Servo Motor Pin-out and Setup Information

Motor nameplate information: Motor control connector diagram

Mfg. Siemens ABB robotics RPM
Part No 3HAA 2120-1 G A
Type 1FT3044-5AZ21-9-Z
Feedback nameplate information: F B
Mfg. Siemens
Part No. V23401-H2007-B402 E C
Type R6 / 4B1047 D

Motor power connector diagram Connector number

G A Test cable number

F H B Control Connector Pin-outs

Pin Function Color
E C A Cosine Red
D B Cosine * Black
C Sine * Blue
Connector number D Sine Yellow
E Exc * White / Yellow
Power Connector Pin-outs F Exc White / Red
Pin Function Color G Frame gnd Green /Yellow
A Ph U Orange
B Ph V Black
C Ph W Red
D Frame Gnd Green/ Yellow
E Brake 1 Pink + 24 v
F Brake 2 Blue -
G Thermal Black
H Thermal Black 226 ohms

Static lock-up position

Polarity of DC voltage applied to the leads:

Phase U Phase V Phase W
Negative Positive Positive

Commutation signal states:

H1 H2 H3 H4 H5 H6
Commutation signal type: Resolver
Motor number of poles: 6
Resolver angle 0 Degrees
Resolver number of speeds: 1
Encoder “Z” Pulse
Encoder count:
“Z” pulse alignment to key:
Motor forward rotation DE CW
Document number: 1077
Resolver forward rotation DE CCW
Encoder A/B rotation DE
 Servo Motor Pin-out and Setup Information

Dynamic commutation alignment check using an oscilloscope:

With motor being driven in forward direction of rotation

Input 1 Oscilloscope channel A connected to the following motor stator leads:

Scope Probe to Ph U Reference lead to Neutral

Input 2 Oscilloscope channel B connected to Commutation feedback:

Scope probe to Sine Reference lead to 0 volts

Input 1 Oscilloscope traces as found with the above signals:

Input 2

Z pulse

Check for balanced output voltages.

Output voltage at 1000 RPM Rated output voltage
Tach output at 1000 RPM Rated tach voltage

TI-3000 setup to test run:

Generic resolver Poles (P) Speeds (S) Angle (A)
Generic encoder Poles (P) Direction (D) Angle (A)

Notes:

By: L Norris Date: