Mitsubishi 1CW940 User Manual

General-Purpose AC Servo

MODEL

Servo Motor

INSTRUCTION MANUAL

L

Safety Instructions

(Always read these instructions before using the equipment.)

Do not attempt to install, operate, maintain or inspect the servo amplifier and servo motor until you have read
through this Instruction Manual, MELSERVO Servo Amplifier Installation Guide/Instruction Manual and
appended documents carefully and can use the equipment correctly. Do not use the servo amplifier and servo
motor until you have a full knowledge of the equipment, safety information and instructions.

In this Instruction Manual, the safety instruction levels are classified into "WARNING" and "CAUTION".

Indicates that incorrect handling may cause hazardous conditions,

WARNING

CAUTION

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.

What must not be done and what must be done are indicated by the following diagrammatic symbols.

resulting in death or severe injury.

Indicates that incorrect handling may cause hazardous conditions,
resulting in medium or slight injury to personnel or may cause physical

damage.

: Indicates what must not be done. For example, "No Fire" is indicated by

: Indicates what must be done. For example, grounding is indicated by

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so
on are classified into "POINT".

After reading this installation guide, always keep it accessible to the operator.

.

.

A - 1

1. To prevent electric shock, note the following

WARNING

Before wiring or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns
off. Then, confirm that the voltage between P and N is safe with a voltage tester and others. Otherwise,
an electric shock may occur. In addition, always confirm from the front of the servo amplifier, whether the
charge lamp is off or not.

Connect the servo amplifier and servo motor to ground.

Any person who is involved in wiring and inspection should be fully competent to do the work.

Do not attempt to wire the servo amplifier and servo motor until they have been installed. Otherwise, you
may get an electric shock.

Operate the switches with dry hand to prevent an electric shock.

The cables should not be damaged, stressed loaded, or pinched. Otherwise, you may get an electric
shock.

During power-on or operation, do not open the front cover of the servo amplifier. You may get an electric
shock.

Do not operate the servo amplifier with the front cover removed. High-voltage terminals and charging area
are exposed and you may get an electric shock.

Except for wiring or periodic inspection, do not remove the front cover of the servo amplifier even if the
power is off. The servo amplifier is charged and you may get an electric shock.

2. To prevent fire, note the following.

CAUTION

Install the servo amplifier, servo motor and regenerative resistor on incombustible material. Installing them
directly or close to combustibles will lead to a fire.

Always connect a magnetic contactor (MC) between the main circuit power supply and L1, L2, and L3 of
the servo amplifier, and configure the wiring to be able to shut down the power supply on the side of the
servo amplifier’s power supply. If a magnetic contactor (MC) is not connected, continuous flow of a large
current may cause a fire when the servo amplifier malfunctions.

When a regenerative resistor is used, use an alarm signal to switch main power off. Otherwise, a
regenerative transistor fault or the like may overheat the regenerative resistor, causing a fire.

3. To prevent injury, note the follow

CAUTION

Only the voltage specified in the Instruction Manual should be applied to each terminal, Otherwise, a
burst, damage, etc. may occur.

Connect the terminals correctly to prevent a burst, damage, etc.

Ensure that polarity ( , ) is correct. Otherwise, a burst, damage, etc. may occur.

Take safety measures, e.g. provide covers, to prevent accidental contact of hands and parts (cables, etc.)
with the servo amplifier heat sink, regenerative resistor, servo motor, etc. since they may be hot while
power is on or for some time after power-off. Their temperatures may be high and you may get burnt or a
parts may damaged.

During operation, never touch the rotating parts of the servo motor. Doing so can cause injury.

A - 2

4. Additional instructions

The following instructions should also be fully noted. Incorrect handling may cause a fault, injury, electric
shock, etc.

(1) Transportation and installation

CAUTION

Transport the products correctly according to their weights.
Use the eye-bolt of the servo motor to only transport the servo motor and do not use it to transport in the

condition to have installed a servo motor on the machine.
Stacking in excess of the specified number of products is not allowed.
Do not carry the servo motor by the cables, shaft or encoder.
Do not hold the front cover to transport the servo amplifier. The servo amplifier may drop.
Install the servo amplifier in a load-bearing place in accordance with the Instruction Manual.
Do not climb or stand on servo equipment. Do not put heavy objects on equipment.
The servo motor must be installed in the specified direction.
Leave specified clearances between the servo amplifier and control enclosure walls or other equipment.
Do not install or operate the servo motor which has been damaged or has any parts missing.
Do not block the intake/exhaust port of the servo motor which has a cooling fan.
Provide adequate protection to prevent screws and other conductive matter, oil and other combustible matter

from entering the servo amplifier and servo motor.
Do not drop or strike servo motor. Isolate from all impact loads.
When you keep or use it, please fulfill the following environmental conditions.

Environment Conditions

In
Ambient
temperature

Ambient
humidity

Ambience

Altitude Max. 1000m (3280 ft) above sea level

(Note) Vibration

Operation

In Storage

In Operation 80%RH or less (non-condensing)

In Storage 90%RH or less (non-condensing)

[ ] 0 to 40 (non-freezing)
[

] 32 to 104 (non-freezing)
[ ] 15 to 70 (non-freezing)
[

] 5 to 158 (non-freezing)

Indoors (no direct sunlight)
Free from corrosive gas, flammable gas, oil mist, dust and dirt

HC-KFS series
HC-MFS series

HC-SFS52 to 152
HC-SFS53 to 153
HC-SFS121 201
HC-SFS202
HC-SFS203

HC-SFS502

HC-AQ series
HC-KF series
HC-MF series

[m/s2]

[ft/s

2

]

