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This is a low-inertia (high dynamic performance) servo motor of Siemens SIMOTICS S-1FL6 series. It is specially matched with SINAMICS V90 series servo drives to form a cost-effective and high-dynamic servo system.
The motor features a rated power of 0.75 kW, rated torque of 2.39 N·m and rated speed of 3000 rpm. It is equipped with a built-in TTL incremental encoder (2500 pulses per revolution). The output shaft is designed with parallel key and without holding brake. Its protection class reaches IP65 (with standard shaft seal). With fast response, high acceleration and stable operation, it is ideal for various motion control applications requiring superior dynamic performance.
Model Code Breakdown
| Code Segment | Description |
| 1FL6 | General servo motor series SIMOTICS S-1FL6, standardly matched with SINAMICS V90 drives |
| 42 | Frame size: shaft height 40 mm, low-inertia type, corresponding to 0.75 kW power rating |
| 2AF21 | Electrical specification: |
| 2 = 200~240 V three-phase AC power supply | |
| A = Incremental TTL encoder, 2500 pulses per revolution | |
| F = Standard industrial version | |
| 21 = Hardware interface standard version | |
| 1AA1 | Mechanical configuration: |
| 1 = Output shaft with parallel key, tolerance class N | |
| A = Without holding brake | |
| A = Straight power connector + straight encoder connector |
Core Technical Parameters
- Performance & Electrical Parameters
| Item | Specification |
| Rated Power | 0.75 kW |
| Rated Torque | 2.39 N路m |
| Stall Torque | 2.39 N路m |
| Rated Speed | 3000 rpm |
| Maximum Permissible Speed | 5000 rpm |
| Rated Current | 2.6 A |
| Peak Current | 7.8 A (3 times of rated current) |
| Torque Constant | Approx. 0.92 Nm/A |
| Rated Operating Frequency | 200 Hz |
| Power Supply | 200 ~ 240 V three-phase AC |
- Mechanical & Environmental Parameters
| Item | Specification |
| Rotor Moment of Inertia (without brake) | 0.351 × 10⁻⁴ kg·m² |
| Flange Shaft Height | 40 mm |
| Output Shaft Type | Plain shaft with parallel key, tolerance class N |
| Protection Class | IP65 (Standard shaft seal equipped) |
| Ambient Operating Temperature | 0 ~ +40 ℃ (continuous operation under rated load) |
| Mounting Type | Flange mounting, IM B5 |
| Overall Weight | Approx. 2.1 kg (without holding brake) |
- Encoder & Interfaces
| Item | Specification |
| Encoder Type | Incremental TTL differential encoder |
| Resolution | 2500 pulses per revolution with Z-phase zero signal |
| Signal Output | A/B/Z three-phase differential output, TTL level |
| Cable Outlet Type | Straight power connector + straight encoder connector |
| Compatible Drive | Only compatible with SINAMICS V90 200V series servo drives |
Complete Model List for the Same Frame (40 mm Shaft Height, Low Inertia, 0.75 kW)
| Order Number | Encoder Type | Brake Configuration | Connector Type |
| 1FL6042-2AF21-1AA1 | 2500-line incremental TTL | Without brake | Straight connector |
| 1FL6042-2AF21-1AB1 | 2500-line incremental TTL | With brake | Straight connector |
| 1FL6042-2AF21-1LA1 | 2500-line incremental TTL | Without brake | 90° elbow connector |
| 1FL6042-2AF21-1LB1 | 2500-line incremental TTL | With brake | 90° elbow connector |
| 1FL6042-2BF21-1AA1 | 21-bit single-turn absolute encoder | Without brake | Straight connector |
| 1FL6042-2CF21-1AA1 | 20+12-bit multi-turn absolute encoder | Without brake | Straight connector |
Matching Selection & Replacement Instructions
- Recommended Matching Drives
Pulse control version: 6SL3210-5FB10-8UF0 (0.75 kW, 200 V class, Frame FSB)
PROFINET communication version: 6SL3210-5FE10-8UF0 (0.75 kW, 200 V class, Frame FSB)
Voltage and power ratings must be strictly matched. Mismatched combination will trigger drive alarms and even burn out motor windings.
