Mitsubishi 1CW940 User Manual

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General-Purpose AC Servo

MODEL

Servo Motor

INSTRUCTION MANUAL

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

]

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

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

152

3524

7024

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

702

352 353

12K1

37K1 37K1M

37K2

7024

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

Servo motor

Servo motorServo amplifier

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

Servo amplifier

VIN

(24VDC)

Control

output

signal

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)

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)

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

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

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

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

MEMO

1. INTRODUCTION

]

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

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

0.05 to 0.4

0.05 to 0.75

1 to 5

0.75 to 5

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 (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 (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)

(Note1 2) IP55

2) IP44

(Note1

IP65

JP44

(Note1 2) IP55

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

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

Reduction Gear

For general

industrial machine

For precision application

Rated speed 3000 [r/min]

Rated output

Symbol

Rated Output [kW]

1 2 4

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

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

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

EN UL/C-UL Standard-

compliant model

Cannon connector

Symbol

None

Electromagnetic Brake

Without

With

Rated speed 3000 [r/min]

Rated output

Symbol

Rated Output [kW]

0.05

0.1

0.2

Rated Output [kW]Symbol

0.3

0.4

0.6

1 - 3

1. INTRODUCTION

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

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

Speed [r/min]

1000

2000

3000

Appearance

Electromagnetic brake

Symbol

None

Electromagnetic Brake

Without

With

Rated output

Symbol

50 5

Rated Output [kW]

0.5

0.85

1.2

1.5

3.5

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

Reduction Gear

For precision application

Electromagnetic brake

Rated speed 3000 [r/min]

Rated output

Symbol

15 1.5

35 3.5

Rated Output [kW]

Symbol

None

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

2000

3000

Rated output

Rated Output [kW]

0.1

0.2

0.4

0.75

1.5

3.5

550

Symbol

Appearance

HC-UF

13 to 43

72 to 202

Electromagnetic brake

Symbol

None

Electromagnetic Brake

Without

With

1 - 5

1. INTRODUCTION

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

HA-LH

Series name

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

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

HC-KF 3

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

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

Without

With

Power supply voltage 24VDC

Rated speed 3000 [r/min]

Rated output

Rated Output [kW]Symbol

0.01

0.02

0.03

Appearance

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

HA-LF

Series name

Appearance

Power supply specification

Power Supply VoltageSymbol

None

Three-phase 200 to 230VAC

Three-phase 380 to 480VAC

Rated speed 2000 [r/min]

Rated output

Symbol

30K

37K

45K

55K

Rated Output [kW]

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

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

Reduction gear

Symbol

None Without

Reduction Gear

For general

industrial machine

For precision application

Rated speed 3000 [r/min]

Rated output

Symbol

Rated Output [kW]

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

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

G1H

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

Speed [r/min]

1000

2000

3000

Appearance

Electromagnetic brake

Symbol

None

Electromagnetic Brake

Without

With

Rated output

Symbol

50 5

Rated Output [kW]

0.5

0.85

1.2

1.5

3.5

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

Without

With

Power supply voltage Three-phase 380 to 480 VAC

Rated speed 2000 [r/min]

Rated output

Rated output [kW]

0.5

1.5

3.5

Symbol

Appearance

Reductiongear

Symbol Reductiongear

None

For general industrial machine

G1H

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

Reduction Gear

For precision application

Electromagnetic brake

Rated speed 3000 [r/min]

Rated output

Symbol

None

Rated Output [kW]

1.5

3.5

Electromagnetic Brake

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

Electromagnetic brake

Rated speed

Speed [r/min]Symbol

2000

3000

Rated output

Rated Output [kW]

0.1

0.2

0.4

0.75

1.5

3.535

550

Symbol

Appearance

Electromagnetic Brake

None

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

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

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

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

Shaft type

Symbol

None

(Note) K

Note. The special shaft applies to the

Electromagnetic brake

Symbol

None

Rated speed 2000 [r/min]

Rated output

Symbol

10 1

20 2

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

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

1. INTRODUCTION

MEMO

1 - 16

2. INSTALLATION

CAUTION

Stacking in excess of the limited number of products is not allowed. Install the equipment on incombustible material. Installing them directly or close to

combustibles will lead to a fire.

Install the equipment in a load-bearing place in accordance with this Instruction

Manual. Do not get on or put heavy load on the equipment to prevent injury. Use the equipment within the specified environmental condition range. Do not subject the servo motor to drop impact or shock loads as they are precision

equipment. Do not install or operate a faulty servo amplifier. Do not hold the cable, shaft or encoder to carry the servo motor. Otherwise, a fault

or injury may occur. The lifting eyebolts of the servo motor may only be used to transport the servo

motor. They must not be used to transport the servo motor when it is mounted on a

machine. The servo motor with reduction gear must be installed in the specified direction.

Otherwise, it can leak oil, leading to a fire or fault. Securely fix the servo motor to the machine. If fixed insecurely, the servo motor will

come off during operation, leading to injury. When coupling the shaft end of the servo motor, do not subject the shaft end to

impact, such as hammering. The encoder may become faulty. When coupling a load to the servo motor, do not use a rigid coupling. Doing so can

cause the shaft to break. Take safety measures, e.g. provide covers, to prevent accidental access to the

rotating parts of the servo motor during operation. Do not subject the servo motor shaft to more than the permissible load. Otherwise,

the shaft may break, leading to injury. When the product has been stored for an extended period of time, consult

Mitsubishi. When treating the servo motor, be careful about the edged parts such as the

corners of the servo motor.

2 - 1

2. INSTALLATION

2.1 Environmental conditions

Environment Conditions

Ambient temperature

Ambient humidity

Ambience

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

(Note) Vibration

In Operation

In Storage

In Operation 80%RH or less (non-condensing) In Storage 90%RH or less (non-condensing)

Note. Except the servo motor with reduction gear.

[ ]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-SFS81 HC-SFS52 to 152 HC-SFS53 to 153

HC-SFS121 201 HC-SFS202 HC-SFS203

HC-SFS301 HC-SFS502

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

HC-SF81

[m/s2]

[ft/s

]

HC-SF52 to 152 HC-SF53 to 153

HC-SF121 201 HC-SF202 HC-SF203

HA-LFS601 to12K1 HA-LFS701M to 15K1M HA-LFS502 to 22K2 HA-LFS6014 to 12K14 HA-LFS701M4 to 15K1M4 HA-LFS11K24 to 22K24

HA-LFS15K1 to 37K1 HA-LFS22K1M to 37K1M HA-LFS30K2 HA-LFS15K14 to 37K14 HA-LFS22K1M4 to 50K1M4 HA-LFS30K24 to 55K24

HC-KFS series HC-MFS series

HC-SFS81 HC-SFS52 to 152 HC-SFS53 to 153

HC-SFS121 201 HC-SFS202 HC-SFS203

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 to12K1 HA-LFS701M to 15K1M HA-LFS502 to 22K2 HA-LFS6014 to 12K14 HA-LFS701M4 to 15K1M4 HA-LFS11K24 to 22K24

HA-LFS15K1 to 37K1 HA-LFS22K1M to 37K1M HA-LFS30K2 HA-LFS15K14 to 37K14 HA-LFS22K1M4 to 50K1M4 HA-LFS30K24 to 55K24

352 353

702

352 353

702

37K2

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 to152

HC-UF202 to 502 HC-LFS202

HA-LH11K2 to 22K2 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

HC-SFS5024

HA-FF series HC-UF13 to 73

HC-RF series HC-UF72 HC-LFS52 to152

HC-UF202 to 502 HC-LFS202

HA-LH11K2 to 22K2 HC-SF301 HC-SF502

HA-LF series X,Y:32

152

702

152

702

152

302

152

302

3524

7024

3524

7024

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

X:80 Y:96

X,Y:64

X:32 Y:80

X:64 Y:161

X:38.4 Y:96.5

2 - 2

2. INSTALLATION

Vibration occurs in the directions shown below. The values were measured at the portion which indicates the maximum value (normally the bracket opposite to load side). When the servo motor is at stop, the bearings are likely to fret and vibration should therefore be suppressed to about half of the permissible value.

Servo moto

Vibration

Graph of vibration servo amplitude vs. speed

]

200

m [

) s e d u

100

l p

m a

t o

(

e d u

l p

m a

n o

t a

r b

i V

500 1000 15002000 250030003500

Speed [r/min]

2 - 3

2. INSTALLATION

2.2 Installation orientation

The following table lists directions of installation.

Servo Motor Series Direction of Installation Remarks

HC-KF HA-FF HC-RF HC-KFS HC-SFS HC-UFS

HA-LFS (Flange type)

HA-LFS (Flange

When the servo motor with electromagnetic brake is installed with the shaft end at top, the brake plate may generate sliding sound but it is not a fault. Refer to section 5.3 for the installation orientation of the servo motor with reduction gear.

2.3 Load remove precautions

HC-MF HC-SF HC-UF HC-MFS HC-RFS HC-LFS

HC-AQ HA-LH

HA-LF

leg type)

May be installed in any direction.

Horizontal direction with the legs downward.

For installation in the horizontal direction, it is recommended to set the connector section downward.

Use either the legs or flange for installation.

POINT

During assembling, the shaft end must not be hammered. Doing so can cause the encoder to fail.

(1) When mounting a pulley to the servo motor shaft provided with a keyway, use the screw hole in the

shaft end. To fit the pulley, first insert a double-end stud into the screw hole of the shaft, put a washer against the end face of the coupling, and insert and tighten a nut to force the pulley in.

Servo motor

Double-end stud

Nut

Washer

Pulley

(2) For the servo motor shaft with a keyway, use the screw hole in the shaft end. For the shaft without a

keyway, use a friction coupling or the like. (3) When removing the pulley, use a pulley remover to protect the shaft from impact. (4) To ensure safety, fit a protective cover or the like on the rotary area, such as the pulley, mounted to

the shaft. (5) When a threaded shaft end part is needed to mount a pulley on the shaft, please contact us. (6) The orientation of the encoder on the servo motor cannot be changed. (7) For installation of the servo motor, use spring washers, etc. and fully tighten the bolts so that they do

not become loose due to vibration. (8) For the HC-AQ series, use spring washers and apply Screw Lock to mount the servo motor. In

addition, use Helisert screws when the flange for mouthing the servo motor is made of aluminum.

2 - 4

2. INSTALLATION

2.4 Permissible load for the shaft

POINT

Do not use a rigid coupling as it may apply excessive bending load to the shaft, leading to shaft breakage.

(1) Use a flexible coupling and make sure that the misalignment of the shaft is less than the permissible

radial load. (2) When using a pulley, sprocket or timing belt, select a diameter that will fit into the permissible radial

load. (3) Excess of the permissible load can cause the bearing life to reduce and the shaft to break. (4) The load indicated in this section is static load in a single direction and does not include eccentric load.

Make eccentric load as small as possible. Not doing so can cause the servo motor to be damaged.

2.4.1 Without reduction gear

HC-KF

HC-KFS

HC-MF

HC-MFS

HA-FF

HC-SF

HC-SFS

HC-LFS

HC-RF

HC-RFS

HC-UF

HC-UFS

HA-LH

HA-LF

HA-LFS

Servo Motor

053 / 13 25 0.98 88 20 59 13 23 / 43 30 1.18 245 55 98 22 73 (Note 3) 40 1.57 392 88 147 33

053 / 13 25 0.98 88 20 59 13 23 / 43 30 1.18 245 55 98 22 73 40 1.57 392 88 147 33 053 30 1.18 108 24 98 22 13 30 1.18 118 27 98 22 23 / 33 30 1.18 176 40 147 33 43 / 63 40 1.57 323 73 284 64 81 55 2.17 980 220 490 110 121 to 301 79 3.11 2058 463 980 220 52 (4) to 152 (4) (Note4) 55 2.17 980 220 490 110 202 (4) / 702 (4) (Note4) 79 3.11 2058 463 980 220 53 to 153 55 2.17 980 220 490 110 203 / 353 79 3.11 2058 463 980 220 52 to 152 55 2.17 980 220 490 110 202/302 79 3.11 2058 463 980 220 103 to 203 45 1.77 686 154 196 44 353 / 503 63 2.48 980 220 392 88 72 / 152 55 2.17 637 143 490 110 202 65 2.56 882 198 784 176 352 / 502 65 2.56 1176 264 784 176 13 25 0.98 88 20 59 13 23 / 43 30 1.18 245 55 98 22 73 40 1.57 392 88 147 33 11K2 85 3.35 2450 551 980 220 15K2 / 22K2 110 4.33 2940 661 980 220 0135 16 0.63 34 8 14 3 0235 16 0.63 44 10 14 3HC-AQ 0335 16 0.63 49 11 14 3 30K2(4) 37K2(4) 140 5.51 3234 727 1470 330 45K24 /55K24 140 5.51 4900 1102 1960 441 502/702/601(4)/701M(4)/11K2(4) 85 3.35 2450 551 980 153 801(4) 12K1(4) 11K1M(4)

15K1M(4) 15K2(4) 22K2(4) 15K1(4) 20K1(4) 22K1M(4) 30K1M(4) 30K2(4) 37K2(4) 25K1(4) 30K1(4) 37K1M(4) 45K1M4 45K24•55K24 37K1(4)

50K1M4 170 6.69 6370 1432 1960 441

L (Note 1)

[mm] [in] [N] [lb] [N] [lb]

110 4.33 2940 661 980 153

140 5.51 3234 727 1470 330

140 5.51 4900 1102 1960 441

Permissible Radial Load

(Note 2)

Permissible Thrust Load

(Note 2)

2 - 5

2. INSTALLATION

Note 1. For the symbols in the table, refer to the following diagram.

Radial load

Thrust load

2. Do not subject the shaft to load greater than this value. The values in the table assume that the loads work singly.

3. 73 is not available for the HC-KF series.

4. 524 to 7024 are not available for the HC-SF series.

L: Distance from flange mounting surface to load center

2 - 6

2. INSTALLATION

2.4.2 With reduction gear

The permissible radial loads in the table are the values at the center of the reduction gear output shaft.

Q/ 2

(1) HC-MF HC-MFS HC-KF HC-KFS series

(a) General industrial machine-compliant

Item

Permissible

Radial Load

Permissible

Thrust Load

HC-MF053(B)G1

HC-MFS053(B)G1

Gear

ratio

1/12 240 710 620[N] 1/20 370 780 760 970

[lb]

1/12 54 160 139 1/20 83 175 171 218

1/12 320 720 620[N] 1/20 450 780 760 960

[lb]

1/12 72 162 139 1/20 101 175 171 216

HC-KF053(B)G1

HC-KFS053(B)G1

1/5 150 330 430

1/5 34 74 97

1/5 200 350 430

1/5 45 79 97

HC-MF13(B)G1

HC-MFS13(B)G1

HC-KF13(B)G1

HC-KFS13(B)G1

HC-MF23(B)G1

HC-MFS23(B)G1

HC-KF23(B)G1

HC-KFS23(B)G1

HC-MF43(B)G1

HC-MFS43(B)G1

HC-KF43(B)G1

HC-KFS43(B)G1

HC-MF73(B)G1

HC-MFS73(B)G1

HC-KFS73(B)G1

(b) Precision application-compliant

HC-MF053(B)G2

Item

Permissible

Radial Load

Permissible

Thrust Load

Gear

[N]

[lb]

[N]

[lb]

HC-MFS053(B)G2

ratio

1/20 260 540 610 790 1040 1/29 290 610 700 900 1190

1/20 58 121 137 178 234 1/29 65 137 157 202 268

1/20 400 660 640 790 1140 1/29 450 750 830 1010 1290

1/20 90 148 144 178 256 1/29 101 167 187 227 290

HC-KF053(B)G2

HC-KFS053(B)G2

1/5 160 160 160 340 390 1/9 200 200 420 480 600

1/53636367688 1/9 45 45 94 108 135

1/5 220 220 220 370 390 1/9 270 270 450 490 600

1/54949498387 1/9 61 61 101 110 135

HC-MF13(B)G2

HC-MFS13(B)G2

HC-KF13(B)G2

HC-KFS13(B)G2

HC-MF23(B)G2

HC-MFS23(B)G2

HC-KF23(B)G2

HC-KFS23(B)G2

HC-MF43(B)G2

HC-MFS43(B)G2

HC-KF43(B)G2

HC-KFS43(B)G2

HC-MF73(B)G2

HC-MFS73(B)G2

HC-KFS73(B)G2

2 - 7

2. INSTALLATION

(2) HA-FF series

(a) General industrial machine-compliant

Gear

Item

[N]

Permissible Radial

Load

[lb]

(b) Precision application-compliant

Item

Permissible Radial

Load

Permissible Thrust

Load

Gear

[N]

[lb]

[N]

[lb]

HA-FF053(B)G1 HA-FF13(B)G1 HA-FF23(B)G1 HA-FF33(B)G1 HA-FF43(B)G1 HA-FF63(B)G1

ratio

1/5 588 686 686 980 1/10 588 686 686 1470 1/20 588 1176 1568 1764 1/30 686 1225 1764 2156

1/5 132 154 154 220 1/10 132 154 154 330 1/20 132 264 353 397 1/30 154 275 397 485

HA-FF053(B)G2 HA-FF13(B)G2 HA-FF23(B)G2 HA-FF33(B)G2 HA-FF43(B)G2 HA-FF63(B)G2

ratio

1/5 69 69 98 216 216 588

1/9 735 735 1/10 88 127 265 265 1/15 137 216 392 1/20 980 980 1274 1274 1/25 392 784 1/29 1078 1470 1470 1470 1/45 1274 1666 1666 1666 3430

1/51515224949132

1/9 165 165 1/10 20 29 60 60 1/15 31 49 88 1/20 220 220 286 286 1/25 88 176 1/29 242 330 330 330 1/45 286 375 375 375 771

1/5 59 59 147 265 265 784

1/9 980 980 1/10 78 167 343 343 1/15 88 216 363 1/20 1372 1372 2254 2254 1/25 314 412 1/29 1764 2548 2548 2548 1/45 1960 3234 3234 3234 5390

1/51313336060176

1/9 220 220 1/10 16 38 77 77 1/15 20 49 82 1/20 308 308 507 507 1/25 71 93 1/29 397 573 573 573 1/45 441 727 727 727 1212

