mitsubishi HS Specification Manual

BNP-B3981* (E

NG)

INTELLIGENT SERVOMOTOR

HS Series

Specifications and Instruction Manual

Introduction

Thank you for purchasing the Mitsubishi CNC.
This instruction manual describes the handling and caution points for using this CNC.
Incorrect handling may lead to unforeseen accidents, so always read this instruction
manual thoroughly to ensure correct usage.
Make sure that this instruction manual is delivered to the end user.

Precautions for safety

Please read this instruction manual and auxiliary documents before starting
installation, operation, maintenance or inspection to ensure correct usage.
Thoroughly understand the device, safety information and precautions before starting
operation.

The safety precautions in this instruction manual are ranked as "DANGER" and
"CAUTION".

DANGER

When a dangerous situation may occur if handling is
mistaken
leading to fatal or major injuries.

CAUTION

When a dangerous situation may occur if handling is
mistaken
leading to medium or minor injuries, or physical damage.

Note that some items described as CAUTION may lead to major results
depending on the situation. In any case, important information that must be

observed is described.
The signs indicating prohibited and mandatory items are described below.

This sign indicates that the item is prohibited (must not be
carried out). For example, is used to indicate "Fire

Prohibited".

This sign indicates that the item is mandatory (must be carried
out). For example, is used to indicate grounding.

After reading this instruction manual, keep it in a safe place for future reference.

In this manual, this mark indicates important matters the operator



POINT

should be aware of when using the CNC.

I

For Safe Use

1. Electric shock prevention

Wait at least 10 minutes after turning the power OFF, check the voltage between L1-L2-L3
and L11-L12 terminals with a tester, etc., before starting wiring or inspections.
Failure to observe this could lead to electric shocks.

Ground the servo amplifier and servomotor with Class 3 grounding or higher.

Wiring and inspection work must be done by a qualified technician.

Wire the servo amplifier and servomotor after installation. Failure to observe this could lead
to electric shocks.

Do not touch the switches with wet hands. Failure to observe this could lead to electric
shocks.

Do not damage, apply forcible stress, place heavy items or engage the cable. Failure to
observe this could lead to electric shocks.

DANGER

2. Fire prevention

Install the servo amplifier, servomotor and regenerative resistor on noncombustible material.
Direct installation on combustible material or near combustible materials could lead to fires.

Following the instructions in this manual, always install no-fuse breakers and contactors on
the servo amplifier power input. Select the correct no-fuse breakers and contactors using this
manual as a reference. Incorrect selection could lead to fires.

Shut off the main circuit power at the contactors to emergency stop when an alarm occurs.

CAUTION

II

3. Injury prevention

CAUTION

Do not apply a voltage other than that specified in Instruction Manual on each terminal.
Failure to observe this item could lead to ruptures or damage, etc.

Do not mistake the terminal connections. Failure to observe this item could lead to ruptures
or damage, etc.

Do not mistake the polarity(+ ,–) . Failure to observe this item could lead to ruptures or
damage, etc.

Do not touch the servo amplifier fins, regenerative resistor or servomotor, etc., while the
power is turned ON or immediately after turning the power OFF. Some parts are heated to
high temperatures, and touching these could lead to burns.

4. Various precuations

Observe the following precautions. Incorrect handling of the unit could lead to faults, injuries and
electric shocks, etc.

(1) Transportation and installation

Correctly transport the product according to its weight.
Do not stack the products above the tolerable number.
Do not hold the cables, axis or detector when transporting the servomotor.
Follow this Instruction Manual and install the unit in a place where the weight can be borne.
Do not get on top of or place heavy objects on the unit.
Always observe the installation directions.
Do not install or run a servo amplifier or servomotor that is damaged or missing parts.
Do not let conductive objects such as screws or metal chips, etc., or combustible materials

such as oil enter the servo amplifier or servomotor.
The servo amplifier and servomotor are precision devices, so do not drop them or apply

strong impacts to them.

CAUTION

III

CAUTION

Store and use the units under the following environment conditions.

Environment

Ambient
temperature

Ambient humidity

Storage temperature
Storage humidity
Atmosphere
Altitude 1000m or less above sea level

Vibration

(with no dew condensation)

HS-RF
HS-SF
(1kW or less)

HS-SF
(2.0kW or
less)

HS-MF

Servomotor Interface unit

0°C to +40°C

(with no freezing)

80% RH or less

–15°C to +65°C

(with no freezing)

90% RH or less (with no dew condensation)

Indoors (Where unit is not subject to direct sunlight)

With no corrosive gas, combustible gas, oil mist or dust.

X: 9.8m/sec2 (1G)
Y: Y: 24.5m/sec2

(2.5G) or less
X: 19.6m/sec2 (2G)
Y: 49m/sec2 (5G) or

less
X: 19.6m/sec2 (2G)
Y: 19.6m/sec2 (2G)

or less

Conditions

0°C to +55°C

(with no freezing)

90%RH or less

(with no dew condensation)

–20°C to +65°C

(with no freezing)

5.9m/sec2 (0.6G) or less

Securely fix the servomotor to the machine. Insufficient fixing could lead to the
servomotor deviating during operation.

Never touch the rotary sections of the servomotor during operations. Install a cover, etc.,
on the shaft.

When coupling to a servomotor shaft end, do not apply an impact by hammering, etc.
The detector could be damaged.

Do not apply a load exceeding the tolerable load onto the servomotor shaft. The shaft
could break.

When storing for a long time, please contact your dealer.

IV

(2) Wiring

Correctly and securely perform the wiring. Failure to do so could lead to runaway of the
servomotor.

