FANUC CORPORATION

FANUC > series R-30+B CONTROLLER

AUXILIARY AXIS ORDER MANUAL

For A-cabinet

Robot Controller Department, CNC Hardware Laboratory

Edition Date Charge Check Approval Remarks

01 12. Feb.20 Yuyama Tanabe Chino The first edition publication

R-30*B AUXILIARY AXIS ORDER MANUAL for A-cabinet A-95023E/01 1/31

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1. Application

This manual describes auxiliary axis (Aux. Axis) order method for R-30iB A-cabinet.

The scope of this manual as follows.

Aux. axis for M-3iA, M-2000iA is out of scope.
Local stop system is out of scope.
Aux. axis and I/O Unit-MODEL A are not installed together in one controller.
Gun change function(Hand change function) can be used the (2) axes or (3) axes servo
amplifier
In case of M-430iA, (1) servo amplifier for robot axis is already specified in robot order, so
additional servo amplifier (AMP3) has to be added to the robot order.
The servo amplifier for R-30iA can not be used for spare parts.
If it is necessary the aux. axis is not supported in this manual, describe the attached Aux. axis
configuration sheets and ask to design section.

Note.
The power circuit (Breakers, Transformers, Emergency stop unit, Power regeneration unit,
Discharge resistor, etc.) is commonly used with robot and aux. axis.
Therefore, if robot and aux. axis is operated acceleration and de-acceleration with heavy load and
high speed simultaneously, the power circuit becomes overloaded, and it may occur overheat of
transformer, overheat of discharge resistor, low voltage of servo amplifier and move error excess.

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2. Available servo motor and servo amplifier

2.1. Available Servo Motor (DC90V brake)

Table 1. Servo motor for auxiliary axis of R-30iB Controller.

Servo motor Specification Shaft shape maximum power Servo amp.
A06B-0202-B605 Taper
@*F 1/5000 A06B-0202-B705 Straight 2.0kW 20A
A06B-0202-B805 Straight with key
A06B-0205-B605 Taper
@*F 2/5000 A06B-0205-B705 Straight 2.9kW 20A
A06B-0205-B805 Straight with key
A06B-0223-B605 Taper
@*F 4/4000 A06B-0223-B705 Straight 4.5kW 40A
A06B-0223-B805 Straight with key
A06B-0227-B605 Taper
@*F 8/3000 A06B-0227-B705 Straight 5.7kW 40A
A06B-0227-B805 Straight with key
A06B-0243-B605 Taper
@*F 12/3000 A06B-0243-B705 Straight 7.6kW 80A
A06B-0243-B805 Straight with key
A06B-0247-B605 Taper
@*F 22/3000 A06B-0247-B705 Straight 9.6kW 80A
A06B-0247-B805 Straight with key
A06B-0212-B605 Taper
@*S 2/5000 A06B-0212-B705 Straight 2.8kW 20A
A06B-0212-B805 Straight with key
A06B-0215-B605 Taper
@*S 4/5000 A06B-0215-B705 Straight 3.1kW 20A
A06B-0215-B805 Straight with key
A06B-0235-B605 Taper
@*S 8/4000 A06B-0235-B705 Straight 8kW 80A
A06B-0235-B805 Straight with key
A06B-0238-B605 Taper
@*S 12/4000 A06B-0238-B705 Straight 12kW 80A
A06B-0238-B805 Straight with key
A06B-0253-B605 Taper
@*F 30/3000 A06B-0253-B705 Straight 21kW 160A
A06B-0253-B805 Straight with key
A06B-0257-B605 Taper
@*F 40/3000 A06B-0257-B705 Straight 18kW 160A
A06B-0257-B805 Straight with key
A06B-0265-B605 Taper
@*S 22/4000 A06B-0265-B705 Straight 17kW 160A
A06B-0265-B805 Straight with key
A06B-0268-B605 Taper
@*S 30/4000 A06B-0268-B705 Straight 22kW 160A
A06B-0268-B805 Straight with key
A06B-0272-B605 Taper
@*S 40/4000 A06B-0272-B705 Straight 24kW 160A
A06B-0272-B805 Straight with key

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Servo motor Specification Shaft shape maximum power Servo amp.

A06B-0114-B704 Straight
#*S 0.4/5000 0.5kW 20A
A06B-0114-B804 Straight with key
A06B-0115-B704 Straight
#*S 0.5/6000 1.3kW 20A
A06B-0115-B804 Straight with key
A06B-0116-B704 Straight
#*S 1/6000 2.3kW 20A
A06B-0116-B804 Straight with key
A06B-0061-B604 Taper
#*S 2/4000 A06B-0061-B704 Straight 2.3kW 20A
A06B-0061-B804 Straight with key
A06B-0063-B604 Taper
#*S 4/4000
A06B-0063-B704 Straight 2.5kW 20A
A06B-0063-B804 Straight with key
A06B-0075-B604 Taper
#*S 8/3000 A06B-0075-B704 Straight 2.8kW 20A
A06B-0075-B804 Straight with key
A06B-0078-B604 Taper
#*S 12/3000 A06B-0078-B704 Straight 5.4kW 40A
A06B-0078-B804 Straight with key
A06B-0085-B604 Taper
#*S 22/2000 A06B-0085-B704 Straight 5.2kW 40A
A06B-0085-B804 Straight with key

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Available Servo Amplifier

Table 2. Servo amplifiers for auxiliary axis of R-30iB Controller.

Specification Specification Shape
Servo Amplifier SUMC
（Assembly in Factory） （Retrofit） (Width / Fin)
@*SV 20 A05B-2605-J040#H103 A06B-6240-H103 60mm / w/o Fin 0.06
@*SV 40 A05B-2605-J040#H104 A06B-6240-H104 60mm / w/ Fin 0.11
@*SV 80 A05B-2605-J040#H105 A06B-6240-H105 60mm / w/ Fin 0.16
@*SV 160 A05B-2605-J040#H106 A06B-6240-H106 60mm / w/ Fin 0.21
@*SV 20/20 A05B-2605-J040#H205 A06B-6240-H205 60mm / w/o Fin 0.11
@*SV 20/40 A05B-2605-J040#H206 A06B-6240-H206 60mm / w/ Fin 0.11
@*SV 40/40 A05B-2605-J040#H207 A06B-6240-H207 60mm / w/ Fin 0.16
@*SV 40/80 A05B-2605-J040#H208 A06B-6240-H208 60mm / w/ Fin 0.21
@*SV 80/80 A05B-2605-J040#H209 A06B-6240-H209 60mm / w/ Fin 0.21
@*SV 80/160 A05B-2605-J040#H210 A06B-6240-H210 90mm / w/ Fin 0.41
@*SV 160/160 A05B-2605-J040#H211 A06B-6240-H211 90mm / w/ Fin 0.41
@*SV 20/20/20 A05B-2605-J040#H305 A06B-6240-H305 60mm / w/o Fin 0.11
@*SV 20/20/40 A05B-2605-J040#H306 A06B-6240-H306 60mm / w/ Fin 0.16
@*SV 40/40/40 A05B-2605-J040#H308 A06B-6240-H308 60mm / w/ Fin 0.17
（Note）All servo amplifier is used for Gun change function.
The servo amplifier for R-30iA can not be used.