- Replacement & Compatibility
Direct replacement with identical functions: 1FL6042-2AF21-1LA1 (only 90° elbow connector, identical electrical performance; applicable when installation space is limited)
Functional upgrade replacement: For position retention after power failure, select multi-turn absolute encoder model 1FL6042-2CF21-1AA1. The drive shall support absolute encoder protocol accordingly.
Prohibited replacement: Do not replace with high-inertia models of the same power (e.g. 1FL6044 series), due to incompatible shaft height, voltage and installation dimensions.
Typical Applications
Packaging machinery: Film feeding, flying shear and fixed-length cutting stations for labelers, horizontal packaging machines and bag making machines
Material handling: Small pick-and-place devices, linear modules and loading/unloading mechanisms for electronic components
3C assembly: High-precision positioning and high-speed reciprocating axes for screw drivers, dispensers and chip mounters
Light industry equipment: Tension and position control for screen printers, small winding machines and indexing tables
General automation: High-dynamic scenarios such as small manipulators, conveyor positioning and feeding of inspection stations
Common Faults & Troubleshooting Matrix
| Fault Phenomenon | Root Cause | Step-by-Step Solutions |
| Drive reports encoder fault (e.g. F31110) | Loose encoder connector / oxidized pins; damaged cable; electromagnetic interference; defective encoder | 1. Power off, re-plug the motor-side encoder connector and check for retracted or oxidized pins. 2. Replace with a new shielded cable for testing. 3. Route encoder cables separately away from power cables and implement single-end grounding. 4. Replace the motor if hardware failure is confirmed. |
| Motor overload alarm and overheating housing | Mechanical jamming; excessive load inertia ratio; excessive loop gain; continuous operation under over-rated load | 1. Power off and rotate the shaft manually to eliminate mechanical sticking or excessive resistance. 2. The recommended load inertia ratio for low-inertia motors is ≤5:1. Install a reducer or switch to high-inertia model if over limit. 3. Properly reduce speed loop / position loop gain. 4. Optimize motion profile and lower continuous load rate. |
| Vibration and abnormal noise during operation | Improper control parameter tuning; loose coupling/flange; encoder signal interference; worn bearing | 1. Gradually reduce position loop gain to eliminate vibration. 2. Fasten mounting bolts and coupling set screws. 3. Check shielding and grounding of encoder cables. 4. If abnormal noise still exists during no-load running, inspect bearing lubrication and wear. |
| No torque output and motor fails to run after power-on | Open circuit / poor contact of power cables; drive enable signal disconnected; brake (optional) not released; defective drive power stage | 1. Measure voltage and continuity of three-phase power cables and fasten connectors. 2. Check enable signal from PLC and drive parameters. 3. For braked models, confirm normal 24 V power supply for brake. 4. Replace the drive to locate the faulty component. |
Standard Models of Matched V90 Drives
The model 1FL6042-2AF21-1AA1 is a 200~240 V three-phase, 0.75 kW low-inertia incremental encoder servo motor. It is exclusively matched with SINAMICS V90 drives of the same voltage and power rating. Two official standard models with different control interfaces are available, which can be directly connected and automatically identify motor parameters.
| Control Version | Full Order Number | Main Functions | Frame Size |
| PTI Pulse Train Version | 6SL3210-5FB10-8UA0 | Equipped with pulse/direction and analog setpoint interfaces; supports USS / Modbus RTU communication; suitable for pulse control with general PLC and motion control cards | FSC |
| PROFINET Bus Version | 6SL3210-5FB10-8UF0 | Integrated dual-port PROFINET switch, supports PROFIdrive protocol; suitable for bus-based positioning control with S7-1200/1500 PLC, supports standard telegram 1/105/111 | FSC |
Key Matching Instructions
- Electrical Parameter Matching
Both drives accept 200~240 V AC input (single-phase / three-phase applicable) with rated output current of 4.7 A. It fully matches the motor rated current 2.6 A and peak current 7.8 A, enabling the motor to operate at 3 times overload capacity.