(3) Trial operation and adjustment

Check and adjust each parameter before starting operation. Failure to do so could lead to
unforeseen operation of the machine.

Do not make remarkable adjustments and changes as the operation could become unstable.

CAUTION

CAUTION

(4) Usage methods

Install an external emergency stop circuit so that the operation can be stopped and power
shut off immediately.

Unqualified persons must not disassemble or repair the unit.

Never make modifications.

Reduce magnetic interference by installing a noise filter. The electronic devices used near
the servo amplifier could be affected by magnetic noise. Install a line noise filter, etc., when
there is an influence from magnetic interference.

Always use the servomotor and servo amplifier with the designated combination.
The servomotor's magnetic brakes are for holding purposes. Do not use them for normal

braking.
There may be cases when holding is not possible due to the magnetic brake's life or the

machine construction (when ball screw and servomotor are coupled via a timing belt, etc.).
Install a stop device to ensure safety on the machine side.

CAUTION

V

(5) Troubleshooting

CAUTION

If a hazardous situation is predicted during stop or product trouble, use a servomotor with
magnetic brakes or install an external brake mechanism.

Use a double circuit configuration
that allows the operation circuit for
the magnetic brakes to be operated
even by the external emergency
stop signal.
If an alarm occurs, remove the
cause and secure the safety before
resetting the alarm.

Never go near the machine after restoring the power after a failure, as the machine could
start suddenly.
(Design the machine so that personal safety can be ensured even if the machine starts
suddenly.)

Control in the intelligent
servomotor.

Servomotor

(6) Maintenance, inspection and part replacement

Magnetic
brake

Shut off with CNC brake
control PLC output.

EMG

24VDC

The capacity of the electrolytic capacitor will drop due to deterioration. To prevent secondary
damage due to failures, replacing this part every ten years when used under a normal
environment is recommended. Contact the nearest dealer for repair and replacement of
parts.

(7) Disposal

Treat this unit as general industrial waste.

(8) General precautions

CAUTION

CAUTION

CAUTION

The drawings given in this Specifications and Maintenance Instruction Manual show the
covers and safety partitions, etc., removed to provide a clearer explanation. Always return
the covers or partitions to their respective places before starting operation, and always follow
the instructions given in this manual.

VI

Compliance to European EC Directives

1. European EC Directives

The European EC Directives were issued to unify Standards within the EU Community and to smooth
the distribution of products of which the safety is guaranteed. In the EU Community, the attachment
of a CE mark (CE marking) to the product being sold is mandatory to indicate that the basic safety
conditions of the Machine Directives (issued Jan. 1995), EMC Directives (issued Jan. 1996) and the
Low-voltage Directives (issued Jan. 1997) are satisfied. The machines and devices in which the servo
is assembled are a target for CE marking.
The servo is a component designed not to function as a single unit but to be used with a combination
of machines and devices. Thus, it is not subject to the EMC Directives, and instead the machines and
devices in which the servo is assembled are targeted.
This servo complies with the Standards related to the Low-voltage Directives in order to make CE
marking of the assembled machines and devices easier. The EMC INSTALLATION GUIDELINES (IB
(NA) 67303) which explain the servo amplifier installation method and control panel manufacturing
method, etc., has been prepared to make compliance to the EMC Directives easier. Contact
Mitsubishi or your dealer for more information.

2. Cautions of compliance

Use the standard servo amplifier and EN Standards compliance part (some standard models are
compliant) for the servomotor. In addition to the items described in this instruction manual, observe
the items described below.

(1) Environment

The servo amplifier must be used within an environment having a Pollution Class of 2 or more as

stipulated in the IEC664. For this, install the servo amplifier in a control panel having a structure
(IP54) into which water, oil, carbon and dust cannot enter.

(2) Power supply

1) The servo amplifier must be used with the overvoltage category II conditions stipulated in
IEC664. For this, prepare a reinforced insulated transformer that is IEC or EN Standards
complying at the power input section.

2) When supplying the control signal input/output power supply from an external source, use a
24 VDC power supply of which the input and output have been reinforced insulated.

(3) Installation

1) To prevent electric shocks, always connect the servo amplifier protective earth (PE) terminal
(terminal with mark) to the protective earth (PE) on the control panel.

2) When connecting the earthing wire to the protective earth (PE) terminal, do not tighten the
wire terminals together. Always connect one wire to one terminal.

PE terminal PE terminal

(4) Wiring

1) Always use crimp terminals with insulation tubes so that the wires connected to the servo
amplifier terminal block do not contact the neighboring terminals.

Crimp terminal

Insulation tube
Wire

VIII

(5) Peripheral devices

1) Use a no-fuse breaker and magnetic contactor that comply with the EN/IEC Standards
described in Chapter 7 Peripheral Devices.

2) The wires sizes must follow the conditions below. When using other conditions, follow Table 5
of EN60204 and the Appendix C.

• Ambient temperature: 40°C

• Sheath: PVC (polyvinyl chloride)

• Install on wall or open table tray

(6) Servomotor

Contact Mitsubishi for the outline dimensions, connector signal array and detector cable.

(7) Others

Refer to the EMC INSTALLATION GUIDELINES (IB (NA) 67303) for other EMC Directive

measures related to the servo amplifier.