Table 3. Applicable servo amplifier for each motors

Model @*F 1/5000 @*F 4/4000 @*F 12/3000 @*F 30/3000 SUMA
@*F 2/5000 @*F 8/3000 @*F 22/3000 @*F 40/3000 (A)
@*S 2/5000 #*S 12/3000 @*S 8/4000 @*S 22/4000
@*S 4/5000 #*S 22/2000 @*S 12/4000 @*S 30/4000
#*S 0.4/5000 @*S 40/4000
#*S 0.5/6000
#*S 1/6000
#*S 2/4000
#*S 4/4000
#*S 8/3000
@*SV 20 ○ 0
@*SV 40 ○ 40
@*SV 80 ○ 80
@*SV 160 ○ 160
@*SV 20/20 L/M 0
@*SV 20/40 L M 40
@*SV 40/40 L/M 80
@*SV 40/80 L M 120
@*SV 80/80 L/M 160
@*SV 80/160 L M 240
@*SV 160/160 L/M 320
@*SV 20/20/20 L/M/N 0
@*SV 20/20/40 L/M N 40
@*SV 40/40/40 L/M/N 120

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2.2. Limitation of aux. axis

2.2.1. Limitation of servo amplifier

Two servo amplifiers can be mounted in A-cabinet.

SUMC parameter based on the following calculation should be less than maximum value. If SUMC
is over the maximum value, query the design section.

Maximum Value of SUMC

In case of Resistor Discharge: 1.00
In case of Power Regeneration: 1.24
Calculation
Maximum SUMC ＞ Σ SUMC = SUMC(6 axes) ＋ SUMC(AMP2) + SUMC(AMP3)

The SUMC of servo amplifier is shown in Table 2.

The SUMC of 6 axes servo amplifier is as follows.
・ A05B-2601-H050: 0.41
・ A05B-2601-H051: 0.30
・ A05B-2601-H052: 0.30
・ A05B-2601-H053: 0.20
・ A05B-2601-H054: 0.20

2.3.2 The maximum power of aux. axis motors

SUMP is calculated based on the maximum power of each motor.

SUMP is less than the maximum power corresponding to the each transformer capacity.
In case of lack of transformer capacity, it is necessary to upgrade the transformer capacity.
Refer to 11 section regarding the upgrade the transformer capacity.

(Note) This limitation is not applied to AC reactor.

Calculation
Maximum SUMP(kW) > Σ maximum power of servo motor x 0.4～0.6 (Coefficient)

Maximum power of servo motor is shown in the Table 1.

Coefficient is specified based on the application between from 0.4 to 0.6.
For example, coefficient of rail axis is 0.6, coefficient of Positioner and servo gun is 0.4.

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Maximum SUMP：
・ In case of 3kVA Transformer: 5.3kW or less
・ In case of 7.5kVA Transformer: 10.6kW or less
・ In case of 10.5kVA Transformer: 14.1kW or less

2.3.3 Limitation by current of servo amplifier

It is necessary for upgrading the capacity of the transformer from the standard in total of the
current value of the addition axis amplifier. The total of the official current of amplifier value in the
transformer of each capacity as the addition axis is as follows.
Current value of servo amplifier is shown in the Table 3.

Calculation
Maximum SUMA(A) > Σ Current value of servo amplifier (In case of 20A amplifier, current value is 0(A).)

・ In case of 3kVA Transformer: Maximum SUMA = 80A or less

・ In case of 7.5kVA Transformer: Maximum SUMA = 160A or less
・ In case of 10.5kVA Transformer : Maximum SUMA = 400A or less
・ In case of AC Reactor : Maximum SUMA = 400A or less
（Note）However, upgrading the capacity of the transformer is unnecessary for FANUC Positioner.

3. Power regeneration option

3.1. @*PS for Power regeneration
Name Specification Specification Shape
（Assembly in Factory） （Retrofit） (Width / Fin)
@*PS 15 A05B-2605-J030#H015 A06B-6200-H015 90mm / w / Fin

3.2. @*PS control for Power regeneration

Name Specification
@*PS control A05B-2605-J010

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4. Auxiliary axis setting

4.1. Selection of motion group (Group Axis number)

Specify the relationship hardware axis and motion group for aux. application.

Motion group Basic axis Auxiliary axis

G1 J1～J6 E1～E3
G2 J1～J6 E1～E3
G3 J1～J6 E1～E3
G4 J1～J6 E1～E3
G5 J1～J6 E1～E3
G0 Servo torch, etc.

4.2. Definition of Axis number

Please define the axis number (J1 – J16) to the motion group.
Define the axis number of servo amplifier and axes.
Axis number of Gun Change/Servo Torch should be last axis.

Setting example

Motion
G3:J1-J2 G2:J1-J2 G1:E1 G1:J1-J6 Group

Servo Card
J12 J11 J10 J9 J8 J7 J6 J5 J4 J3 J2 J1
Axis Number

Servo
AMP4(2axes)

AMP3(2axes)

AMP2(1axis)

AMP1
6-axes Amplifier
amplifier

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4.3. Definition of Brake number

Each axis must have Brake number. Auxiliary axis brake is installed as follows.
6 axes amplifier： Brake group 1×2 axes
Brake / Gun change unit： Brake group 2×1 axis / Brake group 3×2 axes
Brake unit： Brake group 2×2axes / Brake group 3×2 axes

Brake number #1 #2 #3
Limitation
(Connector) (CRR65AB) (CRR65C) (CRR65D)
6 axes amplifier X2 - - correspond to all motors.
Brake / X1
- X2 (Note)
Gun change unit (for Gun change)
correspond to all motors.
Brake unit - X2 X2 Apply only one servo
amplifier for AUX. axis.
（Note） Available Motor: @*F 4/4000, @*F 8/3000, @*F 12/3000, @*F 22/3000,

