-240 VAC is available to the cabinet.
Key:
2 A full wave rectified 115 VAC may be used as the power supply.
3 For single-phase operation, AC line phase T is not connected. Single phase operation requires the output current to be derated (consult
available GE Fanuc cable
GE Fanuc).
user-supplied cable

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58 GE Fanuc Motion Solutions
 Motion Solutions
Servo Amplifiers

β Series Servo Amplifiers

Ordering Information
The β series amplifiers can be ordered as individual components or To place an order for a complete servo system, select the Servo
as kits that include connectors and spare fuses. The kit is Motor that meets your application requirements, then select the
recommended for new installation while spare parts, or replacement amplifier kit, cables or connectors (customer built cables) and
units, should use the amplifier only model number. accessories.
β Series Servo Amplifier Kits*
Part Number Kit Description Kit Contents

IC800BPK012 12 Amp β Series Amplifier Package SVU1-12 Amplifier (A06B-6093-H101)

Fuse (A06B-6073-K250)
Connector Kit (all CX11 connectors)
(A02B-6093-K301)
100 Watt Discharge Resistor (A06B-6093-H402)
E-Stop connector, JX5 (A02B-0120-K301)
IC800BPK020 20 Amp β Series Amplifier Package SVU1-20 Amplifier (A06B-6093-H102)
Fuse (A06B-6073-K250)
Connector Kit (all CX11 connectors)
(A02B-6093-K301)
100 Watt Discharge Resistor (A06B-6093-H402)
E-Stop connector, JX5 (A02B-0120-K301)
*Amplifier kits provide all of the required components for complete installation; we strongly encourage kits be ordered for new systems. Separate amplifiers are available for spare or replacement units.

Amplifier and Motor Ordering Information

Model Number β0.5/3000 β2/3000 β3/3000 β6/2000 αC12/2000 βM0.5/4000 βM1/4000
Servo Motor A06B-0113-B075#7008 A06B-0032-B075#7008 A06B-0033-B075#7008 A06B-0034-B075#7008 A06B-0141-B075#7008 A06B-0115-B075#0008 A06B-0116-B075#0008
Servo Motor A06B-0113-B175#7008 A06B-0032-B175#7008 A06B-0033-B175#7008 A06B-0034-B175#7008 A06B-0141-B175#7008 A06B-0115-B175#0008 A06B-0116-B175#0008
w/ Holding Brake
Amplifier Kit IC800BPK012 IC800BPK012 IC800BPK020 IC800BPK020 IC800BPK020 IC800BPK020 IC800BPK020
Amplifier Only A06B-6093-H101 A06B-6093-H101 A06B-6093-H102 A06B-6093-H102 A06B-6093-H102 A06B-6093-H102 A06B-6093-H102

Cable and Accessories Ordering Information

Model Number β0.5/3000 β2/3000 β3/3000 β6/2000 αC12/2000 βM0.5/4000 βM1/4000
Motor Encoder Feedback Cable IC800CBL022 IC800CBL023 IC800CBL023 IC800CBL023 IC800CBL021 CFBA-OWPB-0140-AA CFBA-OWPB-0140-AA
(14 meters)*
Motor Power Cable (14 meters)* IC800CBL067 IC800CBL068 IC800CBL068 IC800CBL068 IC800CBL069 CP8B-1WPB-0140-AA CP8B-1WPB-0140-AA
Motor Encoder Connector A06B-6050-K120 A06B-6050-K115 A06B-6050-K115 A06B-6050-K115 44A730464-G38 A06B-6114-K200#E A06B-6114-K200#E
Motor Power Connector A06B-6050-K119 44A730464-G18 44A730464-G18 44A730464-G18 44A730464-G20 A06B-6114-K230#E A06B-6114-K230#E
Cable for Holding Brake Power Not required 44C742238-004 44C742238-004 44C742238-004 44C742238-004 A06B-5WPM-0140-AA A06B-5WPM-0140-AA
Connection (14 meters)
Connector for Holding Brake Not required 44A730464-G26 44A730464-G26 44A730464-G26 44A730464-G26 A06B-6114-K232#E A06B-6114-K232#E
Command Signal Cable For use with DSM300: IC800CBL001 (1m) or IC800CBL002 (3m)
Encoder Battery Kit Same kit for all β Series Servo Systems: IC800BBK021
External Regen Resistor Same kit for all β Series Servo Systems: A06B-6093-H401, 30 ohm, 20 W
A06B-6093-H402, 30 ohm, 100 W
44B295864-001 Grounding Bar for up to 10 cables (A99L-0035-0001 Grounding Clamps Required)
A99L-0035-0001 Cable Shield Grounding Clamps for 44B295864-001 Grounding Bar
A06B-6073-K250 Spare 24 VDC Control Power Input Fuse
A06B-6093-K301 Replacement Lithium Battery for Absolute Encoder Power Back-up
* All motor power and encoder cables are 14 meters long.

Holding Brake: For system designs which include Encoder Battery Kit: All β Series Servo motors referenced to a home position every time power is
a vertical axis that must hold its position when feature a built-in serial encoder that can be used restored to the system.
power is removed, a motor holding brake option is in either incremental or absolute mode. In order to
The battery pack offered includes a small lithium
available. User supplied full-wave rectified utilize the absolute capability, an optional encoder
battery and case which snaps on to the bottom of
120VAC or 90VDC power is required (24VDC for battery pack must be installed. This pack allows
the amplifier unit. The kit components are not sold
βM Series). To connect to the power, the brake the encoder’s position information to be retained
separately.
cable is required on all but the β0.5/3000 motors. so that the machine does not need to be

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GE Fanuc Motion Solutions 59
 Motion Solutions

Servo Motors

Servo Motor Performance

for Demanding Applications
The GE Fanuc Servo motors are a
rugged family of brushless servo motors
covering a broad torque range. These
motors utilize high energy rare earth
magnets for superior cost/performance
ratio. Low inertia design provides high
acceleration rates for improved
machine cycle rates. The S-Series
motors utilize serial encoder feedback
and can be used with GE Fanuc SL or
S2K Series servo amplifiers. MTR-Series
motors use resolver feedback and are
S-Series Servo Motor
matched for use with the S2K family of
amplifiers and controllers.

Rugged TENV, IP65 Primary feedback

waterproof device (resolver)
Motor Features
construction
• Models from 0.84-477 in-lb (0.095-53.9 Nm)
continuous

English • 2500 ppr differential quadrature encoder with serial

dimensions, commutation feedback on S-Series; rugged resolver
optional
feedback on MTR-Series
NEMA 56C
face • Brushless design minimizes electromagnetic
interference, carbon dust and maintenance
“O” ring prevents • NEMA and metric servo mounting configurations
rotation of outer
bearing race for • Optional 24 VDC electrically released holding brakes
Overtemperature-
longer bearing life
protection • Rugged TENV housing with IP65 protection rating
thermistor
High-temperature Low-inertia Steel bearing • 1-5 kW S-Series models and all MTR-Series models
insulation rotor insert for long
bearing life include MS-style connectors
• Some models include integral shaft oil seal

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60 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

S-Series Servo Motors

Motor Part Numbers

Series Encoder Resolution

SL- Low Inertia Series 25- 2500 lines
SD- Med. Inertia Series
SG- High Inertia Series
Encoder Type
Motor E- Incremental data with serial commutation

Power Brake
003- 30 Watt 100- 1000 Watt N- No Key and No Brake (Std. on 30 to 100 W models)
005- 50 Watt 250- 2500 Watt B- Brake and No Key (Opt. on 30 to 100 W models)
010- 100 Watt 350- 3500 Watt K- Key and No Brake (Std. on 200 W and larger models)
020- 200 Watt 450- 4500 Watt X- Key and Brake (Opt. on 200 W and larger models)
040- 400 Watt 500- 5000 Watt
075- 750 Watt
Voltage
Mounting 1- 115 VAC Motor (100 to 400 W models only)
N- NEMA 2- 230 VAC Motor
M- Metric 3- 115/230 VAC Motor (available only for 30 and 50 W models)

MTR-Series
Motor Part Numbers

Series Shaft Seal

3S- NEMA 0- No seal (3T4x, 3T5x and 3T6x only)
3T- Metric S- Shaft seal (standard on all models except 3T4x,
3T5x and 3T6x)

Frame/Stack
3S Series- 22, 23, 32, 33, 34, 35, 45, Mounting Flange
63, 65, 67 N- NEMA (NEMA23: 3S2x; NEMA34: 3S3x)
3T Series- 11, 12, 13, 21, 22, 23, 24, E- English (standard on 3S4x, 3S6x or 3S8x)
42, 43, 44, 45, 54, 55, 57, C- NEMA 56C (option on 3S4x only)
66, 67, 69 M- Metric (standard on 3T)

Winding

Brake
Feedback 0- No Brake
R- Resolver B- 24 VDC Brake (not available for 3S20 series)

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GE Fanuc Motion Solutions 61
 Motion Solutions
Servo Motors

S-Series Servo Motors

Specifications (30-750 W Models)

Specification Units SLM003 SLM005 SLM010 SLM020 SLM040 SLM075

Voltage VAC 115/230 V 115/230 V 115 V 230 V 115 V 230 V 115 V 230 V 230 V
Output Power W 30 50 100 200 400 750
Continuous Stall Torque* in-lb [Nm] 0.84 [0.095] 1.42 [0.16] 2.83 [0.32] 5.66 [0.64] 11.5 [1.3] 21.2 [2.4]
Peak Torque with SL in-lb [Nm] 2.48 [0.28] 4.25 [0.48] 8.0 [0.95] 16.9 [1.91] 33.6 [3.8] 46.0 [5.2]
Peak Torque with S2K in-lb [Nm] 2.48 [0.28] 4.25 [0.48] 8.4 [0.95] 17 [1.92] 34 [3.84] 46.0 [5.2]
Rated Speed RPM 3000 3000 3000 3000 3000 3000
Maximum Speed RPM 5000 5000 5000 5000 5000 4500
Feedback 2500 lines (10,000 counts/rev) Incremental Encoder (5 VDC±5% @ 0.3 A; 250 kHz max.)
Weight lb [kg] 0.59 [0.27] 0.75 [0.34] 1.23 [0.56] 2.2 [1.0] 3.52 [1.6] 7.0 [3.2]
Rotor Inertia in-lb-s2 x 10-4 0.139 0.225 0.546 1.474 3.208 11.62
[kg-m2 x 10-4] [0.016] [0.025] [0.062] [0.17] [0.36] [1.31]
Shaft Thrust Load lb [kg] 6.6 [3] 13.2 [6] 13.2 [6] 22 [10] 22 [10] 33 [15]
Shaft Radial Load† lb [kg] 11 [5] 15.4 [7] 15.4 [7] 55 [25] 55 [25] 88 [40]
Mechanical Time Constant ms 1.8 1.2 0.8 0.77 0.62 0.63 0.48 0.54 0.45
Torque Constant in-lb/Arms 0.91 1.42 1.86 3.28 2.39 3.72 2.66 4.78 5.4
[Nm/Arms] [0.103] [0.16] [0.21] [0.37] [0.27] [0.42] [0.30] [0.54] [0.61]
Resistance (phase) Ω 4.0 4.2 1.9 5.7 0.91 2.3 0.41 1.46 0.43
Inductance (phase) mH 2.4 2.8 1.7 5.0 3.2 7.8 1.9 5.1 3.2
Electrical Time Constant ms 0.6 0.67 0.89 0.88 3.5 3.4 4.6 3.5 7.4
Continuous Current Arms 1.0 1.0 1.6 1.0 2.5 1.6 4.3 2.5 4.3

Optional Brake Data @ 20°C (backlash = ± 0.1°)

Inertia Adder in-lb-s2 x 10-4 0.026 0.026 0.026 0.26 0.26 0.78
[kg-m2 x10-4] [0.003] [0.003] [0.003] [0.03] [0.03] [0.09]
Weight Adder lb [kg] 0.44 [0.2] 0.42 [0.19] 0.44 [0.2] 0.88 [0.4] 0.88 [0.4] 1.54 [0.7]
Voltage VDC±10% 24 24 24 24 24 24
Current A 0.26 0.26 0.26 0.36 0.36 0.43
Engage Time ms ≤25 ≤25 ≤25 ≤50 ≤50 ≤60
Release Time ms ≤20 ≤20 ≤20 ≤15 ≤15 ≤15
Torque in-lb [Nm] 2.6 [0.29] 2.6 [0.29] 2.6 [0.29] 10.8 [1.3] 10.8 [1.3] 21.7 [2.5]
*Torque shown is available up to a certain Ambient Temperature. See Speed/Torque curve notes.
†Radial shaft loads are specified at a position centered along the length of the shaft. Motor data shown for 20°C unless otherwise noted.

Environmental Specifications (all S-Series models)

Relative Humidity 85% non-condensing
Ambient Temperature 0 to 40°C operating
Storage Temperature -20 to 80°C
Vibration 5G
Shock 10 G

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62 GE Fanuc Motion Solutions
 Motion Solutions

Servo Motors

S-Series Servo Motors

Specifications (1-5 kW Models)

Specification Units SLM100 SDM100 SLM250 SDM250 SLM350 SLM500 SDM500 SGM450
Voltage VAC 230 V 230 V 230 V 230 V 230 V 230 V 230 V 230 V
Output Power W 1000 1000 2500 2500 3500 5000 5000 5000
Continuous Stall Torque* in-lb [Nm] 28 [3.18] 43 [4.8] 70 [7.94] 104 [11.8] 97 [11] 140 [15.8] 210 [23.8] 322 [36.3]
Peak Torque with SL in-lb [Nm] 84 [9.5] n/a 210 [23.8] n/a 294 [33.2] 282 [31.9] n/a n/a
Peak Torque with S2K in-lb [Nm] 56 [6.3] 110 [12.4] 140 [15.8] 240 [27.1] 252 (28.5) 421 (47.6) 420 [47.5] 644 [72.8]
Rated Speed RPM 3000 2000 3000 2000 3000 3000 2000 3000
Maximum Speed RPM 5000 3000 5000 3000 5000 4500 3000 4500
Feedback 2500 lines (10,000 counts/rev) Incremental Encoder (5 VDC±5% @ 0.3 A; 250 kHz max.)
Weight lb [kg] 9.9 [4.5] 15 [6.8] 16.5 [7.5] 28.2 [12.8] 24 [10.9] 38 [17.3] 55 [25] 38 (17.3)
Rotor Inertia in-lb-s2 x 10-4 14.91 54.6 38.14 169.9 69.92 157.5 537.2 716
[kg-m2 x 10-4] [1.69] [6.17] [4.31] [19.2] [7.90] [17.8] [60.7] [80.9]
Shaft Thrust Load lb [kg] 33 [15] 44 [20] 44 [20] 77 [35] 44 [20] 77 [35] 77 [35] 77 [35]
Shaft Radial Load† lb [kg] 88 [40] 110 [50] 110 [50] 176 [80] 110 [50] 176 [80] 176 [80] 176 [80]
Mechanical Time Constant ms 0.78 0.70 0.52 0.72 0.45 0.46 0.9 0.46
Torque Constant in-lb/Arms 3.9 7.61 4.34 7.52 4.51 5.04 7.52 11.5
[Nm/Arms] [0.44] [0.86] [0.49] [0.85] [0.51] [0.57] [0.85] [1.3]
Resistance (phase) Ω 0.27 0.56 0.1 0.18 0.05 0.028 0.068 0.028
Inductance (phase) mH 1.8 10.0 1.1 3.8 1 1.12 2.2 0.56
Electrical Time Constant ms 6.7 18 11 21 20 20 32 20
Continuous Current Arms 7.2 5.6 15.9 14 21.6 28 28 28.5

Optional Brake Data @ 20°C (backlash = ± 0.1°)

Inertia Adder in-lb-s2 x 10-4 2.25 5.49 3.81 16.82 6.99 16.82 53.1 16.82
[kg-m2 x10-4] [0.26] [0.62] [0.43] [1.9] [0.79] [1.9] [6] [1.9]
Weight Adder lb [kg] 1.32 [0.6] 4.2 [1.9] 3.08 [1.4] 4.2 [1.9] 3.74 [1.7] 4.18 [1.9] 7.7 [3.5] 4.18 [1.9]
Voltage VDC±10% 24 24 24 24 24 24 24 24
Current A±10% 0.74 0.59 0.81 0.9 0.81 0.90 1.30 0.90
Engage Time ms ≤50 ≤80 ≤50 ≤110 ≤80 ≤110 ≤80 ≤110
Release Time ms ≤15 ≤70 ≤15 ≤50 ≤15 ≤50 ≤25 ≤50
Torque in-lb [Nm] 43.3 [4.9] 43.3 [4.9] 69 [7.8] 143 [16.1] 104 [11.8] 143 [16.2] 217 [24.5] 143 [16.2]
Motor data shown for 20°C unless otherwise noted.
*Torque shown is available up to a certain Ambient Temperature. See Speed/Torque curve notes.
†Radial shaft loads are specified at a position centered along the length of the shaft.

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GE Fanuc Motion Solutions 63
 Motion Solutions
Servo Motors

S-Series Servo Motors

Speed Torque Curves with S2K Amplifier/Controllers

SLM003 (30 Watt) SLM005 (50 Watt) SLM010 (100 Watt)

6000 6000 6000

5000 5000 5000

Tor que i n- l b ( Nm )
Tor que i n- l b ( Nm )

Tor que i n- l b ( Nm )
4000 4000 4000

3000 3000 3000

2000 2000 2000

Continuous Continuous Continuous
Torque Torque Torque
1000 1000 1000

0 0 0
0.5 1 1.5 2 2.5 3 1 2 3 4 5 6 1.5 3 4.5 6 7.5 9

Speed (RPM) Speed (RPM) Speed (RPM)

SLM020 (200 Watt) SLM040 (400 Watt) SLM075 (750 Watt)

18 (2.03) 36 (4.07) 60 (6.78)

15 (1.69) 30 (3.39) 50 (5.66)

Intermittent Torque Intermittent Torque
Torque in-lb (Nm)

Torque in-lb (Nm)

To r q u e i n - l b ( N m )

115VAC
12 (1.36) 24 (2.71) 40 (4.52)
Intermittent Torque
115VAC
9 (1.02) 18 (2.03) 30 (3.39)

6 (0.68) 12 (1.36) 20 (2.26)

3 (0.34) Continuous Torque 6(0.68) Continuous Torque 10 (1.13) Continuous Torque

0 0 0
1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000
Speed (RPM) Speed (RPM) Speed (RPM)

SLM100 (1000 Watt) SDM100 (1000 Watt) SLM250 (2500 Watt)

60 (6.78) 120 (13.55) 150 (16.94)

50 (5.66) 100 (11.29) 125 (14.12)

Intermittent Torque Intermittent Torque
Torque in-lb (Nm)

To rque in-lb (Nm)

To rque in-lb (Nm)

40 (4.52) 80 (9.04) 100 (11.29)

Intermittent Torque 230VAC
30 (3.39) 60 (6.78) 75 (8.47)

20 (2.26) 40 (4.52) 50 (5.65)

10 (1.13) Continuous Torque 20 (2.26) Continuous Torque 25 (2.82) Continuous Torque

0 0 0
1000 2000 3000 4000 5000 6000 500 1000 1500 2000 2500 3000 1000 2000 3000 4000 5000 6000
Speed (RPM) Speed (RPM) Speed (RPM)

Note:
Continuous torque shown in curves available at:
SLM003 = 40°C SLM040 = 20°C
SLM075 = 40°C SLM250 = 20°C
SLM100 = 40°C SLM500 = 20°C
SDM100 = 40°C SLM350 = 25°C
SDM250 = 40°C SLM020 = 30°C
SGM450 = 40°C SDM500 = 35°C
SLM005 = 20°C

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64 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

S-Series Servo Motors

Speed Torque Curves with S2K Amplifier/Controllers (cont.)