HC-SF52 to 152
HC-SF53 to 153
HC-SF121 201
HC-SF202
HC-SF203

HA-LFS601

HA-LFS701M to 15K1M

HA-LFS502 to 22K2

HA-LFS6014 to 12K14

HA-LFS701M4 to 15K1M4

HA-LFS11K24 to 22K24

HA-LFS15K1

HA-LFS22K1M

HA-LFS30K2

HA-LFS15K14 to 37K14

HA-LFS22K1M4 to 50K1M4

HA-LFS30K24 to 55K24

HC-KFS series
HC-MFS series

HC-SFS52 to 152
HC-SFS53 to 153
HC-SFS121
HC-SFS202
HC-SFS203

HC-SFS81

HC-SFS301

HC-SF81

to

to
to

HC-SFS81

352
353

702

352
353

12K1

37K1
37K1M

37K2

201
352
353

HC-UFS13 to 73 X,Y:49

HC-SFS524 to 1524

HC-RFS series

HC-UFS72

HC-SFS2024

HC-UFS202 to 502

HC-SFS5024

HA-FF series

HC-UF13 to 73

HC-RF series

HC-UF72

HC-LFS52

HC-UF202 to 502
HC-LFS202

HA-LH11K2

HC-SF301

HC-SF502

HA-LF series X,Y:9.8

HC-UFS13 to 73 X,Y:161

HC-SFS524 to 1524

HC-RFS series

HC-UFS72

HC-SFS2024

HC-UFS202 to 502

to

to

152

3524

7024

152

152

302

22K2

702

152

3524

X,Y:24.5

X:24.5
Y:49

X:24.5
Y:29.4

X,Y:19.6

X:9.8
Y:24.5

X:19.6
Y:49

X:11.7
Y:29.4

X,Y:80

X:80
Y:161

A - 3

CAUTION

Environment Conditions

(Note) Vibration [ft/s2]

HA-LFS22K1M4 to 50K1M4

Note. Except the servo motor with reduction gear.

HC-SFS301

HC-SFS502

HC-AQ series
HC-KF series
HC-MF series

HC-SF81
HC-SF52 to 152
HC-SF53 to 153
HC-SF121 201
HC-SF202
HC-SF203

HA-LFS601

HA-LFS701M to 15K1M

HA-LFS502 to 22K2

HA-LFS6014 to 12K14

HA-LFS701M4 to 15K1M4

HA-LFS11K24 to 22K24

HA-LFS15K1

HA-LFS22K1M

HA-LFS30K2

HA-LFS15K14 to 37K14

HA-LFS30K24 to 55K24

to

to
to

702

352
353

12K1

37K1
37K1M

37K2

to

to

7024

152

152

302

22K2

702

HC-SFS5024

HA-FF series

HC-UF13 to 73

HC-RF series

HC-UF72

HC-LFS52

HC-UF202 to 502
HC-LFS202

HA-LH11K2

HC-SF301

HC-SF502

HA-LF series X,Y:32

X:80
Y:96

X,Y:64

X:32
Y:80

X:64
Y:161

X:38.4
Y:96.5

Securely attach the servo motor to the machine. If attach insecurely, the servo motor may come off during
operation.

The servo motor with reduction gear must be installed in the specified direction to prevent oil leakage.

Take safety measures, e.g. provide covers, to prevent accidental access to the rotating parts of the servo
motor during operation.

Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. The encoder
may become faulty.

Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break.

A - 4

(2) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly.

Do not install a power capacitor, surge absorber or radio noise filter (FR-BIF option) between the servo
motor and servo amplifier.

Connect the output terminals (U, V, W) correctly. Otherwise, the servo motor will operate improperly.

Connect the servo motor power terminal (U, V, W) to the servo motor power input terminal (U, V, W)
directly. Do not let a magnetic contactor, etc. intervene.

Servo amplifier

U

V

W

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

M

W

Do not connect AC power directly to the servo motor. Otherwise, a fault may occur.

The surge absorbing diode installed on the DC output signal of the servo amplifier relay must be wired in
the specified direction. Otherwise, the forced stop and other protective circuits may not operate.

Servo amplifier

VIN

(24VDC)

Control

output

signal

RA

Servo amplifier

VIN

(24VDC)

Control

output

signal

RA

When the cable is not tightened enough to the terminal block (connector), the cable or terminal block
(connector) may generate heat because of the poor contact. Be sure to tighten the cable with specified
torque.

(3) Test run adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to perform
unexpected operation.

The parameter settings must not be changed excessively. Operation will be insatiable.

A - 5

(4) Usage

CAUTION

Provide an external emergency stop circuit to ensure that operation can be stopped and power switched
off immediately.

Any person who is involved in disassembly and repair should be fully competent to do the work.

The STOP key of the parameter unit is only valid for test run. Provide an emergency stop key
independently of the STOP key. (MELSERVO-H series only)

Before resetting an alarm, make sure that the run signal into the servo amplifier is off to prevent an
accident. A sudden restart is made if an alarm is reset with the run signal on.

Do not modify the equipment.

Use a noise filter, etc. to minimize the influence of electromagnetic interference, which may be caused by
electronic equipment used near the servo amplifier.

Burning or breaking a servo amplifier may cause a toxic gas. Do not burn or break a servo amplifier.

Use the servo amplifier with the specified servo motor.

The electromagnetic brake on the servo motor is designed to hold the servo motor shaft and should not
be used for ordinary braking.

For such reasons as service life and mechanical structure (e.g. where a ball screw and the servo motor
are coupled via a timing belt), the electromagnetic brake may not hold the servo motor shaft. To ensure
safety, install a stopper on the machine side.

(5) Corrective actions

CAUTION

When it is assumed that a hazardous condition may take place at the occur due to a power failure or a
product fault, use a servo motor with electromagnetic brake or an external brake mechanism for the
purpose of prevention.

Configure the electromagnetic brake circuit so that it is activated not only by the servo amplifier signals
but also by an external emergency (forced) stop signal.

Contacts must be open when
servo-on signal is off, when an
alarm (trouble) is present and when
an electromagnetic brake signal.