@*S 8/4000, @*S 12/4000, @* F 30/3000, @* F 40/3000,

@*S 22/4000, @*S 30/4000, @*S 40/4000

#*S 8/3000, #*S 12/3000, #*S 22/2000

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5. Auxiliary Axis Control/Adaptor plate for Servo amplifier

5.1. Specification list

Specify the adaptor plate and aux. axis control as following tables.
Refer to “5.2. Mounting of servo amplifiers”

5.1.1. Adaptor plate for servo amplifier

Adaptor plate Specification
60mm(x1) A05B-2605-J430
90mm(x1) A05B-2605-J431
60mm + 60mm A05B-2605-J432
60mm + 90mm A05B-2605-J433
90mm + 60mm A05B-2605-J434

5.1.2. Auxiliary axis control

Auxiliary axis control Specification
Servo amplifier (x1) Resistor Discharge A05B-2605-J001
Servo amplifier (x2) Resistor Discharge Width 60mm+60mm A05B-2605-J002
Servo amplifier (x2) Resistor Discharge Width 60mm+90mm A05B-2605-J003
Servo amplifier (x2) Resistor Discharge Width 90mm+60mm A05B-2605-J004
Servo amplifier (x1) Power regeneration A05B-2605-J011

5.1.3. Adaptor plate for servo amplifier

Adaptor plate Specification
60mm servo amplifier w/o Fin A05B-2605-J420

5.2. Mounting of servo amplifiers

5.2.1. In case of Resistor Discharge

(Note) The servo amplifiers for Auxiliary axis are mounted up to two.
Main board

PSU

Servo amp. (AMP2)

Servo amp. (AMP3)

Main E-stop
Breaker Unit

6 axes

Servo amplifier
(AMP1)

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The combination of adaptor plate and aux axis control.

AMP2 AMP3 Auxiliary axis Adaptor plate Adaptor plate
Width / Fin Width / Fin control For servo amp. For w/o Fin
60mm / w/o Fin - A05B-2605-J001 A05B-2605-J430 A05B-2605-J420
60mm / w/o Fin 60mm / w/o Fin A05B-2605-J001 A05B-2605-J432 A05B-2605-J420 (x2)
A05B-2605-J002
60mm / w/o Fin 60mm / w/ Fin A05B-2605-J001 A05B-2605-J432 A05B-2605-J420
A05B-2605-J002
60mm / w/o Fin 90mm / w/ Fin A05B-2605-J001 A05B-2605-J433 A05B-2605-J420
A05B-2605-J003
60mm / w/ Fin - A05B-2605-J001 A05B-2605-J430 -
60mm / w/ Fin 60mm / w/o Fin A05B-2605-J001 A05B-2605-J432 A05B-2605-J420
A05B-2605-J002
60mm / w/ Fin 60mm / w/ Fin A05B-2605-J001 A05B-2605-J432 -
A05B-2605-J002
60mm / w/ Fin 90mm / w/ Fin A05B-2605-J001 A05B-2605-J433 -
A05B-2605-J003
90mm / w/ Fin - A05B-2605-J001 A05B-2605-J431 -
90mm / w/ Fin 60mm / w/o Fin A05B-2605-J001 A05B-2605-J434 A05B-2605-J420
A05B-2605-J004
90mm / w/ Fin 60mm / w/ Fin A05B-2605-J001 A05B-2605-J434 -
A05B-2605-J004
（In case of M-430iA series, only AMP3 is can be added for aux. axis, because servo
amplifier for the robot has already been mounted on AMP2.）

5.2.2. In case of Power regeneration

（Note） Only one auxiliary axis amplifier is mounted. (Note)
When the power regeneration option is
selected, the servo amplifier number at
Main board

PSU

Servo amp. (AMP3)

PS for pow. regeneration

Main E-stop this position is "AMP3".

Breake Unit

6 axes

Servo amplifier

(AMP1)

The combination of adaptor plate and aux axis control.

AMP2 Auxiliary axis control Adaptor plate Adaptor plate
Width / Fin For servo amp. For w/o Fin
- - A05B-2605-J431 -
60mm / w/o Fin A05B-2605-J011 A05B-2605-J434 A05B-2605-J420
60mm / w/ Fin A05B-2605-J011 A05B-2605-J434 -

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6. Servo Card
6 axes servo card is selected in the system without the auxiliary axis.
Change it to the servo card that can control the number of axes in which the number of
addition
axes is added to the number of robot axes.
Number of control axes Specification
（Including robot axes）
6 axes (standard) A05B-2600-H040
12 axes A05B-2600-H041

7. Cable Tag
Select tag according to the servo motor and the amplifier composition.

7.1. Brake cable Tag

Brake Number Connection to Connector Specification
1 6 axes amplifier （AMP1） CRR65AB A05B-2605-J060
2 Brake unit (BKUNIT) CRR65C A05B-2605-J061
Gun Change Brake unit CRR65C A05B-2605-J064
(GCPCB#1)
3 Brake unit (BKUNIT) CRR65D A05B-2605-J062

7.2. Servo motor cable Tag

Position of Amp. Specification
AMP2/L A05B-2605-J070
AMP2/M A05B-2605-J071
AMP2/N A05B-2605-J072
AMP3/L A05B-2605-J073
AMP3/M A05B-2605-J074
AMP3/N A05B-2605-J075

7.3. Gun change Tag

Specification
A05B-2605-J085

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8. Auxiliary axis cable

8.1. ARP/ARM cable

Available Servo Motor：αiF1/5000, αiF2/5000, αiF4/4000, αiF8/3000, αiS2/5000, αiS4/5000,
αiS8/4000, βiS0.4/5000, βiS0.5/6000, βiS1/6000, βiS2/4000, βiS4/4000,
βiS8/3000, βiS12/3000
Cable Type : A, Interface : A
Non-Flex No. of Standard Length Specification Wire
/ axis /NRTL Pulsecorder Power/Brake
Flex /CE (ARP) (ARM)
Non-Flex 1 Standard 7m A05B-2605-J100 Diameter: Diameter:
/ 14m A05B-2605-J101 Φ8.5mm(#E) Φ11.8mm(#C)
NRTL 20m A05B-2605-J102 Weight : Weight:
30m A05B-2605-J103 0.09kg/m 0.2kg/m
Flex 7m A05B-2605-J105 Diameter: Diameter:
14m A05B-2605-J106 Φ9.1mm(#E) Φ11.8mm(#C)
20m A05B-2605-J107 Weight : Weight:
30m A05B-2605-J108 0.117kg/m 0.2kg/m
Non-Flex CE 7m A05B-2605-J110 Diameter: Diameter:
14m A05B-2605-J111 Φ8.5mm(#E) Φ12.5mm(#C)
20m A05B-2605-J112 Weight: Weight:
30m A05B-2605-J113 0.09kg/m 0.246kg/m
Flex 7m A05B-2605-J115 Diameter: Diameter:
14m A05B-2605-J116 Φ9.1mm(#E) Φ12.5mm(#C)
20m A05B-2605-J117 Weight: Weight:
30m A05B-2605-J118 0.117kg/m 0.246kg/m

8.2. PM/PP Cable

PM/PP cable is used for FANUC 2 axes Positioner.