SDM250 (2500 Watt) SLM500 (5000 Watt)

240 (27.1) 300 (33.9)

200 (22.6) 250 (28.23)

Intermittent Torque Intermittent Torque
Tor que i n- l b ( Nm )

Tor que i n- l b ( Nm )
160 (18.07) 200 (22.6)

120 (13.55) 150 (16.94)

80 (9.04) 100 (11.29)

40 (4.52) Continuous Torque 50 (5.65) Continuous Torque

0 0
500 1000 1500 2000 2500 3000 1000 2000 3000 4000 5000 6000
Speed (RPM) Speed (RPM)

SDM500 (5000 Watt) SGM450 (4500 Watt)

420 (47.43) 660 (74.54)

350 (39.52) 550 (62.11)

Intermittent Torque Intermittent Torque
Torque in-lb (Nm)
Torque in-lb (Nm)

280 (31.62) 440 (49.69)

210 (23.72) 330 (37.27)

140 (15.81) 220 (24.84)

70 (7.91) Continuous Torque 110 (12.42) Continuous Torque

0 0
500 1000 1500 2000 2500 3000 350 700 1050 1400 1750 2100

Speed (RPM) Speed (RPM)

Note:
Continuous torque shown in curves available at:
SLM003 = 40°C SLM040 = 20°C
SLM075 = 40°C SLM250 = 20°C
SLM100 = 40°C SLM500 = 20°C
SDM100 = 40°C SLM350 = 25°C
SDM250 = 40°C SLM020 = 30°C
SGM450 = 40°C SDM500 = 35°C
SLM005 = 20°C

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GE Fanuc Motion Solutions 65
 Motion Solutions
Servo Motors

S-Series Servo Motors

Speed Torque Curves with SL Amplifiers

SLM003 (30 Watt) SLM005 (50 Watt) SLM010 (100 Watt)

3.0 (0.34) 6 (0.68)

2.5 (0.28) 5 (0.56) 10 (1.13)

Tor que i n- l b ( Nm )
Tor que i n- l b ( Nm )

Tor que i n- l b ( Nm )
Intermittent Torque
2.0 (0.23) 4 (0.45) 8 (0.90)
Intermittent Torque Intermittent Torque
1.5 (0.17) 3 (0.34) 6 (0.68)

1.0 (0.11) 2 (0.23) 4 (0.45)

0.5 (0.05) 1 (0.05) 2 (0.23)

Continuous Torque Continuous Torque Continuous Torque

0 0 0
1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000

Speed (RPM) Speed (RPM) Speed (RPM)

SLM020 (200 Watt) SLM040 (400 Watt) SLM075 (750 Watt)

18 (2.03) 36 (4.07) 66 (7.46)

15 (1.69) 30 (3.39) 55 (6.21)

Intermittent Torque Intermittent Torque 230VAC Intermittent Torque
Torque in-lb (Nm)

Torque in-lb (Nm)

Torque in-lb (Nm)

115VAC
12 (1.36) 24 (2.71) 44 (4.97)
115VAC
9 (1.02) 18 (2.03) 33 (3.73)

6 (0.68) 12 (1.36) 22 (2.48)

3 (0.34) Continuous Torque 6(0.68) Continuous Torque 11 (1.24) Continuous Torque

0 0 0
1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000
Speed (RPM) Speed (RPM) Speed (RPM)

SLM100 (1000 Watt) SLM250 (2500 Watt) SLM350 (3500 Watt)

90 (10.2) 240 (27.1)

300 (33.9)
75 (8.47) 200 (22.6)
Intermittent Torque Intermittent Torque
Torque in-lb (Nm)
Torque in-lb (Nm)

Torque in-lb (Nm)

240 (27.1)
60 (6.78) 160 (18.1)
Intermittent Torque
180 (20.3)
45 (5.08) 120 (13.6)

120 (13.6)
30 (3.39) 80 (9.04)

60 (6.78)
15 (1.69) Continuous Torque 40 (4.52) Continuous Torque
Continuous Torque

0 0 0
1000 2000 3000 4000 5000 6000
1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000
Speed (RPM) Speed (RPM) Speed (RPM)

SLM500 (5000 Watt)

450

Note:
(50.8)
Intermittent Torque
To r q u e in - l b (N m)

375
Continuous torque shown in curves available at:

(42.4)
SLM003 = 40°C SLM250 = 20°C
300 SLM075 = 40°C SLM500 = 20°C
SLM100 = 40°C SLM010 = 30°C
(33.9) Continuous Torque
SLM005 = 20°C SLM020 = 30°C
225
1000 2000 3000 4000 5000 6000 SLM040 = 20°C SLM350 = 25°C
Speed (RPM)

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66 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

S-Series Servo Motors

Dimensions (30-750 W Models)

Dimension SLM003 (30 W) SLM005 (50 W) SLM010 (100 W) SLM020 (200 W) SLM040 (400 W) SLM075 (750 W)
in (mm) in (mm) in (mm) in (mm) in (mm) in (mm)
A 2.27 ± 0.024 2.27 ± 0.024 2.27 ± 0.024 3.42 ± 0.024 3.42 ± 0.024 3.42 ± 0.024
(57.658 ± 0.6) (57.658 ± 0.6) (57.658 ± 0.6) (86.868 ± 0.6) (86.868 ± 0.6) (86.868 ± 0.6)
AH 0.7874 ± 0.028 0.7874 ± 0.028 0.7874 ± 0.028 1.181 ± 0.028 1.181 ± 0.028 1.181 ± 0.028
(20 ± 0.7) (20 ± 0.7) (20 ± 0.7) (30 ± 0.7) (30 ± 0.7) (30 ± 0.7)
AJ 2.625 ± 0.024 2.625 ± 0.024 2.625 ± 0.024 3.875 ± 0.024 3.875 ± 0.024 3.875 ± 0.024
(66.675 ± 0.6) (66.675 ± 0.6) (66.675 ± 0.6) (98.425 ± 0.6) (98.425 ± 0.6) (98.425 ± 0.6)
AK 1.502 +-0.001
0
1.502 +-0.001
0
1.502 +-0.001
0
2.877 +-0.0012
0
2.877 +-0.0012
0
2.877 +-0.0012
0

(38.1508 +-0.025
0
) (38.1508 +-0.025
0
) (38.1508 +-0.025
0
) (73.0758 +-0.030
0
) (73.0758 +-0.030
0
) (73.0758 +-0.030
0
)
BB 0.118 ± 0.008 0.118 ± 0.008 0.118 ± 0.008 0.118 ± 0.008 0.118 ± 0.008 0.118 ± 0.008
(3 ± 0.2) (3 ± 0.2) (3 ± 0.2) (3 ± 0.2) (3 ± 0.2) (3 ± 0.2)
G 0.236 ± 0.012 0.236 ± 0.012 0.236 ± 0.012 0.315 ± 0.012 0.315 ± 0.012 0.315 ± 0.012
(6 ± 0.3) (6 ± 0.3) (6 ± 0.3) (8 ± 0.3) (8 ± 0.3) (8 ± 0.3)
H 0.1968 ± 0.010 0.1968 ± 0.010 0.1968 ± 0.010 0.2165 ± 0.010 0.2165 ± 0.010 0.2165 ± 0.010
(5 ± 0.25) (5 ± 0.25) (5 ± 0.25) (5.5 ± 0.25) (5.5 ± 0.25) (5.5 ± 0.25)
U 0.25 +-0.0004
0
0.25 +-0.0004
0
0.25 +-0.0004
0
0.375 +-0.0004
0
0.375 +-0.0004
0
0.625 +-0.0004
0

(6.35 +-0.009
0
) (6.35 +-0.009
0
) (6.35 +-0.009
0
) (9.5250 +-0.009
0
) (9.5250 +-0.009
0
) (15.875 +-0.011
0
)
L 2.559 2.874 4.055 3.701 4.862 5.610
(65) (73) (103) (94) (123.5) (142.5)
L (with Brake) 3.819 4.134 5.315 5.000 6.161 6.988
(97) (105) (135) (127) (156.5) (177.5)
L1 1.772 2.087 3.268 2.854 4.016 4.764
(45) (53) (83) (72.5) (102) (121)
L1 (with Brake) 3.031 3.346 4.528 4.154 5.315 6.142
(77) (85) (115) (105.5) (135) (156)
L2 (with or w/o Brake) 0.709 1.024 2.205 1.535 2.697 3.346
(18) (26) (56) (39) (68.5) (85)
R (bottom of keyway) n/a n/a n/a 0.3018 +-0.015
0
0.3018 +-0.015
0
0.5165 +-0.015
0

(7.666 +-0.381
0
) (7.666 +-0.381
0
) (13.120 +-0.383
0
)
+0 +0
S n/a n/a n/a 0.125 -0.002 0.125 -0.002 0.1885 +-0.002
0

(3.175 +-0.051
0
) (3.175 +-0.051
0
) (4.788 +-0.051
0
)
+0 +0
XD n/a n/a n/a 0.75 -0.016 0.75 -0.016 0.952 +-0.016
0

(19.050 +-0.4
0
) (19.050 +-0.4
0
) (24.200 +-0.4
0
)

S-Series Servo Motor Dimensions: 30-750 W Motors

lead lengths (minimum):
C1 (encoder cable) = 8.662” (220 mm)
C2 (both motor and brake cables = 7.874” (200 mm)

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GE Fanuc Motion Solutions 67
 Motion Solutions
Servo Motors

S-Series Servo Motors

Dimensions 1-5 kW Models

Dimension SLM100 (1 kW) SDM100 (1 kW) SLM250 (2.5 kW) SDM250 (2.5 kW) SLM350 (3.5 kW) SLM500 (5 kW) SDM500 (5 kW) SGM450 (4.5 kW)
in (mm) mm mm mm mm mm mm mm

A 4.38 (111.25) 130 100 130 120 130 176 176

AH 1.378 (35) 55 55 65 55 65 70 113

AJ 4.95 (125.73) 145 115 145 130/145 145 200 200

AK 2.188 +-0.004
0
(55.575 +-0.1
0
) 110 +-0.035
0
95 +-0.035
0
110 +-0.035
0
110 +-0.035
0
110 +-0.035
0
114.3 +-0.035
0
114.3 +-0.035
0

AL 5.512 (140) 165 135 165 162 165 233 233

BB 0.118 (3) 6 3 6 3 6 3.2 3.2

G 0.394 (10) 12 10 12 12 12 18 24

H 0.260 (6.6) 9 9 9 9 9 13.5 13.5

U 0.625 +-0.0005
0
(15.875 +-0.013
0
) 22 +-0.013
0
19 +-0.013
0
24 +-0.013
0
22 +-0.013
0
24 +-0.013
0
35 +-0.016
0
42 +-0.016
0

CI 3.31 (84) 84 84 84 84 84 84 84

C2 3.62 (92) 112 97 112 111 119 143 143

L 6.890 (175) 150 227 225 234 277 222 289

L (with Brake) 7.874 (200) 175 252 250 259 302 247 337.5

L1 6.012 (155) 130 207 205 214 257 202 269

L1 (with Brake) 7.087 (180) 155 232 230 239 282 227 317.5

L2 3.858 (98) 75 153 150 160 202 145 212

L2 (with Brake) 4.843 (123) 100 178 175 185 227 170 260.5

R (bottom of keyway) 0.5165 +-0.015

0
(13.120 +-0.383
0
) 18 15.5 20 18 20 30 37 +-0.2
0

S 0.1885 +-0.002
0
(4.788 +-0.051
0
) 8 +-0.036
0
6 +-0.036
0
8 +-0.036
0
8 +-0.036
0
8 +-0.036
0
10 +-0.036
0
12 +-0.043
0

T 0.1885 (4.788) 7 6 7 7 7 7 8

XD 1.000 (25.4) 41 42 41 41 51 50 90

S-Series Servo Motor Dimensions: 1-5 kW Motors

L1
L2
AH

BB

C2 C1
S
XD

U AK R
T

AL

G
L A

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68 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

S-Series Servo Motors

Encoder Connections

Motor Encoder Feedback Connectors Position Feedback Connections

Connect From... Connect To...
S2K Position Feedback Signal Name 30-750 W S-Series 1-5 kW S-Series
Connector Pin Number Motor Connector Motor Connector

1 A+ 1 A
2 B+ 3 C
3 Z+ 5 E
4 RX 11 P
30-750 W Motor Encoder 5 +5V 13 H
Connector (pin-end view) 6 GND 14 G
7 NC NC NC
8 NC NC NC
9 A- 2 B
10 B- 4 D
11 Z- 6 F
12 TX 12 R
13 +5V 13 H
14 GND 14 G
15 Shield 15 J
Note: The S-Series motors include a proprietary serial encoder interface (RX, TX) to determine the motor rotor position in order to
1-5 kW Motor Encoder
properly commutate the motor currents. GE Fanuc S-Series motors can only be used with GE Fanuc SL-Series or S2K Series amplifiers.
Connector (pin-end view)

Servo Motor Power and Brake Wiring and Grounding S-Series Motor Power Connections
30-750 W Motor Power 30-750 W Brake

Pin No. Signal Pin No. Signal

1 T (U) 1 Brake
2 R (V) 2 Brake
3 S (W)
4 GND

1-2.5 & 4.5 kW with Brake 3.5 & 5 kW with Brake

30-750 W Motor 30-750 W Brake 1, 2.5 & 4.5 kW with 1, 2.5 & 4.5 kW without
Pin No. Pin No. Signal Signal
(front view) (front view) brake (front view) brake (front view)
A&C NC A&B Brake
E&D GND C&I NC
B S (W) D T (U)
I R (V) E R (V)
F T (U) F S (W)
G&H Brake G&H GND

1-5 kW without Brake

Pin No. Signal

A T (U)
Connector View Definition 3.5 & 5 kW with brake 3.5 & 5 kW without brake B R (V)
(front view) (front view) C S (W)
D GND

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GE Fanuc Motion Solutions 69
 Motion Solutions
Servo Motors

S-Series Servo Motors

Ordering Information

Part Number Description SL Amplifier S2K Amplifier S2K Controller

No Brake Brake

IC800SLM003N3NE25 IC800SLM003N3BE25 0.84 in-lb 30 W, 115/230 V, IP65, NEMA 23 IC800SLA0031 IC800SSD104S1 IC800SSI104S1
IC800SLA0032 IC800SSI104D2
IC800SLM005N3NE25 IC800SLM005N3BE25 1.42 in-lb 50 W, 115/230 V, IP65, NEMA 23 IC800SLA0051 IC800SSI104P2
IC800SLA0052
IC800SLM010N1NE25 IC800SLM010N1BE25 2.83 in-lb 100 W, 115 V, IP65, NEMA 23 IC800SLA0101
IC800SLM010N2NE25 IC800SLM010N2BE25 2.83 in-lb 100 W, 230 V, IP65, NEMA 23 IC800SLA0102
IC800SLM020N1KE25 IC800SLM020N1XE25 5.7 in-lb 200 W, 115 V, IP65, Key, NEMA 34 IC800SLA0201
IC800SLM020N2KE25 IC800SLM020N2XE25 5.7 in-lb 200 W, 230 V, IP65, Key, NEMA 34 IC800SLA0202
IC800SLM040N1KE25 IC800SLM040N1XE25 11.5 in-lb 400 W, 115 V, IP65, Key, NEMA 34 IC800SLA0401
IC800SLM040N2KE25 IC800SLM040N2XE25 11.5 in-lb 400 W, 230 V, IP65, Key, NEMA 34 IC800SLA0402
IC800SLM075N2KE25 IC800SLM075N2XE25 21.2 in-lb 750 W, 230 V, IP65, Key, NEMA 34 IC800SLA0752
IC800SLM100N2KE25 IC800SLM100N2XE25 28 in-lb 1 kW, 230 V, IP65, Key, Oil Seal, NEMA 42 IC800SLA1002 IC800SSD107S1 IC800SSI107S1
IC800SDM100M2KE25 IC800SDM100M2XE25 43 in-lb 1 kW, 230 V, IP65, Key, Oil Seal, Metric n/a IC800SSI107D2
IC800SSI107P2
IC800SLM250M2KE25 IC800SLM250M2XE25 70 in-lb 2.5 kW, 230 V, IP65, Key, Oil Seal, Metric IC800SLA2502 IC800SSD216S1 IC800SSI216D2
IC800SDM250M2KE25 IC800SDM250M2XE25 104 in-lb 2.5 kW, 230 V, IP65, Key, Oil Seal, Metric n/a IC800SSI216P2
IC800SLM350M2KE25 IC800SLM350M2XE25 97 in-lb 3.5 kW, 230 V, IP65, Key, Oil Seal, Metric IC800SLA3502
IC800SLM500M2KE25 IC800SLM500M2XE25 140 in-lb 5 kW, 230 V, IP65, Key, Oil Seal, Metric IC800SLA5002 IC800SSD228S1 IC800SSI228P2
IC800SDM500M2KE25 IC800SDM500M2XE25 210 in-lb 5 kW, 230 V, IP65, Key, Oil Seal, Metric n/a IC800SSI228D2
IC800SGM450M2KE25 IC800SGM450M2XE25 322 in-lb 4.5 kW, 230 V, IP65, Key, Oil Seal, Metric n/a
For motor cable information please refer to the applicable amplifier or controller section.

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70 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

MTR-3S Series Servo Motors

Specifications

Specifications Units 3S22-G 3S23-G 3S32-G 3S33-G 3S34-G 3S35-G 3S45-G 3S63-G 3S65-G 3S67-H

Continuous Stall Torque1 in-lb (Nm) 4.8 (0.54) 8.0 (0.9) 14 (1.58) 21 (2.37) 27 (3.05) 32 (3.62) 48 (5.42) 70 (7.9) 115 (13) 168 (19)
Peak Torque3 in-lb (Nm) 14.8 (1.67) 22.6 (2.55) 38.6 (4.36) 52.5 (5.93) 69.3 (7.83) 86.8 (9.81) 119.5 (13.5) 177 (20) 293 (31.9) 379 (42.9)
Maximum Speed RPM 8000 4700 5500 4400 3300 2500 2800 3850 2300 3300
Feedback 4096 counts/rev resolver (control transmitter; 0.5 transformation ratio)
Weight lb (kg) 2.1 (0.95) 2.8 (1.3) 5.5 (2.5) 7.1 (3.2) 8.7 (3.9) 10.2 (4.6) 20 (9.1) 29 (13) 39 (18) 49 (22)
Rotor Inertia in-lb-s2 x 10-4
(kg-m2 x 10-4) 1.2 (0.14) 1.6 (0.18) 6.3 (0.71) 8.2 (0.93) 10.0 (1.1) 11.9 (1.3) 27.8 (3.1) 72 (8.1) 112 (12.6) 152 (17.2)
Shaft Thrust Load2 lb (kg) 20 (9.1) 20 (9.1) 35 (15.9) 35 (15.9) 35 (15.9) 35 (15.9) 50 (22.7) 70 (32) 70 (32) 70 (32)
Shaft Radial Load2 lb (kg) 50 (22.7) 50 (22.7) 90 (40.9) 90 (40.9) 90 (40.9) 90 (40.9) 125 (56.8) 185 (84) 185 (84) 185 (84)
Torque Constant in-lb/A (rms)
(Nm/A (rms)) 3.5 (0.4) 5.3 (0.6) 5.3 (0.6) 7.1 (0.8) 9.7 (1.1) 11.5 (1.3) 8.9 (1.0) 7.1 (0.8) 11.5 (1.30) 8.0 (0.9)
Resistance (phase) Ohms 22 20 7.3 6.9 8.1 9.2 3.2 0.93 1.2 0.37
Inductance (phase) mH 21 26 23 22 30 42 20 8.9 13.7 4.6
Electrical Time Constant ms 0.95 1.3 3.2 3.2 3.7 4.6 6.3 9.6 11.4 12.4
Continuous Current A(rms) 1.4 1.5 2.9 3.2 3.0 2.9 5.5 11 10.7 22.5
1Torque shown is available up to an ambient temperature of 25 °C with motor mounted to a 10’ x 10’ x 0.25’ aluminum heat sink.
2Shaft loads are based on L10 bearing life at 3000 rpm and assume force is applied to center of shaft.
3Peak torque ratings are limited by the specific amplifier or controller shown in the MTR-Series motor ordering information based on the amplifier’s peak current limitations.