Servo motor

Electromagnetic brake

SON RA

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before
restarting operation.

When power is restored after an instantaneous power failure, keep away from the machine because the
machine may be restarted suddenly (design the machine so that it is secured against hazard if restarted).

Circuit must be
opened during
emergency (force) stop.

EMG(EM1)

24VDC

A - 6

(6) Maintenance, inspection and parts replacement

CAUTION

With age, the electrolytic capacitor of the servo amplifier will deteriorate. To prevent a secondary accident
due to a fault, it is recommended to replace the electrolytic capacitor every 10 years when used in general
environment.
Please consult our sales representative.

(7) Storage

CAUTION

Note the following points when storing the servo motor for an extended period of time (guideline: three or
more months).

Always store the servo motor indoors in a clean and dry place.

If it is stored in a dusty or damp place, make adequate provision, e.g. cover the whole product.

If the insulation resistance of the winding decreases, reexamine the storage method.

Though the servo motor is rust-proofed before shipment using paint or rust prevention oil, rust may be
produced depending on the storage conditions or storage period.

If the servo motor is to be stored for longer than six months, apply rust prevention oil again especially to
the machined surfaces of the shaft, etc.

Before using the product after storage for an extended period of time, hand-turn the motor output shaft to
confirm that nothing is wrong with the servo motor. (When the servo motor is equipped with a brake,
make the above check after releasing the brake with the brake power supply.)

When the equipment has been stored for an extended period of time, consult Mitsubishi.

(8) General instruction

CAUTION

To illustrate details, the equipment in the diagrams of this Instruction Manual may have been drawn
without covers and safety guards. When the equipment is operated, the covers and safety guards must
be installed as specified. Operation must be performed in accordance with this Instruction Manual.

A - 7

About processing of waste

When you discard servo amplifier, a battery (primary battery), and other option articles, please follow the law of
each country (area).

FOR MAXIMUM SAFETY

These products have been manufactured as a general-purpose part for general industries, and have not
been designed or manufactured to be incorporated in a device or system used in purposes related to
human life.

Before using the products for special purposes such as nuclear power, electric power, aerospace,
medicine, passenger movement vehicles or under water relays, contact Mitsubishi.

These products have been manufactured under strict quality control. However, when installing the product
where major accidents or losses could occur if the product fails, install appropriate backup or failsafe
functions in the system.

EEP-ROM life

The number of write times to the EEP-ROM, which stores parameter settings, etc., is limited to 100,000. If
the total number of the following operations exceeds 100,000, the servo amplifier and/or converter unit may
fail when the EEP-ROM reaches the end of its useful life.

Write to the EEP-ROM due to parameter setting changes
Write to the EEP-ROM due to device changes

Precautions for Choosing the Products

Mitsubishi will not be held liable for damage caused by factors found not to be the cause of Mitsubishi;
machine damage or lost profits caused by faults in the Mitsubishi products; damage, secondary damage,
accident compensation caused by special factors unpredictable by Mitsubishi; damages to products other
than Mitsubishi products; and to other duties.

COMPLIANCE WITH EC DIRECTIVES

1. WHAT ARE EC DIRECTIVES?

The EC Directives were issued to standardize the regulations of the EU countries and ensure smooth
distribution of safety-guaranteed products. In the EU countries, the Machinery Directive (effective in
January, 1995), EMC Directive (effective in January, 1996) and Low Voltage Directive (effective in
January, 1997) of the EC Directives require that products to be sold should meet their fundamental safety
requirements and carry the CE marks (CE marking). CE marking applies to machines and equipment
into which servo amplifiers have been installed.
The servo amplifiers do not function independently but are designed for use with machines and
equipment.
Therefore, the CE marking does not apply to the servo amplifiers but applies to the machines and
equipment into which the servo amplifiers are installed.
This servo amplifier conforms to the standards related to the Low Voltage Directive to facilitate CE
marking on machines and equipment into which the servo amplifiers will be installed. To ensure ease of
compliance with the EMC Directive, Mitsubishi Electric prepared the "EMC INSTALLATION
GUIDELINES" (IB(NA)67310) which provides servo amplifier installation, control box making and other
procedures. Please contact your sales representative.

A - 8

2. PRECAUTIONS FOR COMPLIANCE

Use the servo motor compatible with the EN Standard.
Unless otherwise specified, the handling, performance, specifications and others of the EN Standard­compatible models are the same as those of the standard models.
To comply with the EN Standard, also observe the following items strictly.

(1) Wiring

(a) Use a fixed terminal block to connect the power supply lead of the servo motor to the servo

amplifier. Do not connect cables directly.

Terminal block

(b) Use the servo motor side power connector which complies with the EN Standard.

The EN Standard-compliant power connector sets are available from us as options.

Power Connector Set Model Servo Motor Model

MR-PWCNF HC-FF C(B)-UE
MR-PWCNS1 HC-SF81(B)

MR-PWCNS2 HC-SF121(B) to 301(B)

MR-PWCNS3 HC-SF702(B) HC-SFS702(B)

HC-SF52(B) to 152(B)
HC-SF53(B) to 153(B)
HC-RF103(B) to 203(B)
HC-UF72(B)
HC-SFS81(B)
HC-SFS52(B) to 152(B)
HC-SFS53(B) to 153(B)
HC-SFS524(B) to 1524(B)
HC-RFS103(B) to 203(B)
HC-UFS72(B)
HC-LFS52(B)

HC-SF202(B) to 502(B)
HC-SF203(B)
HC-RF353(B)
HC-UF202(B) to 502(B)
HC-SFS121(B) to 301(B)
HC-SFS202(B) to 502(B)
HC-SFS203(B)
HC-SFS2024(B) to 5024(B)
HC-RFS353(B)
HC-UFS202(B) to 502(B)
HA-LFS502
HC-LFS202(B)

HC-SFS7024(B)
HA-LFS702

152(B)

152(B)
152(B)

to

353(B)

503(B)

353(B)

503(B)

302(B)

(2) Installation

The flange of the machine mounted with the HC-MF(HC-MF-UE)/HC-KF(HC-KF-UE)/HC-AQ/HC­MFS/HC-KFS must be connected to the earth (

).