Cable Type : B, Interface : B

Non-Flex No. of Standard Length Specification Wire
/ axis /NRTL Power・Brake Pulsecoder
Flex /CE (PM) (PP)
Non-Flex 2 Standard 7m A05B-2605-J160 Diameter: Diameter:
/NRTL 14m A05B-2605-J161 Φ20mm(#B) Φ12mm(#C)
20m A05B-2605-J162 Weight: Weight:
30m A05B-2605-J163 0.65kg/m 0.23kg/m
Flex 7m A05B-2605-J165 Diameter: Diameter:
14m A05B-2605-J166 Φ20mm(#B) Φ20.5mm(#B)
20m A05B-2605-J167 Weight: Weight:
30m A05B-2605-J168 0.607kg/m 0.71kg/m
Non-Flex CE 7m A05B-2605-J170 Diameter: Diameter:
14m A05B-2605-J171 Φ20.6mm(#B) Φ12mm(#C)
20m A05B-2605-J172 Weight: Weight:
30m A05B-2605-J173 0.71kg/m 0.23kg/m
Flex 7m A05B-2605-J175 Diameter: Diameter:
14m A05B-2605-J176 Φ20mm(#B) Φ20.5mm(#B)
20m A05B-2605-J177 Weight: Weight:
30m A05B-2605-J178 0.639kg/m 0.71kg/m

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8.3. J7P/J7M Cable

J7P/J7M cable is used for Rail axis or FANUC 1 axis positioner

Available Servo Motor： αiF12/3000, αiF22/3000, βiS22/3000

Cable Type : , Interface : C
Non-Flex No. Standard Length Specification Wire
/Flex of /NRTL Power・Brake Pulsecoder
axis /CE (Ｊ7M) (J7P)
Non-Flex 1 Standard 7m A05B-2605-J180 Diameter: Diameter:
/NRTL 14m A05B-2605-J181 Φ15.8mm(#B) Φ8.5mm(#E)
20m A05B-2605-J182 Weight: Weight:
30m A05B-2605-J183 0.42kg/m 0.09kg/m
CE 7m A05B-2605-J190 Diameter: Diameter:
14m A05B-2605-J191 Φ20.6mm(#B) Φ8.5mm(#E)
20m A05B-2605-J192 Weight: Weight:
30m A05B-2605-J193 0.71kg/m 0.09kg/m

Available Servo Motor： αiF30/3000, αiF40/3000, αiS22/4000, αiS30/4000, αiS40/4000

Cable Type : A, Interface : C
Non-Flex No. Standard Length Specification Wire
/ of /NRTL Power・Brake Pulsecoder
Flex axis /CE (Ｊ7M) (J7P)
Non-Flex 1 Standard 7m A05B-2605-J185 Diameter: Diameter:
/NRTL 14m A05B-2605-J186 Φ20mm(#B) Φ8.5mm(#E)
20m A05B-2605-J187 Weight: Weight:
30m A05B-2605-J188 0.65kg/m 0.09kg/m
CE 7m A05B-2605-J195 Diameter: Diameter:
14m A05B-2605-J196 Φ20.6mm(#B) Φ8.5mm(#E)
20m A05B-2605-J197 Weight: Weight:
30m A05B-2605-J198 0.71kg/m 0.09kg/m

8.4. Aux. axis Motor connection cable (Directly connected cable)

Available Servo Motor： βiS0.4/5000, βiS0.5/6000, βiS1/6000 / Straight Connector

Cable Type : C, Connector Direction : A
Non-Flex No. Standard Length Specification Wire
/Flex of /NRTL Power Brake Pulsecoder
axis /CE
Flex 1 Standard 7m A05B-2605-J300 Diameter: Diameter: Diameter:
/NRTL 14m A05B-2605-J301 Φ6.4mm(#E) Φ6.4mm(#E) Φ7mm(#E)
20m A05B-2605-J302 Weight: Weight: Weight:
30m A05B-2605-J303 0.053kg/m 0.053kg/m 0.09kg/m
CE 7m A05B-2605-J305 Diameter: Diameter: Diameter:
14m A05B-2605-J306 Φ6.4mm(#E) Φ6.4mm(#E) Φ7mm(#E)
20m A05B-2605-J307 Weight: Weight: Weight:
30m A05B-2605-J308 0.065kg/m 0.065kg/m 0.09kg/m

R-30*B AUXILIARY AXIS ORDER MANUAL for A-cabinet A-95023E/01 14/31

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Available Servo Motor： βiS0.5/6000, βiS1/6000 ／ Right-angled Connector

Cable Type : D, Connector Direction : B
Non-Flex No. Standard Length Specification Wire
/Flex of /NRTL/CE Power Brake Pulsecoder
axis
Flex 1 Standard 7m A05B-2605-J310 Diameter: Diameter: Diameter:
/NRTL 14m A05B-2605-J311 Φ6.4mm(#E) Φ6.4m(#E) Φ7mm(#E)
20m A05B-2605-J312 Weight: Weight: Weight:
30m A05B-2605-J313 0.053kg/m 0.053kg/m 0.09kg/m
CE 7m A05B-2605-J315 Diameter: Diameter: Diameter:
14m A05B-2605-J316 Φ6.4mm(#E) Φ6.4mm(#E) Φ7mm(#E)
20m A05B-2605-J317 Weight: Weight: Weight:
30m A05B-2605-J318 0.065kg/m 0.065kg/m 0.09kg/m

Available Servo Motor： αiF1/5000, αiF2/5000, αiS2/5000, αiS4/5000, βiS2/4000, βiS4/4000