2 - 8

2. INSTALLATION

(3) HC-SF HC-SFS (2000r/min) series

(a) General industrial machine-compliant

Item

Permissible

Radial Load

Permissible

Thrust

Load

HC-SF52(B)G1

Gear

HC-SFS52(B)G1

ratio

HC-SFS524(B)G1

1/6 2058 2842 2842 2842 3332 1/11 2391 3273 3273 3273 3871 5488 7526 1/17 2832 3646 3646 3646 4420 6468 8683 1/29 3273 4410 5135 7291 7291 13426 13426

[N]

1/35 5253 5253 6047 8555 8555 16072 16072 1/43 5253 6047 8555 8555 11662 16072 22540 1/59 5880 9741 9741 9741 13132

1/6 463 639 639 639 749 1/11 538 728 728 728 870 1234 1952 1/17 637 820 820 820 994 1454 1952 1/29 728 991 1154 1639 1639 3018 3018

[lb]

1/35 1181 1181 1359 1923 1923 3613 3613 1/43 1181 1359 1923 1923 2622 3613 5067 1/59 1322 2190 2190 2190 2952

1/6 1470 2352 2352 2352 3920 1/11 1470 2764 2764 2764 3920 6292 8085 1/17 1470 2940 2940 2940 3920 6860 9673 1/29 1470 2940 3920 6860 6860 13720 13720

[N]

1/35 2940 2940 3920 6860 6860 13720 13720 1/43 2940 3920 6860 6860 9800 13720 19600 1/59 2940 6860 6860 6860 9800

1/6 330 529 529 529 881 1/11 330 621 621 621 881 1415 1818 1/17 330 661 661 661 881 1542 2175 1/29 330 661 881 1542 1542 3084 3084

[lb]

1/35 661 661 881 1542 1542 3084 3084 1/43 661 881 1542 1542 2203 3084 4406 1/59 661 1542 1542 1542 2203

HC-SF102(B)G1

HC-SFS102(B)G1

HC-SFS1024(B)G1

HC-SF152(B)G1

HC-SFS152(B)G1

HC-SFS1524(B)G1

HC-SF202(B)G1

HC-SFS202(B)G1

HC-SFS2024(B)G1

HC-SF352(B)G1

HC-SFS352(B)G1

HC-SFS3524(B)G1

HC-SF502(B)G1

HC-SFS502(B)G1

HC-SFS5024(B)G1

HC-SF702(B)G1

HC-SFS702(B)G1

HC-SFS7024(B)G1

2 - 9

2. INSTALLATION

(b) Precision application-compliant

Item

Permissible

Radial Load

Permissible

Thrust

Load

HC-SF52(B)G2

Gear

HC-SFS52(B)G2

ratio

HC-SFS524(B)G2

1/5 833 833 833 1666 3822 3822 3822 1/9 980 980 1960 1960 4704 4704

1/20 1274 2646 2646 6076 6076

[N]

1/29 2940 2940 6860 6860 1/45 3430 8036 8036 8036

1/5 187 187 187 375 859 859 859 1/9 220 220 441 441 1058 1058

[lb]

1/20 286 595 595 1366 1366 1/29 661 661 1542 1542 1/45 771 1807 1807 1807

1/5 1176 1176 1176 2156 5488 5488 5488 1/9 1568 1568 2646 2646 7252 7252

[N]

1/20 2254 3724 3724 9506 9506 1/29 4704 4704 11760 11760 1/45 5390 14700 14700 14700

1/5 264 264 264 485 1234 1234 1234 1/9 353 353 595 595 1630 1630

[lb]

1/20 507 837 837 2137 2137 1/29 1058 1058 2644 2644 1/45 1212 3305 3305 3305

HC-SF102(B)G2

HC-SFS102(B)G2

HC-SFS1024(B)G2

HC-SF152(B)G2

HC-SFS152(B)G2

HC-SFS1524(B)G2

HC-SF202(B)G2

HC-SFS202(B)G2

HC-SFS2024(B)G2

HC-SF352(B)G2

HC-SFS352(B)G2

HC-SFS3524(B)G2

HC-SF502(B)G2

HC-SFS502(B)G2

HC-SFS5024(B)G2

HC-SF702(B)G2

HC-SFS702(B)G2

HC-SFS7024(B)G2

(4) HC-RF HC-RFS series

Item

Permissible

Radial Load

Permissible

Thrust Load

Gear

ratio

1/5 833 833 833 1666 3822 1/9 980 1960 1960 4704 4704

1/20 2646 2646 2646 6076 6076

[N]

1/29 2940 2940 6860 6860 1/45 3430 8036 8036

1/5 187 187 187 375 859 1/9 220 441 441 1058 1058

[lb]

1/20 595 595 595 1366 1366 1/29 661 661 1542 1542 1/45 771 1806 1806

1/5 1176 1176 1176 2156 5488 1/9 1568 2646 2646 7252 7252

[N]

1/20 3724 3724 3724 9506 9506 1/29 4704 4704 11760 11760 1/45 5390 14700 14700

1/5 264 264 264 485 1234 1/9 353 595 595 1630 1630

[lb]

1/20 837 837 837 2137 2137 1/29 1058 1058 2644 2644 1/45 1212 3305 3305

HC-RF103(B)G2

HC-RFS103(B)G2

HC-RF153(B)G2

HC-RFS153(B)G2

HC-RF203(B)G2

HC-RFS203(B)G2

HC-RF353(B)G2

HC-RFS353(B)G2

HC-RF503(B)G2

HC-RFS503(B)G2

2 - 10

2. INSTALLATION

2.5 Protection from oil and water

(1) Next, the servo motor is not waterproof (IP44). Do not subject the servo motor to oil and water.

Especially for the HC-MF shaft-through portion to oil.

Servo Motor Series Protection

HC-KF/HC-MF

HA-LF/HA-FF/HA-LFS

HC-AQ/HC-KFS/HC-MFS IP55

HA-LH JP44

Oil or water

Servo motor

(2) When the gear box is mounted horizontally, the oil level in the gear box should always be lower than

the oil seal lip on the servo motor shaft. If it is higher than the oil seal lip, oil will enter the servo motor, leading to a fault. The HC-MF

HC-KF HC-AQ HC-MFS and HC-KFS series servo motor is not equipped with an oil seal and cannot be used with the gear box as described above. Oil should be shut off on the gear box side. In a special specification article with an oil seal is available. Please contact Mitsubishi.

HC-KF HC-AQ HC-KFS HC-MFS and HA-FF series, do not subject the

IP44

Height above oil level h

Servo Motor

121 to 301 25 0.98 23/33 12 0.47

HC-SF

HC-SFS

HC-LFS

HC-RF

HC-RFS

HC-UF

HC-UFS

52(4) to 152(4) (Note)20 0.79

202(4) to 702(4) (Note) 25 0.98 11K2 30 0.18

53 to 153 20 0.79

203/353 25 0.98 30K2(4)

52 to 152 20 0.79

202/302 25 0.98

103 to 503 20 0.79

202 to 502 25 0.98

Gear

Lip

Height above Oil Level h Height above Oil Level h

81 20 0.79 053/13 8 0.32

72/152 20 0.79

13 12 0.47

23/43 14 0.55

73 20 0.79

Servo motor

V ring

[mm] [in]

HA-FF

HA-LH

HA-LF

HA-LFS

Servo Motor

[mm] [in]

43/63 14 0.55

15K2/22K2 40 1.58

37K2(4) 45 1.77

45K24/55K24 48 1.89

502 702 601(4)

701M(4)

15K1(4) 20K1(4)

22K1M(4) 30K1M(4)

30K2(4) 37K2(4)

801(4) 12K1(4)

25K1(4) 30K1(4)

11K1M(4) 15K1M(4)

37K1M(4) 45K1M4

15K2(4) 22K2(4)

45K24 55K24

11K2(4)

34 1.34

45 1.77

48 1.89

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

2 - 11

37K1(4)

50K1M4 55 2.17

2. INSTALLATION

(3) When installing the servo motor horizontally, face the power cable and encoder cable downward. When

installing the servo motor vertically or obliquely, provide a trap for the cable.

Cable trap

(4) Do not use the servo motor with its cable soaked in oil or water. (Figure on the right)

Cover

Servo motor

Oil/water pool

<Incorrect> Capillary phenomenon

(5) When the servo motor is to be installed with the shaft end at top, provide measures so that it is not

exposed to oil and water entering from the machine side, gear box, etc.

Gear

Lubricating oil

Servo motor

(6) If the servo motor is exposed to oil such as coolant, the sealant, packing, cable and others may be

affected depending on the oil type.

(7) In the environment where the servo motor is exposed to oil mist, oil, water, grease and/or like, the

servo motor of the standard specifications may not be usable. Contact us.

(8) In the case of the servo motor with oil seal, the oil seal may sound during operation. It poses no

problems in function.

2 - 12

2. INSTALLATION

2.6 Cooling fan

The HA-LH

HA-LF and HA-LFS servo motors have a cooling fan. Leave the following distance between

the servo motor's suction face and the wall.

Servo Motor Series

HA-LH series 50 1.97

HA-LFS601 to 12K1

HA-LFS701M to 15K1M

HA-LFS11K2 to 22K2

HA-LFS6014 to 12K14

HA-LFS701M4 to 15K1M4

HA-LFS11K24 to 22K24

HA-LF30K2/37K2

HA-LF30K24 to 55K24

HA-LFS15K1 to 37K1

HA-LFS22K1M to 37K1M

HA-LFS30K2/37K2

HA-LFS15K14 to 37K14

HA-LFS22K1M4 to 50K1M4

HA-LFS30K24 to 55K24

Distance L

[mm] [in]

100 3.94

150 5.91

L or longer

Servo motor

Cooling fan

Wind

2.7 Cable

The power supply and encoder cables routed from the servo motor should be fixed to the servo motor to keep them unmovable. Otherwise, cable breaks may occur. In addition, do not modify the connectors, terminals and others at the ends of the cables.

2 - 13

2. INSTALLATION

MEMO

2 - 14

3. CONNECTORS USED FOR SERVO MOTOR WIRING

POINT

Protective structure indicated for cables and connecters is for a cable or

connector alone. When the cables and connectors are used to connect the servo amplifier and servo motor, and if protective structures of the servo amplifier and servo motor are lower than that of the cable and connector, specifications of the servo amplifier and servo motor apply.

3.1 Makeups

This section gives connector makeups on an operating environment basis. Use the models of the manufacturers given or equivalent.

3.1.1 HC-KF(-UE)

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

Use round crimping terminals (1.25-4) for connection of the power supply and electromagnetic brake. For connection of the encoder, use the connector indicated in this section or equivalent. This connector may be used with the EN Standard and UL/C-UL Standard but is not waterproof.

Cable Side Connector

Connector Pin

(Tyco Electronics)

170359-1

170363-1 (loose piece)

Cable Clamp

(Toa Electric Industry)

MTI-0002

Servo Motor

HC-KF (B) HC-KF HC-MF HC-MF HA-FF HC-UF13 to 73(B)

(B)-UE

(B) (B) -UE

(B)

Connector Supplied for

Servo Motor

(Tyco Electronics)

1-172169-9 1-172161-9

(Tyco Electronics)

Housing

3.1.2 HA-FF C-UE series

If used with a waterproof connector, the HA-FF

C(B)-UE does not improve in ingress protection (IP54).

(1) Non-waterproof, UL/C-UL Standard-compliant

(a) When using cabtyre cables

1) For connection of power supply

1) Plug

2) Cable clamp

Cable 1) Plug

2) Cable

clamp

Cable

Servo Motor

HA-FF C(B) -UE CE05-2A14S-2PD-B

Connector Supplied for

Servo Motor

Cable Side Connector

1) Plug (DDK)

Type Model

Straight D/MS3106B14S-2S

Angle D/MS3108B14S-2S

3 - 1

2) Cable clamp

(DDK)

D/MS3057-6A

3. CONNECTORS USED FOR SERVO MOTOR WIRING

2) For connection of encoder

1) Plug

2) Cable

clamp

Cable 1) Plug

2) Cable

clamp

Cable

Connector Supplied for

Servo Motor

HA-FF C(B) -UE MS3102A20-29P

1) Plug (DDK)Servo Motor

Type Model

Straight D/MS3106B20-29S

Angle D/MS3108B20-29S

Cable Side Connector

2) Cable clamp

D/MS3057-12A

3) For connection of brake

2) Cable

1) Plug

Servo Motor

HA-FF CB-UE MS3102A10SL-4P Straight D/MS3106A10SL-4S D/MS3057-4A

clamp

Cable

Connector Supplied for

Servo Motor

Cable Side Connector

Plug (DDK)

Type Model

2) Cable clamp

(b) When using flexible conduits

1) For connection of power supply

2) Connector for

1) Plug Conduit

conduit

Conduit

(DDK)

2) Connector for conduit

Servo Motor

HA-FF C(B) -UE CE05-2A14S-2PD-B

Connector Supplied

for Servo Motor

1) Plug

(DDK)

D/ MS3106A14S-

2S(D190)

Cable Side Connector

2) Cable Connector Conduit

Type Manufacturer Size Model Model ID

1/4 RCC-102RL-MS14F VF-02 8.3

Nippon flex

Straight

Daiwa

Dengyo

Nippon flex

Angle

Daiwa

Dengyo

3/8 RCC-103RL-MS14F VF-03 10.6 1/2 RCC-104RL-MS14F VF-04 14.0

10 MSA-10-14 FCV10 10.0

12 MSA-12-14 FCV12 12.3 1/4 RCC-302RL-MS14F VF-02 8.3 3/8 RCC-303RL-MS14F VF-03 10.6 1/2 RCC-304RL-MS14F VF-04 14.0

10 MAA-10-14 FCV10 10.0

12 MAA-12-14 FCV12 12.3

3 - 2

3. CONNECTORS USED FOR SERVO MOTOR WIRING

2) For connection of encoder

2) Connector for

1) Plug Conduit

conduit

Conduit

2) Connector for conduit

Servo Motor

HA-FF C(B) -UE MS3102A20-29P

Connector Supplied

for Servo Motor

3) For connection of brake

1) Plug Conduit

2) Connector for conduit

1) Plug

(DDK)

D/MS3106A20-

29S(D190)

1) Plug

Cable Side Connector

2) Cable Connector Conduit

Type Manufacturer Size Model Model ID

Nippon flex

Straight

Nippon flex

Angle

2) Connector for conduit

Daiwa

Dengyo

Daiwa

Dengyo

Conduit

1/2 RCC-104RL-MS20F VF-04 14.0 3/4 RCC-106RL-MS20F VF-06 19.0

16 MSA-16-20 FCV16 15.8

22 MSA-22-20 FCV22 20.8 1/2 RCC-304RL-MS20F VF-04 14.0 3/4 RCC-306RL-MS20F VF-06 19.0

16 MAA-16-20 FCV16 15.8

22 MAA-22-20 FCV22 20.8

Servo Motor

HA-FF CB-UE MS3102A10SL-4P

Connector Supplied

for Servo Motor

1) Plug

(DDK)

D/MS3106A10SL-

4S(D190)

Cable Side Connector

2) Cable Connector Conduit

Type Manufacturer Size Model Model ID

Nippon flex 1/4 RCC-102RL-MS10F VF-02 8.3

Straight

Angle

Daiwa

Dengyo

Nippon flex 1/4 RCC-302RL-MS10F VF-02 8.3

Daiwa

Dengyo

10 MSA-10-10 FCV10 10.0

10 MAA-10-10 FCV10 10.0

3 - 3

3. CONNECTORS USED FOR SERVO MOTOR WIRING

(2) EN Standard, UL/C-UL Standard-compliant

(a) When using cabtyre cables

1) For connection of power supply

2) Connector for

1) Plug

Cable

cable

Cable

2) Connector for cable

Connector Supplied for

Servo Motor

HA-FF C(B) -UE CE05-2A14S-2PD-B CE05-6A14S-2SD-D

1) Plug

(DDK)

2) For connection of encoder

3) Cable

1) Plug

2) Back shell

clamp

Cable 2) Back shell

1) Plug

Cable Side Connector

2) Connector for CableServo Motor

Type Manufacturer Cable OD Model

Nippon flex

Straight

Daiwa Dengyo

Nippon flex

Angle

Daiwa Dengyo

Cable

3) Cable clamp

4 to 8 ACS-08RL-MS14F

8 to 12 ACS-12RL-MS14F

5 to 8.3 YSO14-5 to 8

8.3 to 11.3 YSO14-9 to 11 4 to 8 ACA-08RL-MS14F

8 to 12 ACA-12RL-MS14F

5 to 8.3 YLO14-5 to 8

8.3 to 11.3 YLO14-9 to 11

Servo Motor

HA-FF C(B) -UE MS3102A20-29P D/MS3106A20-29S(D190)

Connector Supplied

for Servo Motor

1) Plug

(DDK)

3 - 4

Cable Side Connector

2) Back Shell

(DDK)

Type Model Cable OD Model

Straight CE02-20BS-S-D

Angle CE-20BA-S-D

3) Cable Clamp

(DDK)

6.8 to 10 CE3057-12A-3-D

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3) For connection of brake

1) Plug

Cable

2) Connector for cable

Cable

2) Connector for cable

Servo Motor

HA-FF CB-UE MS3102A10SL-4P D/MS3106A10SL-4S(D190)

Connector Supplied for

Servo Motor

1) Plug

(DDK)

(b) When using flexible conduits

1) For connection of power supply

2) Connector fo

1) Plug Conduit

2) Connector for conduit

conduit

1) Plug

Cable Side Connector

2) Cable Connector

Type Manufacturer Cable OD Model

4 to 8 ACS-08RL-MS10F

8 to 12 ACS-12RL-MS10F

4 to 8 ACA-08RL-MS10F

8 to 12 ACA-12RL-MS10F

Straight

Angle

Conduit

Nippon flex

Daiwa Dengyo 5 to 8.3 YS010-5 to 8

Nippon flex

Daiwa Dengyo 5 to 8.3 YL010-5 to 8

Servo Motor

HA-FF C(B) -UE CE05-2A14S-2PD-B

Connector Supplied

for Servo Motor

1) Plug

(DDK)

CE05-6A14S-

2SD-D

Cable Side Connector

2) Cable Connector Conduit

Type Manufacturer Size Model Model ID

1/4 RCC-102RL-MS14F VF-02 8.3

Nippon flex

Straight

Daiwa

Dengyo

Nippon flex

Angle

Daiwa

Dengyo

3/8 RCC-103RL-MS14F VF-03 10.6 1/2 RCC-104RL-MS14F VF-04 14.0

10 MSA-10-14 FCV10 10.0

12 MSA-12-14 FCV12 12.3 1/4 RCC-302RL-MS14F VF-02 8.3 3/8 RCC-303RL-MS14F VF-03 10.6 1/2 RCC-304RL-MS14F VF-04 14.0

10 MAA-10-14 FCV10 10.0

12 MAA-12-14 FCV12 12.3

3 - 5

3. CONNECTORS USED FOR SERVO MOTOR WIRING

2) For connection of encoder

2) Connector for

1) Plug Conduit

conduit

Conduit

2) Connector for conduit

Connector Supplied

for Servo Motor

HA-FF C(B) -UE MS3102A20-29P

3) For connection of brake

1) Plug Conduit

2) Connector for conduit

1) Plug

(DDK)

D/MS3106A20-

29S(D190)

1) Plug

Cable Side Connector

2) Cable Connector ConduitServo Motor

Type Manufacturer Size Model Model ID

Nippon flex

Straight

Nippon flex

Angle

2) Connector for conduit

Daiwa

Dengyo

Daiwa

Dengyo

Conduit

1/2 RCC-104RL-MS20F VF-04 14.0 3/4 RCC-106RL-MS20F VF-06 19.0

16 MSA-16-20 FCV16 15.8

22 MSA-22-20 FCV22 20.8 1/2 RCC-304RL-MS20F VF-04 14.0 3/4 RCC-306RL-MS20F VF-06 19.0

16 MAA-16-20 FCV16 15.8

22 MAA-22-20 FCV22 20.8

Connector Supplied

for Servo Motor

HA-FF CB -UE MS3102A10SL-4P

1) Plug

(DDK)

D/MS3106A10SL-

4S(D190)

Cable Side Connector

2) Cable Connector ConduitServo Motor

Type Manufacturer Size Model Model ID

Nippon flex 1/4 RCC-102RL-MS10F VF-02 8.3

Straight

Angle

Daiwa

Dengyo

Nippon flex 1/4 RCC-302RL-MS10F VF-02 8.3

Daiwa

Dengyo

10 MSA-10-10 FCV10 10.0

10 MAA-10-10 FCV10 10.0

3 - 6

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3.1.3 HC-SF(S) HC-RF(S) HC-UF(S)2000r/min, HA-LH HA-LF HA-LFS HC-LFS series

(1) Non-waterproof, UL/C-UL Standard-compliant

(a) When using cabtyre cables

1) For connection of power supply

2) Cable

1) Plug

Servo Motor Connector Supplied for Servo Motor

HC-SF81(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) to 152(B) HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) HC-RF353(B) to 503(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502(B) HC-SFS203(B) to 353(B) HC-SFS2024(B) to 5024(B) HC-RFS353(B) HC-UFS202(B) to 502(B) HA-LFS502 HC-LFS202(B) HC-SF702(B) HC-SFS702(B) HC-SFS7024(B) HA-LFS702

clamp

152(B)

353(B)

503(B)

302(B)

Cable 1) Plug

CE05-2A22-23PD-B

CE05-2A24-10PD-B

CE05-2A32-17PD-B

2) Cable clamp

Type Model

Straight D/MS3106B22-23S

Angle D/MS3108B22-23S

Straight D/MS3106B24-10S

Angle D/MS3108B24-10S

Straight D/MS3106B32-17S

Angle D/MS3108B32-17S

Cable

Cable Side Connector

1) Plug (DDK)

2) Cable clamp

(DDK)

D/MS3057-12A

D/MS3057-16A

D/MS3057-20A

3 - 7

3. CONNECTORS USED FOR SERVO MOTOR WIRING

2) For connection of encoder

1) Plug

2) Cable clamp

Cable 1) Plug

2) Cable clamp

Cable

HC-SF81(B) to 301(B) HC-SF52(B) to 702(B) HC-SF53(B) to 353(B) HC-RF103(B) to 503(B) HC-UF72(B) to 502(B) HC-SFS81(B) to 301(B) HC-SFS52(B) to 702(B) HC-SFS53(B) to 353(B) HC-SFS524(B) to 7024(B) HC-RFS103(B) to 503(B) HC-UFS72(B) to 502(B) HA-LH11K2 to 22K2 HA-LF30K24 to 55K24 HA-LF30K2 HA-LFS601 to 37K1 HA-LFS701M to 37K1M HA-LFS502 to 37K2 HA-LFS6014 to 37K14 HA-LFS701M4 to 50K1M4 HA-LFS11K24 to 55K24 HC-LFS52(B) to 302(B)

37K2

Connector Supplied for

Servo Motor

MS3102A20-29P

Cable Side Connector

1) Plug (DDK)Servo Motor

Type Model

Straight D/MS3106B20-29S

Angle D/MS3108B20-29S

2) Cable clamp

(DDK)

D/MS3057-12A

3) For connection of brake

1) Plug

2) Connector for cable

Servo Motor

HC-SF121B to 301B HC-SF202B to 702B HC-SF203B HC-UF202B to 502B HC-SFS121B to 301B HC-SFS202B to 702B HC-SFS203B HC-SFS2024B to 7024B HC-UFS202B to 502B HC-LFS202B

353B

302B

Cable

Connector Supplied

for Servo Motor

MS3102A10SL-4P

2) Connector for cable

1) Plug

(DDK)

D/MS3106A10SL-

4S (D190)

3 - 8

Cable

Cable Side Connector

2) Connector for Cable

Type Manufacturer

Nippon flex

Straight

Daiwa Dengyo

Nippon flex

Angle

Daiwa Dengyo

Cable

4 to 8 ACS-08RL-MS10F

8 to 12 ACS-12RL-MS10F

5 to 8.3 YSO10-5 to 8

4 to 8 ACA-08RL-MS10F

8 to 12 ACA-12RL-MS10F

5 to 8.3 YLO10-5 to 8

Model

3. CONNECTORS USED FOR SERVO MOTOR WIRING

(b) When using flexible conduits

1) For connection of power supply

2) Connector for

1) Plug Conduit

conduit

Conduit

2) Connector for conduit

Servo Motor

HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) HC-RF353(B) to 503(B) HC-UF202(B) to 502(B) HC-SFS121(B) to 301(B) HC-SFS202(B) to 502(B) HC-SFS203(B) to 353(B) HC-SFS2024(B) to 5024(B) HC-RFS353(B) HC-UFS202(B) to 502(B) HA-LFS502 HC-LFS202(B)

HC-SF702(B) HC-SFS702(B) HC-SFS7024(B) HA-LFS702

152(B)

352(B)

503(B)

302(B)

Connector

Supplied

for Servo

Motor

CE052A22-

23PD-B

CE052A24-

10PD-B

CE052A32-

17PD-B

1) Plug

(DDK)

D/MS3106A22-

23S(D190)

D/MS3106A24-

10S(D190)

D/MS3106A32-

17S(D190)

Cable Side Connector

2) Connector for conduit Conduit

Type Manufacturer Size Model Model ID

1/2 RCC-104RL-MS22F VF-04 14.0 3/4 RCC-106RL-MS22F VF-06 19.0Nippon flex

Straight

Daiwa

Dengyo

Angle

Daiwa

Dengyo

Nippon flex

Straight

Daiwa

Dengyo

Angle

Daiwa

Dengyo

Straight Nippon flex

Angle

Daiwa

Dengyo

1 RCC-108RL-MS22F VF-08 24.4

16 MSA-16-22 FCV16 15.8 22 MSA-22-22 FCV22 20.8

28 MSA-28-22 FCV28 26.4 1/2 RCC-304RL-MS22F VF-04 14.0 3/4 RCC-306RL-MS22F VF-06 19.0Nippon flex

1 RCC-308RL-MS22F VF-08 24.4 16 MAA-16-22 FCV16 15.8 22 MAA-22-22 FCV22 20.8 28 MAA-28-22 FCV28 26.4

1/2 RCC-104RL-MS24F VF-04 14.0 3/4 RCC-106RL-MS24F VF-06 19.0

1 RCC-108RL-MS24F VF-08 24.4 16 MSA-16-24 FCV16 15.8 22 MSA-22-24 FCV22 20.8 28 MSA-28-24 FCV28 26.4

1/2 RCC-304RL-MS24F VF-04 14.0 3/4 RCC-306RL-MS24F VF-06 19.0Nippon flex

1 RCC-308RL-MS24F VF-08 24.4 16 MAA-16-24 FCV16 15.8 22 MAA-22-24 FCV22 20.8

28 MAA-28-24 FCV28 26.4

3/4 RCC-106RL-MS32F VF-06 19.0

1 RCC-108RL-MS32F VF-08 24.4

3/4 RCC-306RL-MS32F VF-06 19.0

1 RCC-308RL-MS32F VF-08 24.4

3 - 9

3. CONNECTORS USED FOR SERVO MOTOR WIRING

2) For connection of encoder

2) Connector for

1) Plug Conduit

conduit

Conduit

2) Connector for conduit

HC-SF81(B) to 301(B) HC-SF52(B) to 702(B) HC-SF53(B) to 353(B) HC-RF103(B) to 503(B) HC-UF72(B) to 502(B) HC-SFS81(B) to 301(B) HC-SFS52(B) to 702(B) HC-SFS53(B) to 353(B) HC-SFS5024(B) to 7024(B) HC-RFS103(B) to 503(B) HC-UFS72(B) to 502(B) HA-LH11K2 to 22K2 HA-LF30K24 to 55K24 HA-LF30K2 HA-LFS601 to 37K1 HA-LFS701M to 37K1M HA-LFS502 to 37K2 HA-LFS6014 to 37K14 HA-LFS701M4 to 50K1M4 HA-LFS11K24 to 55K24 HC-LFS52(B) to 302(B)

37K2

Connector

Supplied for

Servo Motor

MS3102A20-

29P

1) Plug

(DDK)

D/MS3106A20-

29S(D190)

Cable Side Connector

2) Connector for conduit ConduitServo Motor

Type Manufacturer Size Model Model ID

1/2 RCC-104RL-MS20F VF-04 14.0

Nippon flex

3/4 RCC-106RL-MS20F VF-06 19.0

Straight

16 MSA-16-20 FCV16 15.8

Daiwa

Dengyo

22 MSA-22-20 FCV22 20.8

1/2 RCC-304RL-MS20F VF-04 14.0

Nippon flex

3/4 RCC-306RL-MS20F VF-06 19.0

Angle

16 MAA-16-20 FCV16 15.8

Daiwa

Dengyo

22 MAA-22-20 FCV22 20.8

3) For connection of brake

1) Plug Conduit

2) Connector for conduit

HC-SF121B to 301B HC-SF202B to 702B HC-SF203B HC-UF202B to 502B HC-SFS121B to 301B HC-SFS202B to 702B HC-SFS203B HC-SFS2024B to 7024B HC-UFS202B to 502B HC-LFS202B

353B

302B

Connector

Supplied for

Servo Motor

MS3102A

10SL-4P

1) Plug

(DDK)

D/MS3106A10SL-

4S(D190)

2) Connector for conduit

Type Manufacturer Size Model Model ID

Straight

Angle

Conduit

Cable Side Connector

2) Connector for conduit ConduitServo Motor

Nippon flex 1/4 RCC-102RL-MS10F VF-02 8.3

Daiwa

Dengyo

Nippon flex 1/4 RCC-302RL-MS10F VF-02 8.3

Daiwa

Dengyo

10 MSA-10-10 FCV10 10

10 MAA-10-10 FCV10 10

3 - 10

3. CONNECTORS USED FOR SERVO MOTOR WIRING

(2) Waterproof (IP65), EN Standard, UL/C-UL Standard-compliant

(a) When using cabtyre cables

1) For connection of power supply

1) Plug

2) Cable clamp

Cable 1) Plug

2) Cable clamp

Cable

Servo Motor

HC-SF81(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) to 152(B) HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) HC-RF353(B) to 503(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-SF702(B) HC-SFS702(B) HC-SFS7024(B) HA-LFS702

152(B)

353(B)

503(B)

302(B)

Connector

Supplied for

Servo Motor

CE05-2A22-

23PD-B

CE05-2A24-

10PD-B

CE05-2A32-

17PD-B

Cable Side Connector

1) Plug (DDK)

Type Model Cable OD Model

Straight CE05-6A22-23SD-D-BSS 9.5 to 13 CE3057-12A-2-D

Angle CE05-8A22-23SD-D-BAS 12.5 to 16 CE3057-12A-1-D

Straight CE05-6A24-10SD-D-BSS 13 to 15.5 CE3057-16A-2-D

Angle CE05-8A24-10SD-D-BAS 15 to 19.1 CE3057-16A-1-D

Straight CE05-6A32-17SD-D-BSS

22 to 23.8 CE3057-20A-1-D

Angle CE05-8A32-17SD-D-BAS

2) Cable clamp

(DDK)

3 - 11

3. CONNECTORS USED FOR SERVO MOTOR WIRING

2) For connection of encoder

3) Cable

1) Plug

clamp

Cable 2) Back shell

Cable

2) Back shell

Servo Motor

HC-SF81(B) to 301(B) HC-SF52(B) to 702(B) HC-SF53(B) to 353(B) HC-RF103(B) to 503(B) HC-UF72(B) to 502(B) HC-SFS81(B) to 301(B) HC-SFS52(B) to 702(B) HC-SFS53(B) to 353(B) HC-SFS524(B) to 7024(B) HC-RFS103(B) to 502(B) HC-UFS72(B) to 502(B) HA-LH11K2 to 22K2 HA-LF30K24 to 55K24 HA-LF30K2 HA-LFS601 to 37K1 HA-LFS701M to 37K1M HA-LFS502 to 37K2 HA-LFS6014 to 37K14 HA-LFS701M4 to 50K1M4 HA-LFS11K24 to 55K24 HC-LFS52(B) to 302(B)

37K2

Connector Supplied for Servo Motor

MS3102A20-29P

1) Plug

1) Plug (DDK)

D/MS3106A20-

29S(D190)

3) Cable clamp

Cable Side Connector

2) Back shell

Type Model Cable OD Model

Straight CE02-20BS-S-D

Angle CE-20BA-S-D

3) Cable clamp (DDK)

6.8 to 10 CE3057-12A-3-D

3) For connection of brake

1) Plug

2) Connector for cable

Servo Motor

HC-SF121B to 301B HC-SF202B to 702B HC-SF203B HC-UF202B to 502B HC-SFS121B to 301B HC-SFS202B to 702B HC-SFS203B HC-SFS2024B to 7024B HC-UFS202B to 502B HC-LFS202B HA-LFS601B to 801B HA-LFS701MB to 15K1MB HA-LFS11K2B to 22K2B HA-LFS6014B to 8014B HA-LFS701M4B to 15K1M4B HA-LFS11K24B to 22K24B

353B

302B

Cable

Connector Supplied

for Servo Motor

MS3102A10SL-4P

1) Plug

D/MS3106A10SL-

2) Connector for cable

1) Plug (DDK)

4S(D190)

Cable

Cable Side Connector

2) Connector for Cable

Type Manufacturer Cable OD Model

4 to 8 ACS-08RL-MS10F

Nippon flex

Straight

Daiwa

Dengyo

Nippon flex

Angle

Daiwa

Dengyo

8 to 12 ACS-12RL-MS10F

5 to 8.3 YSO-10-5 to 8

4 to 8 ACA-08RL-MS10F

8 to 12 ACA-12RL-MS10F

5 to 8.3 YLO-10-5 to 8

3 - 12

3. CONNECTORS USED FOR SERVO MOTOR WIRING

(b) When using flexible conduits

1) For connection of power supply

2) Connector fo

1) Plug Conduit

conduit

Conduit

2) Connector for conduit

Servo Motor

HC-SF121(B) to 301(B) HC-SF202(B) to 502(B) HC-SF203(B) HC-RF353(B) to 503(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-SF702(B) HC-SFS702(B) HC-SFS7024(B) HA-LFS702

152(B)

353(B)

503(B)

302(B)

Connector

Supplied for

Servo Motor

CE05-2A22-

23PD-B

CE05-2A24-

10PD-B

CE05-2A32-

17PD-B

1) Plug

(DDK)

CE05-6A22-

23SD-D

CE05-6A24-

10SD-D

CE05-6A32-

17SD-D

Cable Side Connector

2) Connector for conduit Conduit

Type Manufacturer Size Model Model ID

1/2 RCC-104RL-MS22F VF-04 14.0

Nippon flex

Straight

Daiwa

Dengyo

Nippon flex

Angle

Daiwa

Dengyo

Straight

Daiwa

Dengyo

Nippon flex

Angle

Daiwa

Dengyo

Straight Nippon flex

Angle Nippon flex

3/4 RCC-106RL-MS22F VF-06 19.0

1 RCC-108RL-MS22F VF-08 24.4 16 MSA-16-22 FCV16 15.8 22 MSA-22-22 FCV22 20.8 28 MSA-28-22 FCV28 26.4

1/2 RCC-304RL-MS22F VF-04 14.0 3/4 RCC-306RL-MS22F VF-06 19.0

1 RCC-308RL-MS22F VF-08 24.4 16 MAA-16-22 FCV16 15.8 22 MAA-22-22 FCV22 20.8 28 MAA-28-22 FCV28 26.4

1/2 RCC-104RL-MS24F VF-04 14.0 3/4 RCC-106RL-MS24F VF-06 19.0Nippon flex

1 RCC-108RL-MS24F VF-08 24.4 16 MSA-16-24 FCV16 15.8 22 MSA-22-24 FCV22 20.8 28 MSA-28-24 FCV28 26.4

1/2 RCC-304RL-MS24F VF-04 14.0 3/4 RCC-306RL-MS24F VF-06 19.0

1 RCC-308RL-MS24F VF-08 24.4 16 MAA-16-24 FCV16 15.8 22 MAA-22-24 FCV22 20.8

28 MAA-28-24 FCV28 26.4

3/4 RCC-106RL-MS32F VF-06 19.0

1 RCC-108RL-MS32F VF-08 24.4

3/4 RCC-306RL-MS32F VF-06 19.0

1 RCC-308RL-MS32F VF-08 24.4

3 - 13

3. CONNECTORS USED FOR SERVO MOTOR WIRING

2) For connection of encoder

2) Connector for

1) Plug Conduit

conduit

Conduit

2) Connector for conduit

37K2

3) For connection of brake

1) Plug Conduit

Connector

Supplied for

Servo Motor

MS3102A20-

29P

1) Plug

1) Plug (DDK)

D/MS3106A20-

29S(D190)

Cable Side Connector

2) Connector for conduit ConduitServo Motor

Type Manufacturer Size Model Model ID

1/2 RCC-104RL-MS20F VF-04 14.0

Nippon flex

3/4 RCC-106RL-MS20F VF-06 19.0

Straight

16 MSA-16-20 FCV16 15.8

22 MSA-22-20 FCV22 20.8

1/2 RCC-304RL-MS20F VF-04 14.0

3/4 RCC-306RL-MS20F VF-06 19.0

16 MAA-16-20 FCV16 15.8

22 MAA-22-20 FCV22 20.8

Nippon flex

Angle

2) Connector for conduit

Daiwa

Dengyo

Daiwa

Dengyo

Conduit

2) Connector for conduit

353B

302B

1) Plug

Connector

Supplied for

Servo Motor

MS3102A10SL-4PD/MS3106A10SL-

1) Plug (DDK)

4S(D190)

3 - 14

Cable Side Connector

2) Connector for conduit ConduitServo Motor

Type Manufacturer Size Model Model ID

Nippon flex 1/4 RCC-102RL-MS10F VF-02 8.3

Straight

Daiwa

Dengyo

Nippon flex 1/4 RCC-302RL-MS10F VF-02 8.3

Angle

Daiwa

Dengyo

10 MSA-10-10 FCV10 10

10 MAA-10-10 FCV10 10

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3.1.4 HC-AQ series

Servo Motor

HC-AQ (B) (Note) 5557-12R-210 5559-12P-210 5558

Note. Terminal: 5556

Servo Motor Side Connector

(Molex)

Cable Side Connector (Molex)

Plug Terminal

3.1.5 HC-KFS HC-MFS HC-UFS3000r/min series

Use the connectors indicated in this section or equivalent for connection of the power supply, electromagnetic brake and encoder. These connectors may be used for the EN Standard and UL/C-UL Standard but are not waterproof.