(3) Performing EMC tests

When EMC tests are run on a machine/device into which the servo motor has been installed, it must
conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the
operating environment/electrical equipment specifications.
For the other EMC directive guidelines on the servo motor, refer to the EMC Installation Guidelines
(IB(NA)67310).

A - 9

CONFORMANCE WITH UL/C-UL STANDARD

Use the UL/C-UL Standard-compliant model of servo motor.
Unless otherwise specified, the handling, performance, specifications, etc. of the UL/C-UL Standard­compliant models are the same as those of the standard models.
The servo motor is compliant with the UL/C-UL standard when it is mounted on the flanges made of
aluminum whose sizes are indicated in the following table.
The rated torque of the servo motor under the UL/C-UL standard indicates the continuous permissible
torque value that can be generated when it is mounted on the flange specified in this table and used in
the environment of 0
mount the servo motor on a flange with a heat radiating effect equivalent to that of this flange.

Flange Size

[mm]

150 150 3

150 150 6 053 13 053 13 053 13 13
250 250 623 23 2333 23

250 250 12 43 43 43 63

300 300 12 (Note 1) 73 73 73

300 300 20

550 550 30 353 503 72 152

650 650 35

950 950 35

Note 1. 73 is not available for the HC-KF(-UE) series.

2. 524 to 7024 are not available for the HC-SF series.

HC-KF(-UE)

HC-KFS

to 40 ambient temperature. Therefore, to conform to the UL/C-UL standard,

Servo Motor

HC-MF(-UE)

HC-MFS

HA-FF

-UE

(Note 2)

C

HC-SF

HC-SFS

81
52 to 152
53 to 153

524 to 1524

121
202
203

2024

301

502 702

5024

HC-RF

HC-RFS

103 to 203 43 52 to 152

201
352
353
3524

7024

HC-UF

HC-UFS

202 to 502

HA-LF

HA-LFS

601 to 12K1

701M to 15K1M

502 to 22K2

6014 to 12K14

701M4 to 15K1M4

11K24 to 22K24

15K1 to 37K1

22K1M to 37K1M

30K2

37K2

15K14 to 37K14

22K1M4 to

50K1M4

30K24 to 55K24

HC-LFS HC-AQ

0135 to

0335

302

202

A - 10

CONTENTS

1. INTRODUCTION 1 - 1 to 1 -16

1.1 Servo motor features .............................................................................................................................. 1 - 1

1.2 Model name make-up............................................................................................................................. 1 - 2

1.3 Parts identification................................................................................................................................ 1 -15

2. INSTALLATION 2 - 1 to 2 -14

2.1 Environmental conditions...................................................................................................................... 2 - 2

2.2 Installation orientation ..........................................................................................................................2 - 4

2.3 Load remove precautions ....................................................................................................................... 2 - 4

2.4 Permissible load for the shaft................................................................................................................ 2 - 5

2.4.1 Without reduction gear ...................................................................................................................2 - 5

2.4.2 With reduction gear......................................................................................................................... 2 - 7

2.5 Protection from oil and water............................................................................................................... 2 -11

2.6 Cooling fan.............................................................................................................................................. 2 -13

2.7 Cable .......................................................................................................................................................2 -13

3. CONNECTORS USED FOR SERVO MOTOR WIRING 3 - 1 to 3 -20

3.1 Makeups ..................................................................................................................................................3 - 1

3.1.1 HC-KF(-UE)

3.1.2 HA-FF

3.1.3 HC-SF(S)

3.1.4 HC-AQ series................................................................................................................................... 3 -15

3.1.5 HC-KFS

3.1.6 HC-UF3000r/min series (Compliance with IP65) ....................................................................... 3 -16

3.2 IP65, EN Standard-compliant options ................................................................................................3 -17

3.3 Signal arrangement of encoder connectors ......................................................................................... 3 -19

4. INSPECTION 4 - 1 to 4 - 2

5. SPECIFICATIONS 5 - 1 to 5 -50

5.1 Standard specifications .......................................................................................................................... 5 - 1

5.2 Torque characteristics........................................................................................................................... 5 -23

5.3 Servo motors with reduction gears ......................................................................................................5 -41

5.4 Servo motors with special shafts.......................................................................................................... 5 -47

5.4.1 Keyway............................................................................................................................................. 5 -47

5.4.2 D cut .................................................................................................................................................5 -49

5.4.3 Straight (HC-AQ)............................................................................................................................ 5 -49

HC-MF(-UE) HA-FF HC-UF3000r/min series ................................................ 3 - 1

C-UE series........................................................................................................................ 3 - 1

HC-RF(S) HC-UF(S)2000r/min, HA-LH HA-LF HA-LFS HC-LFS series..... 3 - 7

HC-MFS HC-UFS3000r/min series ..........................................................................3 -15

6. CHARACTERISTICS 6 - 1 to 6 - 6

6.1 Electromagnetic brake characteristics .................................................................................................6 - 1

6.2 Vibration rank.........................................................................................................................................6 - 5

6.3 Machine accuracies................................................................................................................................. 6 - 6

1

7. OUTLINE DIMENSION DRAWINGS 7 - 1 to 7 -306

7.1 Servo motors............................................................................................................................................ 7 - 1

7.1.1 HC-MF

7.1.2 HA-FF series ...................................................................................................................................7 -23

7.1.3 HC-SF

7.1.4 HC-RF

7.1.5 HC-UF 2000r/min

7.1.6 HC-UF 3000r/min series ..............................................................................................................7 -100