Cable Type : E, Connector Direction : C
Non-Flex No. Standard Length Specification Wire
/Flex of /NRTL/CE Power・Brake Pulsecoder
axis
Flex 1 Standard 7m A05B-2605-J200 Diameter: Diameter:
/NRTL 14m A05B-2605-J201 Φ11.8mm(#C) Φ7mm(#E)
20m A05B-2605-J202 Weight:0.2kg/m Weight:0.09kg/m
30m A05B-2605-J203
CE 7m A05B-2605-J210 Diameter: Diameter:
14m A05B-2605-J211 Φ12.5mm(#C) Φ7mm(#E)
20m A05B-2605-J212 Weight:0.246kg/m Weight:0.09kg/m
30m A05B-2605-J213

Available Servo Motor： αiF4/4000, αiF8/3000, αiS8/4000, αiS12/4000, βiS8/3000, βiS12/3000

Cable Type : F, Connector Direction : D
Non-Flex No. Standard Length Specification Wire
/Flex of /NRTL/CE Power Brake Pulsecoder
axis
Flex 1 Standard 7m A05B-2605-J220 Diameter: Diameter: Diameter:
/NRTL 14m A05B-2605-J221 Φ11.8mm(#C) Φ6.4mm(#E) Φ7mm(#E)
20m A05B-2605-J222 Weight: Weight: Weight:
30m A05B-2605-J223 0.2kg/m 0.053kg/m 0.09kg/m
CE 7m A05B-2605-J230 Diameter: Diameter: Diameter:
14m A05B-2605-J231 Φ12.5mm(#C) Φ6.4mm(#E) Φ7mm(#E)
20m A05B-2605-J232 Weight: Weight: Weight:
30m A05B-2605-J233 0.246kg/m 0.065kg/m 0.09kg/m
（Note） In Cable of type F, select the motor with Brake.

R-30*B AUXILIARY AXIS ORDER MANUAL for A-cabinet A-95023E/01 15/31

 FANUC CORPORATION

Available Servo Motor： αiF12/3000, αiF22/3000, βiS22/2000

Cable Type : F, Connector Direction : D
Non-Flex No. Standard Length Specification Wire
/Flex of /NRTL Power Brake Pulsecoder
axis /CE
Flex 1 Standard 7m A05B-2605-J240 Diameter: Diameter: Diameter:
/NRTL 14m A05B-2605-J241 Φ12.9mm(#C) Φ6.4mm(#E) Φ7mm(#E)
20m A05B-2605-J242 Weight: Weight: Weight:
30m A05B-2605-J243 0.305kg/m 0.053kg/m 0.09kg/m
CE 7m A05B-2605-J250 Diameter: Diameter: Diameter:
14m A05B-2605-J251 Φ12.9mm(#C) Φ6.4mm(#E) Φ7mm(#E)
20m A05B-2605-J252 Weight: Weight: Weight:
30m A05B-2605-J253 0.305kg/m 0.065kg/m 0.09kg/m
（Note） In Cable of type F, select the motor with Brake.

Available Servo Motor： αiF30/3000, αiF40/3000, αiS22/4000, αiS30/4000, αiS40/4000

Cable Type : F, Connector Direction : D
Non-Flex No. Standard Length Specification Wire
/Flex of /NRTL/CE Power Brake Pulsecoder
axis
Flex 1 Standard 7m A05B-2605-J260 Diameter: Diameter: Diameter:
/NRTL 14m A05B-2605-J261 Φ20mm(#B) Φ6.4mm(#E) Φ7mm(#E)
20m A05B-2605-J262 Weight: Weight: Weight:
30m A05B-2605-J263 0.607kg/m 0.053kg/m 0.09kg/m
CE 7m A05B-2605-J270 Diameter: Diameter: Diameter:
14m A05B-2605-J271 Φ20mm(#B) Φ6.4mm(#E) Φ7mm(#E)
20m A05B-2605-J272 Weight: Weight: Weight:
30m A05B-2605-J273 0.639kg/m 0.065kg/m 0.09kg/m
（Note） In Cable of type F, select the motor with Brake.

8.5. FANUC Servo Torch Cable

Cable Type : G
Non-Fl Wire
Standard
Servo Torch Interface ex
/NRTL/CE
Length Specification
/Flex Power Pulsecoder
For aluminum 7ｍ A05B-2605-J350
Standard spec. Diameter: Diameter:
A05B-1220-J301 Non-Fl 14ｍ A05B-2605-J351 Φ6.4mm(#E) Φ7mm(#E)
W/F1 Standard
For soft steel ex 20ｍ A05B-2605-J352 Weight: Weight:
Standard spec.
A05B-1220-J302 30ｍ A05B-2605-J353 0.053kg/m 0.09kg/m
For aluminum
CE spec.
A05B-1220-J303 Motor Non-Fl
CE Inquire of the Robot laboratory.
For soft steel Connection ex
CE spec.
A05B-1220-J304

R-30*B AUXILIARY AXIS ORDER MANUAL for A-cabinet A-95023E/01 16/31

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8.6. Cable Type

The outline shape of each Cable Type is shown as follows.

＜Cable Type A＞
① Power/Brake Cable

② Pulsecoder Cable

＜Cable Type B＞
① Power/Brake Cable

② Pulsecoder Cable

＜Cable Type C＞
① Power

② Brake Cable

③ Pulsecoder Cable

R-30*B AUXILIARY AXIS ORDER MANUAL for A-cabinet A-95023E/01 17/31

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＜Cable Type D＞
① Power

② Brake Cable

③ Pulsecoder Cable

＜Cable Type E＞
① Power/Brake Cable

② Pulsecoder Cable

＜Cable Type F＞
① Power Cable

② Brake Cable

③ Pulsecoder Cable

R-30*B AUXILIARY AXIS ORDER MANUAL for A-cabinet A-95023E/01 18/31

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＜Cable Type G＞
① Power/Pulsecoder Cable

8.7. Connector Direction of Servo Motor

Connector directions of servo motors are as follows. This drawings shows servo motor direct
connection cable.

Connector Type A Connector Type B

Pulsecoder Pulsecoder

Power
Pulsecoder cable is right-angled. Power

Brake Brake

Connector Type C Connector Type D

Power/Brake
Pulsecoder

Pulsecoder

Power

Brake

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8.8. Cable Entrance sponge

The cutout of cable Entrance sponge is different in each robot. Aux axis cable is connected
through this entrance as same as other option cables(I/O, Sensor, Communication). So it is
necessary to confirm that all cables can be assigned through the suitable cutout.