(1) For connection of power supply and brake

Servo Motor

HC-KFS HC-MFS HC-UFS13 to 73

Servo Motor

HC-KFS B HC-MFS HC-UFS13 to 73B

Connector Supplied for

Servo Motor (Molex)

5557-04R-210 5559-04P-210 5558PBT3L 57022-5300

Connector Supplied for

Servo Motor (Molex)

5557-06R-210 5559-06P-210 5558PBT3L 57022-5300

Plug (Molex) Terminal (Molex)

Cable Side Connector

Manual crimping tool

(2) For connection of encoder

Connector Supplied for

Servo Motor

HC-KFS (B) HC-MFS HC-UFS13 to 73(B)

(B)

Servo Motor

(Tyco Electronics)

1-172169-9 1-172161-9

Housing (Tyco Electronics)

Cable Side Connector

Connector pin

(Tyco Electronics)

170359-1

170363-1 (loose piece)

Cable clamp

(Toa Electric Industry)

MTI-0002

3 - 15

3. CONNECTORS USED FOR SERVO MOTOR WIRING

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

Use the connectors indicated in this section or equivalent for connection of the power supply, electromagnetic brake and encoder. These connectors are waterproof.

(1) For connection of power

Connector

Servo Motor

HC-UF (B)-S1

HC-UFS

Note. The numeral within the parentheses indicates the applicable cable diameter. It depends on the used cable diameter.

(B)-S1

Supplied for

Servo Motor

(Hirose Electric)

RM15WTP-4P RM15WTJA-4S (Note) RM15WTP-CP(8)

Plug (Hirose Electric) Cable clamp (Hirose Electric)

(2) For connection of encoder

Connector

Servo Motor

HC-UF (B)-S1

HC-UFS

Note. The numeral within the parentheses indicates the applicable cable diameter. It depends on the used cable diameter.

(B)-S1

Supplied for Servo Motor

(Hirose Electric)

RM15WTP-10P (Note) RM15WTJA-10S-(7)

Plug (With cable clamp) (Hirose Electric) Cable clamp (Hirose Electric)

Cable Side Connector

(3) For connection of brake

Connector

Servo Motor

HC-UF B-S1

HC-UFS

Note. The numeral within the parentheses indicates the applicable cable diameter. It depends on the used cable diameter.

B-S1

Supplied for Servo Motor

(Hirose Electric)

RM15WTP-4P RM15WTJA-4S (Note) RM15WTP-CP(6)

Plug (Hirose Electric) Cable clamp (Hirose Electric)

Cable Side Connector

3 - 16

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3.2 IP65, EN Standard-compliant options

The following options are available to satisfy the IP65 ingress protection and EN Standard. To comply with the EN Standard, the power supply connector used must be any of these options or equivalent.

Product Model Description Servo Motor

IP65-compliant encoder cable (For MR-J2 series

MR-J2-Super Series)

Encoder cable (For MR-H-

N series)

MR-ENCBL

MR-EN1CBL

Servo amplifier side connector

M-H HC-SF series

(3M or equivalent) Connector: 10120-3000PE Shell kit: 10320-52F0-008

Servo amplifier side connector

M-H HC-SF series

(Honda Tsushin Kogyo) Connector: PCR-S20FS Case: PCR-LS20LA1

Encoder side connector (DDK) Plug: D/MS3106A20-29S(D190) Cable clamp: CE3057-12A-3-D Back shell: CE02-20BS-S-D

HC-RF series HC-UF2000r/min series HA-LF-UE series HA-FF-UE series HC-SFS series HC-RFS series HC-UFS2000r/min series HA-LFS series HC-LFS series

HC-RF series HC-UF2000r/min series HA-LF-UE series

Encoder connector set (For MR-J2 series

MR-J2-Super Series)

Encoder connector set (For MR-H-

EN Standard-compliant power connector set

N series)

MR-ENCNS

MR-EN1CNS

MR-PWCNF Plug: CE05-6A14S-2SD-D (DDK)

Servo amplifier side connector (3M or equivalent) Connector: 10120-3000PE Shell kit: 10320-52F0-008

Servo amplifier side connector (Honda Tsushin Kogyo) Connector: PCR-S20FS Case: PCR-LS20LA1

Cable connector: YSO14-9 to 11 (Daiwa De ngyo)

Encoder side connector (DDK) Plug: D/MS3106A20-29S(D190) Cable clamp: CE3057-12A-3-D Back shell: CE02-20BS-S-D

HC-SF series HC-RF series HC-UF2000r/min series HC-SFS series HC-RFS series HC-UFS2000r/min series HA-LFS series HC-LFS series HC-SF series HC-RF series HC-UF2000r/min series HA-LF series

HA-FF C-UE series

3 - 17

3. CONNECTORS USED FOR SERVO MOTOR WIRING

Product Model Description Servo Motor

IP65/EN Standard-compliant power connector set

Power connector set MR-PWCNS3 Plug:CE05-6A32-17SD-D-BSS

IP65/EN Standard-compliant brake connector set

Note. If it is used with the HA-FF C-UE, the servo motor does not improve in ingress protection (IP54).

MR-PWCNS1

MR-PWCNS2

MR-BKCN (Note)

Plug: CE05-6A22-23SD-D-BSS Cable clamp: CE3057-12A-2-D (DDK)

Plug: CE05-6A24-10SD-D-BSS Cable clamp: CE3057-16A-2-D (DDK)

Cable clamp: CE3057-20A-1-D (DDK)

Plug: D/MS3106A10SL-4S(D190) (DDK) Cable connector: YSO10-5 to 8 (Daiwa Dengyo)

HC-SF81(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) to 152(B) HC-SF121(B) to 301(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-SF702(B) HC-SFS702(B) HC-SFS7024(B) HA-LFS702 HA-FF HC-SF121B to 301B HC-SF202B to 702B HC-SF203B HC-UF202B HC-SFS121B to 301B HC-SFS202B to 702B HC-SFS203B HC-SFS2024B to 7024B HC-RFS353B HC-UFS202B to 502B HC-LFS202B

152(B)

353(B) 503(B)

353(B)

503(B)

302(B)

CB-UE

353B

502B

353B

503B

302B

3 - 18

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3.3 Signal arrangement of encoder connectors

The encoder connector of each servo motor has the following signal arrangement. The connectors shown are as seen from the pin side.

Servo Motor Series Signal Arrangement

HC-KF(-UE) series HC-MF(-UE) series HA-FF series HC-UF3000r/min series HC-KFS series HC-MFS series HC-UFS3000r/min series

Encoder connectors 1-172169-9 (AMP)

123

456

MD MDR

789

MRR

LG SHD

BAT

HA-FF C-UE series HC-SF series HC-RF series HC-UF2000r/min series HA-LH series HA-LF series HC-SFS series HC-RFS series HC-UFS2000r/min series HA-LFS series HC-LFS series HC-AQ series

Encoder connectors

Signal

A B

MDR

C MR

MRR

F BAT GLG H J

Motor connecto

12 6

MRR MR

11 5

LG P5

10 4

SHD

B1 B2

Pin Signal

K L M N

SHD P R LG S

3 - 19

3. CONNECTORS USED FOR SERVO MOTOR WIRING

MEMO

3 - 20

4. INSPECTION

Before starting maintenance and/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

WARNING

(1) Inspection

It is recommended to make the following checks periodically.

(a) Check the servo motor bearings, brake section, etc. for unusual noise.

shock may occur. In addition, always confirm from the front of the servo amplifier whether the charge lamp is off or not.

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

Otherwise, you may get an electric shock. For repair and parts replacement, contact your safes representative.

POINT

Do not disassemble and/or repair the equipment on customer side.

(b) Check the cables and the like for scratches and cracks. Especially when the junction cable is

movable, perform periodic inspection according to operating conditions.

(d) Check the power supply connector and encoder connector tightening screws for looseness.

(2) Life

The following parts must be changed periodically as listed below. If any part is found faulty, it must be changed immediately even when it has not yet reached the end of its life, which depends on the operating method and environmental conditions. For parts replacement, please contact your sales representative.

Part Name Guideline of Life Remarks

Bearings 20,000 to 30,000 hours Encoder 20,000 to 30,000 hours Oil seal 5,000 hours Cooling fan 20,000 hours

The Guideline of Life field gives the reference time. If any fault is found before this time is reached, the part must be changed.

(a) Bearings

When the servo motor is run at rated speed under rated load, change the bearings in 20,000 to 30,000 hours as a guideline. This differs on the operating conditions. The bearings must also be changed if unusual noise or vibration is found during inspection.

(b) Oil seal

Must be changed in 5,000 hours of operation at rated speed as a guideline. These parts must also be changed if oil leakage, etc. is found during inspection.

4 - 1

4. INSPECTION

MEMO

4 - 2

5. SPECIFICATIONS

5.1 Standard specifications

Servo Motor

Item

Applicable servo amplifier

Continuous running duty

(Note 1

Rated speed (Note 1) [r/min] 3000 3000 Maximum speed [r/min] 4500 4000 Instantaneous permissible speed [r/min] 5175 4600

Maximum torque

Power rate at continuous rated torque

Inertia moment

(Note 3)

Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2)

Regenerative brake duty [times/min]

(Note 4

Power supply capacity

Rated current [A] 0.85 0.85 1.5 2.8 5.1 0.6 1.1 1.3 1.9 2.5 3.6 Maximum current [A] 2.6 2.6 5 9 18 1.8 3.3 3.9 5.7 7.5 10.8

Speed/position detector

Accessories V ring Insulation class Class B Class B

Structure

Environmental conditions (Note 7) Refer to section 2.1 Refer to section 2.1

Mass (Note 3)

11)

15)

MR-H AN/BN/ACN/TN 20 20 40 60 100 10 10 20 40 40 60 MR-J2Rated output [kW] 0.05 0.1 0.2 0.4 0.75 0.05 0.1 0.2 0.3 0.4 0.6 Rated torque

J[104kg m2] 0.019 0.03 0.088 0.143 0.6 0.063 0.095 0.35 0.50 0.98 1.2 WK

Servo amplifier's built-in regenerative resistor

MR-H

MR-RB013(10W) (Note 5) (Note 5) 2071 1363 370

series

MR-RB033(30W) (Note 5) (Note 5) (Note 5) 4088 1109 MR-RB32(300W) Servo amplifier' built-in regenerative resistor

MR-J2 series

MR-RB032(30W) (Note 5) (Note 5) (Note 5) 3000 600 (Note 5) (Note 5) (Note 5) 950 450 360 MR-RB12(100W) (Note 5) (Note 5) 2400 (Note 5) 3200 1500 1200

A/B/C 10102040701010204040 60

[N m] 0.16 0.32 0.64 1.3 2.4 0.16 0.32 0.64 0.95 1.3 1.9

[oz

[N m] 0.48 0.95 1.9 3.8 7.2 0.48 0.95 1.9 2.9 3.8 5.7

[oz

[kW/s]

[oz in2] 0.104 0.16 0.48 0.78 3.28 0.344 0.52 1.91 2.73 5.36 6.56

[kg] 0.4 0.53 0.99 1.45 3.0 1.3 1.5 2.3 2.6 4.2 4.8

(ultra low inertia, small capacity)

053 13 23 43 73 053 13 23 33 43 63

in] 22.7 45.3 90.7 184 340 22.7 45.3 90.7 135 184 269

in] 68.0 135 269 538 1020 68.0 135 269 411 538 808

13.47 34.13 46 .02 116.55 94. 43 4.0 10.2 11.7 18. 1 17.2 30. 1

(Note 5) (Note 5) (Note 5) 4275 1726 (Note 5) (Note 5) (Note 5) 1500 750 600

(Note 5) (Note 5) (Note 5) 1010 400 (Note 5) (Note 5) (Note 5) 320 150 120

Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual.

position and incremental detection

systems (Resolution per servo motor

(protection type: IP44 (Note 6

[lb] 0.88 1.17 2.18 3.20 6.61 2.87 3.31 5.07 5.73 9.26 10.6

HC-MF Series

30 times or less 10 times or less

(Note 5) (Note 5) (Note 5) (Note 5) 3983 3046

Encoder common to absolute

1 rotation : 8192 pulse/rev)

Totally-enclosed, self-cooled

12))

Encoder common to absolute position and incremental detection systems (Resolution per servo motor 1 rotation: 8192 pulse/rev)

(protection type: IP44 (Note 8 9 12))

HA-FF Series

(low inertia, small capacity)

Totally-enclosed, self-cooled

5 - 1

5. SPECIFICATIONS

Servo Motor

Item

Applicable servo amplifier

Continuous running duty

(Note 1

Rated speed (Note 1) [r/min] 1000 2000 Maximum speed [r/min] 1500 1200 3000 2500 2000 Instantaneous permissible speed [r/min] 1725 1380 3450 2875 2300

Maximum torque

Power rate at continuous rated torque

(Note 3)

Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2)

Regenerative brake duty [times/min]

(Note 4)

Power supply capacity Refer to "Power supply equipment capacity and generated loss of servo amplifiers"

Rated current [A] 5.1 7.1 9.6 16 3.2 6 9 11 17 26 35 Maximum current [A] 15.3 21.3 28.8 48 9.6 18 27 33 51 84 105

Speed/position detector

Accessories Oil seal Oil seal Insulation class Class F Class F

Structure

Environmental conditions (Note 7) Refer to section 2.1 Refer to section 2.1

Mass (Note 3)

11)

MR-H AN/BN/ACN/TN 100 200 200 350 60 100 200 200 350 500 700 MR-J2Rated output [kW] 0.85 1.2 2.0 3.0 0.5 1.0 1.5 2.0 3.5 5.0 7.0 Rated torque

J[104kg m2] 20.0 42.5 82 101 6.6 13.7 20.0 42.5 82.0 101 160Inertia moment WK

Servo amplifier's built-in regenerative resistor MR-RB31(300W) 57 MR-RB32(300W) 1649 1241 638

MR-H

MR-RB30(300W) 326 100 90

series

MR-RB34(300W) 774 401 412 193 MR-RB50(500W) 543 167 150 MR-RB51(500W) 95 MR-RB54(500W) 1290 669 687 322 Servo amplifier' built-in regenerative resistor MR-RB032(30W) 220 165 80

MR-J2

MR-RB12(100W) 740 560 270

series

MR-RB32(300W) 2220 810 MR-RB30(300W) 730 330 250 408 192 95 MR-RB50(500W) 1216 550 430 680 320 158

[kg] 9.0 12 19 23 5.0 7.0 9.0 12.0 19.0 23 32 [lb] 19.8 26.5 41.9 50.7 11.0 15.4 19.8 26.5 41.9 50.7 70.5

A/B/C 100 200 200 350 60 100 200 200 350

[N m] 8.12 11.5 19.1 28.6 2.39 4.78 7.16 9.55 16.7 23.9 33.4

in] 1151 1630 2707 4053 339 677 1015 1353 2367 3387 4733

[oz

[N m] 24.4 34.4 57.3 85.9 7.16 14.4 21.6 28.5 50.1 71.6 100.0

[oz

in] 3458 4875 8120 12173 1015 2041 3061 4039 7100 10146 14171

[kW/s]

[oz in2] 109 232 448 552 36.1 74.9 109 232 448 552 875

HC-SF 1000r/min Series

(middle inertia, middle capacity)

81 121 201 301 52 102 152 202 352 502 702

32.9 30.9 44.5 81.3 8.7 16.7 25.6 21.5 34.1 56.5 69.7

15 times or less 15 times or less

440 335 174 141 207 170 179 84 43 39 32

140 240 100 84 56 54 136 64 31

in Servo Amplifier Instruction Manual.