7.1.7 HC-UF3000r/min, HC-UFS3000r/min series with IP65-compliant connectors .....................7 -103

7.1.8 HA-LH series................................................................................................................................. 7 -106

7.1.9 HC-AQ series................................................................................................................................. 7 -108

7.1.10 HA-LF series ...............................................................................................................................7 -109

7.1.11 HC-MFS

7.1.12 HC-UFS 3000r/min series..........................................................................................................7 -132

7.1.13 HA-LFS series............................................................................................................................. 7 -135

7.1.14 HC-LFS series............................................................................................................................. 7 -144

7.2 Servo motors (in inches)......................................................................................................................7 -149

7.2.1 HC-MF

7.2.2 HA-FF series .................................................................................................................................7 -171

7.2.3 HC-SF

7.2.4 HC-RF

7.2.5 HC-UF 2000r/min

7.2.6 HC-UF 3000r/min series ..............................................................................................................7 -248

7.2.7 HC-UF3000r/min, HC-UFS3000r/min series with IP65-compliant connectors .....................7 -251

7.2.8 HA-LH series................................................................................................................................. 7 -254

7.2.9 HC-AQ series................................................................................................................................. 7 -256

7.2.10 HA-LF series ...............................................................................................................................7 -257

7.2.11 HC-MFS

7.2.12 HC-UFS 3000r/min series..........................................................................................................7 -280

7.2.13 HA-LFS series............................................................................................................................. 7 -283

7.2.14 HC-LFS series............................................................................................................................. 7 -292

7.3 Connector.............................................................................................................................................. 7 -297

HC-KF series....................................................................................................................7 - 1

HC-SFS series .................................................................................................................. 7 -50

HC-RFS series ................................................................................................................. 7 -90

HC-UFS 2000r/min series ........................................................................... 7 -97

HC-KFS series.......................................................................................................... 7 -113

HC-KF series................................................................................................................. 7 -149

HC-SFS series ................................................................................................................ 7 -198

HC-RFS series ............................................................................................................... 7 -238

HC-UFS 2000r/min series ......................................................................... 7 -245

HC-KFS series.......................................................................................................... 7 -261

8. CALCULATION METHODS FOR DESIGNING 8 - 1 to 8 -14

8.1 Specification symbol list......................................................................................................................... 8 - 1

8.2 Position resolution and electronic gear setting ...................................................................................8 - 2

8.3 Speed and command pulse frequency................................................................................................... 8 - 3

8.4 Stopping characteristics......................................................................................................................... 8 - 4

8.5 Capacity selection................................................................................................................................... 8 - 5

8.6 Load torque equations............................................................................................................................ 8 - 8

8.7 Expression for calculating the electromagnetic brake workload .......................................................8 - 8

8.8 Load inertia moment equations ............................................................................................................8 - 9

8.9 Precautions for zeroing .........................................................................................................................8 -10

8.10 Selection example ................................................................................................................................ 8 -11

2

APPENDIX App.- 1 to App.- 3

App. 1 Servo motor ID codes................................................................................................................... App.- 1

App. 2 Change of connector sets to the RoHS compatible products ................................................... App.- 3

3

MEMO

4

1. INTRODUCTION

r

g

[p

]

g

1. INTRODUCTION

1.1 Servo motor features

Servo
Moto
Series

(Points Different from Conventional

Features

Products)

Rated

Speed

[r/min]

Positionin

Resolution

ulses/rev

Capacity

[kW]

Interchan

Servo Motor

Series

eable

Overseas Standards

Compliance with

Environmental

Resistance

HC-KF 8192 (Note1 2) IP44

HC-KFS

HC-MF 8192 (Note1 2) IP44

HC-MFS

HA-FF

HC-SF

HC-SFS

HC-RF 16384

HC-RFS

HC-UF

HC-UFS

HA-LH Low inertia, large capacity 2000 16384 11 to 22

HC-AQ

HA-LF

HA-LFS

HC-LFS

Low inertia, small capacity 4 to 5
times greater in inertia moment than
HC-MF(S).
Equipped with absolute position
detector as standard

Ultra low inertia, small capacity

1.2 times higher in power rate than
HA-ME
Equipped with absolute position
detector as standard

Low inertia, small capacity
Equipped with absolute position
detector as standard

Middle inertia, middle capacity

1.5 times higher in power rate than
HA-SE
Equipped with absolute position
detector as standard

Three-phase, 200VAC-compatible
Middle inertia, middle capacity 1.5
times higher in power rate than HA­SE
Equipped with absolute position
detector as standard
Three-phase, 400VAC-compatible
Middle inertia, middle capacity
Equipped with absolute position
detector as standard
Ultra low inertia, middle capacity
About 3 times higher in power rate
than HA-LH
Equipped with absolute position
detector as standard
Flat type, small capacity
Equipped with absolute position
detector as standard
Flat type, middle capacity
Equipped with absolute position
detector as standard
Flat type small capacity
Equipped with absolute position
detector as standard
Flat type middle capacity
Equipped with absolute position
detector as standard

24VDC-compatible,
compact size, small capacity

Three-phase, 200VAC-compatible,
low inertia, large capacity
Equipped with absolute position
detector as standard
Three-phase, 400VAC-compatible,
low inertia, large capacity
Equipped with absolute position
detector as standard

Three-phase, 200VAC-compatible,
low inertia, middle large capacity
Equipped with absolute position
detector as standard

Three-phase, 400VAC-compatible,
low inertia, large capacity
Equipped with absolute position
detector as standard

Low inertia, middle capacity
Equipped with absolute position
detector as standard