Type A : R-2000iB(Exclude 200T, 220U), R-1000iA, M-710iC, M-420iA

Robot Power
(RM1,RM2)

Robot Pulsecoder
(RP1)
TP Cable
Type BM-900iA/350, M-410iB(Separated), R-2000iB/200T,220U, M-2000iA

Type C : ARC Mate series, M-430iA, F-200iB

Type A Type B Type C Uses

Cable
No. of Aux. axis No. of Aux. axis No. of Aux. axis
Diameter
all holes others all holes others all holes others
#A 27mm 1 0 2 0 0 0 Power Cable(RM1,RM2)
Pulsecoder Cable Thick wire, Flex(RP1)
#B 20mm 3 2 3 2 4 2 Power Cable(RM1)
Auxiliary axis Power
I/O Cable
#C 12.5mm 8 8 6 6 8 8 Line-tracking Cable
Switch box Cable
Devicenet Thick wire
#D 14.5mm 1 0 1 0 1 0 Pulsecoder Cable Standard(RP1)
Auxiliary axis Brake
Auxiliary axis Pulsecoder
#E 8..5mm 13 12 13 12 14 13 Camera Cable
Ethernet
Devicenet Thin wire

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8.9. Auxiliary axis Interface

Interfaces of each Auxiliary axis are shown below.
Followings figure is shown the connector view from wire side.
●shows the code pin position.

＜Interface Type A＞
① ARP1 (Han24DD)
G SHIELD
1 (SPD1) 5 0V 9 +5V 13 (SPD2) 17 0V 21 +5V
2 (*SPD1) 6 0V 10 +5V 14 (*SPD2) 18 0V 22 +5V
3 RD1 7 11 15 RD2 19 23
4 *RD1 8 (0VA) 12 (6VA) 16 *RD2 20 (0VA) 24 (6VA)
● ●
(Note) The hatching shows the signal of the second axis. Therefore, they are blanks in one axis specification.

ARM1 (Han15D)
A1 U1 B1 BKP1 C1 U2
A2 V1 B2 BKM1 C2 V2
A3 W1 B3 BKP2 C3 W2
A4 G1 B4 BKM2 C4 G2
A5 B5 C5
● G (SHIELD) ●
(Note) The hatching shows the signal of the second axis. Therefore, they are blanks in one axis specification.

＜Interface Type B＞
① PP (Han24DD)
G SHIELD ●
1 (SPD1) 5 0V 9 +5V 13 (SPD2) 17 0V 21 +5V
2 (*SPD1) 6 0V 10 +5V 14 (*SPD2) 18 0V 22 +5V
3 RD1 7 11 15 RD2 19 23
4 *RD1 8 (0VA) 12 (6VA) 16 *RD2 20 (0VA) 24 (6VA)
●

② PM (Han K12/2, 12HsC)

G (SHIELD)
2 U2 1 U1 3 BKP1
5 V2 4 V1 6 BKM1
8 W2 7 W1 9 BKP2
11 G2 10 G1 12 BKM2

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＜Interface Type C＞
① J7P (Han24DD)
● G SHIELD
1 (SPD1) 5 0V 9 +5V 13 17 21
2 (*SPD1) 6 0V 10 +5V 14 18 22
3 RD1 7 11 15 19 23
4 *RD1 8 12 16 20 24
●

② J7M (Han K12/2, 12HsC)

G (SHIELD)
2 U1 1 U1 3 BKP1
5 V1 4 V1 6 BKM1
8 W1 7 W1 9
11 G1 10 G1 12
(Note) The hatching shows the signal of large motor. Therefore, they are blanks in small motor specification.

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8.10 Flexible cable condition

8.10.1 Minimum bend radius of cable

The minimum bend radius when both Non-Flex Cable and Flex Cable are set up is 200(mm).

8.10.2 Flex Cable

Flex cable must be used with cable bear for moving part. The problem such as shortening of the
longevity of Cable if Cable bear is not used occurs.

8.10.3 Cable bear

・ The radius (R) of cable bear should be more than 200mm.
・ The cable should be Non-Flex to cable bear by using the clamp. (e.g. Rubber packing)
・ The size of hole to support cable inside cable bear should be more than 110% of cable size
and should have more than 3mm gap.
・ The cable should be mounted inside cable bear without twisting.

8.10.4 Cable Durability Test

The result of cable durability test is indicated as follows.
[Test method : U form bending test]
・ Connect all wires and shield in series, and measure the resistance of wire and shield.
・ If resistance of wire and shield is 20% larger than initial resistance, the test is regarded as
failure.

Fig Cable durability test

8.10.5 Experimental Result

Experimental results are as follows.

Experimental results
Material Point Result after 500,000 times
No. Resistance up (%) Sample dismantlement result
No.1 Wire 0 There is no disconnection
Shield 0
No.2 Wire 0 There is no disconnection

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9. Battery Unit
Select Battery Unit for Auxiliary axis.
However, it is unnecessary only for ARP/ARM Cable, J7P/J7M Cable, and PP/PM Cable.
Battery Unit Specification
Battery box with size C batteries (x4) A05B-2605-J460

10. Gun change / Brake

10.1 Gun change / Brake Unit
R-30iB controller has the brakes controller for 2 auxiliary axis motors (Brake Group 1). Brake Group 1
is the brake that is worked with robot. If system needs more brakes or the brake that its group is not
Brake Group 1 (that isn’t worked with robot’s), please designate the brake unit as follows.
(1) 6-channel amplifier ：Brake group 1×2 axes
(2) Brake / Gun change unit ：Brake group 2×1 axis / Brake group 3×2 axes (Note 1)
(It is mounted on the door of A-cabinet)
(3) Brake unit ：Brake group 2×2axes / Brake group 3×2 axes
(It is mounted on the position of AMP3. Size of 90mm width servo amplifier)

(Note 1) Brake / Gun change unit and Brake unit are not installed in one controller. Using of (1)
and (2), (1) and (3) together is possible. However, (2) cannot be used together with (3).
(Note 2) Brake / Gun change unit cannot be applied to small size Motor.
Refer to the following for Available motor for Brake / Gun change unit.
@*F 4/4000, @*F 8/3000, @*F 12/3000, @*F 22/3000, @* F 30/3000, @* F 40/3000,

@*S 8/4000, @*S 12/4000, @*S 22/4000, @* 30/4000, @*S 40/4000,

#*S 8/3000, #*S 12/3000, #*S 22/2000

In Brake for small Motor, select six axes amplifier or Brake Unit.
(Note 3) Inquire of the design section about the hand change.

Brake number Specification #1 #2 #3

Limitation
(Connector) (CRR65AB) (CRR65C) (CRR65D)

correspond to
6 axes amplifier X2 - -
all motors.