Encoder common to absolute

position and incremental

detection systems (Resolution per

servo motor 1 rotation: 16384

pulse/rev)

Totally-enclosed, self-cooled

(protection type: IP65)

Encoder common to absolute position and

incremental detection systems (Resolution per

HC-SF 2000r/min Series

(middle inertia, middle capacity)

servo motor 1 rotation: 16384 pulse/rev)

Totally-enclosed, self-cooled

(protection type: IP65(Note 12))

5 - 2

5. SPECIFICATIONS

Servo Motor

Item

Applicable servo amplifier

Continuous running duty

(Note 1

Rated speed (Note 1) [r/min] 3000 3000 Maximum speed [r/min] 3000 4500 Instantaneous permissible speed [r/min] 3450 5175

Maximum torque

Power rate at continuous rated torque

Inertia moment

(Note 3)

Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2)

Regenerative brake duty [times/min]

(Note 4)

Power supply capacity

Rated current [A] 3.2 5.3 8.6 10.4 16.4 6.1 8.8 14 23 28 Maximum current [A] 9.6 15.9 25.8 31.2 49.2 18.4 23.4 37 58 70

Speed/position detector

Accessories Oil seal Oil seal Insulation class Class F Class F

Structure

Environmental conditions (Note 7) Refer to section 2.1 Refer to section 2.1

Mass (Note 3)

11)

MR-H AN/BN/ACN/TN 60 100 200 200 350 200 200 350 500 500 MR-J2Rated output [kW] 0.5 1.0 1.5 2.0 3.5 1.0 1.5 2.0 3.5 5.0 Rated torque

J[104kg m2] 6.6 13.7 20.0 42.5 82.0 1.5 1.9 2.3 8.6 12.0 WK

Servo amplifier's built-in regenerative resistor MR-RB32(300W) 552 267

MR-H

MR-RB30(300W) 45 1589 401 288

series

MR-RB34(300W) 183 86 2437 1924 MR-RB50(500W) 74 2648 669 479 MR-RB54(500W) 305 143 4061 3206 Servo amplifier' built-in regenerative resistor MR-RB032(30W) 73 36

MR-J2

MR-RB12(100W) 250 120

series

MR-RB32(300W) 360 MR-RB30(300W) 250 70 42 3270 2580 2130 MR-RB50(500W) 410 110 70 5450 4300 3550

A/B/C 60 100 200 200 350 200 200 350

[N m] 1.59 3.18 4.78 6.37 11.1 3.18 4.78 6.37 11.1 15.9

[oz

[N m] 4.77 9.55 14.3 19.1 33.4 7.95 11.9 15.9 27.9 39.7

[oz

[kW/s]

[oz in2] 36.1 74.9 109.3 232.4 448.3 8.2 10.4 12.6 47.0 65.6

53 103 153

in] 225 451 677 903 1573 451 677 903 1573 2253

in] 676 1353 2026 2707 4733 1127 1686 2253 3954 5626

3.8 7.4 11.4 9.5 15.1 67.4 120 176 150 211

92 71 79 37 19 1056 834 689 174 125

Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual.

Encoder common to absolute position and

incremental detection systems (Resolution

per servo motor 1 rotation: 16384 pulse/rev)

[kg] 5.0 7.0 9.0 12 19 3.9 5.0 6.2 12.0 17.0

[lb] 11.0 15.4 19.8 26.5 41.9 8.6 11.0 13.7 26.5 37.5

HC-SF 3000r/min Series

(middle inertia, middle capacity)

203

(Note 13)

15 times or less 5 times or less

25 24 82 24 14 1090 860 710

Totally-enclosed, self-cooled

(protection type: IP65)

353

(Note 13)

(ultra low inertia, middle capacity)

103 153 203 353 503

Encoder common to absolute position

and incremental detection systems

(protection type: IP65(Note 12))

HC-RF Series

(Resolution per servo motor 1

rotation: 16384 pulse/rev)

Totally-enclosed, self-cooled

5 - 3

5. SPECIFICATIONS

HA-LH Series

(low inertia

capacity)

large

Item

Applicable servo amplifier

Continuous running duty

(Note 1

11)

Servo Motor

HC-UF 2000r/min Series

(flat type

middle capacity)

72 152 202 352 502 13 23 43 73

HC-UF 3000r/min Series

(flat type small capacity)

(Note 13) 11K2 15K2 22K2

MR-H AN/ BN/ACN/TN 100 200 350 500 500 10 40 60 100 11K 15K 22K MR-J2

A/B/C 70 200 350 10 20 40 70 Rated output [kW] 0.75 1.5 2.0 3.5 5.0 0.1 0.2 0.4 0.75 11 15 22 Rated torque

[N m] 3.58 7.16 9.55 16.7 23.9 0.32 0.64 1.3 2.4 52.5 71.6 105

in] 507 1015 1353 2367 3387 45 91 184 340 7435 10139 14869

[oz Rated speed (Note 1) [r/min] 2000 3000 2000 Maximum speed [r/min] 3000 2500 4500 2000 Instantaneous permissible speed [r/min] 3450 2875 5175 2300

Maximum torque

Power rate at continuous rated torque

Inertia moment

(Note 3)

J[104kg m2] 10.4 22.1 38.2 76.5 115 0.066 0.241 0.365 5.90 118 290 395

WK Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2)

Servo amplifier's built-in regenerative resistor

[N m] 10.7 21.6 28.5 50.1 71.6 0.95 1.9 3.8 7.2 158 215 263

in] 1516 3061 4039 7100 10146 135 269 538 1020 22375 30447 37244

[oz

[kW/s]

12.3 23.2 23.9 36.5 49.6 15.5 19.2 47.7 9.76 235 177 278

[oz in2] 56.9 120.8 208.9 418.3 628.8 0.4 1.3 2.0 32.3 642.4 1585.6 2159.6

15 times or less 10 times or less

211 161 93 44 31 (Note5) 2530 1669 165

(Note10)70(Note10)55(Note10)

MR-RB013(10W) 2241 MR-RB033(30W) (Note5) MR-RB32(300W) 791 (Note5) (Note5) 619 MR-RB30(300W) 215 102 72 MR-RB34(300W) 372

MR-H Series

MR-RB50(500W) 358 169 119

Regenerative brake duty [times/min]

(Note 4

15)

MR-RB54(500W) 620

MR-RB65(800W)

MR-RB66(1300W)

MR-RB67(1300W)

Servo amplifier' built-in regenerative resistor MR-RB032(30W) 79 (Note5) (Note5) 1230 62

MR-J2

MR-RB12(100W) 264 (Note5) 4100 206

Series

MR-RB30(300W) 372 203

53 124 68 (Note5) (Note5) 410 41

130

(Note14)

100

(Note14)

MR-RB32(300W) 791 618 MR-RB50(500W)

Power supply capacity

620 338

Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual.

Rated current [A] 5.4 9.7 14 23 28 0.76 1.5 2.8 4.3 68 87 126 Maximum current [A] 16.2 29.1 42 69 84 2.5 4.95 9.24 12.9 204 261 315

Encoder common to absolute

position and incremental

detection systems (Resolution

per servo motor 1 rotation:

8192 pulse/rev)

Incremental encoder

(Resolution per servo

motor 1 rotation: 16384 pulse/rev)

One-phase 200 to

220VAC 50Hz, One-

phase 200 to

230VAC 60Hz

42 (50Hz) 54 (60Hz)

0.21 (50Hz)

0.25 (60Hz)

Speed/position detector

Voltage, frequency

Power consumption [W]

Cooling fan

Power supply

Rated current [A]

Encoder common to absolute

position and incremental

detection systems (Resolution

per servo motor 1 rotation:

16384 pulse/rev)

Accessories Oil seal Oil seal Oil seal Insulation class Class F Class B Class F

Structure

Totally-enclosed, self-cooled

(protection type: IP65)

Totally-enclosed, self-cooled

(protection type: IP65(Note9))

Totally-enclosed,

force-cooling

(protection type: JP44)

Environmental conditions (Note 7) Refer to section 2.1 Refer to section 2.1 Refer to section 2.1

Mass (Note 3)

[kg] 8.0 11.0 16.0 20.0 24.0 0.8 1.5 1.7 5.0 70 108 135

17.6 24.3 35.3 44.1 52.9 1.8 3.3 3.7 11.0 154.3 238.1 297.6

[lb]

5 - 4

5. SPECIFICATIONS

Servo Motor

Item

MR-H AN/ BN/ACN/TN

Applicable servo amplifier

MR-J2-

Continuous running duty

(Note 1

Rated speed (Note 1) [r/min] 3000 Maximum speed [r/min] 4500 Instantaneous permissible speed [r/min] 5175

Maximum torque

Power rate at continuous rated torque

moment

(Note 3)

Recommended ratio of load inertia moment to servo motor shaft inertia moment

(Note 2)

Regenerative brake duty [times/min]

(Note 4

Power supply capacity

Rated current [A] 0.83 0.71 1.1 2.3 Maximum current [A] 2.5 2.2 3.4 6.9

Speed/position detector

Accessory Insulation class Class B Structure Totally-enclosed, self-cooled (protection type: IP44 (Note 6)) Environmental conditions (Note 7) Refer to section 2.1

Mass

11)

15)

Rated output Rated torque

J[104kg m2] 0.053 0.084 0.260 0.460Inertia

MR-H series

MR-J2 series

Servo amplifier's built-in regenerative resistor MR-RB013(10W) 3580 2210 350 MR-RB033(30W) (Note 5) (Note 5) 1050 MR-RB32(300W) (Note 5) Servo amplifier's built-in regenerative resistor MR-RB032(30W) (Note 5) (Note 5) (Note 5) 660 MR-RB12(100W) (Note 5) 2200

[kg] 0.40 0.53 0.99 1.45 [lb] 0.882 1.168 2.18 3.20

[kW] 0.05 0.1 0.2 0.4

[N m] 0.16 0.32 0.64 1.3

[oz

in] 22.7 45.3 90.7 184

[N m] 0.48 0.95 1.9 3.8

[oz

in] 68.0 135 269 538

[kW/s]

[oz in2] 0.29 0.459 1.422 2.515

053 13 23 43

10 10 20 40

10A-A16 10B-A16 10C-A16

4.78 12.1 15.8 36.7

15 times or less 24 times or less 22 times or less

(Note 5) (Note 5) (Note 5) 900

(Note 5) (Note 5) (Note 5) 220

Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual.

Encoder common to absolute position and incremental detection systems

HC-KF Series (low inertia small capacity)

10A-A15 10B-A15 10C-A15

(Resolution per servo motor 1 rotation: 8192 pulses/rev)

20A-A15 20B-A15 20C-A15

40A-A15 40B-A15 40C-A15

5 - 5

5. SPECIFICATIONS

Servo Motor

Item

Applicable servo amplifier

Continuous running duty

(Note 1

Rated speed (Note 1) [r/min] 3000 Maximum speed [r/min] 5000 4500 Instantaneous permissible speed [r/min] 5750 5175

Maximum torque

Power rate at continuous rated torque

Inertia moment

(Note 3)

Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2)

Power supply capacity

Rated current [A] 2.4 2.4 2.3 Maximum current [A] 7.7 7.7 7.4 Speed/position detector Incremental encoder (Resolution per servo motor 1 rotation: 8192 pulses/rev) Accessory Insulation class Class B Structure Totally-enclosed, self-cooled (protection type: IP55 (Note 6)) Environmental conditions (Note 7) Refer to section 2.1

Mass (Note 3)

Rated output [kW] 0.01 0.02 0.03

[N m] 0.0318 0.0637 0.0955

[oz

in] 4.503 9.021 13.524

[N m] 0.0955 0.191 0.287

[oz

in] 13.524 27.048 40.643

[kW/s]

[oz in2] 0.027 0.039 0.051

Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual.

[kg] 0.19 0.22 0.25

[lb] 0.419 0.485 0.551

11)

Rated torque

J[104kg m2] 0.0050 0.0072 0.0094

HC-AQ Series (24VDC-compatible compact size small capacity)

0135 0235 0335

MR-J2-03A5 MR-J2-03B5 MR-J2-03C5

2.0 5.6 9.7

30 times or less

5 - 6

5. SPECIFICATIONS

HA-LF Series (three-phase, 200VAC-compatible, low inertia large capacity)Servo Motor

Item

Applicable servo amplifier Compatible converter unit MR-HP30KA

Continuous running duty

(Note 1

Rated speed (Note 1) [r/min] 2000 Maximum speed [r/min] 2000 Instantaneous permissible speed [r/min] 2300

Maximum torque

Power rate at continuous rated torque

Inertia moment

Recommended ratio of load inertia moment to servo motor shaft inertia moment

Regenerative brake duty [times/min]

(Note 4)

Power supply capacity

Rated current [A] 166 204 Maximum current [A] 415 510

Speed/position detector

Cooling fan

Thermal protector

Accessories Oil seal Insulation class Class F Structure Totally-enclosed force-cooled (protection type: IP44) Environmental conditions (Note 7) Refer to section 2.1

Mass (Note 3)

11)

Power supply

Rated current [A] 0.32(50Hz)/0.35(60Hz)

MR-H

AN/BN 30K 37K

Rated output

Rated torque

J[104kg m2] 550 650

MR-RB139 (1300W) 58 49

MR-RB137 (3900W) (3 units are required.)

Voltage frequency Three-phase 200 to 220VAC 50Hz, Three-phase 200 to 230VAC 60Hz Power consumption

Maximum rated 125VAC/DC, 3A or 250VAC/DC, 2A Minimum rated 6VAC/DC, 0.15A

[kW] 30 37

[N m] 143 177

[oz

in] 20250.6 25065.4

[N m] 358 442

in2] 50697.2 62592.6

[oz

[kW/s]

[oz in2] 3007.1 3553.8

Refer to “Power supply equipment capacity and generated loss of servo amplifiers” in Servo Amplifier Instruction Manual.

Encoder common to absolute position and incremental detection systems

[W] 45(50Hz)/63(60Hz)

[kg] 160 180

[lb] 352.7 396.8

30K2 37K2

373 480

10 times or less

174 147

(Resolution per servo motor 1 rotation: 16384 pulse/rev)

5 - 7

5. SPECIFICATIONS

Servo Motor

Item

Applicable servo amplifier Compatible converter unit MR-HP55KA4

Continuous running duty

(Note 1

Rated speed (Note 1) [r/min] 2000 Maximum speed [r/min] 2000 Instantaneous permissible speed [r/min] 2300

Maximum torque

Power rate at continuous rated torque

Inertia moment

(Note 3)

Recommended ratio of load inertia moment to servo motor shaft inertia moment

(Note 2)

Regenerative brake duty [times/min]

(Note 4)

Power supply capacity

Rated current [A] 83 102 131 143 Maximum current [A] 208 255 328 358

Speed/position detector

Cooling fan

Thermal protector

Accessories Oil seal Insulation class Class F Structure Totally-enclosed, force-cooled (protection type: IP44) Environmental conditions (Note 7) Refer to section 2.1

Mass (Note 3)

11)

Power supply

Rated current [A] 0.12(50Hz)/0.14(60Hz) 0.20(50Hz)/0.22(60Hz)

MR-H

AN4/BN4 30K 37K 45K 55K

Rated output

Rated torque

J[104kg m2] 550 650 1080 1310

MR-RB136-4 (1300W) 58 49 30 24

MR-RB138-4 (3900W) (3 units are required.)

Voltage frequency Three-phase 380 to 460VAC 50/60Hz Power consumption

Maximum rated 125VAC/DC, 3A or 250VAC/DC, 2A Minimum rated 6VAC/DC, 0.15A

[kW] 30 37 45 55

[N m] 143 177 215 263

[oz

in] 20250.6 25065.4 30446.6 37244.0

[N m] 358 442 537 657

[oz

in] 50697.2 62592.6 76045.8 930392

[kW/s]

[oz in2] 3007.095 3553.84 5904.84 7162.354

[W] 65(50Hz)/85(60Hz) 110(50Hz)/150(60Hz)

[kg] 160 180 230 250

[lb] 352.739 396.832 507.063 551.155

HA-LF Series (three-phase, 400VAC-compatible, low Inertia, large capacity)

30K24 37K24 45K24 55K24

373 480 427 526

10 times or less

174 147 89 73

Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual.

Encoder common to absolute position and incremental detection systems

(Resolution per servo motor 1 rotation: 16384 pulses/rev)

5 - 8

5. SPECIFICATIONS

Servo Motor

Item

Applicable servo amplifier/drive unit

Continuous running duty

(Note 1

Rated speed (Note 1) [r/min] 3000 3000 Maximum speed [r/min] 4500 4500 Instantaneous permissible speed [r/min] 5175 5175

Maximum torque

Power rate at continuous rated torque

Inertia moment

(Note 3)

Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2)

Regenerative brake duty [times/min]

(Note 4

Power supply capacity

Rated current [A] 0.85 0.85 1.5 2.8 5.1 0.83 0.71 1.1 2.3 5.8 Maximum current [A] 2.6 2.6 5 9 18 2.5 2.2 3.4 6.9 18.6

Speed/position detector

Accessories Insulation class Class B Class B

Structure

Environmental conditions (Note 7) Refer to section 2.1 Refer to section 2.1

Mass (Note 3)

11)

MR-J2S series

15)

MR-J2S- A/B/CP/ CL MR-J2MRated output [kW] 0.05 0.1 0.2 0.4 0.75 0.05 0.1 0.2 0.4 0.75

Rated torque

J[104kg m2] 0.019 0.03 0.088 0.143 0.6 0.053 0.084 0.260 0.460 1.51

Servo amplifier's built-in regenerative resistor MR-RB032(30W) (Note 5) (Note 5) (Note 5) 3000 600 (Note 5) (Note 5) (Note 5) 660 280 MR-RB12(100W) (Note 5) (Note5) 2400 (Note 5) 2200 940 MR-RB32(300W)

DU 10 10 20 40 70 10 10 20 40 70

[N m] 0.16 0.32 0.64 1.3 2.4 0.16 0.32 0.64 1.3 2.4

in] 22.7 45.3 90.7 184 340 22.7 45.3 90.7 184 340

[oz

[N m] 0.48 0.95 1.9 3.8 7.2 0.48 0.95 1.9 3.8 7.2

[oz

in] 68.0 135 269 538 1020 68.0 135 269 538 1020

[kW/s]

[oz in2] 0.104 0.16 0.48 0.78 3.28 0.29 0.459 1.422 2.515 8.26

[kg] 0.4 0.53 0.99 1.45 3.0 0.40 0.53 0.99 1.45 3.0

[lb] 0.88 1.17 2.18 3.20 6.61 0.882 1.168 2.18 3.20 6.61

(ultra low inertia

053 13 23 43 73 053 13 23 43 73

10 10 20 40 70 10 10 20 40 70

13.47 34.13 46.02 116.55 94 .43 4.78 12.1 15.8 36 .7 37. 7

(Note 5) (Note 5) (Note 5) 1010 400 (Note 5) (Note 5) (Note 5) 220 190

Refer to "Power supply equipment capacity and generated loss of servo amplifiers" in Servo Amplifier Instruction Manual.

Encoder common to absolute position

and incremental detection systems

(Resolution per servo motor 1 rotation :

(protection type: IP55 (Note 6,12))

HC-MFS Series

small capacity)

30 times or less

131072 pulse/rev)

Totally-enclosed, self-cooled

15 times or

(Note5) 2800

Encoder common to absolute position

and incremental detection systems

(Resolution per servo motor 1 rotation :

(protection type: IP55 (Note 6,12))

HC-KFS Series

(low inertia small capacity)

less

Totally-enclosed, self-cooled

times

or less

131072 pulse/rev)

times

or less

times

or less

5 - 9

5. SPECIFICATIONS

Servo Motor

Item

Applicable servo amplifier/drive unit

Continuous running duty

(Note 1

Rated speed (Note 1) [r/min] 1000 2000 Maximum speed [r/min] 1500 1200 3000 2500 2000 Instantaneous permissible speed [r/min] 1725 1380 3450 2875 2300

Maximum torque

Power rate at continuous rated torque

(Note 3)

Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2)

Regenerative brake duty [times/min]

(Note 4

Power supply capacity Refer to "Power supply equipment capacity and generated loss of servo amplifiers"

Rated current [A] 5.1 7.1 9.6 16 3.2 6 9 11 17 26 35 Maximum current [A] 15.3 21.3 28.8 48 9.6 18 27 33 51 84 105

Speed/position detector

Accessories Oil seal Oil seal Insulation class Class F Class F

Structure

Environmental conditions (Note 7) Refer to section 2.1 Refer to section 2.1

Mass (Note 3)

11)

15)

MR-J2S- A/B/CP/

Rated output [kW] 0.85 1.2 2.0 3.0 0.5 1.0 1.5 2.0 3.5 5.0 7.0

[N m] 8.12 11.5 19.1 28.6 2.39 4.78 7.16 9.55 16.7 23.9 33.4

[oz

[N m] 24.4 34.4 57.3 85.9 7.16 14.4 21.6 28.5 50.1 71.6 100.0

[oz

[kW/s]

[oz in2] 109 232 448 552 36.1 74.9 109 232 448 552 875

[kg] 9.0 12 19 23 5.0 7.0 9.0 12.0 19.0 23 32

MR-J2S series

Rated

torque

J[104kg m2] 20.0 42.5 82 101 6.6 13.7 20.0 42.5 82.0 101 160Inertia moment

Servo amplifier's built-in regenerative resistor MR-RB032(30W) 220 165 80 MR-RB12(100W) 740 560 270 MR-RB32(300W) 2220 810 MR-RB30(300W) 730 330 250 408 192 95 90 MR-RB50(500W) 1216 550 430 680 320 158 150 MR-RB31(300W) 57 MR-RB51(500W) 95

HC-SFS1000r/min Series

(200V-compatible, middle

inertia, middle capacity)

81 121 201 301 52 102 152 202 352 502 702

100 200 200 350 60 100 200 200 350 500 700

in] 1151 1630 2707 4053 339 677 1015 1353 2367 3387 4733

in] 3458 4875 8120 12173 1015 2041 3061 4039 7100 10146 14171

32.9 30.9 44.5 81.3 8.7 16.7 25.6 21.5 34.1 56.5 69.7

15 times or less 15 times or less

140 240 100 84 56 54 136 64 31 39 32

in Servo Amplifier Instruction Manual.

Encoder common to absolute

position and incremental

detection systems (Resolution

per servo motor 1 rotation:

131072 pulse/rev)

Totally-enclosed, self-cooled

(protection type: IP65)

[lb] 19.8 26.5 41.9 50.7 11.0 15.4 19.8 26.5 41.9 50.7 70.5

(200V-compatible, middle inertia, middle capacity)

Encoder common to absolute position and incremental

detection systems (Resolution per servo motor 1

HC-SFS 2000r/min Series

rotation: 131072 pulse/rev)

Totally-enclosed, self-cooled

(protection type: IP65(Note 12))

5 - 10

5. SPECIFICATIONS

Servo Motor

Item

Applicable servo amplifier

Continuous running duty

(Note 1

Rated speed (Note 1) [r/min] Maximum speed [r/min] 3000 Instantaneous permissible speed [r/min] 3450

Maximum torque

Power rate at continuous rated torque

Inertia moment

(Note 3)

Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2)

Regenerative brake duty [times/min]

(Note 4

Power supply capacity

Rated current [A] 3.2 5.3 8.6 10.4 16.4 Maximum current [A] 9.6 15.9 25.8 31.2 49.2

Speed/position detector

Accessories Oil seal Insulation class Class F

Structure

Environmental conditions (Note 7)

Mass (Note 3)

11)

15)

MR-J2S- A/B/CP/ CL

Rated output [kW] 0.5 1.0 1.5 2.0 3.5 Rated

torque

J[104kg m2] WK

Servo amplifier's built-in regenerative resistor

MR-J2S series

MR-RB032(30W) 73 36 MR-RB12(100W) 250 120 MR-RB32(300W) 360 MR-RB30(300W) 250 70 42 MR-RB50(500W) 410 110 70

[N m] 1.59 3.18 4.78 6.37 11.1

in] 225 451 677 903 1573

[oz

[N m] 4.77 9.55 14.3 19.1 33.4

[oz

in] 676 1353 2026 2707 4733

[kW/s]

[oz in2] 36.1 74.9 109.3 232.4 448.3

[kg] 5.0 7.0 9.0 12 19

[lb] 11.0 15.4 19.8 26.5 41.9

HC-SFS 3000r/min Series

(200V-compatible,

middle inertia

53 103 153 203 353

60 100 200 200 350

3.8 7.4 11.4 9.5 15.1

6.6 13.7 20.0 42.5 82.0

25 24 82 24 14

Refer to "Power supply equipment

capacity and generated loss of servo

amplifiers" in Servo Amplifier

Instruction Manual.

Encoder common to absolute position

and incremental detection systems

(Resolution per servo motor 1 rotation :

131072 pulse/rev)

Totally-enclosed, self-cooled

(protection type: IP65)

Refer to section 2.1

middle capacity)

3000

15 times or less

5 - 11

5. SPECIFICATIONS

Servo Motor

Item

Applicable servo amplifier

Continuous running duty

(Note 1

Rated speed (Note 1) [r/min] 2000 Maximum speed [r/min] 3000 2500 2000 Instantaneous permissible speed [r/min] 3450 2875 2300

Maximum torque

Power rate at continuous rated torque

Inertia moment

(Note 3)

Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note2)

Regenerative brake duty [times/min]

(Note 4)

Power supply capacity

Rated current [A] 1.5 2.8 4.4 5.4 8.6 14 17 Maximum current [A] 4.5 8.4 13.2 16.2 25.8 42 51

Speed/position detector

Accessories Oil seal Insulation class Class F Structure Totally-enclosed, self-cooled(protection type: IP65 (Note 12)) Environmental conditions (Note 7) Refer to section 2.1

Mass (Note 3)

11)

MR-J2S-

Rated output [kW] 0.5 1.0 1.5 2.0 3.5 5.0 7.0

Rated

torque

J [ 104kg m2] 6.6 13.7 20.0 42.5 82.0 101 160 WK

Servo amplifier’s built-in regenerative resistor MR-RB1L-4(100W) 560

MR-J2S Series

MR-RB3M-4(300W) 810 MR-RB3H-4(300W) 408 192 MR-RB5H-4(500W) 680 320 MR-RB3G-4(300W) 95 90 MR-RB5G-4(500W) 158 150 MR-RB34-4(300W) 57 MR-RB54-4(500W) 95

A4 60 100 200 350 500 700

[N m] 2.39 4.78 7.16 9.55 16.7 23.9 33.4

in] 338.5 676.9 1013.9 1352.4 2364.9 3384.5 4729.9

[oz

[N m] 7.16 14.4 21.6 28.5 50.1 71.6 100.0

[oz

in] 1013.9 2039.2 3058.8 4036 7094.8 10139.4 14161.2

[kW/s]

[oz in2] 36.1 74.9 109.3 232.4 448.3 552.2 874.8

[kg] 5.0 7.0 9.0 12.0 19.0 23 32

[lb] 11 15.4 19.8 26.5 41.9 50.7 70.5

HC-SFS Series(400VAC-compatible, middle inertia middle capacity)

524 1024 1524 2024 3524 5024 7024

8.7 16.7 25.6 21.5 34.1 56.5 69.7

15 times or less

56 54 136 64 31 39 32

Refer to “Power supply equipment capacity and generated loss of servo amplifiers” in Servo Amplifier Instruction Manual.

Encoder common to absolute position and incremental detection systems

(Resolution per servo motor 1 rotation: 131072 pulse/rev)

5 - 12

5. SPECIFICATIONS

Servo Motor

Item

Applicable servo amplifier

Continuous running duty

(Note 1

Rated speed (Note 1) [r/min] Maximum speed [r/min] 4500 Instantaneous permissible speed [r/min] 5175

Maximum torque

Power rate at continuous rated torque

Inertia moment

(Note 3)

Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2)

Regenerative brake duty [times/min]

(Note 4)

Power supply capacity

Rated current [A] 6.1 8.8 14 23 28 Maximum current [A] 18.4 23.4 37 58 70

Speed/position detector

Accessories Oil seal Insulation class Class F

Structure

Environmental conditions (Note 7)

Mass (Note 3)

11)

MR-J2S- A/B/CP/ CL

Rated output [kW] 1.0 1.5 2.0 3.5 5.0 Rated torque

J[104kg m2] WK

Servo amplifier's

MR-J2S series

built-in regenerative resistor MR-RB30(300W) 3270 2580 2130 401 288 MR-RB50(500W) 5450 4300 3550 669 479

[N m] 3.18 4.78 6.37 11.1 15.9

[oz

in] 450 677 902 1572 2252

[N m] 7.95 11.9 15.9 27.9 39.7

[oz

in] 1126 1686 2253 3954 5626

[kW/s]

[oz in2] 8.2 10.4 12.6 47.0 65.6

[kg] 3.9 5.0 6.2 12.0 17.0

[lb] 8.6 11.0 13.7 26.5 37.5

(ultra low inertia

103 153 203 353 503

200 200 350 500 500

67.4 120 176 150 211

1.5 1.9 2.3 8.6 12.0

1090 860 710 174 125

Refer to "Power supply equipment

capacity and generated loss of servo

Encoder common to absolute position

and incremental detection systems

(Resolution per servo motor 1 rotation:

(protection type: IP65 (Note 12))

HC-RFS Series

middle capacity)

3000

5 times or less

amplifiers" in Servo Amplifier

Instruction Manual.

131072 pulse/rev)

Totally-enclosed, self-cooled

Refer to section 2.1

5 - 13

5. SPECIFICATIONS

Item

Applicable servo amplifier/drive unit

Continuous running duty

(Note 1

11)

Servo Motor

HC-UFS 2000r/min Series

(flat type

middle capacity)

72 152 202 352 502 13 23 43 73

MR-J2S A/B/CP/CL 70 200 350 500 500 10 20 40 70

MR-J2M

DU 10 20 40 70 Rated output [kW] 0.75 1.5 2.0 3.5 5.0 0.1 0.2 0.4 0.75 Rated torque

[N m] 3.58 7.16 9.55 16.7 23.9 0.32 0.64 1.3 2.4

in] 507 1015 1353 2367 3387 45 91 184 340

[oz

HC-UFS 3000r/min Series

(flat type small capacity)

Rated speed (Note 1) [r/min] 2000 3000 Maximum speed [r/min] 3000 2500 4500 Instantaneous permissible speed [r/min] 3450 2875 5175

Maximum torque

Power rate at continuous rated torque

Inertia moment

(Note 3)

J[104kg m2] 10.4 22.1 38.2 76.5 115 0.066 0.241 0.365 5.90

Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2)

[N m] 10.7 21.6 28.5 50.1 71.6 0.95 1.9 3.8 7.2

[oz

in] 1516 3061 4039 7100 10146 135 269 538 1020

[kW/s]

12.3 23.2 23.9 36.5 49.6 15.5 19.2 47.7 9.76

[oz in2] 56.9 120.8 208.9 418.3 628.8 0.4 1.3 2.0 32.3

15 times or less 15 times or less

Servo amplifier's

53 124 68 44 31 (Note5) (Note5) 410 41

Regenerative brake duty [times/min]

(Note 4

15)

MR-J2S Series

built-in regenerative resistor MR-RB032(30W) 79 (Note5) (Note5) 1230 62 MR-RB12(100W) 264 (Note5) 4100 206 MR-RB30(300W) 372 203 102 72 MR-RB32(300W) 791 618

620 338 169 119

Power supply capacity

MR-RB50(500W)

Refer to "Power supply equipment capacity and generated loss of servo amplifiers"

in Servo Amplifier Instruction Manual. Rated current [A] 5.4 9.7 14 23 28 0.76 1.5 2.8 4.3 Maximum current [A] 16.2 29.1 42 69 84 2.5 4.95 9.24 12.9

Speed/position detector

Encoder common to absolute position and

incremental detection systems (Resolution

per servo motor 1 rotation : 131072

pulse/rev)

Encoder common to absolute position and

incremental detection systems (Resolution

per servo motor 1 rotation : 131072

pulse/rev)

Accessories Oil seal Oil seal Insulation class Class F Class B

Structure

Totally-enclosed, self-cooled

(protection type: IP65)

Totally-enclosed, self-cooled

(protection type: IP65(Note9))

Environmental conditions (Note 7) Refer to section 2.1 Refer to section 2.1

Mass (Note 3)

[kg] 8.0 11.0 16.0 20.0 24.0 0.8 1.5 1.7 5.0

[lb]

17.6 24.3 35.3 44.1 52.9 1.8 3.3 3.7 11.0

5 - 14

5. SPECIFICATIONS

HA-LFS 1000r/min Series (200VAC-compatible, low inertia middle large capacity)Servo Motor

Item

Applicable servo amplifier

MR-J2S-

A/B

Compatible converter unit MR-HP30KA

Continuous running duty

(Note 1

11)

Rated output [kW] 6 8 12 15 20 25 30

Rated torque

[N m] 57.3 76.4 115 143 191 239 286 353

[oz

in] 8114 10819 16285 20251 27048 33845 40501 49989 Rated speed (Note 1) [r/min] 1000 Maximum speed [r/min] 1200 Instantaneous permissible speed [r/min] 1380

Maximum torque

[N m] 172 229 344 415 477 597 716 883

[oz

in] 24357 32429 48715 58769 67549 84542 101394 125044 Power rate at continuous rated torque

[kW/s]

Inertia moment

(Note 3)

J[104kg m2] 105 220 295 550 650 1080 1310 1870 WK

[oz in2] 574.1 1202.8 1612.9 3007.1 3553.8 5904.8 7162.4 10224.1 Recommended ratio of load inertia moment to servo motor shaft inertia moment

(Note 2)

Servo amplifier’s built-in regenerative resistor MR-RB31(300W) 278

Regenerative brake duty

MR-RB51(500W) 464

MR-RB65(800W)

[times/min]

(Note 4)

MR-RB66(1300W)

MR-RB67(1300W)

MR-RB139(1300W) 97 68 MR-RB137(3900W) 290 203

Power supply capacity

Rated current [A] 34 42 61 83 118 118 154 188 Maximum current [A] 102 126 183 249 295 295 385 470

Speed/position detector

Voltage frequency

Power consumption

[W]

Cooling fan

Power supply

Rated current [A]

Thermal

protector

Maximum rated 125VAC/DC, 3A or 250VAC/DC, 2A

Minimum rated 6VAC/DC, 0.15A Accessories Oil seal Insulation class Class F Structure Totally-enclosed, force-cooled (protection type: IP44) Environmental conditions (Note 7) Refer to section 2.1

Mass (Note 3)

[kg] 55 95 115 160 180 230 250 335

[lb] 121.3 209.4 253.5 352.7 396.8 507.1 551.6 738.5

601

(Note 13)

700A-U058

700B-U058 700CP-U058 700CL-U058

801 12K1 15K1 20K1 25K1 30K1 37K1

37KA11KA 11KB

15KA 15KB

22KA 22KB

30KA 30KB

U039

37KB-

U039

(75% ED)

313 265 445 373 561 528 626 668

10 times or less

158

354

(Note 10

14)

354

(Note 14)

264

(Note 10

14)

264

(Note 14)

230

(Note 10

14)

195

(Note 10

14)

117

(Note 10

14)

230

(Note 14)

195

(Note 14)

117

(Note 14)

Refer to “Power supply equipment capacity and generated loss of servo amplifiers” in Servo Amplifier Instruction Manual.