3000

131072

3000

131072

8192 3000 0.05 to 0.6

1000
2000
3000

1000
2000
3000

2000

3000

3000 8192 0.1 to 0.75 (Note1) IP65

2000 16384 0.75 to 5

3000 0.1 to 0.75 (Note1) IP65

2000

3000 8192 0.01 to 0.03

2000 16384

1000 6 to 37
1500 7 to 37
2000 5 to 37
1000 6 to 37
1500 7 to 50
2000

2000 131072 0.5 to 3 HA-LH

16384 0.5 to 7

131072 0.5 to 7

131072

131072

131072

0.05 to 0.4

0.05 to 0.75

1 to 5

0.75 to 5

30

37

30 to 55

11 to 55

HC-MF
HC-ME
HC-MH

HA-ME
HA-MH

HA-FE

HA-FH

HA-SE

HA-SH

HA-SE

HA-SH

HA-LH

EN Standard
UL/C-UL Standard
(Standard model is
compliant)

EN Standard
UL/C-UL Standard
(Standard model is
compliant)

EN Standard
UL/C-UL Standard
(HA-FF-UE is
compliant)

EN Standard

UL/C-UL

(Standard model is

compliant)

EN Standard

UL/C-UL

(Standard model is

compliant)

EN Standard
UL/C-UL Standard
(Standard model is
compliant)

EN Standard
UL/C-UL Standard
(Standard model is
compliant)

EN Standard
UL/C-UL Standard
(Standard model is
compliant)

EN Standard
(HA-LH-EC is
compliant)
EN Standard,
UL/C-UL Standard
(Standard model is
compliant)

EN Standard,
UL/C-UL Standard
(Standard model is
compliant)

EN Standard,
UL/C-UL Standard
(Standard model is
compliant)

(Note1 2) IP55

(Note1 2) IP55

2) IP44

(Note1

IP65

IP65

IP65

IP65

IP65

JP44

(Note1 2) IP55

IP44

IP44

IP65

Note 1. Except connector section.

2. Except for the shaft-through portion.

1 - 1

1. INTRODUCTION

1.2 Model name make-up (1) Rating plate

AC SERVO MOTOR
HC-SF502G1H

INPUT 3AC 133V 26A
OUTPUT 5kW IEC60034-1 '99
2000r/min IP65CI.F 102kg
SER.No. AS958300202X

MITSUBISHI ELECTRIC CORPORATION
MADE IN JAPAN

Model

Input power
Rated output

Rated speed, Protection structure,
Insulation class, Mass

Serial number

(2) Model

(a) HC-MF series (ultra low inertia, small capacity)

HC-MF

Series name

3

Compliance with Standard

Symbol

None

(Note) Standard model (EN UL/C-UL Standard)

-UE

EN UL/C-UL Standard

Note. The standard models produced in and after
February, 2001 are compatible with the EN UL/C-UL Standard.

Reduction gear

Symbol

None

G1

G2

Reduction Gear

For general

industrial machine

For precision application

Rated speed
3000 [r/min]

Rated output

Symbol

Rated Output [kW]

05

1
2
4

7

Without

0.05

0.1

0.2

0.4

0.75

Specifications

Appearance

Shaft type

Symbol

None

(Note) K

(Note) D

Note. The special shaft applies to the standard

Shaft Shape

Standard

(Straight shaft)

With keyway (With key)

D-cut shaft

servo motor and servo motor with
electromagnetic brake.

HC-MF

053 to 73

23 to 73

53 13

Electromagnetic brake

Symbol

Electromagnetic Brake

None

B

Without

With

1 - 2

1. INTRODUCTION

(b) HA-FF series (low inertia, small capacity)

Series name

3 HA-FF

Appearance

Compliance with Standard

Symbol

None

-UE

Specifications

Standard model (Japan)

EN UL/C-UL Standard

Shaft type

Reduction gear

Symbol

None

G1

G2

For precision application

Reduction Gear

Without

For general

industrial machine

Symbol

None

(Note2) D

Note 1. The Standard shafts of the HA-FF23 to

63 are with keys and those of the other
models are straight shafts.

2. The special shaft applies to the standard

Shaft Shape

(Note1) Standard

D-cut shaft

servo motor and servo motor with
electromagnetic brake.

HA-FF

053 to 63

053 13

Electromagnetic brake

Input power supply form

Symbol

None

Standard model

Lead

C

EN UL/C-UL Standard-

compliant model

Cannon connector

Symbol

None

Electromagnetic Brake

B

Without

With

Rated speed
3000 [r/min]

Rated output

Symbol

05

1

2

Rated Output [kW]

0.05

0.1

0.2

Rated Output [kW]Symbol

3

4

6

0.3

0.4

0.6

1 - 3

1. INTRODUCTION

(c) HC-SF series (middle inertia, middle capacity)

HC-SF

Series name

Shaft type

Symbol

None

(Note) K

Note. The special shaft applies to the standard

servo motor and servo motor with
electromagnetic brake.

Shaft Shape

Standard

(Straight shaft)

With keyway (With key)

Reduction gear

Symbol

None Without

G1

G1H

Note. Not provided for 1000r/min and
3000r/min series.

(Note) Reduction Gear

For general

industrial machine

(flange type)

For general

industrial machine

(leg type)

For precision applicationG2

Rated speed

Symbol

1

2

3

Speed [r/min]

1000

2000

3000

Appearance

Electromagnetic brake

Symbol

None

Electromagnetic Brake

B

Without

With

Rated output

Symbol

5

8

10

12

15

20

30

35

50 5

70

Rated Output [kW]

0.5

0.85

1

1.2

1.5

2

3

3.5

7

1000 [r/min]

2000 [r/min]

3000 [r/min]

1 - 4

1. INTRODUCTION

(d) HC-RF series (ultra low inertia, middle capacity)

Series name

3 HC-RF

Appearance

Shaft type

Symbol

None

(Note) K

Note. The special shaft applies to the

standard servo motor and servo
motor with electromagnetic brake.