Optional Brake Data

Inertia Adder in-lb-s2 x 10-4

(kg-m2 x 10-4) n/a n/a 0.34 (0.38) 0.34 (0.38) 0.34 (0.38) 0.34 (0.38) 5.0 (0.565) 3.7 (0.418) 3.7 (0.418) 3.7 (0.418)
Weight Adder lb (kg) n/a n/a 2.5 (1.14) 2.5 (1.14) 2.5 (1.14) 2.5 (1.14) 4.0 (1.82) 9 (4.1) 9 (4.1) 9 (4.1)
Voltage VDC ± 10% n/a n/a 24 24 24 24 24 24 24 24
Current A n/a n/a 0.72 0.72 0.72 0.72 0.71 1.14 1.14 1.14
Engage Time ms n/a n/a 10 10 10 10 20 25 25 25
Release Time ms n/a n/a 30 30 30 30 120 50 50 50
Torque in-lb (Nm) n/a n/a 32 (3.62) 32 (3.62) 32 (3.62) 32 (3.62) 72 (8.14) 180 (20.3) 180 (20.3) 180 (20.3)

Environmental Specifications
Relative Humidity 98% non-condensing
Ambient Temperature -20 to 40°C operating
Storage Temperature -30 to 150°C

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GE Fanuc Motion Solutions 71
 Motion Solutions
Servo Motors

MTR-3T Series Servo Motors

Specifications

Specifications Units 3T11-G 3T12-G 3T13-G 3T21-G 3T22-G 3T23-G 3T24-H 3T42-H 3T43-H 3T43-J 3T44-J

Continuous Stall Torque1 in-lb (Nm) 2.7 (0.30) 5.3 (0.6) 8 (0.9) 5.3 (0.60) 11.5 (1.3) 17.7 (2.0) 23.0 (2.6) 36.3 (4.1) 50.4 (5.7) 54.0 (6.1) 72 (8.13)
Peak Torque3 in-lb (Nm) 9.3 (1.05) 20.8 (2.35) 24.6 (2.78) 19.9 (2.25) 35.5 (4.01) 53.5 (6.05) 58.2 (6.58) 105.8 (11.9) 100 (11.3) 106.7 (12.06) 143.6 (16.23)
Rated Speed:
@120 VAC input RPM 3,500 4,250 4,500 3,025 2,325 1,800 1,500 1,475 925 1,500 1,050
@240 VAC input 7,000 8,500 9,000 6,050 4,650 3,600 3,000 2,950 1,850 3,000 2,100
@480 VAC input n/a n/a n/a n/a n/a n/a n/a 5,900 n/a 6,800 5,100
No-load Speed:
@120 VAC input RPM 6,450 5,400 5,300 4,625 3,550 2,350 2,175 2,000 1,300 2,025 1,500
@240 VAC input 12,900 10,800 10,600 9,250 7,100 4,700 4,350 4,000 2,600 4,050 3,000
@480 VAC input n/a n/a n/a n/a n/a n/a n/a 7,900 n/a 8,100 6,000
Feedback 4096 counts/rev resolver (control transmitter; 0.5 transformation ratio)
Weight lb (kg) 2.6 (1.2) 3.3 (1.5) 4.2 (1.9) 3.7 (1.7) 5.0 (2.3) 6.4 (2.9) 7.7 (3.5) 136 (6.2) 16.7 (7.6) 16.7 (7.6) 20 (9.0)
Rotor Inertia in-lb-s2 x 10-4
(kg-m2 x 10-4) 1.02 (0.12) 1.64 (0.19) 2.26 (0.26) 1.9 (0.22) 3.4 (0.38) 4.9 (0.55) 6.4 (0.72) 32 (3.6) 46 (5.2) 46 (5.2) 60 (6.8)
Shaft Thrust Load2 lb (kg) n/a n/a n/a 17 (7.7) 17 (7.7) 17 (7.7) 17 (7.7) 41.5 (18.9) 41.5 (18.9) 41.5 (18.9) 41.5 (18.9)
Shaft Radial Load2 lb (kg) n/a n/a n/a 62 (28.1) 62 (28.1) 62 (28.1) 62 (28.1) 157 (71.5) 157 (71.5) 157 (71.5) 157 (71.5)
Torque Constant in-lb/A (rms)
(Nm/A (rms)) 2.4 (0.27) 2.9 (0.32) 2.9 (0.32) 3.3 (0.37) 4.3 (0.49) 6.5 (0.74) 7.0 (0.79) 7.7 (0.87) 11.9 (1.34) 7.5 (0.85) 10.2 (1.15)
Resistance (phase) Ohms 16.3 6.8 3.9 8.8 4.81 6.1 4.6 3.2 3.9 1.54 1.8
Inductance (phase) mH 7.1 4.3 2.7 10.5 7.4 10.6 8.9 8.9 13.0 5.3 7.1
Electrical Time Constant ms 0.43 0.63 0.69 1.19 1.54 1.73 1.93 2.78 3.33 3.44 3.94
Continuous Current A(rms) 0.96 1.88 2.73 1.72 2.65 2.7 3.3 4.7 4.6 7.2 7.2
1Torque shown is available up to an ambient temperature of 25°C with motor mounted to a 10’ x 10’ x 0.25’ aluminum heat sink.
2Shaft loads are based on L10 bearing life at 3000 rpm and assume force is applied to center of shaft.
3Peak torque ratings are limited by the specific amplifier or controller shown in the MTR-Series motor ordering information based on the amplifier’s peak current limitations.

Optional Brake Data

Inertia Adder in-lb-s2 x 10-4

(kg-m2 x 10-4) 1.1 (0.12) 1.1 (0.12) 1.1 (0.12) 1.1 (0.12) 1.1 (0.12) 1.1 (0.12) 1.1 (0.12) 9.7 (1.1) 9.7 (1.1) 9.7 (1.1) 9.7 (1.1)
Weight Adder lb (kg) 0.4 (0.2) 0.4 (0.2) 0.4 (0.2) 0.4 (0.2) 0.4 (0.2) 0.4 (0.2) 0.4 (0.2) 1.3 (0.6) 1.3 (0.6) 1.3 (0.6) 1.3 (0.6)
Voltage VDC ± 10% 24 24 24 24 24 24 24 24 24 24 24
Current A 0.33 0.33 0.33 0.33 0.33 0.33 0.33 0.66 0.66 0.66 0.66
Engage Time ms 25 25 25 25 25 25 25 20 20 20 20
Release Time ms 25 25 25 25 25 25 25 30 30 30 30
Torque in-lb (Nm) 10.6 (1.2) 10.6 (1.2) 10.6 (1.2) 10.6 (1.2) 10.6 (1.2) 10.6 (1.2) 10.6 (1.2) 88.5 (10) 88.5 (10) 88.5 (10) 88.5 (10)

Environmental Specifications
Relative Humidity 98% non-condensing
Ambient Temperature -20 to 40°C operating
Storage Temperature -30 to 150°C

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Servo Motors

MTR-3T Series Servo Motors

Specifications (cont.)

Specifications Units 3T45-H 3T54-H 3T55-H 3T57-H 3T66-H 3T67-G 3T69-G

Continuous Stall Torque1 in-lb (Nm) 90.3 (10.2) 120 (13.5) 151 (17) 195 (22) 318 (36) 372 (42) 477 (53.9)
Continuous Torque in-lb (Nm) n/a 119.3 (13.48) 150.3 (16.98) n/a 307 (34.69) 358.5 (40.5) 463 (52.3)
w/ 480 V, 20A S2K
Peak Torque3 in-lb (Nm) 181 (20.45) 304.9 (34.45) 383.9 (43.38) 488.8 (55.2) 772.5 (87.3) 902 (102) 1165 (132)
Peak Torque in-lb (Nm) n/a 351.1 (39.67) 442.1 (49.95) n/a 578.2 (65.3) 674.7 (76.3) 871.5 (98.5)
w/ 480V, 20A S2K
Rated Speed:
@120 VAC input RPM 825 n/a n/a n/a n/a n/a n/a
@240 VAC input 1,650 2,100 1,650 2,450 1,450 1,250 950
@480 VAC input 4,000 4,300 3,400 n/a 3,150 2,700 2,100
No-load Speed:
@120 VAC input RPM 1,175 n/a n/a n/a n/a n/a n/a
@240 VAC input 2,350 2,700 2,150 3,050 2,000 1,700 1,300
@480 VAC input 4,750 5,450 4,300 n/a 3,950 3,400 2,650
Feedback 4096 counts/rev resolver (control transmitter; 0.5 transformation ratio)
Weight lb (kg) 22.9 (10.4) 28.6 (13) 33 (15) 41.9 (19) 79.3 (36) 92.5 (42) 119 (54)
Rotor Inertia in-lb-s2x 10-4
(kg-m2 x 10-4) 74 (8.4) 220 (24.9) 271 (30.6) 373 (42.1) 833 (94) 965 (109) 1230 (139)
Shaft Thrust Load2 lb (kg) 41.5 (18.9) 31.5 (18.9) 31.5 (18.9) 31.5 (18.9) 48.3 (21.9) 48.3 (21.9) 48.3 (21.9)
Shaft Radial Load2 lb (kg) 157 (71.5) 115 (52.3) 115 (52.3) 115 (52.3) 200 (45) 200 (45) 200 (45)
Torque Constant in-lb/A (rms)
(Nm/A (rms)) 12.9 (1.46) 11.3 (1.27) 14.2 (1.6) 10 (1.13) 15.4 (1.74) 18 (2.04) 23.3 (2.63)
Resistance (phase) Ohms 2.1 0.8 0.9 0.3 0.32 0.35 0.41
Inductance (phase) mH 8.7 7.1 8.8 3.1 6.5 7.7 10
Electrical Time Constant ms 4.1 8.9 9.8 10.3 20.3 22 24.4
Continuous Current A(rms) 7.1 10.6 10.6 19.5 20.7 20.7 20.6
1Torque shown is available up to an ambient temperature of 25°C with motor mounted to a 10’ x 10’ x 0.25’ aluminum heat sink.
2Shaft loads are based on L10 bearing life at 3000 rpm and assume force is applied to center of shaft.
3Peak torque ratings are limited by the specific amplifier or controller shown in the MTR-Series motor ordering information based on the amplifier’s peak current limitations.

Optional Brake Data

Inertia Adder in-lb-s2 x 10-4

(kg-m2 x 10-4) 9.7 (1.1) 31.9 (3.6) 31.9 (3.6) 31.9 (3.6) 84.1 (9.5) 84.1 (9.5) 84.1 (9.5)
Weight Adder lb (kg) 1.3 (0.6) 3.3 (1.5) 3.3 (1.5) 3.3 (1.5) 4.8 (2.2) 4.8 (2.2) 4.8 (2.2)
Voltage VDC ± 10% 24 24 24 24 24 24 24
Current A 0.48 0.41 0.41 0.41 0.73 0.73 0.73
Engage Time ms 20 25 25 25 25 25 25
Release Time ms 30 50 50 50 75 75 75
Torque in-lb (Nm) 88.5 (10) 159 (16) 159 (16) 159 (16) 354 (40) 354 (40) 354 (40)

Environmental Specifications
Humidity 98% non-condensing
Ambient Temperature -20 to 40°C operating
Storage Temperature -30 to 150°C

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GE Fanuc Motion Solutions 73
 Motion Solutions
Servo Motors

MTR-3S Series Servo Motors Rated Speed is provided for operation on a

230 VAC 3-phase input line; derate by 50%
Speed Torque Curves for operation on a 115 VAC 1-phase input
line. Peak Torque rating is available for up
to 2 seconds, depending on the continuous
current demand in the application.
MTR-3S22-G (115 V) MTR-3S22-G (230 V)
16 16

14 14

12 12
Intermittent Operation Intermittent Operation
To r que i n- l b

To r que i n- l b
10 10

8 8

6 6

4 4

2 Continuous Operation 2 Continuous Operation

0 0
1000 2000 3000 4000 5000 2000 4000 6000 8000 10000
Speed (RPM) Speed (RPM)

MTR-3S23-G (115 V) MTR-3S23-G (230 V) MTR-3S32-G (115 V)

25 25 45

40
20 20 35
Intermittent Operation Intermittent Operation Intermittent Operation
To rque in-lb

To rque in-lb

To rque in-lb
30
15 15
25

20
10 10
15

5 5 10
Continuous Operation Continuous Operation Continuous Operation
5

0 0 0
500 1000 1500 2000 2500 3000 3500 1000 2000 3000 4000 5000 6000 7000 500 1000 1500 2000 2500 3000 3500
Speed (RPM) Speed (RPM) Speed (RPM)

MTR-3S32-G (230 V) MTR-3S33-G (115 V) MTR-3S33-G (230 V)

45 60 60

40
50 50
35
Intermittent Operation Intermittent Operation Intermittent Operation
To rque in-lb

To rque in-lb

To rque in-lb

30 40 40

25
30 30
20

15 20 20

10
10 Continuous Operation 10 Continuous Operation
Continuous Operation
5

0 0 0
1000 2000 3000 4000 5000 6000 7000 500 1000 1500 2000 2500 1000 2000 3000 4000 5000
Speed (RPM) Speed (RPM) Speed (RPM)

MTR-3S34-G (115 V) MTR-3S34-G (230 V) MTR-3S35-G (115 V)

80 80 100

90
70 70
80
60 60
70
To r q u e i n - l b

To r q u e i n - l b

To r q u e i n - l b

Intermittent Operation
50 50
60
Intermittent Operation
40 40 50
Intermittent Operation
40
30 30
30
20 20
Continuous Operation Continuous Operation 20
Continuous Operation
10 10
10

0 0 0
500 1000 1500 2000 2500 1000 2000 3000 4000 500 1000 1500
Speed (RPM) Speed (RPM) Speed (RPM)

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74 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

MTR-3S Series Servo Motors Rated Speed is provided for operation on a

230 VAC 3-phase input line; derate by 50%
Speed Torque Curves (continued) for operation on a 115 VAC 1-phase input
line. Peak Torque rating is available for up
to 2 seconds, depending on the continuous
current demand in the application.
MTR-3S35-G (230 V) MTR-3S45-G (115 V)
100 140

90
120
80

70 100
To r que i n- l b

To r que i n- l b
Intermittent Operation Intermittent Operation
60
80
50
60
40

30 40
20 Continuous Operation
Continuous Operation 20
10

0 0
500 1000 1500 2000 2500 3000 500 1000 1500 2000
Speed (RPM) Speed (RPM)

MTR-3S45-G (230 V) MTR-3S63-G (230 V)

140 200

180
120
160
100 140
To rque in-lb

To rque in-lb

Intermittent Operation Intermittent Operation

120
80
100
60
80

40 60

Continuous Operation 40 Continuous Operation

20
20

0 0
500 1000 1500 2000 2500 3000 3500 1000 2000 3000 4000 5000
Speed (RPM) Speed (RPM)

MTR-3S65-G (230 V) MTR-3S67-H (230 V)

350 400

350
300

300
250 Intermittent Operation
To rque in-lb
To rque in-lb

Intermittent Operation 250

200
200
150
150
100
100
Continuous Operation
50 Continuous Operation
50

0 0
500 1000 1500 2000 2500 3000 1000 2000 3000 4000
Speed (RPM) Speed (RPM)

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GE Fanuc Motion Solutions 75
 Motion Solutions
Servo Motors

MTR-3T Series Servo Motors

Speed Torque Curves (continued)

MTR-3T11-G (115 V) MTR-3T11-G (230 V) MTR-3T12-G (115 V)

10 10 25

8 8 20

Intermittent Operation 7 Intermittent Operation

To r que i n- l b

To r que i n- l b

To r que i n- l b
Intermittent Operation
6 6 15

4 4 10

2 2 5
Continuous Operation 1
Continuous Operation
Continuous Operation
0 0 0
1000 2000 3000 4000 5000 6000 7000 4000 6000 8000 10000 12000 14000 1000 2000 3000 4000 5000 6000
Speed (RPM) Speed (RPM) Speed (RPM)

MTR-3T12-G (230 V) MTR-3T13-G (115 V) MTR-3T13-G (230 V)

25 30 30

25 25
20
To rque in-lb

To rque in-lb

To rque in-lb
20 20
15 Intermittent Operation Intermittent Operation
Intermittent Operation 15 15

10
10 10

5
5 5
Continuous Operation Continuous Operation Continuous Operation

0 0 0
2000 4000 6000 8000 10000 12000 1000 2000 3000 4000 5000 6000 2000 4000 6000 8000 10000 12000
Speed (RPM) Speed (RPM) Speed (RPM)

MTR-3T21-G (115 V) MTR-3T21-G (230 V) MTR-3T22-G (115 V)

25 25 40

35
20 20
30
Intermittent Operation Intermittent Operation
To rque in-lb

To rque in-lb

To rque in-lb

Intermittent Operation 25
15 15

20

10 10
15

10
5 5
Continuous Operation Continuous Operation 5
Continuous Operation
0 0 0
500 1000 1500 2000 2500 3000 3500 4000 4500 5000 0 2000 4000 6000 8000 10000 500 1000 1500 2000 2500 3000 3500 4000
Speed (RPM) Speed (RPM) Speed (RPM)

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76 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

MTR-3T Series Servo Motors

Speed Torque Curves (continued)

MTR-3T22-G (230 V) MTR-3T23-G (115 V) MTR-3T23-G (230 V)

40 60 60

35
50 50
30 Intermittent Operation Intermittent Operation
Intermittent Operation
To r que i n- l b

To r que i n- l b

To r que i n- l b
40 40
25

20 30 30

15
20 20
10
10 10 Continuous Operation
5 Continuous Operation Continuous Operation

0 0 0
1000 2000 3000 4000 5000 6000 7000 8000 500 1000 1500 2000 2500 500 1000 1500 2000 2500 3000 3500 4000 4500 5000
Speed (RPM) Speed (RPM) Speed (RPM)

MTR-3T24-H (115 V) MTR-3T24-H (230 V) MTR-3T42-H (115 V)

60 60 125

50 50
100
Intermittent Operation Intermittent Operation
Intermittent Operation
To rque in-lb

To rque in-lb

To rque in-lb
40 40
75

30 30

50
20 20

25
10 Continuous Operation 10 Continuous Operation Continuous Operation

0 0 0
500 1000 1500 2000 2500 1000 2000 3000 4000 5000 500 1000 1500 2000
Speed (RPM) Speed (RPM) Speed (RPM)

MTR-3T42-H (230 V) MTR-3T42-H (460 V) MTR-3T43-H (115 V)

125 125 125

100 100 100

Intermittent Operation Intermittent Operation Intermittent Operation
To rque in-lb

To rque in-lb

To rque in-lb

75 75 75

50 50 50

25 25 25
Continuous Operation Continuous Operation Continuous Operation

0 0 0
500 1000 1500 2000 2500 3000 3500 4000 1000 2000 3000 4000 5000 6000 7000 8000 250 500 750 1000 1250 1500
Speed (RPM) Speed (RPM) Speed (RPM)

MTR-3T43-H (230 V) MTR-3T43-J (115 V) MTR-3T43-J (230 V)

125 125 125

100 100 100

Intermittent Operation Intermittent Operation Intermittent Operation
To r q u e i n - l b

To r q u e i n - l b

To r q u e i n - l b

75 75 75

50 50 50

25 25 Continuous Operation 25 Continuous Operation

Continuous Operation

0 0 0
500 1000 1500 2000 2500 3000 500 1000 1500 2000 2500 500 1000 1500 2000 2500 3000 3500 4000 4500
Speed (RPM) Speed (RPM) Speed (RPM)

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GE Fanuc Motion Solutions 77
 Motion Solutions
Servo Motors

MTR-3T Series Servo Motors

Speed Torque Curves (continued)

MTR-3T43-J (460 V) MTR-3T44-J (115 V) MTR-3T44-J (230 V)

125 150 150

125 125
100
Intermittent Operation Intermittent Operation Intermittent Operation
To r que i n- l b

To r que i n- l b

To r que i n- l b
100 100
75

75 75

50
50 50

Continuous Operation Continuous Operation

25 Continuous Operation
25 25

0 0 0
1000 2000 3000 4000 5000 6000 7000 8000 9000 250 500 750 1000 1250 1500 500 1000 1500 2000 2500 3000
Speed (RPM) Speed (RPM) Speed (RPM)