Brake / X1
A05B-2605-J400 - X2 (Note 2)
Gun change unit (for Gun change)

correspond to

all motors.

Brake unit A05B-2605-J410 - X2 X2 Apply only one

servo amplifier
for AUX. axis.

R-30*B AUXILIARY AXIS ORDER MANUAL for A-cabinet A-95023E/01 24/31

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10.2 Gun change cable

Select the cable for Gun change.
Cable Specification
Gun change cable A05B-2605-J401
10.3 Spare Fuse
Select each preliminary fuse when you select Brake / Gun change unit or Brake Unit.
Fuse Specification
For Brake Unit
A05B-2605-K002
or Brake / Gun change unit (2A)

11. Transformer upgrade

Refer when you upgrade the capacity of Transformer from Standard by "2.3. Limitation of servo
amplifier and configuration".
It is necessary to change Transformer, Breaker, and E-stop Unit for upgrade of Transformer
capacity.
When AC Reactor is used, the upgrade is unnecessary.
(Note 1) When Aux. Axis and Robot or several Aux. Axis do not move together, no need to apply
upgrade of Transformer.
(Note 2) When Robot motion is very tight, LV or Excessive error may occur. Please select
transformer with margin.

11.1 Transformer capacity

3kVA 7.5kVA 10.5kVA
Type D Transformer
A05B-2601-H344 A05B-2601-H355 A05B-2601-H356
(200-230V, 380-400V)
Type E Transformer
A05B-2601-H350 A05B-2601-H351 A05B-2601-H352
(380-415, 440-480, 500-575V)
(Note） In case of type E transformer using with CE controller, primary power voltage should be
500V and under.

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11.2 Capacity of breaker

3kVA 7.5kVA 10.5kVA
Breaker 200-230V A05B-2601-H075 A05B-2601-H072 A05B-2601-H070
Breaker 380-400V A05B-2601-H079 A05B-2601-H077 A05B-2601-H074
Breaker 380-500V A05B-2601-H078 A05B-2601-H076 A05B-2601-H073
Leakage Breaker
A05B-2601-H105 A05B-2601-H102 A05B-2601-H100
200-230V
Leakage Breaker
A05B-2601-H109 A05B-2601-H107 A05B-2601-H104
380-400V
Leakage Breaker
A05B-2601-H108 A05B-2601-H106 A05B-2601-H103
380-500V
UL/CSA Breaker
A05B-2601-H253 A05B-2601-H252 A05B-2601-H251
200-230V
UL/CSA Breaker
A05B-2601-H256 A05B-2601-H255 A05B-2601-H254
380-480V
Breaker
A05B-2601-H136 A05B-2601-H135 -
200-230V （CE）
Breaker
A05B-2601-H132 A05B-2601-H131 A05B-2601-H130
380-500V （CE）
Leakage Breaker
A05B-2601-H166 A05B-2601-H165 -
200-230V （CE）
Leakage Breaker
A05B-2601-H162 A05B-2601-H161 A05B-2601-H160
380-500V （CE）
(Query to design section in case of capacity upgrade is necessary for the controller with
Integrated ROBOWELD controller)

11.3 E-stop Unit

In case of transformer upgrade,
In case of transformer upgrade,
3kVA->7.5kVA,
7.5kVA->10.5kVA,
3kVA->10.5kVA
Change A05B-2601-H280 to
Standard
A05B-2601-H282
Not required to upgrade.
Change A05B-2601-H290 to
UL / CSA
A05B-2601-H292

11.4 Discharge resistor

In case of transformer upgrade, In case of transformer upgrade,

3kVA->10.5kVA, 3kVA->7.5kVA
7.5kVA->10.5kVA In case of Power regeneration
Change A05B-2601-H060 to
Not required to upgrade.
A05B-2601-H062
(Note） The upgrade is unnecessary for M-420iA.

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12. Assembly specification

12.1 Amplifier assembly specification

SM- Code1 / Code2 / Code3

(1) Code1：Kind of specification

A：The servo amplifier assembly is shown.
(2) Code2：Servo amplifier number
A2：AMP2
A3：AMP3
(3) Code3：Servo amplifier specify
Specify H*** of servo amplifier specification A05B-2605-J040#H***(A06B-6240-H***).
Specification example 1
SM-A/A2/H103
To use A05B-2605-J040#H103(A06B-6240-H103) in AMP2 is show.
Specification example 2
SM-A/A3/H205
To use A05B-2605-J040#H205(A06B-6240-H205) in AMP3 is show.

12.2 PS for power regeneration assembly specification

SM- Code1 / Code2 / Code3

(1) Code1：Kind of specification

PS：PS assembly is shown.
(2) Code2：Servo amplifier number
A2：AMP2 (Whenever PS is selected, it is assembled to AMP2.)
(3) Code3：PS for power regeneration specify
Specify H*** of PS specification A05B-2605-J030#H***(A06B-6200-H***).
Specification example
SM-PS/A2/H015
To use A05B-2605-J030#H015(A06B-6200-H015) in AMP2 is show.

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12.3 Assembly instruction for Cables

SM- Code1 / Code 2 / Code 3 / Code 4

(1) Code1：Kind of specification

C：The cable assemblies other than the Gun change axis cable or PP/PM cable are shown.
GC1：The assembly of the Gun change axis cable is shown.
C1：The assembly of the J1 axis cable of PP/PM cable is shown.
C2：The assembly of the J1 axis cable of PP/PM cable is shown.
(2) Code2：specification of cable
Underlined text of cable order specification, ”A05B-2605-J***except “-“ is shown.
(3) Code3：Connection
In case of Gun change axis, appoint to servo amplifier for Gun axis.
A2L：The cable is connected to L-axis of AMP2. In case the single-axis amplifier for AMP2 is used,
A2L must be specified.
A2M：The cable is connected to M-axis of AMP2.
A2N：The cable is connected to N-axis of AMP2
A3L：The cable is connected to L-axis of AMP3. In case the single-axis amplifier for AMP3 is used,
A3L must be specified.
A3M：The cable is connected to M-axis of AMP3.
A3N：The cable is connected to N-axis of AMP3
(4) Code4：brake group
65AB：Brake group 1 (same with brake of robot)
65C：Brake group 2
65D：Brake group 3
Specification example 1
SM-C/07J200/A2L/65AB
Signal and power cables of “A05B-2605-J200” are connected to L-axis of AMP2. Brake cable is
connected to 6-channel servo amplifier.
Specification example 2
SM-C/07J180/A2M/65AB Rail unit cable
SM-C/07J200/A2L/65AB Cable for other axes
This system has two (2) auxiliary axes. Rail unit axis is assigned M-axis of dual axis servo
amplifier.
Specification example 3
SM-C1/07J160/A2L/65AB
SM-C2/07J161/A2M/65AB
Signal and power cables of PP/PM (J1) are connected to L-axis of AMP2. Signal and power cables
of PP/PM (J2) are connected to M-axis of AMP2. Brake cables are connected to 6-channel servo
amplifier.