- Encoder Compatibility
Both drives natively support the motor’s TTL incremental encoder (2500 lines per revolution with zero signal). No additional encoder card is required. Motor nameplate parameters can be read automatically after power-on without manual input.
- Selection Restrictions
Do not use 400 V class V90 drives (order number starting with `5FE`). Mismatched voltage will directly burn out motor windings.
It is not recommended to use drives with higher power rating. Although the motor can run, mismatched protection thresholds will lead to failure of overload protection and potential safety hazards.
Supplementary Notes
Updated hardware models of the same power (e.g. suffix 8UA1, 8UF1) are only hardware revisions with identical functions and interfaces, which can be used as direct replacements. If the motor is later upgraded to absolute encoder type, no drive replacement is required; only parameter modification is needed.
Standad Order Numbers for Pre-assembled Cables
1FL6042-2AF21-1AA1 is a 200 V low-inertia servo motor with incremental encoder, no brake and straight connectors. Only power cables and encoder cables are required. Adopt Siemens MOTION-CONNECT 300 series pre-assembled cables, plug-and-play with IP65 protection class. The power cable is connected to drive via terminals, while the encoder cable uses dedicated connectors.
- Power Cables (4×2.5 mm², for 200 V 0.75 kW low-inertia motor)
Motor-side straight connector, fully compatible with motor straight outlet interface.
| Cable Length | Full Order Number | Specification |
| 3 m | 6FX3002-5CK32-1AD0 | 4×2.5 mm² shielded power cable |
| 5 m | 6FX3002-5CK32-1AF0 | 4×2.5 mm² shielded power cable |
| 10 m | 6FX3002-5CK32-1AH0 | 4×2.5 mm² shielded power cable |
| 20 m | 6FX3002-5CK32-1BA0 | 4×2.5 mm² shielded power cable |
- Encoder Cables (for 2500-line incremental TTL encoder)
Matched with built-in incremental TTL encoder, with differential shielding.
| Cable Length | Full Order Number | Specification |
| 3 m | 6FX3002-2CT20-1AD0 | 3×2×0.20 + 2×2×0.25 mm² shielded signal cable |
| 5 m | 6FX3002-2CT20-1AF0 | 3×2×0.20 + 2×2×0.25 mm² shielded signal cable |
| 10 m | 6FX3002-2CT20-1AH0 | 3×2×0.20 + 2×2×0.25 mm² shielded signal cable |
| 20 m | 6FX3002-2CT20-1BA0 | 3×2×0.20 + 2×2×0.25 mm² shielded signal cable |
- Optional Brake Cable (Not required for this motor, for reference only)
If replaced with braked motor of the same frame (e.g. 1FL6042-2AF21-1AB1), an extra brake cable is needed.
| Cable Length | Full Order Number | Specification |
| 5 m | 6FX3002-5BK02-1AF0 | 2×0.75 mm² shielded control cable |
Selection & Application Notes
- Connector Matching: The above cables are equipped with straight connectors on motor side, perfectly matching motors with suffix 1AA1. For motors with elbow connectors (suffix 1LA1), select cables with the second letter B (e.g. 6FX3002-5CK32-1BD0).
- Length Limit: The maximum length of standard pre-assembled cables for 200 V low-inertia series is 20 m. 7 m and 15 m cables are only for 400 V high-inertia motors and not available for this series.
- Installation Scenario: MOTION-CONNECT 300 cables are designed for fixed installation. Not applicable for cable chains and continuous reciprocating motion. Select high-flexibility cables for dynamic operation.
- Wiring Specification: Route power cables and encoder cables separately with a spacing of ≥20 cm. Implement reliable single-end grounding for shielding layer to avoid encoder signal loss or alarms caused by electromagnetic interference.
- Custom Cable Solution: For on-site customized length, purchase separate motor-side connectors for crimping: Power connector: 6FX2003-0LL13; Incremental encoder connector: 6FX2003-0SL11.