MTR-3T44-J (460 V) MTR-3T45-H (115 V) MTR-3T45-H (230 V)

150 200 200

175 175
125
Intermittent Operation
150 150
Intermittent Operation Intermittent Operation
To rque in-lb

To rque in-lb

To rque in-lb
100
125 125

75 100 100

75 75
50

Continuous Operation 50 50 Continuous Operation

Continuous Operation
25
25 25

0 0 0
1000 2000 3000 4000 5000 6000 250 500 750 1000 1250 500 1000 1500 2000 2500
Speed (RPM) Speed (RPM) Speed (RPM)

MTR-3T45-H (460 V) MTR-3T54-H (230 V) MTR-3T54-H (460 V)

200 350 400

175 300 350

Intermittent Operation
150 300
250
Intermittent Operation
To rque in-lb

To rque in-lb

To rque in-lb

125 Intermittent Operation 250

200
100 200
150
75 150
100
50 Continuous Operation 100

50 Continuous Operation Continuous Operation

25 50

0 0 0
1000 2000 3000 4000 5000 500 1000 1500 2000 2500 3000 1000 2000 3000 4000 5000 6000
Speed (RPM) Speed (RPM) Speed (RPM)

MTR-3T55-H (230 V) MTR-3T55-H (460 V) MTR-3T57-H (230 V)

400 500 500

450 450
350
400 400
300
Intermittent Operation 350 350
To r q u e i n - l b

To r q u e i n - l b

To r q u e i n - l b

250 Intermittent Operation Intermittent Operation

300 300

200 250 250

200 200
150
150 150
100
Continuous Operation 100 100
50
Continuous Operation Continuous Operation
50 50

0 0 0
250 500 750 1000 1250 1500 1750 2000 2250 500 1000 1500 2000 2500 3000 3500 4000 4500 500 1000 1500 2000 2500 3000 3500
Speed (RPM) Speed (RPM) Speed (RPM)

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78 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

MTR-3T Series Servo Motors

Speed Torque Curves (continued)

MTR-3T66-H (230 V) MTR-3T66-H (460 V) MTR-3T67-G (230 V)

800 600 1000

900
700
500
800
600 Intermittent Operation Intermittent Operation
Intermittent Operation 700
To r que i n- l b

To r que i n- l b

To r que i n- l b
400
500
600

400 300 500

400
300
200
300
200
200
Continuous Operation 100 Continuous Operation Continuous Operation
100
100

0 0 0
500 1000 1500 2000 1000 2000 3000 4000 250 500 750 1000 1250 1500 1750
Speed (RPM) Speed (RPM) Speed (RPM)

MTR-3T67-G (460 V) MTR-3T69-G (230 V) MTR-3T69-G (460V)

700 1200 1000

600 1000
800
Intermittent Operation Intermittent Operation
500 Intermittent Operation
To rque in-lb

To rque in-lb

To rque in-lb
800
600
400
600
300
400
400
200
200 Continuous Operation
100 Continuous Operation 200 Continuous Operation

0 0 0
500 1000 1500 2000 2500 3000 3500 250 500 750 1000 1250 1500 500 1000 1500 2000 2500 3000
Speed (RPM) Speed (RPM) Speed (RPM)

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GE Fanuc Motion Solutions 79
 Motion Solutions
Servo Motors

MTR-3S20 Series Servo Motor

Dimensions

+.0000
ø .4995 -.0005
+.0000
4X ø .200 (.051) THRU ( .12.69 -.0127 )
ON A ø 2.625 (66.68) B.C.
.002 (.051) -A-

ø 1.500 ± .002 .060 ± .005

(38.1 ± .051) (1.524 ± .127)
.003 (.076) A .250 (6.35)
2.25 (57.15)
.81 ± .03 (20.59 ± .762) .002 (.051) A

FEEDBACK AND THERMISTOR

CONNECTOR

MOTOR CONNECTOR

(FLYING LEADS
OPTIONAL)

18.0 MIN.

(457.2 MIN.)

L2

Model L1 L2 Weight

L1 MAX. 3S22 7.38 (187.5) 5.93 (150.6) 2.1 (0.95)

3S23 8.38 (212.9) 6.93 (176.0) 2.8 (1.3)
Dimensions are shown in inches (mm), weight in pounds (kg)

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80 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

MTR-3S30 Series Servo Motor

Dimensions

Model L1 L2 Weight

3S32 7.09 (180.1) 5.62 (142.7) 5.5 (2.5)

3S33 8.09 (205.5) 6.62 (168.1) 7.1 (3.2)
3S34 9.09 (230.9) 7.62 (193.5) 8.7 (3.9)
3S35 10.09 (256.3) 8.62 (218.9) 10.2 (4.6)
Brake Option: Add 2.22” (56.39 mm) to L1; Add 2.5 lbs (1.44 kg) to Weight
Dimensions are shown in inches (mm), weight in pounds (kg)

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GE Fanuc Motion Solutions 81
 Motion Solutions
Servo Motors

MTR-3S40 Series Servo Motor

Dimensions

4X ø .344 (8.77) THRU ON

A ø 5.000 (127) B.C.
+.000
+.0000
ø .6245 -.0005 (15.86 -.013 )
4X 5/16-18 UNC-2B
.38 (9.652) MIN. ON A .002 (.051) A
ø 3.250 (82.55) B.C.
+.0000 +.000
.1875 -.0020 (4.763 -.051 )
4.25 (105.97)

+.000 1.375 ± .010

.705 -.017
(34.93 .254)
+.000
(
17.907 -.4318 )

+.000
ø 2.500 -.002
.125 ± .005
+.000
(
63.5 -.051 ) (3.175 ± .127)
4X R .41 (10.414) .42 (10.668)
BEHIND FLANGE .002 (.051) A
FEEDBACK 2.00 ± .03
CONNECTOR (50.8 ± .762)
MOTOR .002 (.051) A
CONNECTOR

Square Flange

3.2
(81.3)

L2 .81 MAX. (20.6)

L1 MAX.

CONNECTOR LOCATION
FOR OPTIONAL BRAKE
Model L1 L2 Weight

3S45 9.9 (251.5) 8.51 (216.2) 20.0 (9.1)

Brake Option: Add 2.44” (61.9 mm) to L1; Add 4 lbs (1.8 kg) to Weight
Dimensions are shown in inches (mm), weight in pounds (kg)

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82 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

MTR-3S60 Series Servo Motor

Dimensions

(28.56 )

.002 (.051)

Model L1 L2 L3 Weight

3S63 9.36 (327.7) 8.12 (206.2) 3.95 (100.3) 29.0 (13.0)

3S65 11.36 (288.5) 10.12 (257) 3.95 (100.3) 39.0 (18.0)
3S67 13.36 (339.3) 12.12 (307.8) 3.95 (100.3) 49.0 (22.0)
Brake Option: Add 2.66” (67.6 mm) to L1; Add 9 Ibs (4.1 kg) to Weight
Dimensions are shown in inches (mm), weight in pounds (kg)

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GE Fanuc Motion Solutions 83
 Motion Solutions
Servo Motors

MTR-3T10 Series Servo Motor

Dimensions

1.79 (45.5)
.10 ± .01 (2.5 ± 0.3)

.31 ± .04 (8 ± 1)

.787 (20)
ø 1.5746 (40) j6
ø .3544 (9) k6

CENTER HOLE
DR M3 DIN 332

( L ) MAX
.787 ± 0.02
(20 ± 0.5)

SENSOR CONNECTOR POWER CONNECTOR

---------------- ---------------

ø 2.48 (63)
2.323 (59)

.19 (4.8) (x4)

SQ. 2.17 (SQ. 55)

Model L Max Weight

3T11 4.921 (125) 2.6 (1.2)

3T12 5.906 (150) 3.3 (1.5)
3T13 6.890 (175) 4.2 (1.9)
Brake Option: Add 1” (25 mm) to L; Add 0.4 Ibs (0.2 kg) to Weight
Dimensions are shown in inches (mm), weight in pounds (kg)

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84 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

MTR-3T20 Series Servo Motor

Dimensions DR M4 DIN 13.07 (332)

.10 ± .01 (2.5 ± 0.3)

1.71 (43.5)
CENTER HOLE

.31 ± .04 (8 ± 1)

.906 (23)
ø 2.36 (60) j6

ø .43 (11) k6

( L ) MAX
.906 ± 0.02
(23 ± 0.5)

SENSOR CONNECTOR POWER CONNECTOR

---------------- ---------------

ø 3.35 (85)

45°

1.77 (45) (x4) ø .228 (5.8) (x4)

SQ. 2.76 (70)

Model L Max Weight

3T21 5.63 (143) 3.7 (1.7)

3T22 6.61 (168) 5.0 (2.3)
3T23 7.59 (193) 6.4 (2.9)
3T24 8.58 (218) 7.7 (3.5)
Brake Option: Add 0.4 Ibs (0.2 kg) to Weight
Dimensions are shown in inches (mm), weight in pounds (kg)

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GE Fanuc Motion Solutions 85
 Motion Solutions
Servo Motors

MTR-3T40 Series Servo Motor

Dimensions

.709 (18) SENSOR CONNECTOR POWER CONNECTOR

---------------- ---------------
.138 ± .01 (3.5 ± 0.3)

1.63 (41.5)
.354 ± .04 (9 ± 1)

ø 5.12 (130)
ø .748 (19) k6

1.57 (40)
ø 4.33 (110) j6

CENTER HOLE
DR M6 DIN
13.07 (332)

45°

ø .354 (9) (x4)

( L ) MAX. .40 (10) MAX.
1.57 ± .02 (40 ± 0.5)

ROTATION STOP
2.95 (75) (x4)

SQ. 4.53 (115)

Model L Max Weight

3T42 7.28 (185) 13.6 (6.2)

3T43 8.27 (210) 16.7 (7.6)
3T44 9.25 (235) 20.0 (9.0)
3T45 10.24 (260) 22.9 (10.4)
Brake Option: Add 1.3 Ibs (0.6 kg) to Weight
Dimensions are shown in inches (mm), weight in pounds (kg)

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86 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

MTR-3T50 Series Servo Motor

Dimensions

.709 (18) SENSOR CONNECTOR POWER CONNECTOR

---------------- ---------------
.138 ± .004 (3.5 ± 0.1)

1.63 (41.5)
.472 ± .04 (12 ± 1)
ø 6.5 (165)
ø .945 (24) k6

1.97 (50)
ø 5.12 (130) j6

CENTER HOLE
DR M8 DIN
13.07(332)

45°

( L ) MAX. .40 (10) MAX. ø .433 (11) (x4)

1.97 ± .02 (50 ± 0.5)

ROTATION STOP

3.7 (94) x4
SQ. 5.59 (142)

Model L Max Weight

3T54 9.06 (230) 28.6 (13.0)

3T55 10.04 (255) 33.0 (15.0)
3T57 12.01 (305) 41.9 (19.0)
Brake Option: Add 3.3 Ibs (1.5 kg) to Weight
Dimensions are shown in inches (mm), weight in pounds (kg)

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GE Fanuc Motion Solutions 87
 Motion Solutions
Servo Motors

MTR-3T60 Series Servo Motor

Dimensions

POWER CONNECTOR SENSOR CONNECTOR

1.18 (30) --------------- ----------------
(SEE NOTE BELOW)
.67 (17)
.157 ± .01 (4 ± 0.3)

1.63 (41.5)
.591 ± .04 (15 ± 1)

A
ø 8.46 (215)
ø 1.26 (32) k6
ø 7.09 (180) j6

2.28 (58)
CENTER HOLE
DR M12
DIN 13.07 (332)

45°

ø .551 (14) (x4)

( L ) MAX. .236 (6) MAX.

2.28 ± .02 (58 ± 0.5)

2.28 (58)

4.92 (125) (x4)

SQ. 7.48 (190 )

Model L Max Weight

3T66 12.60 (320) 79.3 (36.0)

3T67 13.58 (345) 92.5 (42.0)
3T69 15.55 (395) 119 (54.0)
Brake Option: Add 4.8 Ibs (2.2 kg) to Weight
Dimensions are shown in inches (mm), weight in pounds (kg)

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88 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

MTR-Series Servo Motor Power and Brake Connections

Pin Function

D A D A A Phase T
B Phase R
C Phase S
C B C B D Ground (Frame)

3S20 Series 3S30, 3S40, and 3S60 Series

Pin Function

A +VDC
B A B VDC RTN

3S30, 3S40, and 3S60 Series

MTR-Series Servo Motor Resolver Connections Pin Function

A S4 (-cosine)
B S3 (-sine)
C S2 (+cosine)
D S1 (+sine)
G A G A
E R1 (Excitation)
B B F R2 (Excitation RTN)
H H
F F G Thermistor
C C H Thermistor
E E
D D

3S20 Series 3S30, 3S40, and 3S60 Series

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GE Fanuc Motion Solutions 89
 Motion Solutions
Servo Motors

MTR-Series Servo Motors

Ordering Information

Amplifier/Controller

Part Number* Description S2K Amplifier S2K Controller

Motor Only Motor with Brake

MTR-3S22-G-R-0-N-S n/a 4.8 in-lb, 230V, IP65, Key, NEMA23, Seal IC800SSD104RS1 IC800SSI104RS1
MTR-3S23-G-R-0-N-S n/a 8 in-lb, 230V, IP65, Key, NEMA23, Seal IC800SSI104RD2
MTR-3S32-G-R-0-E-S MTR-3S32-G-R-B-E-S 14 in-lb, 230V, IP65, Key, NEMA34, Seal IC800SSI104RP2
MTR-3S33-G-R-0-E-S MTR-3S33-G-R-B-E-S 21 in-lb, 230V, IP65, Key, NEMA34, Seal
MTR-3S34-G-R-0-E-S MTR-3S34-G-R-B-E-S 27 in-lb, 230V, IP65, Key, NEMA34, Seal
MTR-3S35-G-R-0-E-S MTR-3S35-G-R-B-E-S 32 in-lb, 230V, IP65, Key, NEMA34, Seal
MTR-3T11-G-R-0-M-S MTR-3T11-G-R-B-M-S 2.3 in-lb, 230V, IP65, Key, Metric, Seal
MTR-3T12-G-R-0-M-S MTR-3T12-G-R-B-M-S 5.3 in-lb, 230V, IP65, Key, Metric, Seal
MTR-3T13-G-R-0-M-S MTR-3T13-G-R-B-M-S 8 in-lb, 230V, IP65, Key, Metric, Seal
MTR-3T21-G-R-0-M-S MTR-3T21-G-R-B-M-S 5.6 in-lb, 230V, IP65, Key, Metric, Seal
MTR-3T22-G-R-0-M-S MTR-3T22-G-R-B-M-S 11.5 in-lb, 230V, IP65, Key, Metric, Seal
MTR-3T23-G-R-0-M-S MTR-3T23-G-R-B-M-S 17.7 in-lb, 230V, IP65, Key, Metric, Seal
MTR-3T24-H-R-0-M-S MTR-3T24-H-R-B-M-S 23 in-lb, 230V, IP65, Key, Metric, Seal
MTR-3T42-H-R-0-M-0 MTR-3T42-H-R-B-M-0 33 in-lb, 230V, IP65, Key, Metric
MTR-3T43-H-R-0-M-0 MTR-3T43-H-R-B-M-0 54 in-lb, 230V, IP65, Key, Metric
MTR-3S45-G-R-0-E-S MTR-3S45-G-R-B-E-S 48 in-lb, 230V, IP65, Key, Seal IC800SSD107RS1 IC800SSI107RS1
MTR-3T42-H-R-0-M-0 MTR-3T42-H-R-B-M-0 33 in-lb, 230V, IP65, Key, Metric IC800SSI107RD2
MTR-3T43-J-R-0-M-0 MTR-3T43-J-R-B-M-0 54 in-lb, 230V, IP65, Key, Metric IC800SSI107RP2
MTR-3T44-J-R-0-M-0 MTR-3T44-J-R-B-M-0 72 in-lb, 230V, IP65, Key, Metric
MTR-3T45-H-R-0-M-0 MTR-3T45-H-R-B-M-0 90 in-lb, 460V, IP65, Key, Metric
MTR-3S63-G-R-0-E-S MTR-3S63-G-R-B-E-S 70 in-lb, 230V, IP65, Key, Seal IC800SSD216RS1 IC800SSI216RD2
MTR-3S65-G-R-0-E-S MTR-3S65-G-R-B-E-S 115 in-lb, 230V, IP65, Key, Seal IC800SSI216RP2
MTR-3T54-H-R-0-M-0 MTR-3T54-H-R-B-M-0 120 in-lb, 230/460V, IP65, Key, Metric
MTR-3T55-H-R-0-M-0 MTR-3T55-H-R-B-M-0 151 in-lb, 230/460V, IP65, Key, Metric
MTR-3S67-H-R-0-E-S MTR-3S67-H-R-B-E-S 168 in-lb, 230V, IP65, Key, Seal IC800SSD228RS1 IC800SSI228RP2
MTR-3T57-H-R-0-M-0 MTR-3T57-H-R-B-M-0 195 in-lb, 230V, IP65, Key, Metric IC800SSI228RD2
MTR-3T66-H-R-0-M-0 MTR-3T66-H-R-B-M-0 319 in-lb, 230V, IP65, Key, Metric
MTR-3T67-G-R-0-M-0 MTR-3T67-G-R-B-M-0 372 in-lb, 230V, IP65, Key, Metric
MTR-3T69-G-R-0-M-0 MTR-3T69-G-R-B-M-0 478 in-lb, 230V, IP65, Key, Metric
MTR-3T42-H-R-0-M-0 MTR-3T42-H-R-B-M-0 33 in-lb, 230V, IP65, Key, Metric IC800SSD407RS1 IC800SSI407RS1
MTR-3T43-J-R-0-M-0 MTR-3T43-J-R-B-M-0 54 in-lb, 230V, IP65, Key, Metric IC800SSI407RD2
MTR-3T44-J-R-0-M-0 MTR-3T44-J-R-B-M-0 72 in-lb, 460V, IP65, Key IC800SSI407RP2
MTR-3T45-H-R-0-M-0 MTR-3T45-H-R-B-M-0 90 in-lb, 460V, IP65, Key, Metric
MTR-3T54-H-R-0-M-0 MTR-3T54-H-R-B-M-0 120 in-lb, 230/460V, IP65, Key, Metric IC800SSD420RS1 IC800SSI420RD2
MTR-3T55-H-R-0-M-0 MTR-3T55-H-R-B-M-0 151 in-lb, 230/460V, IP65, Key, Metric IC800SSI420RP2
MTR-3T67-G-R-0-M-0 MTR-3T67-G-R-B-M-0 372 in-lb, 230V, IP65, Key, Metric
MTR-3T69-G-R-0-M-0 MTR-3T69-G-R-B-M-0 478 in-lb, 230V, IP65, Key, Metric
* Motors can possibly be used with larger amplifiers/controllers in order to increase the system peak torque capability. Contact GE Fanuc for assistance.

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90 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

α Series Servo Motors

Specifications

An α or β Series Servo System consists of a motor and its corresponding amplifier. GE Fanuc
offers several servo systems whose specifications are identified in the following table.