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13. Specially auxiliary axis

The ordering list is different of the kind of Positioneｒ.

13.1. FANUC 1 axis Positioner

Common Specification of FANUC 1 axis Positioner

Item Name Specification
Servo motor - unnecessary
Servo amplifier αiSV80 A05B-2605-J040#H105
Auxiliary axis control Auxiliary axis amplifier A05B-2605-J001
1 axis
Adaptor plate 60mm(x1) A05B-2605-J430
Servo card 12 axes A05B-2600-H041
Brake Cable Tag AMP1, CRR65AB A05B-2605-J060
Motor Cable Tag AMP2/L A05B-2605-J040
Auxiliary axis Cable - Refer to following table
Battery unit - Refer to following table
Transformer - capacity upgrade is unnecessary
Resistance regeneration - capacity upgrade is unnecessary
Breaker - capacity upgrade is unnecessary
E-stop Unit - capacity upgrade is unnecessary
Amplifier assembly specification - SM-A/A2/H105
Cable assembly specification - SM-C/05J***/A2L/65AB (Note)
(Note) Match 05J*** to the specification of selected Cable.

Interface for Positioner

In Positioner, there are two kinds of Interface.
(Motor connecting directly Type and HARTING Connector relay Type)
Confirm the combination of Positioner, Cable, and the battery by the following table.

Regarding Interface, Cable and Battery for Positioner

Cable specification for Auxiliary axis
1 axis Positioner Positioner option Battery
Interface Motor Non-Flex/Flex Standard/CE
1000kg/1500kg A05B-1220-J114 Non-Flex・
J7P/J7M aiS22/4000 Selection unnecessary
(Hollow Type) Flex
A05B-1220-J102 A05B-1220-J113 Motor direct aiS22/4000 Flex Selection A05B-2505-J460
300kg/500kg Non-Flex・
A05B-1220-J112 ARP/ARM aiS8/4000 Selection unnecessary
(Hollow Type) Flex
A05B-1220-J103 A05B-1220-J111 Motor direct aiS8/4000 Flex Selection A05B-2505-J460
1000kg/1500kg A05B-1220-J116 Non-Flex・
J7P/J7M aiS22/4000 Selection unnecessary
(Compact Type) Flex
A05B-1220-J104 A05B-1220-J115 Motor direct aiS22/4000 Flex Selection A05B-2505-J460

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13.2. FANUC 2 axes Positioner

2 axes servo Positioner for ARC WELDING(A05B-1220-J201)

Item Name Specification
Servo motor - unnecessary (Including Positioner)
Servo amplifier αiSV80/80 A05B-2605-J040#H209
Auxiliary axis control Auxiliary axis A05B-2605-J001
amplifier 1 axis
Adaptor plate 60mm(x1) A05B-2605-J430
Servo card 12 axes A05B-2600-H041
Brake Cable Tag AMP1, CRR65AB A05B-2605-J060
Motor Cable Tag AMP2/L A05B-2605-J040
Motor Cable Tag AMP2/M A05B-2605-J041
Auxiliary axis Cable PM/PP Cable Refer to “8.2. PM/PP Cable“
Battery Unit - Unnecessary
Transformer - capacity upgrade is unnecessary
Resistance regeneration - capacity upgrade is unnecessary
Breaker - capacity upgrade is unnecessary
E-stop Unit - capacity upgrade is unnecessary
Amplifier assembly specification - SM-A/A2/H209
Cable assembly specification - SM-C1/05J***/A2L/65AB (Note)
Cable assembly specification - SM-C2/05J***/A2M/65AB (Note)
(Note) Match 05J*** to the specification of selected Cable.
Match the amplifier number to the assembly position of amplifier.
Match the Brake number to connected Brake Connector.

13.3. FANUC Servo Torch

Item Name Specification

Servo motor - unnecessary (Including Servo torch)
Servo amplifier αiSV20 A05B-2605-J040#H103
Auxiliary axis control Auxiliary axis amplifier A05B-2605-J001
1 axis
Adaptor plate 60mm(x1) A05B-2605-J430
Adaptor plate 60mm w/o/ Fin A05B-2605-J420
Servo card 12 axes A05B-2600-H041
Brake Cable Tag - Unnecessary
Motor Cable Tag AMP2/L A05B-2605-J040
Auxiliary axis Cable Servo torch Cable Refer to “8.5 FANUC Servo Torch Cable”
Battery Unit - Unnecessary
Transformer - capacity upgrade is unnecessary
Resistance regeneration - capacity upgrade is unnecessary
Breaker - capacity upgrade is unnecessary
E-stop Unit - capacity upgrade is unnecessary
Cable assembly specification - SM-A/A2/H103
Cable assembly specification - SM-C/05J35*/A2L (Note)
(Note) Match 05J*** to the specification of selected Cable.
Match the amplifier number to the assembly position of amplifier.
Match the Brake number to connected Brake Connector.

R-30*B AUXILIARY AXIS ORDER MANUAL for A-cabinet A-95023E/01 30/31

 FANUC CORPORATION

R-30*B Aux.Axis Config. Sheet

Customer : Requester : Type : Standard, NRTL, CE Cabinet : A, B
Destination : Date : Transformer: 3k, 7.5k, 10.5k, 13kVA, AC Reactor
E No. : Robot : Power regeneration, Resistance regeneration
Shipping : Factory , Retrofit

Axis Current Axis Group Brake

Servo Amp AMP No. Motor Cable I/F Purpose Remarks
No. (A) Control No. Group
1 G1-J1
2 G1-J2
3 G1-J3
6 axes servo amplifier AMP1 RP1,RM1 1 Robot
4 G1-J4
5 G1-J5
6 G1-J6

7 12-axes
card
8

10

11

12

13

14

15

16

(Note) This table is needed when auxiliary axis set up. FANUC recommend this table is attached to robot.

R-30*B AUXILIARY AXIS ORDER MANUAL for A-cabinet A-95023E/01 31/31