Encoder common to absolute position and incremental detection systems

(Resolution per servo motor 1 rotation: 131072 pulse/rev) Three-phase 200 to 220 VAC 50Hz, One-phase

Three-phase 200 to 230VAC 50Hz/60Hz

200 to 230 VAC 60Hz

42(50Hz)/

54(60Hz)

0.21(50Hz)/

0.25(60Hz)

62(50Hz)/

76(60Hz)

0.18(50Hz)/

0.17(60Hz)

65(50Hz)/

85(60Hz)

0.20(50Hz)/

0.22(60Hz)

120(50Hz)/

175(60Hz)

0.65(50Hz)/

0.80(60Hz)

5 - 15

5. SPECIFICATIONS

HA-LFS 1500r/min Series (200VAC-compatible, low inertia middle large capacity)Servo Motor

Item

Applicable servo amplifier

MR-J2S-

(Note 13)

700A-U058

700B-U058 700CP-U059 700CL-U059

Compatible converter unit MR-HP30KA

701M

Continuous running duty

(Note 1

11)

Rated output [kW] 7 11 15 22 30

Rated torque

[N m] 44.6 70.0 95.5 140 191 236

[oz

in] 6315.9 9912.9 13524 19825.7 27047.9 33420.5 Rated speed (Note 1) [r/min] 1500 Maximum speed [r/min] 2000 Instantaneous permissible speed [r/min] 2300

Maximum torque

Power rate at continuous rated torque

Inertia moment

(Note 3)

J[104kg m2] 105 220 295 550 650 1080

[N m] 134 210 286 350 477 589

[oz

in] 18976 29738.6 40501.1 49564.3 67549.1 83409.6

[kW/s]

189 223 309 357 561 514

[oz in2] 574.1 1202.8 1612.9 3007.1 3553.8 5904.8 Recommended ratio if load inertia moment to servo motor shaft inertia moment

(Note 2)

Servo amplifier’s built-in regenerative

70 resistor MR-RB31(300W) 124

Regenerative brake duty

MR-RB51(500W) 206

MR-RB65(800W)

[times/min]

(Note 4)

MR-RB66(1300W)

MR-RB67(1300W)

MR-RB139(1300W) 87 52 MR-RB137(3900W) 260 156

Power supply capacity

Refer to “Power supply equipment capacity and generated loss of servo

amplifiers” in Servo Amplifier Instruction Manual. Rated current [A] 37 65 87 126 174 202 Maximum current [A] 111 195 261 315 435 505

Speed/position detector

Encoder common to absolute position and incremental detection systems

One-phase

200 to 220

[W]

VAC 50Hz,

One-phase

200 to 230

VAC 60Hz

42(50Hz)/

54(60Hz)

0.21(50Hz)/

0.25(60Hz)

cooling fan

Thermal protector

Power

Voltage frequency

supply

Power consumption

Rated current [A]

Maximum rated 125VAC/DC, 3A or 250VAC/DC, 2A

Minimum rated 6VAC/DC, 0.15A Accessories Oil seal Insulation class Class F Structure Totally-enclosed, force-cooled (protection type: IP44) Environmental conditions (Note 7) Refer to section 2.1

Mass (Note 3)

[kg] 55 95 115 160 180 230

[lb] 121.3 209.4 253.5 352.7 396.8 507.1

11K1M 15K1M 22K1M 30K1M 37K1M

11KA 11KB

15KA 15KB

22KA 22KB

30KA 30KB

10 times or less

158

(Note 10

14)

191

(Note 10

14)

102

(Note 10

14)

158

(Note 14)

191

(Note 14)

102

(Note 14)

(Resolution per servo motor 1 rotation: 131072 pulse/rev)

Three-phase 200 to 230VAC 50Hz/60Hz

62(50Hz)/

76(60Hz)

0.18(50Hz)/

0.17(60Hz)

65(50Hz)/

85(60Hz)

0.20(50Hz)/

0.22(60Hz)

37KA-U042 37KB-U042

(75% ED)

120(50Hz)/ 175(60Hz)

0.65(50Hz)/

0.80(60Hz)

5 - 16

5. SPECIFICATIONS

HA-LFS 2000r/min Series (200VAC-compatible, low inertia middle large capacity)Servo Motor

Item

(Note 13)

500A

502

Applicable servo amplifier

MR-J2S-

500B 500CP 500CL

Compatible converter unit MR-HP30KA

Continuous running duty

(Note 1

11)

Rated output

Rated torque

[kW] 5.0 7.0 11 15 22 30

[N m] 23.9 33.4 52.5 71.6 105 143 177

[oz

in] 3384.5 4729.9 7434.6 10139.4 14869.3 20250.6 25065.4 Rated speed (Note 1) [r/min] 2000 Maximum speed [r/min] 2000 Instantaneous permissible speed [r/min] 2300

Maximum torque

Power rate at continuous rated torque

Inertia moment

(Note 3)

J[104kg m2] 74.0 94.2 105 220 295 550 650

[N m] 71.6 100 158 215 263 358 442

[oz

in] 10139.4 14161.2 22374.7 30446.6 37244 50697.2 62592.6

[kW/s]

77.2 118 263 233 374 373 480

[oz in2] 404.6 515 574.1 1202.8 1612.9 3007.1 3553.8 Recommended ratio of load inertia moment to servo motor shaft inertia moment

(Note 2)

Servo amplifier’s built-in regenerative

50 50 resistor MR-RB30(300W) 120

Regenerative brake duty [times/min]

(Note 4)

MR-RB31(300W) 95 MR-RB50(500W) 200 MR-RB51(500W) 160 MR-RB65(800W) 186(Not e 14) MR-RB66(1300W) 144(Not e 14) MR-RB67(1300W) 107(Not e 14) MR-RB139(1300W) 58 49 MR-RB137(3900W) 174 147

Power supply capacity

Refer to “Power supply equipment capacity and generated loss of servo

amplifiers” in Servo Amplifier Instruction Manual. Rated current [A] 25 34 63 77 112 166 204 Maximum current [A] 75 102 189 231 280 415 510

Speed/position detector

Power

Cooling fan

supply

Voltage frequency

Power consumption

[W]

Encoder common to absolute position and incremental detection systems

Rated current [A]

Thermal protector

Maximum rated 125VAC/DC, 3A or 250VAC/DC, 2A

Minimum rated 6VAC/DC, 0.15A Accessories Oil seal Insulation class Class F

Totally-enclosed,

Structure

self-cooled

(protection: IP65)

Environmental conditions (Note 7) Refer to section 2.1

Mass (Note 3)

[kg] 28 35 55 95 115 160 180

[lb] 61.7 77.2 121.3 209.4 253.5 352.7 396.8

702

(Note 13)

11K2 15K2 22K2 30K2 37K2

700A 700B

700CP

11KA 11KB

15KA 15KB

22KA 22KB

30KA 30KB

700CL

10 times or less

186

(Note 10 14)

144

(Note 10 14)

107

(Note 10 14)

(Resolution per servo motor 1 rotation: 131072 pulse/rev)

One-phase

200 to 220

VAC 50Hz,

One-phase

Three-phase 200 to 230VAC 50Hz/60Hz

200 to 230 VAC 60Hz 42(50Hz)/

54(60Hz)

0.21(50Hz)/

0.25(60Hz)

62(50Hz)/ 76(60Hz)

0.18(50Hz)/

0.17(60Hz)

65(50Hz)/

85(60Hz)

0.20(50Hz)/

0.22(60Hz)

Totally-enclosed, force-cooled (protection: IP44)

37KA 37KB

(75% ED)

5 - 17

5. SPECIFICATIONS

HA-LFS 1000r/min Series (400VAC-compatible, low inertia large capacity)Servo Motor

Item

Applicable servo

MR-J2S-

amplifier

Compatible converter unit MR-HP55KA4 Continuous

running duty

(Note 1

11)

Rated output [kW] 6 8 12 15 20 25 30 37 Rated

torque

[N m] 57.3 76.4 115 143 191 239 286 353

[oz Rated speed (Note 1) [r/min] 1000 Maximum speed [r/min] 1200 Instantaneous permissible speed [r/min] 1380

Maximum torque

[N m] 172 229 344 415 477 597 716 883

[oz Power rate at continuous rated torque

[kW/s]

Inertia moment

(Note 3)

J[104kg m2] 105 220 295 550 650 1080 1310 1870 WK

[oz in2] 574.1 1202.8 1612.9 3007.1 3553.8 5904.8 7162.4 10224.1 Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2)

Servo amplifier's supplied regenerative resistor MR-RB34-4(300W) 278

Regenerative brake duty

MR-RB54-4(500W) 464

MR-RB6B-4(800W)

[times/min]

(Note 4)

MR-RB60-4(1300W)

MR-RB6K-4(1300W)

MR-RB136-4(1300W) 118 97 68 MR-RB138-4(3900W) 354 290 203

Power supply capacity

Rated current [A] 17 20 30 40 55 70 77 95 Maximum current [A] 51 63 93 126 148 175 193 235

Speed/position detector

Power

Voltage frequency

supply

Cooling fan

Power consumption

Rated current [A]

Thermal protector

Maximum rated 125VAC/DC, 3A or 250VAC/DC, 2A

Minimum rated 6VAC/DC, 0.15A Accessories Oil seal Insulation class Class F Structure Totally-enclosed, force-cooled (protection: IP44) Environmental conditions (Note 7) Refer to section 2.1

Mass (Note 3)

6014 8014 12K14 15K14 20K14 25K14 30K14 37K14

700A4-

U071

700B4-

11KA4 11KB4

15KA4 15KB4

22KA4 22KB4

30KA4 30KB4

37KA4 37KB4

U071

in] 8114.4 10819.1 16285.4 20250.56 27047.95 33845.34 40501.11 49989.14

in] 24357.3 32429.21 48714.63 58769.1 67549.06 84542.54 101394.4 125043.65

313 265 445 373 561 528 626 668

10 times or less

158

354

(Note 10

14)

354

(Note 14)

264

(Note 10

14)

264

(Note 14)

230

(Note 10

14)

195

(Note 10

14)

230

(Note 14)

195

(Note 14)

Refer to “Power supply equipment capacity and generated loss of servo amplifiers” in Servo Amplifier Instruction Manual.

Encoder common to absolute position and incremental detection systems

(Resolution per servo motor 1 rotation: 131072 pulse/rev)

One-phase

200 to

220VAC/

50Hz,

One-phase

200 to

Three-phase 380 to

440VAC 50Hz

Three-phase 380 to

480VAC 60Hz

Three-phase 380 to 460VAC 50Hz Three-phase 380 to 480VAC 60Hz

230VAC/

60Hz

[W]

42 (50Hz)/

54 (60Hz)

62 (50Hz)/

76 (60Hz)

65 (50Hz)/

85 (60Hz)

110 (50Hz)/

150 (60Hz)

0.21

(50Hz)/

0.25

0.14 (50Hz)/

0.11 (60Hz)

0.12 (50Hz)/

0.14 (60Hz)

0.20 (50Hz)/

0.22 (60Hz)

(60Hz)

[kg] 55 95 115 160 180 230 250 335

[lb] 121.3 209.4 209.43 352.7 396.8 507 551.2 738.5

5 - 18

5. SPECIFICATIONS

HA-LFS 1500r/min Series (400VAC-compatible, low inertia large capacity)Servo Motor

Item

Applicable servo amplifier

MR-J2S-

Compatible converter unit MR-HP55KA4 Continuous

running duty

(Note 1

11)

Rated output[kW]7 11152230374550 Rated

torque

[N m] 44.6 70.0 95.5 140 191 236 286 318

[oz Rated speed (Note 1) [r/min] 1500 Maximum speed [r/min] 2000 Instantaneous permissible speed [r/min] 2300

Maximum torque

[N m] 134 210 286 350 477 589 716 796

[oz Power rate at continuous rated torque

[kW/s]

Inertia moment

(Note 3)

J[104kg m2] 105 220 295 550 650 1080 1310 1870 WK

[oz in2] 574.1 1202.8 1612.9 3007.1 3553.8 5904.8 7162.4 10224.1 Recommended ratio of load inertia moment to servo motor shaft inertia moment (Note 2)

Servo amplifier's supplied regenerative resistor MR-RB34-4(300W) 124

Regenerative brake duty

MR-RB54-4(500W) 206

MR-RB6B-4(800W) 124

[times/min]

(Note 4)

MR-RB60-4(1300W) 206

MR-RB6K-4(1300W)

MR-RB136-4(1300W) 87 52 43 30 MR-RB138-4(3900W) 260 156 129 90

Power supply capacity

Rated current [A] 18 31 41 63 87 101 128 143 Maximum current [A] 54 99 132 158 218 253 320 358

Speed/position detector

Voltage frequency

Power supply

Cooling fan

Power consumption

Rated current [A]

Thermal protector

Maximum rated 125VAC/DC, 3A or 250VAC/DC, 2A

Minimum rated 6VAC/DC, 0.15A Accessories Oil seal Insulation class Class F Structure Totally-enclosed, force-cooled (protection: IP44) Environmental conditions (Note 7) Refer to section 2.1

Mass (Note 3)

701M4 11K1M4 15K1M4 22K1M4 30K1M4 37K1M4 45K1M4 50K1M4

700A4-

U073

700B4-

11KA4 11KB4

15KA4 15KB4

22KA4 22KB4

30KA4 30KB4

37KA4 37KB4

45KA4 45KB4

55KA4 55KB4

U073

in] 6315.9 9912.86 13523.97 19825.72 27047.95 33420.5 40501.11 45032.71

in] 18976 29738.6 40501.1 49564.3 67549.1 83409.6 101394.3 112723.4

189 223 309 357 561 514 626 542

10 times or less

158

(Note 10

14)

191

(Note 10

14)

102

(Note 10

14)

158

(Note 14)

191

(Note 14)

102

(Note 14)

Refer to “Power supply equipment capacity and generated loss of servo amplifiers” in Servo Amplifier Instruction Manual.

Encoder common to absolute position and incremental detection systems

(Resolution per servo motor 1 rotation: 131072 pulse/rev)

One-phase

200 to

220VAC/

50Hz,

One-phase

200 to

Three-phase 380 to

440VAC 50Hz

Three-phase 380 to

480VAC 60Hz

Three-phase 380 to 460VAC 50Hz Three-phase 380 to 480VAC 60Hz

230VAC/

60Hz

[W]

42 (50Hz)/

54 (60Hz)

62 (50Hz)/

76 (60Hz)

65 (50Hz)/

85 (60Hz)

110 (50Hz)/

150 (60Hz)

0.21

(50Hz)/

0.25

0.14 (50Hz)/

0.11 (60Hz)

0.12 (50Hz)/

0.14 (60Hz)

0.20 (50Hz)/

0.22 (60Hz)

(60Hz)

[kg] 55 95 115 160 180 230 250 335

[lb] 121.3 209.4 253.5 352.7 396.8 507.1 551.2 738.5

5 - 19

5. SPECIFICATIONS

HA-LFS 2000r/min Series (400VAC-compatible, low inertia large capacity)Servo Motor

Item

Applicable servo amplifier

MR-J2S-

A4/B4 11K 15K 22K 30K 37K 45K 55K

Compatible converter unit MR-HP55KA4 Continuous

running duty

(Note 1

11)

Rated output [kW] 11 15 22 30 37 45 55 Rated

torque

[N m] 52.5 71.6 105 143 177 215 263

in] 7434.6 10139.4 14869.3 20250.6 25065.4 30446.6 37244

[oz Rated speed (Note 1) [r/min] 2000 Maximum speed [r/min] 2000 Instantaneous permissible speed [r/min] 2300

Maximum torque

[N m] 158 215 263 358 442 537 657

[oz

in] 22374.7 30446.6 37244 506972 62592.6 76045.8 93039.3

Power rate at continuous rated torque

[kW/s]

Inertia moment

(Note 3)

J[104kg m2] 105 220 295 550 650 1080 1310 WK

[oz in2] 574.1 1202.8 1612.9 3007.1 3553.8 5904.8 7162.4 Recommended ratio of load inertia moment to servo motor shaft inertia moment

(Note 2)

Servo amplifier's supplied regenerative

Regenerative brake duty [times/min]

(Note 4)

resistor MR-RB6B-4(800W) 186 (Note14) MR-RB60-4(1300W) 144(Note 14) MR-RB6K-4(1300W) 107(Note 14) MR-RB136-4(1300W) 58 49 30 24 MR-RB138-4(3900W) 174 147 89 73

Power supply capacity

Rated current [A] 32 40 57 83 102 131 143 Maximum current [A] 96 120 171 208 255 328 358

Speed/position detector

Voltage frequency

Power consumption

[W]

Cooling fan

Power supply

Rated current [A]

Thermal protector

Maximum rated 125VAC/DC, 3A or 250VAC/DC, 2A

Minimum rated 6VAC/DC, 0.15A Accessories Absolute Encoder, oil seal Insulation class Class F Structure Totally-enclosed, force-cooled (protection: IP44) Environmental conditions (Note 7) Refer to section 2.1

Mass (Note 3)

[kg] 55 95 115 160 180 230 250

[lb] 121.3 209.4 253.5 352.7 396.8 507.1 551.2

11K24 15K24 22K24 30K24 37K24 45K24 55K24

263 233 374 373 480 427 526

10 times or less

186

(Note 10

14)

144

(Note 10

14)

107

(Note 10

14)

Refer to “Power supply equipment capacity and generated loss of servo amplifiers” in Servo Amplifier Instruction Manual.

Encoder common to absolute position and incremental detection systems

(Resolution per servo motor 1 rotation: 131072 pulse/rev)

One-phase 200

to 220VAC/50Hz, One-phase 200

Three-phase 380 to

440VAC 50Hz

Three-phase 380 to

480VAC 60Hz

Three-phase 380 to 460VAC 50Hz Three-phase 380 to 480VAC 60Hz

230VAC/60Hz

42 (50Hz)/ 54 (60 Hz)

0.21 (50Hz)/

0.25 (60 Hz)

62 (50Hz)/

76 (60Hz)

0.14 (50Hz)/

0.11 (60Hz)

65 (50Hz)/

85 (60Hz)

0.12 (50Hz)/

0.14 (60Hz)

110 (50Hz)/

150 (60Hz)

0.20 (50Hz)/

0.22 (60Hz)

5 - 20

5. SPECIFICATIONS

HC-LFS Series (low inertia middle capacity)Servo Motor

Item

Applicable servo amplifier

Continuous running duty

(Note 1

Rated speed (Note 1) [r/min] 2000 Maximum speed [r/min] 3000 Instantaneous permissible speed [r/min] 3450

Maximum torque

Power rate at continuous rated torque

Inertia moment

(Note 3)

Recommended ratio of load inertia moment to servo motor shaft inertia moment

(Note 2)

Regenerative brake duty [times/min]

(Note 4

Power supply capacity

Rated current [A] 3.2 5.9 9.9 14 23 Maximum current [A] 9.6 18 30 42 69

Speed/position detector

Accessories Oil seal Insulation class Class F Structure Totally-enclosed, self-cooled (protection type: IP65) Environmental conditions (Note 7) Refer to section 2.1

Mass (Note 3)

11)

15)

MR-J2S-

Rated output [kW] 0.5 1.0 1.5 2.0 3.0 Rated

torque

J[104kg m2] 3.2 4.6 6.4 22 36 WK

Servo amplifier’ built-in regenerative resistor MR-RB032(30W) 340 235 MR-RB12(100W) 1150 800 MR-RB30(300W) 1270 370 215 MR-RB32(300W) 2410 MR-RB50(500W) 2120 615 355

A/B/CP/CL 60 100 200 350 500

[N m] 2.39 4.78 7.16 9.55 14.3

in] 338.5 676.9 1013.9 1352.4 2025.1

[oz

[N m] 7.16 14.4 21.6 28.5 42.9

[oz

in] 1013.9 2039.2 3058.8 4036 6075.2

[kW/s]

[oz in2] 17.5 25.2 35 120.3 196.8

[kg] 6.5 8.0 10.0 21 28

[lb] 14.33 17.6 22 46.3 61.7

52 102 152 202 302

17.9 49.7 80.1 41.5 56.8

10 times or less

115 160 425 120 70

Refer to “Power supply equipment capacity and generated loss of servo amplifiers” in Servo Amplifier Instruction Manual.