Motor Model α6/3000 αC12/2000 α12/3000 α22/2000 α30/3000 α40/2000

Cont Stall Torque - in-lb [Nm] 53.1 [6] 106 [12] 106 [12] 195 [22] 266 [30] 354 [40]
Peak Torque - in-lb [Nm] 248 [28] 221 [25] 336 [38] 531 [60] 664 [75] 1062 [125]
Rotor Inertia in-lb-sec2 2.3x10-2 5.5x10-2 5.5x10-2 0.11 0.15 0.19
[kg-m2] [2.6x10-3] [6.2x10-3] [6.2x10-3] [1.2x10-2] [1.7x10-2] [2.2x10-2]
Rated Speed - rpm 3000 2000 3000 2000 3000 2000
No load speed - rpm 3000 3000 3000 2000 3000 2000

Mechanical Data

Weight - lb [kg] 28.7 [13] 39.7 [18] 40 [18] 64 [29] 90 [41] 115 [52]
Axial Load rating - lb [kg] 44 [20] 297 [135] 297 [135] 297 [135] 297 [135] 297 [135]
Radial Load rating* lb [kg] 154 [70] 992 [450] 992 [450] 992 [450] 992 [450] 992 [450]
Mechanical time constant - msec 4 5 5 4 3 3
Thermal Time Constant - min 50 60 60 65 70 30
Static Friction - in-lb [Nm] 2.7 [0.3] 7.1 [.8] 7.1 [.8] 10.6 [1.2] 16 [1.8] 16 [1.8]

Electrical Data

Torque Constant in-lb/A [Nm/A] 5.3 [.60] 18 [2.04] 6.8 [.77] 10.4 [1.17] 7.9 [.89] 12 [1.4]
Resistance W 0.18 1.1 0.17 0.14 0.046 0.08
Back EMF V/krpm 21 71 27 41 31 49
Peak Motor Power - kW 8.8 5.2 11.9 12.6 23.6 18.9
Rated Motor Power - kW 1.4 1.0 2.8 3.8 4.8 5.9
Cont. Stall current A(rms) 10 5.9 15.5 18.7 33.7 27
Peak current A(peak) 132 46 120 160 320 270

Amplifier Model

Amp Model Number αSVU1-80 βSVU-20 αSVU1-80 αSVU1-80 αSVU1-130 αSVU1-130

Brake Data*

Holding Torque in-lb [Nm] 71 [8] 310 [35] 310 [35] 310 [35] 310 [35] 310 [35]
Inertia adder in-lb-sec2 [kg-m2] 6x10-4 [7x10-5] 5.3x10-3 [6x10-4] 5.3x10-3 [6x10-4] 5.3x10-3 [6x10-4] 5.3x10-3 [6x10-4] 8.9x10-3 [1x10-3]
Weight adder - lb [kg] 5.1 [2.3] 14 [6.3] 14 [6.3] 14 [6.3] 14 [6.3] 22 [10]
Current - mA 0.4 0.6 0.6 0.6 0.6 0.6
Voltage - VDC 90 ±10% 90 ±10% 90 ±10% 90 ±10% 90 ±10% 90 ±10%
Engage time - msec 40 20 20 20 20 20
Release time - msec 80 150 150 150 150 150
* Motor brakes should not be used to stop moving loads as this will cause premature failure or reduced service life.

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GE Fanuc Motion Solutions 91
 Motion Solutions
Servo Motors

β Series Servo Motors

Specifications

Motor Model βM0.5/4000 βM1/4000 β0.5/3000 β2/3000 β3/3000 β6/2000

Cont Stall Torque - in-lb [Nm] 5.8 [0.65] 10.6 [1.2] 4.4 [0.5] 17 [2] 26.6 [3] 53.1 [6]
Peak Torque - in-lb [Nm] 22.1 [2.5] 44.3 [5] 16.8 [1.9] 44.3 [5] 62 [7] 133 [15]
Rotor Inertia in-lb-sec2 [kg-m2] 1.6 x 10-4 [1.8 x 10-5] 3.0 x 10-4 [3.4 x 10-5] 1.5x10-4 [1.7x10-5] 5.8x10-3 [6.5x10-4] 1.7x10-2 [1.9x10-3] 3.5x10-2 [3.9x10-3]
Rated Speed - rpm 4000 4000 3000 3000 3000 2000
No load speed - rpm 5000 5000 4000 4000 3000 3000

Mechanical Data

Weight - lb [kg] 2.2 [1] 3.3 [1.5] 2.2 [1] 7.7 [3.2] 11 [5] 18.7 [8.5]
Axial Load rating - lb [kg] 11 [5] 11 [5] 11 [5] 18 [8] 44 [20] 44 [20]
Radial Load rating* lb [kg] 44 [20] 44 [20] 44 [20] 55 [25] 154 [70] 154 [70]
Mechanical time constant - msec 0.9 0.8 0.7 8 9 9
Thermal Time Constant - min 10 15 10 20 40 40
Static Friction - in-lb [Nm] 0.35 [0.04] 0.35 [0.04] 0.35 [0.04] 0.9 [0.1] 2.7 [0.3] 2.7 [0.3]

Electrical Data

Torque Constant in-lb/A [Nm/A] 1.77 [0.2] 3.54 [0.4] 2.0 [.23] 5.4 [.61] 4.9 [0.56] 9.3 [1.05]
Resistance Ohms 0.95 1.55 0.8 1.4 0.5 0.85
Back EMF V/krpm 7.7 15.4 7.9 21.4 19.4 37.0
Rated Motor Power - kW 0.2 0.4 0.2 0.5 0.5 0.9
Cont. Stall current A(rms) 3.0 3.0 2.8 3.2 5.3 5.6
Peak current A(peak) 12.5 12.5 19 18 30 30

Amplifier Model

Amp Model Number βSVU-20 βSVU-20 βSVU-12 βSVU-12 βSVU-20 βSVU-20

Brake Data*

Holding Torque in-lb [Nm] 5.75 [0.65] 10.6 [1.2] 5.75 [0.65] 17.7 [2] 71 [8] 71 [8]
Inertia adder in-lb-sec2 [kg-m2] 7.9x10-5 [9x10-6] 7.5x10-5 [9x10-6] 8x10-5 [9x10-6] 2x10-4 [2x10-5] 6x10-4 [7x10-5] 6x10-4 [7x10-5]
Weight adder - lb [kg] 0.88 (0.4) 0.88 (0.4) .9 [.4] 3.3 [1.5] 5.1 [2.3] 5.1 [2.3]
Current - mA 500 500 0.1 0.3 0.4 0.4
Voltage - VDC 24 ±10% 24 ±10% 90 ±10% 90 ±10% 90 ±10% 90 ±10%
Engage time - msec 20 20 20 10 40 40
Release time - msec 40 40 40 60 80 80
* Motor brakes should not be used to stop moving loads as this will cause premature failure or reduced service life.

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92 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

α and β Series Motors

Speed Torque Curves

The curves illustrate the relationship prescribed continuous operating zone. The as a pure sine wave. Actual operation is
between motor speed and output torque. The limit of the continuous operating zone is limited by the current of the servo drive unit.
motor can operate continuously at any determined with the motor’s ambient The continuous operating zone must be
combination of speed and torque within the temperature at 20°C and its drive current derated for ambient temperature above 20°C.

βM0.5/4000 βM1/4000 β0.5/3000

3 6 3

2.5 5 2.5
Tor q u e (Nm )

Tor q u e (Nm )

Tor q u e (Nm )
2 4 2

Intermittent Operation Intermittent Operation

1.5 3 1.5
Intermittent Operation
1 2 1

0.5 1 0.5
Continuous Operation Continuous Operation Continuous Operation
0 0 0
1000 2000 3000 4000 5000 1000 2000 3000 4000 5000 1000 2000 3000 4000
Speed (RPM) Speed (RPM) Speed (RPM)

β2/3000 β3/3000 β6/2000

8 8 20

6 6 15
Torque (N m )

Torque (N m )

Torque (N m )
Intermittent Operation
4 4 10 Intermittent Operation
Intermittent Operation

2 2 5

Continuous Operation Continuous Operation

Continuous Operation
0 0 0
1000 2000 3000 4000 1000 2000 3000 500 1000 1500 2000 3000
Speed (RPM) Speed (RPM) Speed (RPM)

αC12/2000 α6/3000 α12/3000

30 30 50

25 25 40
Torq ue (N m )

Tor que (N m )
Tor que (N m )

20 20
30
Intermittent Operation Intermittent Operation
15 15 Intermittent Operation
20
10 10

10
5 Continuous Operation 5
Continuous Operation Continuous Operating
Continuous Operation
0 0 0
500 1000 1500 2000 1000 2000 3000 4000 1000 2000 3000
Speed (RPM) Speed (RPM) Speed (RPM)

α22/2000 α30/3000 α40/2000

80 150
90

80
125
60 70
Torque (N m)
Torque (N m)

To rque (N m)

60 100
Intermittent Operation Intermittent Operation Intermittent Operation
50
40 75
40

30 50
20
20
Continuous Operation 25
Continuous Operation 10
Continuous Operation
0 0 0
1000 2000 3000 1000 2000 3000 500 1000 1500 2000
Speed (RPM) Speed (RPM) Speed (RPM)

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GE Fanuc Motion Solutions 93
 Motion Solutions
Servo Motors

β Series Motors
Dimensions

βM0.5/4000, βM1/4000
ø
3.1

.217 (5.5) dia.

5

45º 4 holes on .118 (3) .236 (6)

(8
0)

2.76 (70) D.B.C. .02 (0.5)

ES

)
-0.001
50 -0.025
+0

+0
ø 1.97

1.61 (41)

1.48 (37.6)
(ø

1.48 (37.7)
.622 (15.8) .622 (15.8)
2.36 (60) .551 (14) C
B
Motor A
-0.0004

1.18 (30)
-0.011 )

.787 (20)
.118 (3)
+0

(ø 14 +0

A2 A3 .02 (0.5)
ø .551

.787 (20)
( ø 50 +0-0.025 )
-0.001
ø 1.97 +0

A1

A4
.138 (3.5)

Shaft option

Dimensions shown in mm (in)

Dimension βM0.5/4000 βM1/4000

A 95.5 (3.76) 124.5 (4.90)
A with brake 122 (4.80) 151 (5.94)
0 0
A1 ø9 -0.009 (0.3543/0.3539) ø14 -0.011 (0.5512/0.5507)
A2 1.8 +0.1
0 (0.0748/0.0709) 3 +0.1
0 (0.1220/0.1181)
-0.004 0
A3 3 -0.029 (0.1179/0.1169) 5 -0.030 (0.1968/0.1956)
A4 M3 Depth 6 M4 Depth 10
B 85.5 (3.67) 114.5 (4.51)
B with brake 112 (4.41) 141 (5.55)
C 49 (1.93) 78 (3.07)
C with brake 75.5 (2.97) 104.5 (4.11)

Notes
1. Shaft diameter runout = 0.02 mm (0.00079 in) max for βM0.5/4000, βM1/4000
2. Flange surface runout = 0.06 mm (0.00236 in) max for βM0.5/4000, βM1/4000
3. Maximum radial load for output shaft is 20 kgf (44 lb) for βM0.5/4000, βM1/4000

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94 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

β Series Servo Motors

Dimensions

β0.5/3000 Motors

A
S BB max

BF

XD

AK U
H

AJ

G
AH

Dimensions shown in mm (in)

Dimension β0.5/3000
A 60 (2.36)
AH 25 (0.984)
AH with brake 25 (0.984)
AJ (dia.) 70 (2.76)
+0
AK 50 -0.025 (1.9685/1.9675)
+0
AK with brake 50 (1.9685/1.9675)
-0.025
BB 3 (0.118)
BB with brake 3 (0.118)
BF (dia.) 5.5 (0.2165)
G 6 (0.236)
G with brake 6 (0.236)
+0
H 1.2 -0.125 (0.0472/0.0423)
L 100 (3.94)
L with brake 128 (5.04)
M ~ 300 (11.81)
M with brake ~ 300 (11.81)
+0
S 3 -0.025 (0.1181/0.1191)
+0
U 9 -0.009 (0.3543/0.3539)
+0
U with brake 9 -0.009 (0.3543/0.3539)
XD 20 (0.787)
XD with brake 20 (0.787)

Notes
1. Shaft diameter runout = 0.02 mm (0.00079 in) max
2. Flange surface runout = 0.06 mm (0.00236 in) max
3. Maximum radial load for output shaft is 20 kgf (44 lb)

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GE Fanuc Motion Solutions 95
 Motion Solutions
Servo Motors

β Series Servo Motors

Dimensions

β2/3000, β3/3000, β6/2000 and αC12/2000 Motors

BD max
S BB max

BF
XD

AK BE
H
U

C
AJ
3
BC
G
AH D 1
B 2
A L

Dimensions shown in mm (in)

Dimension β2/3000 β3/3000 β6/2000 αC12/2000 Connector Description

A 105 (4.13) 142 (5.59) 142 (5.59) 174 (6.85)
1 Brake (optional)
AH 36 (1.42) 46 (1.81) 46 (1.81) 79 (3.11)
2 Power
AH with brake 36 (1.42) 46 (1.81) 46 (1.81) 79 (3.11)
3 Encoder Feedback
AJ (dia.) 115 (4.53) 165 (6.50) 165 (6.50) 200 (7.87)
+0 +0 +0 +0
AK 95 -0.035 (3.7401/3.7388) 130 -0.035 (5.1181/5.1167) 130 -0.035 (5.1181/5.1167) 114.3 -0.025 (4.50/4.499)
+0 +0 +0 +0
AK with brake 95 -0.035 (3.7401/3.7388) 130 -0.035 (5.1181/5.1167) 130 -0.035 (5.1181/5.1167) 114.3 -0.025 (4.50/4.499)
B 93 (3.66) 79 (3.11) 117 (4.61) 166 (6.54)
B with brake 149 (5.87) 131 (5.16) 169 (6.65) 238 (9.37)
BB 5 (0.196) 5 (0.196) 5 (0.196) 3.2 (0.126)
BB with brake 5 (0.196) 5 (0.196) 5 (0.196) 3.2 (0.126)
BC 12 (0.472) n/a n/a n/a
BC with brake 12 (0.472) n/a n/a n/a
BD 134 (5.38) 190 (7.48) 190 (7.48) 240 (9.45)
BE 43 (1.69) 90 (3.54) 90 (3.54) n/a
BF (dia.) 9 (0.354) 11 (0.433) 11 (0.433) 13.5 (0.532)
C 88 (3.46) 110 (4.33) 110 (4.33) 122 (4.80)
C with brake 88 (3.46) 110 (4.33) 110 (4.33) 122 (4.80)
D with brake 31 (1.22) 28 (1.10) 28 (1.10) 65 (2.56)
G 8 (0.315) 10 (0.394) 10 (0.394) 18 (0.709)
G with brake 8 (0.315) 10 (0.394) 10 (0.394) 18 (0.709)
+0 +0 +0 +0
H 2 -0.13 (0.0787/.0736) 2.5 -0.13 (0.0984/0.0933) 2.5 -0.13 (0.0984/0.0933) 3 -0.29 (0.118/0.107)
L 174 (6.85) 165 (6.49) 203 (7.99) 240 (9.45)
L with brake 230 (9.06) 217 (8.54) 255 (10.04) 312 (12.28)
+0 +0 +0 +0
S 5 -0.03 (0.1969/0.1957) 6 -0.03 (0.236/0.235) 6 -0.03 (0.236/0.235) 10 -0.036 (0.394/0.392)
+0 +0 +0 +0.01
U 14 -0.011 (0.5512/0.5507) 19 -0.013 (0.7480/0.7475) 19 -0.013 (0.7480/0.7475) 35 -0 (1.3783/1.3780)
+0 +0 +0 +0.01
U with brake 14 -0.011 (0.5512/0.5507) 19 -0.013 (0.7480/0.7475) 19 -0.013 (0.7480/0.7475) 35 -0 (1.3783/1.3780)
XD 20 (0.787) 28 (1.10) 28 (1.10) 70 (2.76)
XD with brake 20 (0.787) 28 (1.10) 28 (1.10) 70 (2.76)

Notes
1. Shaft diameter runout = 0.02 mm (0.00079 in) max for β2/3000, β3/3000 and β6/2000; 0.05 mm (0.00197 in) for αC12/2000
2. Flange surface runout = 0.06 mm (0.00236 in) max for β2/3000, β3/3000 and β6/2000; 0.10 mm (0.00394 in) for αC12/2000
3. Maximum radial load for output shaft is 25 kgf (55 lb) for β2/3000; 70 kgf (154 lb) for β3/3000 and β6/2000; 450 kgf
(990 lb) for αC12/2000

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96 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

α Series Servo Motors

Dimensions

α6/3000, α12/3000, α22/2000 and α30/3000 Motors

D Taps for eyebolts BDmax

20 (0.787)
Typ. (2) places (see notes) S
BBmax

H
XD

AK U AK
BF

108 122 97
111 (4.25) (4.80) (3.82) AJ
(4.37)

18
(0.709)
3
2
D 1 A
AH B
L

α12/3000, α22/2000 and α30/3000 with brake, side view α6/3000 with brake, side view

Connector Description
1 Motor AC Power Connector
2 Motor Encoder Feedback Connector
3 Brake Connector

Dimensions shown in mm (in)

Dimension α6/3000 α12/3000 α22/2000 α30/3000

A 130 (5.118) 174 (6.85) 174 (6.85) 174 (6.85)

AJ (dia.) 145 (5.709) 200 (7.874) 200 (7.874) 200 (7.874)
AH 55 (2.165) 79 (3.11) 79 (3.11) 79 (3.11)
AH with brake 55 (2.165) 79 (3.11) 79 (3.11) 79 (3.11)
+0 +0 +0 +0
AK 110 -0.035 (4.331/4.329) 114.3 -0.025 (4.50/4.499) 114.3 -0.025 (4.50/4.499) 114.3 -0.025 (4.50/4.499)
+0 +0 +0 +0
AK with brake 110 -0.035 (4.331/4.329) 114.3 -0.025 (4.50/4.499) 114.3 -0.025 (4.50/4.499) 114.3 -0.025 (4.50/4.499)
B 221 (8.70) 215 (8.465) 289 (11.378) 363 (14.291)
B with brake 270 (10.63) 287 (11.30) 361 (14.21) 435 (17.13)
BB 6 (0.236) 3.2 (0.126) 3.2 (0.126) 3.2 (0.126)
BB with brake 6 (0.236) 3.2 (0.126) 3.2 (0.126) 3.2 (0.126)
BC 15±0.5 (0.610/0.571) n/a n/a n/a
BC with brake 221 (8.70) n/a n/a n/a
BD 165 (6.496) n/a n/a n/a
BF (dia.) 9 (0.354) 13.5 (0.532) 13.5 (0.532) 13.5 (0.532)
D 176 (6.93) 166 (6.535) 240 (9.449) 314 (12.362)
D with brake 225 (8.858) 238 (9.37) 312 (12.28) 386 (15.20)
+0 +0 +0 +0
H 2.5 -0.013 (0.0984/0.0933) 3 -0.30 (0.1181/0.1063) 3 -0.30 (0.1181/0.1063) 3 -0.30 (0.1181/0.1063)
L 259 (10.20) 240 (9.45) 314 (12.36) 388 (15.28)
L with brake 309 (12.17) 312 (12.28) 386 (15.20) 460 (18.11)
+0 +0 +0 +0
S 6 -0.030 (0.2362/0.235) 10 -0.036 (0.3937/0.3923) 10 -0.036 (0.3937/0.3923) 10 -0.036 (0.3937/0.3923)
+0 +0.01 +0.01 +0.01
U 19 -0.013 (0.7480/0.7475) 35 -0 (1.3784/1.3779) 35 -0 (1.3784/1.3779) 35 -0 (1.3784/1.3779)
+0 +0.01 +0.01 +0.01
U with brake 19 -0.013 (0.7480/0.7475) 35 -0 (1.3784/1.3779) 35 -0 (1.3784/1.3779) 35 -0 (1.3784/1.3779)
XD 36 (1.417) 70 (2.756) 70 (2.756) 70 (2.756)
XD with brake 36 (1.417) 70 (2.756) 70 (2.756) 70 (2.756)

Notes
1. Shaft diameter runout = 0.02 mm (0.00079 in) max for α6/3000; 0.05 mm (0.00197 in) max for α12/3000, α22/2000 and α30/3000
2. Flange surface runout = 0.06 mm (0.00236 in) max for α6/3000; 0.10 mm (0.00394 in) max for α12/3000, α22/2000 and α30/3000
3. Rabbet diameter eccentricity = 0.02 mm max (0.00079 in) for α6/3000; 0.07 mm max (0.00276 in) for α12/3000, α22/2000 and α30/3000
4. Maximum radial load for output shaft is 70 kgf (31.8 lb) for α6/3000; 450 kgf (204 lb) for α12/3000, α22/2000 and α30/3000
5. Taps for eyebolts are M8 by 15 mm (0.591 in) deep; eyebolts are not attached.