VIII

Contents

Chapter 1 Introduction

1-1 Intelligent servomotor outline.............................................................................. 1-2

1-2 Limits and special notes for intelligent servomotor........................................... 1-2

1-2-2 Precautions for selecting the intelligent servomotor ..................................... 1-2

1-2-2 Precautions for use....................................................................................... 1-2

1-2-3 Miscellaneous............................................................................................... 1-2

1-3 Inspection at purchase......................................................................................... 1-3

1-3-1 Explanation of type....................................................................................... 1-3

Chapter 2 Specifications

2-1 Standard specifications ....................................................................................... 2-2

2-2 Torque characteristics......................................................................................... 2-3

2-3 Outline dimension drawings................................................................................ 2-4

2-3-1 HS-MF23 ...................................................................................................... 2-4

2-3-2 HS-RF43/73.................................................................................................. 2-4

2-3-3 HS-SF52/53/102/103.................................................................................... 2-5

2-3-4 HS-SF202..................................................................................................... 2-5

Chapter 3 Characteristics

3-1 Overload protection characteristics.................................................................... 3-2

3-2 Magnetic brake characteristics ........................................................................... 3-3

3-2-1 Motor with magnetic brakes.......................................................................... 3-3

3-2-2 Magnetic brake characteristics ..................................................................... 3-4

3-2-3 Magnetic brake power supply....................................................................... 3-4

3-3 Dynamic brake characteristics............................................................................ 3-5

3-3-1 Deceleration torque...................................................................................... 3-5

3-3-2 Coasting amount .......................................................................................... 3-6

Chapter 4 Peripheral Devices

4-1 Dedicated options................................................................................................. 4-2

4-1-1 I/F unit........................................................................................................... 4-2

4-1-2 Battery option for absolute position system.................................................. 4-6

4-1-3 Cables and connectors................................................................................. 4-7

4-1-4 Cable clamp fitting........................................................................................ 4-11

4-2 Peripheral devices................................................................................................ 4-12

4-2-1 Selection of wire........................................................................................... 4-12

4-2-2 Selection of no-fuse breakers....................................................................... 4-12

4-2-3 Selection of contactor................................................................................... 4-13

4-2-4 Circuit protector............................................................................................ 4-14

Chapter 5 Installation

5-1 Installation of servomotor.................................................................................... 5-3

5-1-1 Environmental conditions............................................................................ 5-3

5-1-2 Cautions for mounting load (prevention of impact on shaft)......................... 5-3

5-1-3 Installation direction .................................................................................... 5-3

5-1-4 Tolerable load of axis ................................................................................... 5-4

5-1-5 Oil and waterproofing measures................................................................... 5-4

5-1-6 Cable stress.................................................................................................. 5-5

i

5-2 Installation of interface unit................................................................................. 5-6

5-2-1 Environmental conditions.............................................................................. 5-6

5-2-2 Installation direction...................................................................................... 5-6

5-2-3 Prevention of entering of foreign matter....................................................... 5-6

5-3 Noise measures.................................................................................................... 5-7

Chapter 6 Wiring

6-1 System connection diagram................................................................................ 6-3

6-2 Connector ............................................................................................................. 6-4

6-2-1 Connector signal layout................................................................................ 6-4

6-2-2 Signal name.................................................................................................. 6-5

6-3 Connection of power supply................................................................................ 6-6

6-3-1 Example of connection for controlling magnetic switch (MC)

with MDS-B-CV/CR....................................................................................... 6-6

6-3-2 Example of connection for controlling magnetic switch with

external sequence circuit.............................................................................. 6-8

6-3-3 Wiring of contactors (MC)............................................................................. 6-8

6-3-4 Surge absorber............................................................................................. 6-9

6-4 Wiring the motor with brakes............................................................................... 6-9

6-4-1 Connection example..................................................................................... 6-9

6-4-2 Manually releasing the magnetic brakes....................................................... 6-10

6-5 Connection with the NC ....................................................................................... 6-11

6-5-1 Connection system....................................................................................... 6-11

Chapter 7 Setup

7-1 Setting the initial parameters............................................................................... 7-2

7-1-1 Servo specification parameters .................................................................... 7-2

7-1-2 Limitations to electronic gear setting value................................................... 7-2

7-1-3 Parameters set according to feedrate........................................................... 7-3

7-1-4 Parameters set according to machine load inertia........................................ 7-3

7-1-5 Standard parameter list according to motor.................................................. 7-4

Chapter 8 Adjustment

8-1 Measurement of adjustment data........................................................................ 8-2

8-1-1 D/A output specifications.............................................................................. 8-2

8-1-2 Setting the output data................................................................................. 8-2

8-1-3 Setting the output scale................................................................................ 8-3

8-1-4 Setting the offset amount ............................................................................. 8-3

8-1-5 Clamp function.............................................................................................. 8-3

8-1-6 Filter function................................................................................................ 8-3

8-2 Gain adjustment ................................................................................................... 8-4

8-2-1 Current loop gain.......................................................................................... 8-4

8-2-2 Speed loop gain............................................................................................ 8-4

8-2-3 Position loop gain......................................................................................... 8-6

8-3 Characteristics improvement............................................................................... 8-8

8-3-1 Optimal adjustment of cycle time.................................................................. 8-8

8-3-2 Vibration suppression measures................................................................... 8-10

8-3-3 Improving the cutting surface precision ........................................................ 8-12

8-3-4 Improvement of protrusion at quadrant changeover..................................... 8-15

8-3-5 Improvement of overshooting....................................................................... 8-19

ii

8-3-6 Improvement of characteristics during acceleration/deceleration ................. 8-21

8-4 Setting for emergency stop ................................................................................. 8-24

8-4-1 Deceleration control...................................................................................... 8-24

8-4-2 Vertical axis drop prevention control............................................................. 8-26

8-5 Collision detection .............................................................................................. 8-27

8-6 Parameter list........................................................................................................ 8-30

Chapter 9 Inspections

9-1 Inspections............................................................................................................ 9-2

9-2 Life parts............................................................................................................... 9-2

9-3 Replacing the unit................................................................................................. 9-3