Shaft Shape

Standard

(Straight shaft)

With keyway (With key)

Reduction gear

Symbol

None Without

G2

Reduction Gear

For precision application

Electromagnetic brake

Rated speed
3000 [r/min]

Rated output

Symbol

10

15 1.5

20

35 3.5

50

Rated Output [kW]

1

2

5

Symbol

None

B

Electromagnetic Brake

Without

With

(e) HC-UF series (flat type, small and middle capacity)

HC-UF

Series name

Shaft type

Symbol

None

(Note) K

(Note) D

Note. The special shaft applies to the standard

servo motor and servo motor with
electromagnetic brake.

Shaft Shape

Standard

(Straight shaft)

With keyway

(HC-UF23 to 73: With key)

D-cut shaft

Rated speed

Speed [r/min]Symbol

2

3

2000

3000

Rated output

1

2

4

7

15

20

35

Rated Output [kW]

0.1

0.2

0.4

0.75

1.5

2

3.5

550

Symbol

Appearance

HC-UF

13 to 43

72 to 202

13

Electromagnetic brake

Symbol

None

Electromagnetic Brake

B

Without

With

1 - 5

1. INTRODUCTION

(f) HA-LH series (low inertia, large capacity)

HA-LH

Series name

2

Compliant Standard

Symbol

None

-EC

Specifications

Standard model (in Japan)

EN Standard

Encoder

Symbol

None

-Y

Encoder

Incremental

Absolute

Rated speed
2000[r/min]

Rated output

Rated Output [kW]Symbol

11K

15K

22K

11

15

22

(g) HC-KF series (low inertia, small capacity)

HC-KF 3

Appearance

Appearance

Series name

Compliance with Standard

Symbol Specifications

None (Note) Standard model (EN UL/C-UL Standard)

-UE

EN UL/C-UL Standard

Note. The standard models produced in and after
February, 2001 are compatible with the EN UL/C-UL Standard.

Shaft type

Reduction gear

Symbol Reduction Gear

None

G1 For general industrial machine

G2 For precision application

Without

Symbol

None

(Note) K With keyway

Note. The special shaft applies

Shaft Shape

Standard

(Straight shaft)

to the standard servo motor
and servo motor with
electromagnetic brake.

Electromagnetic brake

Rated speed
3000[r/min]

Rated output

Symbol Rated Output [kW]

05 0.05

0.11

20.2

0.44

Symbol Electromagnetic Brake

None

BWith

Without

1 - 6

1. INTRODUCTION

(h) HC-AQ series (24VDC-compatible, compact size, small capacity)

HC-AQ

Series name

35

Shaft type

Symbol

(Note) D D-cut shaft

(Note) S Straight shaft

Note. The special shaft applies to

the standard servo motor and
servo motor with electromagnetic brake.

Shaft Shape

Electromagnetic brake

Symbol

None

Electromagnetic Brake

B

Without

With

Power supply voltage
24VDC

Rated speed
3000 [r/min]

Rated output

Rated Output [kW]Symbol

01

02

03

0.01

0.02

0.03

Appearance

(i) HA-LF series (Three-phase, 200 400VAC-compatible, low inertia, large capacity)

HA-LF

Series name

2

Appearance

Power supply specification

Power Supply VoltageSymbol

None

Three-phase 200 to 230VAC

4

Three-phase 380 to 480VAC

Rated speed
2000 [r/min]

Rated output

Symbol

30K

37K

45K

55K

Rated Output [kW]

30

37

45

55

Three-phase 200 to 230VAC

Power supply specifications

Three-phase 380 to 480VAC

1 - 7

1. INTRODUCTION

(j) HC-KFS series (low inertia, small capacity, high resolution)

HC-KFS

Series name

3

Appearance

Shaft type

Reduction gear

Symbol

None

G1 For general industrial machine

G2 For precision application

Reduction Gear

Without

Symbol

None

(Note) K

(Note) D

Note. The special shaft applies to the standard

servo motor and servo motor with
electromagnetic brake.

Shaft Shape

Standard

(Straight shaft)

With keyway (With key)

D-cut shaft

HC-KFS

053 to 73

23 to 73

053 13

Electromagnetic brake

Rated speed
3000[r/min]

Rated output

Symbol Rated Output [kW]

05 0.05

0.11

20.2

0.44

Symbol Electromagnetic Brake

None Without

BWith

(k) HC-MFS series (ultra low inertia, small capacity, high resolution)

HC-MFS

Series name

3

Reduction gear

Symbol

None Without

G1

G2

Reduction Gear

For general

industrial machine

For precision application

Rated speed
3000 [r/min]

Rated output

Symbol

Rated Output [kW]

05

1

2

4

7 0.75

Appearance

Shaft type

Symbol

None

(Note) K

(Note) D

Note. The special shaft applies to the standard

servo motor and servo motor with
electromagnetic brake.

Electromagnetic brake

Symbol

None

B

0.05

0.1

0.2

0.4

Shaft Shape

Standard

(Straight shaft)

With keyway (With key)

D-cut shaft

Electromagnetic Brake

Without

With

HC-MFS

053 to 73

23 to 73

53 13

1 - 8

1. INTRODUCTION

(l) HC-SFS series (middle inertia, middle capacity, high resolution)

1) 200VAC-compatible

HC-SFS

Series name

Shaft type

Symbol

None

(Note) K

Note. The special shaft applies to the

standard servo motor and servo
motor with electromagnetic brake.

Shaft Shape

Standard

(Straight shaft)

With keyway (Without key)

Reduction gear

Symbol

None Without

G1

G1H

G2

Note. Not provided for 1000r/min and
3000r/min series.

Reduction Gear

(Note) For general

industrial machine

(flange type)

(Note) For general

industrial machine

(leg type)

(Note) For precision application

Rated speed

Symbol

1

2

3

Speed [r/min]

1000

2000

3000

Appearance

Electromagnetic brake

Symbol

None

Electromagnetic Brake

B

Without

With

Rated output

Symbol

5

8

10

12

15

20

30

35

50 5

70

Rated Output [kW]

0.5

0.85

1

1.2

1.5

2

3

3.5

7

1000 [r/min]

2000 [r/min]

3000 [r/min]

1 - 9

1. INTRODUCTION

2) 400VAC-compatible

HC-SFS 2 4

Series name

Shaft type

Symbol

None

(Note) K

Note. The special shaft applies to the

standard servo motor and servo
motor with electromagnetic brake.