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GE Fanuc Motion Solutions 97
 Motion Solutions
Servo Motors

α Series Servo Motors

Dimensions
α40/2000 with fan
51 52 Taps for eyebolts
325 (2.008) (2.047) Typ. (2) places
122 (see notes)
(4.8) (12.8) S

BF
100
(3.94)

180
(7.09)
FANUC
H

150
AJ (5.91)

474 Taps for eyebolts

20 (.787) (18.66) Typ. (2) places (see notes)
BB max
1.74 180
(6.85) (7.09)
AIR OUT
XD
α40/2000 with fan, front and rear views
AK
U

108 122
(4.25) (4.80)

AH
18 (0.709)
3
65 1 2
(2.56) 4
AIR OUT
474 (18.66)
523 (20.59)
548 (21.57)
α40/2000 with fan, top and side views

Dimensions shown in mm (in)

Dimension α40/2000 with fan

AH 79 (3.11)
AH with brake 79 (3.11)
AJ (dia.) 200 (7.874)
+0
AK 114.3 -0.025 (4.50/4.499)
+0
AK with brake 114.3 -0.025 (4.50/4.499)
BB 3.2 (0.126)
BB with brake 3.2 (0.126)
BF (dia.) 13.5 (0.531)
+0
H 3 -0.30 (0.1181/0.1063)
+0
S 10 -0.036 (0.3937/0.3923)
+0.01
U 35 -0 (1.3784/1.3779)
+0.01
U with brake 35 -0 (1.3784/1.3779)
XD 70 (2.756)
XD with brake 70 (2.756)

Notes Connector Description

1. Shaft diameter runout = 0.05 mm (0.00197 in) max
2. Flange surface runout = 10.10 mm (0.00394 in) max 1 Motor AC Power Connector
3. Maximum radial load for output shaft is 450 kgf (990 lb) 2 Motor Encoder Feedback Connector
4. Taps for eyebolts are M8 by 15 mm (0.591 in) deep; eyebolts are not attached. 3 Brake Connector
5. Rabbet diameter eccentricity = 0.07 mm max (0.00276 in) 4 Fan Connector
6. Direction of air flow is downward only.

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98 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

α Series Servo Motors

Connections
Motor Connector Pin Description Amplifier JF1 Connector

Serial Encoder Connections A Serial Data (SD) 1

D Serial Data (SD) 2
A F Request (REQ) 5
M B
L N C
T P
G Request (REQ) 6
K D
S R J, K +5 VDC 18, 20
J E
H F N, T 0 VDC 12, 14
G
S 0 VA (battery backup) 16
α Motor
R +6 VA (battery backup) 7
1 3 5 7 9 H Cable Shield N/C
2 4 6 8 10
12 14 16 18 20 GE Fanuc Mating Connector: 44A730464-G38

α Amplifier (JF1) Amp: MS3108B-20-29SW

Power and Brake Connections Motor α Amplifier T1 β Amplifier CX11-3

Connector Pin Description Terminal Board Connector (αC12 only)

A Phase U 9 U
B Phase V 10 V
D A C Phase W 11 W
C B D Earth (case) 12 G
GE Fanuc Mating Connector: 44A730464-G20

Power: α6, α12, α22, αC12 DDK CE Series: CE02-6A22-22DS

Motor Connector Pin Description Amplifier T1 Terminal Board

A Phase U 9
B Phase U 9
C Phase V 10
D Phase V 10
F A E Phase W 11

E G B F Phase W 11
G Earth (case) 12
D C
GE Fanuc Mating Connector: 44A730464-G21

Power: α30 and α40 DDK CE Series: CE02-6A24-10GS

Motor Connector Pin Description

A + Brake VDC
B + Brake VDC
C A
C Earth (case)
B
GE Fanuc Mating Connector: 44A730464-G26

Brake Amp: MS3102A-10SL-3P

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GE Fanuc Motion Solutions 99
 Motion Solutions
Servo Motors

β Series Servo Motors

Connections
βM Motor βM0.5 Motor β2, β3 & β6 β Amplifier
Serial Encoder Connections Connector Motor Connector Description JF1 Connector

2 A4 12 Serial Data (SD) 1

1 2 3 4 5 6
1 B4 13 Serial Data (SD) 2
B
A 6 A3 5 Request (REQ) 5

β0.5 Motor 5 B3 6 Request (REQ) 6

8, 9 A2, B2 8, 15 +5 VDC 9, 18
8 7 6 5 4 3 2 1 7, 10 A1, B1 1, 2 0 VDC 12, 14
15 14 13 12 11 10 1 4 A5 14 +6 VA (battery) 7
N/C A6 10 0 VA (battery) 16
β2, β3 & β6 Motor
N/C B6 4 Cable Shield N/C
GE Fanuc Mating Connector: A06B-6050-K120 (β0.5)
1 2 3 A06B-6050-K115 (β2, β3, β6)
4 5 6 7 A06B-6114-K200#E (βM)
8 9 10

βM Motors

1 3 5 7 9
2 4 6 8 10
12 14 16 18 20
β Amplifier (JF1)

Power and Brake Connections βM Motor βM0.5 Motor β2, β3 & β6 β Amplifier
Connector Connector Motor Connector Description CX11-3 Connector
A B

Pin1 U PE
1 A1 A Phase U U

Pin2 V BRK1
2 A2 B Phase V V

Pin3 W BRK2
3 A3 C Phase W W
β0.5 Motor 4 B1 D Earth (case) PE
n/a B2 n/a + Brake VDC n/a
D A n/a B2 n/a - Brake VDC n/a
C B GE Fanuc Mating Connector: A06B-6050-K119 (β0.5)
44A730464-G18 (β2, β3, β6)
β2, β3 & β6 Motor A06B-6114-K230#E (βM)

2 1
3 4

βM Motors

βM Motor β2, β3 & β6

C A
Connector Motor Connector Description
B

1 A + Brake VDC
β2, β3 & β6 Brake
2 B - Brake VDC
n/a C Earth (case)
2 1
GE Fanuc Mating Connector: 44A730464-G26 (β2, β3, β6)
A06B-6114-K232#E (βM)
βM Brake

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100 GE Fanuc Motion Solutions
 Motion Solutions
Servo Motors

α Series Servo Motors

Ordering Information

Model Number Description

A06B-0128-B575#7008 α6/3000 Servo Motor

A06B-0128-B675#7008 α6/3000 Servo Motor with Brake
A06B-0128-B575#7076 α6/3000 Servo Motor, IP67 Sealing
A06B-0128-B675#7076 α6/3000 Servo Motor with Brake, IP67 Sealing
A06B-0141-B075#7008 αC12/2000 Servo Motor
A06B-0141-B175#7008 αC12/2000 Servo Motor with Brake
A06B-0143-B075#7008 α12/3000 Servo Motor
A06B-0143-B175#7008 α12/3000 Servo Motor with Brake
A06B-0143-B075#7076 α12/3000 Servo Motor, IP67 Sealing
A06B-0143-B175#7076 α12/3000 Servo Motor with Brake, IP67 Sealing
A06B-0147-B075#7008 α22/2000 Servo Motor
A06B-0147-B175#7008 α22/2000 Servo Motor with Brake
A06B-0147-B075#7076 α22/2000 Servo Motor, IP67 Sealing
A06B-0147-B175#7076 α22/2000 Servo Motor with Brake, IP67 Sealing
A06B-0153-B075#7008 α30/3000 Servo Motor
A06B-0153-B175#7008 α30/3000 Servo Motor with Brake
A06B-0153-B075#7076 α30/3000 Servo Motor, IP67 Sealing
A06B-0158-B075#7008 α40/2000 Servo Motor with Fan
A06B-0158-B175#7008 α40/2000 Servo Motor with Fan and Brake

β Series Servo Motor

Ordering Information

Model Number Description

A06B-0115-B075#0008 βM0.5/4000 Servo Motor

A06B-0115-B175#0008 βM0.5/4000 Servo Motor with Brake
A06B-0116-B075#0008 βM1/4000 Servo Motor
A06B-0116-B175#0008 βM1/4000 Servo Motor with Brake
A06B-0113-B075#7008 β0.5/3000 Servo Motor
A06B-0113-B175#7008 β0.5/3000 Servo Motor with Brake
A06B-0032-B075#7008 β2/3000 Servo Motor
A06B-0032-B175#7008 β2/3000 Servo Motor with Brake
A06B-0033-B075#7008 β3/3000 Servo Motor
A06B-0033-B175#7008 β3/3000 Servo Motor with Brake
A06B-0034-B075#7008 β6/2000 Servo Motor
A06B-0034-B175#7008 β6/2000 Servo Motor with Brake

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GE Fanuc Motion Solutions 101
 Motion Solutions

Stepping Amplifiers and Motors

GE Fanuc MTR-Series Stepping solutions provide an economical open

loop alternative when the performance of a servo is not required.
Stepping motors systems are easy to set up, do not require the tuning
that is typical with servo motors and provide cost effective solutions for
a variety of automation applications.

The Power Cube offers full or half step The unique Stepping Motor Cube provides
selection in a very compact package while the space-saving advantage of integrating a
the S2K Stepping Motor Controller provides stepping amplifier, control, motor and com-
microstepping for applications requiring munications in a single compact package.
improved smoothness and resolution. When The Stepping Motor Cube is available in
matched with the MTR-Series stepping pulse command input formats or with an
motors these solutions provide unparalleled integral DeviceNet communications inter-
performance in the field of stepping motor face. Providing multi-axis networked motion
technology and are ideal for demanding solutions has never been easier. Besides
automation applications. saving valuable panel space the Stepping
Motor Cube also reduces system wiring and
integration costs.

• NEMA 23 and 34 motor mountings mate easily to off the shelf gearheads
• Power Cube requires DC power only - excellent for battery based applications!
• 50,000 Microsteps when used with the S2K Series provides enhanced resolution
and accuracy
• Stepping motor holding torque range from 61–3074 oz-in (0.43-21.7 Nm)

Applications
• Packaging
• Test equipment
• Automatic fixturing
• Material handling
• Index table
• Feed-to-length
• Light assembly
• Semiconductor
• Electronic manufacturing
• and many more

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102 GE Fanuc Motion Solutions
 Motion Solutions
Stepping Amplifiers

Power Cube Stepping Amplifiers

Stepper Performance
in a Space-Saving Package
The Power Cube Stepping Motor-Drive performance bipolar chopper design.
Package provides a cost-effective solu- This drive design maintains constant
tion for typical OEM stepping motor current in a wide range of operating
applications in a rugged and easy to conditions and provides better high-
install package. The Power Cube is speed performance than other similar
ideal for high volume applications such drive designs.
as packaging, test equipment, automat-
Optional high performance MTR-Series
ic fixturing and material handling. The
stepping motors are matched to the
Power Cube drive accepts pulse and
drive characteristics to provide opti-
direction inputs from an external pulse
mum performance. Like all other
source such as the GE Fanuc Operator
GE Fanuc motor products, these motors
Control Station (OCS) stepping control
provide maximum power in a minimum
module. Unlike many low-cost stepping
frame size. They also incorporate
motor drives, the Power Cube is a high
exceptional heat dissipation capability.

Features

• Low cost stepping drive and motor for Like all GE Fanuc products, the Power Cube
OEM applications incorporates key design features to provide
• High performance bipolar chopper the flexibility, performance and service-
translator rated at 4 Amps continuous ability demanded by industrial users. These
• Accepts power supply input voltages features include:
from 12-48 VDC • Completely packaged drive unit with
• Rugged design for demanding heat sink
applications • Optically isolated inputs for noise immunity
• Full and half-step user configurable • Overtemperature, overcurrent and
modes overvoltage protection
• On-board potentiometer or remote inputs • Quick disconnect terminals for ease
can be used for control of installation and replacement
• Optional MTR-Series motors and
cables simplify system integration

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GE Fanuc Motion Solutions 103
 Motion Solutions
Stepping Amplifiers

Power Cube
Features

Specifications
Pulse and Direction Inputs
Input Format +4 VDC pulse/direction; +24 VDC pulse/direction
differential, optically isolated
Input Voltage Range 3.5-4.2 VDC for +4 V input;
12-30 VDC for +24 V input
Maximum Input Pulse Rate 50 kHz
Minimum Pulse Width 5 microseconds

Digital Inputs and Outputs

Dedicated Inputs Enable, power save
Dedicated Outputs OK, Stall
Operating Range 4-24 VDC, 30 VDC Maximum
Interface Format optically isolated, source/sink user configurable
Maximum Off Input Voltage 1 VDC
Minimum On Input Voltage 4 VDC
Input Load 1k Ohms
Maximum On Output Resistance 35 Ohms
Maximum Load Output Current 100 mA
Maximum Off Output Leakage Current 200 nA

Step Size Selection

A B Step Size
open open Full Stepping (200 steps/rev)
open short Half Stepping (400 steps/rev)
short open Microstepping (1,000 steps/rev)
short = Connect to Step Size Common

DC Input Power Requirements

Drive 24 VDC ±20% @ 3.1 Amps max.1
48 VDC ±10% @ 3.1 Amps max.1
Overvoltage Threshold 54 VDC ±2 VDC
Undervoltage Threshold 18 VDC ±2 VDC

Output Power
Voltage range 17 to 38 Vrms 2 phase
Frequency 0-8 kHz fundamental (16.4 kHz PWM)
Current 2 4 A rms per phase

Environmental Specifications
Operating Temperature, Free Air Ambient 0 to 50° C @ 3 Amps
1 to 45° C @ 4 Amps
Storage and Shipping Temperature -40 to 80° C
Enclosure Type Encapsulated

Motor Compatibility and Configuration Ordering Information

Stepping DIP Switch Location Connection Amps RMS at Amps RMS at Stall Velocity
Power Cube IC800PCUB00300
Motor 1 2 4 PRG 100% Current 60% current Threshold RPS
MTR-1216 Off Off Off Off Parallel 2.5 1.5 9 DIN Rail Mounting Plate IC800PCUBDINMTG
MTR-1220 On Off Off Off Series 2.5 1.5 4 DB15 to Screw Terminal Adapter IC800CUBDB15ADP
MTR-1221 Off On Off Off Parallel 3.5 2.1 4
MTR-1235 On On Off Off Series 3.0 1.8 3
MTR-1231 Off Off On Off Parallel 3.1 1.9 3
MTR-1331-J On Off On Off Series 4.0 2.4 4
MTR-1N31-I Off On On Off Series 4.0 2.4 4
Reserved On On On Off TBD TBD TBD TBD
1
DC input power has undervoltage and overvoltage detection.
2
The outputs are provided with internal overload protection.

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104 GE Fanuc Motion Solutions
 Motion Solutions
Stepping Amplifiers

Power Cube
Connections

Discrete Inputs and Outputs ON

Dip Switch
1
1
2
1
2
x
2 -Select Motor
Motor Selection
3 x 3
4 4 4
5 5
6
LOAD 100 MA MAX
6
LOAD 100 MA MAX P -Program Position Function
7 7
8 8 1 Phase A+
9
10
x 9
10 x 1 2 Phase A-
11 11 3 Phase B+
12
13
12
13
2 4 Phase B-
14
15
14
15 3 5 Earth_GND
6 VM+
4 7 VM-
+
18-30
+
3.5-4.2
5 8 Earth_GND
- VDC - VDC 6
7
8

DB15 PINOUT
1 Pulse + (24V)
9 Pulse + (4V)
2 Pulse -
10 Direction + (24V)
3 Direction + (4V)
11 Direction -
4 Input Common
12 Enable Input
5 Power Save
13 OK Output
6 Stall Output
14 Output Common
7 Step Size Select A
15 Step Size Select B
8 Step Size Common
Mechanical Specifications
Dimensions in inches (mm)

2.320 (58.9) IC800PCUBDINMTG

0.360 (9.1) Optional DIN Rail Mount Plate
1.600 (40.6)
POWER STATUS
GREEN - OK
RED - Over Voltage
YELLOW - Under Voltage
OFF - No Power
DRIVE STATUS
GREEN - OK
0.492 (12.49)
2.930 RED - Over Current
YELLOW - Stall
OFF - Disabled
(74.4)
2.210 Ø0.175 (4.445)
(56.1) 0.180 (4.57) dia. (4 PLACES)
(4 places) USE 3MM
SCREW
0.360 (9.1)
PowerCubeTM 0.5 (12.7) LONG
stepper

1.960
2.756 1.969
(49.8)
(70.0) (50.0)
0.180
(4.57)
1
2 -Select Motor
3
4 -Program

A+
9 1
A-
2.680
B+
(68.1) B-
2.205 (56.01)
VM+ 2.933 (74.49)
VM-
15 8

Weight = 12 oz. (0.34kg)

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GE Fanuc Motion Solutions 105
 Motion Solutions
Stepping Motors

MTR-Series Stepping Motors

High Performance at an Economical Price

The GE Fanuc MTR-Series Stepping Motors provide unparal-
leled performance in the field of stepping motor technology
and are ideal for the demanding automation applications
requiring precision positioning and/or velocity control.
Higher speed capability and compact size provide perform-
ance capabilities not previously attainable.

Features MTR-Series high torque stepping motors machine cycle rates. Rare earth magnet
incorporate many design features to inserts in the stator increase torque produc-
• Low inertia design for improved machine enhance reliability and performance. High tion resulting in maximum power in the mini-
cycle rates energy product rare earth magnets provide mum motor size.
• Fully connectorized for easy installation high torque-to-inertia ratios for exceptional
• Long life oversized bearings and high tem-
perature insulation for superior reliability
• Exposed laminations for improved heat Exposed laminations aid Rare earth
dissipation thermal dissipation rotor magnets
• Economical design without sacrificing
performance Class H magnet wire

• Brushless design minimizes maintenance

Stepping motors provide a low cost alterna- Laminated rotor
Encapsulated stator
tive for automation applications requiring for exceptional
high torque without the high speed provided thermal dissipation Precision ground rotor
by servo motors. In addition, steppers can properties OD and honed stator
ID for concentric air gap
operate open loop, which means they do not
require the cost of the motor position feed-
back device necessary with servo systems.

Stepping motors are easy to set up and do Unique octagonal end cap
simplifies automated assembly
not require the tuning that is typical with
NEMA Size 23 (1200 Series only)
servo motors and provide solutions for a or 34 mounting
variety of automation applications when Oversized bearings
used with GE Fanuc motion control products. for longer life
The Power Cube is user-configurable for
half-stepping when applications require
improved smoothness and resolution. For
further performance enhancement, the S2K
Stepping Motor Controller implements
microstepping technology for 50,000 steps
per revolution.

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106 GE Fanuc Motion Solutions
 Motion Solutions
Stepping Motors

MTR-Series Stepping Motors

Features

Specifications for Stepping Motors used with Power Cube Amplifier

Specification Units MTR-1216-D MTR-1220-D MTR-1221-D MTR-1231-D MTR-1235-D MTR-1331-J-D MTR-1N31-I-D

Holding Torque1 oz-in (Nm) 61 (0.43) 116 (0.82) 124 (0.87) 236 (1.68) 185 (1.31) 327 (2.31) 605 (4.27)
Inertia oz-in-sec2 0.0010 0.0015 0.0017 0.0036 0.0170 0.0202 0.0202
(kg-m2 x 10-3) (0.007) (0.011) (0.012) (0.025) (0.012) (0.014) (0.014)
Winding Parallel/Series Parallel Series Parallel Parallel Series Series Series
Rated Current/Phase Amps 2.5 2.7 1.8 1.6 3.4 4.2 4.3
Phase Resistance2 Ohms 0.84 0.76 2.12 3.12 0.68 0.52 0.72
Phase Inductance mH 2.3 2.5 8.0 12.4 2.4 4.4 5.8
Detent Torque oz-in 2.5 4.8 9.4 17 4.6 22 18
(Nm) (0.018) (0.034) (0.066) (0.12) (0.32) (0.16) (0.13)
Number of Phases n/a 2 2 2 2 2 2 2
Number of Poles n/a 50 50 50 50 50 50 50
Full Steps per Revolution Steps 200 200 200 200 200 200 200
Full Step Angle Degrees 1.8 1.8 1.8 1.8 1.8 1.8 1.8
Weight Ib (kg) 1.0 (0.45) 1.2 (0.55) 1.5 (0.68) 2.5 (1.13) 2.1 (0.95) 3.2 (1.45) 5.0 (2.27)

Specifications for Stepping Motors used with S2K Series

Specification Units MTR-1221-D MTR-1231-D MTR-1324-D MTR-1337-D MTR-1350-A MTR-1350-D MTR-1N31-I-D MTR-1N32-I-D MTR-1N41-G-A MTR-1N42-H-A

Holding Torque1 oz-in (Nm) 144 (1.02) 238 (1.68) 335 (2.37) 675 (4.77) 630 (4.45) 995 (7.02) 650 (4.59) 1200 (8.47) 1905 (13.45) 3074 (21.71)
Inertia oz-in-sec2 0.0017 0.0036 0.0083 0.0170 0.0250 0.0250 0.0202 0.038 0.0783 0.1546
(kg-m2 x 10-3) (0.012) (0.025) (0.059) (0.12) (0.176) (0.176) (0.14) (0.27) (0.55) (1.09)
Rated Current/Phase Amps 1.8 1.6 2.7 4.1 7.9 4.0 4.3 4.1 5.0 5.0
Phase Resistance2 Ohms 2.12 3.12 1.12 0.74 0.26 1.02 0.72 1.03 0.58 0.6
Phase Inductance mH 8.0 12.4 10.0 8.9 3.1 12.6 5.8 10.3 7.8 9.8
Detent Torque oz-in 9.4 17 22 42 64 64 18 36 65 126
(Nm) (0.066) (0.12) (0.16) (0.3) (0.45) (0.45) (0.13) (0.25) (0.46) (0.89)
Number of Phases n/a 2 2 2 2 2 2 2 2 2 2
Number of Poles n/a 50 50 50 50 50 50 50 50 50 50
Full Steps per Revolution Steps 200 200 200 200 200 200 200 200 200 200
Full Step Angle Degrees 1.8 1.8 1.8 1.8 1.8 1.8 1.8 1.8 1.8 1.8
Weight Ib (kg) 1.5 (0.68) 2.5 (1.13) 3.2 (1.45) 5.3 (2.41) 7.6 (3.45) 7.6 (3.45) 5.0 (2.27) 8.4 (3.81) 11 (4.98) 18.4 (8.34)
All ratings typical at 25°C unless otherwise noted.
1Holding torque specified for motor winding temperature at 130°C and motor unmounted in still air at 40°C
2Phase resistance with winding at 130°C and motor in still air at 40°C

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GE Fanuc Motion Solutions 107
 Motion Solutions
Stepping Motors

MTR-Series Stepping Motors

Speed Torque Curves for Power Cube Amplifier

MTR-1216-*-D (48V Parallel Connection) MTR-1220-*-D (48V Series Connection) MTR-1221-*-D (48V Parallel Connection)
70 120 140

60 100 120

50 100
Torque (oz -in)

Torque (oz -in)

Torque (oz -in)

80
40 80
60
30 60
40
20 40

10 20 20

0 0 0
300 600 900 1200 1500 1800 2100 2400 2700 3000 300 600 900 1200 1500 1800 2100 2400 2700 3000 300 600 900 1200 1500 1800 2100 2400 2700 3000
Speed (RPM) Speed (RPM) Speed (RPM)

MTR-1231-*-D (48V Parallel Connection) MTR-1235-*-D (48VDC Series Connection) MTR-1331-J-*-D (48V Series Connection)
250 200 350

225
175 300
200
150
250
Torque (oz-in)

Torque (oz-in)

Torque (oz-in)
175
125
150
200
125 100
150
100
75
75 100
50
50
25 50
25

0 0 0
300 600 900 1200 1500 1800 2100 2400 2700 3000 300 600 900 1200 1500 1800 2100 2400 2700 3000 300 600 900 1200 1500 1800 2100 2400 2700 3000
Speed (RPM) Speed (RPM) Speed (RPM)

MTR-1N31-I-*-D (48V Series Connection)

700

600

500
Torque (oz-in)

400

300

200

100

0
300 600 900 1200 1500 1800 2100 2400 2700 3000
Speed (RPM)

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108 GE Fanuc Motion Solutions
 Motion Solutions
Stepping Motors

MTR-Series Stepping Motors

Speed Torque Curves for S2K Amplifier/Controllers

MTR-1221-*-D (85V Series Connection) MTR-1231-*-D (85V Series Connection) MTR-1324-*-D (85V Series Connection)
200 250 400

200
150 300

Torque (oz -in)

Torque (oz -in)
Torque (oz -in)

150

100 200

100

50 100
50

0 0 0
300 600 900 1200 1500 1800 2100 2400 2700 3000 300 600 900 1200 1500 1800 2100 2400 2700 3000 300 600 900 1200 1500 1800 2100 2400 2700 3000

Speed (RPM) Speed (RPM) Speed (RPM)

MTR-1337-*-D (85V Series Connection) MTR-1350-*-A (85V Parallel Connection) MTR-1350*-D (85V Series Connection)
700 700 700

600 600 600

500 500 500

Torque (oz-in)

Torque (oz-in)

Torque (oz-in)
400 400 400

300 300 300

200 200 200

100 100 100

0 0 0
300 600 900 1200 1500 1800 2100 2400 2700 3000 300 600 900 1200 1500 1800 2100 2400 2700 3000 300 600 900 1200 1500 1800 2100 2400 2700 3000
Speed (RPM) Speed (RPM) Speed (RPM)

MTR-1N31-I-*-D (85V Series Connection) MTR-1N32-I-*-D (85V Series Connection) MTR-1N41-G-A (85V Parallel Connection)
700 1300 2100
1200
600 1100 1800
1000
500 1500
Torque (oz-in)

Torque (oz-in)

Torque (oz-in)

900
800
400 1200
700
600
300 900
500
200 400 600
300
100 200 300
100
0 0 0
300 600 900 1200 1500 1800 2100 2400 2700 3000 300 600 900 1200 1500 1800 2100 2400 2700 3000 300 600 900 1200 1500 1800 2100 2400 2700 3000
Speed (RPM) Speed (RPM) Speed (RPM)

MTR-1N42-H-A (85V Parallel Connection)

3000

2500
Tor que (oz - in)

2000

1500

1000

500

0
300 600 900 1200 1500 1800 2100 2400 2700 3000
Speed (RPM)

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GE Fanuc Motion Solutions 109
 Motion Solutions
Stepping Motors

MTR-Series
MTR-1216, 1221 & 1231 Stepping Motor Dimensions
NEMA 23 Flange

Model LMax in (mm) Weight lb (kg)

MTR-1216
MTR-1221 2.06 (52.3) 1.5 (0.68)
MTR-1231 3.10 (78.7) 2.5 (1.14)

0.60 Max. with optional

(15.2) mating connector
2.25 plugged in
(57.1)
1.50 ± 0.002 0.30
(38.1) (7.6) Max.
0.95 0.2 motor
(24) (5.1)
only
+0
0.25 -0.0005
2x45° (6.35)

0.055
4x ø0.2 (5.08) thru (1.4)
on a ø2.625 (66.67) B.C.
0.81
(20.6) L. Max.

Encoder Option

x
x

.72 (1.812)
ø
18.29 (46.02)

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110 GE Fanuc Motion Solutions
 Motion Solutions
Stepping Motors

MTR-Series
MTR-1220 and 1235 Series Stepping Motor Dimensions
NEMA 23 Flange - Standard Construction

Model L Max in (mm) Weight lb (kg)

MTR-1220 2.06 (52.3) 1.2 (30.5)

MTR-1235 3.06 (77.7) 2.1 (53.3)
Metric dimensions shown beneath

Encoder Option

MOTOR POWER CONNECTOR

12.0
2.25 (304.8)
MINIMUM
(57.15)

4X ø .200 THRU
(5.08)
EQUALLY SPACED ON
(2X 45°) 2.625
A ø (66.68) B.C.

+.0000
.2500 -.0005
ø .06
(6.35 -0.013)
.002 (1.52)
(0.051) .18
-A-
(4.57)
1.500 ± .002
ø .81
(38.1 ± 0.51) L MAX.
(20.57)
.003 .003
A A
(0.077) (0.077)

Encoder Option

1.00 (25.4) MAX.

+0.02
2.17
-0.02

(55.118+0.508
-0.508
)

+0.1
0.80 -0.1

( 20.32 +2.54
-2.54
)

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GE Fanuc Motion Solutions 111
 Motion Solutions
Stepping Motors

MTR-Series
MTR-1300 Series Stepping Motor Dimensions
NEMA 34 flange - Standard Construction

Model L Max in (mm) Weight lb (kg)

MTR-1324 2.58 (65.5) 3.2 (81.3)

MTR-1337 3.76 (95.5) 5.3 (134.6)
MTR-1350 5.06 (128.5) 7.6 (193.0)

MOTOR
POWER
4X ø .218 (5.46) THRU CONNECTOR
12.0 (304.8) MIN.
3.38 (85.85)
EQUALLY SPACED ON

A ø 3.875 (98.43) B.C.

+.0000
.3750 -.0005
(2X 45°)
ø
(9.53 - 0.013)

.002
(0.051)

-A-

.06 (1.52)

ø 2.875 ± .002 (73.025 ± 0.51)

.18 (4.57)

.003
A
(0.077) 1.25 (31.75) L MAX.

.003 (0.077) A

Encoder Option

1.00 (25.4) MAX.

+0.02
2.17
-0.02

(55.118+0.508
-0.508
)

+0.1
0.80 -0.1

( 20.32 +2.54
-2.54
)

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112 GE Fanuc Motion Solutions
 Motion Solutions
Stepping Motors

MTR-Series
MTR-1300 Series Stepping Motor Dimensions
NEMA 34 flange - Splashproof Construction

Model L1 Max. in (mm) L2 in (mm) Weight lb (kg)

MTR-1324 3.6 (91.4) 2.87 (72.9) 3.2 (81.3)

MTR-1337 4.77 (121.2) 4.02 (102.1) 5.3 (134.6)
MTR-1350 6.05 (153.7) 5.30 (134.6) 7.6 (193.0)

4X ø .218 (5.46) THRU

EQUALLY SPACED ON A
ø 3.875 (98.43) B.C.
3.38 (85.85)

(2X 45°) +.0000

ø .3750
-.0005
+.0000
( 9.53 -.0130 )

.002 (0.051)
-A-

.06
(1.52) .71 (18.04)
ø 2.875 ± .002 .18
(73.025 ± 0.051) MAX-ENCODER
(4.57)
OPTION ONLY
.003 (.077) A
L2
R 1.72 (43.69)
1.25 L1 MAX.
(31.75)
.003 (.077) A

2.62 (66.55) MAX.

ENCODER MOTOR
CONNECTOR CONNECTOR
(ENCODER OPTION ONLY)

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GE Fanuc Motion Solutions 113
 Motion Solutions
Stepping Motors

MTR-Series
MTR-1N3x Series Stepping Motor Dimensions

Model D in. (mm) K T L Max.

MTR-1N31 .5000 (12.7) .1250 (3.81) .555 (14.097) 3.13 (79.50)

MTR-1N32 .5000 (12.7) .1250 (3.81) .555 (14.097) 4.65 (118.11)

4X ø .218 (5.54) THRU .875 ± .010

3.38 (85.85) EQUALLY SPACED ON MOTOR
(22.23 ± 0.254) LEADS
A ø 3.875 (98.43) B.C.
12 inch min.
(304.8 mm min.)

(2X 45°)

+.0000
K
-.0020 (.051)

+.0000
+.000 øD
T -.0005 (0.127)
-.017 (0.43) .06 (1.524)
.002 (.0508)
ø 2.875 ± .002
-A- .33 (8.382)
(73.025 ± .051)

.003 A (.0762)
1.25 (31.75) L MAX.

.003 A (.0762)

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114 GE Fanuc Motion Solutions
 Motion Solutions
Stepping Motors

MTR-Series
MTR-1N4x Series Stepping Motor Dimensions

Model L Max.

MTR-1N41 3.89 (98.81)

MTR-1N42 5.91 (150.11)

4X ø .328 (8.33) THRU

EQUALLY SPACED ON A
ø 4.950 (125.73) B.C.
4.325 (109.86)
MOTOR
1.375 ± .010 LEADS
(34.925 ± .254)

(2X 45°)
+.0000
.1875 -.0020
+.0000
(4.763 -.0508 )

+.0000
ø .7500 -.0005
(19.05 +.0000
-.0127 )
.002 (.0508)
-A-
.830 +.000
-.017
.06 (1.524)
+.0000
(21.082 -.0432 ) .48 (12.192)
ø 2.186 ± .002 (55.524 ± .0508)
.003 A (.0762)
2.19 L MAX.
(31.75)

.003 A (.0762)

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GE Fanuc Motion Solutions 115
 Motion Solutions
Stepping Motors

MTR Series Stepping Motors

Connections

Motor
Standard construction: MTR-1220, MTR-1235, MTR-1300 and MTR-1N Series Pin Function

1 A+
2 n/c
3 A-
1 2 3
4 n/c
5 Ground
4 5 6 6 n/c
7 B+
7 8 9 8 n/c
9 B-

Splashproof construction: MTR-1300 Pin Function

A A+
B A-
C B+
D B-
A E Ground
E B

D C

Encoder
Standard construction: MTR-1220, MTR-1235, MTR-1300 and MTR-1N Series Pin Function

1 Channel A+
2 Channel A-
3 Channel B+
3 2 1
4 Channel B-
5 +5 VDC
6 5 4
6 Ground
9 7 7 Index +
8
8 Index -
9 n/c

Splashproof construction: MTR-1300 Pin Function

A Channel A+
A B Channel A-
H B C Channel B+
D Channel B-
E Index +
K J F Index -
G C G +5 VDC
H Ground
J n/c
F D K n/c
E

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116 GE Fanuc Motion Solutions
 Motion Solutions
Stepping Motors

Stepping Motor Systems

Cable Resistance and the Performance

The cable used to connect a step- mental factors, the system designer
ping motor driver to the motor itself must choose a cable with the proper
is a critical system component. A electrical resistance for the applica-
poor cable choice can rob an other- tion. This is especially important in
wise well-designed system of torque stepping motor systems. Let’s review
and power and seriously degrade the effects of cable resistance in
system reliability. Among the many stepping motor systems and learn
cable issues that must be consid- how to select the proper resistance
ered, such as flexibility and environ- for your application.

Cable Resistance Limits the Voltage Available to the Motor

Every cable exhibits electrical Unlike servo motor systems that pro-
capacitance, inductance, and resist- vide motor current on a demand
ance, all of which can degrade the basis, stepping motor systems are
performance of a stepping motor designed to supply a constant cur-
system. In most cases, the effect of rent to the motor. This current multi-
the capacitance and inductance are plied by the cable resistance results
small compared to the inductance in a voltage drop that subtracts
and capacitance of the motor, and directly from the voltage available to
thus have a relatively small effect on run the motor. The effect is to lower
the system performance. It is the the maximum speed at which the
cable resistance that has the most motor can run and the maximum
effect on motor performance. torque the motor can produce.

An Example Case The controller is connected to a motor through 100 ft of a

cable with four #20 AWG conductors. The motor is
Suppose we have a stepping motor wired as shown in the figure below. designed to operate at 5 amps per phase. Number 20 AWG
copper wire has a resistance of about 10 ohms per 1000ft .
There is 200ft of this wire in series with each motor phase
STEPPING MOTOR (100 ft in series with each of the two phase leads) for a
A+ B+
total resistance of 2 ohms per phase. Using Ohm’s law, we
can calculate the voltage drop due to the cable resistance:
RA RB

A B
Icable = Imotor = 5 amps
24 VDC
POWER LA LB
SUPPLY Rcable = (10 / 1000 ohms per foot) * 200 ft = 2 ohms
POWER
A- B-
POWER COM Vcable = Icable * Rcable = (5 amps * 2 ohms) = 10 volts
STEPPING
MOTOR MOTOR A+
CONTROLLER RC This voltage drop reduces the voltage available at the
MOTOR A- RC
RC
motor from the original 24 to just 14 volts and will cause
RC
MOTOR B+ the motor torque to drop at lower speeds. The most notice-
MOTOR B- able loss of torque occurs when the motor is near the
maximum power point.

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GE Fanuc Motion Solutions 117
 Motion Solutions
Stepping Motors

Stepping Motor Systems

Cable Resistance Consumes Power

A second effect of cable resistance is to
consume power from the drive and its
power supply. Continuing with the example
case, the total power loss in the cable is:

Pcable = Icable2 X Rcable

Pcable = 5 amps2 X 2 ohms

Pcable = 50 watts per phase

= 100 watts total cable loss

If the peak motor requirement is also 100

watts, the power supply capacity must be
nearly doubled to allow for the cable loss.
This not only increases the cost of the sys-
tem components, it will shorten the mean
time between failures due to increased
operating temperatures.

For the Best System Performance,

Choose a Low Resistance Cable
A low resistance cable enhances the per- voltage drop and the dissipation in the
formance and reliability of most stepping motor while it is at rest. Since the stepping
motor systems. A rule of thumb that serves motor drive selected will usually have out-
well in many applications is to keep the put voltage and power ratings several times
cable resistance less than or equal to the greater than the motor static losses, such a
motor phase resistance. This ensures that cable will provide the best performance in
the voltage drop across the cable and the most systems.
cable power dissipation are similar to the

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118 GE Fanuc Motion Solutions
 Motion Solutions
Stepping Motors

MTR-Series Stepping Motors

Cable and Amplifier Compatibility
Ordering Information

PowerCube Amplifier S2K Stepping Controller

Catalog # Description I/O Cable Power Cable Encoder Cable Power Cable Encoder Cable