9-3-1 HS-MF23** type............................................................................................ 9-3

9-3-2 HS-FR43/73, HS-SF52/53/102/103 type ...................................................... 9-3

9-3-3 HS-SF202 type............................................................................................. 9-4

Chapter 10 Troubleshooting

10-1 Points of caution and confirmation................................................................... 10-2

10-2 Troubleshooting at start up............................................................................... 10-2

10-3 Protective functions list ..................................................................................... 10-3

10-3-1 Alarm............................................................................................................ 10-3

10-3-2 Warnings list................................................................................................. 10-7

10-3-3 Alarm and warning deceleration method and reset method.......................... 10-8

Chapter 11 Selection

11-1 Outline ................................................................................................................. 11-2

11-1-1 Servomotor................................................................................................... 11-2

11-1-2 Regeneration methods................................................................................. 11-3

11-2 Selection of servomotor series.......................................................................... 11-4

11-2-1 Motor series characteristics.......................................................................... 11-4

11-2-2 Servomotor precision.................................................................................... 11-4

11-3 Selection of servomotor capacity...................................................................... 11-6

11-3-1 Load inertia ratio........................................................................................... 11-6

11-3-2 Short time characteristics.............................................................................. 11-6

11-3-3 Continuous characteristics............................................................................ 11-7

11-4 Selection of regenerative resistor..................................................................... 11-9

11-4-1 Limits for HS-MF23....................................................................................... 11-9

11-4-2 Approximate calculation of positioning frequency......................................... 11-9

11-4-3 Calculation of regenerative energy............................................................... 11-9

11-4-4 Calculation of positioning frequency............................................................. 11-11

11-5 Motor shaft conversion load torque.................................................................. 11-12

11-6 Expressions for load inertia calculation ........................................................... 11-13

iii

Chapter 1 Introduction

1-1 Intelligent servomotor outline.................................................................... 1-2

1-2 Limits and special notes for intelligent servomotor................................ 1-2

1-2-2 Precautions for selecting the intelligent servomotor........................... 1-2

1-2-2 Precautions for use............................................................................. 1-2

1-2-3 Miscellaneous ..................................................................................... 1-2

1-3 Inspection at purchase ............................................................................... 1-3

1-3-1 Explanation of type ............................................................................. 1-3

1–1

Chapter 1 Introduction

1-1 Intelligent servomotor outline

The Mitsubishi intelligent servomotor is an integrated motor, encoder and amplifier, and has the
following features.

• Space saving
The amplifier does not need to be stored in the power distribution panel, so the machine, power
distribution panel and heat exchanger can be downsized.

• Wire saving
Only one wire is used between the NC and motor. (The signal and 200VAC input are wired with
the same cable.)

• Flexible
As an option axis can be added without changing the power distribution panel, variations can be
easily added to the machine.

• High-speed
As the power distribution panel does not require space, the servo can easily be used for
hydraulic and pneumatic devices.

1-2 Limits and special notes for intelligent servomotor

1-2-1 Precautions for selecting the intelligent servomotor

(1) The intelligent servomotor does not have the regenerative resistor option (the regenerative

resistor capacity cannot be increased.). Make sure that the regenerative energy is less than the
tolerable regenerative capacity. Use the standalone HA/HC Series motor and
MDS-B-V1/V2/SVJ2 Series servo amplifier for applications having a high regenerative energy
due to a high positioning frequency or large load inertia, etc.

(2) The HS-MF23 type does not have a regenerative resistor. There may be limits to the working

rotation speed depending on the load inertia. Avoid using in applications generating continuous
regeneration, such as with a vertical axis.

1-2-2 Precautions for use

(1) IP65 is recommended for the engagement of the HS-RF∗∗/SF∗∗ type connector. Make sure that

water or oil, etc., does not come in contact in the disengaged state.

(2) Connect the HS-MF type relay connector in a relay box having a structure (IP54) that prevents

the entry of water, oil and dust, etc. Fix the enclosed cable to the motor.

(3) A contact that released the brakes when the servo turns ON is built-in. The brakes will not be

released just by inputting the 24V power from an external source. If the brakes need to be
released when assembling the machine, etc., refer to section 6-4. Wiring a motor with brakes.

1-2-3 Miscellaneous

(1) When the motor shaft is turned by hand, it may seem heavier than other servomotors, or may

seem tight. This is caused because of the dynamic brakes in the built-in amplifier, and is not a
fault.

1–2

Chapter 1 Introduction

1-3 Inspection at purchase

Open the package, and read the rating nameplate to confirm that the servo amplifier and servomotor
are as ordered.

1-3-1 Explanation of type

(1) Amplifier + motor integrated type

HS - oo ¡¡o o o o - So

Motor Series RF : Medium capacity, low inertia
SF : Medium capacity, medium inertia
MF : Small capacity, ultra-low inertia

Intelligent servomotor

¡¡: Short-time rated output (W/100) · o : Rotation speed (rpm/1000)
103: 1kW·3000r/min 202: 2kW·2000r/min
73: 0.75kW·3000r/min 102: 1kW·2000r/min
53: 0.5kW·3000r/min 52: 0.5kW·2000r/min
43: 0.4kW·3000r/min
23: 200W·3000r/min

Amplifier type EX: With amplifier/encoder for NC

Motor option B: Brakes provided
Blank: No brakes

(2) Part types for separable amplifier and motor

1) Motor/encoder unit type

MDS - B - ISV ¡¡ o o

Intelligent servomotor amplifier/encoder

Amplifier type EX: With amplifier/encoder for NC

Short-time rated output (W/100)
20: 2kW 05: 0.5kW
10: 1kW 04: 0.4kW
07: 0.75kW

Amplifier/encoder special symbol (Cable length, etc.)

