Mechanical

• Shaft: Special taper for αi motor coupling

• Mounting: Flange direct mount (Oldham coupling type)

• Max Speed: 3,000 RPM (continuous)

• Vibration Resistance: 10G (10–2000 Hz)

• Dimensions: φ58 mm × 85 mm (approx.)

2.2 Electrical

• Power Supply: 5 VDC ±5%

• Current Consumption: ≤ 100 mA

• Resolution: 16,384 PPR (2¹⁴) – absolute multi-turn

• Output Signals:

  • Absolute position (serial data)

  • Incremental A/B quadrature + Z reference

  • RS‑422 differential line driver

• Connector: 10‑pin male (M12)

• Max Signal Frequency: 500 kHz

• Insulation Resistance: ≥ 100 MΩ (500 VDC)

• Dielectric Strength: 1,000 VAC / 1 min (terminal to housing)

2.3 Environmental

• Operating Temperature: −20°C to +70°C

• Storage Temperature: −20°C to +80°C

• Humidity: ≤ 85% RH, non‑condensing

3. COMPATIBILITY

• Servo Motors: FANUC αi series (αiS, αiF, αiB)

• CNC / Robot Controllers:

  • FANUC 0i‑D/0i‑MF/0i‑TF

  • FANUC 16i/18i/21i

  • FANUC R‑J3iB, R‑30iA/B (robots)

• Servo Amplifiers: αi series servo drives

4. FEATURES

• High resolution: 16,384 PPR for precision positioning

• Absolute encoder: No homing required after power‑on (multi‑turn memory)

• Robust IP67: Withstands oil mist, coolant, dust in machine tool environments

• High vibration resistance: 10G rating for heavy‑duty machines

• Contactless optical design: Maintenance‑free, long service life

• Fast serial communication: Real‑time absolute position feedback

• T321 variant: Enhanced thermal stability & EMI shielding vs T301

5. APPLICATIONS

• CNC machining centers, lathes, grinders

• Industrial robot joints (high‑precision axes)

• High‑speed, high‑accuracy automation systems

• Aerospace, automotive, and precision tooling industries

6. INSTALLATION INSTRUCTIONS

1. Power OFF: Disconnect all power before installation.

2. Shaft Alignment: Align encoder shaft with motor shaft; avoid mechanical stress.

3. Mounting: Secure encoder flange with specified torque (2.5–3.0 N·m).

4. Cabling: Use only FANUC‑approved cables; ensure proper grounding.

5. Connector: Tighten 10‑pin connector securely; avoid water ingress.

6. Test: After power‑on, verify position feedback and check for alarms.

7. MAINTENANCE

• Keep housing clean from oil, chips, and debris.

• Periodically check cable continuity and connector tightness.

• Do not disassemble; internal components are not user‑serviceable.

• Replace if servo drift, positioning errors, or pulse loss alarms occur.

8. ORDERING INFORMATION

• Model: A860-2001-T321

• Description: ABSOLUTE PULSE CODER αiA16000, 16384 PPR, IP67, T321

Note: This document is a consolidated English technical manual based on FANUC official specifications and approved vendor datasheets. For full factory documentation, refer to FANUC B‑65282EN (Encoder Maintenance Manual).