MTR-1216-E-D-E-0 61 oz-in, NEMA 23, Encoder* IC800PCUBCxxS CBL-12-MP CBL-1C-ET n/a n/a
MTR-1216-N-D-E-0 61 oz-in, NEMA 23* IC800PCUBCxxS CBL-12-MP n/a n/a n/a
MTR-1220-E-D-E-0 116 oz-in, NEMA 23, Encoder IC800PCUBCxxS CBL-13-MP CBL-1C-ET n/a n/a
MTR-1220-N-D-E-0 116 oz-in, NEMA 23 IC800PCUBCxxS CBL-13-MP n/a n/a n/a
MTR-1221-E-D-E-0 144 oz-in, NEMA 23, Encoder (124 oz-in with PowerCube)* IC800PCUBCxxS CBL-12-MP CBL-1C-ET CBL-12-MPS CBL-1C-ET
MTR-1221-N-D-E-0 144 oz-in, NEMA 23 (124 oz-in with PowerCube)* IC800PCUBCxxS CBL-12-MP n/a CBL-12-MPS n/a
MTR-1231-E-D-E-0 230 oz-in, NEMA 23, Encoder* IC800PCUBCxxS CBL-12-MP CBL-1C-ET CBL-12-MPS CBL-1C-ET
MTR-1231-N-D-E-0 230 oz-in, NEMA 23* IC800PCUBCxxS CBL-12-MP n/a CBL-12-MPS n/a
MTR-1235-E-D-E-0 185 oz-in, NEMA 23, Encoder IC800PCUBCxxS CBL-13-MP CBL-13-ED n/a n/a
MTR-1235-N-D-E-0 185 oz-in, NEMA 23 IC800PCUBCxxS CBL-13-MP n/a n/a n/a
MTR-1324-E-D-E-0 335 oz-in, NEMA 34, Encoder n/a n/a n/a CBL-13-MP CBL-13-ED
MTR-1324-E-D-E-S 335 oz-in, NEMA 34, Encoder, Splashproof n/a n/a n/a CBL-14-MP CBL-14-ED
MTR-1324-N-D-E-0 335 oz-in, NEMA 34 n/a n/a n/a CBL-13-MP CBL-13-ED
MTR-1324-N-D-E-S 335 oz-in, NEMA 34, Splashproof n/a n/a n/a CBL-14-MP CBL-14-ED
MTR-1331-J-E-D-E-0 327 oz-in, NEMA 34, Encoder IC800PCUBCxxS CBL-13-MP CBL-13-ED n/a n/a
MTR-1331-J-E-D-E-S 327 oz-in, NEMA 34, Encoder, Splashproof IC800PCUBCxxS CBL-14-MP CBL-14-ED n/a n/a
MTR-1331-J-N-D-E-0 327 oz-in, NEMA 34 IC800PCUBCxxS CBL-13-MP CBL-13-ED n/a n/a
MTR-1331-J-N-D-E-S 327 oz-in, NEMA 34, Splashproof IC800PCUBCxxS CBL-14-MP CBL-14-ED n/a n/a
MTR-1337-E-D-E-0 675 oz-in, NEMA 34, Encoder n/a n/a n/a CBL-13-MP CBL-13-ED
MTR-1337-E-D-E-S 675 oz-in, NEMA 34 Encoder, Splashproof n/a n/a n/a CBL-14-MP CBL-14-ED
MTR-1337-N-D-E-0 675 oz-in, NEMA 34 n/a n/a n/a CBL-13-MP CBL-13-ED
MTR-1337-N-D-E-S 675 oz-in, NEMA 34, Splashproof n/a n/a n/a CBL-14-MP CBL-14-ED
MTR-1350-E-A-E-0 630 oz-in, NEMA 34, Encoder n/a n/a n/a CBL-13-MP CBL-13-ED
MTR-1350-E-A-E-S 630 oz-in, NEMA 34, Encoder, Splashproof n/a n/a n/a CBL-14-MP CBL-14-ED
MTR-1350-E-D-E-0 995 oz-in, NEMA 34, Encoder n/a n/a n/a CBL-13-MP CBL-13-ED
MTR-1350-E-D-E-S 995 oz-in, NEMA 34 Encoder, Splashproof n/a n/a n/a CBL-14-MP CBL-14-ED
MTR-1350-N-A-E-0 630 oz-in, NEMA 34 n/a n/a n/a CBL-13-MP CBL-13-ED
MTR-1350-N-A-E-S 630 oz-in, NEMA 34, Splashproof n/a n/a n/a CBL-14-MP CBL-14-ED
MTR-1350-N-D-E-0 995 oz-in, NEMA 34 n/a n/a n/a CBL-13-MP CBL-13-ED
MTR-1350-N-D-E-S 995 oz-in, NEMA 34, Splashproof n/a n/a n/a CBL-14-MP CBL-14-ED
MTR-1N31-I-E-D-S-0 650 oz-in, NEMA 34, Encoder (605 oz-in with PowerCube) IC800PCUBCxxS CBL-13-MP CBL-13-ED CBL-13-MP CBL-13-ED
MTR-1N31-I-N-D-S-0 650 oz-in, NEMA 34, (605 oz-in with PowerCube) IC800PCUBCxxS CBL-13-MP n/a CBL-13-MP CBL-13-ED
MTR-1N32-I-E-D-S-0 1200 oz-in, NEMA 34, Encoder n/a n/a n/a CBL-13-MP CBL-13-ED
MTR-1N32-I-N-D-S-0 1200 oz-in, NEMA 34 n/a n/a n/a CBL-13-MP CBL-13-ED
MTR-1N41-G-E-A-E-0 1905 oz-in, NEMA 42, Encoder n/a n/a n/a CBL-13-MP CBL-13-ED
MTR-1N41-G-N-A-E-0 1905 oz-in, NEMA 42 n/a n/a n/a CBL-13-MP CBL-13-ED
MTR-1N42-H-E-A-E-0 3074 oz-in, NEMA 42, Encoder n/a n/a n/a CBL-13-MP CBL-13-ED
MTR-1N42-H-N-A-E-0 3074 oz-in, NEMA 42 n/a n/a n/a CBL-13-MP CBL-13-ED

Cable Ordering Information

Part Number Description

Stepping Motor Power Cables CBL-12-MP-xx* Power Cable, MTR-1216, 1221 & 1231 Stepping Motor to PowerCube, xx = 10, 20 or 30 feet
CBL-12-MPS-xx* Power Cable, MTR-1216, 1221 & 1231 Stepping Motor to S2K, xx = 10, 20 or 30 feet
CBL-13-MP-xx Power Cable, MTR-1235, 1300 & 1N Series Stepping Motors, xx = 10, 20 or 30 feet
CBL-14-MP-xx Power Cable, MTR-1235, 1300 & 1N Series Splashproof Stepping Motors, xx = 10, 20 or 30 feet
Encoder Cables CBL-1C-ET-xx Encoder Cable, MTR-1216, 1221 & 1231 Stepping Motors, xx = 10, 20 or 30 feet
CBL-13-ED-xx Encoder Cable, MTR-1235, 1300 & 1N Series Stepping Motors, xx = 10, 20 or 30 feet
CBL-14-ED-xx Encoder Cable, MTR-1235, 1300 & 1N Series Splashproof Stepping Motors, xx = 10, 20 or 30 feet
Power Cube I/O Cables IC800PCUBC02S0x0 Interface Cable, PowerCube Amplifier DB-15 I/O Connector to Flying Leads, 200 Steps/Rev, x = 3 or 5 m
IC800PCUBC04S0x0 Interface Cable, PowerCube Amplifier DB-15 I/O Connector to Flying Leads, 400 Steps/Rev, x = 3 or 5 m
IC800PCUBC10S0x0 Interface Cable, PowerCube Amplifier DB-15 I/O Connector to Flying Leads, 1000 Steps/Rev, x = 3 or 5 m
*MTR1216, 1221 an 1231 motor winding connection type (series or parallel) is determined by the motor power cable not by the winding designation in the part number (A or D).

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GE Fanuc Motion Solutions 119
 Motion Solutions
Stepping Motors

Stepping Motor Cube

Stepping Motor Cube: Complete, Integrated
Stepping Motor and Drive
Designers of industrial stepping motor applications continually demand
more features, fewer system components and less wiring. GE Fanuc
raises the bar with its high-performance Stepping Motor Cube,
integrating motor, drive and control communications in a single package.

The Stepping Motor Cube is available in two versions:

• Pulse Command–full/half-step amplifier only, step/direction command
• DeviceNet–microstepping amplifier (50,000 steps/rev) with on-board
positioner and diagnostics

Features
• Integral drive with 3-Amp, 24-48 VDC Power
• NEMA 23 stepping motor
• Three models available with torque ratings from 50 to 175 oz-in

The latest addition to GE Fanuc’s offering of leading-edge, integrated motion

control products, the Stepping Motor Cube fits easily into systems where panel
space is limited. And with the optional DeviceNet communications, multiaxis
systems benefit from:

• Reduced point-to-point wiring

• Reduced components and integration
• Network positioning and diagnostics for better system performance
and efficiency

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120 GE Fanuc Motion Solutions
 Motion Solutions
Stepping Motors

Stepping Motor Cube

The Power of GE Fanuc and DeviceNet Technologies

The addition of DeviceNet to the Stepping GE Fanuc and DeviceNet technology can
Motor Cube turns an exceptional, digital perform the following functions:
3-Amp drive and motor into a microstepping
• Enable the drive and load position commands
position controller capable of communicat-
• Load values for position, accel/decel
ing over the network's I/O Command and and velocity
Response Message channels. Systems • Read motor position data
designed to maximize the power of • Diagnose system faults for multiple axes

DB-15 Connector

Specifications Pin Function

1 Pulse + (24V)
Designed to perform in industrial environments, the Stepping Motor Cube features: 2 Pulse -
3 Direction + (5V)
• Separate power supplies for Motor Cube • 50 kHz max pulse frequency 4 Input Common
and DeviceNet connection for step/direction models 5 Power Save
6 Stall Output
• Field wiring of motor signals is not • 2 µs minimum pulse width 7 Step Size Select A
required with DeviceNet models 8 Step Size Common
Stepping Motor Cubes without the 9 Pulse + (5V)
• Full or half-step modes for step/direction 10 Direction + (24V)
DeviceNet option provide a 15-pin connec- 11 Direction-
models
tor to accommodate the signals listed in the 12 Enable Input
• 50,000 microstepping mode for DeviceNet DB-15 Connector table to the right. 13 OK Output
models 14 Output Common
15 Step Size Select B

Mechanical Dimensions in (mm)

4X ø 0.20 (5.08) THRU 0.112

ON A ø 2.625 (66.68) B.C. (2.85)

0.250
(6.35)
0.184 2.770
2.250 (4.67)
(57.2) (70.4)

0.217
(5.51)

0.055
(1.4) L1 Side View–Standard Configuration

0.810
(20.57)
L
Top View +0.07 (1.78)
-0.04 (1.02) 0.700
(17.8)
Model LMax in (mm) L1 in (mm) Weight lb (kg) 3.150
(80)
IC800MCUB12160XN 3.7 (93.9) 2.7 (68.6) 1.6 (0.73)
IC800MCUB12210XN 4.2 (106.7) 2.7 (68.6) 2.1 (0.95)
IC800MCUB12310XN 5.2 (132.1) 2.7 (68.6) 3.1 (1.41)
IC800MCUB12160XD 3.7 (93.9) 2.7 (68.6) 1.6 (0.73)
IC800MCUB12210XD 4.2 (106.7) 2.7 (68.6) 2.1 (0.95)
IC800MCUB12310XD 5.2 (132.1) 2.7 (68.6) 3.1 (1.41) Side View–DeviceNet Configuration
IC800MCUB12160XE 4.5 (114.3) 3.5 (88.9) 1.8 (0.82)
IC800MCUB12210XE 5.0 (127.0) 3.5 (88.9) 2.3 (1.1)
IC800MCUB12310XE 6.0 (152.4) 3.5 (88.9) 3.3 (1.5)

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GE Fanuc Motion Solutions 121
 Motion Solutions
Stepping Motors

Stepping Motor Cube

Performance Curves
The performance curves show rated torque stepping mode. Lower bus voltages will also
available for 48 VDC and full stepping mode. decrease the available speed and torque.
Torque must be reduced by 30% for half-

MCUB1216 MCUB1221 MCUB1231

Current 2.5 Amps peak Bus Voltage 48 VDC Current 3.0 Amps peak Bus Voltage 48 VDC Current 3.0 Amps peak Bus Voltage 48 VDC
120 200
50

100
40
150
80
Torque (o z -in )

30
Torque (o z -in )

Torque (oz -in )

60 100
20

40
10
50
20
0

0 0
600 1200 1800 2400 3000 3060 600 1200 1800 2400 3000 600 1200 1800 2400 3000 3060
Speed (RPM) Speed (RPM) Speed (RPM)

MotorCube Ordering Information

Part Number Description
Consult the factory for an application-
specific Stepping Motor Cube sizing or for
IC800MCUB12160XD 50 oz-in Stepping Motor Cube with DeviceNet
IC800MCUB12160XE 50 oz-in Stepping Motor Cube, Pulse/Direction Interface with Encoder more information on how GE Fanuc and
IC800MCUB12160XN 50 oz-in Stepping Motor Cube, Pulse/Direction Interface DeviceNet can improve the performance
IC800MCUB12210XD 100 oz-in Stepping Motor Cube DeviceNet
IC800MCUB12210XE 100 oz-in Stepping Motor Cube, Pulse/Direction Interface with Encoder
of your stepping motor control systems.
IC800MCUB12210XN 100 oz-in Stepping Motor Cube, Pulse/Direction Interface
IC800MCUB12310XD 175 oz-in Stepping Motor Cube DeviceNet
IC800MCUB12310XE 175 oz-in Stepping Motor Cube, Pulse/Direction Interface with Encoder
IC800MCUB12310XN 175 oz-in Stepping Motor Cube, Pulse/Direction Interface

Cable Ordering Information

Part Number Description

Stepping MotorCube Power Cables IC800MCC23P050 Power Cable, MotorCube Stepping Motor to Flying Lead, 5 m
IC800MCC23P100 Power Cable, MotorCube Stepping Motor to Flying Lead, 10 m
Encoder Cables CBL-12-ED-03M-RA Encoder Cable, Stepping MotorCube DB-9 Right Angle Connector to Flying Lead, 3 m
Stepping MotorCube I/O Cables IC800PCUBC02S0x0 Interface Cable, MotorCube DB-15 I/O Connector to Flying Leads, 200 Steps/Rev, x = 3 or 5 m
IC800PCUBC04S0x0 Interface Cable, MotorCube DB-15 I/O Connector to Flying Leads, 400 Steps/Rev, x = 3 or 5 m
IC800PCUBC10S0x0 Interface Cable, MotorCube DB-15 I/O Connector to Flying Leads, 1000 Steps/Rev, x = 3 or 5 m

Accessory Ordering Information

Part Number Description

Screw Terminal Adapter IC800CUBDB15ADP Plug on Adapter Converts DB15 Connections to Screw Terminals

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122 GE Fanuc Motion Solutions
 Motion Solutions
Operator Interface

Operator Interface Panel

GE Fanuc offers an optional operator
interface OIP-DSP1-C for use with the
S2K Series Controllers.

Four-line, 40-character
LCD backlit display
Three LEDs for
Toggle Outputs

Numeric Keypad
12 Function Keys with
User-Customized
Legend

The Operator Interface Panel (OIP) commu- for standard programming functions will not
nicates with the S2K via the unit’s serial be possible. An ASCII communication proto-
port. It is possible to power the Operator col is typically used to interface with third
Interface from the +12 VDC supply available party man-machine interfaces. The S2K
on the S2K unit. Controller provides string variables to
simplify interface with such devices.
The serial port can also be used to interface
the S2K with third party man-machine inter-
faces. In this case, access to the serial port

OIP Ordering Information

Part Number Description

OIP-DSP1-C Operator Interface Panel

CBL-OIJR-06-RA Serial Cable, S2K to Operator Interface Panel, 6 feet
CBL-OIJR-12-RA Serial Cable, S2K to Operator Interface Panel, 12 feet

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GE Fanuc Motion Solutions 123
 Motion Solutions
Operator Interface

OIP-DSP1-C
Connection and Dimensions

9.76 (247.9)

7.66 7 8 9
(194.6) Delete

4 5 6

1 2 3
Enter

0 -

FRONT VIEW

0.5
(12.7)
Link Host
1.0 U
6 9 9 6
com

Vdc

(25.4) D
4 1 1 5 5 1

BOTTOM VIEW 0.625

(15.87)

HOST
Serial Data Link DIP Switch Positions
6 1

RECEIVE serial
TRANSMIT
baud
GROUND rate 12
LINK HOST LINK
9 5 9 5 6 1 9 5
1200 UU
RS-232 9600 DU
19200 UD
38400 DD
HOST
6 1 6 1 9 5 6 1
TRANSMIT A
TRANSMIT B
Notes:
RECEIVE A'
RECEIVE B'
Note: Cable is individually shielded, 1. Must turn off power
GROUND
9 5
twisted pairs before changing settings,
RS-422 U= up (closed)
D= down (open)

DC Power 2. Switches 3 and 4

are reserved
Vdc
com

7-15 Vdc @ 200 ma

DC Com

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124 GE Fanuc Motion Solutions
 Motion Solutions
Motion Software

Development Software
Motion Developer
S2K Series controllers are configured using
the Motion Developer software. This easy-
to-use interface provides the user with a
range of programming methods appropriate
for both the beginner and the more
advanced programmer.

Motion Developer is also a member of GE

Fanuc’s CIMPLICITY® Machine Edition envi-
ronment which can include factory automa-
tion software applications like View and
Control . Thus, a complete machine control
solution is further simplified with one pro-
gramming environment.

Ordering Information
Motion Developer with 1 year SAFE Gold BC646MODEV
5-pack Motion Developer with 1 year SAFE Gold BC646MODEV05PK
10-pack Motion Developer with 1 year SAFE Gold BC646MODEV10PK
1 year SAFE Gold Renewal SA648MODEV

www.gefanuc.com
GE Fanuc Motion Solutions 125
 Motion Solutions
Motion Software

Development Software

New Application Wizard

Application Wizards provide step-by-step
instructions to guide the first-time user
through controller configuration and simple
motion programming.

The Motion Solutions templates aid the user

in rapid development of common applica-
tions such as flying cutoff, rotary knife and
traverse (spool) winder.

Each Motion Developer “project” stores all

of the configuration, motion and program
information for a complete multi-axis
system. Projects can be reused or
modified at any time.

Configuration Wizard
Setting up your system is simplified with
drop-down motor/drive lists complete with
pictures. Complete controller configura-
tions, including communication parameters,
user unit scaling, master encoder configu-
ration, position rollover, I/O configuration
and electronic gearing are configured using
a simple question and answer format. The
S2K “autotune” function provides a novice
user with a way to get optimum perform-
ance without having in-depth knowledge
of tuning parameters.

Motion Wizard
Adding new motion blocks is as easy as
selecting the move type from the available
list and filling in the blanks. Incremental
moves can be created using the Motion
Calculator. Advanced users can customize
motion blocks using the text editor. Up to
100 motion blocks can be created and
called by any of the four programs. Once
created, these motion blocks can be saved
in the Toolchest library (drawer) under a
user-specified name for re-use in future
projects.

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126 GE Fanuc Motion Solutions
 Motion Solutions
Motion Software

Development Software

Graphical Motion Editor

The graphical motion Program Editor allows
programs to be developed using a flow chart
format. New commands can be inserted from
the menus or drag-and-dropped from the
Toolchest. Double clicking a program block
allows block parameters to be changed.
Program flow control is easy to create by
making or breaking connections. Selecting a
decision block highlights the conditional pro-
gram path for easy visualization.

CAM Editor
Motion Developer provides a graphical
CAM Profile Editor for developing electronic
CAM Profiles. Data points can be
imported/exported in CSV file format, manu-
ally entered into the data table or by insert-
ing and dragging points on the graph. CAM
Profiles can be subdivided into sectors with
each sector supporting individual first, sec-
ond or third order curve fitting. Multiple pro-
files can be stored in a project.

On-line Menu
Motion Developer also includes tools to
aid in quick start-up and debugging. The
Controller Functions screen provides the
user with a convenient way to start/stop
motion blocks or programs, jog the axis
motor, view or reset system status and faults
and open the Data Watch window or the ter-
minal window for immediate mode communi-
cations with the selected controller.

The Data Watch and Motion Scope func-

tions allow the user to view an “o’scope-
style” trend chart for selected variables.
The Data Watch window allows you to
monitor and change both system and
user variables in real time.

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GE Fanuc Motion Solutions 127
 Motion Solutions
Motion Software

Servo Motor Sizing Software

The GE Fanuc Sizer is a powerful motor GE Fanuc Sizer is one of the most advanced tions in order to determine the optimum
selection program to assist in the selection motor selection programs available, provid- solution. Advanced features include:
of GE Fanuc servo solutions for a broad ing users the flexibility to quickly define and
range of user defined applications. analyze many possible system configura-

• Graphical design of system mechanics and motion profiles

• Multiple axes can be analyzed and saved in one file with user defined axes names
• Flexible user defined units of measure
• Inclined loads in increments of 1 degree with user defined counterbalancing
• Graphical display of selected motor torque/speed curve with superimposed loading
• Comprehensive on-line and printed report can be exported to
an MS-Word template that can be customized by the user

The Axis Design screen (above) is first used to define the system mechanics
using graphical icons with fill-in-the-blank data tables.

• Quick Set-up for simple triangular or trapezoidal velocity profiles or a free form
tool to define complex, multi-speed profiles
• Jerk limited or linear acceleration may be defined for each accel/decel segment
• Thrust load and application load may be defined for each motion segment allowing
complex machine cycles to be quickly analyzed
• Enter or view profile data in either linear or rotary units
• Toggle jerk limiting on/off with convenient toolbar button to quickly assess impact
on required peak motor torque

The Velocity Profile screen (below) is then used to define the motion
profile for each axis and supports the following features:

The Motor Selection screen (right) is used to search the database of GE Fanuc
motors for the optimum solution. The selection screen includes:

• Automatic selection and ranking of viable GE Fanuc servo motor solutions

• User defined safety factors for torque margin, load/motor inertia ratio, etc.
• Regeneration resistor calculations automatically recommend GE Fanuc resistor kit
part number
• User defined motor selection criteria includes voltage, motor length and diameter,
brake, inertia ratio and torque safety margin

The GE Fanuc Sizer software can make short work of choosing and documenting the
best GE Fanuc motor solution for your motion applications. The intuitive graphical
interface makes it easy to use for a novice without sacrificing the flexibility or fea-
tures demanded by more experienced users.

www.gefanuc.com
128 GE Fanuc Motion Solutions