2) Motor only type

HS - oo ¡¡o o - so

Motor Series RF : Medium capacity, low inertia
SF : Medium capacity, medium inertia

Intelligent servomotor

Motor option B: Brakes provided
Blank: No brakes

¡¡: Short-time rated output (W/100) · o : Rotation speed (rpm/1000)
103: 1kW·3000r/min 202: 2kW·2000r/min
73: 0.75kW·3000r/min 102: 1kW·2000r/min
53: 0.5kW·3000r/min 52: 0.5kW·2000r/min
43: 0.4kW·3000r/min

Motor special symbol (Not provided with standard product)

Motor special symbol (Not provided with standard product)

Amplifier/encoder special symbol (Cable length, etc.)

Explanation of rating nameplate

1–3

Chapter 1 Introduction

Motor section type

Type

Amplifier/encoder section type
and rated i nput/output

Current version

Serial No.

MITSUBISHI

TYPE

MOTORHS‑SF202
DRIVEUNITMDS‑B‑ISV‑20EX
RATEDINPUT
*3AC200‑230V50/60Hz 10.0A
RATEDOUTPUT3AC11.0A

Ｓ/Ｗ ＢＮＤ５１６Ｗ０００Ａ７Ｈ/ＷＶＥＲ.*
SERIAL#XXXXXXXXXXX DATE00/01

MITSUBISHIELECTRICCORPORATIONJAPAN

*   Ｘ Ｘ  Ｘ  Ｘ  Ｘ Ｘ   Ｘ  Ｘ  Ｘ  Ｘ  Ｘ   *

INTELLIGENTSERVO

HS-SF202EX

1–4

Chapter 2 Specifications

2-1 Standard specifications............................................................................. 2-2

2-2 Torque characteristics............................................................................... 2-3

2-3 Outline dimension drawings ..................................................................... 2-4

2-3-1 HS-MF23............................................................................................ 2-4

2-3-2 HS-RF43/73....................................................................................... 2-4

2-3-3 HS-SF52/53/102/103 ......................................................................... 2-5

2-3-4 HS-SF202 .......................................................................................... 2-5

2–1

Chapter 2 Specifications

2-1 Standard specifications

(1) HS-MF, HS-RF Series (Low-inertia, small capacity/low-inertia, medium capacity)

Type HS-MF23 HS-RF43 HS-RF73

Short-time
characteristics

Continuous
characteristics

Maximum torque (N·m) 1.92 3.18 5.97
Rated rotation speed (r/min) 3000
Maximum rotation speed (r/min) 3000
Moment of inertia J (×10-4kg·m2) 0.089 0.8 1.5
Detector resolution/method 8,000/absolute value 100,000/absolute value

Power
supply

Control method Sine wave PWM control, current control method
Dynamic brakes Built-in
Recommended load moment of inertia

rate
Environment conditions Follows section 3-1-1 Environment conditions

Structure

Rated output (kW) 0.2/15min 0.4/30min 0.75/30min
Rated torque (N·m) 0.64 1.27 2.39
Rated output (kW) 0.15 0.32 0.6
Rated torque (N·m) 0.48 1.02 1.91

Voltage/frequency 3-phase 200VAC to 230VAC 50/60Hz (HS-MF23 is single-phase)
Tolerable voltage fluctuation 170 to 253VAC
Tolerable frequency

fluctuation
Power facility capacity (kVA) 0.5 0.9 1.3

4-fold or less when using cutting axis, 10-fold or less when using peripheral axis

Fully closed self-cooling: Protective structure IP65 (Excluding MF23 connector. Protection

applies for all connectors when engaged to machine.)

±5%

(2) HS-SF Series (medium-inertia, medium-capacity)

Type HS-SF52 HS-SF53 HS-SF102 HS-SF103 HS-SF202

Short-time
characteristics

Continuous
characteristics

Maximum torque (N·m) 11.8 8.82 21.6 16.7 41.7
Rated rotation speed (r/min) 2000 3000 2000 3000 2000
Maximum rotation speed (r/min) 2000 3000 2000 3000 2000
Moment of inertia J (×10-4kg·m2) 6.6 6.6 13.6 13.6 42.5
Detector resolution/method 100,000/absolute value

Power
supply

Control method Sine wave PWM control, current control method
Dynamic brakes Built-in
Recommended load moment of inertia

rate
Environment conditions Follows section 3-1-1 Environment conditions

Structure

Rated output (kW) 0.5/30min 0.5/30min 1.0/30min 1.0/30min 2.0/30min
Rated torque (N·m) 2.39 1.59 4.78 3.18 9.55
Rated output (kW) 0.4 0.4 0.75 0.75 1.5
Rated torque (N·m) 1.91 1.27 3.58 2.39 7.16

Voltage/frequency 3-phase 200VAC to 230VAC 50/60Hz
Tolerable voltage

fluctuation
Tolerable frequency

fluctuation
Power facility capacity

(kVA)

1.0 1.0 1.7 1.7 3.5

4-fold or less when using cutting axis, 10-fold or less when using peripheral axis

Fully closed self-cooling: Protective structure IP65

(Protection applies for connector section when engaged)

170 to 253VAC 50/60Hz

±5%

Note 1: The rated output and rated rotation speed are the guaranteed values in the 200 to 230VAC 50/60Hz range. The torque-speed

Note 2: Make sure that the acceleration/deceleration torque is within 80% of the maximum output torque.
Note 3: Make sure that the continuous effective load torque is within 80% of the motor rated torque.
Note 4: With the HS-MF23, if the recommended load moment of inertia rate is exceeded, an overvoltage alarm may occur because of

Note 5: Magnetic brakes are prepared for the 0.4KW and larger capacities. The HS-MF23 does not have brake specifications.

line diagram indicates the characteristics when 200VAC is input. Note that the high-speed characteristics will drop when the
power voltage drops.

the speed and deceleration torque. (Refer to Chapter 11.)

2–2

2-2 Torque characteristics

3.0

[HS-MF23]

Chapter 2 Specifications

4.0

[HS-RF43]

8.0

[HS-RF73]

3.0

2.0

Intermittent
operation range

Torque［N･m］

1.0

Short-time operation range

Continuous
operation range

0

0

1000 2000 3000

Motor speed［r/min

］

2.0

Torque［N･m］

1.0

[HS-SF52]

10

Intermittent
operation range

5

Torque［N･m］

Short-time operation range

Continuous
operation range

0

0

1000 2000

Motor speed［r/min

］

10

Torque［N･m］

Intermittent
operation range

Short-time operation range

Continuous
operation range

0

0

1000 2000

Motor speed［r/min

[HS-SF53]

Intermittent
operation range

5

Short-time operation range

Continuous operation
range

0

0

1000 2000 3000

Motor speed［r/min

3000

］

］

6.0

Intermittent
operation range

4.0

Torque［N･m］

Short-time operation range

2.0

0

0

Motor speed［r/min

20

10

Torque［N･m］

Short-time operation range

0

0 1000

Motor speed［r/min

Continuous
operation range

1000 2000

[HS-SF102]

Intermittent
operation range

Continuous
operation range

3000

］

2000

］

[HS-SF103]

20

10

Torque［N･m］

Short-time operation range

0

0

Intermittent
operation range

Continuous operation
range

1000 2000 3000

Motor speed［r/min

］

40

20

Torque［N･m］

0

0 1000

[HS-SF202]

Intermittent
operation range

Short-time operation range

Continuous
operation range

Motor speed［r/min

］

2000

2–3

Chapter 2 Specifications

60

±5

2-3 Outline dimension drawings

2-3-1 HS-MF23

640±30

56.5
18

108

178

4

2.5

Cross-section

4

Φ11h6

A-A

2-3-2 HS-RF43/73

Φ27

101

82

118

93

With oil seal

0

-0.03

5

54.3

108.00

Cross-section

A-A

Connector

JL04V-2A28-11PE

L

10

3

With oil seal

25

7

3

45°

16304

A

Φ50h7

A

A

φ 70

23.3

100

173.5

75

LL

18

Changed dimensions
Model L LL

HS-RF43 400W 86 204
HS-RF43B 400W with brakes In planning stages
HS-RF73 750W 104 222
HS-RF73B 750W with brakes In planning stages

2–4

A

φ16.000

A

Taper
1/10

28

φ22

φ

115

135

φ

45

ﾟ

4-φ9

□

100

φ95h7

A

12

2-3-3 HS-SF52/53/102/103

96

216

Changed dimensions
Model L LL

HS-SF53/52 500W 87 232
HS-SF53/52B 500W with brakes 119 270
HS-SF103/102 1kW 112 257
HS-SF103/102B 1kW with brakes 144 295

2-3-4 HS-SF202

Chapter 2 Specifications

145 L

5

L

Cross section

A-A

70

LL

0

-0.03

23.3

5

4.25

4.3

12

3

φ 165

25

A

φ16.000

22

φ

A

A

Taper

1/10

18

28 12

58

110h7

φ 145

130

□130

45°

79

45°

119

70

18

3

75

0

+0.010

φ35

264

0

-0.025

φ114.3

φ

200

φ

LL

230

□

176

Changed dimensions
Model L LL

HS-SF202 2kW 116 270
HS-SF202B 2kW with brakes In planning stages

2–5

Chapter 3 Characteristics

3-1 Overload protection characteristics.......................................................... 3-2

3-2 Magnetic brake characteristics.................................................................. 3-3

3-2-1 Motor with magnetic brakes................................................................ 3-3

3-2-2 Magnetic brake characteristics ........................................................... 3-4

3-2-3 Magnetic brake power supply............................................................. 3-4

3-3 Dynamic brake characteristics................................................................... 3-5

3-3-1 Deceleration torque............................................................................. 3-5

3-3-2 Coasting amount................................................................................. 3-6

3–1

Chapter 3 Characteristics

95% of amplifier or motor

3-1 Overload protection characteristics

The servo amplifier has an electronic thermal relay to protect the servomotor and servo amplifier
from overloads. The operation characteristics of the electronic thermal relay when standard
parameters (SV021=60, SV022=150) are set shown below.
If overload operation over the electronic thermal relay protection curve shown below is carried out,
overload 1 (alarm 50) will occur. If the maximum current is commanded at 95% or higher
continuously for one second or more due to a machine collision, etc., overload 2 (alarm 51) will occur.

1000.0

100.0

10.0

Operation time [sec]

1.0

0.1

0.1

0 50 100 150 200 250 300 350 400

When stopped

Motor load rate [%]

When rotating

maximum capacity

Fig. 3-1 Overload protection characteristics

3–2

Chapter 3 Characteristics

3-2 Magnetic brake characteristics

1. The axis will not be mechanically held even when the dynamic brakes are
used. If the machine could drop when the power fails, use a servomotor
with magnetic brakes or provide an external brake mechanism as holding
means to prevent dropping.

2. The magnetic brakes are used for holding, and must not be used for normal
braking. There may be cases when holding is not possible due to the life or

CAUTION

machine structure (when ball screw and servomotor are coupled with a
timing belt, etc.). Provide a stop device on the machine side to ensure
safety. When releasing the brakes, always confirm that the servo is ON
first. Sequence control considering this condition is possible if the amplifier
motor brake control signal (MBR) is used.

3. When operating the brakes, always turn the servo OFF (or ready OFF).

4. When the vertical axis drop prevention function is used, the drop of the
vertical axis during an emergency stop can be suppressed to the minimum.

3-2-1 Motor with magnetic brakes

(1) Types

The motor with magnetic brakes is set for each motor. The "B" following the standard motor type
indicates the motor with brakes.

(2) Applications

When this type of motor is used for the vertical feed axis in a machining center, etc., slipping and
dropping of the spindle head can be prevented even when the hydraulic balancer's hydraulic
pressure reaches zero when the power turns OFF. When used with a robot, deviation of the
posture when the power is turned OFF can be prevented.
When used for the feed axis of a grinding machine, a double safety measures is formed with the
deceleration stop (dynamic brake stop), and the risks of colliding with the grinding stone and
scattering can be prevented.
This motor cannot be used for purposes other than holding and braking during a power failure
(emergency stop). (This cannot be used for normal deceleration, etc.)

(3) Features

1) The magnetic brakes use a DC excitation method, thus:

• The brake mechanism is simple and the reliability is high.

• There is no need to change the brake tap between 50 Hz and 60 Hz.

• There is no rush current when the excitation occurs, and shock does not occur.

• The brake section is not larger than the motor section.

2) The magnetic brakes are built into the motor, and the installation dimensions are the same as
the motor without brakes.

3–3

Chapter 3 Characteristics

3-2-2 Magnetic brake characteristics

HS-RF Series HA-SF Series

Item

Type (Note 1) Spring braking type safety brakes
Rated voltage 24VDC
Rated current at 20°C (A)
Excitation coil resistance at 20°C (Ω)
Capacity (W) 9.9 19.2 19.2
Attraction current (A) 0.20 0.25 0.25
Dropping current (A) 0.12 0.085 0.08
Static friction torque (N·m) 2.4 6.8 8.5
Moment of inertia (Note 2) J (×10–4kg·m2) 0.26 0.35 2.0
Release delay time (sec) (Note 3) 0.03 0.03 0.03
Tolerable braking work amount

(J)
Brake play at motor axis (deg.) 0.1 to 0.9 0.2 to 0.6 0.2 to 0.6

Brake life (Note 4)

Per braking 64 400 400
Per hour 640 4000 4000

20,000 times with 32 (J)

43B
73B

0.41 0.8 0.8
58 30 30

braking amount

per braking

53B 52B
103B 102B

20,000 times with 200 (J)

braking amount

per braking

20,000 times with 200 (J)

202B

braking amount

per braking

Notes:

1. There is no manual release mechanism. Refer to section "6-4-2 Manually releasing the magnetic brakes".

2. These are the values added to the servomotor without brakes.

3. This is the value for 20°C at the initial attraction gap.

4. The brake gap will widen through brake lining wear caused by braking. However, the gap cannot be
adjusted. Thus, the brake life is reached when adjustments are required.

5. A leakage flux will be generated at the shaft end of the servomotor with magnetic brakes.

6. When operating in low speed regions, the sound of loose brake lining may be heard. However, this is not a
problem in terms of function.

7. The brake characteristics for the HS-RF Series and HS-SF202 are the planned values.

3-2-3 Magnetic brake power supply

(1) Brake excitation power supply

1) Prepare a brake excitation power supply that can accurately ensure the attraction current in
consideration of the voltage fluctuation and excitation coil temperature.

2) The brake terminal polarity is random. Make sure not to mistake the terminals with other
circuits.

(2) Brake excitation circuit

<Cautions>

• Provide sufficient DC cut off capacity at the contact.

• Always use a serge absorber.

3–4

Chapter 3 Characteristics

3-2 Dynamic brake characteristics

When an emergency stop occurs such as that due to a servo alarm detection, the motor will stop with
the deceleration control at the standard setting. However, by setting the servo parameter (SV017:
SPEC), the dynamic brake stop can be selected. If a servo alarm that cannot control the motor occurs,
the dynamic brakes stop the servomotor regardless of the parameter setting.

3-3-1 Deceleration torque

The dynamic brakes use the motor as a generator, and obtains the deceleration torque by consuming
that energy with the dynamic brake resistance. The characteristics of this deceleration torque have a
maximum deceleration torque (Tdp) regarding the motor speed as shown in the following drawing.
The torque for each motor is shown in the following table.

dp

T

Deceleration
torque

dp

0

N

Motor speed

Fig. 3-2 Deceleration torque characteristics of a dynamic brake stop

Table 3-1 Max. deceleration torque of a dynamic brake stop

Motor type

HS-MF23 0.64 0.40 465 HS-SF52 2.39 2.40 496
HS-RF43 HS-SF53 1.59 2.54 472
HS-RF73 3.18 3.67 582 HS-SF102 4.78 11.19 884
HS-SF103 3.18 10.72 1045
HS-SF202 9.55 10.56 457

Rated torque

(N·m)

Tdp (N•m) Ndp (r/min) Motor type

Rated torque

(N·m)

Tdp (N•m) Ndp (r/min)

3–5

Chapter 3 Characteristics

t

OFF

3-3-2 Coasting amount

The motor coasting amount when stopped by a dynamic brake can be approximated using the
following expression.

CMAX =

No
60

CMAX : Maximum motor coasting amount (turn)
No : Initial motor speed (r/min)
JM : Motor inertia (kg·cm2)
JL : Motor shaft conversion load inertia (kg·cm2)
te : Brake drive relay delay time (sec) (Normally, 0.03sec)
A : Coefficient A (Refer to the table below)
B : Coefficient B (Refer to the table below)

Emergency stop (EMG)

Motor brake control output

Motor brake actual operation

Table 3-2 Coasting amount calculation coefficients

Motor

type

HS-MF23 0.088 1.38 × 10
HS-RF43 0.8 2.04 × 10
HS-RF73 1.5 2.04 × 10

JM

(kg·cm2)

· te + ( 1 +

Motor speed

Initial speed: No

Fig. 3-3 Dynamic brake braking diagram

A B Motor type

–11

0.90 × 10–5 HS-SF52 6.6 16.13 × 10

–11

2.07 × 10–5 HS-SF53 6.6 15.99 × 10

–11

2.07 × 10–5 HS-SF102 13.6 4.00 × 10

L

J

) · (A · No3 + B · No)

M

J

OFF

OFF

e

HS-SF103 13.6 3.53 × 10
HS-SF202 42.5 25.60 × 10

Coasting amount

JM

(kg·cm2)

Time

A B

–11

11.93 × 10–5

–11

10.71 × 10–5

–11

9.38 × 10–5

–11

11.58 × 10–5

–11

16.07 × 10–5

3–6

Chapter 4 Peripheral Devices

4-1 Dedicated options....................................................................................... 4-2

4-1-1 I/F unit................................................................................................. 4-2

4-1-2 Battery option for absolute position system........................................ 4-6

4-1-3 Cables and connectors....................................................................... 4-7

4-1-4 Cable clamp fitting .............................................................................. 4-11

4-2 Peripheral devices....................................................................................... 4-12

4-2-1 Selection of wire.................................................................................. 4-12

4-2-2 Selection of no-fuse breakers............................................................. 4-12

4-2-3 Selection of contactor ......................................................................... 4-13

4-2-4 Circuit protector................................................................................... 4-14

4–1

Chapter 4 Option and Peripheral Devices

Always wait at least 10 minutes after turning the power OFF, and check the

DANGER

voltage with a tester, etc., before connecting the option or peripheral device.
Failure to observe this could lead to electric shocks.

CAUTION

Use the designated peripheral device and options. Failure to observe this
could lead to faults or fires.

4-1 Dedicated options

4-1-1 I/F unit

Name Intelligent servomotor I/F unit

Type HS-IF-6
Maximum number of connected

axes
Input power voltage AC200 to 230V 50/60Hz

Functions
Miscellaneous Surge absorber, radio noise filter, internal 5V power

Ambient temperature 0°C to +55°C (with no freezing)
Ambient humidity 90% RH or less (with no dew condensation)

Environ-me
nt
conditions

Outline dimensions H: 300 × W: 80 × D: 80 (refer to following drawings)

Storage temperature –20°C to +65°C (with no freezing)
Storage humidity 90% RH or less (with no dew condensation)
Atmosphere Indoors (not subject to direct sunlight). No corrosive gases, flammable gases, oil mist or dust
Altitude 1000m or below sea level
Vibration 5.9m/sec2 or less

(The total number of connected axes follows the NC unit specifications)

Serial bus interface between NC and intelligent servomotor

200VAC branching to main circuit and control power circuit

(1) Outline drawing

Maximum 6 intelligent servomotor axes

300

285

2-M3 screw

For grounding
plate installation

80

80

4–2

Chapter 4 Option and Peripheral Devices

インテリジェントサーボ

左より第１軸、第２軸、・・・

(2) Explanation of each part

CN1B

CN1B

Servo/spindle drive

サーボ・主軸ドライブ

CN1A

CN1A

From NC

ＮＣより

CN11

CN11
Intelligent servomotor 1st axis

インテリジェントサーボモータ第１軸

CN12

CN12
Intelligent servomotor 2nd axis

インテリジェントサーボモータ第２軸

CN13

CN13

Intelligent servomotor 3rd axis

インテリジェントサーボモータ第３軸

Alarm display LED

アラーム表示ＬＥＤ

1st axis, 2nd axis, to 6th axis,
CN1B connection axis from

第６軸、CN1B接続軸

left.

SW7

SW7

Servo monitor D/A output

サーボモニタD/A出力

changeover switch

切替スイッチ

Always set to ON (left) when
starting up.

立ち上げ時は必ずON
（左）として下さい。

SW1 to SW3

SW1〜SW3

Usage/non-usage setting

各々CN11〜CN13の

switch for CN11 to CN13.

使用/未使用設定スイッチ

Set switch to right for
connected axis, and to left for

接続軸はスイッチを右へ未

disconnected axis.

接続軸は左として下さい。

CN14

CN14

Intelligent servomotor 4th axis

インテリジェントサーボモータ第４軸

CN15

CN15
Intelligent servomotor 5th axis

インテリジェントサーボモータ第５軸

CN16

CN16
Intelligent servomotor 6th axis

インテリジェントサーボモータ第６軸

L1 L2 L3

L1 L2 L3

L11 L12

L11 L12

PE

PE

SW4 to SW6

SW4〜ＳＷ6

Usage/non-usage setting

各々CN11〜CN13の

switch for CN11 to CN13.

使用/未使用設定スイッチ

Set switch to right for
connected axis, and to left for

接続軸はスイッチを右へ未

disconnected axis.

接続軸は左として下さい。

TE1 to TE6

TE1〜TE6

Intelligent servomotor terminal
block.

モータ用端子台

* The drawing shows the state

with the terminal block cover

*図は端子台カバーを

removed.

はずしたときのもので
す

TE7

TE7

200VAC

AC200V

Input terminal block

入力端子台

4–3