Shaft Shape

Standard

(Straight shaft)

With keyway (Without key)

Electromagnetic brake

Symbol

Electromagnetic brake

None

B

Without

With

Power supply voltage
Three-phase 380 to 480 VAC

Rated speed
2000 [r/min]

Rated output

5

10

15

20

35

50

70

Rated output [kW]

0.5

1

1.5

2

3.5

5

7

Symbol

Appearance

Reductiongear

Symbol Reductiongear

None

For general industrial machine

G1

For general industrial machine

G1H

G2

Without

(flange type)

(leg type)

For precision application

1 - 10

1. INTRODUCTION

(m) HC-RFS series (ultra low inertia, middle capacity, high resolution)

Series name

3 HC-RFS

Appearance

Shaft type

Symbol

None

(Note) K

Note. The special shaft applies to the

standard servo motor and servo
motor with electromagnetic brake.

Shaft Shape

Standard

(Straight shaft)

With keyway (Without key)

Reduction gear

Symbol

None Without

G2

Reduction Gear

For precision application

Electromagnetic brake

Rated speed
3000 [r/min]

Rated output

Symbol

10

15

20

35

50

Symbol

None

Rated Output [kW]

1

1.5

2

3.5

5

Electromagnetic Brake

B

Without

With

(n) HC-UFS series (flat type small and middle capacity, high resolution)

HC-UFS

Series name

Shaft type

Symbol

None

(Note) K

(Note) D

Note. The special shaft applies to the standard

servo motor and servo motor with
electromagnetic brake.

Shaft Shape

Standard

(Straight shaft)

With keyway

HC-UFS 23 to 73 are

provided with keys.

D-cut shaft

HC-UFS

13 to 43

72 to 202

13

Electromagnetic brake

Rated speed

Speed [r/min]Symbol

2

3

2000

3000

Rated output

1

2

4

7

15

20

Rated Output [kW]

0.1

0.2

0.4

0.75

1.5

2

3.535

550

Symbol

Symbol

Appearance

Electromagnetic Brake

None

B

Without

With

1 - 11

1. INTRODUCTION

(o) HA-LFS series (low inertia, middle large capacity, high resolution)

1) 200VAC-compatible

HA-LFS

Appearance

Series name

Shaft type

Symbol

None

(Note) K

Note. The special shaft applies to the

standard servo motor and servo
motor with electromagnetic brake.

Shaft Shape

Standard

(Straight shaft)

With keyway (Without key)

Electromagnetic brake

Symbol

Electromagnetic brake

Note

(Note)B

Note. Refer to Table 6.1 for the servo motor
compatible with the electromagnetic brake.

Without

For precision application

Rated speed

Symbol

1

1M

2

Speed [r/min]

1000

1500

2000

Rated output

Symbol

Rated Output [kW]

50 5

60 6

70 7

80 8

11K 11

12K 12

15K 15

20K 20

22K 22

25K 25

30K 30

37K 37

1000

[r/min]

1500

[r/min]

2000

[r/min]

1 - 12

1. INTRODUCTION

2) 400VAC-compatible

HA-LFS

Series name

4

Shaft type

Symbol

None

(Note) K

Note. The special shaft applies to the

standard servo motor and servo
motor with electromagnetic brake.

Shaft Shape

Standard

(Straight shaft)

With keyway (Without key)

Electromagnetic brake

Symbol

Electromagnetic brake

Note

(Note)B

Without

For precision application

Note. Refer to Table 6.1 for the servo motor
compatible with the electromagnetic brake.

Power supply voltage
Three-phase 380 to 480 VAC

Rated speed

Symbol

1

1M

22000

Speed [r/min]

1000

1500

Appearance

Rated output

Symbol

Rated Output [kW]

60 6

70 7

80 8

11K 11

12K 12

15K 15

20K 20

22K 22

25K 25

30K 30

37K 37

45K 45

50K 50

55K 55

1000

[r/min]

1500

[r/min]

2000

[r/min]

1 - 13

1. INTRODUCTION

(p) HC-LFS series (low inertia, middle capacity, high resolution)

HC-LFS

Series name

2

Shaft type

Symbol

None

(Note) K

Note. The special shaft applies to the

Electromagnetic brake

Symbol

None

B

Rated speed
2000 [r/min]

Rated output

Symbol

5

10 1

15

20 2

30

Appearance

Shaft Shape

Standard

(Straight shaft)

With keyway (Without key)

standard servo motor and servo
motor with electromagnetic brake.

Electromagnetic Brake

Without

With

Rated Output [kW]

0.5

1.5

3

1 - 14

1. INTRODUCTION

1.3 Parts identification

Lead type

Connector type

Name/Application

Encoder Section 5.1

Encoder cable
with encoder connector

Power cable
Power lead (U V W)
Earth lead
Brake lead
(for motor with electromagnetic brake)

Servo motor shaft

Name/Application

Encoder

Encoder connector

Power connector
Power supply (U V W)
Earth ( )
Brake (for motor with electromagnetic brake)
Some motors with electromagnetic brakes
have brake connectors separately.

Reference

Section 3.2

Chapter 7

Chapter 2
Section 5.4

Reference

Section 5.1

Section 3.2

Chapter 7

Terminal box type

Servo motor shaft

Name/Application Reference

Terminal box
Power leads (U V W)
Cooling fan leads
Ground terminal
Brake lead

(for motor with electromagnetic brake)

Encoder connector

Encoder

Servo motor shaft

Chapter 2
Section 5.4

Chapter 7

Section 3.2

Section 5.1

Chapter 2

1 - 15