Encoder common to absolute position and incremental detection systems

(Resolution per servo motor 1 rotation: 131072 pulse/rev)

5 - 21

5. SPECIFICATIONS

Note 1.When the power supply voltage drops, we cannot guarantee the output and rated speed.

2.If the load inertia moment ratio exceeds the indicated value, please consult us.

3.This ratio is the load inertia moment ratio to the inertia moment of the servo motor. If the load inertia moment ratio exceeds the

indicated value, please consult us. When the servo motor is equipped with reduction gear or electromagnetic brake, refer to the

corresponding outline dimension drawing. For the EN Standard- and UL/C-UL Standard-compliant models, please consult us.

4.The regenerative brake duty indicated is the permissible duty when the servo motor running without load at the rated speed is

decelerated to a stop. When a load is connected, the value in the table is multiplied by 1/(m

moment/motor inertia moment. At the speed higher than the rated, the permissible number of times is in inverse proportion to

the square of (running speed/rated speed). When the running speed varies frequently or when the regenerative mode continues

as in vertical feed, calculate regenerative heat generated during operation. Provisions must be made to keep this generated heat

below the permissible value.

5.If the effective torque is within the rated torque range, there are no restrictions on the regenerative duty.

6.Except for the shaft-through portion and connector end.

7.In the environment where the servo motor is exposed to oil mist, oil and/or water, the servo motor of the standard specifications

may not be usable. Contact us.

8.IP54 for the EN Standard-compliant model.

9.Except the connector section.

10.Values for use of the supplied regenerative brake unit (regenerative resistor) are indicated in the case of the 11k to 22kW servo

amplifiers. Values for use of the supplied regenerative brake unit (regenerative resistor).

11.80%ED at low noise.

80%ED: Indicates the condition in which operation time at read torque accounts for 80% and the other no-load time accounts for

20% in a single operation cycle.

1), where m load inertia

Torque

100%

12.When the servo motor is provided with the reduction gear, the protection type of the reduction gear section is IP44.

13.Consult us since they may not be connected depending on the production period of the servo amplifier.

14.Value applicable when the regenerative option is cooled by a cooling fan.

15.The regenerative brake duty of the 600W or less servo amplifier may vary under the influence of the power supply voltage

because of the large ratio of the energy for charging the electrolytic capacitor in the servo amplifier.

time

tb 60 sec. (continuous operation time)

%ED

100

5 - 22

5. SPECIFICATIONS

5.2 Torque characteristics

(1) HC-MF series

POINT

For machines which produce unbalance torque, e.g. vertical lift

applications, it is recommended to use the servo motor so that the unbalance torque will be within 70% of the rated torque.

The torque characteristics without notes assume that the power supply is

three-phase 200VAC.

POINT

The continuous broken line in the graph assumes that the servo motor is used with the servo amplifier of single-phase 100VAC power supply specifications.

[HC-MF053]

0.6

Short-duration

0.4

running region

0.2

Torque [N m]

Continuous running region

1000 2000 3000 40004500

Speed [r/min]

[HC-MF43]

4.0

3.0

Short-duration running region

2.0

Torque [N m]

1.0

Continuous running region

1000 2000 3000 40004500

Speed [r/min]

[HC-MF13]

1.0

0.75

0.5

Torque [N m]

0.25 Continuous running region

1000 2000 3000 40004500

Speed [r/min]

[HC-MF73]

8.0

6.0

Short-duration running region

4.0

Torque [N m]

2.0

Continuous running region

1000 2000 3000 40004500

Short-duration running region

Speed [r/min]

[HC-MF23]

2.0

1.5

Short-duration running region

1.0

Torque [N m]

0.5 Continuous running region

1000 2000 3000 40004500

Speed [r/min]

5 - 23

5. SPECIFICATIONS

]

(2) HA-FF series

POINT

The continuous broken line in the graph assumes that the servo motor is used with the servo amplifier of single-phase 100VAC power supply specifications.

[HA-FF053]

0.6

Short-duration

0.4

running region

0.2

Torque [N m]

Continuous running region

1000 2000 3000 4000

Speed [r/min]

[HA-FF33]

3.0

Short-duration running region

2.0

1.0

Torque [N m]

Continuous running region

1000 2000 3000 4000

Speed [r/min]

[HA-FF13]

1.0

0.75

0.5

Torque [N m]

0.25

Continuous running region

1000 2000 4000

Speed [r/min]

[HA-FF43]

4.0

Short-duration

3.0 running region

2.0

Torque [N m]

1.0

Continuous running region

1000 2000 3000

Short-duration running region

3000

Speed [r/min]

4000

[HA-FF23]

2.0

1.5

Short-duration running region

1.0

Torque [N m]

0.5

Continuous running region

1000 2000 3000

Speed [r/min

[HA-FF63]

6.0

Short-dur ation running region

4.0

2.0

Torque [N m]

Continuous running region

4000

40001000 2000 3000

Speed [r/min]

5 - 24

5. SPECIFICATIONS

(3) HC-SF/HC-SFS series

(a) 200VAC-compatible

[HC-SF81] (Note 1) [HC-SFS81] (Note 1)

[HC-SF121] (Note 1) [HC-SFS121] (Note 1)

[HC-SF201] (Note 1) [HC-SFS201] (Note 1)

Short-duration running region

Torque [N m]

Continuous running region

500 1000 1500

Speed [r/min]

[HC-SF301] (Note 1) [HC-SFS301] (Note 1)

100

Short-duration running region

Torque [N m]

Continuo us running region

500 1000751200

Speed [r/min]

Short-duration running region

Torque [N m]

Continuous running region

500 1000

Speed [r/min]

[HC-SF52] (Note 1, 2) [HC-SFS52] (Note 1, 2)

Short-duration

running region

Torque [N m]

Continuo us running region

1000 2000 3000

Speed [r/min]

Short-duration running region

Torque [N m]

Continuous running region

1200 1200

500 1000

Speed [r/min]

[HC-SF102] (Note 1) [HC-SFS102] (Note 1)

Short-duration

running region

Torque [N m]

Continuo us running region

1000 2000 3000

Speed [r/min]

[HC-SF152] (Note 1) [HC-SFS152] (Note 1)

Short-duration

running region

Torque [N m]

Continuous running region

1000 2000 3000

Speed [r/min]

[HC-SF202] (Note 1) [HC-SFS202] (Note 1)

Short-duration running region

Torque [N m]

Continuo us running region

1000 2000

Speed [r/min]

[HC-SF352] (Note 1) [HC-SFS352] (Note 1)

Short-duration running region

Torque [N m]

Continuo us running region

1000 20002500 2500

Speed [r/min]

Note 1. The continuous line assumes that the servo amplifier's main circuit power supply is 3-phase 200VAC.

2. The broken line assumes that the servo amplifier's main circuit power supply is 1-phase 230VAC.

Note that only the area different from 3-phase 200VAC is indicated by the broken line.

5 - 25

5. SPECIFICATIONS

[HC-SF502] [HC-SFS502]

Short-duration running region

Torque [N m]

Continuous running region

Speed [r/min]

[HC-SF103] [HC-SFS103]

Short-duration running region

Torque [N m]

Continuo us runni ng region

1000 2000 3000

Speed [r/min]

1000 2000

[HC-SF702] [HC-SFS702]

120

Short-duration running region

Torque [N m]

Continuous running region

Speed [r/min]

[HC-SF153] [HC-SFS153]

Short-duration running region

Torque [N m]

Continuous running region

1000 2000 3000

Speed [r/min]

1000 2000

[HC-SF53] [HC-SFS53]

Short-duration running region

Torque [N m]

Continuo us running region

1000 2000 3000

Speed [r/min]

[HC-SF203] [HC-SFS203]

Short-duration running region

Torque [N m]

Continuo us running region

1000 2000 3000

Speed [r/min]

[HC-SF353] [HC-SFS353]

Short-du ration running region

Torque [N m]

Continuous running region

1000 2000 3000

Speed [r/min]

5 - 26

5. SPECIFICATIONS

(b) 400VAC-compatible

[HC-SFS524] (Note 1, 2)

[HC-SFS1024] (Note 1, 2)

[HC-SFS1524] (Note 1, 2)

Short-duration

running region

Torque [N m]

Continuous running region

1000 2000 3000

Speed [r/min]

[HC-SFS2024] (Note 1, 2)

Short-duration running region

Torque [N m]

Continuous running region

1000 2000 2500

Speed [r/min]

Short-duration

running region

Torque [N m]

Continuous running region

1000 2000 3000

Speed [r/min]

[HC-SFS3524] (Note 1, 2)

Short-duration

running region

Torque [N m]

Continuous running region

1000 2000

Speed [r/min]

2500

Short-duration

running region

Torque [N m]

Continuous running region

1000 2000 3000

Speed [r/min]

[HC-SFS5024] (Note 1)

Short-duration running region

Torque [N m]

Continuo us running region

1000 2000

Speed [r/min]

[HC-SFS7024] (Note 1)

120

Short-duration running region

Torque [N m]

Continuous running region

Note 1. The continuous line assumes that the servo amplifier's main circuit power supply is 3-phase 400VAC.

2. The broken line assumes that the servo amplifier's main circuit power supply is 3-phase 380VAC.

Note that only the area different from 3-phase 400VAC is indicated by the broken line.

1000 2000

Speed [r/min]

5 - 27

5. SPECIFICATIONS

(4) HC-RF/HC-RFS series

[HC-RF103] [HC-RFS103]

[HC-RF153] [HC-RFS153]

[HC-RF203] [HC-RFS203]

Short-duration running region

Torque [N m]

Continuous running region

1000 2000 3000 4000

Speed [r/min]

[HC-RF353] [HC-RFS353]

Short-duration running region

Torque [N m]

Continuo us running region

1000 2000 3000 4000

Speed [r/min]

Short-duration running region

Torque [N m]

Continuous running region

4500

1000 2000 3000 4000

4500

Speed [r/min]

[HC-RF503] [HC-RFS503]

Short-duration running region

Torque [N m]

Continuous running region

4500 4500

1000 2000 3000 4000

Speed [r/min]

Short-duration running region

Torque [N m]

Continuous running region

1000 2000 3000 4000

Speed [r/min]

4500

5 - 28

5. SPECIFICATIONS

(5) HC-UF/HC-UFS series

POINT

The continuous broken line in the graph assumes that the servo motor is used with the servo amplifier of single-phase 100VAC power supply specifications.

[HC-UF72] [HC-UFS72]

Short-duration running region

Torque [N m]

Continuous running region

1000 2000 3000

Speed [r/min]

[HC-UF352] [HC-UFS352]

Short-duration running region

Torque [N m]

Continuous running region

500 1000 15002000

Speed [r/min]

2500

[HC-UF152] [HC-UFS152]

Short-duration running region

Torque [N m]

Continuo us running region

1000 2000 3000

Speed [r/min]

[HC-UF502] [HC-UFS502]

Short-duration

running region

Torque [N m]

Continuous running region

500 1000 15002000

Speed [r/min]

2500

[HC-UF202] [HC-UFS202]

Short-duration running region

Torque [N m]

Continuous running region

1000 2000 3000

Speed [r/min]

[HC-UF13]

1.0

Short-duration

0.75 running region

0.5

Torque [N m]

0.25 Continuous running

region

1000 2000 3000 40004500

Speed [r/min]

[HC-UF23]

2.0

Short-duration

1.5 running region

1.0

Torque [N m]

0.5

Continuous running region

1000 2000 3000 40004500

Speed [r/min]

[HC-UF43]

4.0

Short-duration

3.0 running region

2.0

Torque [N m]

1.0

Continuous running region

1000 2000 3000 40004500

5 - 29

Speed [r/min]

[HC-UF73]

Short-duration

running region

Torque [N m]

Continuous running region

1000 2000 3000 40004500

Speed [r/min]

5. SPECIFICATIONS

[HC-UFS13]

1.0

0.75

Short-duration running region

0.5

Torque [N m]

0.25 Continuous running region

1000 2000 3000 40004500

Speed [r/min]

[HC-UFS73]

8.0

6.0

Short-duration running region

4.0

Torque [N m]

2.0

Continuous running region

1000 2000 3000 40004500

Speed [r/min]

[HC-UFS23]

2.0

1.5

Short-duration running region

1.0

Torque [N m]

0.5 Continuo us running region

1000 2000 3000 40004500

Speed [r/min]

[HC-UFS43]

4.0

3.0

Short-duration running region

2.0

Torque [N m]

1.0 Continuous running region

1000 2000 3000 4000450

Speed [r/min]

(6) HA-LH series

[HA-LH11K2]

200

150

100

Torque [N m]

Short-dur ation running region

Continuous running region

1000 2000

Speed [r/min]

[HA-LH15K2]

250

200

Short-duration running region

100

Torque [N m]

Continuo us running region

Speed [r/min]

1000 2000

[HA-LH22K2]

300

Short-dur ation running region

200

100

Torque [N m]

Continuous running region

Speed [r/min]

1000 2000

5 - 30

5. SPECIFICATIONS

]Sp

]

(7) HC-KF series

[HC-KF053]

0.6

0.4

0.2

Torque [N m]

Continuous running region

1000 2000 3000 40004500

[HC-KF43]

4.0

3.0

Short-duration running region

2.0

Torque [N m]

1.0 Continuous running

region

1000 2000 3000 40004500

Short-duration running region

eed [r/min

Speed [r/min]

[HC-KF13]

1.0

Short-duration running region

0.75

0.5

Torque [N m]

0.25

Continuous running region

1000 2000 3000 40004500

Speed [r/min

[HC-KF23]

2.0

1.5 Short-duration

running region

1.0

Torque [N m]

0.5

Continuous running region

1000 2000 3000 40004500

eed [r/min

(8) HC-AQ series

[HC-AQ0135] (Note)

0.1

0.075

0.05

Torque [N m]

0.025

Note. Assumes that the servo amplifier main circuit power supply is 24 VDC.

Short-duration running region

Continuous running region

1000 20003000 4000

Speed [r/min]

5000

[HC-AQ0235] (Note)

0.2

0.15

Short-duration running region

0.1

Torque [N m]

0.05

Continuous running region

1000 20003000 4000

Speed [r/min]

5000

[HC-AQ0335] (Note)

0.3

0.2

Short-duration running region

Torque [N m]

0.1

Continuous running region

1000 2000 3000 4000

Speed [r/min]

4500

5 - 31

5. SPECIFICATIONS

(9) HA-LF series

(a) 200VAC-compatible

[HA-LF30K2]

400

300

Short-duration running region

200

[HA-LF37K2]

600

400

Short-duration running region

Torque [N m]

100

Continuous running region

1000 2000

Speed [r/min]

(b) 400VAC-compatible

[HA-LF30K24] (Note)

400

300

Short-dur ation running region

200

Torque [N m]

100

Continuous running region

[HA-LF55K24] (Note)

800

1000 2000

Speed [r/min]

200

Torque [N m]

Continuo us running region

1000 2000

Speed [r/min]

[HA-LF37K24] (Note)

600

400

Short-duration running region

200

Torque [N m]

Continuous running region

1000 2000

Speed [r/min]

[HA-LF45K24] (Note)

600

Short-duration running region

400

Torque [N m]

200

Continuous running region

1000 2000

Speed [r/min]

600

Short-duration running region

400

Torque [N m]

200

Continuous running region

1000 2000

Speed [r/min]

Note. Assumes that the servo amplifier main circuit power supply is three-phase 400 VAC.

5 - 32

5. SPECIFICATIONS

(10) HA-LFS series

(a) 200VAC-compatible

[HA-LFS601]

180

120

Short-duration running region

Torque [N m]

Continuous running region

500

Speed [r/min]

[HA-LFS15K1]

450

300

Short-duration running region

150

Torque [N m]

Continuous running region

500

Speed [r/min]

10001200

[HA-LFS801]

300

200

Short-duration running region

100

Torque [N m]

Continuous running region

Speed [r/min]

[HA-LFS20K1]

600

400

Short-duration running region

200

Torque [N m]

Continuous running region

500

Speed [r/min]

500

10001200

1200

1000

[HA-LFS12K1]

400

300

Short-duration running region

200

Torque [N m]

100

Continuous running region

Speed [r/min]

[HA-LFS25K1]

800

600

Short-duration running region

400

Torque [N m]

200

Continuous running region

Speed [r/min]

500

1000 1200

10001200

[HA-LFS30K1]

800

600

Short-duration running region

400

Torque [N m]

200

Continuous running region

500

Speed [r/min]

[HA-LFS11K1M]

240

160

Short-duration running region

Torque [N m]

Continuous running region

500

Speed [r/min]

[HA-LFS37K1]

900

600

Short-duration running region

300

Torque [N m]

Continuo us running region

1000

1200

Speed [r/min]

500

10001200

[HA-LFS15K1M]

300

200

Short-duration running region

100

Torque [N m]

Continuo us running region

1500 20001000

500

Speed [r/min]

1000

1500 2000

[HA-LFS701M]

150

100

Short-duration running region

Torque [N m]

Continuous running region

1000 2000

500

Speed [r/min]

[HA-LFS22K1M]

400

300

Short-dur ation running region

200

Torque [N m]

100

Continuous running region

500 100 0 2000

Speed [r/min]

1500

5 - 33

Mitsubishi 1CW940 User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

About processing of waste

COMPLIANCE WITH EC DIRECTIVES

CONFORMANCE WITH UL/C-UL STANDARD

CONTENTS

1. INTRODUCTION

1.1 Servo motor features

1.2 Model name make-up (1) Rating plate

1.3 Parts identification

2. INSTALLATION

2.1 Environmental conditions

2.2 Installation orientation

2.3 Load remove precautions

2.4 Permissible load for the shaft

2.4.1 Without reduction gear

2.4.2 With reduction gear

2.5 Protection from oil and water

2.6 Cooling fan

2.7 Cable

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3.1 Makeups

3.1.3 HC-SF(S) HC-RF(S) HC-UF(S)2000r/min, HA-LH HA-LF HA-LFS HC-LFS series

3.1.4 HC-AQ series

3.1.5 HC-KFS HC-MFS HC-UFS3000r/min series

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

3.2 IP65, EN Standard-compliant options

3.3 Signal arrangement of encoder connectors

4. INSPECTION

5. SPECIFICATIONS

5.1 Standard specifications

5.2 Torque characteristics