Mitsubishi Electric HG-KN, HG-SN Instruction Manual

General-Purpose AC Servo

MODEL

HG-KN HG-SN

SERVO MOTOR INSTRUCTION MANUAL

D

Safety Instructions

Please read the instructions carefully before using the equipment.

To use the equipment correctly, do not attempt to install, operate, maintain or inspect the equipment until you have read through this Instruction Manual and appended documents carefully. Do not use the equipment 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".

WARNING

CAUTION

Note that the 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.

CAUTION level may lead to a serious consequence according to conditions.

Indicates that incorrect handling may cause hazardous conditions,

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 Instruction Manual, keep it accessible to the operator.

.

A - 1

1. To prevent electric shock, note the following

WARNING

Before wiring and inspections, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier. Ground the servo amplifier and servo motor securely. 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, it may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connections of the power supply terminals.

2. To prevent fire, note the following

CAUTION

Install the servo motor on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire. Provide an adequate protection to prevent screws and other conductive matter, oil and other combustible matter from entering the servo motor.

3. To prevent injury, note the following

CAUTION

Only the power/signal specified in the Instruction Manual must be supplied/applied to each terminal. Otherwise, an electric shock, fire, injury, etc. may occur. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. The servo motor, etc. may be hot while power is on and for some time after power-off. Take safety measures such as providing covers to avoid accidentally touching them by hands and parts such as cables. The surface temperature of the servo motor may exceed 100 ˚C depending on its mounting and operating conditions. During operation, never touch the rotor of the servo motor. Otherwise, it may cause injury.

A - 2

4. Additional instructions

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

(1) Transportation and installation

CAUTION

Transport the products correctly according to their mass. Stacking in excess of the specified number of product packages is not allowed. Do not hold the cables, connectors, shaft, or encoder when carrying the servo motor. Otherwise, it may drop. Install the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. Otherwise, it may cause injury. The equipment must be installed in the specified direction. Do not install or operate the servo motor which have been damaged or have any parts missing. Do not drop or strike the servo motor. Otherwise, injury, malfunction, etc. may occur. Securely fix the servo motor to the machine. If being attached insecurely, the motor may come off during operation. When handling the servo motor, be careful with the sharp edges of the servo motor, shaft keyway, or others. Do not strike the connector. Otherwise, a connection failure, malfunction, etc. may occur. Be sure to measure the vibration level with the servo motor mounted on the machine when checking the vibration level. A great vibration may cause the early damage of a bearing, encoder, and brake. The great vibration may also cause the poor connector connection or bolt looseness. For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform with a measurement device to check that no vibration occurs. If the vibration occurs due to high gain, the vibration may cause the early damage of the servo motor. Take safety measures, e.g. provide covers, to prevent accidental access to the rotor of the servo motor during operation. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. Otherwise, the encoder may malfunction. Do not subject the servo motor shaft to more than the permissible load. Otherwise, the shaft may break. To prevent a fire or injury from occurring in case of an earthquake or other natural disasters, securely install, mount, and wire the servo motor in accordance with the Instruction Manual. When you keep or use the equipment, please fulfill the following environment.

Item Environment

Ambient temperature

Storage -15 °C to 70 °C (non-freezing)

Ambient humidity

Storage 10 %RH to 90 %RH (non-condensing)

Altitude Max. 2000 m above sea level (Note)

HG-SN52/HG-SN102/HG-SN152 X, Y: 24.5 m/s2

Vibration resistance

HG-SN202/HG-SN302 X: 24.5 m/s2 Y: 49 m/s2

Note. Contact your local sales office for the altitude for options.

Ambience

Operation 0 °C to 40 °C (non-freezing)

Operation 10 %RH to 80 %RH (non-condensing)

Indoors (no direct sunlight), free from corrosive

gas, flammable gas, oil mist, dust, and dirt

HG-KN series X, Y: 49 m/s2

A - 3

(2) Wiring

CAUTION

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly. Make sure to connect the cables and connectors by using the fixing screws and the locking mechanism. Otherwise, the cables and connectors may be disconnected during operation. Do not install a power capacitor, surge killer, or radio noise filter (optional FR-BIF) on the servo amplifier output side. To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and servo motor. Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

W

M

Do not connect AC power supply directly to the servo motor. Otherwise, it may cause a malfunction. When the cable is not tightened enough to the terminal block, the cable or terminal block may generate heat because of the poor contact. Be sure to tighten the cable with specified torque.

(3) Test run and adjustment

CAUTION

Before operation, check the parameter settings. Improper settings may cause some machines to operate unexpectedly. Never make a drastic adjustment or change to the parameter values as doing so will make the operation unstable.

A - 4

(4) Usage

CAUTION

When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an external brake to prevent the condition. For equipment in which the moving part of the machine may collide against the load side, install a limit switch or stopper to the end of the moving part. The machine may be damaged due to a collision. Do not scratch the coated surface with hard objects nor clean the coated surface with an organic solvent. Doing so may scuff the surface. Do not disassemble, repair, or modify the product. Otherwise, an electric shock, fire, injury, etc. may occur. Disassembled, repaired, and/or modified products are not covered under warranty. Use the servo amplifier with the specified servo motor. Correctly wire options and peripheral equipment, etc. in the correct combination. Otherwise, an electric shock, fire, injury, etc. may occur. The electromagnetic brake on the servo motor is designed to hold the motor shaft and should not be used for ordinary braking. For such reasons as incorrect wiring, 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 motor shaft. To ensure safety, install a stopper on the machine side. If the dynamic brake is activated at power-off, alarm occurrence, etc., do not rotate the servo motor by an external force. Otherwise, it may cause a fire.

(5) Corrective actions

CAUTION

Ensure safety by confirming the power off, etc. before performing corrective actions. Otherwise, it may cause an accident. When it is assumed that a hazardous condition may occur due to a power failure or product malfunction, use a servo motor with an electromagnetic brake or external brake to prevent the condition. Configure an electromagnetic brake circuit which is interlocked with an external emergency stop switch.

Contacts must be opened when ALM (Malfunction) or MBR (Electromagnetic brake interlock) turns off.

Servo motor

B

Electromagnetic brake

When any alarm has occurred, eliminate its cause, ensure safety, and deactivate the alarm before restarting operation. Provide an adequate protection to prevent unexpected restart after an instantaneous power failure. To prevent an electric shock, injury, or fire from occurring after an earthquake or other natural disasters, ensure safety by checking conditions, such as the installation, mounting, wiring, and equipment before switching the power on.

Contacts must be opened with the emergency stop switch.

RA

24 V DC

A - 5

(6) Storage

CAUTION

Note the followings 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, check how to store the equipment. Though the 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 servo motor output shaft to confirm that nothing is wrong with the servo motor. When the servo motor is equipped with an electromagnetic brake, check it after releasing the electromagnetic brake with the brake power supply. When the product has been stored for an extended period of time, contact your local sales office.

(7) General instruction

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.

DISPOSAL OF WASTE

Please dispose a servo motor and other options according to your local laws and regulations.

«Cables used for wiring»

Wires mentioned in this Instruction Manual are selected based on the ambient temperature of 40 ˚C.

«U.S. customary units»

U.S. customary units are not shown in this manual. Convert the values if necessary according to the following table.

Mass 1 [kg] 2.2046 [lb] Length 1 [mm] 0.03937 [inch] Torque 1 [N•m] 141.6 [oz•inch] Moment of inertia 1 [(× 10-4 kg•m2)] 5.4675 [oz•inch2] Load (thrust load/axial load) 1 [N] 0.2248 [lbf] Temperature N [°C] × 9/5 + 32 N [°F]

Quantity SI (metric) unit U.S. customary unit

A - 6

1. INTRODUCTION

1.1 Rating plate

The following shows an example of rating plate for explanation of each item.

Model

Input power, rated current and rated output

Mass and insulation class

Rated speed

Induced voltage constant and maximum ambient temperature

Power factor and IP rating

Serial number (Note 1)

Country of origin and conforming standards

Manufacturer

0.57

31

MADE IN JAPAN FABRIQUÉ AU JA PON

HG-KN13J

112 0.8

98

100W

(Note 2)

MSIP-REI-MEK-BSM0060000000A

Note 1. Production year and month of the servo motor are indicated in a serial number on the rating plate.

The year and month are indicated by the last two digits of the year and one digit of the month [1 to 9, X (10), Y (11), and Z (12)]. For January 2012, the Serial No. is like, "SER. _ _ _ _ _ _ _ _ _ 121".

2. Products approved by Certification Bodies are marked. The marks depends on the Certification Bodies.

1 - 1

1. INTRODUCTION

A

)

1.2 Parts identification

(1) HG-KN series servo motor

Power cable (Note 1, 2)

Power lead (U/V/W) Grounding lead

Encoder cable (Note 1)

(2) HG-SN series servo motor

Servo motor shaft

Note 1. The encoder cable and power supply cable are options.

2.

Power supply connector (Note

Power supply (U/V/W) Grounding ( )

Note. The servo motor with an electromagnetic brake has the electromagnetic brake

n electromagnetic brake cable is separately required for the servo motor with an

electromagnetic brake.

Servo motor shaft

connector separately.

Encoder

Encoder connector

Encoder

1 - 2

1. INTRODUCTION

1.3 Electromagnetic brake

The electromagnetic brake is provided to prevent a drop at a power failure or alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock). The electromagnetic brake has a time lag. Ensure enough time between releasing the electromagnetic brake and starting the servo motor. Be sure to check the operation delay time with an actual machine. Configure an electromagnetic brake circuit so that it is activated also by an

CAUTION

The servo motor with an electromagnetic brake can be used to prevent a drop in vertical lift applications or to ensure double safety at an emergency stop, for example. When operating the servo motor, supply power to the electromagnetic brake to release the brake. Switching power off enables the electromagnetic brake.

(1) Electromagnetic brake power supply

Prepare the following power supply for use with the electromagnetic brake only. The electromagnetic brake terminals (B1/B2) have no polarity.

external emergency stop switch. For details of the circuit configuration and timing chart, refer to each servo amplifier instruction manual. While the electromagnetic brake is opened, the motor may be raised to high temperature regardless of driving. The life will be shortened under sudden acceleration/deceleration conditions.

B1

24 V DC power supply for electromagnetic brake

Switch

VAR

B

U

B2

Electromagnetic brake

24 V DC

or

power supply for electromagnetic brake

Switch

VAR

U

The surge absorber (VAR) must be installed between B1 and B2. For a selection example of the surge absorber, refer to "Electromagnetic brake characteristic" in the chapter of each servo motor series. When you use a diode for a surge absorber, the electromagnetic braking time will be longer.

(2) Sound generation

Though the brake lining may rattle during operation, it poses no functional problem. If braking sounds, it may be improved by setting the machine resonance suppression filter in the servo amplifier parameters. For details, refer to each servo amplifier instruction manual.

B2

B

Electromagnetic brake

1 - 3

1. INTRODUCTION

(3) Selection of surge absorbers for electromagnetic brake circuit

The following shows an example how to select a varistor with a surge absorber. (a) Selection conditions

Electromagnetic brake specification

Desired suppression voltage

Durable surge application time

(b) Tentative selection and verification of surge absorber

1) Maximum allowable circuit voltage of varistor Tentatively select a varistor whose maximum allowable voltage is larger than Vb [V].

2) Brake current (Ib)

Ib =

3) Energy (E) generated by brake coil

E =

4) Varistor limit voltage (Vi) From the energy (E) generated in the brake coil and the varistor characteristic diagram, calculate the varistor limit voltage (Vi) when the brake current (Ib) flows into the tentatively selected varistor during opening of the circuit. Vi is favorable when the varistor limit voltage (Vi) [V] is smaller than the desired suppressed voltage (Vs) [V]. If Vi is not smaller than Vs, reselect a varistor or improve the withstand voltage of devices.

5) Surge current width (τ) Given that the varistor absorbs all energies, the surge current width (τ) will be as follows.

τ =

6) Examining surge life of varistor From the varistor characteristic diagram, find the guaranteed current value (Ip) in which the number of the surge application life is N at the surge current width (τ). Calculate the guaranteed current value (Ip) ratio to brake current (Ib). If an enough margin is ensured for Ip/Ib, the number of the surge application life N [time] can be considered as favorable.

(4) Others

A leakage magnetic flux will occur at the shaft end of the servo motor equipped with an electromagnetic brake. Note that chips, screws, etc. are attracted.

Item Condition

R [Ω]: Resistance L [H]: Inductance Vb [V]: Power supply voltage Vs [V] or less

N times

Vb

[A]

R

2

L × lb

[J]

2

E

Vi × lb

[S]

Relay

24 V DC

U

Varistor

Brake coil

1 - 4

1. INTRODUCTION

1.4 Servo motor shaft shapes

In addition to the straight shaft, the key shaft and D cut shaft are available. The key shaft and D cut shaft cannot be used in very frequent start/stop applications. Since we cannot warrant the servo motor against fracture and similar accidents attributable to a loose key, use a friction coupling, etc. when coupling the shaft with a machine. The shaft shape of the standard servo motor changes depending on the series and capacity. Refer to the chapter of the servo motor series.

A

Shaft section view AA

A

Shaft section view AA

Key shaft (with 2 round end key) Key shaft (without key)

D cut shaft Straight shaft

1 - 5

1. INTRODUCTION

MEMO

1 - 6

2. INSTALLATION

WARNING

CAUTION

To prevent electric shock, ground each equipment securely.

Stacking in excess of the specified number of product packages is not allowed. Install the equipment on incombustible material. Installing them directly or close to combustibles will lead to smoke or a fire. Install the servo motor in a load-bearing place in accordance with the Instruction Manual. Do not get on or put heavy load on the equipment. Otherwise, it may cause injury. Use the equipment within the specified environment. For the environment, refer to the specifications of the servo motor series. Do not drop or strike the servo motor. Isolate it from all impact loads. Do not install or operate a faulty servo motor. Do not carry the servo motor by holding the cables, connectors, shaft, or encoder. Otherwise, it may drop. Securely fix the servo motor to the machine. If being attached insecurely, the motor may come off during operation, leading to injury. Be sure to measure the vibration level with the servo motor mounted on the machine when checking the vibration level. A great vibration may cause the early damage to a bearing, encoder, and brake. The great vibration may also cause the poor connector connection or bolt looseness. For the gain adjustment at the equipment startup, check the torque waveform and the speed waveform with a measurement device to check that no vibration occurs. If the vibration occurs due to high gain, the vibration may cause the early damage to the servo motor. Never hit the servo motor or shaft, especially when coupling the servo motor to the machine. Otherwise, the encoder may malfunction. When coupling a load to the servo motor, do not use a rigid coupling. Doing so can cause the shaft to break and the bearing to wear out. Balance the load to the extent possible. Not doing so can cause vibration during servo motor operation or damage the bearings and encoder. Take safety measures, e.g. provide covers, to prevent accidental access to the rotor 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, contact your local sales office. When handling the servo motor, be careful with the sharp edges of the servo motor, shaft keyway, or others. Do not use the servo motor where the shaft-through portion may be subject to pressure (e.g. compressed air). Applying air pressure to the inside of the servo motor may cause a malfunction.

2 - 1

2. INSTALLATION

2.1 Mounting direction

(1) Standard servo motor

The following table indicates the mounting direction of the standard servo motor.

For mounting in the horizontal direction, it is recommended to set the connector section downward. When mounting the motor vertically or obliquely, give a little slack for the connection cable.

Servo motor series Mounting direction

HG-KN HG-SN

All direction

Little slack

(2) Servo motor with an electromagnetic brake

The servo motor with an electromagnetic brake can also be installed in the same orientation as the standard servo motor. When the servo motor with an electromagnetic brake is installed with the shaft end at top, the brake plate may generate sliding sound but it is not a fault.

2 - 2

2. INSTALLATION

2.2 Load mounting/dismounting precautions

During assembling, the shaft end must not be hammered. Otherwise, the encoder may malfunction.

CAUTION

Do not process the shaft to avoid damage to the encoder and bearing.

(1) When mounting a pulley to the servo motor with a key shaft, 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

Pulley

Washer

(2) For the shaft without a key, use a friction coupling or the like.

(3) When removing the pulley, use a pulley remover to protect the shaft from hard load and or 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 your local sales

office.

(6) The direction of the encoder on the servo motor cannot be changed.

(7) When mounting the servo motor, use spring washers, etc. and fully tighten the bolts so that they do not

become loose due to vibration.

2 - 3

2. INSTALLATION

2.3 Permissible load for the shaft

CAUTION

For the permissible shaft load specific to the servo motor, refer to the chapter of the servo motor series.

(1) Use a flexible coupling and adjust the misalignment of the shaft to less than the permissible radial load.

(2) When using a pulley, sprocket, or timing belt, keep the radial load within the permissible value.

(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 Protection from oil and water

Do not use a rigid coupling as it may apply excessive bending load to the shaft of the servo motor, leading the shaft to break and the bearing to wear out.

Provide adequate protection to prevent foreign matter, such as oil from entering the servo motor shaft. When installing the servo motor, consider the items in this section.

(1) Do not use the direct drive motor with its cable soaked in oil or water.

Cover

Servo motor

Oil/water pool

Capillary action

(2) 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

(3) If oil such as cutting oil drops on the servo motor, the sealant, packing, cable and others may be affected

depending on the oil type.

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

standard specifications servo motor may not be usable. Please contact your local sales office.

2 - 4

2. INSTALLATION

2.5 Cable

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

2.6 Servo motor with oil seal

For the servo motor with oil seal, the oil seal prevents the entry of oil into the servo motor. Make sure to install it according in this section. The functions have no problem even if the servo motor with oil seal may sound during operation.

(1) Pressure and oil level

Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip always. If the oil level is higher than the oil seal lip, the oil enter the servo motor and may cause a malfunction. Refer to the chapter of the servo motor series for the height above oil level.

Shaft

Gear

Servo motor

Height above oil level h

Lip

Oil seal

High pressure against the oil seal causes the abrasion and makes the life be short. Keep constant internal pressure by equipping a ventilator to the gear box.

(2) Temperature

High temperature against the oil seal lip makes the life be short. Avoid exposing the oil seal lip to high temperature oil since applicable temperature of the material is up to 100 °C and temperature of the oil seal lip rises within 10 °C to 15 °C at maximum rotation.

2 - 5

2. INSTALLATION

2.7 Inspection items

Before starting maintenance and/or inspection, turn off the power and wait for 15 minutes or more until the charge lamp turns off. Otherwise, an electric shock may

WARNING

CAUTION

It is recommended that the following points periodically be checked.

(1) Check the bearings, brake section, etc. for unusual noise.

(2) Check the cables and the like for scratches or cracks. Especially when the cable is movable, perform

periodic inspections according to operating conditions.

(3) Check the servo motor shaft and coupling for misalignment.

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

2.8 Parts having service life

occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier. To avoid an electric shock, only qualified personnel should attempt inspections. For repair and parts replacement, contact your local sales office.

Do not perform insulation resistance test on the servo motor. Otherwise, it may cause a malfunction. Do not disassemble and/or repair the equipment on customer side.

Service life of the following parts is listed below. However, the service life varies depending on operating methods and environment. If any fault is found in the parts, they must be replaced immediately regardless of their service life. For parts replacement, please contact your local sales office.

Part name Life guideline

Bearings

Encoder

Oil seal 5000 hours

20,000 hours to

30,000 hours

20,000 hours to

30,000 hours

(1) Bearings

When the motor is run at rated speed under rated load, bearings should be exchanged 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.

(2) Oil seal

Oil seals must be changed in 5,000 hours of operation at rated speed as a guideline. They must also be changed if oil leakage, etc. is found during inspection. The functions have no problem even if an oil seal may sound during operation.

2 - 6

2. INSTALLATION

2.9 Machine accuracies

The following table indicates the machine accuracies of the servo motor around the output shaft and mounting. (except the optional products)

Accuracy [mm]

Runout of flange surface to output shaft

Runout of fitting OD of flange surface b) 0.04 0.04 0.06 Runout of output shaft end c) 0.02 0.02 0.03

Measuring

position

a) 0.05 0.06 0.08

100 × 100

or less

a)

A

b)

A

c)

Flange size

130 × 130 176 × 176

2.10 Mounting servo motors

Be sure to use the servo motor within the specified environment, and mount the servo motor on a machine having the equivalent heat dissipation effect as the following aluminum flange. The temperature of the servo motor increases differently depending on its mounting environment, operating conditions, etc. Make sure to check the temperature with an actual machine.

Flange size [mm]

250 × 250 × 6 13/23 250 × 250 × 12 43 52/102/152 300 × 300 × 12 73 300 × 300 × 20 202/302

Servo motor

HG-KN HG-SN

2.11 Restrictions when using the equipment at altitudes exceeding 1000 m and up to 2000 m above sea level

As heat dissipation effects decrease in proportion to decreasing air density, use the equipment within the effective load ratio and regenerative load ratio shown in the following figure.

[%]

100

95

Effective load ratio

0

Regenerative load ratio

Altitude

[m]

20001000

2 - 7

2. INSTALLATION

MEMO

2 - 8

3. CONNECTORS USED FOR SERVO MOTOR WIRING

r

3. CONNECTORS USED FOR SERVO MOTOR WIRING

POINT

The IP rating indicated is the connector's protection against ingress of dust and water when the connector is connected to a servo motor. If the IP rating of the connector, and servo motor vary, the overall IP rating depends on the lowest IP rating of all components.

3.1 Selection of connectors

Use the connector configuration products given in the table as the connectors for connection with the servo motor. Refer to section 3.2 and 3.3 for the compatible connector configuration products.

(1) HG-KN series

Electromagnetic brake connector

Power supply connector

Encoder connector

Wiring connector

Servo motor

HG-KN_

For encoder For power supply

Connector

configuration A

Connector

configuration B

For electromagnetic

brake

Connector

configuration C

(2) HG-SN series

Electromagnetic brake connecto

Power supply connector

Encoder connector

Wiring connector

Servo motor

HG-SN52 HG-SN102 HG-SN152 HG-SN202 HG-SN302

For encoder For power supply

Connector

configuration D

configuration E

Connector

configuration G

For electromagnetic

brake

Connector

configuration F

3 - 1

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3.2 Wiring connectors (connector configurations A/B/C)

Connector

configuration

A

(for encoder)

Feature Connector Crimping tool

Connector: 2174053-1

IP65

(TE Connectivity)

Note. The connector to be mated.

Connector

configuration

B

(for power

supply)

Feature Connector Crimping tool

Connector: KN4FT04SJ1-R HOOD/SOCKET

INSULATOR/BUSHING/GROUND NUT

IP65

Contact: ST-TMH-S-C1B-100 (A534G) (JAE)

Note. The connector to be mated.

For ground clip: 1596970-1 For receptacle contact: 1596847-1 (TE Connectivity)

CT170-14-TMH5B (JAE)

Servo motor encoder

connector (Note)

1674339-1 (TE Connectivity)

Servo motor power

connector (Note)

JN4AT04NJ1 (JAE)

Connector

configuration

C

(for

electromagnetic

brake)

Feature Connector Crimping tool

Connector: JN4FT02SJ1-R HOOD/SOCKET

INSULATOR/BUSHING/GROUND NUT

IP65

Contact: ST-TMH-S-C1B-100 (A534G) (JAE)

Note. The connector to be mated.

CT170-14-TMH5B (JAE)

Servo motor

electromagnetic brake

connector (Note)

JN4AT02PJ1 (JAE)

3 - 2

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3.3 Wiring connectors (connector configurations D/E/F/G)

Angle plug

Straight plug

(one-touch connection type)

Straight plug (screw type)

(one-touch connection type)

Angle plug

(screw type)

Connector

configuration

(for encoder)

Feature

D

IP67

Type Plug Socket contact Contact shape

CMV1-SP10S-M1 (one-touch connection

type) CMV1S-SP10S-M1 (screw type)

Straight

CMV1-SP10S-M2 (one-touch connection

type) CMV1S-SP10S-M2 (screw type)

CMV1-AP10S-M1 (one-touch connection

type) CMV1S-AP10S-M1 (screw type)

Angle

CMV1-AP10S-M2 (one-touch connection

type) CMV1S-AP10S-M2 (screw type)

Note. The connector to be mated.

Plug (DDK)

CMV1-#22ASC-S1-100

CMV1-#22ASC-C1-100

CMV1-#22ASC-C2-100

CMV1-#22ASC-S1-100

CMV1-#22ASC-C1-100

CMV1-#22ASC-C2-100

CMV1-#22ASC-S1-100

CMV1-#22ASC-C1-100

CMV1-#22ASC-C2-100

CMV1-#22ASC-S1-100

CMV1-#22ASC-C1-100

CMV1-#22ASC-C2-100

Soldering type Applicable wire size: AWG 20 or less Crimping type Applicable wire size: AWG 24 to 20

The crimping tool (357J-53162T) is required.

Crimping type Applicable wire size: AWG 28 to 24

The crimping tool (357J-53163T) is required.

Soldering type Applicable wire size: AWG 20 or less Crimping type Applicable wire size: AWG 24 to 20

The crimping tool (357J-53162T) is required.

Crimping type Applicable wire size: AWG 28 to 24

The crimping tool (357J-53163T) is required.

Soldering type Applicable wire size: AWG 20 or less Crimping type Applicable wire size: AWG 24 to 20

The crimping tool (357J-53162T) is required.

Crimping type Applicable wire size: AWG 28 to 24

The crimping tool (357J-53163T) is required.

Soldering type Applicable wire size: AWG 20 or less Crimping type Applicable wire size: AWG 24 to 20

The crimping tool (357J-53162T) is required.

Crimping type Applicable wire size: AWG 28 to 24

The crimping tool (357J-53163T) is required.

Cable

OD

[mm]

(reference)

5.5 to 7.5

7.0 to 9.0

5.5 to 7.5

7.0 to 9.0

Servo motor

encoder

connector

(Note)

CMV1-R10P

3 - 3

3. CONNECTORS USED FOR SERVO MOTOR WIRING

Plug Cable clamp Cable Plug Cable clamp Cable

Connector

configuration

E

(for power

supply)

Feature

IP67 EN compliant

(Note 1) General

environment

Type Model

Straight

Angle

Straight

Angle

Note 1. Not comply with EN.

2. The connector to be mated.

Plug (DDK) Cable clamp (DDK)

Cable OD

[mm] (reference)

CE05-6A18-10SD-D-BSS Applicable wire size: AWG 14 to 12

CE05-8A18-10SD-D-BAS Applicable wire size: AWG 14 to 12

D/MS3106B18-10S Applicable wire size: AWG 14 to 12 D/MS3108B18-10S Applicable wire size: AWG 14 to 12

8.5 to 11 CE3057-10A-2-D

10.5 to 14.1 CE3057-10A-1-D

8.5 to 11 CE3057-10A-2-D

10.5 to 14.1 CE3057-10A-1-D

14.3 or less (bushing ID)

Model

D/MS3057-10A

Servo motor

power connector

(Note 2)

MS3102A18-10P

3 - 4

3. CONNECTORS USED FOR SERVO MOTOR WIRING

Angle plug

Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is

required. Soldering type Applicable wire size: AWG 16 or less Crimping type Applicable wire size: AWG 20 to 16 The crimping tool (357J-53164T) is

required.

Straight plug

(one-touch connection type)

Connector

configuration

electro-

magnetic

brake)

F

(for

Feature

IP67

Type Plug Socket contact Contact shape

CMV1-SP2S-S (one-touch connection

type) CMV1S-SP2S-S (screw type)

CMV1-SP2S-M1 (one-touch connection

type) CMV1S-SP2S-M1 (screw type)

Straight

CMV1-SP2S-M2 (one-touch connection

type) CMV1S-SP2S-M2 (screw type)

CMV1-SP2S-L (one-touch connection

type) CMV1S-SP2S-L (screw type)

CMV1-AP2S-S (one-touch connection

type) CMV1S-AP2S-S (screw type)

CMV1-AP2S-M1 (one-touch connection

type) CMV1S-AP2S-M1 (screw type)

Angle

CMV1-AP2S-M2 (one-touch connection

type) CMV1S-AP2S-M2 (screw type)

CMV1-AP2S-L (one-touch connection

type) CMV1S-AP2S-L (screw type)

Note. The connector to be mated.

Straight plug (screw type)

Plug (DDK) Servo motor

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

CMV1-#22BSC-S2-100

CMV1-#22BSC-C3-100

(one-touch connection type)

Angle plug

(screw type)

Cable

OD

[mm]

(reference)

4.0 to 6.0

5.5 to 7.5

7.0 to 9.0

9.0 to 11.6

4.0 to 6.0

5.5 to 7.5

7.0 to 9.0

9.0 to 11.6

electro-

magnetic

brake

connector

(Note)

CMV1-R2P

3 - 5

3. CONNECTORS USED FOR SERVO MOTOR WIRING

Plug Cable clamp Cable Plug Cable clamp Cable

Connector

configuration

G

(for power

supply)

Feature

IP67 EN compliant

(Note 1) General

environment

Type Model

Straight

Angle

Straight

Angle

Note 1. Not comply with EN.

2. The connector to be mated.

Plug (DDK) Cable clamp (DDK)

Cable OD

[mm] (reference)

CE05-6A22-22SD-D-BSS Applicable wire size: AWG 10 to 8

CE05-8A22-22SD-D-BAS Applicable wire size: AWG 10 to 8

D/MS3106B22-22S Applicable wire size: AWG 10 to 8 D/MS3108B22-22S Applicable wire size: AWG 10 to 8

9.5 to 13 CE3057-12A-2-D

12.5 to 16 CE3057-12A-1-D

9.5 to 13 CE3057-12A-2-D

12.5 to 16 CE3057-12A-1-D

15.9 or less (bushing ID)

Model

D/MS3057-12A

Servo motor

power connector

(Note 2)

MS3102A22-22P

3 - 6

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

Any person who is involved in wiring should be fully competent to do the work. Ground the servo motor securely. Do not attempt to wire the servo motor until it has been mounted. Otherwise, it

WARNING

CAUTION

may cause an electric shock. The cables should not be damaged, stressed, loaded, or pinched. Otherwise, it may cause an electric shock. To avoid an electric shock, insulate the connections of the power supply terminals.

Wire the equipment correctly and securely. Otherwise, the servo motor may operate unexpectedly, resulting in injury. Connect cables to the correct terminals. Otherwise, a burst, damage, etc. may occur. Ensure that polarity (+/-) is correct. Otherwise, a burst, damage, etc. may occur. Do not install a power capacitor, surge killer or radio noise filter (optional FR-BIF) with the power line of the servo motor. Do not modify the equipment. Connect the servo amplifier power output (U/V/W) to the servo motor power input (U/V/W) directly. Do not let a magnetic contactor, etc. intervene. Otherwise, it may cause a malfunction.

Servo amplifier

U

V

W

Servo motor

U

V

W

Servo motorServo amplifier

U

M

V

W

U

V

W

M

Before wiring, switch operation, etc., eliminate static electricity. Otherwise, it may cause a malfunction.

4 - 1

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

4.1 Connection instructions

To avoid a malfunction, connect the wires to the correct phase terminals (U/V/W) of the servo amplifier and servo motor. Do not connect AC power supply directly to the servo motor. Otherwise, it may cause a malfunction.

CAUTION

For grounding, connect the grounding lead wire from the servo motor to the protective earth (PE) terminal of the servo amplifier, and then connect the wire from the servo amplifier to the ground via the protective earth of the cabinet. Do not connect the wire directly to the protective earth of the cabinet.

Do not use the 24 V DC interface power supply for the electromagnetic brake. Always use the power supply designed exclusively for the electromagnetic brake. Otherwise, it may cause a malfunction.

POINT

Refer to chapter 5 for the selection of the encoder cable. Refer to the chapter of the servo motor series for the selection of a surge absorber for the electromagnetic brake.

Cabinet

Servo motorServo amplifier

PE

terminal

(Note)

Note. The number of PE terminals of the servo amplifier differs depending on the amplifier

types.

4 - 2

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

r

4.2 Wiring

To wire to the servo amplifier, use connectors packed with the amplifier or optional connectors. For servo amplifier terminals, refer to each servo amplifier instruction manual.

4.2.1 HG-KN series servo motor

(1) Servo motor power supply cable wiring diagrams

(a) When cable length is 10 m or less

10 m or less

MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A2-L

CNP3

U V

MR-PWS1CBL_M-A1-H MR-PWS1CBL_M-A2-H

(Red) (White) (Black)

(Green/yellow)

Servo motorServo amplifier

U V

WW

M

(b) When cable length exceeds 10 m

Fabricate an extension cable as shown below. In addition, the motor power supply cable should be within 2 m. Refer to section 4.3 for the wire used for the extension cable.

Servo amplifier

CNP3

U V

Note. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

Junction connector

a) Junction connector for

extension cable

b)

Junction connector for motor power supply cable

50 m or less 2 m or less

Extension cable

(Note) a) Junction connector for

extension cable

Connector: RM15WTPZ-4P(71) Cord clamp: JR13WCC-5(72) (Hirose Electric) Connector: RM15WTJZ-4S(81) Cord clamp: JR13WCC-8(72) (Hirose Electric)

Numeral changes depending on the cable OD.

MR-PWS1CBL2M-A1-L MR-PWS1CBL2M-A2-L MR-PWS1CBL2M-A1-H MR-PWS1CBL2M-A2-H MR-PWS2CBL03M-A1-L MR-PWS2CBL03M-A2-L

(Red) (White) (Black)

(Green/yellow)

(Note) b) Junction connector for

motor power supply cable

Description IP rating

Servo moto

U V

M

WW

IP65

4 - 3

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

(2) Electromagnetic brake cable wiring diagrams

(a) When cable length is 10 m or less

10 m or less

MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A2-L

(Note 3)

24 V DC power supply

for electromagnetic

brake

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. There is no polarity in electromagnetic brake terminals (B1/B2).

3. Do not use the 24 V DC interface power supply for the electromagnetic brake.

4. Create the circuit in order to shut off by interlocking with the emergency stop switch.

(Electromagnetic

brake interlock)

When fabricating the electromagnetic brake cable MR-BKS1CBL-_M_, refer to section 5.4 and section 5.5.

(b) When cable length exceeds 10 m

Fabricate an extension cable as shown below. In addition, the electromagnetic brake cable should be within 2 m. Refer to section 4.3 for the wire used for the extension cable.

(Note 5)

24 V DC power supply

for electromagnetic

brake

(Electromagnetic

brake interlock)

MBR

ALM

(Malfunction)

50 m or less

Extension cable (To be fabricated)

ALM

(Malfunction)

(Note 4)

(Note 1)

(Note 3)

(Note 1)

MR-BKS1CBL_M-A1-H MR-BKS1CBL_M-A2-H

U

MR-BKS1CBL2M-A1-L MR-BKS1CBL2M-A2-L MR-BKS1CBL2M-A1-H MR-BKS1CBL2M-A2-H MR-BKS2CBL03M-A1-L MR-BKS2CBL03M-A2-L

U

AWG 20

2 m or less

AWG 20

Servo motor (Note 2)

B1

B

B2

Servo motor (Note 4)

B1

B

B2

(Note 2) a) Junction connector for

extension cable

Note 1. Connect a surge absorber as close to the servo motor as possible.

2. Use of the following connectors is recommended when ingress protection (IP65) is necessary.

Junction connector Description IP rating

Junction connector for

a)

extension cable

b)

Junction connector for electromagnetic brake cable

3. Create the circuit in order to shut off by interlocking with the emergency stop switch.

4. There is no polarity in electromagnetic brake terminals (B1/B2).

5. Do not use the 24 V DC interface power supply for the electromagnetic brake.

CM10-CR2P- (DDK)

Wire size: S, M, L

CMV1-SP2S- (DDK)

Wire size: S, M1, M2, L

(Note 2) b) Junction connector for

electromagnetic brake cable

IP65

4 - 4

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

4.2.2 HG-SN series servo motor

Refer to section 4.3 for the wires used for wiring.

(1) Wiring

50 m or less

(Note 4) CNP2

U V

W

Servo motorServo amplifier

U V W

M

(Note 2)

24 V DC power supply

for electromagnetic

brake

Note 1. There is no polarity in electromagnetic brake terminals (B1/B2).

2. Do not use the 24 V DC interface power supply for the electromagnetic brake.

3. Create the circuit in order to shut off by interlocking with the emergency stop switch.

4. The name and shape of connector differ depending on the servo amplifier types.

MBR

(Electromagnetic

brake interlock)

RA2

ALM

(Malfunction)

RA1

(Note 3)

RA3

B1

U

B2

(Note 1)

B

4 - 5

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

(2) Connector

The connector fitting the servo motor is prepared as optional equipment. Refer to chapter 5 for details of the options. For types other than those prepared as optional equipment, refer to chapter 3.

Servo motor

HG-SN52 HG-SN102 HG-SN152 HG-SN202 HG-SN302

Encoder Power supply

CMV1-R10P

(DDK)

The followings show the encoder connector, power connector, and electromagnetic brake connector viewed from the connection side.

Encoder connector

CMV1-R10P

Power connector MS3102A18-10P MS3102A22-22P

Terminal

7

10

9

8

3

6

2

5

1

4

9 10 SHD

No.

1 MR A U 2 MRR B V B1 3 C W 4 BAT 5 LG (PE) 6 7 8 P5

Signal

CD

AB

Terminal

No.

D

Servo motor-side connectors

MS3102A18-10P

MS3102A22-22P

Electromagnetic brake connector

Signal

Electromagnetic

CMV1-R2P

Terminal

No.

12

1

2

Note. For the motor

brake

CMV1-R2P

(DDK)

with an electromagnetic brake, supply electromagnetic brake power (24 V DC). There is no polarity.

Signal

(Note)

B2

4 - 6

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

4.3 Selection example of wires

POINT

Wires indicated in this section are separated wires. When using a cable for power line (U/V/W) between the servo amplifier and servo motor, use a 600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT). For selection of cables, refer to app. 6. To comply with the UL/CSA standard, use the wires shown in app. 4 for wiring. To comply with other standards, use a wire that is complied with each standard. Selection conditions of wire size are as follows.

Construction condition: Single wire set in midair Wire length: 30 m or less

The following diagram shows the wires used for wiring. Use the wires given in this section or equivalent.

Servo amplifier

1) Servo motor power lead Servo motor

U V

W

2) Electromagnetic brake lead

Encoder cable

U

V

Motor

W

B1 B2

Encoder

Electromagnetic brake

The following shows examples for using the 600 V Grade heat-resistant polyvinyl chloride insulated wire (HIV wire).

Table 4.1 Wire size selection example 2 (HIV wire)

Servo motor

HG-KN13 HG-KN23 HG-KN43 HG-KN73

HG-SN52 HG-SN102 HG-SN152 HG-SN202 HG-SN302 3.5 (AWG 12)

1) U/V/W/ 2) B1/B2

0.75 (AWG 18) (Note) 0.5 (AWG 20) (Note)

1.25 (AWG 16)

2 (AWG 14)

Wire [mm

2

]

1.25 (AWG 16)

Note. It is for 10 m wire length. When fabricating an extension cable, use 1.25 mm2 (AWG 16).

4 - 7

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

MEMO

4 - 8

5. WIRING OPTION

Before connecting options, turn off the power and wait for 15 minutes or more

WARNING

until the charge lamp turns off. Otherwise, an electric shock may occur. In addition, when confirming whether the charge lamp is off or not, always confirm it from the front of the servo amplifier.

CAUTION

5.1 Cable/connector sets

Please purchase the cable and connector options indicated in this section for the servo motor.

Use specified options. Otherwise, it may cause a malfunction or fire.

POINT

The IP rating indicated for cables and connectors is their protection against ingress of dust and raindrops when they are connected to a servo motor. If the IP rating of the cable, connector, and servo motor vary, the overall IP rating depends on the lowest IP rating of all components.

5 - 1

5. WIRING OPTION

r

5.1.1 Combinations of cable/connector sets

(1) HG-KN series servo motor

Servo amplifier

Direct connection (cable length 10 m or less, IP65)

13) 14) 15) 16)

CNP1

CN2

Junction connection (cable length more than 10 m, IP65)

Junction connection (cable length more than 10 m, IP20)

To 24 V DC power supply for electromagnetic brake

24) 25)

19) 20)

7) 8) 9) 10)

1) 2) 3) 4)

Power supply connector

26)

21)

11) 12)

5) 6)

22) 23)

17) 18)

Electromagnetic brake connector

Servo motor HG-KN

Encoder connector

(2) HG-SN series servo motor

Servo amplifier

(Note) CNP2

Note. The name and shape of connector differ depending on the servo amplifier types. For connector details, refer to each

servo amplifier instruction manual.

CN2

24) 25)

29) 30) 32) 33)

27) 28)

Power supply connector

26) 31) 34) 35)

Electromagnetic brake connector

Servo motor HG-SN

Encoder connecto

5 - 2

5. WIRING OPTION

r

5.1.2 Cable and connector list

No. Product name Model Description Remark

1) Servo motor power cable

2) Servo motor power cable

3) Servo motor power cable

4) Servo motor power cable

5) Servo motor power cable

6) Servo motor power cable

7) Electromagnetic brake cable

8) Electromagnetic brake cable

9) Electromagnetic brake cable

10) Electromagnetic brake cable

MRPWS1CBL_MA1-L (Note)

Cable length:

2/5/10 m

MRPWS1CBL_MA1-H (Note)

Cable length:

2/5/10 m

MRPWS1CBL_MA2-L (Note)

Cable length:

2/5/10 m

MRPWS1CBL_MA2-H (Note)

Cable length:

2/5/10 m

MRPWS2CBL03M

-A1-L (Note) Cable length:

0.3 m

MRPWS2CBL03M

-A2-L (Note) Cable length:

0.3 m

MRBKS1CBL_MA1-L

Cable length:

2/5/10 m

MRBKS1CBL_MA1-H

Cable length:

2/5/10 m

MRBKS1CBL_MA2-L

Cable length:

2/5/10 m

MRBKS1CBL_MA2-H

Cable length:

2/5/10 m

Refer to section 5.3 for details.

Refer to section 5.4 for details.

Power supply connector

HG-KN series

Power supply connecto

HG-KN series

Power supply connector

HG-KN series

Power supply connector

HG-KN series

Electromagnetic brake connector

HG-KN series

Electromagnetic brake connector

HG-KN series

IP65 Load-side

lead

IP65 Load-side

lead Long

bending life

IP65 Opposite

to loadside lead

IP65 Opposite

to loadside lead

Long bending life

IP55 Load-side

lead

IP55 Opposite

to loadside lead

IP65 Load-side

lead

IP65 Load-side

lead Long

bending life IP65 Opposite

to loadside lead

IP65 Opposite

to loadside lead

Long bending life

5 - 3

5. WIRING OPTION

r

No. Product name Model Description Remark

11) Electromagnetic brake cable

12) Electromagnetic brake cable

13) Encoder cable MR-

14) Encoder cable MR-

15) Encoder cable MR-

16) Encoder cable MR-

17) Encoder cable MR-

18) Encoder cable MR-

MRBKS2CBL03MA1-L

Cable length:

0.3 m

MRBKS2CBL03MA2-L

Cable length:

0.3 m

J3ENCBL_MA1-L (Note)

Cable length:

2/5/10 m

J3ENCBL_MA1-H (Note)

Cable length:

2/5/10 m

J3ENCBL_MA2-L (Note)

Cable length:

2/5/10 m

J3ENCBL_MA2-H (Note)

Cable length:

2/5/10 m

J3JCBL03MA1-L (Note)

Cable length:

0.3 m

J3JCBL03MA2-L (Note)

Cable length:

0.3 m

Refer to section 5.4 for details.

Electromagnetic brake connector

Refer to section 5.4 for details.

Refer to section 5.2 (1) for details.

Refer to section 5.2 (3) for details.

Electromagnetic brake connecto

HG-KN series

Encoder connector

HG-KN series

Encoder connector

HG-KN series

Encoder connector

HG-KN series

Encoder connector

HG-KN series

IP55 Load-side

lead

IP55 Opposite

to loadside lead

IP65 Opposite to loadside lead

IP65 Load-side

lead Long

bending life

IP65 Opposite

to loadside lead

IP65 Opposite

to loadside lead

Long bending life

IP20 Load-side

lead

IP20 Opposite

to loadside lead

19) Encoder cable MR-EKCBL_M-

L Cable length:

20/30 m

20) Encoder cable MR-EKCBL_M-

H Cable length: 20/30/40/50 m

21) Encoder connector set

MR-ECNM

Refer to section 5.2 (3) for details.

HG-KN series Refer to section 5.2 (2) for details. IP20

HG-KN series Refer to section 5.2 (2) for details.

IP20

Long bending life

IP20

5 - 4

5. WIRING OPTION

r

No. Product name Model Description Remark

22) Encoder cable MR-

J3JSCBL03MA1-L (Note)

Cable length:

0.3 m

Refer to section 5.2 (4) for details.

23) Encoder cable MR-

J3JSCBL03MA2-L (Note)

Cable length:

0.3 m Refer to section 5.2 (4) for details.

24) Encoder cable MRJ3ENSCBL_ML (Note)

Cable length: 2/5/10/20/30 m

25) Encoder cable MRJ3ENSCBL_MH (Note)

Cable length: 2/5/10/20/30/40

/50 m

26) Encoder

connector set

HG-KN/HG-SN series

27) Power connector

set

28) Power connector

set

29) Electromagnetic

brake connector set

30) Electromagnetic

brake connector set

31) Encoder

Connector set

MR-J3SCNS (Note)

MR-PWCNS4 Plug: CE05-6A18-10SD-D-BSS

MR-PWCNS5 Plug: CE05-6A22-22SD-D-BSS

MR-BKCNS1 (Note)

MR-BKCNS1A (Note)

MR-J3SCNSA (Note)

HG-KN/HG-SN series Refer to section 5.2 (5) for details.

IP67

Refer to section 5.2 (5) for details.

Cable clamp: CE3057-10A-1-D (DDK) Applicable cable Applicable wire size: 2 mm

Cable outer diameter: 10.5 mm to 14.1 mm

Cable clamp: CE3057-12A-1-D (DDK) Applicable cable Applicable wire size: 5.5 mm

Cable outer diameter: 12.5 mm to 16 mm Straight plug: CMV1-SP2S-L Socket contact: CMV1-#22BSC-S2-100 (DDK) Angle plug: CMV1-AP2S-L Socket contact: CMV1-#22BSC-S2-100 (DDK)

2

to 3.5 mm

(AWG 14 to 12)

2

to 8 mm

(AWG 10 to 8)

Encoder connecto

HG-KN series

Encoder connector

HG-KN series

2

HG-SN series

HG-SN52 HG-SN102 HG-SN152

HG-SN202 HG-SN302

IP65 Load-side

lead

IP65 Load-side

lead

IP67 Standard

bending life

Long bending life

IP67

IP67 EN

compliant

IP67 EN

compliant

IP67

HG-SN series

Refer to section 5.2 (5) for details.

5 - 5

5. WIRING OPTION

No. Product name Model Description Remark

32) Electromagnetic brake connector set

33) Electromagnetic brake connector set

34) Encoder connector set

HG-SN series

35) Encoder connector set

MR-BKCNS2 Straight plug: CMV1S-SP2S-L

Socket contact: CMV1-#22BSC-S2-100 (DDK)

MR-BKCNS2A Angle plug: CMV1S-AP2S-L

Socket contact: CMV1-#22BSC-S2-100 (DDK)

MR-ENCNS2

Refer to section 5.2 (5) for details.

MR-ENCNS2A

HG-SN series

IP67

HG-SN series

Refer to section 5.2 (5) for details.

Note. The cable and the connector set may contain different connectors but still usable.

5.2 Encoder cable/connector sets

POINT

For the CN2 side connector, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

Cable

Ground plate

Screw

Encoder cables are not subject to European Low Voltage Directive (50 V AC to 1000 V AC and 75 V DC to 1500 V DC).

(1) MR-J3ENCBL_M-_-_

These cables are encoder cables for the HG-KN series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. The cables of the lengths with the numbers are available.

Cable model

MR-J3ENCBL_M-A1-L 2 5 10 IP65 Standard

MR-J3ENCBL_M-A1-H 2 5 10 IP65

MR-J3ENCBL_M-A2-L 2 5 10 IP65 Standard

MR-J3ENCBL_M-A2-H 2 5 10 IP65

Cable length

2 m 5 m

IP rating Bending life Application

10 m

Long

bending life

Long

bending life

Load-side lead for HG-KN servo motor

Opposite to load-side lead for HGKN servo motor

5 - 6

5. WIRING OPTION

(a) Connection of servo amplifier and servo motor

MR-J3ENCBL_M-A1-L MR-J3ENCBL_M-A1-H

Servo amplifier

CN2

Cable model 1) CN2-side connector 2) Encoder-side connector

MR-J3ENCBL_M-A1-L Receptacle: 36210-0100PL

Shell kit: 36310-3200-008 (3M or equivalent)

MR-J3ENCBL_M-A1-H

MR-J3ENCBL_M-A2-L

MR-J3ENCBL_M-A2-H

2

LG 8

1

P5

View seen from the wiring side. (Note)

Note. Do not connect anything to the pins shown as . Especially, pin

6

4

MRR

5

3

MR

10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring to POINT of section 5.2, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

10

9

BAT

7

1)

MR-J3ENCBL_M-A2-L MR-J3ENCBL_M-A2-H

1)

Connector set: 54599-1019 (Molex)

2

4

MRR

LG

or

1P53

View seen from the wiring side. (Note)

5

MR

or

8610

79

BAT

2)

Servo motor HG-KN

2)

Servo motor HG-KN

Connector: 2174053-1 Crimping tool for ground clip:

1596970-1 Crimping tool for receptacle

contact: 1596847-1 (TE Connectivity)

SHD

9 7 5MR 3P5 1

View seen from the wiring side. (Note)

Note. Do not connect anything

to the pins shown as

.

(b) Cable internal wiring diagram

CN2-side

connector

Encoder-side

connector

8 6LG

MRR

4

BAT

2

P5 LG MR MRR34

BAT BAT

SD Plate

1 2

9

3

P5 LG

6 5 4 2 9

MR MRR

SHD

5 - 7

5. WIRING OPTION

r

(2) MR-EKCBL_M-_

POINT

The following encoder cables are of four-wire type. MR-EKCBL30M-L MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H When using these encoder cables, refer to each servo amplifier instruction manual.

The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-J3JCBL03M-_-L) is required. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model.

Cable model

MR-EKCBL_M-L 20

MR-EKCBL_M-H 20

Note. Four-wire type cable

(a) Connection of servo amplifier and servo motor

Cable length

20 m 30 m 40 m 50 m

(Note)

IP20 Standard

30

(Note)

30

40

50

IP rating Bending life Application

For HG-KN servo motor Use in combination with MR-

J3JCBL03M-_-L.

IP20

Long

bending life

Servo amplifier

CN2

1)

Cable model 1) CN2-side connector 2) Junction connector

MR-EKCBL_M-L Receptacle: 36210-0100PL

Shell kit: 36310-3200-008 (3M)

MR-EKCBL_M-H

2

LG

15

P5

View seen from the wiring side. (Note)

Note. Do not connect anything to the pins shown as . Especially, pin

6

4

MRR

37

MR

10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring to POINT of section 5.2, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

8

MDR

MD

10

BAT

9

MR-EKCBL_M-L MR-EKCBL_M-H

Connector set: 54599-1019 (Molex)

428610

or

13 79

P5 MR

View seen from the wiring side. (Note)

MRR

LG

MDR

5

MD

BAT

MR-J3JCBL03M-A2-L Cable length: 0.3 m

2)

Housing: 1-172161-9 Connector pin: 170359-1 Crimping tool: 91529-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industrial)

View seen from the wiring side.

123

MR

456

MD

789

P5

MRR

BAT

CONT

MDR

LG SHD

Servo moto HG-KN

5 - 8

5. WIRING OPTION

(b) Internal wiring diagram

MR-EKCBL20M-L

CN2-side

connector

P5 LG

MR MRR34 BAT BAT SD Plate

1 2

9

(Note)

Junction

connector

7 8

1 2 3 9

P5 LG

MR MRR

SHD

MR-EKCBL30M-L

CN2-side

connector

P5 LG

1 2

MR MRR34 MD MDR 8 5 BAT BAT

SD Plate

7

9

(Note)

Junction

connector

7 8

1 2 4

3 6 CONT 9

P5 LG

MR MRR MD MDR

SHD

P5 LG

MR-EKCBL20M-H

CN2-side

connector

1 2

Junction

connector

7 8

P5 LG

MR-EKCBL30M-H MR-EKCBL40M-H MR-EKCBL50M-H

CN2-side

connector

1 2

Junction

connector

7 8

P5 LG

MR MRR34 BAT BAT SD Plate

9

(Note)

MR

1

MRR

2 3 9

SHD

MR MRR34 MD MDR BAT BAT

SD Plate

7 85 9

(Note)

1

MR MRR

2 4

MD

MDR 3 6

CONT 9

SHD

Note. Always make connection for use in an absolute position detection system. Wiring is not necessary

for use in an incremental system.

When fabricating the cable, use the wiring diagram corresponding to the length indicated below.

Cable bending life

Standard MR-EKCBL20M-L MR-EKCBL30M-L Long bending life MR-EKCBL20M-H MR-EKCBL30M-H

Less than 30 m 30 m to 50 m

Applicable wiring diagram

MR-EKCBL40M-H MR-EKCBL50M-H

5 - 9

5. WIRING OPTION

(c) When fabricating the encoder cable

Prepare the following parts, and fabricate it according to the wiring diagram in (b) in this section.

(3) MR-J3JCBL03M-_-L

Refer to section 5.5 for the specifications of the cable to use.

Parts Description

Connector set MR-ECNM

CN2-side connector Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

or Connector set: 54599-1019 (Molex)

Encoder-side connector Housing: 1-172161-9 Connector pin: 170359-1 (TE Connectivity or equivalent) Cable clamp: MTI-0002 (Toa Electric Industrial)

The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-EKCBL_M-_) is required.

Cable model Cable length IP rating Bending life Application

Use in combination with load-side

MR-J3JCBL03M-A1-L

0.3 m IP20 Standard

MR-J3JCBL03M-A2-L

lead for HG-KN servo motor MREKCBL_M-_.

Use in combination with opposite to load-side lead for HG-KN servo motor MR-EKCBL_M-_.

5 - 10

5. WIRING OPTION

(a) Connection of servo amplifier and servo motor

MR-J3JCBL03M-A1-L

Servo amplifier

CN2

Cable model 1) Junction connector 2) Encoder-side connector

MR-J3JCBL03M-A1-L Housing: 1-172169-9

Contact: 1473226-1 Cable clamp: 316454-1 Crimping tool: 91529-1 (TE Connectivity)

MR

MRR

MR-J3JCBL03M-A2-L

BAT

CONT

MDR

LGSHD

MD

P5

123

456

789

MR-EKCBL_M-_

Connector: 2174053-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847-1 (TE Connectivity)

View seen from the wiring side.

1)

MR-J3JCBL03M-A2-L

1)

SHD

9

MDR

7

8

5MR

6LG

3P5

4

CONT

1

2

MD

MRR

BAT

2)

Servo motor HG-KN

or

Servo motor HG-KN

2)

(b) Internal wiring diagram

View seen from the wiring side.

Junction

connector

P5 LG MR MRR12 MD 4 8 MD MDR 5 7 MDR BAT BAT

SHD

7 8

32 6

9

Encoder-side

connector

3 6 5 4

1

9

P5 LG MR MRR

CONTCONT

SHD

5 - 11

5. WIRING OPTION

V

)

(4) MR-J3JSCBL03M-_-L

The servo amplifier and the servo motor cannot be connected by these cables alone. The servo motorside encoder cable (MR-J3ENSCBL_M-_) is required.

(a) Connection of servo amplifier and servo motor

Cable model Cable length IP rating Bending life Application

Use in combination with load-side lead

MR-J3JSCBL03M-A1-L

0.3 m IP65 Standard

MR-J3JSCBL03M-A2-L

for HG-KN servo motor MRJ3ENSCBL_M-_.

Use in combination with opposite to load-side lead for HG-KN servo motor MR-J3ENSCBL_M-_.

MR-J3JSCBL03M-A1-L

Servo amplifier

1)

(Note)

CN2

MR-J3ENSCBL_M-_

MR-J3JSCBL03M-A2-L

1)

Note. For details of this cable, refer to (5) in this section.

Cable model 1) Junction connector 2) Encoder-side connector

MR-J3JSCBL03M-A1-L Receptacle: CM10-CR10P-M

(DDK) Applicable wire size: AWG 20 or less

1MR2

MRR

5

476

BAT

MR-J3JSCBL03M-A2-L

iew seen from the wiring side. (Note)

LG

98

P5

10

SHD

3

Connector: 2174053-1 Crimping tool for ground clip: 1596970-1 Crimping tool for receptacle contact: 1596847-1 (TE Connectivity)

SHD

9 7 5MR 3P5 1

View seen from the wiring side. (Note

or

8 6LG

MRR

4

BAT

2

2)

Servo motor HG-KN

2)

Servo motor HG-KN

Note. Do not connect anything to the pins shown as

.

Note. Do not connect anything to the pins shown as

.

5 - 12

5. WIRING OPTION

R

(b) Internal wiring diagram

Junction

connector

Encoder-side

connector

P5 LG MR MRR

BAT BAT

SHD

8 5 1 2 68 77 42 3

10

P5

3

LG

6

MR

5

MR

4

1

9

SHD

5 - 13

5. WIRING OPTION

V

(5) MR-J3ENSCBL_M-_

These cables are encoder cables for the HG-KN/HG-SN series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model.

Cable model

MR-J3ENSCBL_M-L 2 5 10 20 30 IP67 Standard

MR-J3ENSCBL_M-H 2 5 10 20 30 40 50 IP67

(a) Connection of servo amplifier and servo motor

Cable length

2 m 5 m

10 m 20 m 30 m 40 m 50 m

IP rating Bending life Application

Long

bending life

For HG-KN/HG-SN series servo motor

Servo amplifier

CN2

MR-J3ENSCBL_M-L MR-J3ENSCBL_M-H

2)

Servo motor HG-SN

1)

Cable model 1) CN2-side connector 2) Encoder-side connector

MR-J3ENSCBL_M-L Receptacle: 36210-0100PL

Shell kit: 36310-3200-008 (3M)

2

LG

15

P5

View seen from the wiring side. (Note)

6

4

MRR

37

10

8

BAT

MR

9

or

Cable

length

10 m or

shorter

20 m or

more

Bending life

Long

bending life

Standard

Long

bending life

Standard CMV1-SP10S-M2

Straight plug Socket contact

CMV1-SP10S-M1

3

Connector set: 54599-1019 (Molex)

10

SHD

MR-J3ENSCBL_MH

428610

MRR

LG

13 79

P5 MR

5

BAT

iew seen from the wiring side. (Note)

Note. Do not connect anything to the pins shown as .

1

2

MRR

MR

5LG476

98

P5

Plug (DDK)

CMV1-#22ASC-C1-100 Applicable wire size:

Crimping tool: 357J-53162T CMV1-#22ASC-C2-100 Applicable wire size:

Crimping tool: 357J-53163T

BAT

AWG 24 to 20

AWG 28 to 24

View seen from the wiring side. (Note)

Note. Do not connect anything to

the pins shown as

. Especially, pin 10 is provided for manufacturer adjustment. If it is connected with any other pin, the servo amplifier cannot operate normally. Referring to POINT of section

5.2, securely connect the external conductor of the shielded cable to the ground plate and fix it to the connector shell.

5 - 14

5. WIRING OPTION

R

(b) Cable internal wiring diagram

MR-J3ENSCBL2M-L MR-J3ENSCBL5M-L

MR-J3ENSCBL10M-L

MR-J3ENSCBL2M-H MR-J3ENSCBL5M-H

MR-J3ENSCBL10M-H

CN2-side

connector

P5 LG MR MRR34 BAT BAT SD

1 2

9

Plate

Encoder-side

connector

(Note)

10

P5

8

LG

5

MR

1

MR

2 4

SHD

MR-J3ENSCBL20M-L MR-J3ENSCBL30M-L

CN2-side connector

P5 LG

1 2

MR MRR BAT BAT SD Plate

3 4 9

(Note)

Encoder-side

connector

8 5

1 2 4

10

P5 LG

MR MRR

SHD

MR-J3ENSCBL20M-H

P5 LG

MR-J3ENSCBL30M-H MR-J3ENSCBL40M-H MR-J3ENSCBL50M-H

CN2-side

connector

1 2

Encoder-side

connector

8

P5

5

LG

10

1

MR

2

MRR

4

SHD

MR MRR34 BAT BAT SD Plate

9

(Note)

Note. Always make connection for use in an absolute position detection system. Wiring is not necessary

for use in an incremental system.

5 - 15

5. WIRING OPTION

(c) When fabricating the encoder cable

Prepare the following parts, and fabricate it according to the wiring diagram in (b) in this section. Refer to section 5.5 for the specifications of the cable to use.

Parts

(Connector set)

MR-J3SCNS (one-touch connection

type) (Note)

MR-ENCNS2 (screw type) (Note)

MR-J3SCNSA (one-touch connection

type) (Note)

MR-ENCNS2A (screw type) (Note)

Note. Cable clamp and bushing for 5.5 mm to 7.5 mm and 7.0 mm to 9.0 mm of cable outer diameter are included.

Receptacle: 36210-0100PL Shell kit: 36310-3200-008 (3M)

Connector set: 54599-1019 (Molex)

Description

Servo amplifier-side connector Encoder-side connector (DDK)

Straight plug: CMV1-SP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less

or

Straight plug: CMV1S-SP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less

Angle plug: CMV1-AP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less

Angle plug: CMV1S-AP10S-M2 Socket contact: CMV1-#22ASC-S1-100 Applicable wire size: AWG 20 or less

5 - 16

5. WIRING OPTION

5.3 Servo motor power cable

These cables are servo motor power cables for the HG-KN series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. Refer to section 4.2.1 for wiring.

Cable model

MR-PWS1CBL_M-A1-L 2 5 10 IP65 Standard Load-side lead for HG-KN servo motor

MR-PWS1CBL_M-A2-L 2 5 10 IP65 Standard

MR-PWS1CBL_M-A1-H 2 5 10 IP65

MR-PWS1CBL_M-A2-H 2 5 10 IP65

MR-PWS2CBL03M-A1-L 03 IP55 Standard Load-side lead for HG-KN servo motor

MR-PWS2CBL03M-A2-L 03 IP55 Standard

(1) Connection of servo amplifier and servo motor

Cable length

0.3 m 2 m 5 m

IP rating Bending life Application

10 m

Opposite to load-side lead for HG-KN servo motor

Long

bending life

Long

bending life

Load-side lead for HG-KN servo motor

Opposite to load-side lead for HG-KN servo motor

MR-PWS1CBL_M-A1-L MR-PWS1CBL_M-A1-H MR-PWS2CBL03M-A1-L

Servo amplifier

Servo amplifier power connector

(Note) CNP2

MR-PWS1CBL_M-A2-L MR-PWS1CBL_M-A2-H MR-PWS2CBL03M-A2-L

Note. The name and shape of connector differ depending on the servo amplifier types. For connector details, refer to

each servo amplifier instruction manual.

or

1)

Servo motor HG-KN

1)

Servo motor HG-KN

Cable model 1) Servo motor power-side connector

MR-PWS1CBL_M-A1-L

MR-PWS1CBL_M-A2-L

MR-PWS1CBL_M-A1-H

MR-PWS1CBL_M-A2-H

MR-PWS2CBL03M-A1-L

MR-PWS2CBL03M-A2-L

Connector: KN4FT04SJ1-R

Hood, socket insulator

Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT170-14-TMH5B (JAE)

Connector: KN4FT04SJ2-R

Hood, socket insulator

Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT170-14-TMH5B (JAE)

1

U

2 3

V

4

W

View seen from

the wiring side.

5 - 17

5. WIRING OPTION

(2) Internal wiring diagram

(Red)

(Note)

Note. These are not shielded cables.

(White)

(Black)

(Green/yellow)

U V

W

5 - 18

5. WIRING OPTION

5.4 Electromagnetic brake cable

These cables are electromagnetic brake cables for the HG-KN series servo motors. The numbers in the cable length field of the table indicate the symbol filling the underline "_" in the cable model. Refer to section 4.2.1 for wiring.

Cable model

MR-BKS1CBL_M-A1-L 2 5 10 IP65 Standard Load-side lead for HG-KN servo motor

MR-BKS1CBL_M-A2-L 2 5 10 IP65 Standard

MR-BKS1CBL_M-A1-H 2 5 10 IP65

MR-BKS1CBL_M-A2-H 2 5 10 IP65

MR-BKS2CBL03M-A1-L 03 IP55 Standard Load-side lead for HG-KN servo motor

MR-BKS2CBL03M-A2-L 03 IP55 Standard

(1) Connection of power supply for electromagnetic brake and servo motor

Cable length

0.3 m 2 m 5 m

IP rating Bending life Application

10 m

Opposite to load-side lead for HG-KN servo motor

Long

bending life

Long

bending life

MR-BKS1CBL_M-A1-L MR-BKS1CBL_M-A1-H MR-BKS2CBL03M-A1-L

Load-side lead for HG-KN servo motor

Opposite to load-side lead for HG-KN servo motor

1)

Cable model 1) Connector for electromagnetic brake

MR-BKS1CBL_M-A1-L

MR-BKS1CBL_M-A2-L

MR-BKS1CBL_M-A1-H

MR-BKS1CBL_M-A2-H

MR-BKS2CBL03M-A1-L

MR-BKS2CBL03M-A2-L

(2) Internal wiring diagram

24 V DC power

supply for

electromagnetic

brake

+

-

Connector: JN4FT02SJ1-R

Hood, socket insulator

Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT170-14-TMH5B (JAE)

Connector: JN4FT02SJ2-R

Hood, socket insulator

Bushing, ground nut Contact: ST-TMH-S-C1B-100-(A534G) Crimping tool: CT170-14-TMH5B (JAE)

AWG 20

(Note)

AWG 20

or

MR-BKS1CBL_M-A2-L MR-BKS1CBL_M-A2-H MR-BKS2CBL03M-A2-L

B1

B2

Servo motor HG-KN

1)

Servo motor HG-KN

View seen from wiring side.

1B1

B22

Note. These are not shielded cables.

5 - 19

5. WIRING OPTION

5.5 Wires for option cables

When fabricating a cable, use the wire models given in the following table or equivalent.

Table 5.1 Wires for option cables

Characteristics of one core

(Note 2)

Cable OD

[mm]

OD

1.18 7.1

1.17 7.1

1.2 7.1 ± 0.3

1.18

7.0

1.50

1.2 8.2 ± 0.3

0.88 7.2

0.88 8.0

1.0 7.1 ± 0.3

1.18 7.1

1.2 8.2 ± 0.3

1.17 7.1

0.88 7.2

(Note 3) VSVP 7/0.26 (AWG#22 or

equivalent)-3P KB-1655-2 (Bando Densen) (Note 3) TPE•SVP 70/0.08 (AWG#22 or

equivalent)-3P KB-2237-2 (Bando Densen)

T/2464-1061/IIA-SB 4P×26AWG (Taiyo Cabletec)

(Note 3) 20276 composite 6-core

shielded cable Ban-gi-shi-16395-1 (Bando

Densen) (Note 3) 20276 VSVPAWG#23×6P KB-0492 (Bando Densen) (Note 3) A14B2343 6P

(Junkosha) (Note 3)

TPE•SVP 40/0.08 (AWG#24 or equivalent)-6P

KB-1928-2 (Bando Densen) (Note 3) TPE•SVP 40/0.08 (AWG#24 or

equivalent)-7P KB-1929-2 (Bando Densen) (Note 3) VSVP 7/0.16 (AWG#26 or

equivalent)-4P Ban-gi-shi-16822 (Bando

Densen) (Note 3) VSVP 7/0.26 (AWG#22 or

equivalent)-3P KB-1655-2 (Bando Densen) (Note 3) 20276 VSVPAWG#23×6P KB-0492 (Bando Densen) (Note 3) TPE•SVP 70/0.08 (AWG#22 or

equivalent)-3P KB-2237-2 (Bando Densen) (Note 3) TPE•SVP 40/0.08 (AWG#24 or

equivalent)-6P KB-1928-2 (Bando Densen)

Type Model

MR-J3ENCBL_MA1-L

MR-J3ENCBL_MA2-L

MR-J3ENCBL_MA1-H

MR-J3ENCBL_MA2-H

MR-J3JCBL03MA1-L

MR-J3JCBL03MA2-L

MR-EKCBL_M-L

MR-EKCBL_M-H

Encoder cable

MR-J3JSCBL03MA1-L

MR-J3JSCBL03MA2-L

MR-J3ENSCBL_ M-L

MR-J3ENSCBL_ M-H

Length

[m]

Core

size

2 to 10 AWG 22

0.3 AWG 26

AWG 28

2 to 10

AWG 22 2 17/0.16

20 30 AWG 23

2 to 10 0.2 mm

2

20 AWG 24

30 to 50

AWG 24

0.3 AWG 26

2 to 10 AWG 22

20 30 AWG 23

2 to 10 AWG 22

20 to 50

AWG 24

Number of cores

6

(3 pairs)

6

(3 pairs)

8

(4 pairs)

4

(2 pairs)

12

(6 pairs)

12

(6 pairs)

12

(6 pairs)

14

(7 pairs)

8

(4 pairs)

6

(3 pairs)

12

(6 pairs)

6

(3 pairs)

12

(6 pairs)

Structure

[Wires/mm]

7/0.26

70/0.08

30/0.08

7/0.127

12/0.18

40/0.08

7/0.16

7/0.26

12/0.18

70/0.08

40/0.08

Conductor

resistance

[Ω/km]

53 or

less

56 or

less

233 or

less

232 or

less

28.7 or less

63.6 or less

105 or

less

105 or

less

105 or

less

146 or

less

53 or

less

63.3 or less

56 or

less

105 or

less

(Note 1)

Insulator

d [mm]

Wire model

(Manufacturer)

5 - 20

5. WIRING OPTION

Type Model

MR-PWS1CBL_ M-A1-L

MR-PWS1CBL_ M-A2-L

MR-PWS1CBL_ M-A1-H

MR-PWS1CBL_ M-A2-H

MRPWS2CBL03MA1-L

MR-

Servo motor power supply cable

PWS2CBL03MA2-L

MR-BKS1CBL_ M-A1-L

MR-BKS1CBL_ M-A2-L

MR-BKS1CBL_ M-A1-H

MR-BKS1CBL_ M-A2-H

MRBKS2CBL03MA1-L

Electromagnetic brake cable

MRBKS2CBL03MA2-L

Note 1. The following shows the detail of d.

d

Length

[m]

2 to 10

0.3

2 to 10

0.3

Characteristics of one core

Core

Number

size

of cores

AWG 18 4 34/0.18

AWG 19

(0.75 mm2)

AWG 19 4 30/0.18

AWG 20 2 21/0.18

AWG 20 2 110/0.08

AWG 20 2 19/0.203

Structure [Wires/m

m]

4 150/0.08

Conductor

resistance

[Ω/km]

21.8

or less

29.1

or less

25.8

or less

34.6

or less

39.0

or less

32.0

or less

(Note 1)

Insulator

d [mm]

(Note 2)

Cable OD

[mm]

OD

1.71 6.2 ± 0.3

1.63 5.7 ± 0.5

1.64 -

1.35 4.7 ± 0.1

1.37 4.5 ± 0.3

1.42 -

Wire model

(Manufacturer)

(Note 4) HRZFEV-A(CL3) AWG 18 4

cores (Dyden) (Note 4) RMFES-A(CL3X) AWG 19 4

cores (Dyden)

(Note 3, 5) J11B2330 UL10125 (Junkosha)

(Note 4) HRZFEV-A(CL3) AWG 20 2

cores (Dyden) (Note 4) RMFES-A(CL3X) AWG 20 2

cores (Dyden)

(Note 3, 5) J11B2331 UL10125 (Junkosha)

InsulatorConductor

2. Standard OD. Maximum OD is about 10% greater.

3. Purchase from Toa Electric Industrial

4. Purchase from Taisei Co., Ltd.

5. These models consist with solid wires. Specify the color, separately.

5 - 21

5. WIRING OPTION

MEMO

5 - 22

6. HG-KN SERIES

This chapter provides information on the servo motor specifications and characteristics. When using the HGKN series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter.

6.1 Model designation

The following describes model designation. Not all combinations of the symbols are available.

G

HD

Series

Rated output

Symbol Rated output [kW]

1 0.1 2 0.2 4 0.4 7 0.75

Rated speed 3000 [r/min]

Electromagnetic brake

Symbol Electromagnetic brake

None None

B With

JB31-KN

Shaft type Symbol Shaft shape

None

K

D

Oil seal Symbol Oil seal

None None

J With

6.2 Combination list of servo motors and servo amplifiers

Servo motor Servo amplifier

HG-KN13

HG-KN23

HG-KN43

HG-KN73

Standard

(straight shaft)

Keyway shaft

(with key)

D cut shaft

MR-JE-10B(F)

MR-JE-20B(F)

MR-JE-40B(F)

MR-JE-70B(F)

HG-KN_

13 to 73

23 to 73

13

MR-JE-10A

MR-JE-10C MR-JE-20A

MR-JE-20C MR-JE-40A

MR-JE-40C MR-JE-70A

MR-JE-70C

Appearance

6 - 1

6. HG-KN SERIES

6.3 Standard specifications

6.3.1 Standard specifications list

Servo motor

Item

Power supply capacity

Continuous running duty (Note 1)

Maximum torque [N•m] 0.95 1.9 3.8 7.2 Rated speed (Note 1) [r/min] 3000 Maximum speed [r/min] 5000 (6000) (Note 9) Instantaneous permissible speed [r/min] 5750 (6900) (Note 9)

Power rate at continuous rated torque

Rated current [A] 0.8 1.3 2.6 4.8 Maximum current [A] 2.4 3.9 7.8 14

Moment of inertia J

Recommended load to motor inertia ratio (Note 2)

Speed/position detector

Oil seal

Thermistor None Insulation class 130 (B) (Note 8) Structure Totally enclosed, natural cooling (IP rating: IP65 (Note 3))

Environment (Note 4)

Vibration rank (Note 6) V10

Permissible load for the shaft (Note 7)

With oil seal

Mass

Without oil seal

Rated output [kW] 0.1 0.2 0.4 0.75 Rated torque [N•m] 0.32 0.64 1.3 2.4

Standard [kW/s] 12.9 18.0 43.2 44.5 With an

electromagnetic brake

[kW/s]

Standard

With an electromagnetic brake

Combination with MRJE-_B(F)/MR-JE-_C

Combination with MRJE-_A

Ambient temperature

Ambient humidity

Ambience

Altitude Max. 2000 m above sea level (Note 10) Vibration resistance

(Note 5)

L [mm] 25 30 40 Radial [N] 88 245 392 Thrust [N] 59 98 147 Standard [kg] 0.57 0.98 1.5 3.0 With an

electromagnetic brake

Standard [kg] 0.54 0.91 1.4 With an

electromagnetic brake

[× 10

-4

kg•m2]

-4

kg•m2]

With None

Operation

Storage

Operation

Storage

[kg]

13(B)(J) 23(B)(J) 43(B)(J) 73(B)J

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

12.0 16.4 40.8 41.0

0.0783 0.225 0.375 1.28

0.0843 0.247 0.397 1.39

17-bit encoder common to absolute position/incremental systems

0.77 1.4 1.9 4.0

0.74 1.3 1.8

HG-KN series (low inertia/small capacity)

amplifiers" in Servo Amplifier Instruction Manual.

15 times or less

(resolution per servo motor revolution: 131072 pulses/rev)

Incremental 17-bit encoder system

(resolution per servo motor revolution: 131072 pulses/rev)

0 °C to 40 °C (non-freezing)

-15 °C to 70 °C (non-freezing) 10 %RH to 80 %RH (non-condensing) 10 %RH to 90 %RH (non-condensing)

Indoors (no direct sunlight), free from corrosive gas,

flammable gas, oil mist, dust, and dirt

X, Y: 49 m/s

2

6 - 2

6. HG-KN SERIES

Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed.

2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office.

3. Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures.

4. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications may not be usable. Please contact your local sales office.

5. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress the vibration to about half of the permissible value.

Servo motor

X

Vibration

6. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting position for measurement and the measuring position.

Servo motor

Top

Y

1000

100

10

Vibration amplitude

(both amplitudes) [μm]

0 1000 2000 3000 4000 5000 6000 7000

Measuring position

Speed [r/min]

Bottom

7. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications list. The value assumes that the load is applied independently.

L

Radial load

Thrust load

L: Distance from flange mounting surface to load center

8. When you conform HG-KN series servo motor to the UL/CSA standard as a certified product by UL, the insulation class will be 105 (A). The insulation class is approved for 130 (B) as for the UL/CSA standard by TÜV Rheinland.

9. Values in parentheses are applicable according to the parameter setting of the servo amplifier. For details, refer to each servo amplifier instruction manual.

10. Follow the restrictions in section 2.11 when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above sea level.

6 - 3

6. HG-KN SERIES

6.3.2 Torque characteristics

POINT

For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machine should be kept at 70% or lower of the motor's rated torque.

When the power supply input of the servo amplifier is 3-phase 200 V AC or 1-phase 230 V AC, the torque characteristic is indicated by the heavy line.

[HG-KN13]

1.4

1.2

1

0.8

Short-duration running range

0.6

Torque [N•m]

0.4

0.2

Continuous running range

0

1000 2000 3000 4000 5000 60000

Speed [r/min]

[HG-KN23]

2.5

2

1.5

1

Torque [N•m]

0.5

0

Short-duration running range

Continuous running range

1000 2000 3000 4000 5000 60000

Speed [r/min]

[HG-KN43]

5

4.5

4

3.5

3

2.5

2

Torque [N•m]

1.5

1

0.5

0

Short-duration running range

Continuous running range

1000 2000 3000 4000 5000 60000

Speed [r/min]

[HG-KN73]

9

8

7

6

5

4

3

Torque [N•m]

2

1

0

Short-duration running range

Continuous running range

1000 2000 3000 4000 5000 6000

0

Speed [r/min]

6 - 4

6. HG-KN SERIES

A

6.4 Electromagnetic brake characteristics

The electromagnetic brake is provided to prevent a drop at a power failure or alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock).

CAUTION

The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake are indicated below.

Item Type (Note 1) Spring actuated type safety brake

Rated voltage (Note 4) Power consumption [W] at 20 °C 6.3 7.9 10 Coil resistance (Note 6) [Ω] 91.0 73.0 57.0 Inductance (Note 6) [H] 0.15 0.18 0.13 Brake static friction torque [N•m] 0.32 1.3 2.4 Release delay time (Note 2) [s] 0.03 0.03 0.04 Braking delay time (Note 2) [s] DC off 0.01 0.02 0.02

Permissible braking work

Brake looseness at servo motor shaft (Note 5) [degree] 2.5 1.2 0.9

Brake life (Note 3)

Selection example of surge absorbers to be used

(Note 7, 8)

Note 1. It does not have a manual release mechanism. When it is necessary to hand-turn the servo motor shaft

2. The value for initial on gap at 20 °C.

3. The brake gap will increase as the brake lining wears, but the gap is not adjustable. The brake life

4.

5. These are design values. These are not guaranteed values.

6. These are measured values. These are not guaranteed values.

7. Select the electromagnetic brake control relay properly, considering the characteristics of the

8. Manufactured by Nippon Chemi-Con Corporation.

Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake varies depending on the power supply circuit you use. Be sure to check the operation delay time with a real machine.

Servo motor

13B(J) 23B(J) 43B(J) 73BJ

Per braking [J] 5.6 22 64 Per hour [J] 56 220 640

Work per braking [J] 5.6 22 64

for machine centering, etc., use a separate 24 V DC power supply to release the brake electrically.

indicated is the number of braking cycles after which adjustment will be required.

lways prepare a power supply exclusively used for the electromagnetic brake.

electromagnetic brake and surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer.

Number of braking cycles

For the suppressed voltage 125 V

For the suppressed voltage 350 V

[times] 20000

HG-KN series

24 V DC

TND20V-680KB

TND10V-221KB

0

-10%

6 - 5

6. HG-KN SERIES

6.5 Servo motors with special shafts

The servo motors with special shafts indicated by the symbols (K/D) in the table are available. K and D are the symbols included in the servo motor model names.

HG-KN13(B)(J)_ D HG-KN23(B)(J)_

HG-KN43(B)(J)_ HG-KN73(B)J_

6.5.1 Key shaft (with 2 round end key)

Servo motor

Key shaft (with key) D cut shaft

Shaft shape

K

6.5.2 D cut shaft

R

Q

QK

QL

A

W

A

Shaft section view A-A

Servo motor

U

Y

T

HG-KN23(B)(J)K HG-KN43(B)(J)K

S

HG-KN73(B)JK 19h6 40 37 6 25 5 3.5 6

25

21.5

20.5

S R Q W QK QL U T Y

14h6 30 27 5 20 3 3 5

[Unit: mm]

Variable dimensions

M4

Screw

hole

depth

15

M5

Screw

hole

depth

20

1

8h6

6 - 6

6. HG-KN SERIES

6.6 Servo motor with oil seal

The oil seal prevents the entry of oil into the servo motor. Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip always.

Shaft

Gear

Servo motor

Height from oil (h)

Lip

Oil seal

Height (h) from

Servo motor

HG-KN13(B)J 10 HG-KN23(B)J HG-KN43(B)J HG-KN73(B)J

the surface of

the oil

[mm]

19

6 - 7

6. HG-KN SERIES

4

r

6.7 Mounting connectors

If the connector is not fixed securely, it may come off or may not produce a splash-proof effect during operation. To achieve the IP rating IP65, pay attention to the following points and install the connectors.

(1) When screwing the connector, hold the connector still and gradually tighten the screws in a crisscross

pattern.

2)

Tightening order

1)

3)

1) 2) 3) 4)

Tightening orde

1) 2)

)

2)

Connector for power, connector for encoder Connector for electromagnetic brake

(2) Tighten the screws evenly. Tightening torques are as indicated below.

Connector for encode Screw size: M2 Tightening torque: 0.1 [N•m]

Connector for electromagnetic brake Screw size: M2 Tightening torque: 0.2 [N•m]

Connector for power supply Screw size: M2 Tightening torque: 0.2 [N•m]

1)

(3) The servo motor fitting part of each connector is provided with a splash-proof seal (O ring). When

mounting a connector, use care to prevent the seal (O ring) from dropping and being pinched. If the seal (O ring) has dropped or is pinched, a splash-proof effect is not produced.

6 - 8

6. HG-KN SERIES

6.8 Dimensions

Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor and electromagnetic brake with servo motor shaft. When running the cables to the load side, take care to avoid interference with the machine. The dimensions without tolerances are general tolerance.

6.8.1 Standard (without an electromagnetic brake)

(1) With oil seal

Caution plate

36

Bottom

Top

Motor plate (opposite side)

Caution plate

Model Output [W] Moment of inertia J [× 10

HG-KN13J 100 0.0783 0.57

89

Bottom

Top

25

5

2.5

21.5

Oil seal

φ8h6

2-φ4.5 mounting hole Use hexagon socket head cap screw.

Caution plate

φ30h7

-4

kg•m2] Mass [kg]

°

5

4

φ

4

37.1

[Unit: mm]

Motor plate

□40

6

Encoder connector

13.7

1

2

2 3 4

3 4

4.9

27.4 Power supply connector

Pin No.

Application 1 2 3 4

(PE)

U V

W

10.9

11.7

21.7 47.8

° 7

9.9

19.2

Power supply connector

° 9

Encoder connector

21.7

11.7

Opposite-load side

19.2

13.9

27.5

9.9

6.4

Power supply connector

BC43583*

6 - 9

6. HG-KN SERIES

Model Output [W] Moment of inertia J [× 10

HG-KN23J 200 0.225 0.98

-4

kg•m2] Mass [kg]

[Unit: mm]

4-φ5.8 mounting hole Use hexagon socket head cap screw.

26

φ50h7

φ14h6

Oil seal

Encoder connector

°

5

4

47.1

13.9 5.9

19.2

14 11.7

21.7 Opposite-load side

φ

7

0

27.8

□60

Power supply connector

9.5

BC43584*

Motor plate

46

Caution plate

Bottom

Top

Encoder connector

13.7 10

28.4

Power supply connector

1

2 3 4

Pin No.

1 2 3 4

Application 1 2 3 4

(PE) U V

W

10.9 19.2

88 30

Motor plate (opposite side)

9.5

21.7

Bottom

Top

45.611.714

° 9

7 3

Bottom

Top

Power supply connector

°

7

Model Output [W] Moment of inertia J [× 10

-4

kg•m2] Mass [kg]

HG-KN43J 400 0.375 1.5

[Unit: mm]

4-φ5.8 mounting hole

Motor plate

46

1 2

3 4

13.7 10

28.4

Power supply connector

Pin No.

1 2 3 4

Bottom

Top

Encoder connector

Application

(PE)

U

V

W

Caution plate

109.7 30

21.7

Motor plate (opposite side)

9.5

Caution plate

10.9 19.2

Bottom

Top

Power supply connector

67.311.714

°

9

° 7

7 3

Bottom

Top

Use hexagon socket head cap screw.

26

φ50h7

φ14h6

Oil seal

Encoder connector

47.1

19.2

14 11.7

21.7 Opposite-load side

□60

°

5

4

φ

7

0

13.9 5.9

27.8

Power supply connector

9.5

BC43585*

6 - 10

6. HG-KN SERIES

Model Output [W] Moment of inertia J [× 10

HG-KN73J 750 1.28 3.0

-4

kg•m2] Mass [kg]

[Unit: mm]

Motor plate

56

13.7 11.5

1

1 2 3 4

2 3 4

Bottom

Top

Encoder connector

Power supply connector

Pin No.

Application 1 2 3 4

(PE) U V

W

Caution plate

9.510.7

14 11.7 19.2

21.7

Motor plate (opposite side)

Bottom

Top

Power supply connector

77.627.4

° 7

8 3

Bottom

Top

40

36

φ19h6

Oil seal

Encoder connector

4-φ6.6 mounting hole Use hexagon socket head cap screw.

φ70h7

57.1

14 11.7

21.7

Opposite-load side

°

5

4

φ9

0

27.8

9.519.2

□80122.2

1214

Power supply connector

BC43586*

(2) Without oil seal

Motor plate

Caution plate

36

13.7

Power supply connector

1 2

3 4

Pin No.

1234

1 2 3 4

20.720.5

Caution plate

Bottom

Top

Encoder connector

4.9

Application

(PE)

U V

W

20.7

21

Caution plate

10.9

11.7

21.7 39.8

Model Output [W] Moment of inertia J [× 10

-4

kg•m2] Mass [kg]

HG-KN13 100 0.0777 0.54

[Unit: mm]

11.711.7

4

13.9

□40

°

5

φ

4

6

27.527.4

Power supply connector

19.2

82.4

Motor plate

(Opposite side)

9.9

19.2

° 7

Bottom

Top

5

Bottom

Top

Power supply connector

° 9

25

2.5

Encoder connector

2-φ4.5 mounting hole Use hexagon socket head cap screw.

21.5

6 h 8

φ

φ30h7

37.1

21.7

Opposite-load side

BC43576*

6.4

9.9

6 - 11

6. HG-KN SERIES

Model Output [W] Moment of inertia J [× 10

HG-KN23 200 0.221 0.91

-4

kg•m2] Mass [kg]

[Unit: mm]

Motor plate

46

76.6 30

Motor plate

Caution plate

(Opposite side)

Caution plate

Bottom

Top

13.7 10

28.4

Power supply connector

1 2

3 4

1234

Pin No.

1 2 3 4

Caution plate

Encoder connector

Application

(PE)

U V

W

10.9

11.8

9.5

19.2

11.7

21.7

Bottom

Top

36.4

73

Bottom

Top

Power supply connector

7

9

26

φ14h6

Encoder connector

mounting hole

4-φ5.8 Use hexagon socket head cap screw.

φ50h7

47.1

11.8

21.7

□60

5

4

φ

7

0

13.9 5.9

27.8

19.2

11.7

Opposite-load side

Power supply connector

9.5

BC43577*

Motor plate

46

1 2

3 4

13.7 10

28.4

Power supply connector

Pin No.

123

4

1 2 3 4

Bottom

Top

Encoder connector

Application

(PE)

U

V

W

Caution plate

98.3 30

Caution plate

10.9 19.2

21.7

Motor plate

(Opposite side)

9.5

Model Output [W] Moment of inertia J [× 10

-4

kg•m2] Mass [kg]

HG-KN43 400 0.371 1.4

[Unit: mm]

Bottom

Top

Power supply connector

58.111.711.8

° 9

°

7

73

Bottom

Top

4-φ5.8 mounting hole Use hexagon socket head cap screw.

26

φ50h7

φ14h6

Encoder connector

47.1

11.8 11.7

21.7

□60

°

5

4

φ

7

0

13.9 5.9

27.8

19.2

Opposite-load side

Power supply connector

9.5

BC43578*

6 - 12

6. HG-KN SERIES

6.8.2 With an electromagnetic brake

(1) With oil seal

Caution plate

38.8

Bottom

Top

36

Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10

HG-KN13BJ 100 0.32 0.0843 0.77

129.6 Motor plate

(opposite side)

Caution plate

Bottom

Top

5

Bottom

Top

2-φ4.5 mounting hole Use hexagon socket head cap screw.

25

2.5

21.5

Oil seal

φ8h6

Caution plate

φ30h7

-4

kg•m2] Mass [kg]

[Unit: mm]

□40

°

5

4

φ

4

6

37.1

Motor plate

Encoder connector

27.4

Pin No.

1 2 3 4

Pin No.

1 2

4.9

Application

(PE)

U

V

W

Application

B1 B2

13.7

1

2

3

4

1

2

Power supply connector

1 2 3 4

Electromagnetic brake connector

1

2

10.9

11.7

21.7 47.8

°

9

18.457.4

Encoder connector

Electromagnetic brake connector

° 7

9.9

19.2

Power supply connector

° 3 1

11.711.7 9.9

21.7

18.4

57.4 Opposite-load side

27.5

6.4

Power supply connector

13.9

Electromagnetic brake connector

BC43587*

6 - 13

6. HG-KN SERIES

Motor plate

47.1

1

2

13.7 10

28.4

Power supply connector

1

2 3

Pin No.

1 2 3 4

4

Electromagnetic brake connector

Pin No.

1

2

Bottom

Top

Encoder connector

1 2 3 4

1 2

Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10

-4

kg•m2] Mass [kg]

HG-KN23BJ 200 1.3 0.247 1.4

4-φ5.8 mounting hole Use hexagon socket head cap screw.

Application

(PE) U V

W

Application

B1 B2

Caution plate

10.9 19.2

21.7 60

°

9

124.8 30 Motor plate

(opposite side)

9.5

7 3

Bottom

Top

Bottom

Top

Power supply connector

45.611.714

Electromagnetic brake connector

Encoder connector

° 5

°

.

7

13

26

φ14h6

Oil seal

φ50h7

47.1

14 11.7

60

21.7

□60

°

5

4

φ

7

0

13.9 5.9

27.8

18.3

Opposite-load side

Electromagnetic brake connector

[Unit: mm]

Power supply connector

9.5

BC43588*

Motor plate

47.1

1

2 3 4

1

2

Bottom

Top

Encoder connector

13.7 10

28.4

Power supply connector

Pin No.

1

2 3 4

Application 1 2

U 3 4

W

Electromagnetic brake connector

Pin No.

1

2

Application 1 2

B1 B2

Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10

-4

kg•m2] Mass [kg]

HG-KN43BJ 400 1.3 0.397 1.9

[Unit: mm]

4-φ5.8 mounting hole Use hexagon socket head cap screw.

7 3

Bottom

Top

26

φ14h6

Oil seal

φ50h7

47.1

□60

°

5

4

φ

7

0

13.9 5.9

27.8

Caution plate

146.5 30

Caution plate

9.5 Power supply

10.9 19.2

21.7 60

Electromagnetic brake connector

Motor plate (opposite side)

Bottom

Top

connector

67.311.714

(PE)

Power supply

V

° 9

°

5°

7

13.

Encoder connector

14 11.7

21.7

18.3

60

Opposite-load side

connector

9.5

Electromagnetic brake connector

BC43589*

6 - 14

6. HG-KN SERIES

Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10

HG-KN73BJ 750 2.4 1.39 4.0

-4

kg•m2] Mass [kg]

[Unit: mm]

Motor plate

56

13.7 11.5

1

2 3 4

1

2

Bottom

Top

Encoder connector

Power supply connector

Pin No.

1 2 3 4

Electromagnetic brake connector

Pin No.

Application 1 2 3 4

Application 1 2

W

B1 B2

(PE) U V

Caution plate

14 11.7 19.2

21.7

65.3

° 7

9.510.7

Electromagnetic brake connector

Motor plate (opposite side)

Bottom

Top

Power supply connector

77.627.4

7

° 7

8 3

Bottom

Top

°

Encoder connector

40

36

Oil seal

21.7

4-φ6.6 mounting hole Use hexagon socket head cap screw.

φ19h6

φ70h7

57.1

14 11.7

18.4

65.3

Opposite-load side

□80162.5

°

5

4

φ

9

0

1214

27.8

Power supply connector

9.5

Electromagnetic brake connector

BC43590*

6 - 15

6. HG-KN SERIES

(2) Without oil seal

20.720.5

Motor plate

Caution plate

36

38.8

13.7

27.4

Caution plate

Bottom

Top

Encoder connector

4.9

Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10

-4

kg•m2] Mass [kg]

HG-KN13B 100 0.32 0.0837 0.74

[Unit: mm]

2-φ4.5 mounting hole Use hexagon socket

20.7

21

10.9

11.7

21.7

123

Caution plate

18.458.8

Motor plate (Opposite side)

9.9

19.2

39.8

Bottom

Top

5

2.5

Bottom

Top

Power supply connector

Electromagnetic brake connector

head cap screw.

25

21.5

φ8h6

φ30h7

37.1

13.9

□40

°

5

4

φ

4

6

6.4

27.5

Power supply connector

1 2

3 4

Pin No.

1234

1 2 3 4

Application

(PE) U

V

W

Electromagnetic brake connector

1

2

Pin No.

1

2

1 2

°

9

Application

B1 B2

Encoder connector

° 7

1

2

21.7

° 3 1

Power supply connector

11.711.7

58.8

18.4

Opposite-load side

9.9

Electromagnetic brake connector

BC43580*

6 - 16

6. HG-KN SERIES

Motor plate

47.1

1 2

3 4

Bottom

Top

13.7

10

28.4

Power supply connector

Pin No.

1234

1 2 3 4

HG-KN23B 200 1.3 0.243 1.3

Caution plate

Encoder connector

Application

(PE)

U V

W

Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10

4-φ5.8mounting hole Use hexagon socket head cap screw.

26

φ14h6

11.8 11.7

21.7

φ50h7

47.1

18.3

57.8

Opposite-load side

Caution plate

10.9

11.711.8

21.7

57.8

° 9

Electromagnetic brake connector

1

2

Pin No.

21

Application 1 2

113.4 30 Motor plate

(Opposite side)

9.5

19.2

Electromagnetic brake connector

73

Bottom

Top

36.4

°

7

5

. 3 1

Encoder connector

Power supply connector

B1 B2

-4

kg•m2] Mass [kg]

[Unit: mm]

□60

°

5

4

φ

7

0

13.9

5.9

27.8

Power supply connector

9.5

Electromagnetic brake connector

BC43581*

Motor plate

47.1

Power supply connector

1

1234

2 3 4

13.7 10

28.4

Pin No.

1 2 3 4

Bottom

Top

Encoder connector

Application

(PE)

U V

W

Model Output [W] Brake static friction torque [N•m] Moment of inertia J [× 10

-4

kg•m2] Mass [kg]

HG-KN43B 400 1.3 0.393 1.8

[Unit: mm]

Caution plate

10.9

11.711.8

21.7

Electromagnetic brake connector

1

2

Pin No.

1

2

57.8

° 9

1 2

135.1 30

Caution plate

Motor plate

(Opposite side)

Bottom

Top

Power supply

9.5

connector

19.2

58.1

Electromagnetic brake connector

° 5

. 3 1

Encoder connector

Application

B1 B2

° 7

73

Bottom

Top

4-φ5.8mounting hole Use hexagon socket head cap screw.

26

φ14h6

11.8 11.7

21.7

φ50h7

47.1

18.3

57.8

Opposite-load side

□60

°

5

4

φ

7

0

13.9

Electromagnet ic brake connector

27.8

Power supply connector

9.5

5.9

BC43582*

6 - 17

6. HG-KN SERIES

MEMO

6 - 18

7. HG-SN SERIES

This chapter provides information on the servo motor specifications and characteristics. When using the HGSN series servo motor, always read the Safety Instructions in the beginning of this manual and chapters 1 to 5, in addition to this chapter.

7.1 Model designation

The following describes model designation. Not all combinations of the symbols are available.

HG - S JNK2B5

Appearance

Series

Rated output

Symbol Rated output [kW]

5 0.5 10 1.0 15 1.5 20 2.0 30 3.0

Rated speed

2000 [r/min]

Note. Key is not included.

7.2 Combination list of servo motors and servo amplifiers

Servo motor Servo amplifier

HG-SN52

HG-SN102

HG-SN152

HG-SN202

HG-SN302

Shaft type

Symbol Shaft shape

None

K (Note) Keyway shaft

With oil seal

Electromagnetic brake

Symbol Electromagnetic brake

None None

B With

Standard

(straight shaft)

MR-JE-70A

MR-JE-70B(F)

MR-JE-70C

MR-JE-100A

MR-JE-100B(F)

MR-JE-100C MR-JE-200A

MR-JE-200B(F)

MR-JE-200C MR-JE-300A

MR-JE-300B(F)

MR-JE-300C

7 - 1

7. HG-SN SERIES

7.3 Standard specifications

7.3.1 Standard specifications list

HG-SN series

Item

Power supply capacity

Continuous running duty (Note 1)

Servo motor

(3-phase 200 V AC compatible, medium inertia/medium capacity)

52(B)J 102(B)J 152(B)J 202(B)J 302(B)J

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

Servo Amplifier Instruction Manual. Rated output [kW] 0.5 1.0 1.5 2.0 3.0 Rated torque [N•m] 2.39 4.77 7.16 9.55 14.3

Maximum torque [N•m] 7.16 14.3 21.5 28.6 42.9 Rated speed (Note 1) [r/min] 2000 Maximum speed [r/min] 3000 2500 Instantaneous permissible speed [r/min] 3450 2875

Power rate at continuous rated torque

Standard [kW/s] 7.85 19.7 32.1 19.5 26.1 With an

electromagnetic brake

6.01 16.5 28.2 16.1 23.3

[kW/s] Rated current [A] 2.9 5.6 9.4 9.6 11 Maximum current [A] 9.0 17 29 31 33

Standard

-4

[× 10

kg•m2]

Moment of inertia J

With an electromagnetic brake

-4

[× 10

kg•m2]

Recommended load to motor inertia ratio (Note 2)

Combination with MRSpeed/position detector

JE-_B(F)/MR-JE-_C

Combination with MR-

JE-_A

7.26 11.6 16.0 46.8 78.6

9.48 13.8 18.2 56.5 88.2

15 times or less

17-bit encoder common to absolute position/incremental systems

(resolution per servo motor revolution: 131072 pulses/rev)

Incremental 17-bit encoder system

(resolution per servo motor revolution: 131072 pulses/rev) Oil seal With Thermistor None Insulation class 155 (F) Structure Totally enclosed, natural cooling (IP rating: IP67 (Note 3))

0 °C to 40 °C (non-freezing)

-15 °C to 70 °C (non-freezing) 10 %RH to 80 %RH (non-condensing) 10 %RH to 90 %RH (non-condensing)

flammable gas, oil mist, dust, and dirt

Environment (Note 4)

Ambient temperature

Ambient humidity

Operation

Storage

Operation

Storage

Ambience

Indoors (no direct sunlight), free from corrosive gas,

Altitude Max. 2000 m above sea level (Note 8) Vibration resistance

(Note 5)

X, Y: 24.5 m/s

2

X: 24.5 m/s

Y: 49 m/s

2

Vibration rank (Note 6) V10 Permissible load for

the shaft (Note 7)

L [mm] 55 79 Radial [N] 980 2058 Thrust [N] 490 980 Standard [kg] 4.8 6.2 7.3 11 16

Mass

With an electromagnetic brake

6.7 8.2 9.3 17 22

[kg]

7 - 2

7. HG-SN SERIES

Note 1. When the power supply voltage drops, the output and the rated speed cannot be guaranteed.

2. If the load to motor inertia ratio exceeds the indicated value, contact your local sales office.

3. Except for the shaft-through portion. IP classifies the degrees of protection provided against the intrusion of solid objects and water in electrical enclosures.

4. In the environment where the servo motor is exposed to oil mist, oil, or water, the servo motor of the standard specifications may not be usable. Please contact your local sales office.

5. The following figure shows the vibration directions. The value is the one at the part that indicates the maximum value (normally the opposite to load-side bracket). When the servo motor stops, fretting is likely to occur at the bearing. Therefore, suppress the vibration to about half of the permissible value.

Servo motor

X

Vibration

6. V10 indicates that the amplitude of a single servo motor is 10 μm or less. The following figure shows the servo motor mounting position for measurement and the measuring position.

Top

Y

Servo motor

Measuring position

1000

100

10

(both amplitudes) [ m]

Vibration amplitude

0 1000 2000 3000

Speed [r/min]

Bottom

7. The following shows permissible load for the shaft. Do not subject the shaft to load greater than the value in the specifications list. The value assumes that the load is applied independently.

L

Radial load

Thrust load

L: Distance from flange mounting surface to load center

8. Follow the restrictions in section 2.11 when using the servo amplifiers at altitude exceeding 1000 m and up to 2000 m above sea level.

7 - 3

7. HG-SN SERIES

7.3.2 Torque characteristics

POINT

For the system where the unbalanced torque occurs, such as a vertical axis system, the unbalanced torque of the machine should be kept at 70% or lower of the motor's rated torque.

When the power supply input of the servo amplifier is 3-phase 200 V AC or 1-phase 230 V AC, the torque characteristic is indicated by the heavy line. HG-SN52, HG-SN102, HG-SN152, and HG-SN202 support single-phase power supply.

[HG-SN52]

9

[HG-SN102]

15

[HG-SN152]

24

[HG-SN202]

30

[HG-SN302]

45

Torque [N•m]

6

3

0

Short-duration running range

Continuous running range

1000 2000 30000

Speed [r/min]

10

Short-duration running range

5

Torque [N•m]

Continuous running range

0

1000 2000 30000

Speed [r/min]

16

Short-duration running range

8

Torque [N•m]

Continuous running range

0

1000 2000 30000

Speed [r/min]

20

Short-duration running range

10

Torque [N•m]

Continuous running range

0

1000 2000 30000

Speed [r/min]

30

Torque [N•m]

15

0

Short-duration running range

Continuous running range

1000 2000 25000

Speed [r/min]

7 - 4

7. HG-SN SERIES

A

7.4 Electromagnetic brake characteristics

The electromagnetic brake is provided to prevent a drop at a power failure or alarm occurrence during vertical drive or to hold a shaft at a stop. Do not use it for normal braking (including braking at servo-lock).

CAUTION

The characteristics of the electromagnetic brake provided for the servo motor with an electromagnetic brake are indicated below.

Item Type (Note 1) Spring actuated type safety brake

Rated voltage (Note 4)

Power consumption [W] at 20 °C 20 34 Coil resistance (Note 6) [Ω] 29.0 16.8 Inductance (Note 6) [H] 0.80 1.10 Brake static friction torque [N•m] 8.5 44 Release delay time (Note 2) [s] 0.04 0.1 Braking delay time (Note 2) [s] DC off 0.03 0.03

Permissible braking work

Brake looseness at servo motor shaft (Note 5) [degrees] 0.2 to 0.6 0.2 to 0.6

Brake life (Note 3)

Selection example of surge absorbers to be used

(Note 7, 8)

Note 1. It does not have a manual release mechanism. When it is necessary to hand-turn the servo motor shaft for machine

centering, etc., use a separate 24 V DC power supply to release the brake electrically.

2. The value for initial on gap at 20 °C.

3. The brake gap will increase as the brake lining wears, but the gap is not adjustable. The brake life indicated is the number of braking cycles after which adjustment will be required.

4.

5. These are design values. These are not guaranteed values.

6. These are measured values. These are not guaranteed values.

7. Select the electromagnetic brake control relay properly, considering the characteristics of the electromagnetic brake

8. Manufactured by Nippon Chemi-Con Corporation.

lways prepare a power supply exclusively used for the electromagnetic brake.

and surge absorber. When you use a diode for a surge absorber, the electromagnetic braking time will be longer.

Before operating the servo motor, be sure to confirm that the electromagnetic brake operates properly. The operation time of the electromagnetic brake varies depending on the power supply circuit you use. Be sure to check the operation delay time with a real machine.

Servo motor

52BJ/102BJ/152BJ 202BJ/302BJ

Per braking [J] 400 4500 Per hour [J] 4000 45000

Number of braking cycles

Work per braking [J] 200 1000 For the suppressed

voltage 125 V For the suppressed

voltage 350 V

[times] 20000 20000

HG-SN series

24 V DC

TND20V-680KB

TND10V-221KB

0

-10%

7 - 5

7. HG-SN SERIES

4

7.5 Servo motors with special shafts

The servo motors with special shafts indicated by the symbol (K) in the table are available. K is the symbol attached to the servo motor model names.

Servo motor

HG-SN_(B)JK K

R

Q

QK

QL

A

W

A

r Y

Shaft section view A-A

Key shaft (without key)

U

Servo motor

HG-SN52(B)JK HG-SN102(B)JK

S

HG-SN152(B)JK

HG-SN202(B)JK HG-SN302(B)JK

Shaft shape

Key shaft (without key)

S R Q W QK QL U r Y

24h6 55 50

+0.010

35

79 75

0

[Unit: mm]

Variable dimensions

M8

Screw

4

hole

depth

20

M8

Screw

5

hole

depth

20

10

0

8

36 5

-0.036

0

55 5

-0.036

+0.2

0

+0.2

5

0

7.6 Servo motor with oil seal

The oil seal prevents the entry of oil into the servo motor. Install the servo motor horizontally, and set the oil level in the gear box to be lower than the oil seal lip always.

Shaft

Gear

Servo motor

Height from oil (h)

Lip

Oil seal

Height (h) from

Servo motor

the surface of

the oil

[mm]

HG-SN52(B)J HG-SN102(B)J

23 HG-SN152(B)J HG-SN202(B)J HG-SN302(B)J

31

7 - 6

7. HG-SN SERIES

7.7 Dimensions

Moment of inertia on the table is the value calculated by converting the total value of moment of inertia for servo motor and electromagnetic brake with servo motor shaft. The dimensions without tolerances are general tolerance.

7.7.1 Standard (without an electromagnetic brake)

-4

kg•m2] Mass [kg]

[Unit: mm]

4-φ9 mounting hole Use hexagon socket head cap screw.

□130

4

5

°

5

4

1

φ

1

6

5

Motor plate

Bottom

Top

Bottom

Top

Caution plate

Bottom

Top

50.9

Model Output [kW] Moment of inertia J [× 10

HG-SN52J 0.5 7.26 4.8

Motor plate (opposite side)

38.2 Caution

plate

12 3

Bottom

Top

55118.5

50

φ24h6

φ110h7

Oil seal

Motor plate

Bottom

Top

Bottom

Top

Caution plate

Encoder connector

CMV1-R10P

Power supply connector MS3102A18-10P

Caution plate

Bottom

Top

50.9

13

38.2

CD

AB

(PE)

Key

13.5

U

58

BC43591*

-4

kg•m2] Mass [kg]

W

20.9

57.8

V

Power supply connector

Motor flange direction

Model Output [kW] Moment of inertia J [× 10

HG-SN102J 1.0 11.6 6.2

[Unit: mm]

4-φ9 mounting hole Motor plate (opposite side)

Caution plate

12 3

Bottom

Top

55132.5

50

φ24h6

φ110h7

Oil seal

Use hexagon socket

head cap screw.

□130

4

5

°

5

4

1

φ

1

6

5

112.5

Encoder connector

CMV1-R10P

Power supply connector

MS3102A18-10P

13

20.9

71.8

W

V

Power supply connector

Motor flange direction

CD

AB

(PE)

Key

13.5

U

58

BC43592*

112.5

7 - 7

7. HG-SN SERIES

Motor plate

Bottom

Top

Bottom

Top

Caution plate

Bottom

Top

50.9

Encoder connector CMV1-R10P

Power supply connector MS3102A18-10P

Model Output [kW] Moment of inertia J [× 10

-4

kg•m2] Mass [kg]

HG-SN152J 1.5 16.0 7.3

[Unit: mm]

4-φ9 mounting hole

13.5 58

Use hexagon socket head cap screw.

□130

4

5

°

5

4

1

φ

1

6

5

BC43593*

112.5

Motor plate

(opposite side)

38.2 Caution

plate

12 3

Bottom

Top

55146.5

50

φ24h6

φ110h7

Oil seal

13

W

(PE)

Key

CD

20.9

85.8

Power supply connector

Motor flange direction

AB

U

V

Motor plate

Bottom

Top

Bottom

Top

Caution plate

Bottom

Top

Encoder connector CMV1-R10P

Power supply connector MS3102A22-22P

50.9

13

Motor plate (opposite side)

38.5

Model Output [kW] Moment of inertia J [× 10

-4

kg•m2] Mass [kg]

HG-SN202J 2.0 46.8 11

[Unit: mm]

4-φ13.5 mounting hole Use hexagon socket head cap screw.

138.5

Caution plate

24.8

18 3

Bottom

Top

74.8

79

75

0

+0.01

φ35

Oil seal

CD

AB

(PE)

U

W

V

Power supply connector

Motor flange direction

0

-0.025

φ114.3

Key

□176

82

4

5

°

00

2

φ

2

3

BC43594*

0

140.9

7 - 8

7. HG-SN SERIES

Motor plate

Bottom

Top

Model Output [kW] Moment of inertia J [× 10

-4

kg•m2] Mass [kg]

HG-SN302J 3.0 78.6 16

[Unit: mm]

Motor plate (opposite side)

79162.5

*1

*2

98.8

18 3

Bottom

Top

75

0

+0.01

φ35

0

-0.025

CD

AB

φ114.3

(PE)

Key

U

Oil seal

W

V

Power supply connector

Motor flange direction

38.5

Caution plate

*1

Caution plate

Bottom

Top

Bottom

Top

50.9

*2

Encoder connector

CMV1-R10P

Power supply connector MS3102A22-22P

13

24.8

4-φ13.5 mounting hole Use hexagon socket head cap screw.

□176

4

5

°

0

20

φ

2

3

0

82

BC43571*

140.9

7.7.2 With an electromagnetic brake

Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10

HG-SN52BJ 0.5 8.5 9.48 6.7

Motor plate

Bottom

Top

Bottom

Top

29

Caution plate

Bottom

Top

79.9

Encoder connector CMV1-R10P

Electromagnetic brake connector

CMV1-R2P

Motor plate

43.5 (opposite side)

Caution plate

50.9

13

59

Power supply connector MS3102A18-10P

20.9

12 3

Bottom

Top

57.8

55153

50

Oil seal

Main key position mark

-4

kg•m2] Mass [kg]

[Unit: mm]

4-φ9 mounting hole Use hexagon socket head cap screw.

□130

4

5

°

5

4

1

φ24h6

φ110h7

φ

1

6

5

112.5

W

(PE)

13.5 58

Key

Electromagnetic brake

Electromagnetic brake connector

Motor flange direction

Power supply connector

Motor flange direction

U

V

BC43595*

7 - 9

7. HG-SN SERIES

Motor plate

Bottom

Top

Bottom

Top

29

Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10

-4

kg•m2] Mass [kg]

HG-SN102BJ 1.0 8.5 13.8 8.2

[Unit: mm]

4-φ9 mounting hole Use hexagon socket head cap screw.

13.5

□130

4

5

°

5

4

1

φ

1

6

5

58

BC43596*

Caution plate

Bottom

Top

50.9

79.9

Encoder connector CMV1-R10P

Electromagnetic brake connector CMV1-R2P

13

Power supply connector MS3102A18-10P

43.5

Motor plate

(opposite side)

Caution plate

59

Electromagnetic brake

Electromagnetic brake connector

12 3

Bottom

Top

20.9

71.8

Motor flange direction

55167

50

Oil seal

Main key position mark

Power supply connector

Motor flange direction

W

CD

V

φ24h6

φ110h7

(PE)

Key

AB

U

112.5

Motor plate

Bottom

Top

Bottom

Top

29

Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10

-4

kg•m2] Mass [kg]

HG-SN152BJ 1.5 8.5 18.2 9.3

[Unit: mm]

4-φ9 mounting hole Use hexagon socket head cap screw.

13.5

□130

4

5

°

5

4

1

φ

1

6

5

58

BC43597*

43.5

Caution plate

Bottom

Top

50.9

79.9

Encoder connector CMV1-R10P

Electromagnetic brake connector CMV1-R2P

13

Power supply connector MS3102A18-10P

Motor plate (opposite side)

Caution plate

59

Electromagnetic brake

Electromagnetic brake connector

12 3

Bottom

Top

20.9

85.8

Motor flange direction

55181

50

Oil seal

Main key position mark

Power supply connector

Motor flange direction

W

CD

V

φ24h6

φ110h7

(PE)

Key

AB

U

112.5

7 - 10

7. HG-SN SERIES

Motor plate

Bottom

Top

Bottom

Top

44

Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10

-4

kg•m2] Mass [kg]

HG-SN202BJ 2.0 44 56.5 17

[Unit: mm]

4-φ13.5 mounting hole Use hexagon socket head cap screw.

□176

82

4

5

°

0

2

φ

2

3

0

BC43598*

Caution plate

Bottom

Top

96.9

Encoder connector CMV1-R10P

Electromagnetic brake connector CMV1-R2P

Power supply connector MS3102A22-22P

45.5

50.9

13

66.5

Electromagnetic brake

Motor plate (opposite side)

Caution plate

18 3

Bottom

Top

24.8

74.8

Electromagnetic brake connector

Motor flange direction

79188

75

Oil seal

Main key position mark

Power supply connector

Motor flange direction

0

+0.01

φ35

W

CD

V

0

-0.025

φ114.3

(PE)

Key

AB

U

140.9

Motor plate

Bottom

Top

Model Output [kW] Brake static friction torque [N•m] Moment of inertia J [× 10

-4

kg•m2] Mass [kg]

HG-SN302BJ 3.0 44 88.2 22

[Unit: mm]

4-φ13.5 mounting hole Use hexagon socket head cap screw.

45.5

Caution plate

Motor plate (opposite side) Caution plate

*1

Caution plate

Bottom

Top

Bottom

Top

50.9

*2

Encoder connector

CMV1-R10P

Electromagnetic brake connector

44

CMV1-R2P

96.9

13

66.5

Power supply connector

MS3102A22-22P

24.8

Electromagnetic brake

Electromagnetic brake connector

Motor flange direction

*1

Bottom

Top

*2

98.8

18 3

Main key position mark

75

0

+0.01

φ35

Oil seal

W

CD

V

Power supply connector

Motor flange direction

0

-0.025

φ114.3

AB

(PE)

Key

U

79212

□176

82

4

5

°

00

2

φ

2

3

0

BC43572*

140.9

7 - 11

7. HG-SN SERIES

MEMO

7 - 12

APPENDIX

App. 1 Servo motor ID codes

Servo motor series ID Servo motor type ID Servo motor encoder ID Servo motor

FF13

1F

36

FF23 HG-KN23 FF43 HG-KN43 FF73 HG-KN73 FF52 HG-SN52

F102 HG-SN102 F152 HG-SN152 F202 HG-SN202 F302 HG-SN302

004B

App. 2 Manufacturer list

Names given in the table are as of August 2017. For information, such as the delivery time, price, and specifications of the recommended products, contact each manufacturer.

3M 3M JST J.S.T. Mfg. Co., Ltd. DDK DDK Ltd. TE Connectivity TE Connectivity Ltd. Company Taiyo Cabletec Taiyo Cabletec Corporation Toa Electric Industrial Toa Electric Industrial Co. Ltd. JAE Japan Aviation Electronics Industry, Limited Hirose Electric Hirose Electric Co., Ltd. Molex Molex

Manufacturer Contact

HG-KN13

App. - 1

APPENDIX

App. 3 Compliance with the CE marking

App. 3.1 What is CE marking?

The CE marking is mandatory and must be affixed to specific products placed on the European Union. When a product conforms to the requirements, the CE marking must be affixed to the product. The CE marking also applies to machines and equipment incorporating servos. A manual is available in different languages. For details, contact your local sales office.

(1) EMC directive

The EMC directive applies to the servo motor alone. Therefore servo motor is designed to comply with the EMC directive. The EMC directive also applies to machines and equipment incorporating servo motors. HG-KN and HG-SN series comply with EN61800-3 Category 3. They are not intended to be used on a low-voltage public network which supplies domestic premises; radio frequency interference is expected if it is used on such a network. The installer shall provide a guide for installation and use, including recommended mitigation devices.

(2) Low voltage directive

The low voltage directive also applies to the servo motor alone. The servo motor is designed to comply with the low voltage directive.

(3) Machinery directive

The servo motor as a single unit does not comply with the Machinery directive due to correspondence with article1 2. (k). However, the Machinery directive applies to machines and equipment incorporating servo motors. Please check your machines and equipment as a whole if they are complied.

App. 3.2 For compliance

Be sure to perform an appearance inspection of every unit before installation. In addition, have a final performance inspection on the entire machine/system, and keep the inspection record.

(1) Wiring

Use wiring which comply with EN for the servo motor power. Products in compliance with EN are available as options.

(2) Performing EMC tests

When EMC tests are run on a machine and device into which the servo motor and servo motor have been installed, it must conform to the electromagnetic compatibility (immunity/emission) standards after it has satisfied the operating environment and electrical equipment specifications. For EMC directive conforming methods about servo amplifiers and servo motors, refer to "EMC Installation Guidelines" and each servo amplifier instruction manual.

App. - 2

APPENDIX

App. 4 Compliance with UL/CSA standard

POINT

When you conform HG-KN series servo motor to the UL/CSA standard as a certified product by UL, the insulation class will be 105 (A). The insulation class is approved for 130 (B) as for the UL/CSA standard by TÜV Rheinland.

Use the UL/CSA standard-compliant model of servo motor. For the latest information of compliance, contact your local sales office. Unless otherwise specified, the handling, performance, specifications, etc. of the UL/CSA standardcompliant models are the same as those of the standard models. The UL/CSA standard-compliant products are certified by UL and TÜV Rheinland. Their conditions of certification may be different.

(1) Flange size

The servo motor is compliant with the UL/CSA 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/CSA 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 °C to 40 °C ambient temperature. Therefore, to conform to the UL/CSA standard, mount the servo motor on a flange with a heat radiating effect equivalent to that of this flange.

Flange size

[mm]

250 × 250 × 6 13/23 (Note 1) 250 × 250 × 12 43 52/102/152 300 × 300 × 12 73 (Note 1) 300 × 300 × 20 202/302 500 × 500 × 20 13/23/43 (Note 2) 600 × 600 × 30 73 (Note 2)

Servo motor

HG-KN HG-SN

Note 1. Certified by TÜV Rheinland

2. Certified by UL

(2) Selection example of wires

To comply with the UL/CSA standard, use UL-approved copper wires rated at 75 ˚C for wiring. The following table shows wires [AWG] rated at 75 ˚C.

Servo motor

HG-KN13 HG-KN23 HG-KN43 HG-KN73

HG-SN52 HG-SN102 HG-SN152 HG-SN202 HG-SN302 12

1) U/V/W/ 2) B1/B2

14 (Note) 16 (Note)

14

Wire [AWG]

16

Note. For fabricating extension cables

App. - 3

APPENDIX

App. 5 Selection example of servo motor power cable

POINT

Selection conditions of wire size are as follows. Wire length: 30 m or less Some cables do not fit into the option or the recommended cable clamp. Select a cable clamp according to the cable diameter.

Selection example when using the 600 V grade EP rubber insulated chloroprene sheath cab-tire cable (2PNCT) for servo motor power (U/V/W) is indicated below.

Servo motor Wire size [mm2] HG-SN52 1.25 HG-SN102 1.25 HG-SN152 2 HG-SN202 2 HG-SN302 3.5

App. - 4

APPENDIX

App. 6 Connector dimensions

The connector dimensions for wiring the servo motor are shown below.

(1) TE Connectivity

2174053-1

31.1

Note. The recommended screw tightening torque is

Crimping tool: 1596970-1 (for ground clip) 1596847-1 (for receptacle contact)

13.6

24.6

22 19

19.6

(Note)

6.5

13.5

[Unit: mm]

0.1 N•m.

(2) JAE

JN4FT02SJ1-R

19

11.8

14.3

2.5

17

12.3

26.6

φ11.6

(Note)

[Unit: mm]

Note. The recommended screw tightening torque is

0.2 N•m.

Crimping tool: CT170-14-TMH5B

App. - 5

APPENDIX

KN4FT04SJ1-R

18.5 ± 0.3

20.1 ± 0.2

24.5 ± 0.3

R6

13.7 ± 0.3

3.5 ± 0.2

Main key

Approx. 29

16 ± 0.3

11.7 ± 0.2

12.2 ± 0.3

(Note)

7°

13 ± 0.3

11 ± 0.3

[Unit: mm]

Note. The recommended screw tightening torque is

0.2 N•m.

Crimping tool: CT170-14-TMH5B

(3) DDK

(a) CMV1-SP10S-M_/CMV1-SP2S-_

Refer to section 3.3 for details of crimping tools.

21

Approx. 50

[Unit: mm]

21

CMV1-SP2S-_CMV1-SP10S-M_

App. - 6

APPENDIX

r

A

(b) CMV1-AP10S-M_/CMV1-AP2S-_

Refer to section 3.3 for details of crimping tools.

Approx. 33

[Unit: mm]

21

(c) CE05-6A_-_SD-D-BSS

(d) CE05-8A_-_SD-D-BAS

Approx. 32

W

CMV1-AP10S-M_ CMV1-AP2S-_

D or shorter

7.85 or longer

A

[Unit: mm]

0

-0.38

C ± 0.8

Model A B C D W CE05-6A18-10SD-D-BSS 1 1/8-18UNEF-2B 34.13 32.1 57 1-20UNEF-2A CE05-6A22-22SD-D-BSS 1 3/8-18UNEF-2B 40.48 38.3 61 1 3/16-18UNEF-2A

D or shorte

B

[Unit: mm]

0

-0.38

B

U ± 0.7 R ± 0.7

Approx. S ± 1

Y or longer

W

Model A B D W R U (S) Y CE05-8A18-10SD-D-BAS 1 1/8-18UNEF-2B 34.13 69.5 1-20UNEF-2A 13.2 30.2 43.4 7.5 CE05-8A22-22SD-D-BAS 1 3/8-18UNEF-2B 40.48 75.5 1 3/16-18UNEF-2A 16.3 33.3 49.6 7.5

App. - 7

APPENDIX

(e) CE3057-_A-_-D

Effective thread length C

V threads

1.6

[Unit: mm]

Approx. D

A ± 0.7

G ± 0.7

B ± 0.7

F

(Bushing ID)

Model

CE3057-10A-1-D CE3057-10A-2-D 11.0 CE3420-10-2 8.5 to 11 CE3057-12A-1-D CE3057-12A-2-D 13.0 CE342012-2 9.5 to 13

Shell

size

A B C D E F G H V Bushing

18 23.8 30.1 10.3 41.3 15.9

22 23.8 35 10.3 41.3 19

14.1

31.7 3.2 1-20UNEF-2B

16.0

37.3 4.0 1 3/16-18UNEF-2B

H

(Movable range on one side)

E

(Cable clamp ID)

CE3420-10-1

CE342012-1 12.5 to 16

Cable

OD

10.5 to 14.1

(f) D/MS3106B_-_S

[Unit: mm]

L or shorter

W or longer

Y or shorter

V

A

J ± 0.12

0

-0.38

Q

Model A J L Q V W Y D/MS3106B18-10S 1 1/8-18UNEF 18.26 52.37 34.13 1-20UNEF 9.53 42 D/MS3106B22-22S 1 3/8-18UNEF 18.26 56.57 40.48 1 3/16-18UNEF 9.53 50

App. - 8

APPENDIX

(g) D/MS3108B_-_S

(h) D/MS3057-_A

[Unit: mm]

L or shorter

R ± 0.5U ± 0.5

J ± 0.12

A

0

-0.38

Q

V

W or longer

Model A J L Q R U V W D/MS3108B18-10S 1 1/8-18UNEF 18.26 68.27 34.13 20.5 30.2 1-20UNEF 9.53 D/MS3108B22-22S 1 3/8-18UNEF 18.26 76.98 40.48 24.1 33.3 1 3/16-18UNEF-2A 9.53

[Unit: mm]

Effective thread length C

A ± 0.7

1.6 V

G ± 0.7

E (Bushing ID)

D (Cable clamp ID)

Model Shell size A B C D E F G V Bushing D/MS3057-10A 18 23.8 30.1 10.3 15.9 14.3 3.2 31.7 1-20UNEF AN3420-10 D/MS3057-12A 22 23.8 35.0 10.3 19.0 15.9 4.0 37.3 1 3/16-18UNEF-2A AN3420-12

(i) CE05-6A32-17SD-D

CE05-6A32-17SD-D 2-18UNS-2B 56.33 37.0 1 7/8-16UN-2A 13.14 45.3 9.2 19.4

B ± 0.7

F (Movable range)

[Unit: mm]

Model A B C D E G H J

App. - 9

APPENDIX

_

(j) CMV1S-SP10S-M_/CMV1S-SP2S-_

Refer to section 3.3 for details of crimping tools.

[Unit: mm]

21

Approx. 50

(k) CMV1S-AP10S-M_/CMV1S-AP2S-_

Refer to section 3.3 for details of crimping tools.

Approx. 33

Approx. 32

f

21

CMV1S-SP10S-M_

21

CMV1S-AP10S-M_ CMV1S-AP2S-_

CMV1S-SP2S-

[Unit: mm]

App. - 10

REVISIONS

*The manual number is given on the bottom left of the back cover.

Revision Date *Manual Number Revision

Oct. 2014 SH(NA)030135ENG-A First edition

Nov. 2016 SH(NA)030135ENG-B The HG-KN series servo motors can be operated at a maximum speed of 6000 r/min.

4. Additional instructions (1) Transportation and

installation (5) Corrective actions Partially added. Section 1.1 The rating plate is changed. Section 1.3 The sentences of CAUTION are changed and partially

Chapter 2 The sentences are added to CAUTION. Section 2.5 (1) The sentence is added. Section 3.2 Partially changed. Section 4.2.1 Partially changed. Section 5.1.1 Partially changed. Section 5.1.2 Partially changed. Section 5.2 The sentences are added and partially changed. Section 5.3 Partially changed. Section 5.4 Partially changed. Section 5.5 Partially changed. Section 6.3.1 The contents are partially added to the table and diagram is

Section 6.3.2 The diagrams are changed. Section 6.7 The diagram is partially changed. Section 7.3.1 The contents are partially added to the table and diagram is

App. 2 Partially changed. App. 3 Partially changed. App. 6 (2) The diagrams are partially changed.

Mar. 2017 SH(NA)030135ENG-C The servo amplifier model is added.

Section 1.1 Partially changed. Section 6.3.1 Partially changed. Section 6.2 The part of table is changed. Section 7.3.1 Partially changed. Section 7.2 The part of table is changed. App. 4 The part of table is changed.

Aug. 2017 SH(NA)030135ENG-D MR-JE-200C and MR-JE-300C are added, and a maximum altitude of 2000 m above sea

level is supported.

3. To prevent injury, note the

following

4. Additional instructions Partially changed. Chapter 2 The sentences are added to CAUTION. Section 2.10 Added. Section 2.11 Added. Section 6.3.1 Partially changed. Section 7.2 Model names are added. Section 7.3.1 Partially changed. App. 2 Partially changed.

The ambient humidity is changed.

changed.

Partially changed.

This manual confers no industrial property rights or any rights of any other kind, nor does it confer any patent licenses. Mitsubishi Electric Corporation cannot be held responsible for any problems involving industrial property rights which may occur as a result of using the contents noted in this manual.

2016 MITSUBISHI ELECTRIC CORPORATION



Mitsubishi Electric HG-KN, HG-SN Instruction Manual

Specifications and Main Features

Frequently Asked Questions

User Manual

Safety Instructions

DISPOSAL OF WASTE

CONTENTS

1. INTRODUCTION

1.1 Rating plate

1.2 Parts identification

1.3 Electromagnetic brake

1.4 Servo motor shaft shapes

2. INSTALLATION

2.1 Mounting direction

2.2 Load mounting/dismounting precautions

2.3 Permissible load for the shaft

2.4 Protection from oil and water

2.5 Cable

2.6 Servo motor with oil seal

2.7 Inspection items

2.8 Parts having service life

2.9 Machine accuracies

2.10 Mounting servo motors

2.11 Restrictions when using the equipment at altitudes exceeding 1000 m and up to 2000 m above sea level

3. CONNECTORS USED FOR SERVO MOTOR WIRING

3.1 Selection of connectors

3.2 Wiring connectors (connector configurations A/B/C)

3.3 Wiring connectors (connector configurations D/E/F/G)

4. CONNECTION OF SERVO AMPLIFIER AND SERVO MOTOR

4.1 Connection instructions

4.2 Wiring

4.2.1 HG-KN series servo motor

4.2.2 HG-SN series servo motor

4.3 Selection example of wires

5. WIRING OPTION

5.1 Cable/connector sets

5.1.1 Combinations of cable/connector sets

5.1.2 Cable and connector list

5.2 Encoder cable/connector sets

5.3 Servo motor power cable

5.4 Electromagnetic brake cable

5.5 Wires for option cables

6. HG-KN SERIES

6.1 Model designation

6.2 Combination list of servo motors and servo amplifiers

6.3 Standard specifications

6.3.1 Standard specifications list

6.3.2 Torque characteristics

6.4 Electromagnetic brake characteristics

6.5 Servo motors with special shafts

6.5.1 Key shaft (with 2 round end key)

6.5.2 D cut shaft

6.6 Servo motor with oil seal

6.7 Mounting connectors

6.8 Dimensions

6.8.1 Standard (without an electromagnetic brake)

6.8.2 With an electromagnetic brake

7. HG-SN SERIES

7.1 Model designation

7.2 Combination list of servo motors and servo amplifiers

7.3 Standard specifications

7.3.1 Standard specifications list

7.3.2 Torque characteristics

7.4 Electromagnetic brake characteristics

7.5 Servo motors with special shafts

7.6 Servo motor with oil seal

7.7 Dimensions

7.7.1 Standard (without an electromagnetic brake)

7.7.2 With an electromagnetic brake

APPENDIX

App. 1 Servo motor ID codes

App. 2 Manufacturer list

App. 3 Compliance with the CE marking

App. 4 Compliance with UL/CSA standard

App. 5 Selection example of servo motor power cable

App. 6 Connector dimensions

REVISIONS